MotionController Class Reference
The MotionController Class is the software representation of the hardware object. It handles SynqNet controller firmware, SynqNet network, interrupts, controller io, recorders and sequencers. In every application it is used to initialize your controller, axes, and io.MotionController has access to RapidCodeOS functions by controllerName->OS->osFunctionName. More...
Inherits RapidCodeInterrupt.
Creation and Initialization | |
| static MotionController * | Create () |
| Initialize a PCI board Motion Controller. | |
| static MotionController * | CreateFromBoard (long boardNumber) |
| Initialize a PCI board Motion Controller. | |
| static MotionController * | CreateFromServer (char *server, long serverPort) |
| Initialize a SynqNet controller in another computer on a TCP/IP network. | |
| static MotionController * | CreateFromFile (char *fileName) |
| RSIIMotionControllerInitializationState | InitializationStateGet () |
| IO * | IOGet (long nodeNumber) |
| IOGet returns a pointer to an IO object using its node number. | |
| Axis * | AxisGet (long axisNumber) |
| AxisGet returns a pointer to an axis using its logical number. | |
| MultiAxis * | MultiAxisGet (Axis *firstAxis) |
| MultiAxisGet returns a pointer to a MultiAxis object. | |
| MultiAxis * | MultiAxisGet (Axis *firstAxis, long msNumber) |
Action | |
| void | Reset () |
| Reset (power cycle) the controller. | |
| void | Refresh () |
Configuration and Info | |
| RSIControllerType | ControllerTypeGet () |
| char * | ServerNameGet () |
| long | ServerPortGet () |
| long | NumberGet () |
| RSIProcessorType | ProcessorTypeGet () |
| Get the processor type. | |
| double | ProcessorUsageGet () |
| Get the processor usage percent. | |
| long | SerialNumberGet (void) |
| Get the controller's serial number. | |
| long | RsiIdGet (long data) |
| void | RsiIdSet (long RsiId, long data) |
| long | MemoryGet (long address) |
| Read controller memory. | |
| void | MemoryBlockGet (long address, void *data, long size) |
| Read controller memory. | |
| void | MemorySet (long address, long data) |
| Write a value to controller memory. | |
| void | MemoryBlockSet (long address, void *data, long size) |
| Set controller memory. | |
| long | AddressFromStringGet (char *addressName, char *mapFileName) |
| Get a controller memory address from string. | |
| char * | StringFromAddressGet (long address, char *mapFileName) |
| long | AddressGet (RSIControllerAddressType type) |
| Get the an address for some location on the MotionController. | |
| long | FirmwareAddressGet (long hostAddress) |
| Convert a host controller address to a firmware address. | |
| long | HostAddressGet (long firmwareAddress) |
| Convert a firmware address to a host controller address. | |
| long | SampleCounterGet () |
| Get the current value of the controller's processor's sample counter. | |
| long | BackgroundCycleCounterGet () |
| Get the current value of the controller's processor's background cycle counter. | |
| void | SampleRateSet (double sampleRate) |
| Set the controller's sample rate. | |
| double | SampleRateGet () |
| Get the controller's sample rate. | |
| long | AxisCountGet () |
| Get the number of axes processing. | |
| void | AxisCountSet (long axisCount) |
| Set the number of processed axes in the controller. | |
| void | AxisCountSet (long axisCount, bool setMotorFilterSupervisor) |
| long | MotionCountGet () |
| Get the number of Motion Supervisors available in the firmware. | |
| void | MotionCountSet (long motionCount) |
| Set the number of processed Motion Supervisors in the controller. | |
| long | SequencerCountGet () |
| Get the number of Sequencer available in the firmware. | |
| void | SequencerCountSet (long sequencerCount) |
