Axis Class Reference

The SynqNet single axis class. This powerhouse is used by most applications to handle motion and many other Axis based interests.
In addition to be the below functions, Axis has access to RapidCodeSqNode functions by calling axisName->SqNode->sqFunctionName. More...

Inherits RapidCodeMotion.

Inherited by MechaWareAxis.

List of all members.

Protected Member Functions
virtual void	FilterIntegratorReset (MPIMotor motor)
	these are the two default virtual methods
Friends
class	MotionController
class	MultiAxis
Positions and Trajectory Status
void	PositionSet (double position)
	Set the Command and Actual positions.
double	ActualPositionGet ()
	get the current actual position
void	ActualPositionSet (double position)
	Set the actual position.
double	TargetPositionGet ()
	Get the target position.
double	CommandPositionGet ()
	Get the current command position.
void	CommandPositionSet (double position)
	Set the command position.
double	OriginPositionGet ()
	Get the origin position.
void	OriginPositionSet (double position)
	Set the origin position.
double	PositionErrorGet ()
	Get the current position error.
double	CommandVelocityGet ()
	Get the current commanded velocity.
double	ActualVelocityGet ()
	Get the current actual velocity.
double	CommandAccelGet ()
	Get the current commanded acceleration.
double	EncoderPositionGet (RSIMotorEncoder encoder)
	Get the raw encoder position.
double	UserUnitsGet ()
	Get the number of counts per User Unit.
void	UserUnitsSet (double countsPerUserUnit)
	Sets the number of counts per User Unit.
long	FramesToExecuteGet ()
Action
void	ClearFaults ()
	Clear all faults for an axis.
void	Stop ()
	Stop an axis.
void	Resume ()
	Resume an axis.
void	EStop ()
	E-Stop an axis.
void	EStopAbort ()
	E-Stop, then abort an axis.
void	EStopModify ()
	E-Stop with a deceleration rate.
void	Abort ()
	Abort an axis.
void	AmpEnableSet (bool enable)
	Enable all amplifiers.
void	Map ()
	Writes the axis mapping relationship to the Controller.
void	Unmap ()
	Removes the axis mapping relationship of the MultiAxis.
State and Status
RSISource	SourceGet ()
	Get the source of an error for the axis.
char *	SourceNameGet (RSISource source)
	Get the name of the source of an error for the axis.
bool	FaultMaskBitGet (RSIMotorFaultMask bitMask)
	Get the state of a Motor's Fault Mask bit.
RSIState	StateGet ()
	Get axis state.
bool	StatusBitGet (RSIEventType bitMask)
	Return the state of a status bit.
long	MotionDoneWait ()
	Waits for a move to complete.
long	MotionDoneWait (long timeoutMilliseconds)
	Waits for a move to complete.
bool	MotionDoneGet ()
	Check to see if motion is done and settled.
char *	AmpFaultExtraTextGet ()
Filter
virtual RSIXmpAlgorithm	FilterAlgorithmGet ()
	Get the control algorithm type.
virtual void	FilterAlgorithmSet (RSIXmpAlgorithm algorithm)
	Set the algorithm type for an axis.
virtual double	FilterCoeffGet (RSIFilterGainPIDCoeff coeff, long gainTable)
	Get a filter coefficient.
virtual void	FilterCoeffSet (RSIFilterGainPIDCoeff coeff, long gainTable, double value)
	Set a filter coefficient.
double	FilterCoeffGet (RSIFilterGainPIVCoeff coeff, long gainTable)
void	FilterCoeffSet (RSIFilterGainPIVCoeff coeff, long gainTable, double value)
virtual long	FilterGainTableGet ()
	Gets which gain table is currently in use by the axis.
virtual void	FilterGainTableSet (long gainTable)
	Set the gain table to be used by an axis.
long	FilterGainTableSizeGet ()
	Gets the size of gain tables.
double	FilterOutputGet (void)
	Get the voltage output from the axis' control filter.
virtual double	FilterLowPassGet ()
	Get the value of the Low-Pass filter.
virtual void	FilterLowPassSet (double frequency)
	Use a Low-Pass filter.
void	FilterDualLoopSet (Axis *velocityAxis, RSIMotorEncoder velocityEncoder, bool enable)
	Configure an axis for dual loop feedback.
