RapidCode - 8.3.1
=================
Date: 2020-04-28
- [Bug Fix] RMP firmware internal memory structure changes prevent a rare MultiAxis TRIGGERED_MODIFY bug.
RapidCode - 8.3.0
=================
Date: 2020-04-14
- [New Feature] Ability to create Compensators with the same input and output Axis.
- [General Changes] Compensators use raw encoder counts and not User Units.
- [General Changes] Fastech EZI-SERVO EtherCAT drive integration.
- [General Changes] Fastech EZI-SERVO ALL drive integration.
- [General Changes] SDO Read/Write and AKDASCIICommand() thread-safe locking.
- [Bug Fix] VM3 when viewing memory dump file's word orientation for 64-bit double precision values.
RapidCode - 8.2.1
=================
Date: 2020-03-11
- [Bug Fix] Triggered Modify behavior with streaming motion.
- [Bug Fix] dumpframes, dumpevents and bodetool utilities no longer complain of missing license file.
RapidCode - 8.2.0
=================
Date: 2020-02-19
- [New Features] Support for INtime USB keys with 32-bit serial numbers (was 16-bit).
- [New Features] Position compensation tables: 1D and 2D, multiple compensators additive.
- [New Features] Oriental NETC01 integration.
- [New Features] rsiConfig now supports Recorders and Compensators.
- [General Changes] EtherCATNodeInfo.xml Yaskawa digital IO changes.
- [General Changes] RMPNetwork - reduced FoE logging when transferring large files or using a small mailbox.
- [General Changes] C4251 and C4091 C++ warnings eliminated.
- [Bug Fix] rsiConfig - Fixed problem setting Axis XML without path.
RapidCode - 8.1.9
=================
Date: 2020-01-31
- [General Changes] Default FoE Mailbox size set to 128 bytes.
RapidCode - 8.1.8
=================
Date: 2020-01-21
- [New Features] Improved DS402 Master Based Homing.
- [New Features] Adding MOTOR_DATA_STATUS to AddressGet.
- [New Features] RapidSetup displays packet error counters.
- [New Features] XE2 Support Added.
- [General Changes] RapidSetup Error Messages redesign.
- [General Changes] SMC_EX600 Updates.
- [General Changes] rsiConfig expanded path support.
- [General Changes] RapidSetup MessageBox and NetworkData PDO Input Changes.
- [Bug Fix] Fixed an issue with FoE at the end of some transfers.
- [Bug Fix] Fixed a rare initialization issue with UserLimit Setup.
RapidCode - 8.1.7
=================
Date: 2019-09-09
- [Bug Fix] SDO status buffer created once per node rather than once per call.
- [Bug Fix] PageFault related to continuous SDO reads during loss of network.
RapidCode - 8.1.6
=================
Date: 2019-08-29
- [New Features] iBase TPM STP-K121 drive integration.
- [New Features] rsiConfig -generate will create an ENI file if missing.
- [General Changes] RapidSetup - desktop shortcut includes version number.
- [General Changes] EtherCATNodeInfo.xml now supports comments.
- [General Changes] SMC-EX600 support.
- [General Changes] EL9510 support.
- [Bug Fix] PageFault related to running RMPNetwork.rta without RMP.rta running.
- [Bug Fix] PageFault related to multi-axis drive IO.
RapidCode - 8.1.5
=================
Date: 2019-07-08
- [New Features] UserLimit Output feature can copy any value in firmware to output.
- [New Features] TC_ACTUAL_POSITION & TC_COMMAND_POSITION added to RSIAxisAddressTypes.
RapidCode - 8.1.4
=================
Date: 2019-06-28
- [New Features] Axis.DriveIndexGet support.
- [New Features] NetworkNode.AxisCountGet() added.
- [New Features] Custom timeouts available with overloads to NetworkStart and Service Channel functions.
- [New Features] Custom ControlWord Bits On/Off added to EtherCATNodeInfo.xml.
- [New Features] Expanded options available to NetworkOutputAddressGet.
- [New Features] Working Directory Display Added to File Tab.
- [General Changes] Added Digital Inputs/Outputs and Actual Velocity to default Yaskawa implementation.
- [General Changes] Improved SDO Error messages.
- [General Changes] Improved IO Support for EtherCAT IO Nodes.
- [General Changes] Missing ESI File Dialog Rework.
- [General Changes] NetworkStart set to timeout after 30 seconds.
- [Bug Fix] Fixed an issue with Remote Desktop when using USB dongle licenses.
- [Bug Fix] Fixed Error 7170 (thread running) when calling MotionController::Delete().
RapidCode - 8.1.3
=================
Date: 2019-04-02
- [General Changes] RapidSetup Axis and MultiAxis repeat motion disabled on errors, amp disabled, and switching views.
- [General Changes] RMPNetwork sets Amp Fault for each axis on shutdown.
- [General Changes] UserLimit methods now use cached AxisCount to improve performance.
- [General Changes] SourceNameGet() no longer throws exception when it cannot read extra Amp Fault text.
- [Bug Fix] RapidSetup - SDO Read/Write string values.
- [Bug Fix] 64-bit RapidCode libraries now support tracing and home logging.
- [Bug Fix] RMPNetwork intermittent shutdown issues when nodes lose power or are disconnected.
- [Bug Fix] RapidSetup - Axis Master-based Homing: Move To Zero and Log Homing were reversed.
- [Bug Fix] RapidSetup - unable to set Home Method 18.
RapidCode - 8.1.2
=================
Date: 2019-03-06
- [New Features] 64 bit library support for INtime USB keys.
- [General Changes] Reworked Exceptions, Properties, and Commands in RapidSetup.
- [General Changes] No longer report logging messages to stdout for trace/homing.
- [Bug Fix] Fixed an Issue which showed two AI & AO for AKDs.
RapidCode - 8.1.1
=================
Date: 2019-02-07
- [New Features] FoE (File over EtherCAT) added to the RMP.
- [General Changes] Minor tweaks made to RapidSetup.
RapidCode - 8.1.0
=================
Date: 2019-02-01
- [New Features] User Limits in RapidSetup.
- [New Features] User Limits Single-Shot feature.
- [New Features] User Limits API additions to get configurations.
- [New Features] MotionController::AddressFromString and StringFromAddress methods.
- [New Features] Support for INtime USB keys.
- [General Changes] Additional Beckhoff Analog Input detection.
- [General Changes] UserLimitConditionSet for 32-bit masking now uses uint32 for bitmasking types.
- [General Changes] UserLimitConditionSet for 64-bit double comparison no longer requires a mask parameter.
- [General Changes] Global Mutex for windows services.
- [General Changes] RapidSetup error reporting improvements.
RapidCode - 8.0.8
=================
Date: 2018-11-28
- [New Features] Added Rollover support for more feedback resolutions.
- [Bug Fix] Fixed an AKD Index Homing issue caused by changes in newer firmware.
RapidCode - 8.0.7
=================
Date: 2018-10-30
- [New Features] Parker Drive Support.
- [New Features] Sick Encoder Support.
- [New Features] axisControlwordOutputGet added to NetworkAPI.
RapidCode - 8.0.6
=================
Date: 2018-10-01
- [General Changes] Added two gains to the PIV Tuning Window.
- [Bug Fix] Motion Scope startup issue.
- [Bug Fix] StreamingOutputs frame allocation issue.
- [Bug Fix] 64-bit library fixes for FeedbackPointerGet/FeedbackPointerSet, NetworkStart and NetworkIndexGet.
RapidCode - 8.0.5
=================
Date: 2018-09-28
- [New Features] FilterDualLoop is now Supported with the RMP.
- [General Changes] IO Node Address and Mask accessors improved.
- [General Changes] Panasonic drives now use the new IO Implementation of EtherCATNodeInfo.
- [Bug Fix] Fixed an Issue with User Limit creation.
- [Bug Fix] Fixed an Issue with Beckhoff Stepper Limits.
RapidCode - 8.0.4
=================
Date: 2018-09-21
- [General Changes] ABB Microflex EtherCATNodeInfo Changes.
RapidCode - 8.0.3
=================
Date: 2018-09-18
- [New Features] INVT DA200 Support.
- [New Features] ABB Microflex Support.
- [General Changes] Improved Datagram/Sync0 Alignment.
- [General Changes] Name change removing Axis from NetworkIndexSet, NetworkIndexGet, & NetworkIndexType.
- [General Changes] Various minor RapidSetup Improvements
- [Bug Fix] Analog Outputs now work from an IO Page.
- [Bug Fix] System Time no longer adjusted when in Master Shift Mode.
RapidCode - 8.0.2
=================
Date: 2018-08-13
- [New Features] Secondary Feedback Support for DS402 Drives.