| Set the number of processed Sequencers in the controller. | |
| long | RecorderCountGet () |
| Get the number of Recorder available in the firmware. | |
| void | RecorderCountSet (long recorderCount) |
| Set the number of processed Recorders in the controller. | |
| long | UserVersionGet () |
| Get a customer designated Version for the application. | |
| void | UserVersionSet (long version) |
| Sets a customer designed Version for the application. | |
| long | ExternalMemorySizeGet () |
I/O | |
| bool | DigitalInGet (long bitNumber) |
| Get the state of a digital input bit. | |
| bool | DigitalOutGet (long bitNumber) |
| Get the state of a digital output. | |
| void | DigitalOutSet (long bitNumber, bool value) |
| Set a digital output state. | |
Firmware | |
| char * | MpiVersionGet () |
| Get the MPI version. | |
| bool | SynqNetOlderThan (char *evalVersion) |
| long | MpiFirmwareVersionGet () |
| Get firwmare version required by this MPI version. | |
| long | FirmwareVersionGet () |
| Get the firmware version. | |
| char | FirmwareRevisionGet () |
| Get the firmware revision. | |
| long | FirmwareSubRevisionGet () |
| Get the subrevision number of the firmware. | |
| long | FirmwareDevelopmentIDGet () |
| Get the development ID of the firmware. | |
| long | FirmwareOptionGet () |
| Get the firmware option number. | |
| void | FirmwareUpload (char *fileName) |
| Upload a firmware file (*.bin) from the controller. | |
| void | FirmwareDownload (char *fileName) |
| Download a firmware file to the controller. | |
| bool | HasMechaWare () |
SynqNet | |
| void | SynqNetInit () |
| Initialize the SynqNet network. | |
| void | SynqNetShutdown () |
| Shutdown the SynqNet network. | |
| void | SynqNetTopologySave () |
| Save the SynqNet network topology to flash memory. | |
| void | SynqNetTopologyClear () |
| Clear the SynqNet topology. | |
| RSISynqNetState | SynqNetStateGet () |
| Get the SynqNet state. | |
| bool | SynqNetTopologySavedGet () |
| Determine if the SynqNet topology is saved in flash memory. | |
| bool | SynqNetRecoveryEventGet () |
| Determine if the SynqNet network performed a recovery. | |
| bool | SynqNetDeadEventGet () |
| Determine if a SynqNet dead event occured. | |
| bool | SynqNetRxFailureEventGet () |
| Determine if a receive failure event occured. | |
| bool | SynqNetTxFailureEventGet () |
| Determine if a SynqNet transmit failure occured. | |
| bool | SynqNetNodeFailureEventGet () |
| Determine if a SynqNet node failed. | |
| long | SynqNetCRCErrorOutGet () |
| Get the CRC Error Out count. | |
| long | SynqNetCRCErrorInGet () |
| Get the CRC Error In count. | |
| long | SynqNetFailedNodeMaskGet () |
| Gets the Failed Node mask. | |
| RSINetworkType | SynqNetNetworkTypeGet () |
| Get the network topology type. | |
| long | SynqNetNodeCountGet () |
| Get the number of total nodes (Axis and I/O) on the SynqNet network. | |
| long | SynqNetIONodeCountGet () |
| Get the number of I/O nodes on the SynqNet network. | |
| long | SynqNetNodeOffsetGet () |
| Get the starting node offset for this SynqNet network. | |
| RSISynqNetRecoveryMode | SynqNetRecoveryModeGet () |
| Get the recovery mode type of the SynqNet network. | |
| void | SynqNetRecoveryModeSet (long RSISynqNetRecoveryMode) |
| Set the recovery mode the SynqNet network. | |
| RSISynqNetCableStatus | SynqNetIdleCableStatusGet () |
| Gets the status of idle cable. | |
| long | SynqNetIdleCableNumberGet () |
| Gets the number of the idle cable or failed cable if in recovery. | |
| void | SynqNetHotReplaceRestart () |
Gantry Configuration | |
| void | GantryConfigSet (long firstMotorNumber, long secondMotorNumber) |
Interrupts | |
| void | InterruptEnableSet (bool enable) |
| Control interrupts for this class. | |