Motor Configuration
double	FilterOutputScaleGet ()
void	FilterOutputScaleSet (double scale)
virtual bool	FilterGainSchedulingGet ()
virtual void	FilterGainSchedulingSet (bool enable)
RSIMotorType	MotorTypeGet ()
	Get the motor type.
void	MotorTypeSet (RSIMotorType type)
	Set the motor type.
RSIMotorDisableAction	AmpDisableActionGet ()
	Get the Amp Disable action.
void	AmpDisableActionSet (RSIMotorDisableAction action)
	Set the Amp Disable action.
RSIEncoderPhase	EncoderPhaseGet ()
	Get the encoder phasing.
void	EncoderPhaseSet (RSIEncoderPhase phase)
	Set the encoder phase.
RSIMotorEncoderType	EncoderTypeGet ()
	Get the encoder type.
void	EncoderTypeSet (RSIMotorEncoderType type)
	Set the encoder type.
void	EncoderSSIConfigSet (RSIMotorEncoder encoder, long baudRate, long bitCount, RSIRMBSsiEncoderInput input, bool brokenWireEnable)
long	EncoderSSIRateGet ()
RSIMotorBrakeMode	BrakeModeGet ()
	Get the brake mode.
void	BrakeModeSet (RSIMotorBrakeMode mode)
	Set the brake mode.
double	BrakeApplyDelayGet ()
	Get the delay time for the brake to be applied.
void	BrakeApplyDelaySet (double seconds)
	Set the brake apply delay.
double	BrakeReleaseDelayGet ()
	Get the brake release delay time.
void	BrakeReleaseDelaySet (double seconds)
	Set the Brake Release Delay.
void	ClosedLoopStepperSet (bool enable)
	Enable or disable Closed-Loop Stepper support (custom firmware required).
long	ClosedLoopStepperVersionGet ()
	Get the Closed-Loop Stepper feature version.
bool	DirectionInvertGet ()
void	DirectionInvertSet (bool invert)
	Changes the direction axis moves relative to counts.
double	EncoderScaleGet ()
void	EncoderScaleSet (double scale)
double	EncoderScaleGet (RSIMotorEncoder encoder)
void	EncoderScaleSet (RSIMotorEncoder encoder, double scale)
long	EncoderPointerGet (RSIMotorEncoder encoder)
void	EncoderPointerSet (RSIMotorEncoder encoder, long address)
long	FeedbackDeltaPointerGet (RSIAxisPositionInput input)
void	FeedbackDeltaPointerSet (RSIAxisPositionInput input, long address)
long	EncoderRatioNumeratorGet (RSIMotorEncoder encoder)
long	EncoderRatioDenominatorGet (RSIMotorEncoder encoder)
void	EncoderRatioSet (RSIMotorEncoder encoder, long numerator, long denominator)
	Sets the ratio to scale Encoder counts.
long	EncoderCountGet ()
void	EncoderCountSet (long count)
void	EncoderMultiTurnReset ()
RSIAxisGantryType	GantryTypeGet ()
void	GantryTypeSet (RSIAxisGantryType type)
RSIMotorDemandMode	MotorDemandModeGet ()
	Get the motor demand mode.
void	MotorDemandModeSet (RSIMotorDemandMode mode)
	Set the motor demand mode.
long	MotorFaultMaskGet ()
	Get the Motor Fault Mask.
void	MotorFaultMaskSet (long mask)
	Set the Motor Fault Mask.
bool	StepperMotorLoopbackGet ()
	Determine if the stepper is open or closed loop.
void	StepperMotorLoopbackSet (bool loopback)
	Configure the stepper to be open or closed loop.
Dedicated I/O
bool	NegativeLimitGet ()
	Get the state of the Hardware Negative Limit input.
bool	PositiveLimitGet ()
	Get the state of the Hardware Positive Limit input.
bool	HomeSwitchGet ()
	Get the current state of the Home switch input.
bool	AmpFaultGet ()
	Get the current state of the Amp Fault input.
bool	AmpEnableGet ()
	Get the state of the Amp Enable Output.
bool	DedicatedInExists (RSIMotorDedicatedIn bitNumber)
	Determine if a particular Dedicated input bit exists for a motor.
bool	DedicatedOutExists (RSIMotorDedicatedOut bitNumber)
	Determine if a particular Dedicated output bit exists for a motor.
bool	DedicatedInGet (RSIMotorDedicatedIn bitNumber)
	Read a digital input.
bool	DedicatedOutGet (RSIMotorDedicatedOut bitNumber)
	Get the state of dedicated output bit.
