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MotionController | Axis | MultiAxis | IO | IOPoint | NetworkNode | RsiError | Sample Apps | Changelog |
RapidCode API |
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The Axis object manages a single physical axis on a motion controller. More...
Attributes | |
RapidCode Objects | |
| RapidCodeNetworkNode * | NetworkNode |
RapidCode Objects | |
| MotionController * | rsiControl |
Functions | |
Motion | |
| virtual void | MoveTrapezoidal (double position)=0 |
| virtual void | MoveTrapezoidal (double position, double vel, double accel, double decel)=0 |
| virtual void | MoveTrapezoidal (double position, double vel, double accel, double decel, double finalVel)=0 |
| virtual void | MoveSCurve (double position)=0 |
| virtual void | MoveSCurve (double position, double vel, double accel, double decel, double jerkPct)=0 |
| Command a point-to-point S-Curve motion. More... | |
| virtual void | MoveSCurve (double position, double vel, double accel, double decel, double jerkPct, double finalVel)=0 |
| virtual void | MoveVelocity (double velocity)=0 |
| virtual void | MoveVelocity (double velocity, double accel)=0 |
| Command a constant velocity move (jog). More... | |
| virtual void | MoveVelocitySCurve (double velocity, double accel, double jerkPct)=0 |
| Command a constant velocity move (jog) with non-constant acceleration. More... | |
| virtual void | MoveRelative (double releativePosition)=0 |
| virtual void | MoveRelative (double relativePosition, double vel, double accel, double decel, double jerkPct)=0 |
| Command a relative point-to-point S-Curve motion. More... | |
| virtual void | MoveRelative (double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel)=0 |
Positions and Trajectory Status | |
| virtual void | PositionSet (double position)=0 |
| Set the Command and Actual positions. More... | |
| virtual double | ActualPositionGet ()=0 |
| get the current actual position More... | |
| virtual void | ActualPositionSet (double position)=0 |
| Set the actual position. More... | |
| virtual double | CompensationPositionGet ()=0 |
| Get the compensator position. More... | |
| virtual void | CompensationPositionSet (double position)=0 |
| Set the compensator position. More... | |
| virtual double | TargetPositionGet ()=0 |
| Get the target position. More... | |
| virtual double | CommandPositionGet ()=0 |
| Get the current command position. More... | |
| virtual void | CommandPositionSet (double position)=0 |
| Sets the value of the command and actual positions of an axis. More... | |
| virtual void | CommandPositionDirectSet (double position)=0 |
| directly sets the value of the command position of an axis More... | |
| virtual double | OriginPositionGet ()=0 |
| Get the origin position. More... | |
| virtual void | OriginPositionSet (double position)=0 |
| Set the origin position. More... | |
| virtual double | PositionErrorGet ()=0 |
| Get the current position error. More... | |
| virtual double | CommandVelocityGet ()=0 |
| Get the current commanded velocity. More... | |
| virtual double | ActualVelocityGet ()=0 |
| Get the current actual velocity. More... | |
| virtual double | CommandAccelGet ()=0 |
| Get the current commanded acceleration. More... | |
| virtual double | CommandJerkGet ()=0 |
| Get the current commanded jerk value (custom firmware required). | |
| virtual double | EncoderPositionGet (RSIMotorFeedback encoder)=0 |
| Get the raw encoder position. More... | |
| virtual double | UserUnitsGet ()=0 |
| Get the number of counts per User Unit. More... | |
| virtual void | UserUnitsSet (double countsPerUserUnit)=0 |
| Sets the number of counts per User Unit. More... | |
| virtual double | UserUnitsToCounts (double userUnits)=0 |
| Convert from UserUnits to raw feedback counts. | |
| virtual double | CountsToUserUnits (double counts)=0 |
| Convert from raw feedback counts to UserUnits. | |
| virtual int32 | FramesToExecuteGet ()=0 |
Homing | |
| virtual void | Home ()=0 |
| Execute the homing routine. More... | |
| virtual void | Home (bool moveToZero)=0 |
| virtual RSIHomeMethod | HomeMethodGet ()=0 |
| Get the method to be used for homing. More... | |
| virtual void | HomeMethodSet (RSIHomeMethod method)=0 |
| Set the method to be used for homing. More... | |
| virtual double | HomeOffsetGet ()=0 |
| Get the home offset. More... | |
| virtual void | HomeOffsetSet (double offset)=0 |
| Set the home offset. More... | |
| virtual double | HomeVelocityGet ()=0 |
| Get the home velocity. More... | |
| virtual double | HomeVelocityGet (RSIHomeStage homeStage)=0 |
| virtual void | HomeVelocitySet (double velocity)=0 |
| Set the home velocity. More... | |
| virtual void | HomeVelocitySet (RSIHomeStage homeStage, double velocity)=0 |
| virtual double | HomeSlowVelocityGet ()=0 |
| Get the slow home velocity. More... | |
| virtual void | HomeSlowVelocitySet (double velocity)=0 |
| Set the slow home velocity. More... | |
| virtual double | HomeAccelerationGet ()=0 |
| Get the deceleration used for homing. More... | |
| virtual double | HomeAccelerationGet (RSIHomeStage homeStage)=0 |
| virtual void | HomeAccelerationSet (double accel)=0 |
| Set the deceleration used for homing. More... | |
| virtual void | HomeAccelerationSet (RSIHomeStage homeStage, double accel)=0 |
| virtual double | HomeDecelerationGet ()=0 |
| Get the deceleration used for homing. More... | |
| virtual double | HomeDecelerationGet (RSIHomeStage homeStage)=0 |
| virtual void | HomeDecelerationSet (double decel)=0 |