| void | InterruptWake () |
| Wake all threads waiting for a controller interrupt. | |
| void | ServiceThreadEnableSet (bool enable) |
| bool | ServiceThreadStateGet () |
| 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 () |
SyncInterrupt Real Time Operating System required | |
| void | SyncInterruptEnableSet (bool enable) |
| Configure Sync (periodic) interrupts for the controller. | |
| void | SyncInterruptPeriodSet (long samples) |
| Configure the period for the Sync Interrupt on the controller. | |
| long | SyncInterruptWait () |
| Suspend the current thread until an interrupt arrives from the controller. | |
| long | SyncInterruptHostProcessTimeGet () |
| Get the total number of microseconds availble for host processing. | |
| long | SyncInterruptHostProcessFlagGet () |
| void | SyncInterruptHostProcessFlagSet (bool value) |
| Set the Host Process flag. | |
| bool | SyncInterruptHostProcessStatusBitGet () |
| See if the host was processing too long on previous Sync Interrupt. | |
| void | SyncInterruptHostProcessStatusClear () |
| Clear the Host Process status bit. | |
Recorder | |
| void | RecorderPeriodSet (long samples) |
| Set the number of samples between records. | |
| void | RecorderPeriodSet (long recorderNumber, long samples) |
| void | RecorderCircularBufferSet (bool enable) |
| Configure recorder as circular buffer (or not). | |
| void | RecorderCircularBufferSet (long recorderNumber, bool enable) |
| void | RecorderDataCountSet (long count) |
| Set the number of data values to be recorded. | |
| void | RecorderDataCountSet (long recorderNumber, long count) |
| void | RecorderDataAddressSet (long index, long address) |
| Setup the addresses to be recorded. | |
| void | RecorderDataAddressSet (long recorderNumber, long index, long address) |
| void | RecorderConfigureToTriggerOnMotion (Axis *axis, bool triggerOnMotion) |
| Setup the recorder to trigger on motion. | |
| void | RecorderConfigureToTriggerOnMotion (long recorderNumber, Axis *axis, bool triggerOnMotion) |
| void | RecorderConfigureToTriggerOnMotion (MultiAxis *multiAxis, bool triggerOnMotion) |
| void | RecorderConfigureToTriggerOnMotion (long recorderNumber, MultiAxis *multiAxis, bool triggerOnMotion) |
| bool | RecorderEnabledGet () |
| Determine if the recorder is recording. | |
| bool | RecorderEnabledGet (long recorderNumber) |
| long | RecorderRecordCountGet () |
| Get the number of records that are stored and ready for reading. | |
| long | RecorderRecordCountGet (long recorderNumber) |
| long | RecorderRecordMaxCountGet () |
| Get the maximum number of records the recorder can store. | |
| long | RecorderRecordMaxCountGet (long recorderNumber) |
| void | RecorderStart () |
| Start recording data. | |
| void | RecorderStart (long recorderNumber) |
| void | RecorderStop () |
| Stop recording data. | |
| void | RecorderStop (long recorderNumber) |
| long * | RecorderRecordDataGet () |
| Get one record of recorded data. | |
| long * | RecorderRecordDataGet (long recorderNumber) |
| void | RecorderRecordDataRetrieve () |
| Retrieve one record of recorded data. | |
| void | RecorderRecordDataRetrieve (long recorderNumber) |
| long | RecorderRecordDataValueGet (long index) |
| Get one value from a retrieved record. | |
| long | RecorderRecordDataValueGet (long recorderNumber, long index) |
| void | RecorderBufferHighCountSet (long bufferHighCount) |
| Set the high count for the recording buffer. | |
| void | RecorderBufferHighCountSet (long recorderNumber, long bufferHighCount) |
| void | RecorderReset () |
| Reset the recorder. | |
| void | RecorderReset (long recorderNumber) |
| long | RecorderBufferSizeGet (long recorderNumber) |
| Get Frame buffer size for the Recorder. | |
| void | RecorderBufferSizeSet (long recorderNumber, long bufferSize) |