User I/O
bool	DigitalInGet (RSIMotorGeneralIo bitNumber)
	Read a digital input.
bool	DigitalOutGet (RSIMotorGeneralIo bitNumber)
	Get the state of digital output bit.
void	DigitalOutSet (RSIMotorGeneralIo bitNumber, bool value)
	Set a digital output bit.
bool	DigitalIoExists (RSIMotorGeneralIo bitNumber)
	Determine if a particular General I/O bit exists for a motor.
char *	DigitalIoNameGet (RSIMotorGeneralIo bitNumber)
	Get the name of a Motor I/O bit.
RSIMotorIoTypeMask	DigitalIoValidTypesMaskGet (RSIMotorGeneralIo bitNumber)
	Get the type mask for a Motor I/O bit.
void	DigitalIoTypeSet (RSIMotorGeneralIo bitNumber, RSIMotorIoType type)
	Set the type for a Motor I/O bit.
double	AnalogInGet (long channel)
	Get the value of an analog input.
double	AnalogOutGet (RSIAnalogOutChannel channel)
void	AnalogOutSet (RSIAnalogOutChannel channel, double volts)
Motion Configuration
double	EStopDecelerationGet ()
	Get the deceleration rate for an E-Stop, Modify Event.
void	EStopDecelerationSet (double decel)
	Set the deceleration rate for an E-Stop, Modify Event.
double	EStopJerkPercentGet ()
	Get the jerk percent for an E-Stop, Modify Event.
void	EStopJerkPercentSet (double jerkPct)
	Set the jerk percent for an E-Stop, Modify Event.
double	MotionFinalVelocityGet ()
	Gets final velocity value (!!! only used if FINAL_VEL motion attribute is used !!!).
void	MotionFinalVelocitySet (double finalVelocity)
	Sets the final velocity.
virtual long	MotionIdExecutingGet ()
double	DefaultVelocityGet ()
void	DefaultVelocitySet (double velocity)
double	DefaultAccelerationGet ()
void	DefaultAccelerationSet (double acceleration)
double	DefaultDecelerationGet ()
void	DefaultDecelerationSet (double deceleration)
double	DefaultJerkPercentGet ()
void	DefaultJerkPercentSet (double jerkPercent)
double	DefaultPosition1Get ()
void	DefaultPosition1Set (double position1)
double	DefaultPosition2Get ()
void	DefaultPosition2Set (double position2)
double	DefaultRelativeIncrementGet ()
void	DefaultRelativeIncrementSet (double relativeIncrement)
long	FrameBufferSizeGet ()
	Get Frame buffer size for the axis.
void	FrameBufferSizeSet (long frameSize)
	Set Frame buffer size for the axis.
double	StopTimeGet ()
	Get Stop Event deceleration time.
void	StopTimeSet (double seconds)
	Set the deceleration time for a Stop Event.
double	EStopTimeGet ()
	Get E-Stop Event deceleration time.
void	EStopTimeSet (double seconds)
	Set the deceleration time for an E-Stop Event.
double	MotionDelayGet ()
	Get the delay (seconds) that will occur before motion starts.
virtual void	MotionDelaySet (double seconds)
	Set the time (seconds) that a motion will wait before starting.
long	MotionIdGet ()
	Get the motion identifier.
void	MotionIdSet (long id)
	Set the Motion identifier.
RSIMotionAttrHoldType	MotionHoldTypeGet ()
	Get the motion hold attribute type.
void	MotionHoldTypeSet (RSIMotionAttrHoldType type)
	Set the motion hold type.
double	MotionHoldTimeoutGet ()
	Get the motion hold timeout value.
void	MotionHoldTimeoutSet (double seconds)
	Set the motion hold timeout value.
bool	MotionHoldGateGet ()
	Get the state of the hold gate.
void	MotionHoldGateSet (bool hold)
	Set the Motion Hold Gate.
long	MotionHoldAxisNumberGet ()
	Gets the Axis number.
void	MotionHoldAxisNumberSet (long number)
	Sets the Axis number for Motion Hold.
long	MotionHoldAxisPositionGet ()
	Gets the Axis position.
void	MotionHoldAxisPositionSet (double position)
	Sets the Axis position.
long	MotionHoldUserAddressGet ()
	Gets the Motion Hold User Address.
