MotionController

RPCs

  rpc MotionController(MotionControllerRequest) returns (MotionControllerResponse) {};

Request

message MotionControllerRequest {
  // Common request header.
  RSI.RapidServer.RequestHeader header = 1;
 
  optional MotionControllerConfig config = 2;
  optional MotionControllerAction action = 3;
}

Response

message MotionControllerResponse {
  // Common response header. Always check the response header for errors.
  RSI.RapidServer.ResponseHeader header = 1;
 
  optional MotionControllerConfig config = 2;
  optional MotionControllerAction action = 3;
  optional MotionControllerInfo info = 4;
  optional MotionControllerStatus status = 5;
}

Config

message MotionControllerConfig {
  // The number of Axis objects.
  optional int32 axis_count = 1; 
 
  // The number of MultiAxis objects.  (internal MotionCount - AxisCount)
  optional int32 multi_axis_count = 2;
 
  // The number of UserLimits.
  optional int32 user_limit_count = 3;
 
  // The number of data recorders.
  optional int32 recorder_count = 4;
 
  // The sizes of each recorder's buffer.
  repeated int32 recorder_buffer_sizes = 5;
 
  // The number of position compensators.
  optional int32 compensator_count = 6;
 
  // The number of points for each position compensator.
  repeated int32 compensator_point_counts = 7;
 
  // The number of licensed Axis objects (read-only).
  int32 axis_license_count = 8; 
 
  // The size of each Axis' frame buffer. Must be power of 2.
  repeated int32 axis_frame_buffer_sizes = 9;
 
  // The number of 32-bit words free in the RMP firmware memory (read-only).
  int32 external_memory_size = 10; 
 
  // A 32-bit integer for users to specify a version.
  optional int32 user_version = 11;
}
 

Action

message AddressInfo {
  // The requested address type.
  oneof address_type {
      RSIControllerAddressType controller = 1;
      RSIAxisAddressType axis = 2;
      RSIMultiAxisAddressType multi_axis = 3;
  }
 
  // The 64-bit host address from the server.
  uint64 host_address = 4;
 
  // The data type at this address.  Useful for using the Recorder service.
  RSIDataType data_type = 5;
 
  // The internal 32-bit firmware address. (What you might see in VM3.)
  uint32 firmware_address = 6;
 
  // The 0-based object index for use when accessing Controller Addresses
  // Not used with Axis or MultiAxis addresses.
  optional int32 index = 7;
}
 
message MotionControllerMemory {
  message Integer {
    uint64 host_address = 1; 
    int32 value = 2;
  }
  message Double {
    uint64 host_address = 1;
    double value = 2;
  }
  message Block {
    uint64 host_address = 1;
    bytes values = 2;
    int32 size = 3;
  }
  oneof memory {
    Integer integer = 1;
    Double double = 2;
    Block block = 3;
  }
}
 
message MotionControllerAction {
  // Create a MotionController. You must do this before using any other RapidCode remote service!
  optional Create create = 1;
  repeated MotionControllerMemory memory_sets = 2;
  repeated MotionControllerMemory memory_gets = 3;
  repeated AddressInfo address_gets = 4;
  optional Shutdown shutdown = 5;
 
  message Create {
    // Path to the RMP firmware (RMP.rta), license file, etc.
    string rta_path = 1; 
    
    // The name of the INtime node where you want to start the RMP. ("NodeA" is default.)
    string node_name = 2; 
  }
 
  message Shutdown {}
}

Info

message MotionControllerInfo {
  // The RMP serial number.
  uint32 serial_number = 1;
 
  // The RapidCode version.
  string rapid_code_version = 2;
 
  // RMP firmware version.
  string firmware_version = 3;
 
  repeated AddressInfo addresses = 4;
}

RapidCode calls

SerialNumberGet(), RSI::RapidCode::MotionController::VersionGet() RSI::RapidCode::MotionController::FirmwareVersionGet()

Status

message MotionControllerStatus {
  // The RMP sample counter. 
  int32 sample_counter = 1;
 
  // Network node count.
  uint32 network_node_count = 2;
}