- [New Features] DS402 16 Bit Encoder Support.
- [New Features] NetworkAxisIndexSet & NetworkAxisIndexGet Added.
- [New Features] MultiAxis AddressGet Added.
- [New Features] FeedRate can be set with User Limits.
- [General Changes] Generic DS402 reworked to be more flexible.
RapidCode - 8.0.1
=================
Date: 2018-07-09
- [New Features] AL Status & Code collected by the EtherCAT Master.
- [New Features] Data Link Layer now accessible via ServiceChannel calls.
- [General Changes] RMP Velocity Mode processing now enabled by default.
- [Bug Fix] Fixed two issues with Beckhoff Steppers.
RapidCode - 8.0.0
=================
Date: 2018-06-18
- [New Features] New Version RapidSetup - requires .NET 4.5.
- [New Features] UserData for UserLimits. See UserLimits Topic, InterruptUserDataGet, and UserLimitInterruptUserDataAddressSet.
- [New Features] Lenze I550 Support.
- [New Features] UserLabels for MultiAxis.
- [New Features] IO NumberGet returns the associated Node Number.
- [General Changes] SynqNet Capture functions removed from RMP Releases.
RapidCode - 7.4.2
=================
Date: 2018-05-24
- [New Features] Additional configurations of S700s Supported.
RapidCode - 7.4.1
=================
Date: 2018-05-17
- [New Features] Index Support for S700 Master Homing.
- [New Features] Mitsubishi MR-J4-TM Support.
- [General Changes] Festo CMMP now starts up in CSP rather than IP.
- [General Changes] Changed Sync0 start time to about 80 milliseconds out.
- [General Changes] Axis default parameters stored in RMP memory.
- [General Changes] NetworkNode defaults to ThrowExceptions(true).
- [General Changes] Improved Repeat Camming Implementation.
- [Bug Fix] Fixed a issue reading SDO Integers after reading Strings.
- [Bug Fix] Fixed a issue with IO showing up on the wrong Node.
RapidCode - 7.4.0
=================
Date: 2018-03-27
- [General Changes] Streaming Outputs API simplified.
- [General Changes] Beckhoff ESI files updated.
- [General Changes] Modify Events + MultiAxis + Gearing now supported.
- [Bug Fix] MultiAxis Streaming Outputs fixed when there are multiple streaming outputs per PT point.
RapidCode - 7.3.5
=================
Date: 2018-03-16
- [New Features] Save RMP MemoryToFile menu item added to RapidSetup.
- [New Features] AKD implementation now uses DS402 model.
- [New Features] S700 Support.
- [New Features] RSIActionE_STOP_MODIFY_ABORT and RapidCodeMotion::EStopModifyAbort() added.
- [New Features] MotionController NetworkOutputIntendedValueGet, NetworkOutputOverrideValueSet, NetworkOutputOverrideValueGet, NetworkOutputSentValueGet functions added.
- [General Changes] IO rework. Support for multi-bit Digital PDO Entries.
- [General Changes] Axis default velocity, acceleration and deceleration set to 1.0
RapidCode - 7.3.4
=================
Date: 2018-01-09
- [New Features] RSIActionTRIGGERED_MODIFY and associated functions added.
- [New Features] Triggered Modify Support for Master Based Homing (HomeBehaviorGet/Set).
- [New Features] motorStatusGet Added to RMPNetworkAPI.
- [General Changes] RapidSetup C# improvements.
RapidCode - 7.3.3
=================
Date: 2017-12-14
- [New Features] DS402 Drive based Homing Control added to RapidSetup.
- [New Features] Backlash Compensation added for Position Mode.
- [New Features] MotionController.MemoryToFile function added.
- [Bug Fix] EStopModify no longer causes out of frames EStop in firmware 918A5
- [Bug Fix] MultiAxis Streaming Outputs fixed.
RapidCode - 7.3.2
=================
Date: 2017-11-21
- [New Features] NewtorkOutputOverride Get/Set added. RapidSetup Network I/O checkbox added.
- [New Features] RSIVersionMajor(), RSIVersionMinor(), RSIVersionMicro() added.
- [New Features] NetworkNode ProductNameGet and VendorNameGet added.
- [General Changes] RapidSetup tuning visibility.
- [General Changes] IOPoint objects are now deleted when the MotionController is deleted.
RapidCode - 7.3.1
=================
Date: 2017-10-27
- [New Features] SMC EX260 EtherCAT module support.
- [Bug Fix] MotionScope, VM3, DumpDiff, RapidWorkbench fixes.
RapidCode - 7.3.0
=================
Date: 2017-10-25
- [New Features] RSIQVC64 and RSIQDNET64 added for 64-bit support.
- [New Features] SDO Writes support for Axis Configuration xmls.
- [New Features] Added RSIVersionMajor(), RSIVersionMinor(), RSIVersionMicro() to RapidCodeObject.
- [General Changes] RMP and MPI upgraded to 918A4 and 04.04.02.
- [General Changes] Improved Copy/Paste inside RapidSetup.
RapidCode - 7.2.6
=================
Date: 2017-10-02
- [New Features] Keyence NU-EC1 support.
- [General Changes] RapidWorkbench for AKD - improvements when switching axes.
- [General Changes] Service channel SDO read execution time reduced.
- [Bug Fix] Streaming Outputs only worked for 1 axis.
RapidCode - 7.2.5
=================
Date: 2017-09-20
- [New Features] Copley TE2 Stepnet Plus drive support.
- [New Features] CTB drive support.
- [New Features] MultiAxis node support.
- [General Changes] MotorDemandMode Get/Set/Enum replaced with OperationMode Get/Set/Enum and supported with EtherCAT.
RapidCode - 7.2.4
=================
Date: 2017-09-16
- [Bug Fix] Post Trajectory Gearing fixed.
RapidCode - 7.2.3
=================
Date: 2017-09-14
- [New Features] Schneider LXM28E EtherCAT drive support.
- [New Features] Additional Elmo & Schneider Error Messages supported.
- [Bug Fix] Network process shutdown improvements.
RapidCode - 7.2.2
=================
Date: 2017-08-29
- [General Changes] ProcessorUsage info adjustments in RapidSetup.
- [General Changes] MotionScope easier to access in RapidSetup.
- [Bug Fix] StatusBitGet fixes for MultiAxis objects.
RapidCode - 7.2.1
=================
Date: 2017-08-21
- [New Features] Estun ProNet EtherCAT drive support.
- [New Features] Home Stage settings saved to/from Axis XML.
- [General Changes] RMP and RMPNetwork thread synchronization improvements.
- [Bug Fix] Axis XML no longer fails with ambiguous method exception.
RapidCode - 7.2.0
=================
Date: 2017-08-03
- [New Features] Elmo EtherCAT drives support.
- [New Features] Beckhoff EL7041 steppers support.
- [New Features] NetworkTiming Feature in RapidSetup.
- [General Changes] SynqNet deprecated.
- [General Changes] AddEntry to PDOs without RemoveContent.
- [General Changes] Axis numbers to Homing Logging.
- [General Changes] Synchronization diagnostics and filterDepth improvements.
- [General Changes] RTOS Start/Stop.
- [General Changes] Improved IO identification in EtherCATNodeInfo.xml.
- [General Changes] RapidENI error on modify a fixed PDO.
- [Bug Fix] AdjustTimer improved for Skylake processors.
RapidCode - 7.1.2
=================
Date: 2017-06-02
- [New Features] Added RSIHomeStageSTAGE_FOUR. Covers motion to Zero after HomeOffsetSet has been used.
- [New Features] Added Support for Copley's XEC-230-12 drive.
- [New Features] Added TraceFileClose. The ability to Close a file that was open for logging.
- [Bug Fix] Fixed an issue with vendor and product ids above the max int size.
RapidCode - 7.1.1
=================
Date: 2017-05-22
- [General Changes] Added some additional Homing logging.
- [Bug Fix] Fixed an issue where some systems would report different identifiers when running with reduced privileges.
RapidCode - 7.1.0
=================
Date: 2017-05-15
- [New Features] RapidCode no longer requires Windows Administrator privileges
- [New Features] Improved SourceNameGet to include more information about RMP Amp Faults for most drives.
- [New Features] Yaskawa EtherCAT Torque/Velocity Mode Support.
- [New Features] Added support for Applied Motion Products SS EtherCAT drive.
- [New Features] Added support for Panasonic MMDHT2C09BD1 EtherCAT drive.
- [New Features] RSIMotorDedicatedInWARNING now supported for EtherCAT AKDs.