void	MotionHoldUserAddressSet (long address)
	Sets the Motion Hold User Address.
long	MotionHoldUserMaskGet ()
	Gets the Motion Hold User Mask.
void	MotionHoldUserMaskSet (long mask)
	Sets the Motion Hold User bit mask.
long	MotionHoldUserPatternGet ()
	Gets the Motion Hold user bit pattern.
void	MotionHoldUserPatternSet (long pattern)
	Sets the Motion Hold User pattern bit mask.
long	MotionAttributeMaskGet ()
	Get the motion attribute mask.
void	MotionAttributeMaskSet (long mask)
	Set the motion attribute mask.
void	MotionAttributeMaskDefaultSet ()
bool	MotionAttributeMaskOnGet (RSIMotionAttrMask maskOn)
	Check to see if a particular motion attribute mask is turned on.
void	MotionAttributeMaskOnSet (RSIMotionAttrMask maskOn)
	Turn on a particular motion attribute mask.
void	MotionAttributeMaskOffSet (RSIMotionAttrMask maskOff)
	Turn off a particular motion attribute mask.
void	DefaultParametersCheck ()
void	DefaultVelocityCheck ()
void	DefaultAccelerationCheck ()
void	DefaultDecelerationCheck ()
void	DefaultJerkPercentCheck ()
Motion
void	MoveTrapezoidal (double position)
void	MoveTrapezoidal (double position, double vel, double accel, double decel)
	Command a point-to-point trapezoidal motion.
void	MoveTrapezoidal (double position, double vel, double accel, double decel, double finalVel)
void	MoveSCurve (double position)
void	MoveSCurve (double position, double vel, double accel, double decel, double jerkPct)
	Command a point-to-point S-Curve motion.
void	MoveSCurve (double position, double vel, double accel, double decel, double jerkPct, double finalVel)
void	MoveVelocity (double velocity)
void	MoveVelocity (double velocity, double accel)
	Command a constant velocity move (jog).
void	MoveVelocitySCurve (double velocity, double accel, double jerkPct)
	Command a constant velocity move (jog) with non-constant acceleration.
void	MoveRelative (double releativePosition)
void	MoveRelative (double relativePosition, double vel, double accel, double decel, double jerkPct)
	Command a relative point-to-point S-Curve motion.
void	MoveRelative (double relativePosition, double vel, double accel, double decel, double jerkPct, double finalVel)
void	MoveSCurveJerk (double position, double vel, double accel, double decel, double accelJerk, double decelJerk)
	Command a point-to-point S-Curve Jerk motion.
void	MovePT (RSIMotionType type, double *position, double *time, long pointCount, long emptyCount, bool retain, bool final)
	A move commanded by a list of position and time points.
void	MovePVT (double *position, double *velocity, double *time, long pointCount, long emptyCount, bool retain, bool final)
	Move commanded by list of positions, velocities, and times.
Dedicated I/O and Limit Configuration
RSIAction	AmpFaultActionGet ()
	Get the Amp Fault action.
void	AmpFaultActionSet (RSIAction action)
	Set the Amp Fault action.
bool	AmpFaultTriggerStateGet ()
	Get the Amp Fault trigger state.
void	AmpFaultTriggerStateSet (bool state)
	Set the trigger state of the Amp Fault input.
double	AmpFaultDurationGet ()
	Get the duration required before the Amp Fault event triggers.
void	AmpFaultDurationSet (double seconds)
	Set the duration required before the Amp Fault event triggers.
RSIAction	HomeActionGet ()
	Get the action that will occur when the Home Event triggers.
void	HomeActionSet (RSIAction action)
	Set the action that will occur when the Home Event triggers.
bool	HomeTriggerStateGet ()
	Get the trigger state for the Home input.
void	HomeTriggerStateSet (bool state)
	Set the trigger state for the Home input.
double	HomeDurationGet ()
	Get the duration required before the Home event triggers.
void	HomeDurationSet (double seconds)
	Set the duration required before the Home event triggers.
RSIAction	ErrorLimitActionGet ()
	Get the action that will occur when the Position Error Limit Event triggers.
void	ErrorLimitActionSet (RSIAction action)
	Set the action that will occur when the Error Limit Event triggers.
double	ErrorLimitTriggerValueGet ()
	Get the Position Error Limit trigger value.
void	ErrorLimitTriggerValueSet (double value)
	Set the Position Error Limit trigger value.
double	ErrorLimitDurationGet ()
	Get the duration required before the Position Error Limit event triggers.
void	ErrorLimitDurationSet (double seconds)
	Sets the duration required before the Position Error Limit event triggers.
