Here are the classes, structs, unions and interfaces with brief descriptions:
| CAxis | The Axis object manages a single physical axis on a motion controller. |
| CIO | The IO object provides an interface to the inputs and outputs of a network node. |
| CIOPoint | The IOPoint object represents one specific point class such as: Digital Output, Digital Input, Analog Output, or Analog Input. |
| CMotionController | The MotionController object represents the RMP INtime soft motion controller. |
| CMultiAxis | The MultiAxis object allows you to map two or more axes together and command synchronized motion. |
| CRapidCodeInterrupt | Interface for objects which can use interrupts |
| CRapidCodeMotion | The RapidCodeMotion interface is implemented by Axis and MultiAxis |
| CRapidCodeNetworkNode | The NetworkNode object represents an EtherCAT Node (Drive, IO Block, etc) on the network. Accessible via Axis and IO objects. |
| CRapidCodeObject | The RapidCode base class. All non-error objects are derived from this class |
| CRapidCodeOS | The RapidCodeOS object provides access to operating system (Windows) features. Accessible via MotionController |
| CRsiError | The RsiError object contains information about any RapidCode API object's error/exception. |
| CRTOS | The RTOS object represents the real-time operating system (INtime) |