- [New Features] Homing Moves during RSIHomeStage_TWO & RSIHomeStage_THREE now have their own velocity, accel, decel, and jerk values which can be set independent of RSIHomeStage_ONE
- [New Features] Homing Logging Added. Use Axis.TraceMaskOnSet(RSITraceCUSTOM) & Axis.TraceFileSet(fileName) to use.
- [New Features] TraceInjectMessage(RSITrace traceLevel, msg) to add your own messages to the output log.
- [General Changes] Improved Beckhoff EJ3004, EL1259, EL3064, & EL3356 Implementations.
- [General Changes] Made changes to pNetwork values saved by an EtherCAT AKD.
- [General Changes] Region locking for PDO read/write data.
- [Bug Fix] Custom Home configuration initialized properly.
RapidCode - 7.0.16
=================
Date: 2017-03-23
- [New Features] EtherCAT Teco Drive now supported.
- [New Features] Added Ability to add non-standard PDOEntries to PDO sets.
- [New Features] RapidCode/RapidSetup expanded to support 32 General Inputs/Outputs.
- [General Changes] EtherCAT AKDs now use the standard Control Word Functions for Enabling and Clearing Faults.
- [General Changes] rsiConfig.exe probes network and supports new node types.
- [General Changes] Improved Analog IOPoint implementation.
- [Bug Fix] Skylake Processors should now work as expected with the RMP.
- [Bug Fix] Fixed an issue when using RMPNetwork without an ENI file.
RapidCode - 7.0.15
=================
Date: 2017-03-03
- [General Changes] Suppress 2-bit PDO inputs/output error messages
RapidCode - 7.0.14
=================
Date: 2017-03-02
- [General Changes] MotionController object count methods reconfigure dynamic memory allocation only when necessary
- [General Changes] Home limit action no longer reverting to Stop action when RapidSetup opens
RapidCode - 7.0.13
=================
Date: 2017-02-27
- [New Features] Position mode post-trajectory electronic gearing for RMP
- [New Features] Can Start, Stop and Restart INtime from within RapidSetup and RapidCode.
- [New Features] Additional Beckhoff EJs Supported.
- [General Changes] PositionSet() no longer sets Actual Position for EtherCAT Axes
- [General Changes] Controller::UserVersionSet() can now be safely called outside of Initialization.
- [General Changes] Controller::SyncInterruptEnableSet(false) can now be safely called outside of Application Teardown.
- [Bug Fix] DS402 position demand scaled from RMP 64-bit double to 32-bit
RapidCode - 7.0.12
=================
Date: 2017-02-09
- [New Features] Additional Axis Memory locations available via AddressGet(RSIAxisAddressType).
RapidCode - 7.0.11
=================
Date: 2017-01-31
- [General Changes] EtherCAT node clear faults timeout increased to 32 samples
- [General Changes] Axis will Amp Fault if an RMP Node fails to reach Operation Enable after 1000 cycles after calling AmpEnableSet(true)
- [Bug Fix] Dedicated I/O processing for DS402 drives
RapidCode - 7.0.10
=================
Date: 2017-01-25
- [New Features] RapidCode API to set outputs during streaming motion
- [New Features] axisFeedRateSet, axisFeedRateGet, and axisFeedRateDisable added to RMPNetworkAPI
- [New Features] Motion ElementID works with streaming and path motion, now displayed in RapidSetup
- [General Changes] AKD ASCII command speeds optimized, Autotuning now available using RapidWorkbench
- [Bug Fix] Fixed an issue with GetRtSystemTimerValues.
RapidCode - 7.0.9
=================
Date: 2017-01-13
- [New Features] Added Diagnostic methods for Delta Robot
- [New Features] EtherCAT network clock adjustments updated for Intel Skylake processors
- [New Features] Bonfiglioli drive integration
- [Bug Fix] Improved access to RSI license file
RapidCode - 7.0.8
=================
Date: 2017-01-04
- [General Changes] Homing Method None (Current Position) is now selected by default in RapidSetup.
- [Bug Fix] Fixed an issue which caused an error in RapidSetup when you minimized RapidSetup mid-Homing.
- [General Changes] Added a custom DeltaRobot feature.
RapidCode - 7.0.7
=================
Date: 2016-12-22
- [General Changes] Homing now Advances to Stage Three for Index only Homing Max Travels.
RapidCode - 7.0.6
=================
Date: 2016-12-21
- [General Changes] RSI_AXIS_HOME_FAILED_TO_REACH_MAX_TRAVEL reported when homing fails to reach it while looking for edge.
- [General Changes] Homing Error Enumeration and Messages Changed.
RapidCode - 7.0.5
=================
Date: 2016-12-19
- [General Changes] 11 previously dynamic Homing Error Messages have been enumerated.
- [Bug Fix] Fixed an issue where HomeStage wouldn't advance with active low Homing Limits.
- [Bug Fix] Homing now Restores Initial Home Action and Trigger State on Errors.
RapidCode - 7.0.4
=================
Date: 2016-12-16
- [General Changes] The Default Home Offset is now set to 0 rather than -1
- [General Changes] EtherCAT AKDs now use Homing Defaults rather than Motion defaults to move to the zero-angle when homing
- [General Changes] Home Stages now supports Active Low Homing Implementation
- [General Changes] Delta Functions now return Success Status.
RapidCode - 7.0.3
=================
Date: 2016-12-15
- [New Features] Added StopOnErrorSet() to DeltaRobot to enable/disable throwing exceptions near singularities
- [New Features] Added UnmapDelta
- [General Changes] Changed the locations in the Homing process when we advanced Homing Stages
RapidCode - 7.0.2
=================
Date: 2016-12-13
- [New Features] Velocity Mode Support for EtherCAT Nodes
- [New Features] MovePT now supports Spline, Bessel, and BSpline2 options
- [General Changes] Adjusted Names and PDOs for Schneider EtherCAT Nodes
- [General Changes] Added additional error messages for failed Homing cases
- [General Changes] Improved DumpDiff.
- [Bug Fix] Fixed a matching issue with RMP Inputs/Outputs
- [Bug Fix] Fixed an issue where HomingStage wasn't advancing when it should
- [Bug Fix] Fixed an issue with the Homing Process when Abort was called at just the wrong time
RapidCode - 7.0.1
=================
Date: 2016-12-02
- [Bug Fix] Fixed an issue where we were linking to the wrong sqNodeLib.lib file
RapidCode - 7.0.0
=================
Date: 2016-11-23
- [New Features] 64-bit RapidCode libraries for SynqNet 04.04.02
- [General Changes] All host addresses are stored as type uint64 for 32-bit and 64-bit libraries
- [General Changes] MotionCamMasterStartSet requires master Axis object to scale startPostion with UserUnits
- [Bug Fix] EtherCAT Axis ClearFaults() now waits for Fault bit to be cleared before returning
- [Bug Fix] Axis::MotionCamMasterStartSet now properly scaled by Origin position
- [Bug Fix] AmpEnableSet(true) now works in STOPPED state
- [Bug Fix] MultiAxis SYNC_START and SYNC_END attributes
RapidCode - 6.5.1
=================
Date: 2016-11-16
- [New Features] Delta Robot Kinematics
RapidCode - 6.5.0
=================
Date: 2016-11-16
RapidCode - 6.4.6
=================
Date: 2016-11-14
- [General Changes] Upgrade to INtime 6.2
- [General Changes] Changed the Default max speed for the Panasonic Drive from 120 RPM to 20000 RPM
RapidCode - 6.4.5
=================
Date: 2016-10-31
- [New Features] Added new banner option for customer RapidSetup skin
- [New Features] OptoForce Sensor added.
- [New Features] Added HomeTravelDistanceSet & HomeStageGet allowing for Max Travels to Homing Segments.
- [General Changes] Adjusted Beckhoff's EL2521 Default Configuration
- [General Changes] LimitDurationGet no longer calls HomeUserLimitConfigSet
- [General Changes] Improved setting values from Textboxes when hitting Enter or Esc.
- [Bug Fix] MultiAxis Delete Improved.
- [Bug Fix] Fixed an issue with EL2521s which caused a problem on Network Restarts.
- [Bug Fix] New Synqnet Firmware ....916A6.bin built which corrects for an issue where NEAR_TARGET triggered incorrectly
RapidCode - 6.4.4
=================
Date: 2016-10-04
- [General Changes] Improved Drive Status message display when a Node was in an Error State.
- [Bug Fix] Fixed an issue with AmpEnableSet.
RapidCode - 6.4.3
=================
Date: 2016-09-16
- [Bug Fix] SqNode name deletion was causing error when closing RapidSetup
RapidCode - 6.4.2
=================
Date: 2016-09-01
- [New Features] InitCmds are now Configurable from EtherCATNodeInfo.xml.
