4package RSI.RapidCodeRemote;
5import "rsienums.proto";
6import "rapidgrpc.proto";
16 rpc MotionController(MotionControllerRequest) returns (MotionControllerResponse) {};
21 rpc Network(NetworkRequest) returns (NetworkResponse) {};
25 rpc Axis (AxisRequest) returns (AxisResponse) {};
26 rpc AxisBatch (AxisBatchRequest) returns (AxisBatchResponse) {};
31 rpc MultiAxis (MultiAxisRequest) returns (MultiAxisResponse) {};
32 rpc MultiAxisBatch (MultiAxisBatchRequest) returns (MultiAxisBatchResponse) {};
36 rpc NetworkNode (NetworkNodeRequest) returns (NetworkNodeResponse) {};
37 rpc NetworkNodeBatch (NetworkNodeBatchRequest) returns (NetworkNodeBatchResponse) {};
41 rpc Recorder (RecorderRequest) returns (RecorderResponse) {};
42 rpc RecorderBatch(RecorderBatchRequest) returns (RecorderBatchResponse) {};
46 rpc UserLimit (UserLimitRequest) returns (UserLimitResponse) {};
47 rpc UserLimitBatch(UserLimitBatchRequest) returns (UserLimitBatchResponse) {};
52 rpc RTOS(RTOSRequest) returns (RTOSResponse) {};
53 rpc RTOSBatch(RTOSBatchRequest) returns (RTOSBatchResponse) {};
59message MotionControllerConfig {
61 optional int32 axis_count = 1;
64 optional int32 multi_axis_count = 2;
67 optional int32 user_limit_count = 3;
70 optional int32 recorder_count = 4;
73 repeated int32 recorder_buffer_sizes = 5;
76 optional int32 compensator_count = 6;
79 repeated int32 compensator_point_counts = 7;
82 repeated int32 axis_frame_buffer_sizes = 8;
85 optional int32 user_version = 10;
88 optional
double sample_rate = 11;
105 uint64 host_address = 4;
111 uint32 firmware_address = 6;
115 optional int32 index = 7;
118 optional int32 mask = 8;
121message MotionControllerMemory {
123 uint64 host_address = 1;
127 uint64 host_address = 1;
131 uint64 host_address = 1;
142message MotionControllerAction {
144 optional Create create = 1;
145 repeated MotionControllerMemory memory_sets = 2;
146 repeated MotionControllerMemory memory_gets = 3;
147 repeated AddressInfo address_gets = 4;
148 optional Shutdown shutdown = 5;
149 optional ProcessorUsageClear processor_usage_clear = 6;
153 optional
string rmp_path = 1;
154 optional
string node_name = 2;
156 optional
string primary_nic = 3;
157 optional
string secondary_nic = 4;
159 optional int32 cpu_affinity = 5;
160 optional int32 rmp_thread_priority_max = 6;
169 message ProcessorUsageClear {}
176message MotionControllerInfo {
178 uint32 serial_number = 1;
181 string rapid_code_version = 2;
184 string firmware_version = 3;
187 int32 axis_license_count = 4;
189 repeated AddressInfo addresses = 5;
192 Constants constants = 6;
196 uint32 network_start_timeout_milliseconds_default = 1;
199 uint32 axis_count_maximum = 2;
202 uint32 motion_count_maximum = 3;
205 uint32 network_node_count_maximum = 4;
208 uint32 recorder_count_maximum = 5;
211 uint32 compensator_count_maximum = 6;
214 uint32 user_buffer_data_count_maximum = 7;
217 uint32 sequencer_global_count_maximum = 8;
220 double sample_rate_default = 9;
222 CreationParameters creation_parameters = 10;
224 message CreationParameters {
226 uint32 path_length_maximum = 1;
229 uint32 cpu_affinity_default = 2;
232 uint32 rmp_thread_priority_maximum_default = 3;
235 uint32 rmp_thread_priority_range = 4;
244message MotionControllerStatus {
246 int32 sample_counter = 1;
249 uint32 network_node_count = 2;
252 double processor_usage = 3;
255 uint32 firmware_timing_delta = 4;
258 int32 external_memory_size = 9;
265message MotionControllerRequest {
267 RSI.RapidServer.RequestHeader header = 1;
269 optional MotionControllerConfig config = 2;
270 optional MotionControllerAction action = 3;
276message MotionControllerResponse {
278 RSI.RapidServer.ResponseHeader header = 1;
280 optional MotionControllerConfig config = 2;
281 optional MotionControllerAction action = 3;
282 optional MotionControllerInfo info = 4;