| Set the deceleration used for homing. More... | |
| virtual void | HomeDecelerationSet (RSIHomeStage homeStage, double decel)=0 |
| virtual double | HomeJerkPercentGet ()=0 |
| Get the Jerk Percent used for homing. More... | |
| virtual double | HomeJerkPercentGet (RSIHomeStage homeStage)=0 |
| virtual void | HomeJerkPercentSet (double percent)=0 |
| Set the Jerk Percent used for homing. More... | |
| virtual void | HomeJerkPercentSet (RSIHomeStage homeStage, double percent)=0 |
| virtual void | HomeCancelSet (bool cancel)=0 |
| Cancel Homing. More... | |
| virtual bool | HomeStateGet ()=0 |
| Get the home state. More... | |
| virtual void | HomeStateSet (bool homed)=0 |
| Set the home state. More... | |
| virtual void | HomeLimitCustomConfigSet (uint64 address, int32 bitIndex)=0 |
| virtual void | HomeTravelDistanceSet (RSIHomeStage stage, double distanceToTravel)=0 |
| Set the max travel used in a specific Homing Stage. More... | |
| virtual RSIHomeStage | HomeStageGet ()=0 |
| Get the current Homing Stage. More... | |
| virtual void | HomeBehaviorSet (RSIAction behavior)=0 |
| Set the Action used for Master based homing. More... | |
| virtual RSIAction | HomeBehaviorGet ()=0 |
| Get the Action used during Master based Homing. More... | |
State and Status | |
| virtual bool | FaultMaskBitGet (RSIMotorFaultMask bitMask)=0 |
| Get the state of a Motor's Fault Mask bit. More... | |
| virtual uint16 | StatusWordGet ()=0 |
| Get the state of a Motor's Fault Mask bit. More... | |
Dedicated I/O | |
| virtual bool | NegativeLimitGet ()=0 |
| Get the state of the Hardware Negative Limit input. More... | |
| virtual bool | PositiveLimitGet ()=0 |
| Get the state of the Hardware Positive Limit input. More... | |
| virtual bool | HomeSwitchGet ()=0 |
| Get the current state of the Home switch input. More... | |
| virtual bool | AmpFaultGet ()=0 |
| Get the current state of the Amp Fault input. More... | |
| virtual bool | AmpEnableGet ()=0 |
| Get the state of the Amp Enable Output. More... | |
| virtual bool | DedicatedInExists (RSIMotorDedicatedIn bitNumber)=0 |
| Determine if a particular Dedicated input bit exists for a motor. More... | |
| virtual bool | DedicatedOutExists (RSIMotorDedicatedOut bitNumber)=0 |
| Determine if a particular Dedicated output bit exists for a motor. More... | |
| virtual bool | DedicatedInGet (RSIMotorDedicatedIn bitNumber)=0 |
| Read a digital input. More... | |
| virtual bool | DedicatedOutGet (RSIMotorDedicatedOut bitNumber)=0 |
| Get the state of dedicated output bit. More... | |
User I/O | |
| virtual bool | DigitalInGet (RSIMotorGeneralIo bitNumber)=0 |
| Read a digital input. More... | |
| virtual bool | DigitalOutGet (RSIMotorGeneralIo bitNumber)=0 |
| Get the state of digital output bit. More... | |
| virtual void | DigitalOutSet (RSIMotorGeneralIo bitNumber, bool value)=0 |
| Set a digital output bit. More... | |
| virtual bool | DigitalIoExists (RSIMotorGeneralIo bitNumber)=0 |
| Determine if a particular General I/O bit exists for a motor. More... | |
| virtual char * | DigitalIoNameGet (RSIMotorGeneralIo bitNumber)=0 |
| Get the name of a Motor I/O bit. More... | |
| virtual RSIMotorIoTypeMask | DigitalIoValidTypesMaskGet (RSIMotorGeneralIo bitNumber)=0 |
| Get the type mask for a Motor I/O bit. More... | |
| virtual void | DigitalIoTypeSet (RSIMotorGeneralIo bitNumber, RSIMotorIoType type)=0 |
| Set the type for a Motor I/O bit. More... | |
| virtual double | AnalogInGet (int32 channel)=0 |
| Get the value of an analog input. More... | |
Motion Configuration | |
| virtual double | EStopDecelerationGet ()=0 |
| Get the deceleration rate for an E-Stop, Modify Event. More... | |
| virtual void | EStopDecelerationSet (double decel)=0 |
| Set the deceleration rate for an E-Stop, Modify Event. More... | |
| virtual double | EStopJerkPercentGet ()=0 |
| Get the jerk percent for an E-Stop, Modify Event. More... | |
| virtual void | EStopJerkPercentSet (double jerkPct)=0 |
| Set the jerk percent for an E-Stop, Modify Event. More... | |
| virtual double | TriggeredModifyDecelerationGet ()=0 |
| Get the deceleration rate for an Triggered Modify Event. More... | |
| virtual void | TriggeredModifyDecelerationSet (double decel)=0 |
| Set the deceleration rate for an Triggered Modify Event. More... | |
| virtual double | TriggeredModifyJerkPercentGet ()=0 |
| Get the jerk percent for an Triggered Modify Event. More... | |
| virtual void | TriggeredModifyJerkPercentSet (double jerkPct)=0 |
| Set the jerk percent for an Triggered Modify Event. More... | |
| virtual int32 | FrameBufferSizeGet ()=0 |
| Get Frame buffer size for the axis. More... | |
| virtual void | FrameBufferSizeSet (int32 frameSize)=0 |
| Set Frame buffer size for the axis. More... | |
| virtual uint16 | MotionIdExecutingGet ()=0 |
| virtual uint16 | MotionElementIdExecutingGet ()=0 |
Configuration and Information | |
| virtual double | MotionFinalVelocityGet ()=0 |
| Gets final velocity value (!!! only used if FINAL_VEL motion attribute is used !!!) More... | |
| virtual void | MotionFinalVelocitySet (double finalVelocity)=0 |
| Sets the final velocity. More... | |
| virtual double | DefaultVelocityGet ()=0 |
| Get the default velocity in UserUnits. | |
| virtual void | DefaultVelocitySet (double velocity)=0 |
| Set the default velocity in UserUnits. | |
| virtual double | DefaultAccelerationGet ()=0 |
| Get the default acceleration in UserUnits. | |
| virtual void | DefaultAccelerationSet (double acceleration)=0 |