- [New Features] DcDataOpMode is now Configurable from EtherCATNodeInfo.xml.
- [New Features] PDO String Matching is now Configurable from EtherCATNodeInfo.xml.
- [General Changes] Unknown EtherCAT Nodes will now load the SDO screen when clicked on.
- [Bug Fix] Fixed an issue using the Service Channel after you issue a string command.
- [Bug Fix] Fixed an issue with node identification for large networks.
RapidCode - 6.4.1
=================
Date: 2016-08-01
- [New Features] MailBox PollTime is now Configurable from EtherCATNodeInfo.xml.
- [General Changes] Updated RapidSetup Documentation Link.
- [General Changes] Improved RapidSetup's TreeView.
- [Bug Fix] Fixed an issue with Stopping and Restarting RMPNetwork from RapidSetup.
RapidCode - 6.4.0
=================
Date: 2016-07-22
- [New Features] RapidWorkbench for AKD added.
- [New Features] CompensatorTableClear function added.
- [New Features] RMP Status window added. You can now see DS402 standard interpretations in the bottom right of the axis screen.
- [General Changes] API Behavior Change - Controller is now a Singleton, reducing chance of Invalidating objects when programming.
- [General Changes] VPLkp.xml renamed to EtherCATNodeInfo.xml.
- [General Changes] Standardized PDO names. Most applications should generate new ENI files using RapidSetup to match new pattern.
- [General Changes] Improved RapidSetup MultiAxis Support.
- [General Changed] Increased maximum number of EtherCAT Input/Output PDOs from 255 to 1024. Added a useful Error Message when past max.
- [Bug Fix] No longer crash attempting to use a Controller object that was invalid due errors in creation.
- [Bug Fix] RapidSetup XBox controller library updated.
- [Bug Fix] Axis PostFilter XML serialization now removes extra postfilers when loading from a smaller postfiler source (xml).
- [Bug Fix] Corrected an issue when hitting Enter or Tabbing out of the User Units entry box.
- [Bug Fix] Added dll needed for the BodeTool.
RapidCode - 6.3.6
=================
Date: 2016-06-14
- [New Features] RapidENI API (.NET) to automatically generate ENI file from discovered network
- [Bug Fix] Resolved AKD Enable Position Enable Offset
- [Bug Fix] Resolved AKD fault text display
RapidCode - 6.3.5
=================
Date: 2016-06-03
- [New Features] Schneider LXM28E EtherCAT drive support added.
- [New Features] KBus support added to RapidENI.
- [General Changes] Improved RMP Clear Faults Timing
- [General Changes] You can now create EtherCAT IO nodes even if they don't have traditional Digital/Analog Inputs/Outputs associated with them
RapidCode - 6.3.4
=================
Date: 2016-05-17
- [General Changes] FeedbackDeltaPointerGet() and FeedbackDeltaPointerSet are deprecated. Please use FeedbackPointerGet() and FeedbackPointerSet instead.
- [General Changes] Improved Gantry CS Project and included Cpp version.
- [Bug Fix] Longer Ascii commands are now supported
RapidCode - 6.3.3
=================
Date: 2016-05-11
- [New Features] MotionController memory methods to read/set double values
- [New Features] Data Recorder bulk read methods
- [New Features] AxisAddressTypeFILTER_SMOOTHED_VELOCITY
- [New Features] Yaskawa SGD7S support added
- [Bug Fix] Improved AKD Clear Faults Capability
- [Bug Fix] Fixed a Bug with Loading from XML that would cause trouble with Torque Systems.
RapidCode - 6.3.2
=================
Date: 2016-04-20
- [New Features] Direct Velocity Control of AKDs added.
RapidCode - 6.3.1
=================
Date: 2016-04-18
- [General Changes] Removed assemblies SynqNetSystem4.dll, RapidENILib.dll and RapidSetupControls.dll. The controls in these assemblies are now located in RSI.System.dll
- [New Features] Rsiconfig.exe now supports RMP.
- [Bug Fix] Corrected a timing issue which could cause instability for Kollmorgen and AMC systems.
RapidCode - 6.3.0
=================
Date: 2016-03-28
- [New Features] RapidSetup will now auto select an RMP when it is appropriate to do so.
- [New Features] BodeTool included for use with the RMP on drives with Torque Mode support.
- [New Features] XML Configurations Axis file names are now saved to and loaded from rsi.ini.
- [General Changes] RMP is now built for INtime 6. Please make sure you upgrade your INtime Version to 6.1.15345.1 or later.
- [General Changes] Improved the Menu options for SynqNet & RMP to exclude non-useful options.
- [General Changes] Index (zero-angle) based homing routines now available for AKD drives.
- [Bug Fix] Large node counts causes RapidSetup to become sluggish when updating the SqNode Packet Error Counts.
RapidCode - 6.2.31
=================
Date: 2016-02-16
- [New Features] Methods to get estimated SynqNet cable lengths
- [General Changes] Changed the display name on several drives
- [General Changes] Included many new EtherCAT ESI with our release.
- [General Changes] Improved Missing Vendor/Product/Revision Display information when you are missing an ESI file.
RapidCode - 6.2.30
=================
Date: 2016-02-01
- [General Changes] Updated AMC ESI to include Vendor's latest.
- [General Changes] Removed unnecessary release files.
RapidCode - 6.2.29
=================
Date: 2016-01-29
- [General Changes] Regenerate your Topology (ENI) files in order for IO to index properly! Switched from 1 Ordinate Module to 0 Ordinate Module for RapidENI Support. Search Terms: IO on wrong Node.
- [General Changes] Modify UI for Controller Configuration on EtherCAT
- [New Features] AMC Drive support for RapidENI
- [Bug Fix] SDO string write issue
- [Bug Fix] Phantom Axes not showing under correct node in RapidSetup treeview
- [Bug Fix] INtime exception after multiple network restarts
RapidCode - 6.2.27
=================
Date: 2016-01-06
- [New Features] Support for SynqNet 04.03.16
- [New Features] RapidENI Utility to auto-generate ENI file from discovered network topology integrated with RapidSetup
RapidCode - 6.2.26
=================
Date: 2015-12-11
- [New Features] RapidSetup can automatically detect configuration and generate an ENI file for many configurations.
- [Bug Fix] Fixed a bug which could cause errors if an EL2521 wasn't setup as intended.
- [Bug Fix] Data Recorder object interrupts not working with EtherCAT.
RapidCode - 6.2.25
=================
Date: 2015-11-11
- [General Changes] Internal Release
RapidCode - 6.2.24
=================
Date: 2015-10-31
- [New Features] Delta ASDA-A2-E (EtherCAT) Drives now supported by the RMP.
- [New Features] Crevis I/O now supported by the RMP.
- [Bug Fix] Bad ENI files could crash INtime. Added Config Validation.
- [Bug Fix] MotionController::RecorderConfigureToTriggerOnMotion not triggering on motion start
RapidCode - 6.2.23
=================
Date: 2015-10-19
- [General Changes] Improvements to EtherCAT SDOs. Better messaging and RapidSetup sign support.
- [General Changes] Improvements to DS402 state transitions to Operation Enable.
- [New Features] 1D and 2D Compensation table support
- [Bug Fix] EncoderRatio for EtherCAT, EncoderCountGet/Set
RapidCode - 6.2.22
=================
Date: 2015-10-06
- [General Changes] Added Support for Vendor ID 0x2e1 for FlexiPro Drives.
RapidCode - 6.2.21
=================
Date: 2015-09-24
- [General Changes] Added DOUT1 and DOUT2 support to the AKD EtherCAT Drive
- [Bug Fix] MulitAxis::AxisGet returns an axis with an invalid NetworkNode object
RapidCode - 6.2.20
=================
Date: 2015-09-18
- [General Changes] RapidSetup requires .NET Framework 4.0
- [New Features] RapidENI utility to auto-generate ENI file from discovered network topology
- [New Features] Torque Mode support for the Panasonic EtherCAT drive
- [Bug Fix] MultiAxis::ClearFaults for EtherCAT
RapidCode - 6.2.19
=================
Date: 2015-07-29
- [New Features] Interfaces added for all RapidCode .NET classes. (IMotionController, IAxis, etc.)
- [Bug Fix] Fixed a Bug with the RSIQDNET4 dll that prevented the use of CreateFromSoftware(rtaPath).
RapidCode - 6.2.18
=================
Date: 2015-07-09
- [New Feature] Automatically download RMP licenses.
- [General Changes] Restored Multiaxis Delay functionality.
