The RMP Motion Controller APIs

RPCs

rpc RTOS(RTOSRequest) returns (RTOSResponse) {};
rpc RTOSBatch(RTOSBatchRequest) returns (RTOSBatchResponse) {};

Request

message RTOSRequest {
// Common request header
RSI.RapidServer.RequestHeader header = 1;
// Specify a specific INtime node by name.
string name = 2;
optional RTOSConfig config = 3;
optional RTOSAction action = 4;
}

Response

message RTOSResponse {
// Common response header. Always check the response header for errors.
RSI.RapidServer.ResponseHeader header = 1;
// Specify a specific INtime node by name.
string name = 2;
optional RTOSConfig config = 3;
optional RTOSAction action = 4;
optional RTOSInfo info = 5;
optional RTOSStatus status = 6;
}

Batch Request and Response

message RTOSBatchRequest {
// Common request header
RSI.RapidServer.RequestHeader header = 1;
repeated RTOSRequest requests = 2;
}
message RTOSBatchResponse {
// Common response header. Always check the response header for errors.
RSI.RapidServer.ResponseHeader header = 1;
repeated RTOSResponse responses = 2;
}
RSINetworkStartMode
Network start modes.
Definition rsienums.h:577
RSINetworkState
State of network.
Definition rsienums.h:557
RSIControllerAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
Definition rsienums.h:404
RSIMotorDisableAction
Action for when a motor is disabled.
Definition rsienums.h:1255
RSIMotionType
Streaming motion types.
Definition rsienums.h:979
RSIDataType
Data types for User Limits and other triggers.
Definition rsienums.h:644
RSIUserLimitLogic
Logic options for User Limits.
Definition rsienums.h:631
RSIAction
Action to perform on an Axis.
Definition rsienums.h:1051
RSIAxisAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
Definition rsienums.h:425
RSINetworkStartError
Network start errors.
Definition rsienums.h:583
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Sequencers, etc.
Definition rsienums.h:487
RSIUserLimitTriggerType
Trigger types for UserLimits.
Definition rsienums.h:618
INtimeStatus
INtime status values.
Definition rsienums.h:1293
RSIHomeStage
Predefined Homing Stage sections.
Definition rsienums.h:396
RSINetworkType
Type of Network topology.
Definition rsienums.h:611
RSINodeType
Valid Node types.
Definition rsienums.h:661
RSISource
Possible sources that have caused an Error state.
Definition rsienums.h:958
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.
Definition rsienums.h:1154
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.

Config

Action

message RTOSAction {
optional Restart restart = 1;
optional Stop stop = 2;
optional Start start = 3;
message Restart {}
message Stop {}
message Start {}
}

Info

message RTOSInfo {
// The RMP process catalog.
string rmp_catalog = 1;
// The RMPNetwork process catalog.
string rmp_network_catalog = 2;
// The number of INtime nodes.
uint32 node_count = 3;
}

Status

message RTOSStatus {
// The status of the INtime node
INtimeStatus status = 3;
}