| Set the default acceleration in UserUnits. | |
| virtual double | DefaultDecelerationGet ()=0 |
| Get the default deceleration in UserUnits. | |
| virtual void | DefaultDecelerationSet (double deceleration)=0 |
| Set the default deceleration in UserUnits. | |
| virtual double | DefaultJerkPercentGet ()=0 |
| Get the default jerk percent. | |
| virtual void | DefaultJerkPercentSet (double jerkPercent)=0 |
| Set the default jerk percent. | |
| virtual double | DefaultPosition1Get ()=0 |
| Get the default Position 1 value in UserUnits (used by RapidSetup). | |
| virtual void | DefaultPosition1Set (double position1)=0 |
| Set the default Position 1 value in UserUnits (used by RapidSetup). | |
| virtual double | DefaultPosition2Get ()=0 |
| Get the default Position 2 value in UserUnits (used by RapidSetup). | |
| virtual void | DefaultPosition2Set (double position2)=0 |
| Set the default Position 2 value in UserUnits (used by RapidSetup). | |
| virtual double | DefaultRelativeIncrementGet ()=0 |
| Get the default relative increment value in UserUnits (used by RapidSetup). | |
| virtual void | DefaultRelativeIncrementSet (double relativeIncrement)=0 |
| Set the default relative value in UserUnits (used by RapidSetup). | |
Limits and Action Configuration | |
| virtual RSIAction | AmpFaultActionGet ()=0 |
| Get the Amp Fault action. More... | |
| virtual void | AmpFaultActionSet (RSIAction action)=0 |
| Set the Amp Fault action. More... | |
| virtual bool | AmpFaultTriggerStateGet ()=0 |
| Get the Amp Fault trigger state. More... | |
| virtual void | AmpFaultTriggerStateSet (bool state)=0 |
| Set the trigger state of the Amp Fault input. More... | |
| virtual double | AmpFaultDurationGet ()=0 |
| Get the duration required before the Amp Fault event triggers. More... | |
| virtual void | AmpFaultDurationSet (double seconds)=0 |
| Set the duration required before the Amp Fault event triggers. More... | |
| virtual RSIAction | HomeActionGet ()=0 |
| Get the action that will occur when the Home Event triggers. More... | |
| virtual void | HomeActionSet (RSIAction action)=0 |
| Set the action that will occur when the Home Event triggers. More... | |
| virtual bool | HomeTriggerStateGet ()=0 |
| Get the trigger state for the Home input. More... | |
| virtual void | HomeTriggerStateSet (bool state)=0 |
| Set the trigger state for the Home input. More... | |
| virtual double | HomeDurationGet ()=0 |
| Get the duration required before the Home event triggers. More... | |
| virtual void | HomeDurationSet (double seconds)=0 |
| Set the duration required before the Home event triggers. More... | |
| virtual RSIAction | ErrorLimitActionGet ()=0 |
| Get the action that will occur when the Position Error Limit Event triggers. More... | |
| virtual void | ErrorLimitActionSet (RSIAction action)=0 |
| Set the action that will occur when the Error Limit Event triggers. More... | |
| virtual double | ErrorLimitTriggerValueGet ()=0 |
| Get the Position Error Limit trigger value. More... | |
| virtual void | ErrorLimitTriggerValueSet (double value)=0 |
| Set the Position Error Limit trigger value. More... | |
| virtual double | ErrorLimitDurationGet ()=0 |
| Get the duration required before the Position Error Limit event triggers. More... | |
| virtual void | ErrorLimitDurationSet (double seconds)=0 |
| Sets the duration required before the Position Error Limit event triggers. More... | |
| virtual RSIAction | HardwareNegLimitActionGet ()=0 |
| Get the action that will occur when the Hardware Negative Limit Event triggers. More... | |
| virtual void | HardwareNegLimitActionSet (RSIAction action)=0 |
| Set the action that will occur when the Hardware Negative Limit Event triggers. More... | |
| virtual bool | HardwareNegLimitTriggerStateGet ()=0 |
| Trigger state return. More... | |
| virtual void | HardwareNegLimitTriggerStateSet (bool state)=0 |
| Sets the trigger state. More... | |
| virtual double | HardwareNegLimitDurationGet ()=0 |
| Get the duration required before the Hardware Negative Limit event triggers. More... | |
| virtual void | HardwareNegLimitDurationSet (double seconds)=0 |
| Set the duration required before the Hardware Negative Limit event triggers. More... | |
| virtual RSIAction | HardwarePosLimitActionGet ()=0 |
| Get the action that will occur when the Hardware Positive Limit Event triggers. More... | |
| virtual void | HardwarePosLimitActionSet (RSIAction action)=0 |
| Set the action that will occur when the Hardware Positive Limit Event triggers. More... | |
| virtual bool | HardwarePosLimitTriggerStateGet ()=0 |
| trigger state return. More... | |
| virtual void | HardwarePosLimitTriggerStateSet (bool state)=0 |
| sets the trigger state. More... | |
| virtual double | HardwarePosLimitDurationGet ()=0 |
| Get the duration required before the Hardware Positive Limit event triggers. More... | |
| virtual void | HardwarePosLimitDurationSet (double seconds)=0 |
| Set the duration required before the Hardware Positive Limit event triggers. More... | |
| virtual RSIAction | SoftwareNegLimitActionGet ()=0 |
| Get the action that will occur when the Software Negative Limit Event triggers. More... | |
| virtual void | SoftwareNegLimitActionSet (RSIAction action)=0 |
| Set the action that will occur when the Software Negative Limit Event triggers. More... | |
| virtual double | SoftwareNegLimitTriggerValueGet ()=0 |
| Get the Software Negative Position limit. More... | |
| virtual void | SoftwareNegLimitTriggerValueSet (double value)=0 |