RapidCode - 6.2.17
=================
Date: 2015-06-23
- [New Features] Added Dedicated Homing, Positive, and Negative Limit Support to the Panasonic MinasA5 EtherCAT Drives
RapidCode - 6.2.16
=================
Date: 2015-06-03
- [New Features] .NET overload for CreateFromSoftware() to specify working folder (path to RMP.rta)
- [New Features] Added Support for Beckhoff BK1150 series IO Modules to the RMP.
- [New Features] Added Support for ESD ECX-DIO8 IO Modules to the RMP.
- [Bug Fix] Adjusted Kollmorgen AKD Parameters REGEN.TYPE & REGEN.WATTEXT to ensure proper setting from RapidCode and RapidSetup.
- [Bug Fix] Fixed (Object reference not set to an instance of an object. Boolean LockTake()) error Spam with Early Versions of .Net 2.0
RapidCode - 6.2.15
=================
Date: 2015-05-27
- [General Changes] Cleaned up the Homing Screen for RMP Releases.
- [New Features] Support for EtherCAT nodes with 64-bit DC
RapidCode - 6.2.14
=================
Date: 2015-05-14
- [New Features] Torque Mode Support for the AMC EtherCAT drive.
- [General Changes] The Tuning Box should no longer display when inappropriate.
- [Bugs Fixed] RapidSetup exception when setting UserVersion
- [Bugs Fixed] Fixed a validator that prevented the use of high indexes for SDO Control
RapidCode - 6.2.13
=================
- [New Features] RapidCode now supports most Post Filters.
- [New Features] Supported added for Panasonic MinasA5 series EtherCAT drives.
- [General Changes] FilterLowPassSet(double) is deprecated. Please use PostFilterLowPassSet(int, double) instead where int is the Post Filter number.
- [Bug Fix] Fixed a bug where RapidSetup would load bad PostFilter values from a corrupted XML file.
- [Bug Fix] Fixed a bug with SampleRateSet which caused an Access Violation Exception.
RapidCode - 6.2.12
=================
- [General Changes] NetworkNode::HasIO() always returns true for EtherCAT nodes
- [New Features] MFC Runtime DLL included in release for RMP MotionScope
- [Bugs Fixed] Fixed errors trying to use axis after re-initializing EtherCat network
- [Bugs Fixed] Fixed the Incorrect display of Controller I/O for the RMP
RapidCode - 6.2.11
=================
Date: 2015-03-12
- [General Changes] Axis and MultiAxis Motion ID methods use uint16 data type
- [General Changes] RapidSetup dependencies included in RapidSetup.exe.
RapidCode - 6.2.10
=================
Date: 2015-03-03
- [New Features] ServiceChannelRead/Write overload for string values
- [New Features] AMC Digital Input support for General and Dedicated IO
RapidCode - 6.2.9
=================
Date: 2015-02-19
- [Bugs Fixed] Corrected EL1088/EL1008 Labels
RapidCode - 6.2.8
=================
Date: 2015-02-19
- [New Features] Support for Beckhoff EL1088 Digital Input Modules
RapidCode - 6.2.7
=================
Date: 2015-02-16
- [New Features] Support for Beckhoff 2521 Step Pulse Train
RapidCode - 6.2.6
=================
Date: 2015-02-06
- [General Changes] Classify EtherCAT nodes using Vendor ID and Product Code
RapidCode - 6.2.5
=================
Date: 2014-12-09
- [New Features] HomeLimitCustomConfigSet method added to enable homing from any input bit on the network
- [New Features] RMPNetwork supports some Realtek and Broadcom gigabit NICs
- [Bugs Fixed] RMP NetworkInput (and Output) names now stored in RapidCodeNetwork
RapidCode - 6.2.4
=================
Date: 2014-11-14
RapidCode - 6.2.3
=================
Date: 2014-10-21
- [New Features] Support for SynqNet 04.03.11
RapidCode - 6.2.2
=================
Date: 2014-09-18
- [Bugs Fixed] RMPNetwork GPF after shutdown due to linker mismatch
RapidCode - 6.2.1
=================
Date: 2014-08-26
- [New Features] RMP and RMPNetwork built for INtime 5.2.14045.2
- [Bugs Fixed] RMPNetwork rebooting when restarted due to uninitialized topology memory
RapidCode - 6.2.0
=================
Date: 2014-08-21
- [General Changes] RSI::RapidCode::SynqNet namespace changed to RSI::RapidCode
- [General Changes] RapidCode objects throw RsiError const& instead of RsiError* (C++ only)
- [General Changes] RapidSetup only sets Home action to STOP for SynqNet when homing
- [General Changes] MotionController object counts are refreshed automatically when the EtherCAT network reaches operational state
- [New Features] RapidSetup can start network in PREOPERATIONAL state
- [New Features] NetworkStartMode parameter for NetworkStart() overload
- [New Features] NetworkLogMessageGet for reading NetworkStart() log messages
- [New Features] RapidSetup shows network error messages if state transitions from OPERATIONAL
- [New Features] Axis homing supports homing without Position Capture
- [Bugs Fixed] FeedRateSet throwing unexpected error
RapidCode - 6.1.23
=================
Date: 2014-06-03
- [New Features] NetworkNode supports ServiceChannel (SDO) and ASCII commands
- [New Features] MotionController::CreateFromSoftware() has optional working directory parameter
- [General Changes] UserLimitOutSet now works with andMask & orMask. An overload for valueSet has been added to preserve old behavior.
RapidCode - 6.1.22
=================
Date: 2014-05-14
- [General Changes] Axis::FeedbackDeltaPointerGet now returns a host address
- [New Features] NetworkNode Analog Input/Output support
- [New Features] MechaWare PIV Gain Table and Reset blocks supported in RapidCode/Setup
RapidCode - 6.1.21
=================
Date: 2014-03-26
- [New Features] Support for SynqNet 04.03.08
- [New Features] PositionSet added to RapidSetup Axis Command Position
- [New Features] MechaWare PID Gain Table Block supported in RapidCode/Setup
- [New Features] Network IO methods for EtherCAT
- [New Features] MotorType added as top-level element in Axis XML configuration
- [New Features] MotionController::ProcessorUsageClear (double-click in RapidSetup to clear)
- [General Changes] Selecting Stepper Loopback in RapidSetup disables Encoder Ratio control
RapidCode - 6.1.20
=================
Date: 2014-01-09
- [New Features] SynqNetInit() added to .NET libraries
RapidCode - 6.1.19
=================
Date: 2013-12-05
- [New Features] MotionController::NetworkTypeGet method
- [New Features] NetworkStart, Shutdown methods added for EtherCAT
- [New Features] IOPoint analog values accessible in .NET libraries
- [Bugs Fixed] Capture objects not enabled properly with greater than 16 axes
- [Bugs Fixed] IOPoint analog values now function correctly
RapidCode - 6.1.18
=================
Date: 2013-10-31
- [New Features] RapidSetup AKD SynqNet firmware download
- [New Features] Kollmorgen AKD SynqNet drive monitor support
- [Bugs Fixed] RapidSetup file download GUI hangs
RapidCode - 6.1.17
=================
Date: 2013-09-27
- [New Features] SynqNet 04.03.05 support with AKD firmware 1.10 for smoother amp enable
RapidCode - 6.1.16
=================
Date: 2013-07-23
- [General Changes] RsiError inherits from std::exception
- [General Changes] RSIMotionAttrMask values changed
- [Bugs Fixed] APPEND motion attribute mask not working
RapidCode - 6.1.15
=================
Date: 2013-06-26
- [New Features] rsiconfig.exe command-line utility for reading/writing configurations
- [Bugs Fixed] Serialized/XML Axis not disposing of its resources properly
RapidCode - 6.1.14
=================
Date: 2013-06-24
- [New Features] RapidSetup Axis Origin shown if Actual Position label is clicked
- [Bugs Fixed] Phantom axes displayed under Node 1 in RapidSetup
RapidCode - 6.1.13
=================
Date: 2013-06-14
- [Bugs Fixed] Additional thread-safe locking added to InterruptMaskSet()
RapidCode - 6.1.12
=================
Date: 2013-06-11
- [New Features] RapidSetup Axis tab page remembered when switching
- [Bugs Fixed] RapidSetup not restarted after setting Axis or Motion count
RapidCode - 6.1.11
=================
Date: 2013-06-06
- [New Features] NetworkStateGet, Shutdown method for SynqNet or EtherCAT
- [New Features] RapidCodeNetworkNode object
- [New Features] EtherCAT node topology discovery
- [New Features] RapidSetup displays network counter
- [Bugs Fixed] MotionController software and firmware version info out of scope
- [Bugs Fixed] RapidSetup Axis screen display precision not updating after downloading from XML
- [Bugs Fixed] RapidSetup Diagnostics screen displaying multiple instances
- [General Changes] RapidSetup replication copies label xml and ini files when creating replication
- [General Changes] RapidSetup replication restore option removed
RapidCode - 6.1.10
=================
Date: 2013-04-26
- [New Features] RapidSetup diagnostic screen
- [New Features] Network diagnostic methods work for SynqNet and EtherCAT - NetworkNodeCountGet(), etc.
