NetworkNode

RPCs

  rpc NetworkNode (NetworkNodeRequest) returns (NetworkNodeResponse) {};
  rpc NetworkNodeBatch (NetworkNodeBatchRequest) returns (NetworkNodeBatchResponse) {};

Request

message NetworkNodeRequest {
  // Common request header
  RSI.RapidServer.RequestHeader header = 1;
 
  // Network Node index
  int32 index = 2;
 
  optional NetworkNodeConfig config = 3;
  optional NetworkNodeAction action = 4;
}

Response

message NetworkNodeResponse {
  // Common response header. Always check the response header for errors.
  RSI.RapidServer.ResponseHeader header = 1;
 
  // Network Node index
  int32 index = 2;
 
  optional NetworkNodeConfig config = 3;
  optional NetworkNodeAction action = 4;
  optional NetworkNodeInfo info = 5;
  optional NetworkNodeStatus status = 6;
}

Batch Request and Response

message NetworkNodeBatchRequest {
  // Common request header
  RSI.RapidServer.RequestHeader header = 1;
 
  repeated NetworkNodeRequest requests = 2;
}
 
message NetworkNodeBatchResponse {
  // Common response header. Always check the response header for errors.
  RSI.RapidServer.ResponseHeader header = 1;
 
  repeated NetworkNodeResponse responses = 2;
}

Config

Action

// The state of the digital output at the specified bit number.
message DigitalOutput {
  // The bit number.
  int32 bit_number = 1;
 
  // The state of the digital output. When this message is used as a request
  //  to set a digital output, the digital output will be set to this value.
  //  When this message is returned as an action response, this field holds the
  //  new state.
  bool state = 2;
}
 
// The value of the analog output at the specified channel.
message AnalogOutput {
  // The channel number.
  int32 channel = 1;
 
  // The value of the analog output. When this message is used as a request
  //  to set an analog output, the analog output will be set to this value.
  //  When this message is returned as an action response, this field holds the
  //  new value.
  int32 value = 2;
}
 
// The location, size, and value of a Service Data Object (SDO).
message SDO {
  // The SDO index.
  int32 index = 1;
 
  // The SDO sub-index.
  int32 sub_index = 2;
 
  // The number of bytes.
  int32 byte_count = 3;
 
  // Set this field True to read the SDO value as a string. By default, SDO
  //  values are read as integers unless this field is True. This field is
  //  only used to read an SDO, and is ignored when used to request a write.
  optional bool is_string_value = 4;
 
  // Wait this long for a response, otherwise it will throw a timeout error.
  optional uint32 timeout_milliseconds = 5;
 
  // The SDO value. Set either integer_value or string_value during an SDO write.
  // This field is ignored when requesting an SDO read, but will contain the
  //  value of the SDO when responding to an SDO read.
  oneof value {
    // Integer value used for all non-string types.
    int32 integer_value = 6;
 
    // String value.
    string string_value = 7;
  }
}
 
// An ASCII command to execute on an AKD drive.
message AKDASCII {  
  // The command as a string.
  string command = 1;
 
  // The returned result of the command. This field is ignored when requesting
  //  an AKDASCII command.
  optional string result = 2;
}
 
// A set of actions to perform on a network node. This message is used to 
//  request a set of actions. A new instance of this message will be returned
//  containing the results of the requested acitons.
message NetworkNodeAction {
 
  // Any number of digital outputs to set. Add instances of the DigitalOutput
  //  message to this field to set digital outputs. When this message is
  //  returned in the action response, this field contains the new states of
  //  the digital outputs.
  repeated DigitalOutput digital_output_sets = 1;
 
  // Any number of analog outputs to set. Add instances of the AnalogOutput
  //  message to this field to set analog outputs. When this message is 
  //  returned in the action response, this field contains the new values of
  //  the analog outputs.
  repeated AnalogOutput analog_output_sets = 2;
 
  // The requested SDO value(s) to write to the network. Add instances of the
  //  SDO message to this field to write to SDOs. When this message is returned
  //  in the action response, this field will be empty.
  repeated SDO sdo_writes = 3;
 
  // The SDO(s) to be read from the network. Add instances of the SDO message
  //  to this field to read SDO values. When this message is returned in the 
  //  action response, the SDO messages will contain the read values.
  repeated SDO sdo_reads = 4;
 
  // AKD ASCII command(s). Only used for Kollmorgen AKD drives. Add instances
  //  of the AKDASCII message to request an ASCII command. When this message
  //  is returned in the action response, the AKDASCII messages will contain
  //  both the command executed and the returned result as a string.
  repeated AKDASCII akd_asciis = 5;
}

Info

message NetworkNodeInfo {
  // True if hardware exists.
  bool exists = 1;
 
  // The node index.
  int32 index = 2;
 
  // The number of Axis objects on this node.
  int32 axis_count = 3;
 
  // True if this node has I/O.
  bool has_io = 4;
 
  // The number of digital/analog inputs and outputs on this node.
  IOCounts io_counts = 5;
 
  // The bit masks and 64-bit host addresses for this node's I/O.
  IOAddresses io_addresses = 6;
 
  // The node type.
  RSINodeType type = 7;
 
  // 32-bit vendor identifier.
  uint32 vendor_id = 8;
 
  // 32-bit product code.
  uint32 product_code = 9;
 
  // 32-bit hardware revision.
  uint32 hardware_revision = 10;
  
  // Station alias.
  uint32 station_alias = 11;
 
  // Serial number.
  string serial_number = 12;
 
  // The node's name.
  string name = 13;
 
  // Product name.
  string product_name = 14;
 
  // Vendor name.
  string vendor_name = 15;
 
  Constants constants = 16;
 
 
  // Internal messages.
 
  // The number of digital/analog inputs and outputs.
  message IOCounts {
    // Number of digital inputs.
    int32 digital_inputs = 1;
 
    // Number of digital outputs.
    int32 digital_outputs = 2;
 
    // Number of analog inputs.
    int32 analog_inputs = 3;
 
    // Number of analog outputs.
    int32 analog_outputs = 4;
  }
 
  message IOAddresses {
    // Masks and 64-bit host addresses for each digital intput.
    repeated AddressInfo digital_inputs = 1;
 
    // Masks and 64-bit host addreses for each digital output.
    repeated AddressInfo digital_outputs = 2;
 
    // Masks and 64-bit host addreses for each analog input.
    repeated AddressInfo analog_inputs = 3;
 
    // Masks and 64-bit host addreses for each analog output.
    repeated AddressInfo analog_outputs = 4;
  }
 
  message Constants {
    // Default time to wait when reading or writing an SDO with ServiceChannelRead() or ServiceChannelWrite()
    uint32 sdo_timeout_milliseconds_default = 1;
  }
}

Status

message NetworkNodeStatus {
  // All the digital input states.
  repeated bool digital_input_states = 2;
 
  // All the digital output states.
  repeated bool digital_output_states = 3;
  
  // All the analog input values.
  repeated int32 analog_input_values = 4;
 
  // All the analog output values.
  repeated int32 analog_output_values = 5;
}