| Set the Software Negative Position limit. More... | |
| virtual RSIAction | SoftwarePosLimitActionGet ()=0 |
| Get the action that will occur when the Software Positive Limit Event triggers. More... | |
| virtual void | SoftwarePosLimitActionSet (RSIAction action)=0 |
| Set the action that will occur when the Software Positive Limit Event triggers. More... | |
| virtual double | SoftwarePosLimitTriggerValueGet ()=0 |
| Get the Software Positive Position limit. More... | |
| virtual void | SoftwarePosLimitTriggerValueSet (double value)=0 |
| Set the Software Positive Position limit. More... | |
| virtual RSIAction | EncoderFaultActionGet ()=0 |
| Get the action that will occur when the Encoder Fault Limit Event triggers. More... | |
| virtual void | EncoderFaultActionSet (RSIAction action)=0 |
| Set the action that will occur when the Encoder Fault Limit Event triggers. More... | |
| virtual RSIMotorFeedbackFault | EncoderFaultTriggerGet ()=0 |
| Get the encoders which are used to generate encoder faults. More... | |
| virtual void | EncoderFaultTriggerSet (RSIMotorFeedbackFault encoder)=0 |
| Set the encoders which are used to generate encoder faults. More... | |
| virtual double | EncoderFaultDurationGet ()=0 |
| Get the duration required before the Encoder Fault Limit event triggers. More... | |
| virtual void | EncoderFaultDurationSet (double seconds)=0 |
| Set the duration required before the Encoder Fault Limit event triggers. More... | |
| virtual RSIAction | NodeFailureActionGet ()=0 |
| Get the action for a node failure. | |
| virtual void | NodeFailureActionSet (RSIAction action)=0 |
| Set the action for a node failure. | |
| virtual RSIAction | UserFaultActionGet ()=0 |
| Get the action for a node user fault. | |
| virtual void | UserFaultActionSet (RSIAction action)=0 |
| Set the action for a node user fault. | |
| virtual uint64 | AddressGet (RSIAxisAddressType addressType)=0 |
| Get the an address for some location on the Axis. More... | |
| virtual RSIAction | LimitActionGet (RSIEventType limit)=0 |
| Get the action for any type of limit. | |
| virtual void | LimitActionSet (RSIEventType limit, RSIAction action)=0 |
| Set the action for any type of limit. | |
| virtual bool | LimitTriggerStateGet (RSIEventType limit)=0 |
| Get the trigger state for any type of limit. | |
| virtual void | LimitTriggerStateSet (RSIEventType limit, bool triggerState)=0 |
| Set the trigger state for any type of limit. | |
| virtual double | LimitTriggerValueGet (RSIEventType limit)=0 |
| Get the trigger value for any type of limit. | |
| virtual void | LimitTriggerValueSet (RSIEventType limit, double triggerValue)=0 |
| Set the trigger value for any type of limit. | |
| virtual double | LimitDurationGet (RSIEventType limit)=0 |
| Get the duration for any type of limit. | |
| virtual void | LimitDurationSet (RSIEventType limit, double seconds)=0 |
| Set the duration for any type of limit. | |
Settling Criteria Configuration | |
| virtual double | PositionToleranceFineGet ()=0 |
| Get the Fine Position Tolerance for axis settling. More... | |
| virtual void | PositionToleranceFineSet (double tolerance)=0 |
| Set the Fine Position Tolerance for Axis settling. More... | |
| virtual double | PositionToleranceCoarseGet ()=0 |
| Get the Coarse Position Tolerance for axis settling. More... | |
| virtual void | PositionToleranceCoarseSet (double tolerance)=0 |
| Set the Coarse Position Tolerance for Axis settling. More... | |
| virtual double | VelocityToleranceGet ()=0 |
| Get the velocity tolerance used for settling. More... | |
| virtual void | VelocityToleranceSet (double tolerance)=0 |
| Set the Velocity Tolerance used for settling. More... | |
| virtual double | SettlingTimeGet ()=0 |
| Get the Settling time. More... | |
| virtual void | SettlingTimeSet (double time)=0 |
| Set the settling time. More... | |
| virtual bool | SettleOnStopGet ()=0 |
| Get the Stop Event settling configuration. More... | |
| virtual void | SettleOnStopSet (bool state)=0 |
| Set the Stop Event settling configuration. More... | |
| virtual bool | SettleOnEStopGet ()=0 |
| Get the E-Stop Event settling configuration. More... | |
| virtual void | SettleOnEStopSet (bool state)=0 |
| Set the E-Stop Event settling configuration. More... | |
| virtual bool | SettleOnEStopCmdEqActGet ()=0 |
| Get the E-Stop Event settling configuration when E-Stop is configured for (Command = Actual). More... | |
| virtual void | SettleOnEStopCmdEqActSet (bool state)=0 |
| Set the settling configuration for E-Stop events (when configured for Command = Actual). More... | |
Motor Configuration | |
| virtual RSIMotorType | MotorTypeGet ()=0 |
| Get the motor type. More... | |
| virtual void | MotorTypeSet (RSIMotorType type)=0 |
| Set the motor type. More... | |
| virtual RSIMotorDisableAction | AmpDisableActionGet ()=0 |
| Get the Amp Disable action. More... | |
| virtual void | AmpDisableActionSet (RSIMotorDisableAction action)=0 |
| Set the Amp Disable action. More... | |
| virtual RSIMotorBrakeMode | BrakeModeGet ()=0 |
| Get the brake mode. More... | |
| virtual void | BrakeModeSet (RSIMotorBrakeMode mode)=0 |
| Set the brake mode. More... | |
| virtual double | BrakeApplyDelayGet ()=0 |
| Get the delay time for the brake to be applied. More... | |
| virtual void | BrakeApplyDelaySet (double seconds)=0 |
| Set the brake apply delay. More... | |
| virtual double | BrakeReleaseDelayGet ()=0 |
| Get the brake release delay time. More... | |
| virtual void | BrakeReleaseDelaySet (double seconds)=0 |