- [New Features] New Trace types CUSTOM and TIME
- [New Features] MultAxis AxesAdd method to add multiple Axis objects at once
- [General Changes] Axis UserUnits removed from RapidSetup INI file
- [Bugs Fixed] Additional thread-safe locking to MultiAxis AxisAdd, AxesAdd, AxisRemoveAll methods
- [Bugs Fixed] MultiAxisGet does not report an error when passed an invalid motionNumber.
- [Bugs Fixed] MotionController::InterruptWake() not waking MotionController::InterruptWait()
RapidCode - 6.1.9
=================
Date: 2013-03-18
- [New Features] Support for QMP-PCIe
- [Bugs Fixed] Additional thread-safe locking added to StateGet() and all Move methods
RapidCode - 6.1.8
=================
Date: 2013-03-01
- [General Changes] MSVC++ 2005 Redistributable updated to 8.0.50727.6195 and MSVC++ 2010 Redistributable added
- [General Changes] CapturePositionGet now scaled by encoder ratio when relevant
- [New Features] EncoderRatioPrimary/SecondaryGet/Set with strings for use with Axis XML
- [Bugs Fixed] CaptureConfigSet ignoring PRIMARY vs SECONDARY feedback parameter
RapidCode - 6.1.7
=================
Date: 2013-02-22
- [New Features] Axis/MultiAxis MotionHoldGateNumberGet/Set and MotionController MotionHoldGateSet
RapidCode - 6.1.6
=================
Date: 2013-02-19
- [Bugs Fixed] Motion Hold Gate logic inverted
- [Bugs Fixed] AxisCountSet should never decrease MotionCount
- [New Features] Support for SynqNet 04.03 releases
RapidCode - 6.1.5
=================
Date: 2013-01-11
RapidCode - 6.1.4
=================
Date: 2013-01-03
- [New Features] Raw CapturePosition in RapidSetup (not scaled by Origin or UserUnits)
- [New Features] SynqNetSystem DLL for .NET 4.0
- [General Changes] 32-bit float values now 64-bit double precision. Tolerances, durations, feedrates, Stop times, etc.
- [General Changes] read-only Axis XML files are allowed
- [Bugs Fixed] MultiAxis motions now use absolute value of velocities, accelerations, etc. if UserUnits are negative
RapidCode - 6.1.3
=================
Date: 2012-11-07
- [General Changes] Axis PositionSet uses CommandOriginSet and AmpEnableSet uses CommandPositionSet
- [General Changes] Stepper motor Axis can only use PositionSet when amp is enabled
- [Bugs Fixed] Axis XML file stream not closed
- [Bugs Fixed] Axis XML now ignores SqNodeUserFaultAddress,MotionHoldUserAddress, and OriginPosition
- [Bugs Fixed] Axis XML now deletes temporary drive parameter file
- [Bugs Fixed] Axis XML restores ThrowExceptions to default (true) when saving to / restoring from XML
- [Bugs Fixed] Axis SourceGet now reports NODE_FAILURE correctly when any Node has failed
RapidCode - 6.1.2
=================
Date: 2012-10-25
- [General Changes] Updates for SynqNet 4.2 Production Release
RapidCode - 6.1.1
=================
Date: 2012-10-02
- [New Features] Fastech stepper drive support and automatic setup
- [New Features] Stepper motor pulse configuration methods
- [General Changes] Axis::PositionSet now works with stepper motors
- [General Changes] Axis::PositionSet COMMAND_NOT_SET now treated as error, not warning
RapidCode - 6.1.0
=================
Date: 2012-09-05
- [New Features] QMP motion controller and SynqNet 4.2 support
- [New Features] S-curve path planning type
- [General Changes] Standard data types modified for future 64-bit support
- [General Changes] BEFORE_SYNQNET_0402 preprocessor definition required if using SynqNet 4.0 or 4.1
- [General Changes] MotionController Reset() now deletes the control handle before resetting
- [General Changes] Stop() no longer throws exception if already stopped or stopping
- [General Changes] Homing methods 23, 25, 27 and 29 modified for consistent capture direction
- [Bugs Fixed] RapidSetup velocity goto labels not updating
- [Bugs Fixed] RapidSetup homing using status caching, causing capture errors
RapidCode - 6.0.12
=================
Date: 2012-08-14
- [Bugs Fixed] Axis SourceGet() correctly reports HOME (Capture Status) source
- [Bugs Fixed] Homing move-to-zero feature now works without going to STOPPING or STOPPED state
- [New Features] Homing now supports S-Curve velocity profiles
- [New Features] RapidSetup implements more data caching for better performance
- [General Changes] Homing now defaults to time-based position capture
RapidCode - 6.0.11
=================
Date: 2012-07-25
- [Bugs Fixed] Axis default velocity no longer checked in MoveVelocity()
- [Bugs Fixed] Axis GearingEnable() now sets axis/motor number properly when using FEEDBACK sources
- [Bugs Fixed] Axis GearingMasterAxisNumberGet() and GearingSourceGet() now read current values from the controller
- [General Changes] RapidSetup stores SynqNet folder info for CurrentUser, not LocalMachine
- [General Changes] RapidSetup no longer requires Administrator privileges
RapidCode - 6.0.10
=================
Date: 2012-07-02
- [New Features] UserLimitStatus added to ControllerAdddressType
- [Bugs Fixed] RapidSetup relative motion goto positions not updating
RapidCode - 6.0.9
=================
Date: 2012-05-25
- [New Features] LimitEnabledMask added to ControllerAdddressType
RapidCode - 6.0.8
=================
Date: 2012-05-23
- [New Features] Simulation server and RMP controller support
- [Bugs Fixed] RapidSetup Position Capture supports 64 axes
RapidCode - 6.0.7
=================
Date: 2012-04-02
- [New Features] SyncInterrupt for .NET
RapidCode - 6.0.6
=================
Date: 2012-02-27
- [New Features] RapidSetup now supports editing of PID values in MechaWare models
- [Bugs Fixed] EMPTY_COUNT attribute now supported for PT and PVT motion types
RapidCode - 6.0.5
=================
Date: 2012-02-07
- [New Features] RSIQDNET and RSIQDNET4 signed with a strong name
RapidCode - 6.0.4
=================
Date: 2012-01-18
- [General Changes] MultiAxisGet() now requires MotionSupervisorNumber parameter, must be >= Axis count
- [General Changes] MultiAxis::AxisRemove removed, use AxisRemoveAll instead
- [General Changes] RSI Constants displayed as hexadecimal to eliminate C++ compiler warnings
- [New Features] MotionCount configuration added to RapidSetup
- [New Features] UserLimitCountGet/Set added to MotionController
- [New Features] Kollmorgen AKD support
RapidCode - 6.0.3
=================
Date: 2011-12-16
- [Bugs Fixed] RapidSetup AutoTuner now works with UserUnits
- [Bugs Fixed] MotionControllerDigitalIn MaskGet() now works for E-Stop input (bit 6)
- [Bugs Fixed] Negative values now allowed for Axis UserUnits
RapidCode - 6.0.2
=================
Date: 2011-10-24
- [New Features] Axis Capture configuration supports drive general purpose I/O
- [New Features] MotionController AddressGet() now supports multiple data recorders
- [General Changes] Axis Capture configuration global parameter removed
RapidCode - 6.0.1
=================
Date: 2011-09-15
- [New Features] IO position capture supported for HSIN32
- [New Features] Axis XML files from RapidCode 4.x supported
- [General Changes] Setting an Axis to Phantom type no longer disables limits automatically
- [Bugs Fixed] MotionController FlashClear() now saves cleared flash
RapidCode - 6.0.0
=================
Date: 2011-8-03
- [New Features] Datatypes redefined for future 64-bit OS support (long becomes int32, etc.)