283 optional MotionControllerStatus status = 5;
288message NetworkConfig {}
292message NetworkAction {
294 optional Shutdown shutdown = 1;
297 optional Discover discover = 2;
298 optional
Start start = 3;
299 optional DiscoverAndStart discover_and_start = 4;
303 optional TimingMetricsEnable timing_metrics_enable = 5;
304 optional TimingMetricsDisable timing_metrics_disable = 6;
305 optional TimingMetricsClear timing_metrics_clear = 7;
308 repeated OutputOverride output_override = 8;
315 optional uint32 timeout_milliseconds = 3;
321 optional uint32 timeout_milliseconds = 2;
324 message DiscoverAndStart {
328 optional uint32 timeout_milliseconds = 2;
331 message TimingMetricsEnable {
333 optional uint32 low_threshold = 1;
335 optional uint32 high_threshold = 2;
337 message TimingMetricsDisable {}
338 message TimingMetricsClear {}
340 message OutputOverride {
344 optional
bool override = 2;
346 optional int64 override_value = 3;
352message NetworkRequest {
354 RSI.RapidServer.RequestHeader header = 1;
356 optional NetworkConfig config = 2;
358 optional NetworkAction action = 3;
363message NetworkResponse {
365 RSI.RapidServer.ResponseHeader header = 1;
367 optional NetworkConfig config = 2;
368 optional NetworkAction action = 3;
369 optional NetworkInfo info = 4;
370 optional NetworkStatus status = 5;
375message NetworkStatus {
377 int32 node_count = 2;
379 bool synchronized = 4;
383 string log_message = 6;
386 TimingMetricsStatus timing_metrics = 7;
389 repeated PdoInputStatus pdo_inputs = 8;
392 repeated PdoOutputStatus pdo_outputs = 9;
394 message TimingMetricsStatus {
398 uint32 min_recorded = 2;
400 uint32 max_recorded = 3;
402 uint32 low_count = 4;
404 uint32 high_count = 5;
407 message PdoInputStatus {
414 message PdoOutputStatus {
418 int64 sent_value = 2;
420 int64 override_value = 3;
422 int64 firmware_value = 4;
424 bool override_enabled = 5;
432 int32 pdo_input_count = 4;
433 int32 pdo_output_count = 5;
436 repeated PdoInputInfo pdo_inputs = 6;
439 repeated PdoOutputInfo pdo_outputs = 7;
441 message PdoInputInfo {
443 AddressInfo address_info = 2;
445 int32 bit_offset = 4;
448 message PdoOutputInfo {
450 AddressInfo sent_value_address = 2;
451 AddressInfo override_value_address = 3;
452 AddressInfo firmware_value_address = 4;
454 int32 bit_offset = 6;
465 RSI.RapidServer.RequestHeader header = 1;
470 optional AxisConfig config = 3;
471 optional AxisAction action = 4;
476message AxisResponse {
478 RSI.RapidServer.ResponseHeader header = 1;
483 optional AxisConfig config = 3;
484 optional AxisAction action = 4;
485 optional AxisInfo info = 5;
486 optional AxisStatus status = 6;
491message AxisBatchRequest {
493 RSI.RapidServer.RequestHeader header = 1;
495 repeated AxisRequest requests = 2;
498message AxisBatchResponse {
500 RSI.RapidServer.ResponseHeader header = 1;
502 repeated AxisResponse responses = 2;
509 bool amp_enabled = 1;
518 string source_name = 4;
521 PositionStatus position = 5;
524 VelocityStatus velocity = 6;
527 AccelerationStatus acceleration = 7;
530 int32 frames_to_execute = 8;
533 uint32 motion_id = 9;
536 uint32 motion_id_executing = 10;
539 int32 element_id_executing = 11;
542 bool gear_enabled = 12;
545 MotorStatusBits motor_status_bits = 13;
548 MotionStatusBits motion_status_bits = 14;
551 Ds402StatusBits ds402_status_bits = 15;
554 DedicatedOutputBits dedicated_output_bits = 16;
557 DedicatedInputBits dedicated_input_bits = 17;
559 message PositionStatus {
565 double encoder_0 = 6;
566 double encoder_1 = 7;
567 double compensation = 8;
571 message VelocityStatus {
576 message AccelerationStatus {
580 message MotorStatusBits {
582 bool amp_warning = 2;
583 bool feedback_fault = 3;
584 bool limit_position_error = 4;
585 bool limit_torque = 5;
586 bool limit_hardware_negative = 6;
587 bool limit_hardware_positive = 7;
588 bool limit_software_negative = 8;