RSIAction	HardwareNegLimitActionGet ()
	Get the action that will occur when the Hardware Negative Limit Event triggers.
void	HardwareNegLimitActionSet (RSIAction action)
	Set the action that will occur when the Hardware Negative Limit Event triggers.
bool	HardwareNegLimitTriggerStateGet ()
	Trigger state return.
void	HardwareNegLimitTriggerStateSet (bool state)
	Sets the trigger state.
double	HardwareNegLimitDurationGet ()
	Get the duration required before the Hardware Negative Limit event triggers.
void	HardwareNegLimitDurationSet (double seconds)
	Set the duration required before the Hardware Negative Limit event triggers.
bool	HardwareNegLimitDirectionSensitiveGet ()
	Get the direction sensitivity configuration for this limit.
void	HardwareNegLimitDirectionSensitiveSet (bool sensitive)
	Set the direction sensitivity configuration for this limit.
RSIAction	HardwarePosLimitActionGet ()
	Get the action that will occur when the Hardware Positive Limit Event triggers.
void	HardwarePosLimitActionSet (RSIAction action)
	Set the action that will occur when the Hardware Positive Limit Event triggers.
bool	HardwarePosLimitTriggerStateGet ()
	trigger state return.
void	HardwarePosLimitTriggerStateSet (bool state)
	sets the trigger state.
double	HardwarePosLimitDurationGet ()
	Get the duration required before the Hardware Positive Limit event triggers.
void	HardwarePosLimitDurationSet (double seconds)
	Set the duration required before the Hardware Positive Limit event triggers.
bool	HardwarePosLimitDirectionSensitiveGet ()
	Get the direction sensitivity configuration for this limit.
void	HardwarePosLimitDirectionSensitiveSet (bool sensitive)
	Set the direction sensitivity configuration for this limit.
RSIAction	SoftwareNegLimitActionGet ()
	Get the action that will occur when the Software Negative Limit Event triggers.
void	SoftwareNegLimitActionSet (RSIAction action)
	Set the action that will occur when the Software Negative Limit Event triggers.
double	SoftwareNegLimitTriggerValueGet ()
	Get the Software Negative Position limit.
void	SoftwareNegLimitTriggerValueSet (double value)
	Set the Software Negative Position limit.
bool	SoftwareNegLimitDirectionSensitiveGet ()
	Get the direction sensitivity configuration for this limit.
void	SoftwareNegLimitDirectionSensitiveSet (bool sensitive)
	Set the direction sensitivity configuration for this limit.
RSIAction	SoftwarePosLimitActionGet ()
	Get the action that will occur when the Software Positive Limit Event triggers.
void	SoftwarePosLimitActionSet (RSIAction action)
	Set the action that will occur when the Software Positive Limit Event triggers.
double	SoftwarePosLimitTriggerValueGet ()
	Get the Software Positive Position limit.
void	SoftwarePosLimitTriggerValueSet (double value)
	Set the Software Positive Position limit.
bool	SoftwarePosLimitDirectionSensitiveGet ()
	Get the direction sensitivity configuration for this limit.
void	SoftwarePosLimitDirectionSensitiveSet (bool sensitive)
	Set the direction sensitivity configuration for this limit.
RSIAction	EncoderFaultActionGet ()
	Get the action that will occur when the Encoder Fault Limit Event triggers.
void	EncoderFaultActionSet (RSIAction action)
	Set the action that will occur when the Encoder Fault Limit Event triggers.
RSIMotorEncoderFault	EncoderFaultTriggerGet ()
	Get the encoders which are used to generate encoder faults.
void	EncoderFaultTriggerSet (RSIMotorEncoderFault encoder)
	Set the encoders which are used to generate encoder faults.
double	EncoderFaultDurationGet ()
	Get the duration required before the Encoder Fault Limit event triggers.
void	EncoderFaultDurationSet (double seconds)
	Set the duration required before the Encoder Fault Limit event triggers.
