MultiAxis

🔹 RPCs

  // Use a zero-based index, unlike RapidCode which uses a motion index.
  rpc MultiAxis (MultiAxisRequest) returns (MultiAxisResponse) {};
  rpc MultiAxisBatch (MultiAxisBatchRequest) returns (MultiAxisBatchResponse) {};

🔹 Request

message MultiAxisRequest {
  // Common request header
  RSI.RapidServer.RequestHeader header = 1;
 
  // MultiAxis index
  int32 index = 2;
 
  optional MultiAxisConfig config = 3;
  optional MultiAxisAction action = 4;
}

🔹 Response

message MultiAxisResponse {
  // Common response header. Always check the response header for errors.
  RSI.RapidServer.ResponseHeader header = 1;
 
  // MultiAxis index
  int32 index = 2;
 
  optional MultiAxisConfig config = 3;
  optional MultiAxisAction action = 4;
  optional MultiAxisInfo info = 5;
  optional MultiAxisStatus status = 6;
}

🔹 Batch Request and Response

message MultiAxisBatchRequest {
  // Common request header
  RSI.RapidServer.RequestHeader header = 1;
 
  repeated MultiAxisRequest requests = 2;
}
 
message MultiAxisBatchResponse {
  // Common response header. Always check the response header for errors.
  RSI.RapidServer.ResponseHeader header = 1;
 
  repeated MultiAxisResponse responses = 2;
}

🔹 Config

message MultiAxisConfig {
  repeated int32 axes_indices = 1;
  optional string user_label = 2;
  optional double feed_rate = 3;
  optional double stop_time = 4;
  optional double e_stop_time = 5;
}

🔹 Action

message MultiAxisAction {
  optional Abort abort = 1;
  optional EStopAbort e_stop_abort = 2;
  optional EStopModifyAbort e_stop_modify_abort = 3;
  optional EStopModify e_stop_modify = 4;
  optional EStop e_stop = 5;
  optional TriggeredModify triggered_modify = 6;
  optional Stop stop = 7;
  optional Resume resume = 8;
 
  optional ClearFaults clear_faults = 9;
  optional AmpEnable amp_enable = 10;
  optional AmpDisable amp_disable = 11;
  optional Move move = 12;
  optional RemoveAxes remove_axes = 13;
  optional Unmap unmap = 14;
  optional Map map = 15;
  optional AxisAdd axis_add = 16;
 
  message Abort {}
  message EStopAbort {}
  message EStopModifyAbort{}
  message EStopModify{}
  message EStop {}
  message TriggeredModify {}
  message Stop {}
  message Resume {}
 
  message ClearFaults {}
 
  message AmpEnable {
    optional int32 timeout_milliseconds = 1;
    optional int32 duration = 2; // read-only how long did it take to enable? only set if you specify a timeout to wait for AMP_ACTIVE
  }
  message AmpDisable {}
 
  message Move {
    oneof move {
        MultiAxisMovePointToPoint point_to_point = 3;
        MultiAxisMoveVelocity velocity = 4;
        MoveStreaming streaming = 5;
    }
    optional uint32 motion_id = 6;
 
    // Specify MotionHold criteria, if you want the motion to hold execution until conditions are met.
    optional MotionHold motion_hold = 7;
 
    bool blocking = 8;
 
    message MultiAxisMovePointToPoint {
      repeated AxisMovePointToPoint axis_move_point_to_points = 1;
      bool relative = 2;
    }
 
    message MultiAxisMoveVelocity {
      repeated AxisMoveVelocity axis_move_velocities = 1;
    }
  }
  message RemoveAxes {}
  message Unmap {}
  message Map {}
  message AxisAdd {
    int32 axis_index = 1;
  }
}

🔹 Info

message MultiAxisInfo {
  // The zero-based index for this MultiAxis.
  int32 index = 1;
 
  // The internal motion supervisor index.
  int32 motion_supervisor_index = 2;
 
  // Host and firmware addresses
  repeated AddressInfo addresses = 3;
}

🔹 Status

message MultiAxisStatus {
  RSIState state = 1;
  RSISource source = 2;
  string source_name = 3;
  bool amp_enabled = 4;
  MotionStatusBits motion_status_bits = 5;
  repeated AxisStatus axis_statuses = 6;
  bool is_mapped = 7;
 
  message MotionStatusBits {
    bool done = 1;
    bool start = 2;
    bool modify = 3;
    bool at_velocity = 4;
    bool out_of_frames = 5;
  }
}