| Set the Brake Release Delay. More... | |
| virtual void | ClosedLoopStepperSet (bool enable)=0 |
| Enable or disable Closed-Loop Stepper support (custom firmware required). More... | |
| virtual int32 | ClosedLoopStepperVersionGet ()=0 |
| Get the Closed-Loop Stepper feature version. More... | |
| virtual uint64 | EncoderPointerGet (RSIMotorFeedback encoder)=0 |
| Get the pointer (host address) for the motor feedback. | |
| virtual void | EncoderPointerSet (RSIMotorFeedback encoder, uint64 address)=0 |
| Set the pointer (host address) for the motor feedback. | |
| virtual uint64 | FeedbackDeltaPointerGet (RSIAxisPositionInput input)=0 |
| Get the pointer (host address) for the axis feedback. | |
| virtual void | FeedbackDeltaPointerSet (RSIAxisPositionInput input, uint64 address)=0 |
| Set the pointer (host address) for the axis feedback. | |
| virtual uint64 | FeedbackPointerGet (RSIAxisPositionInput input)=0 |
| Get the pointer (host address) for the axis feedback. | |
| virtual void | FeedbackPointerSet (RSIAxisPositionInput input, uint64 address)=0 |
| Configure an axis for dual loop feedback. More... | |
| virtual int32 | EncoderRatioNumeratorGet (RSIMotorFeedback encoder)=0 |
| Get the encoder ratio numerator. | |
| virtual int32 | EncoderRatioDenominatorGet (RSIMotorFeedback encoder)=0 |
| Get the encoder ration denominator. | |
| virtual void | EncoderRatioSet (RSIMotorFeedback encoder, int32 numerator, int32 denominator)=0 |
| Sets the ratio to scale Encoder counts. More... | |
| virtual char * | EncoderRatioPrimaryGet ()=0 |
| Get the primary feedback encoder ratio as text. | |
| virtual void | EncoderRatioPrimarySet (char *numeratorCommaDenominator)=0 |
| Set the primary feedback encoder ratio as text. "1.0 ,2.0". | |
| virtual char * | EncoderRatioSecondaryGet ()=0 |
| Get the secondary feedback encoder ratio as text. | |
| virtual void | EncoderRatioSecondarySet (char *numeratorCommaDenominator)=0 |
| Set the secondary feedback encoder ratio as text. "1.0 ,2.0". | |
| virtual int32 | EncoderCountGet ()=0 |
| Get the number of encoders processed in firmware by the motor object. Valid values: 0,1,2. | |
| virtual void | EncoderCountSet (int32 count)=0 |
| virtual RSIAxisGantryType | GantryTypeGet ()=0 |
| Get the gantry type. | |
| virtual void | GantryTypeSet (RSIAxisGantryType type)=0 |
| Set the gantry type. | |
| virtual RSIOperationMode | OperationModeGet ()=0 |
| Get the operation mode. More... | |
| virtual void | OperationModeSet (RSIOperationMode mode)=0 |
| Set the axis operation mode. More... | |
| virtual int32 | MotorFaultMaskGet ()=0 |
| Get the Motor Fault Mask. More... | |
| virtual void | MotorFaultMaskSet (int32 mask)=0 |
| Set the Motor Fault Mask. More... | |
Gearing | |
| virtual void | GearingEnable (int32 masterAxisNumber, RSIAxisMasterType masterFeedbackSource, int32 numerator, int32 denominator)=0 |
| Enable this Axis to be follower (slave) using electronic gearing. More... | |
| virtual void | GearingEnable (Axis *masterAxis, RSIAxisMasterType masterFeedbackSource, int32 numerator, int32 denominator)=0 |
| Enable this Axis to be a follower (slave) using electronic gearing. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
| virtual void | GearingRatioChange (int32 numerator, int32 denominator)=0 |
| Change the electronic gearing ratio. More... | |
| virtual void | GearingDisable ()=0 |
| Disable the electronic gearing. More... | |
| virtual int32 | GearingNumeratorGet ()=0 |
| Get the numerator of the gearing ratio. | |
| virtual int32 | GearingDenominatorGet ()=0 |
| Get the denominator of the gearing ratio. | |
| virtual bool | GearingEnableGet ()=0 |
| Get the state of gearing feature. If true, this Axis is a geared slave. | |
| virtual int32 | GearingMasterAxisNumberGet ()=0 |
| Get a Slave's Master Axis Number. More... | |
| virtual RSIAxisMasterType | GearingSourceGet ()=0 |
| Get the Source used to slave to the Master Axis. More... | |
Camming | |
| virtual double | MotionCamMasterStartGet (Axis *master)=0 |
| Gets the position on the master that will start the cam when exceeded. More... | |
| virtual void | MotionCamMasterStartSet (Axis *master, double startPosition)=0 |
| Set the position at which camming starts. More... | |
| virtual int32 | MotionCamRepeatFromGet ()=0 |
| Get the segment at which camming repeats. More... | |
| virtual void | MotionCamRepeatFromSet (int32 repeatFrom)=0 |
| Set the segment at which camming repeats. More... | |
| virtual void | MotionCamRepeatStop ()=0 |
| Stops a Repeating Cam. More... | |
| virtual void | MoveCamLinear (int32 masterAxisNumber, RSIAxisMasterType masterFeedbackSource, double *masterDistances, double *slavePositions, int32 pointCount)=0 |
| Enable this Axis to be linear follower (slave) using an electronic cam. More... | |
| virtual void | MoveCamCubic (int32 masterAxisNumber, RSIAxisMasterType masterFeedbackSource, double *masterDistances, double *slavePositions, double *gearRatios, int32 pointCount)=0 |
| Enable this Axis to be cubic follower (slave) using an electronic cam. More... | |
| virtual int32 | DriveIndexGet ()=0 |
| Get the drive index, relative to the Network Node (multi-axis drives) More... | |
Backlash | |
| virtual double | BacklashWidthGet ()=0 |
| Gets the Backlash Width which was set by the user. More... | |
| virtual void | BacklashWidthSet (double width)=0 |
| Sets the total range of the give in a system with Backlash. More... | |
| virtual double | BacklashRateGet ()=0 |
| Gets the Backlash Rate which was set by the user. More... | |