RSIAction	NodeFailureActionGet ()
void	NodeFailureActionSet (RSIAction action)
RSIAction	UserFaultActionGet ()
void	UserFaultActionSet (RSIAction action)
RSIAction	LimitActionGet (RSIEventType limit)
void	LimitActionSet (RSIEventType limit, RSIAction action)
bool	LimitTriggerStateGet (RSIEventType limit)
void	LimitTriggerStateSet (RSIEventType limit, bool triggerState)
double	LimitTriggerValueGet (RSIEventType limit)
void	LimitTriggerValueSet (RSIEventType limit, double triggerValue)
double	LimitDurationGet (RSIEventType limit)
void	LimitDurationSet (RSIEventType limit, double seconds)
bool	LimitDirectionSensitiveGet (RSIEventType limit)
void	LimitDirectionSensitiveSet (RSIEventType limit, bool sensitive)
Settling Criteria Configuration
double	PositionToleranceFineGet ()
	Get the Fine Position Tolerance for axis settling.
void	PositionToleranceFineSet (double tolerance)
	Set the Fine Position Tolerance for Axis settling.
double	PositionToleranceCoarseGet ()
	Get the Coarse Position Tolerance for axis settling.
void	PositionToleranceCoarseSet (double tolerance)
	Set the Coarse Position Tolerance for Axis settling.
double	VelocityToleranceGet ()
	Get the velocity tolerance used for settling.
void	VelocityToleranceSet (double tolerance)
	Set the Velocity Tolerance used for settling.
double	SettlingTimeGet ()
	Get the Settling time.
void	SettlingTimeSet (double time)
	Set the settling time.
bool	SettleOnStopGet ()
	Get the Stop Event settling configuration.
void	SettleOnStopSet (bool state)
	Set the Stop Event settling configuration.
bool	SettleOnEStopGet ()
	Get the E-Stop Event settling configuration.
void	SettleOnEStopSet (bool state)
	Set the E-Stop Event settling configuration.
bool	SettleOnEStopCmdEqActGet ()
	Get the E-Stop Event settling configuration when E-Stop is configured for (Command = Actual).
void	SettleOnEStopCmdEqActSet (bool state)
	Set the settling configuration for E-Stop events (when configured for Command = Actual).
Capture
void	CaptureArm (bool state)
	Arm or disarm a position capture.
void	CaptureConfigSet (RSICaptureType type, RSICaptureSource source, RSICaptureEdge edge, long feebackAxisNumber, RSIMotorEncoder encoder, bool global)
	Set the capture configuration.
double	CapturePositionGet ()
	Get the captured position.
RSICaptureState	CaptureStateGet ()
	Get the state of the position capture.
Homing
void	Home ()
	Execute the homing routine.
void	Home (bool moveToZero)
void	HomeMethodSet (RSIHomeMethod method)
	Set the method to be used for homing.
void	HomeOffsetSet (double offset)
	Set the home offset.
void	HomeVelocitySet (double velocity)
	Set the home velocity.
void	HomeSlowVelocitySet (double velocity)
	Set the slow home velocity.
void	HomeAccelerationSet (double accel)
	Set the deceleration used for homing.
void	HomeDecelerationSet (double decel)
	Set the deceleration used for homing.
void	HomeCaptureTypeSet (RSICaptureType type)
bool	HomeStateGet ()
	Get the home state.
void	HomeStateSet (bool homed)
void	HomeCancelSet (bool cancel)
	Cancel Homing.
Gearing
void	GearingEnable (long masterAxisNumber, RSIAxisMasterType masterFeedbackSource, long numerator, long denominator)
void	GearingEnable (Axis *masterAxis, RSIAxisMasterType masterFeedbackSource, long numerator, long denominator)
	Enable this Axis to be follower (slave) using electronic gearing.
void	GearingRatioChange (long numerator, long denominator)
	Change the electronic gearing ratio.
void	GearingDisable ()
	Disable the electronic gearing.
long	GearingNumeratorGet ()
long	GearingDenominatorGet ()
bool	GearingEnableGet ()
long	GearingMasterAddressGet ()
long	GearingMasterAxisNumberGet ()
	Get a Slave's Master Axis Number.
RSIAxisMasterType	GearingSourceGet ()
	Get the Source used to slave to the Master Axis.