589 bool limit_software_positive = 9;
592 message MotionStatusBits {
596 bool at_velocity = 4;
597 bool out_of_frames = 5;
598 bool near_target = 6;
603 message Ds402StatusBits {
604 bool ready_to_switch_on = 1;
605 bool switched_on = 2;
606 bool operation_enabled = 3;
608 bool voltage_enabled = 5;
610 bool switch_on_disabled = 7;
612 bool manufacturer_specific_8 = 9;
614 bool target_reached = 11;
615 bool internal_limit_active = 12;
616 bool operation_mode_specific_12 = 13;
617 bool operation_mode_specific_13 = 14;
618 bool manufacturer_specific_14 = 15;
619 bool manufacturer_specific_15 = 16;
622 message DedicatedOutputBits {
624 bool brake_release = 2;
627 message DedicatedInputBits {
629 bool brake_applied = 2;
631 bool limit_hardware_positive = 4;
632 bool limit_hardware_negative = 5;
634 bool index_secondary = 7;
635 bool feedback_fault = 8;
640 bool amp_active = 13;
642 bool drive_status_9 = 15;
643 bool drive_status_10 = 16;
644 bool feedback_fault_primary = 17;
645 bool feedback_fault_secondary = 18;
652 optional Abort abort = 1;
653 optional EStopAbort e_stop_abort = 2;
654 optional EStopModifyAbort e_stop_modify_abort = 3;
655 optional EStopModify e_stop_modify = 4;
656 optional EStop e_stop = 5;
657 optional TriggeredModify triggered_modify = 6;
658 optional Stop stop = 7;
659 optional Resume resume = 8;
661 optional ClearFaults clear_faults = 9;
662 optional AmpEnable amp_enable = 10;
663 optional AmpDisable amp_disable = 11;
664 optional HoldGateSet hold_gate_set = 12;
665 optional PositionSet position_set = 13;
666 optional Move move = 14;
667 optional GearEnable gear_enable = 15;
668 optional GearDisable gear_disable = 16;
669 optional Home home = 17;
670 optional HomeCancel home_cancel = 18;
673 message EStopAbort {}
674 message EStopModifyAbort{}
675 message EStopModify{}
677 message TriggeredModify {}
681 message ClearFaults {}
684 optional int32 timeout_milliseconds = 1;
685 optional int32 duration = 2;
687 message AmpDisable {}
688 message HoldGateSet {
698 AxisMovePointToPoint point_to_point = 3;
699 AxisMoveVelocity velocity = 4;
700 MoveStreaming streaming = 5;
704 optional uint32 motion_id = 6;
707 optional MotionHold motion_hold = 7;
714 optional int32 master_axis_number = 2;
717 int32 denominator = 5;
719 message GearDisable {}
722 optional
bool move_to_zero = 1;
724 message HomeCancel {}
728 message AxisMovePointToPoint {
733 optional
double velocity = 2;
736 optional
double acceleration = 3;
739 optional
double deceleration = 4;
744 optional
double jerk_percent = 5;
748 optional
double final_velocity = 6;
754message AxisMoveVelocity {
759 double acceleration = 2;
763 double jerk_percent = 3;
766message MoveStreaming {
767 repeated
double positions = 1;
768 repeated
double velocities = 2;
769 repeated
double accelerations = 3;
770 repeated
double jerks = 4;
771 repeated
double times = 5;
772 int32 empty_count = 6;
786message MotionHoldGate{
790message MotionHoldAxis {
798 int32 hold_axis_number = 3;
801 double hold_axis_position = 4;
804message MotionHoldUser {
818 MotionHoldGate gate = 2;
819 MotionHoldAxis axis = 3;
820 MotionHoldUser user = 4;
824 optional
double hold_timeout_seconds = 6;
827 optional
double delay_seconds = 7;
833 optional
double user_units = 1;
836 optional
double origin_position = 2;
839 optional
string user_label = 3;
842 optional TrajectoryDefaults defaults = 4;
843 optional HardwareTrigger amp_fault = 5;
844 optional HardwareTrigger home_switch = 6;
845 optional ErrorLimit error_limit = 7;
846 optional HardwareTrigger hardware_negative_limit = 8;
847 optional HardwareTrigger hardware_positive_limit = 9;
848 optional SoftwareTrigger software_negative_limit = 10;
849 optional SoftwareTrigger software_positive_limit = 11;
850 optional Settling settling = 12;
851 optional MotionConfig motion = 13;
852 optional Homing homing = 14;