| virtual void | BacklashRateSet (double rate)=0 |
| Sets the rate at which Backlash is applied. More... | |
Filter | |
| virtual RSIFilterAlgorithm | FilterAlgorithmGet ()=0 |
| Get the control algorithm type. More... | |
| virtual void | FilterAlgorithmSet (RSIFilterAlgorithm algorithm)=0 |
| Set the algorithm type for an axis. More... | |
| virtual double | FilterCoeffGet (RSIFilterGainPIDCoeff coeff, int32 gainTable)=0 |
| Get value for a filter coefficient (ex: Kp, Ki, Kd, etc). More... | |
| virtual void | FilterCoeffSet (RSIFilterGainPIDCoeff coeff, int32 gainTable, double value)=0 |
| Set a filter coefficient (ex: Kp, Ki, Kd). More... | |
| virtual double | FilterCoeffGet (RSIFilterGainPIVCoeff coeff, int32 gainTable)=0 |
| virtual void | FilterCoeffSet (RSIFilterGainPIVCoeff coeff, int32 gainTable, double value)=0 |
| virtual int32 | FilterGainTableGet ()=0 |
| Gets which gain table is currently in use by the axis. More... | |
| virtual void | FilterGainTableSet (int32 gainTable)=0 |
| Set the gain table to be used by an axis. More... | |
| virtual int32 | FilterGainTableSizeGet ()=0 |
| Gets the size of gain tables. More... | |
| virtual double | FilterOutputGet (void)=0 |
| Get the output of a demand filter, range is +/- 100.0. | |
| virtual double | FilterLowPassGet ()=0 |
| Get the value of the Low-Pass filter. More... | |
| virtual void | FilterLowPassSet (double frequency)=0 |
| Use a Low-Pass filter. More... | |
| virtual void | FilterDualLoopSet (Axis *velocityAxis, RSIMotorFeedback velocityEncoder, bool enable)=0 |
| Configure an axis for dual loop feedback. More... | |
| virtual bool | FilterGainSchedulingGet ()=0 |
| Get the status of automatic gain scheduling. | |
| virtual void | FilterGainSchedulingSet (bool enable)=0 |
| Enable or disable automatic gain scheduling. | |
| virtual bool | IsTuneable ()=0 |
| Is an Axis tunable? Returns false if Axis is in position mode, otherwise true. | |
| virtual void | PostFilterLowPassSet (int sectionNumber, double frequency)=0 |
| Use a Low-Pass filter. More... | |
| virtual void | PostFilterUnityGainSet (int sectionNumber)=0 |
| Use a Unity Gain Post Filter. More... | |
| virtual void | PostFilterSingleOrderSet (int sectionNumber, double aOne, double bZero, double bOne)=0 |
| Use a Single Order Post Filter. More... | |
| virtual void | PostFilterHighPassSet (int sectionNumber, double cornerFreq)=0 |
| Use a High Pass Post Filter. More... | |
| virtual void | PostFilterNotchSet (int sectionNumber, double centerFreq, double bandwidth)=0 |
| Use a Notch Post Filter. More... | |
| virtual void | PostFilterResonatorSet (int sectionNumber, double centerFreq, double bandwidth, double gain)=0 |
| Use a Resonator Post Filter. More... | |
| virtual void | PostFilterLeadLagSet (int sectionNumber, double lowGain, double highGain, double centerFreq)=0 |
| Use a Lead Lag Post Filter. More... | |
| virtual void | PostFilterClear (int sectionNumber)=0 |
| Remove any Post Filters in section Number. More... | |
| virtual void | PostFilterBiquadSet (int sectionNumber, double aOne, double aTwo, double bZero, double bOne, double bTwo)=0 |
| Use a Digital Biquad Post Filter. More... | |
| virtual char * | PostFilterInfoGet ()=0 |
| Get a text description of the current post filters. | |
Info | |
| virtual char * | UserLabelGet ()=0 |
| Get the axis User defined Label. More... | |
| virtual void | UserLabelSet (char *userLabel)=0 |
| Set the axis User defined Label. More... | |
Post Trajectory Gearing | |
| virtual void | PostTrajectoryGearingEnableSet (bool enable)=0 |
| Enable or disable the post-trajectory gearing feature. | |
| virtual bool | PostTrajectoryGearingEnableGet ()=0 |
| Get the state of post-trajectory gearing feature. If true, this Axis is a post-trajectory geared slave. | |
| virtual void | PostTrajectoryGearingMasterAxisSet (int32 masterAxisNumber)=0 |
| Set the master axis number of the post-trajectory gearing. | |
| virtual int32 | PostTrajectoryGearingMasterAxisGet ()=0 |
| Get the master axis number of the post-trajectory gearing. | |
| virtual void | PostTrajectoryGearingMultiplierSet (double multiplier)=0 |
| Set the multiplier for post-trajectory gearing. This feature only works for an Axis in position mode. | |
| virtual double | PostTrajectoryGearingMultiplierGet ()=0 |
| Get the multiplier for the post-trajectory gearing. | |
| virtual uint32 | NetworkIndexGet (RSINetworkIndexType indexType)=0 |
| Get the Network Index associated with a DS402 Axis Feature. More... | |
| virtual void | NetworkIndexSet (RSINetworkIndexType indexType, uint32 newIndex)=0 |
| Set the Network Index associated with a DS402 Axis Feature. More... | |
Info | |
| virtual int32 | NumberGet ()=0 |
| Get the axis number. More... | |
Action | |
| virtual void | TriggeredModify ()=0 |
| Modify the currently execuing motion to decelerate the Axis or MultiAxis to a zero velocity IDLE state. More... | |
| virtual void | Stop ()=0 |
| Stop an axis. More... | |
| virtual void | Resume ()=0 |
| Resume an axis. More... | |
| virtual void | EStop ()=0 |
| E-Stop an axis. More... | |
| virtual void | EStopAbort ()=0 |
| E-Stop, then abort an axis. More... | |
| virtual void | EStopModify ()=0 |
| E-Stop with a deceleration rate. More... | |
| virtual void | EStopModifyAbort ()=0 |
| virtual void | Abort ()=0 |
| Abort an axis. More... | |
| virtual void | ClearFaults ()=0 |
| Clear all faults for an Axis or MultiAxis. More... | |
| virtual void | AmpEnableSet (bool enable)=0 |
