UserLimit

RPCs

  rpc UserLimit (UserLimitRequest) returns (UserLimitResponse) {};
  rpc UserLimitBatch(UserLimitBatchRequest) returns (UserLimitBatchResponse) {};

Request

message UserLimitRequest {
  // Common request header.
  RSI.RapidServer.RequestHeader header = 1;
 
  // UserLimit index.
  int32 index = 2;
 
  optional UserLimitConfig config = 3;
 
  optional UserLimitAction action = 4;
}

Response

message UserLimitResponse {
  // Common response header. Always check the response header for errors.  
  RSI.RapidServer.ResponseHeader header = 1;
 
  // UserLimit index.
  int32 index = 2;
 
  optional UserLimitConfig config = 3;
  optional UserLimitAction action = 4;
  optional UserLimitInfo info = 5;
  optional UserLimitStatus status = 6;
}

Batch Request and Response

message UserLimitBatchRequest {
  // Common request header.
  RSI.RapidServer.RequestHeader header = 1;
 
  repeated UserLimitRequest requests = 2;
}
 
message UserLimitBatchResponse {
  // Common response header. Always check the response header for errors.  
  RSI.RapidServer.ResponseHeader header = 1;
 
  repeated UserLimitResponse responses = 2;
}

Config

message UserLimitConfig {
 
  // The type of trigger.
  optional RSIUserLimitTriggerType trigger_type = 1;
 
  // The primary condition.
  optional UserLimitCondition condition_0 = 2;
 
  // The second condition. Condition 1 will not be set if trigger type is SINGLE_CONDITION or invalid
  optional UserLimitCondition condition_1 = 3; 
 
  // Optionally set some output when the UserLimit triggers.
  optional UserLimitOutput output = 4;
 
  // Optionally perform an action on an Axis when the UserLimit triggers.
  optional RSIAction action = 5;
 
  // Perform the optional action on this Axis.
  optional int32 action_axis = 6;
 
  // Duration the trigger state must be active before triggering.  (Seconds)
  optional double duration = 7;
 
  // True if the UserLimit should trigger once, then disable itself.
  optional bool is_single_shot = 8;
 
  // Configurable interrupt data.
  repeated UserLimitInterruptUserData user_data = 9;
 
  // Internal messages.
  message UserLimitCondition {
    // The data type to be evaluated.
    RSIDataType data_type = 1;
 
    // The logic of the UserLimit.
    RSIUserLimitLogic logic = 2;
 
    // A 64-bit host address, see InfoGet on MotionController, Axis, MultiAxis.
    uint64 address = 3;
 
    // A 32-bit AND mask.
    optional uint32 mask = 4;
 
    // The 32-bit trigger value. (for 32-bit data types)
    optional int32 integer_limit_value = 5;
 
    // The 64-bit double trigger value (for 64-bit doubles data types only).
    optional double double_limit_value = 6;
  }
 
  message UInt32Masks {
    // 32-bit AND mask.
    uint32 and_mask = 1;
 
    // 32-bit OR mask.
    uint32 or_mask = 2;
  }
 
  message UInt64Masks {
    // 64-bit AND mask.
    uint64 and_mask = 1;
  
    // 64-bit OR mask;
    uint64 or_mask = 2;
  }
 
  message UserLimitOutput {
    // True if enabled
    bool enabled = 2;
 
    // The type of data to output.
    RSIDataType data_type = 3;
 
    // A 64-bit host address, see InfoGet on MotionController, Axis, MultiAxis.
    uint64 address = 4;
 
    // The type of output.
    oneof output {
      // Perform an AND and OR on a 64-bit value.
      UInt32Masks uint32_masks = 6;
 
      // Output a 32-bit value.
      int32 int32_value = 7;
 
      // Peform an AND and OR on a 64-bit value.
      UInt64Masks uint64_masks = 8;
 
      // Output a 64-bit double.
      double double_value = 9;
 
      // A 64-bit host address, see InfoGet on MotionController, Axis, MultiAxis.
      // Use this field when you want the UserLimit to copy data from the input address to the output address.
      uint64 input_address = 10;
    }
  }
 
  message UserLimitInterruptUserData {
    // Interrupt data index (0-4).
    uint32 index = 1;
 
    // A 64-bit host address, see InfoGet on MotionController, Axis, MultiAxis.
    optional uint64 address = 2;
  }
}

Action

message UserLimitAction {
  
  optional Reset reset = 1;
  optional Enable enable = 2;
  optional Disable disable = 3;
 
  message Reset {};
  message Enable {};
  message Disable {};
}

Info

Status

message UserLimitStatus {
  // The UserLimit's index.
  int32 index = 1;
 
  // Is the UserLimit processing in the RMP firmware_version?
  bool enabled = 2; 
 
  // Is the UserLimit currently triggered?
  bool state = 3; 
}