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 Ouputs
- [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
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
- [New Features] MotionController:ExternalMemorySizeGet helps when resizing Axis frame buffers or Recorder buffer
- [New Features] Axis::FramesToExecuteGet
- [General Changes] Axis::MoveCamLinear and MoveCamCubic now use double arrays, instead of 32-bit integers
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
- [New Features] MotionController::RecorderBufferHighCountSet
- [New Features] RapidSetup -- Xbox 360 Controller support for jogging
- [New Features] Axis::DefaultVelocityGet/Set
- [New Features] Axis::DefaultAccelerationGet/Set
- [New Features] Axis::DefaultDecelerationGet/Set
- [New Features] Axis::DefaultJerkPercentGet/Set
- [New Features] Enumerations added for 32bit LSB and MSB position recording for 64-bit positions
- [Bugs Fixed] MovePT and MovePVT did not use UserUnits correctly
- [General Changes] MovePT and MovePVT now internally enable interrupts, so the library can stream points
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
- [New Features] Axis::GantryTypeGet and Set
- [New Features] Axis::FeedbackDeltaPointerGet and Set
- [New Features] Axis::EncoderCountGet and Set
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.SynqNet.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 unitialized variable which could cause uninteded 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 -- specifiy 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