Common questions about the RMP.
RMP uses the INtime RTOS. Visit this page from Tenasys (INtime) to see supported CPUs and chipsets:
RapidCode.NET.dll → [32bit] - .NET Framework 4.5 DLL
RSI.System.dll → [32bit] - (only if using the Axis XML API)
RSI.System.dll is not needed, but some users might want to save Axis configurations that are not stored in the motion controller such as user units.
RapidCode64.NET.dll → [64bit] - .NET Framework 4.5 DLL
RSI.System64.dll → [64bit] - (only if using the Axis XML API)
RSI.System64.dll is not needed, but some users might want to save Axis configurations that are not stored in the motion controller such as user units.
RapidCode.NET.dll is built targeting .NET Framework 4.6.1, therefore you can build applications using the following frameworks:
❌ Not Supported
4.5❌ 4.5.1❌ 4.5.2❌ 4.6❌ 4.6.1✅ 4.6.2✅ 4.7✅ 4.7.1✅ 4.7.2✅ 4.8✅
❌ Not Supported
5✅ 6✅ 7✅
If your desired framework is not supported, please contact us, we can work to offer our Dlls in your desired .NET framework.
The RapidCode API links to the runtime library which works for 2015, 2017, 2019, 2022. We offer both 32-bit (x86) and 64-bit (x64).
For first time:
- 1.Generate an ENI file when your controller is set to 4kHz. (One Time per network.)
- 3.Click on the Motion Controller tab
- 1.Change Sample Rate from 1000 to 4000
- 2.Discover Network
- 3.Generate ENI File
- 4.Network Start
For future runs:
There is no need to use different functions for a combination of CSP and CST. (Other than setting up Tuning parameters for your CST axis.) The firmware will handle the appropriate calculations and send the command in the required mode over EtherCAT to achieve the command on the MultiAxis.
You will only need RapidCode.NET.dll and RapidSequencerAPI.NET.dll to compile a program using the RapidSequencerAPI when running RapidSequencer on Windows. To run a RapidSequencer on a real-time (INtime) system, you will need an RMP+ license and a system set up with at least two INtime nodes.
RapidSequencerFactorycontains the following static methods:
- Create: Creates a RapidSequencer process.
- Discover: Discovers existing RapidSequencer process.
You may use any port number you wish, but we recommend avoiding port number conflicts with any well-known or reserved ports. A list may be found here. The sequencer can be connected to via a gRPC channel by specifying the IP address and the port number to connect to.
Compiling a RapidSequencer script generates a file with the .sqbin extension, which is the compiled version of the script. The path to the .sqbin file is can be found in the
CompileSuccessobject returned by a compile request as the
A RapidSequencer run request takes in a
CompileSuccessobject which is used to specify where the .sqbin file is located. To reuse previous compilation results, you may either save the previous
CompileSuccessobjects or create a new one and specify the
INtime RapidSetup: I am seeing RapidSetup display a license serial number that does not match my INtime USB dongle.
We have seen that if the user's PC has an INtime trial license activated, sometimes the INtime dongle/USB serial number is not recognized. When this happens you must manually delete all INtime licenses and re-enter a new license string.
Reset the License using a GUI as of INtime 7:
- 1.Navigate to INtime License Manager
- 2.Click "Purge License"
- 3.Enter your dongle license and make sure it displays "key locked" correctly.
Manual INtime Lic Reset:
- 1.Navigate to
- 2.Delete the file with the name
- 3.Open "INtime Configuration" app
- 4.Select "License Manager" section
- 5.Enter your dongle license and make sure it displays "key locked" correctly.