853 optional int32 frame_buffer_size = 15;
857 message TrajectoryDefaults
859 optional
double velocity = 1;
860 optional
double acceleration = 2;
861 optional
double deceleration = 3;
862 optional
double jerk_percent = 4;
863 optional
double position1 = 5;
864 optional
double position2 = 6;
865 optional
double relative_increment = 7;
868 message HardwareTrigger {
870 optional
bool trigger_state = 2;
871 optional
double duration = 3;
874 message SoftwareTrigger {
876 optional
double trigger_value = 2;
881 optional
double trigger_value = 2;
882 optional
double duration = 3;
886 optional
double position_tolerance_fine = 1;
887 optional
double position_tolerance_coarse = 2;
888 optional
double velocity_tolerance = 3;
889 optional
double time_seconds = 4;
890 optional
bool on_stop = 5;
891 optional
bool on_estop = 6;
892 optional
bool on_estop_cmd_equals_actual = 7;
895 message MotionConfig {
897 optional
double stop_time = 1;
900 optional
double estop_time = 2;
903 optional
double triggered_modify_deceleration = 3;
906 optional
double triggered_modify_jerk_percent = 4;
909 optional
double estop_modify_deceleration = 5;
912 optional
double estop_modify_jerk_percent = 6;
916 optional
double offset = 2;
917 optional
double velocity = 3;
918 optional
double slow_velocity = 4;
919 optional
double acceleration = 5;
920 optional
double deceleration = 6;
921 optional
double jerk_percent = 7;
922 optional
bool state = 8;
935 repeated AddressInfo addresses = 2;
938 NetworkNodeInfo node_info = 3;
941 Constants constants = 4;
945 uint32 network_index_invalid = 1;
948 double amp_enable_amp_fault_timeout_seconds_default = 2;
956message MultiAxisRequest {
958 RSI.RapidServer.RequestHeader header = 1;
963 optional MultiAxisConfig config = 3;
964 optional MultiAxisAction action = 4;
969message MultiAxisResponse {
971 RSI.RapidServer.ResponseHeader header = 1;
976 optional MultiAxisConfig config = 3;
977 optional MultiAxisAction action = 4;
978 optional MultiAxisInfo info = 5;
979 optional MultiAxisStatus status = 6;
984message MultiAxisBatchRequest {
986 RSI.RapidServer.RequestHeader header = 1;
988 repeated MultiAxisRequest requests = 2;
991message MultiAxisBatchResponse {
993 RSI.RapidServer.ResponseHeader header = 1;
995 repeated MultiAxisResponse responses = 2;
1001message MultiAxisStatus {
1004 string source_name = 3;
1005 bool amp_enabled = 4;
1006 MotionStatusBits motion_status_bits = 5;
1007 repeated AxisStatus axis_statuses = 6;
1010 message MotionStatusBits {
1014 bool at_velocity = 4;
1015 bool out_of_frames = 5;
1021message MultiAxisAction {
1022 optional Abort abort = 1;
1023 optional EStopAbort e_stop_abort = 2;
1024 optional EStopModifyAbort e_stop_modify_abort = 3;
1025 optional EStopModify e_stop_modify = 4;
1026 optional EStop e_stop = 5;
1027 optional TriggeredModify triggered_modify = 6;
1028 optional Stop stop = 7;
1029 optional Resume resume = 8;
1031 optional ClearFaults clear_faults = 9;
1032 optional AmpEnable amp_enable = 10;
1033 optional AmpDisable amp_disable = 11;
1034 optional Move move = 12;
1035 optional RemoveAxes remove_axes = 13;
1036 optional Unmap unmap = 14;
1037 optional Map map = 15;
1038 optional AxisAdd axis_add = 16;
1041 message EStopAbort {}
1042 message EStopModifyAbort{}
1043 message EStopModify{}
1045 message TriggeredModify {}
1049 message ClearFaults {}
1052 optional int32 timeout_milliseconds = 1;
1053 optional int32 duration = 2;
1055 message AmpDisable {}
1059 MultiAxisMovePointToPoint point_to_point = 3;
1060 MultiAxisMoveVelocity velocity = 4;
1061 MoveStreaming streaming = 5;
1063 optional uint32 motion_id = 6;
1066 optional MotionHold motion_hold = 7;
1070 message MultiAxisMovePointToPoint {
1071 repeated AxisMovePointToPoint axis_move_point_to_points = 1;
1075 message MultiAxisMoveVelocity {
1076 repeated AxisMoveVelocity axis_move_velocities = 1;