| Enable all amplifiers. More... | |
| virtual void | Map ()=0 |
| Writes the axis mapping relationship to the Controller. More... | |
| virtual void | Unmap ()=0 |
| Removes the axis mapping relationship of the MultiAxis. More... | |
| virtual void | FeedRateSet (double rate)=0 |
| Set the feed rate for an Axis. More... | |
| virtual double | FeedRateGet ()=0 |
| Get the axis feed rate. More... | |
State and Status | |
| virtual RSIState | StateGet ()=0 |
| Get the Axis or MultiAxis state. More... | |
| virtual RSISource | SourceGet ()=0 |
| Get the source of an error state for an Axis or MultiAxis. More... | |
| virtual char * | SourceNameGet (RSISource source)=0 |
| Get the name (string) of the source of an error for an Axis or MultiAxis. More... | |
| virtual int32 | MotionDoneWait ()=0 |
| Waits for a move to complete. More... | |
| virtual int32 | MotionDoneWait (int32 timeoutMilliseconds)=0 |
| Waits for a move to complete. More... | |
| virtual bool | MotionDoneGet ()=0 |
| Check to see if motion is done and settled. More... | |
| virtual bool | StatusBitGet (RSIEventType bitMask)=0 |
| Return the state of a status bit. More... | |
Interrupts | |
| virtual void | InterruptEnableSet (bool enable)=0 |
| Control interrupts for this class. More... | |
| virtual void | InterruptWake ()=0 |
| Wake all threads waiting for an interrupt on this Axis. More... | |
Motion Configuration | |
| virtual double | StopTimeGet ()=0 |
| Get Stop Event deceleration time. More... | |
| virtual void | StopTimeSet (double seconds)=0 |
| Set the deceleration time for a Stop Event. More... | |
| virtual double | EStopTimeGet ()=0 |
| Get E-Stop Event deceleration time. More... | |
| virtual void | EStopTimeSet (double seconds)=0 |
| Set the deceleration time for an E-Stop Event. More... | |
| virtual double | MotionDelayGet ()=0 |
| Get the delay (seconds) that will occur before motion starts. More... | |
| virtual void | MotionDelaySet (double seconds)=0 |
| Set the time (seconds) that a motion will wait before starting. More... | |
| virtual uint16 | MotionIdGet ()=0 |
| Get the motion identifier. More... | |
| virtual void | MotionIdSet (uint16 id)=0 |
| Set the Motion identifier. More... | |
| virtual RSIMotionHoldType | MotionHoldTypeGet ()=0 |
| Get the motion hold attribute type. More... | |
| virtual void | MotionHoldTypeSet (RSIMotionHoldType type)=0 |
| Set the motion hold type. More... | |
| virtual int32 | MotionHoldGateNumberGet ()=0 |
| Returns the Motion Hold Gate number that the axis or multiaxis is set to. More... | |
| virtual void | MotionHoldGateNumberSet (int32 gateNumber)=0 |
| Assigns the axis or multiaxis Motion Hold Gate number to the specified controller gate. More... | |
| virtual double | MotionHoldTimeoutGet ()=0 |
| Get the motion hold timeout value. More... | |
| virtual void | MotionHoldTimeoutSet (double seconds)=0 |
| Set the motion hold timeout value. More... | |
| virtual bool | MotionHoldGateGet ()=0 |
| Get the state of the hold gate. More... | |
| virtual void | MotionHoldGateSet (bool hold)=0 |
| Set the Motion Hold Gate. More... | |
| virtual int32 | MotionHoldAxisNumberGet ()=0 |
| Gets the Axis number. More... | |
| virtual void | MotionHoldAxisNumberSet (int32 number)=0 |
| Sets the Axis number for Motion Hold. More... | |
| virtual double | MotionHoldAxisPositionGet ()=0 |
| Gets the Axis position. More... | |
| virtual void | MotionHoldAxisPositionSet (double position)=0 |
| Sets the Axis position. More... | |
| virtual RSIUserLimitLogic | MotionHoldAxisLogicGet ()=0 |
| Get the logic when holding for Axis ActualPosition. | |
| virtual void | MotionHoldAxisLogicSet (RSIUserLimitLogic logic)=0 |
| Set the logic when holding for Axis ActualPosition. | |
| virtual uint64 | MotionHoldUserAddressGet ()=0 |
| Gets the Motion Hold User Address. More... | |
| virtual void | MotionHoldUserAddressSet (uint64 address)=0 |
| Sets the Motion Hold User Address. More... | |
| virtual int32 | MotionHoldUserMaskGet ()=0 |
| Gets the Motion Hold User Mask. More... | |
| virtual void | MotionHoldUserMaskSet (int32 mask)=0 |
| Sets the Motion Hold User bit mask. More... | |
| virtual int32 | MotionHoldUserPatternGet ()=0 |
| Gets the Motion Hold user bit pattern. More... | |
| virtual void | MotionHoldUserPatternSet (int32 pattern)=0 |
| Sets the Motion Hold User pattern bit mask. More... | |
| virtual void | MotionAttributeMaskDefaultSet ()=0 |
| Restore the motion attribute mask to the RapidCode default. | |
| virtual bool | MotionAttributeMaskOnGet (RSIMotionAttrMask maskOn)=0 |
| Check to see if a particular motion attribute mask is turned on. More... | |
| virtual void | MotionAttributeMaskOnSet (RSIMotionAttrMask maskOn)=0 |
| Turn on a particular motion attribute mask. More... | |
| virtual void | MotionAttributeMaskOffSet (RSIMotionAttrMask maskOff)=0 |
| Turn off a particular motion attribute mask. More... | |
Streaming Motion | |
| virtual void | MovePT (RSIMotionType type, double *position, double *time, int32 pointCount, int32 emptyCount, bool retain, bool final)=0 |
| A move commanded by a list of position and time points. More... | |
| virtual void | MovePVT (double *position, double *velocity, double *time, int32 pointCount, int32 emptyCount, bool retain, bool final)=0 |
| Move commanded by list of positions, velocities, and times. More... | |
| virtual void | MovePVAJT (double *position, double *velocity, double *acceleration, double *jerk, double *time, int32 pointCount, int32 emptyCount, bool retain, bool final)=0 |
