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MotionController | Axis | MultiAxis | IO | IOPoint | NetworkNode | RsiError | Sample Apps | Changelog |
RapidCode API |
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The NetworkNode object represents an EtherCAT Node (Drive, IO Block, etc) on the network. Accessible via Axis and IO objects. More...
Functions | |
| virtual int32 | AnalogInGet (int32 analogChannel)=0 |
| Get the value of an analog input. | |
| virtual int32 | AnalogOutGet (int32 analogChannel)=0 |
| Get the value of an analog output. | |
| virtual void | AnalogOutSet (int32 analogChannel, int32 value)=0 |
| Set the value of an analog output. | |
| virtual bool | DigitalInGet (int32 digitalInNumber)=0 |
| Get the state of a digital input. | |
| virtual bool | DigitalOutGet (int32 digitalOutNumber)=0 |
| Get the state of a digital output. | |
| virtual void | DigitalOutSet (int32 digitalOutNumber, bool state)=0 |
| Set the state of a digital output. | |
| virtual bool | Exists ()=0 |
| Returns true if this NetworkNode exists on a physical network. | |
| virtual bool | HasIO ()=0 |
| Returns true if the node has any kind of inputs or outputs (analog/digital). | |
| virtual RSINodeType | TypeGet ()=0 |
| Get the node type, as determined by the Vendor ID and Product Code. | |
I/O Information | |
| virtual int32 | DigitalInCountGet ()=0 |
| Get the number of digital inputs on this node. | |
| virtual int32 | DigitalOutCountGet ()=0 |
| Get the number of digital outputs on this node. | |
| virtual int32 | AnalogInCountGet ()=0 |
| Get the number of analog inputs on this node. | |
| virtual int32 | AnalogOutCountGet ()=0 |
| Get the number of analog outputs on this node. | |
| virtual int32 | SegmentCountGet ()=0 |
| Get the number of segments on this node. | |
| virtual int32 | SegmentDigitalInCountGet (int32 segmentNumber)=0 |
| Get the number of digital inputs on a segment. | |
| virtual int32 | SegmentDigitalOutCountGet (int32 segmentNumber)=0 |
| Get the number of digital outputs on a segment. | |
| virtual int32 | SegmentAnalogInCountGet (int32 segmentNumber)=0 |
| Get the number of analog inputs on a segment. | |
| virtual int32 | SegmentAnalogOutCountGet (int32 segmentNumber)=0 |
| Get the number of analog outputs on a segment. | |
| virtual int32 | SegmentIDGet (int32 segmentNumber)=0 |
| Get the ID number of a segment. | |
| virtual uint64 | DigitalInAddressGet (int32 bitNumber)=0 |
| Get the controller memory address for a Node's digital input. More... | |
| virtual int32 | DigitalInMaskGet (int32 bitNumber)=0 |
| Get the bitwise mask for a Node's digital input. More... | |
| virtual uint64 | DigitalOutAddressGet (int32 bitNumber)=0 |
| Get the controller memory address for a Node's digital output. More... | |
| virtual int32 | DigitalOutMaskGet (int32 bitNumber)=0 |
| Get the bitwise mask for a Node's digital output. More... | |
| virtual uint64 | AnalogInAddressGet (int32 channel)=0 |
| Get the controller memory address for a Node's analog input. More... | |
| virtual int32 | AnalogInMaskGet (int32 channel)=0 |
| Get the bitwise mask for a Node's analog input. More... | |
| virtual uint64 | AnalogOutAddressGet (int32 channel)=0 |
| Get the controller memory address for a Node's analog output. More... | |
| virtual int32 | AnalogOutMaskGet (int32 channel)=0 |
| Get the bitwise mask for a Node's analog output. More... | |
| virtual int32 | ServiceChannelRead (int32 index, int32 subIndex, int32 byteCount)=0 |
| Read a number from the SDO. More... | |
| virtual int32 | ServiceChannelRead (int32 index, int32 subIndex, int32 byteCount, uint32 timeoutMilliseconds)=0 |
| virtual char * | ServiceChannelReadString (int32 index, int32 subIndex, int32 byteCount)=0 |
| Read a string from the SDO. More... | |
| virtual char * | ServiceChannelReadString (int32 index, int32 subIndex, int32 byteCount, uint32 timeoutMilliseconds)=0 |
| virtual void | ServiceChannelWrite (int32 index, int32 subIndex, int32 byteCount, int32 value)=0 |
| Write a number in the SDO. More... | |
| virtual void | ServiceChannelWrite (int32 index, int32 subIndex, int32 byteCount, int32 value, uint32 timeoutMilliseconds)=0 |
| virtual void | ServiceChannelWrite (int32 index, int32 subIndex, int32 byteCount, char *value)=0 |
| Write a string in the SDO. More... | |
| virtual void | ServiceChannelWrite (int32 index, int32 subIndex, int32 byteCount, char *value, uint32 timeoutMilliseconds)=0 |
| virtual char * | AKDASCIICommand (char *command)=0 |
| Send a Kollmorgen AKD ASCII command (NodeType must equal KOLLMORGEN_AKD) More... | |
| virtual void | ClearFaults (int32 axisNumber)=0 |
| Clear the faults for a specific axis number on this node. | |
| virtual uint32 | VendorIdGet ()=0 |
| Get the EtherCAT vendor ID. | |
| virtual char * | NameGet ()=0 |
| Get the Node's Short Name that appears on EtherCATNodeInfo.xml. More... | |
| virtual char * | ProductNameGet ()=0 |
| Get the Node's Product/Long Name that appears on EtherCATNodeInfo.xml. More... | |
| virtual char * | VendorNameGet ()=0 |
| Get the Node's Vendor Name that appears on EtherCATNodeInfo.xml. More... | |
| virtual uint32 | ProductCodeGet ()=0 |
| Get the EtherCAT product code. | |
| virtual uint32 | RevisionGet ()=0 |
| Get the EtherCAT hardware revision. | |
| virtual uint32 | StationAliasGet ()=0 |
| Get the EtherCAT station alias. | |
| virtual char * | SerialNumberGet ()=0 |
| Get the serial number as text. | |
| virtual uint32 | AxisCountGet ()=0 |
| virtual uint16 | StatusWordGet (int32 axisIndex)=0 |
| Get the DS402 status word. | |
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. | |
| virtual int32 | NumberGet ()=0 |
| Get the zero-based index of this object. More... | |
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... | |