- [New Features] S200 filtered drive velocity now available for Drive Monitor
- [New Features] HomeCaptureMotorFeedbackSet added for an Axis that uses secondary feedback
- [New Features] RapidSetup supports backlash compensation
- [New Features] RapidSetup supports EncoderRatio
- [New Features] RapidSetup has better support for European Windows regional settings
- [New Features] RapidCodeObject interface added for .NET classes ease-of-use
- [General Changes] 03.03.xx SynqNet releases no longer supported
- [Bugs Fixed] Axis CapturePositionGet() only uses UserUnits if the feedbackAxisNumber is the same as the Axis number
- [Bugs Fixed] RapidSetup now supports 24A and 48A S200 drives
- [Bugs Fixed] Xbox 360 controller right thumbstick processing reversed in RapidSetup
- [Bugs Fixed] Xbox 360 controller trigger invert not applied in RapidSetup
- [Bugs Fixed] RapidCode works with MechaWare firmware (4.0)
- [Bugs Fixed] Axis UserLabel is properly updated from XML in RapidSetup
- [General Changes] RadidSetup homing automatically sets Home action to STOP
- [General Changes] CaptureArm now waits for capture to arm before returning. Overload makes it optional.
- [General Changes] Xbox 360 controller uses cubic function for velocity control
- [General Changes] Xbox 360 controller will Abort all when disconnected in RapidSetup
- [General Changes] RapidSetup goes to FPGA download page if Node MAC mismatch
- [General Changes] MemoryBlockGet/Set now uses arrays for .NET instead of pointers
- [General Changes] Axis XML files now support SqNode properties
RapidCode - 4.1.25
=================
Date: 2009-4-22
- [New Features] Gain Scheduling support added to RapidSetup
- [New Features] Final Velocity motion overloads added to Axis
RapidCode - 4.1.24
=================
Date: 2009-3-27
- [General Changes] Improved support when using MechaWare firmware
RapidCode - 4.1.23
=================
Date: 2009-3-19
RapidCode - 4.1.22
=================
Date: 2009-2-12
- [New Features] InterruptMask methods allow for generating specific interrupts
- [New Features] MultiAxis::MoveVectorRelative
- [New Features] Axis and MultiAxis MotionIdExecutingGet() returns currently executing MotionID
- [General Changes] Axis::SaveToFlash will now attempt to save SynqNet Topology first
- [Bugs Fixed] RapidSetup File->Exit fixed (introduced in 4.1.21)
- [Bugs Fixed] IOPoint::MaskGet() not working for Axis Digital Inputs and Outputs
- [Bugs Fixed] Axis::SourceGet() won't report SQNODE_USER_FAULT without I/O Abort set
RapidCode - 4.1.21
=================
Date: 2008-12-02
- [New Features] RapidCode IOPoint class added, provides common interface to any SynqNet I/O point
- [New Features] RapidSetup can copy Axis settings from another Axis
- [New Features] RapidSetup Axis Save-To-Flash moved to context menu (right click)
- [New Features] MotionController::SynqNetHotReplaceRestart for using HotReplace
- [Bugs Fixed] RapidSetup now compatible with MechaWare firmware
- [Bugs Fixed] Axis::AmpEnableSet(true) fails if filter algorithm is set to NONE
- [Bugs Fixed] RapidSetup no longer shows warnings when viewing online documentation
- [Bugs Fixed] RapidCode object locking initialization
RapidCode - 4.1.20
=================
Date: 2008-08-20
- [New Features] MotionController::RecorderBufferSizeGet/Set helpful when using multiple recorders and high Axis counts
- [New Features] MotionDoneWait() now optionally accepts timeoutMilliseconds parameter and returns waited time
- [New Features] RapidSetup offers choice of Time or Position Capture for Homing
- [New Features] Axis::HomeCaptureTypeSet()
- [New Features] RsiError messages now include object number
RapidCode - 4.1.19
=================
Date: 2008-08-01
- [New Features] MotionController::RecorderReset()
- [New Features] RSIAxisAddressTypeDEDICATED_OUTPUTS and INPUTS
- [New Features] RSIControllerAddressTypeUSER_BUFFER
- [New Features] MultiAxis Motion Hold now supported
- [Bugs Fixed] Axis::MotionHoldPositionGet/Set should not be scaled by UserUnits
RapidCode - 4.1.18
=================
Date: 2008-07-25
- [New Features] Axis::FilterDualLoopSet utilizes load and motor encoders for PIV dual loop control
- [New Features] MotionController now supports up to 32 data Recorders
- [New Features] RapidSetup new Axis tab for setting Actions and Limits
- [New Features] RapidSetup now displays MotorTorque Drive Monitor for Yaskawa
RapidCode - 4.1.17
=================
Date: 2008-06-06
- [New Features] Axis::Home(bool moveToZero) added, for optionally moving to Zero after homing (also in RapidSetup)
- [New Features] MotionController:CommandAction for commanding an action with a Sequencer
- [Bugs Fixed] RapidSetup brake mode and settings not applied
RapidCode - 4.1.16
=================
Date: 2008-05-21
RapidCode - 4.1.15
=================
Date: 2008-04-30
- [New Features] Axis::EncoderMultiTurnReset in RapidCode and RapidSetup
- [New Features] MotionController::ProcessorUsageGet in RapidCode and RapidSetup – helps determine maximum sample rates
RapidCode - 4.1.14
=================
Date: 2008-04-14
- [New Features] MultiAxis user interface added to RapidSetup (Absolute, Relative, Velocity, PT)
- [New Features] Axis Filter Gain Scheduling – Axis can change gain tables automatically
- [New Features] Axis::UserLimitReset(...) used to clear latched UserLimits
- [Bugs Fixed] PathTimeSliceSet did not set internal value
RapidCode - 4.1.13
=================
Date: 2008-02-26
- [New Features] RapidSetup – Drive Monitor support
RapidCode - 4.1.12
=================
Date: 2008-01-31
RapidCode - 4.1.11
=================
Date: 2007-12-14
RapidCode - 4.1.10
=================
Date: 2007-11-28
- [New Features] RapidSetup – Kollmorgen S300 supported in drive tab
RapidCode - 4.1.9
=================
Date: 2007-10-24
RapidCode - 4.1.5
=================
Date: 2007-09-27
- [New Features] Axis and MultiAxis MotionAttributeMaskOn/MaskOff(...) Get and Set methods added
RapidCode - 4.1.4
=================
- [New Features] RapidSetup – Glentek - Added capability to read Proportional Current Gain and Integral Current Gain
RapidCode - 4.1.3
=================
Date: 2007-09-08
- [New Features] Axis::EncoderRatioSet used to provide a ratio for raw encoder values (requires 03.04.xx SynqNet or newer)
- [Bugs Fixed] InterruptWake() no longer throws exception
RapidCode - 4.1.2
=================
Date: 2007-08-07
- [Bugs Fixed] Axis::Address get modified for differences between XMP and ZMP hardware
RapidCode - 4.1.0
=================
Date: 2007-07-23
RapidCode - 4.0.3
=================
Date: 2006-12-06
- [New Features] RapidSetup – Version Management feature for automatic upgrades to latest SynqNet versions
- [General Changes] RsiError class moved to RSI.RapidCode.dotNET namespace in .NET (C#) assembly DLL (also supports error log)
- [General Changes] MultiAxis motion methods now require that individual axis positions, etc. are given in UserUnits
- [Bugs Fixed] Axis::AmpEnableSet() contained an uninitialized variable which could cause unintended motors to be enabled
RapidCode - 4.0.2
=================
Date: 2006-10-05
- [New Features] RapidSetup – "Send to RSI" feature allows uploading of version and exception info to www.roboticsys.com
- [New Features] RapidSetup – screen introduced for SqNode information and FPGA download
- [New Features] RapidSetup – Version Utility added to MotionController form and Tools menu
- [Bugs Fixed] DriveFirmware version and download methods added to Axis class and RapidSetup
- [Bugs Fixed] PIV Support for FilterCoeffGet/Set methods restored
- [General Changes] PathRatioSet(...) can now be used before PathListStart(...)
RapidCode - 4.0.1
=================
Date: 2006-08-02
- [New Features] MultiAxis::FeedRateGet & MultiAxis::FeedRateSet added.
- [Bugs Fixed] RapidSetup – SqNode Flash Download button can't find default filename
- [Bugs Fixed] Settling Criteria values need absolute values when using negative user Units
- [Bugs Fixed] Velocity tolerance not scaled by User Unit
- [General Changes] RapidSetup – set fixed point scaling on command, Actual, and Error positions when using User Units
- [Bugs Fixed] RapidSetup Set Digital Output State does set the output of the slice IO
- [Bugs Fixed] RapidSetup Node Error array past index with more than 6 nodes on a ring
- [Bugs Fixed] RapidSetup Glentek Omega tab fails to update Current Limit Trip Current and Trip Time under the Motor Safety Tab
- [Bugs Fixed] RapidSetup – Space Bar not causing Abort action in Axis screen
- [Bugs Fixed] RapidSetup – Enter key causes button press when setting filter gains
RapidCode - 4.0.0
=================
Date: 2006-06-19
Please see our Upgrade Document for a more complete guide.