| virtual void | StreamingOutputAdd (int32 onMask, int32 offMask, uint64 address)=0 |
| virtual void | StreamingOutputAdd (int32 onMask, int32 offMask, uint64 address, int ptPointIndex)=0 |
| Applies the on and off bitmasks to the controller's memory address when the motion reaches the specified streaming point index. Used to toggle Digital Outputs and/or memory. More... | |
| virtual void | StreamingOutputAdd (RapidCode::IOPoint *point, bool on)=0 |
| virtual void | StreamingOutputAdd (RapidCode::IOPoint *point, bool on, int ptPointIndex)=0 |
| Sets the state of the specified IOPoint when the motion reaches the specified streaming point index. More... | |
| virtual void | StreamingOutputsClear ()=0 |
| Clear the contents of the Streaming Output List. More... | |
| virtual void | StreamingOutputsEnableSet (bool enable)=0 |
| Sets whether Streaming Output is enabled (true) or disabled (false). More... | |
Interrupts | |
| virtual RSIEventType | InterruptWait (int32 milliseconds)=0 |
| Suspend the current thread until an interrupt arrives from the controller. More... | |
| virtual char * | InterruptNameGet ()=0 |
| Get the text name of an interrupt type. More... | |
| virtual int32 | InterruptSampleTimeGet ()=0 |
| Get the sample timer value when the last interrupt was generated. More... | |
| virtual int32 | InterruptSourceNumberGet ()=0 |
| Get the number (or index) of the object (Axis, Motor, etc) that generated the interrupt. More... | |
| virtual uint16 | InterruptMotionIdGet ()=0 |
| Get the 16-bit MotionId - only valid if RSIEventType == MOTION_DONE. | |
| virtual void | InterruptMaskClear ()=0 |
| Clear the interrupt mask so no interrupts will be generated. | |
| virtual void | InterruptMaskAllSet ()=0 |
| Set all the bits of the interrupt mask to get interrupts for ALL sources. | |
| virtual void | InterruptMaskOnSet (RSIEventType eventType)=0 |
| Set a bit in the interrupt mask so you will get interrupts for the given RSIEventType. | |
| virtual void | InterruptMaskOffSet (RSIEventType eventType)=0 |
| Clear a bit in the interrupt mask so you won't get interrupts for the given RSIEventType. | |
| virtual bool | InterruptMaskOnGet (RSIEventType eventType)=0 |
| Get the status of the interrupt mask for the given RSIEventType. | |
| virtual uint64 | InterruptUserDataGet (uint32 index)=0 |
| Get the user data associated with the interrupt. More... | |
Version | |
| virtual char * | VersionGet ()=0 |
| Get the RSI RapidCode version. More... | |
| virtual int32 | MpiVersionMajor ()=0 |
| Get the major version number of the MPI library. | |
| virtual int32 | MpiVersionMinor ()=0 |
| Get the minor version number of the MPI library. | |
| virtual int32 | MpiVersionRelease ()=0 |
| Get the release version number of the MPI library. | |
| virtual int32 | RSIVersionMajor ()=0 |
| Get the major version number of the RSI library. | |
| virtual int32 | RSIVersionMinor ()=0 |
| Get the minor version number of the RSI library. | |
| virtual int32 | RSIVersionMicro ()=0 |
| Get the micro version number of the RSI library. | |
Errors and Exceptions | |
| virtual int32 | ErrorLogCountGet ()=0 |
| Get the number of software errors in the error log. More... | |
| virtual RsiError * | ErrorLogGet ()=0 |
| Get the next RsiError in the log. More... | |
| virtual void | ErrorLogClear ()=0 |
| Clear the error log. More... | |
| virtual void | ThrowExceptions (bool state)=0 |
| Configure a class to throw exceptions. More... | |
| virtual void | CacheEnableSet (RSICacheObject cache, bool enable, uint32 expirationMilliseconds)=0 |
| Configure a class to cache data for specified time. More... | |
| virtual char * | RsiErrorMessageGet (RSIErrorMessage msg)=0 |
| Get the RSI-specific error message text for a specific RSIErrorMessage. | |
| virtual char * | ErrorMessageGet (RSIErrorMessage msg)=0 |
| Get the detailed text message for an RSIErrorMessage. | |
| virtual bool | WarningMsgCheck (RSIErrorMessage msg)=0 |
| Check to see if an RSIErrorMessage is a warning (true) or not (false). | |
Tracing | |
| virtual void | Trace (bool state)=0 |
| Enables/Disables trace output. More... | |
| virtual void | TraceMaskOnSet (RSITrace maskOn)=0 |
| Turn on a particular trace output mask. More... | |
| virtual bool | TraceMaskOnGet (RSITrace maskOn)=0 |
| Check to see if a particular trace output mask is turned on. More... | |
| virtual void | TraceMaskOffSet (RSITrace maskOff)=0 |
| Turn off a particular trace output mask. More... | |
| virtual void | TraceMaskClear ()=0 |
| Clear the trace output mask. More... | |
| virtual void | TraceFileSet (const char *fileName)=0 |
| Channels Tracing messages to specified file. More... | |
| virtual void | TraceFileClose ()=0 |
| Stops Logging to the file. More... | |
| virtual void | TraceInjectMessage (RSITrace traceLevel, const char *msg)=0 |
| Add a message to the Trace Log. More... | |
| virtual bool | StepperMotorLoopbackGet ()=0 |
| Determine if the stepper is open or closed loop. More... | |
| virtual void | StepperMotorLoopbackSet (bool loopback)=0 |
| Configure the stepper to be open or closed loop. More... | |
| virtual uint64 | GearingMasterAddressGet ()=0 |
| Unsupported. | |
The Axis object manages a single physical axis on a motion controller.
It represents a reference line in a coordinate system. The controller calculates an axis's command position every sample based on the motion commanded by the Motion Supervisor. The Axis object contains command, actual, and error position data, plus status.