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MotionController | Axis | MultiAxis | IO | IOPoint | NetworkNode | RsiError | Sample Apps | Changelog |
RapidCode API |
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The RapidCodeMotion interface is implemented by Axis and MultiAxis . More...
Attributes | |
RapidCode Objects | |
| MotionController * | rsiControl |
Functions | |
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 uint16 | MotionIdExecutingGet ()=0 |
| Get the currently executing motion ID. | |
| virtual uint16 | MotionElementIdExecutingGet ()=0 |
| Get the currently executing element ID. | |
| virtual double | MotionFinalVelocityGet ()=0 |
| Gets final velocity value. | |
| virtual void | MotionFinalVelocitySet (double finalVelocity)=0 |
| Sets final velocity value in UserUnits (!!! only used if FINAL_VEL motion attribute is used !!!) 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... | |