Axis

RPCs

  rpc Axis (AxisRequest) returns (AxisResponse) {};
  rpc AxisBatch (AxisBatchRequest) returns (AxisBatchResponse) {};

Request

message AxisRequest {
  // Common request header
  RSI.RapidServer.RequestHeader header = 1;
 
  // Axis index
  int32 index = 2;
 
  optional AxisConfig config = 3;
  optional AxisAction action = 4;
}

Response

message AxisResponse {
  // Common response header. Always check the response header for errors.
  RSI.RapidServer.ResponseHeader header = 1;
 
  // Axis index
  int32 index = 2;
 
  optional AxisConfig config = 3;
  optional AxisAction action = 4;
  optional AxisInfo info = 5;
  optional AxisStatus status = 6;
}

Batch Request and Response

message AxisBatchRequest {
  // Common request header
  RSI.RapidServer.RequestHeader header = 1;
 
  repeated AxisRequest requests = 2;
}
 
message AxisBatchResponse {
  // Common response header. Always check the response header for errors.
  RSI.RapidServer.ResponseHeader header = 1;
 
  repeated AxisResponse responses = 2;
}

Config

message AxisConfig {
  // The number of encoder counts to UserUnits.
  optional double user_units = 1;
 
  // The origin position, typically set when homing.
  optional double origin_position = 2;
 
  // Give the Axis a name, if you like.
  optional string user_label = 3;
 
  // Default trajectory values.
  optional TrajectoryDefaults defaults = 4;
  optional HardwareTrigger amp_fault = 5;
  optional HardwareTrigger home_switch = 6;
  optional ErrorLimit error_limit = 7;
  optional HardwareTrigger hardware_negative_limit = 8;
  optional HardwareTrigger hardware_positive_limit = 9;
  optional SoftwareTrigger software_negative_limit = 10;
  optional SoftwareTrigger software_positive_limit = 11;
  optional Settling settling = 12;
  optional MotionConfig motion = 13;
  optional Homing homing = 14;
  optional int32 frame_buffer_size = 15;
 
  // Internal messages.
  message TrajectoryDefaults
  {
    optional double velocity = 1;
    optional double acceleration = 2;
    optional double deceleration = 3;
    optional double jerk_percent = 4;
    optional double position1 = 5;
    optional double position2 = 6;
    optional double relative_increment = 7;
  }
 
  message HardwareTrigger {
    optional RSIAction action = 1;
    optional bool trigger_state = 2;
    optional double duration = 3;
  }
 
  message SoftwareTrigger {
    optional RSIAction action = 1;
    optional double trigger_value = 2;
  }
 
  message ErrorLimit {
    optional RSIAction action = 1;
    optional double trigger_value = 2;
    optional double duration = 3;
  }
 
  message Settling {
    optional double position_tolerance_fine = 1;
    optional double position_tolerance_coarse = 2;
    optional double velocity_tolerance = 3;
    optional double time_seconds = 4;
    optional bool on_stop = 5;
    optional bool on_estop = 6;
    optional bool on_estop_cmd_equals_actual = 7;
  }
 
  message MotionConfig {
    // Seconds.
    optional double stop_time = 1;
  
    // Seconds.
    optional double estop_time = 2;
  
    // UserUnits per second.
    optional double triggered_modify_deceleration = 3;
  
    // Jerk percent (0-100).
    optional double triggered_modify_jerk_percent = 4;
 
    // UserUnits per second.
    optional double estop_modify_deceleration = 5;
 
    // Jerk percent (0-100).
    optional double estop_modify_jerk_percent = 6;
  }
  message Homing {
    optional RSIHomeMethod method = 1;
    optional double offset = 2;
    optional double velocity = 3; // this requires the home stage?
    optional double slow_velocity = 4;
    optional double acceleration = 5; // this requires the home stage?
    optional double deceleration = 6; // this requires the home stage?
    optional double jerk_percent = 7;
    optional bool state = 8;
    optional RSIHomeStage stage = 9;
    optional RSIAction behavior = 10;
  }
}

Action

message AxisAction {  
  optional Abort abort = 1;
  optional EStopAbort e_stop_abort = 2;
  optional EStopModifyAbort e_stop_modify_abort = 3;
  optional EStopModify e_stop_modify = 4;
  optional EStop e_stop = 5;
  optional TriggeredModify triggered_modify = 6;
  optional Stop stop = 7;
  optional Resume resume = 8;
 
  optional ClearFaults clear_faults = 9;
  optional AmpEnableSet amp_enable_set = 10;
  optional HoldGateSet hold_gate_set = 11;
  optional PositionSet position_set = 12;
  optional Move move = 13;
  optional Gear gear = 14;
  optional Home home = 16;
  optional HomeCancel home_cancel = 17;
 
 
  message Abort {}
  message EStopAbort {}
  message EStopModifyAbort{}
  message EStopModify{}
  message EStop {}
  message TriggeredModify {}
  message Stop {}
  message Resume {}
 
  message ClearFaults {}
  
  message AmpEnableSet {
    bool enable = 1;
    optional int32 timeout_milliseconds = 2;
    optional int32 duration = 3; // read-only how long did it take to enable? only set if you specify a timeout to wait for AMP_ACTIVE
  }
  message HoldGateSet {
    bool state = 1;
  }
  message PositionSet{
    double position = 1;
  }
 
  message Move {
    // Request one type of motion.
    oneof move {
        AxisMovePointToPoint point_to_point = 3;
        AxisMoveVelocity velocity = 4;
        MoveStreaming streaming = 5;
    }
 