- [General Changes] Many methods changed to use enumeration values instead of longs
- [General Changes] Axis and IO now contain SqNode class
- [General Changes] RapidCode Objects Renamed
- [General Changes] Objects are created and initialized from the MotionController Class
RapidCode - 2.2.19
==================
Date: 2006-04-11
- [New Features] E-Stop, Modify action now supported – specify decel rate instead of decel time
- [New Features] UserUnits added to RsiAxis and RapidSetup
- [New Features] Segment info and I/O methods added to RsIO
- [New Features] Resume method added to RsiMultiAxis
- [New Features] TargetPositionGet() added to RsiAxis.
RapidCode - 2.2.18
==================
Date: 2006-03-06
- [New Features] All 30+ Home Methods now supported in RsiAxis and RapidSetup
- [Bugs Fixed] RsiAxis::SaveToFlash was modified internally to execute about 3x faster (was ~50 seconds, now ~15 seconds)
- [Bugs Fixed] RapidSetup drive parameter list is now cleared when switching to another RsiAxis
- [Bugs Fixed] RsiAxis::Home didn't verify capture status in 2.2.17 before setting home state = true
- [New Features] RsiAxis::SourceNameGet added to get text about error sources. Also added to RapidSetup below Axis State.
- [New Features] DriveIndexGet added to RsiAxis to get drive index for multi-drive SqNodes.
- [New Features] User Fault and Node Failure Action Get/Set methods added to RsiAxis
- [New Features] Auto-tuning capability in RapidSetup
RapidCode - 2.2.17
==================
Date: 2006-01-30
- [Bugs Fixed] RsiController::FirmwareUpload did not need to create internal flash object
- [New Features] RsiAxis::HomeStateGet/Set now reads/writes the home state to the controller's memory, though it cannot be saved to flash.
- [New Features] Drive Fault and Drive Warning methods added to RsiAxis and RapidSetup
- [New Features] MovePT(...) and MovePVT(...) added to RsiAxis
- [Bugs Fixed] SynqNetTopologySave/Clear not saving/clearing topology correctly in flash memory
- [New Features] SqNode Packet Error and CRC Error status methods added
- [New Features] HomeCancelSet() added to RsiAxis
- [New Features] MemoryBlockGet/Set added to RsiController
RapidCode - 2.2.16
==================
Date: 2006-01-10
- [New Features] RsiError members added: functionName, lineNumber and shortText
- [New Features] Drive Monitor features added to RsiAxis
- [New Features] RsiAxis Home methods can be cancelled with E-Stop or Abort
- [New Features] SqNode I/O Abort configuration methods added to RapidCode
RapidCode - 2.2.15
==================
Date: 2005-12-15
- [Bugs Fixed] RapidSetup RsiAxis General Inputs state displayed incorrectly
RapidCode - 2.2.14
==================
Date: 2005-12-09
- [New Features] RsiAxis::DirectionInvertGet/Set can invert the polarity of the filter output and the actual position
- [General Changes] RsiController Digital I/O methods changed to accept bit number parameters instead of bit mask.
RapidCode - 2.2.13
==================
Date: 2005-11-18
- [New Features] RSISynqNetCableStatus enumeration adds BUSY status.
RapidCode - 2.2.12
==================
Date: 2005-11-11
- [New Features] SynqNetRecoveryModeGet/Set methods added to RsiController and RapidSetup
- [New Features] SynqNetCableIdleStatusGet() method added to RsiController
- [New Features] RapidSetup: RsiAxis Dedicated and General Purpose I/O now based on Node resources
- [General Changes] RsiAxis::DigitalInGet/Set methods changed to accept bitNumber instead of bitMask. Use enum RSIMotorGeneralIo.
RapidCode - 2.2.11
==================
Date: 2005-10-28
- [New Features] RapidCode DLL files contain RSI and MPI versions in File Properties
- [New Features] RsiAxis::DriveParamGet/Set methods added
- [New Features] RapidSetup now supports Drive Parameter for most SynqNet drives.
- [New Features] RsiController::SequencerStateGet method added
- [General Changes] JerkPercent parameter added to RsiController::CommandMoveVelocity method
- [Bugs Fixed] RapidSetup RsiIO Digital Out and Analog Out could be blocked by "Set" buttons
- [General Changes] RapidSetup pressing SynqNet Network Initialize will now refresh the TreeView
- [General Changes] SqNodeDriveParam methods no longer require driveIndex parameter.
RapidCode - 2.2.10
==================
Date: 2005-10-19
- [New Features] Methods added for reading SqNode I/O addresses and masks in RsiAxis, RsiIO
- [New Features] RsiController methods to get addresses from string and converting to firmware addresses
- [New Features] Preliminary Sequencer support added to RsiController
- [New Features] RapidSetup TreeView shows SynqNet Nodes with RsiAxis and RsiIO objects
- [Bugs Fixed] RapidSetup resizing causes problems with TreeView
- [Bugs Fixed] RapidSetup - RsiAxis Save to Flash button works intermittently (also moved beneath Amp Enable)
RapidCode - 2.2.9
=================
Date: 2005-10-05
- [Bugs Fixed] RsiAxis::SaveToFlash() fails if SqNode does not exist.
- [New Features] Camming methods added to RsiAxis
- [New Features] RsiAxis frame buffer size get/set methods added
- [New Features] New RsiController::Interrupt methods added for processing all interrupts
- [Bugs Fixed] ZMP Controller I/O fixed as 3 Outputs and 4 Inputs. Updated in RapidSetup.
- [New Features] PathPointAdd() and PathArcAdd() now support changing VectorVelocity and VectorAcceleration inside a PathList.
- [New Features] RapidCode available as static library
- [Bugs Fixed] RsiAxis::MoveVelocitySCurve(...) causes "Invalid Parameter" error
- [General Changes] RsiController::Interrupt methods renamed to SyncInterrupt methods
RapidCode - 2.2.8
=================
Date: 2005-08-18
- [Bugs Fixed] RSIMotorTypePHANTOM not working properly in RapidSetup. This is a useful feature for simulating an axis.
- [New Features] Configuration for closed-loop stepper added to RsiAxis (custom firmware required)
- [Bugs Fixed] FirmwareDevelopmetIDGet() spelled incorrectly in RsiController. Changed to FirmwareDevelopmentIDGet().
RapidCode - 2.2.7
=================
Date: 2005-08-08
- [New Features] SqNode ServiceCommand method added to RsiIO and RsiAxis classes in RapidCode
- [New Features] RsiAxis Electronic Gearing master sources now include Primary and Secondary motor encoders
RapidCode - 2.2.6
=================
Date: 2005-07-18
- [New Features] Low Pass Filter methods added to RsiAxis
- [Bugs Fixed] Analog Output values in RsiIO not working in RapidSetup
- [Bugs Fixed] Motor Outputs selected (for setting state) in RapidSetup easier to see
- [New Features] SqNode Drive Parameter methods added to RsiIO and RsiAxis classes in RapidCode
- [New Features] Display Primary and Secondary motor encoder feedback in RapidSetup
RapidCode - 2.2.5
=================
Date: 2005-06-08
- [New Features] RsiIO interface in RapidSetup
- [New Features] Data Recorder methods for RsiController class
RapidCode - 2.2.4
=================
Date: 2005-05-27
- [New Features] Add methods to Get/Set up to 32 bits of Digital I/O in RsiIO
RapidCode - 2.2.3
=================
- [General Changes] Timeout (milliseconds) parameter added to InterruptWait in RsiAxis and RsiMulitAxis
RapidCode - 2.2.2
=================
- [Bugs Fixed] RsiAxis::PositionSet sets incorrect value
- [Bugs Fixed] RapidSetup should only allow one RsiController to be initialized.
RapidCode - 2.2.1
=================
- [General Changes] NodeStatusBitGet() changed to SqNodeStatusBitGet()
- [New Features] MoveVelocity() and MoveSCurve() methods for RsiMultiAxis
- [New Features] InterruptWake methods for RsiController, RsiAxis, RsiMultiAxis
RapidCode - 2.2.0
=================
- [General Changes] AddAxis() changed to AxisAdd() in RsiMultiAxis
- [General Changes] ErrorLogGet() will now return RsiError* instead of accepting it as a parameter
- [New Features] RsiIO class interface
RapidCode - 2.1.1963
====================
- [Bugs Fixed] RsiMultiAxis::MoveTrapezoidal requires unsafe code in C#
- [Bugs Fixed] RsiMultiAxis::MoveTrapezoidal throws error if in motion