MotionController Axis MultiAxis IO IOPoint NetworkNode RsiError
Sample Apps Changelog

RapidCode API

#include "rsi.h" // Import our RapidCode Library.
#include "HelperFunctions.h" // Import our SampleApp helper functions.
void StopRateMain()
using namespace RSI::RapidCode;
const int AXIS_NUMBER = 0;
//Define STOP and ESTOP rates in seconds.
//The value entered here will be the new STOP and ESTOP rates (second).
const float STOP_RATE_DEFAULT = ((float)1.0); //seconds
const float ESTOP_RATE_DEFAULT = ((float)0.050); //seconds
/* Command line arguments and defaults */
float stopRate = STOP_RATE_DEFAULT;
float eStopRate = ESTOP_RATE_DEFAULT;
char rmpPath[] = "C:\\RSI\\X.X.X\\"; // Insert the path location of the RMP.rta (usually the RapidSetup folder)
// Initialize MotionController class.
MotionController *controller = MotionController::CreateFromSoftware(/*rmpPath*/); // NOTICE: Uncomment "rmpPath" if project directory is different than rapid setup directory.
SampleAppsCPP::HelperFunctions::CheckErrors(controller); // [Helper Function] Check that the axis has been initialize correctly.
SampleAppsCPP::HelperFunctions::StartTheNetwork(controller); // [Helper Function] Initialize the network.
Axis *axis = controller->AxisGet(AXIS_NUMBER); // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
SampleAppsCPP::HelperFunctions::CheckErrors(axis); // [Helper Function] Check that the axis has been initialize correctly.
//display old STOP and ESTOP rates.
printf("OLD: StopRate = %f eStopRate = %f\n",
//Replacing new values of STOP and ESTOP rates(seconds). Values set above.
//display new STOP and ESTOP rates.
printf("\nNEW: StopRate = %f eStopRate = %f\n\n",
catch (RsiError const& err)
printf("\n%s\n", err.text);
controller->Delete(); // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
system("pause"); // Allow time to read Console.