    // Specify the MotionID for this move.  (If you don't specify one, it will be auto-incremented after each move.)
    optional uint32 motion_id = 6;
 
    // Specify MotionHold criteria, if you want the motion to hold execution until conditions are met.
    optional MotionHold motion_hold = 7;
 
    // Wait for motion to complete? (See ConfigSet settling criteria.)
    bool blocking = 8;
  }
 
  message Gear {
    bool enable = 1;
    optional int32 master_axis_number = 2;
    optional RSIAxisMasterType gearing_source = 3;
    int32 numerator = 4;
    int32 denominator = 5;
  }
 
  message Home {
    optional bool move_to_zero = 1;
  }
  message HomeCancel {}
}
 
// Internal MoveRequest messages.
 message AxisMovePointToPoint {
  // Move to this position. Absolute, unless the relative boolean is true. (UserUnits)
  double position = 1;
 
  // Maximum velocity. (UserUnits/second)
  double velocity = 2;
 
  // Maximum acceleration. (UserUnits/second^2)
  double acceleration = 3;
 
  // Maximum deceleration. (UserUnits/second^2)
  double deceleration = 4;
 
  // Percentage of acceleration that will be smoothed. (0-100)
  // Acceleration time will not change so if Jerk Percent is 100, maximum acceleration will be 2x the specified maximum.
  double jerk_percent = 5;
 
  // Final velocity. 0.0 is default. (UserUnits/second)
  double final_velocity = 6;
 
  // Set true if you intend position to be a relative increment.
  bool relative = 7;
}
 
message AxisMoveVelocity {
  // Move at this velocity. (UserUnits/second)
  double velocity = 1;
 
  // Maximum acceleration. (UserUnits/second^2)
  double acceleration = 2;
 
  // Percentage of acceleration that will be smoothed. (0-100)
  // Acceleration time will not change so if Jerk Percent is 100, maximum acceleration will be 2x the specified maximum.
  double jerk_percent = 3;
}
 
message MoveStreaming {
  repeated double positions = 1;
  repeated double velocities = 2;
  repeated double accelerations = 3;
  repeated double jerks = 4;
  repeated double times = 5;
  int32 empty_count = 6;
  bool retain = 7;
  bool final = 8;
 
  // Specify the interpolation algorithm to use when only providing positions and no velocities nor accelerations.
  // Uses the RapidCode method RapidCodeMotion::MovePT()
  // The three currently supported ones are:
  //  RSIMotionTypePT (no interpolation)
  //  RSIMotionTypeBSPLINE (default)
  //  RSIMotionTypePVT is used in the RapidCode method RapidCodeMotion::MovePVT(), i.e. when positions and velocities are given.
  optional RSIMotionType pt_motion_type = 9;
}

Info

message AxisInfo {
  // Axis index.
  int32 index = 1;
    
  // Host and firmware addresses
  repeated AddressInfo addresses = 2;
 
  // NetworkNode information.
  NetworkNodeInfo node_info = 3;
}

Status

message AxisStatus {
  // Is the amp enabled?
  bool amp_enabled = 1;
 
  // The state (IDLE, MOVING, ERROR, etc.).
  RSIState state = 2;
 
  // The cause of the error (if in ERROR, STOPPED, STOPPING_ERROR state).
  RSISource source = 3;
 
  // Extra fault info from the drive
  string source_name = 4;
 
  // Positions.
  PositionStatus position = 5;
 
  // Command and actual velocity.
  VelocityStatus velocity = 6;
 
  // Command acceleration.
  AccelerationStatus acceleration = 7;
 
  // How many frames does the Axis have left to execute?
  int32 frames_to_execute = 8;
 
  // The motion id as stored in the Axis class (unsigned 16-bit integer).
  uint32 motion_id = 9;
 
  // The currently executing motion identifier (unsigned 16-bit integer).
  uint32 motion_id_executing = 10;
 
  // The currently exeucting motion element identifier (unsigned 16-bit integer).
  int32 element_id_executing = 11;
  
  //TODO add dedicated io status
 
  message PositionStatus {
    double command = 1;
    double actual = 2;
    double error = 3;
    double target = 4;
    double origin = 5;
    double encoder_0 = 6;
    double encoder_1 = 7;
    double compensation = 8;
    double backlash = 9;
  }
 
  message VelocityStatus {
    double command = 1;
    double actual = 2;
  }
 
  message AccelerationStatus {
    double command = 1;
  }
}