1079 message RemoveAxes {}
1083 int32 axis_index = 1;
1089message MultiAxisConfig {
1090 repeated int32 axes_indices = 1;
1091 optional
string user_label = 2;
1092 optional
double feed_rate = 3;
1093 optional
double stop_time = 4;
1094 optional
double e_stop_time = 5;
1099message MultiAxisInfo {
1104 int32 motion_index = 2;
1107 repeated AddressInfo addresses = 3;
1112message NetworkNodeInfo {
1120 int32 axis_count = 3;
1126 IOCounts io_counts = 5;
1129 IOAddresses io_addresses = 6;
1135 uint32 vendor_id = 8;
1138 uint32 product_code = 9;
1141 uint32 hardware_revision = 10;
1144 uint32 station_alias = 11;
1147 string serial_number = 12;
1153 string product_name = 14;
1156 string vendor_name = 15;
1158 Constants constants = 16;
1166 int32 digital_inputs = 1;
1169 int32 digital_outputs = 2;
1172 int32 analog_inputs = 3;
1175 int32 analog_outputs = 4;
1178 message IOAddresses {
1180 repeated AddressInfo digital_inputs = 1;
1183 repeated AddressInfo digital_outputs = 2;
1186 repeated AddressInfo analog_inputs = 3;
1189 repeated AddressInfo analog_outputs = 4;
1194 uint32 sdo_timeout_milliseconds_default = 1;
1200message NetworkNodeStatus {
1202 repeated
bool digital_input_states = 2;
1205 repeated
bool digital_output_states = 3;
1208 repeated int32 analog_input_values = 4;
1211 repeated int32 analog_output_values = 5;
1218message DigitalOutput {
1220 int32 bit_number = 1;
1230message AnalogOutput {
1247 int32 sub_index = 2;
1250 int32 byte_count = 3;
1255 optional
bool is_string_value = 4;
1258 optional uint32 timeout_milliseconds = 5;
1265 int32 integer_value = 6;
1268 string string_value = 7;
1279 optional
string result = 2;
1285message NetworkNodeAction {
1291 repeated DigitalOutput digital_output_sets = 1;
1297 repeated AnalogOutput analog_output_sets = 2;
1302 repeated SDO sdo_writes = 3;
1307 repeated SDO sdo_reads = 4;
1313 repeated AKDASCII akd_asciis = 5;
1318message NetworkNodeConfig {}
1322message NetworkNodeRequest {
1324 RSI.RapidServer.RequestHeader header = 1;
1329 optional NetworkNodeConfig config = 3;
1330 optional NetworkNodeAction action = 4;
1335message NetworkNodeResponse {
1337 RSI.RapidServer.ResponseHeader header = 1;
1342 optional NetworkNodeConfig config = 3;
1343 optional NetworkNodeAction action = 4;
1344 optional NetworkNodeInfo info = 5;
1345 optional NetworkNodeStatus status = 6;
1350message NetworkNodeBatchRequest {
1352 RSI.RapidServer.RequestHeader header = 1;
1354 repeated NetworkNodeRequest requests = 2;
1357message NetworkNodeBatchResponse {
1359 RSI.RapidServer.ResponseHeader header = 1;
1361 repeated NetworkNodeResponse responses = 2;
1367message RecorderRequest {
1369 RSI.RapidServer.RequestHeader header = 1;
1374 optional RecorderConfig config = 3;
1375 optional RecorderAction action = 4;
1381message RecorderResponse {
1383 RSI.RapidServer.ResponseHeader header = 1;
1388 optional RecorderConfig config = 3;
1389 optional RecorderAction action = 4;
1390 optional RecorderInfo info = 5;
1391 optional RecorderStatus status = 6;
1396message RecorderBatchRequest {
1398 RSI.RapidServer.RequestHeader header = 1;
1400 repeated RecorderRequest requests = 2;
1403message RecorderBatchResponse {
1405 RSI.RapidServer.ResponseHeader header = 1;
1407 repeated RecorderResponse responses = 2;
1413message RecorderInfo { }
1417message RecorderStatus {
1419 bool is_recording = 1;
1422 int32 records_available = 2;
1427message RecorderAction {
1429 optional Reset reset = 1;
1430 optional
Start start = 2;
1431 optional Stop stop = 3;
1432 optional RetrieveRecords retrieve_records = 4;
1438 message RetrieveRecords {
1440 repeated Record records = 1;
1445 repeated Data data = 1;
1462message RecorderConfig {
1467 bool circular_buffer = 2;
1470 repeated AddressInfo addresses = 3;
1473 RecorderTriggerOnMotion trigger = 4;
1476 int32 buffer_high_count = 5;
1479 int32 record_max_count = 6;