Cam
double	MotionCamMasterStartGet ()
	Gets the position on the master that will start the cam when exceeded.
void	MotionCamMasterStartSet (double startPosition)
	Set the position at which camming starts.
double	MotionCamRepeatFromGet ()
	Get the segment at which camming repeats.
void	MotionCamRepeatFromSet (double repeatFrom)
	Set the segment at which camming repeats.
void	MotionCamRepeatStop ()
	Stops a Repeating Cam.
void	MoveCamLinear (long masterAxisNumber, RSIAxisMasterType masterFeedbackSource, double *masterDistances, double *slavePositions, long pointCount)
	Enable this Axis to be linear follower (slave) using an electronic cam.
void	MoveCamCubic (long masterAxisNumber, RSIAxisMasterType masterFeedbackSource, double *masterDistances, double *slavePositions, double *gearRatios, long pointCount)
	Enable this Axis to be cubic follower (slave) using an electronic cam.
void	MoveCamLinear (long masterAxisNumber, RSIAxisMasterType masterFeedbackSource, long *masterDistances, long *slavePositions, long pointCount)
void	MoveCamCubic (long masterAxisNumber, RSIAxisMasterType masterFeedbackSource, long *masterDistances, long *slavePositions, double *gearRatios, long pointCount)
void	MoveCam (long masterAxisNumber, RSIAxisMasterType masterFeedbackSource, long *masterDistances, long *slavePositions, double *gearRatios, long pointCount, MPIMotionType type)
void	MoveCam (long masterAxisNumber, RSIAxisMasterType masterFeedbackSource, double *masterDistances, double *slavePositions, double *gearRatios, long pointCount, MPIMotionType type)
User Limits
void	UserLimitConditionSet (RSIEventType number, long conditionNumber, RSIXmpLimitType type, long address, long mask, long limitValue)
	Set the conditions for a User Limit.
void	UserLimitOutputSet (RSIEventType number, long andMask, long orMask, long outputPtr, bool enabled)
	Configure a User Limit Output block.
void	UserLimitConfigSet (RSIEventType number, RSIXmpStatus status, RSIXmpLogic logic, double seconds)
	Configure a User Limit.
bool	UserLimitStateGet (RSIEventType number)
	Get the state of a User Limit.
void	UserLimitDisable (RSIEventType number)
	Disable the processing of a User Limit.
void	UserLimitReset (RSIEventType number)
	Clear the latched status of a User Limit.
Flash
void	SaveToFlash ()
	Save all Axis configurations to flash memory.
virtual void	FilterSave (void *flash)
Drive Parameters
void	DriveParameterFileGet (char *driveMapFile, char *parameterFile)
	Get the Drive parameters for an the Axis by saving to a configuration file.
char *	DriveParameterFileSet (char *driveMapFile, char *parameterFile)
	Set the Drive parameters for an the Axis using a configuration file.
char *	DriveFirmwareVersionGet ()
void	DriveFirmwareDownload (char *filename)
long	DriveParamGet (long parameter)
	Get a drive parameter.
void	DriveParamSet (long parameter, long value)
	Set drive parameters.
long	DriveParamCountGet ()
char *	DriveParamNameGet (long parameter)
long	DriveParamTypeGet (long parameter)
long	DriveParamAccessGet (long parameter)
char *	DriveParamValidValuesGet (long parameter)
long	DriveParamDefaultValueGet (long parameter)
char *	DriveParamHelpGet (long parameter)
long	DriveIndexGet ()
	Get the drive index, relative to the SqNode.
Drive Monitor
Parameters: parameter  Use (RSIYaskawaSGDSParam) or (RSIYaskawaSGDZParam) or (RSIGlentekOmegaParam) or (RSIKollmorgenCDParam) or (RSIKollmorgenS200Param) or (RSIKollmorgenPicoDADParam) or (RSIKollmorgenS300Param) or (RSIKollmorgenS600Param) or (RSIKollmorgenS1800Param) or (RSIKollmorgenSqDCParam) or (RSIKollmorgenSqStepParam) or
void	DriveMonitorIndexSet (long monitorNumber, long index)
	Sets a monitor to watch a table.
void	DriveMonitorAddressSet (long monitorNumber, long address)
	Sets a monitor to watch an address.
long	DriveMonitorValueGet (long monitorNumber)
	Returns the monitored information.
long	DriveMonitorAddressGet (long monitorNumber)
	Returns the controller address for a specific drive monitor.
long	DriveMonitorMaskGet (long monitorNumber)
	Returns the Bit Mask for a specific monitor field.
long	DriveMonitorRightShiftGet (long monitorNumber)
	Returns the Bit Shift to specific monitor field.
