MotionController

🔹 RPCs

  // RPC for MotionController: Sends config/actions, receives updated config, action details, status, and read-only info.
  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 size of each Axis' frame buffer. Must be power of 2.
  repeated int32 axis_frame_buffer_sizes = 8;
 
  // A 32-bit integer for users to specify a version.
  optional int32 user_version = 10;
 
  // A double to specify the sample rate in Hertz (samples per second)
  optional double sample_rate = 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. This address can be used to configure the recorder.
  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;
 
  // IO bit mask
  optional int32 mask = 8;
}
 
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;
  optional ProcessorUsageClear processor_usage_clear = 6;
 
  message Create {
    // Path to the RMP firmware (RMP.rta), license file, etc.
    optional string rmp_path = 1; 
    optional string node_name = 2; // [Windows/INtime] INtime Node used for RMP and RMPNetwork.
    
    optional string primary_nic = 3;
    optional string secondary_nic = 4;
 
    optional int32 cpu_affinity = 5; // [Linux] CPU used for RMP and RMPNetwork 
    optional int32 rmp_thread_priority_max = 6; // [Linux] Relative thread priority
 
    //string memorydump_filename = 5;
  }
 
  // shutdown the RMP
  message Shutdown {}
 
  // clear the RMP's processor usage 
  message ProcessorUsageClear {}
}

🔹 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;
 
  // The number of licensed Axis objects.
  int32 axis_license_count = 4; 
 
  repeated AddressInfo addresses = 5;
 
  // Constants from the MotionController object
  Constants constants = 6;
  
  message Constants {
    // Default time to wait when calling NetworkStart()
    uint32 network_start_timeout_milliseconds_default = 1;
 
    // Maximum number of Axis objects supported.
    uint32 axis_count_maximum = 2;
 
    // Maximum number of motion objects supported (One required for each Axis and MultiAxis).
    uint32 motion_count_maximum = 3;
 
    // Maximum number of nodes allowed on the network.
    uint32 network_node_count_maximum = 4;
 
    // maximum number of Recorder objects supported
    uint32 recorder_count_maximum = 5;
 
    // Maximum number of Position Compensator objects supported.
    uint32 compensator_count_maximum = 6;
 
    // Maximum number of 64-bit values that can be stored in the User Buffer.
    uint32 user_buffer_data_count_maximum = 7;
 
    // Default RMP sample rate in hertz.
    double sample_rate_default = 8;
 
    CreationParameters creation_parameters = 9;
 
    message CreationParameters {
      // MotionControllerAction::Create::rmp_path maximum string buffer length
      uint32 path_length_maximum = 1;
 
      // The default value of MotionControllerAction::Create::cpu_affinity
      uint32 cpu_affinity_default = 2;
 
      // The default value of MotionControllerAction::Create::rmp_thread_priority_max
      uint32 rmp_thread_priority_maximum_default = 3;
 
      // The range required for RMP and RMPNetwork threads. rmp_thread_priority_max must be greater than or equal to this value.
      uint32 rmp_thread_priority_range = 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;
 
  // The percentage of the firmware sample time used by the RMP.
  double processor_usage = 3;
 
  // The most recent time (in microseconds) between firmware samples
  uint32 firmware_timing_delta = 4;
 
  // The number of 32-bit words free in the RMP firmware memory.
  int32 external_memory_size = 9; 
}