1483 message RecorderTriggerOnMotion {
1485 int32 motion_index = 1;
1491message UserLimitStatus {
1504message UserLimitAction {
1506 optional Reset reset = 1;
1507 optional Enable enable = 2;
1508 optional Disable disable = 3;
1518message UserLimitInfo {}
1523message UserLimitConfig {
1529 optional UserLimitCondition condition_0 = 2;
1532 optional UserLimitCondition condition_1 = 3;
1535 optional UserLimitOutput output = 4;
1541 optional int32 action_axis = 6;
1544 optional
double duration = 7;
1547 optional
bool is_single_shot = 8;
1550 repeated UserLimitInterruptUserData user_data = 9;
1553 message UserLimitCondition {
1564 optional uint32 mask = 4;
1567 optional int32 integer_limit_value = 5;
1570 optional
double double_limit_value = 6;
1573 message UInt32Masks {
1575 uint32 and_mask = 1;
1581 message UInt64Masks {
1583 uint64 and_mask = 1;
1589 message UserLimitOutput {
1602 UInt32Masks uint32_masks = 6;
1605 int32 int32_value = 7;
1608 UInt64Masks uint64_masks = 8;
1611 double double_value = 9;
1615 uint64 input_address = 10;
1619 message UserLimitInterruptUserData {
1624 optional uint64 address = 2;
1630message UserLimitRequest {
1632 RSI.RapidServer.RequestHeader header = 1;
1637 optional UserLimitConfig config = 3;
1639 optional UserLimitAction action = 4;
1644message UserLimitResponse {
1646 RSI.RapidServer.ResponseHeader header = 1;
1651 optional UserLimitConfig config = 3;
1652 optional UserLimitAction action = 4;
1653 optional UserLimitInfo info = 5;
1654 optional UserLimitStatus status = 6;
1659message UserLimitBatchRequest {
1661 RSI.RapidServer.RequestHeader header = 1;
1663 repeated UserLimitRequest requests = 2;
1666message UserLimitBatchResponse {
1668 RSI.RapidServer.ResponseHeader header = 1;
1670 repeated UserLimitResponse responses = 2;
1675message RTOSConfig {}
1681 string rmp_catalog = 1;
1684 string rmp_network_catalog = 2;
1687 uint32 node_count = 3;
1693 optional Restart restart = 1;
1694 optional Stop stop = 2;
1695 optional
Start start = 3;
1711message RTOSRequest {
1713 RSI.RapidServer.RequestHeader header = 1;
1718 optional RTOSConfig config = 3;
1719 optional RTOSAction action = 4;
1724message RTOSResponse {
1726 RSI.RapidServer.ResponseHeader header = 1;
1731 optional RTOSConfig config = 3;
1732 optional RTOSAction action = 4;
1733 optional RTOSInfo info = 5;
1734 optional RTOSStatus status = 6;
1739message RTOSBatchRequest {
1741 RSI.RapidServer.RequestHeader header = 1;
1743 repeated RTOSRequest requests = 2;
1746message RTOSBatchResponse {
1748 RSI.RapidServer.ResponseHeader header = 1;
1750 repeated RTOSResponse responses = 2;
RSINetworkStartMode
Network start modes.
RSINetworkState
State of network.
RSIControllerAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
RSIMotorDisableAction
Action for when a motor is disabled.
RSIMotionType
Streaming motion types.
RSIDataType
Data types for User Limits and other triggers.
RSIUserLimitLogic
Logic options for User Limits.
RSIAction
Action to perform on an Axis.
RSIAxisAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
RSINetworkStartError
Network start errors.
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
RSIUserLimitTriggerType
Trigger types for UserLimits.
INtimeStatus
INtime status values.
RSIHomeStage
Predefined Homing Stage sections.
RSINetworkType
Type of Network topology.
RSINodeType
Valid Node types.
RSISource
Possible sources that have caused an Error state.
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
ServerInfo Start(Platform _platform, const char *const _nodeName, const char *const rmp_node, const char *const executable_path, const int32_t grpc_port=50051, const char *const friendly_name="RapidServer", const uint64_t timeout_ms=1000, const int32_t broadcast_port=60061)
Starts a RapidServer instance and confirms that the server process is started.