Drive Faults and Warnings
long	DriveFaultCountGet ()
	Gets the number of Drive Faults.
long	DriveFaultCodeGet (long faultIndex)
	Gets the code number an indexed of Drive Fault.
char *	DriveFaultMessageGet (long faultIndex)
	Gets the message for a Drive Fault code.
long	DriveWarningCountGet ()
	Gets the number of Drive Warnings.
long	DriveWarningCodeGet (long warningIndex)
	Gets the code an indexed of Drive Warning.
char *	DriveWarningMessageGet (long warningIndex)
	Gets the message for a Drive Warning code.
void	DriveFaultClear ()
	Clears all Fault history on a drive.
void	DriveWarningClear ()
	Clears all Warnings history on a drive.
Info
long	AddressGet (RSIAxisAddressType addressType)
	Get the axis address.
long	NumberGet ()
	Get the axis number.
void	FeedRateSet (double rate)
	Set the feed rate for an Axis.
double	FeedRateGet ()
	Get the axis feed rate.
Interrupts
void	InterruptEnableSet (bool enable)
	Control interrupts for this class.
void	InterruptWake ()
	Wake all threads waiting for an interrupt on this Axis.
Interrupts
RSIEventType	InterruptWait (long milliseconds)
	Suspend the current thread until an interrupt arrives from the controller.
char *	InterruptNameGet ()
	Get the text name of an interrupt type.
long	InterruptSampleTimeGet ()
	Get the sample timer value when the last interrupt was generated.
long	InterruptSourceNumberGet ()
	Get the number (or index) of the object (Axis, Motor, etc) that generated the interrupt.
long	InterruptMotionIdGet ()
void	InterruptMaskClear ()
void	InterruptMaskAllSet ()
void	InterruptMaskOnSet (RSIEventType eventType)
void	InterruptMaskOffSet (RSIEventType eventType)
bool	InterruptMaskOnGet (RSIEventType eventType)
virtual void	InterruptMaskSet ()
Errors and Exceptions
long	ErrorLogCountGet ()
	Get the number of software errors in the error log.
RsiError *	ErrorLogGet ()
	Get the next RsiError in the log.
void	ErrorLogClear ()
	Clear the error log.
char *	RsiErrorMessageGet (RSIErrorMessage msg)
char *	ErrorMessageGet (RSIErrorMessage msg)
void	ErrorMsgCheck (RapidCodeObject *object, RSIErrorMessage msg, const char *function, long line)
void	ErrorMsgCheck (RapidCodeObject *object, RSIErrorMessage msg, const char *text, const char *function, long line)
Exceptions Enabled
void	ThrowExceptions (bool state)
	Configure a class to throw exceptions.
RapidCode Version
char *	VersionGet ()
	Get the RSI RapidCode version.
Initialize
virtual void	Init (MotionController *rsiController, long axisNumber)
Coordinated Motion
double *	ConvertToCountsFromUserUnitsArray (double *input, long pointCount)

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Detailed Description

To initalize your axis:

///  axisName = controllerName->AxisGet(AXIS_NUMBER); 

The following shows RapidSetup Axis usage. You can easily do most of the following using RapidCode.

Axis as seen in the RapidSetup utility

Examples:

absoluteMotion.cpp, AxisSwitchID.cs, Camming.cs, Capture.cpp, configAmpFault.cpp, customHome.cpp, driveMonitor.cpp, errorLog.cpp, Gantry.cs, gear.cpp, hardwareLimits.cpp, home.cpp, IOPointInterrupts.cs, memory.cpp, MotionFinalVelocity.cs, MotionHoldMultiAxisHomeSwitch.cs, motorfeedback.cpp, multiaxisMotion.cpp, pathMotion.cpp, pvtMotion.cpp, RecorderInterrupts.cs, RecordOnMotion.cs, relativeMotion.cpp, sequencerDigitalOutput.cpp, settleCriteria.cpp, stoprate.cpp, syncInterrupt.cpp, template.cpp, userLimit.cpp, userLimitDigitalInputAction.cpp, userLimitGainChangeBasedOnPosition.cpp, userLimitStateAction.cpp, verifyApp.cpp, and watchdog.cpp.

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The documentation for this class was generated from the following files:

• rsi.h
• rsi.cpp