| Set buffer size for the Recorder. | |
Sequencer | |
| void | SequencerEnableSet (long sequencerNumber, bool state) |
| Enable or Disable a Sequencer. | |
| long | SequencerStart (long sequencerNumber) |
| Start a Sequencer. | |
| long | SequencerStop (long sequencerNumber) |
| Stop a Sequencer. | |
| RSISequenceState | SequencerStateGet (long sequencerNumber) |
| Get the state of a Sequencer. | |
| long | CommandWaitLong (long sequencerNumber, RSICommandOperator commandOperator, long address, long value) |
| Append a command which will wait on a 32-bit long value. | |
| long | CommandComputeLong (long sequencerNumber, RSICommandOperator commandOperator, long inputAddress, long outputAddress, long value) |
| Append a command which will perform a computation on a 32-bit long value. | |
| long | CommandDelay (long sequencerNumber, double seconds) |
| Append a command which will delay execution of the next command. | |
| void | CommandMoveVelocity (long sequencerNumber, Axis *axis, double velocity, double acceleration, double jerkPercent) |
| Append a command which starts a Velocity move. | |
| void | CommandMoveSCurve (long sequencerNumber, Axis *axis, double position, double velocity, double acceleration, double jerkPercent) |
| Append a command which starts an abosolute position move. | |
| void | CommandAction (long sequencerNumber, Axis *axis, RSICommandMotion action) |
| Append a command which generates an event on an axis. | |
| void | CommandAction (long sequencerNumber, MultiAxis *MultiAxis, RSICommandMotion action) |
Flash | |
| void | SaveToFlash () |
| Save controller configurations to flash memory. | |
Custom 97 Firmware | |
| long | Custom97VersionGet () |
| Get the Custom 97 feature version. | |
| void | Custom97WaitTimeSet (long cycles) |
| Set the number of cycles to strecth the HostProcessTime. | |
| void | Custom97ReadCountSet (long count) |
| Set the number of values to read from the SynqNet buffer. | |
| void | Custom97ReadPtrSet (long index, long firmwareAddress) |
| Specify the firmware address to read. | |
| void | Custom97WriteCountSet (long count) |
| Set the number of values to write to the SynqNet buffer. | |
| void | Custom97WritePtrSet (long index, long firmwareAddress) |
| Specify the firmware address where the data will be written. | |
| void | Custom97ReadDataGet (void *values, long byteCount) |
| A super-fast method to read a block of data from Custom97 read buffer. | |
| void | Custom97WriteDataSet (void *values, long byteCount) |
| A super-fast method to copy data from the Host PC to the Custom97 Write buffer. | |
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. | |
Detailed Description
To initalize your controller:/// controllerName = MotionController::CreateFromBoard(RSI_PCI_BOARD_NUMBER);
MotionController as seen in the RapidSetup utility
- Examples:
-
absoluteMotion.cpp, AxisSwitchID.cs, Camming.cs, Capture.cpp, configAmpFault.cpp, controllerInterrupts.cpp, custom97.cpp, customHome.cpp, driveMonitor.cpp, errorLog.cpp, Gantry.cs, gear.cpp, hardwareLimits.cpp, home.cpp, IOPoint.cs, IOPointInterrupts.cs, loadFirmware.cpp, memory.cpp, MotionFinalVelocity.cs, MotionHoldMultiAxisHomeSwitch.cs, motorfeedback.cpp, multiaxisMotion.cpp, multipleControllers.cpp, pathMotion.cpp, pvtMotion.cpp, recorder.cpp, RecorderInterrupts.cs, RecordOnMotion.cs, relativeMotion.cpp, sequencerDigitalOutput.cpp, settleCriteria.cpp, SliceCounter.cs, SliceIO.cs, stoprate.cpp, syncInterrupt.cpp, SynqNetOk.cpp, template.cpp, userLimit.cpp, userLimitDigitalInputAction.cpp, userLimitGainChangeBasedOnPosition.cpp, userLimitStateAction.cpp, verifyApp.cpp, and watchdog.cpp.
The documentation for this class was generated from the following files:
- rsi.h
- rsi.cpp