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

message NetworkNodeConfig {
  // A user label for a single I/O point on this node.
  message IOUserLabel {
    // The zero-based bit number (digital) or channel number (analog).
    int32 index = 1;
 
    // The label. At most Constants.user_label_character_count_maximum characters.
    // An empty string clears the label.
    string label = 2;
  }
 
  // Human-readable name for this node. On set: only written when this field is
  //  present; an empty string clears the label. On get: only populated when the
  //  node's initialization state is at least DISCOVERED.
  optional string user_label = 1;
 
  // Per-I/O-point user labels.
  // On set: SPARSE - only the entries provided are written; unspecified channels
  //  are untouched. An entry with an empty label clears that channel's label.
  //  Requires initialization state CONFIGURED. Entries are written in order until
  //  the first invalid entry; that single error is reported in the response header
  //  and the remaining entries (and any Action in the request) are not processed.
  // On get: FULL - one entry per channel, index 0..count-1, in order; channels
  //  without a label have an empty label string. Empty lists when the node's
  //  initialization state is not CONFIGURED.
  repeated IOUserLabel digital_input_user_labels = 2;
  repeated IOUserLabel digital_output_user_labels = 3;
  repeated IOUserLabel analog_input_user_labels = 4;
  repeated IOUserLabel analog_output_user_labels = 5;
}

🔹 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).
// This message is used to read or write SDOs on a network node.
// See NetworkNodeAction sdo_writes and sdo_reads.
message SDO {
  // The SDO index.
  int32 index = 1;
 
  // The SDO sub-index.
  int32 sub_index = 2;
 
  // The number of bytes.
  int32 byte_count = 3;
 
  // The types of data values we can read or write.
  enum ValueType {
    option allow_alias = true;
    UNKNOWN = 0;
    INTEGER = 0;
    STRING = 1;
    BYTES = 2;
  }
 
  // When reading an SDO, specify the read type.  Default is integer.
  optional ValueType read_type = 4;
 
  // Wait this long for a response, otherwise it will throw a timeout error.
  optional uint32 timeout_milliseconds = 5;
 
  // The SDO value. 
  // SDO write: This field is used to set the value to write.
  // SDO read: This field is ignored when SDO read action request, but will contain the
  //  value read from the SDO in the SDO read action response.
  oneof value {
    // Integer value used for all non-string types.
    int32 integer_value = 6;
 
    // String value.
    string string_value = 7;
 
    // Raw bytes value
    bytes bytes_value = 8;
  }
}
 
// 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;
 
  // The global network PDO indexes for this node's I/O channels.
  IONetworkIndexes io_network_indexes = 17;
 
  // The 64-bit host addresses (and data types) for this node's recordable status
  //  values, one entry per RSINetworkNodeAddressType. Empty when the node does not exist
  //  (see exists). Use with the Recorder service.
  repeated AddressInfo addresses = 18;
 
  // True if the node identity supports the Kollmorgen 0x2028 ASCII channel.
  bool is_akd_ascii_command_supported = 19;
 
 
  // 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 input.
    repeated AddressInfo digital_inputs = 1;
 
    // Masks and 64-bit host addresses for each digital output.
    repeated AddressInfo digital_outputs = 2;
 
    // Masks and 64-bit host addresses for each analog input.
    repeated AddressInfo analog_inputs = 3;
 
    // Masks and 64-bit host addresses for each analog output.
    repeated AddressInfo analog_outputs = 4;
  }
 
  message IONetworkIndexes {
    // Global network input index for each digital input.
    repeated int32 digital_inputs = 1;
 
    // Global network output index for each digital output.
    repeated int32 digital_outputs = 2;
 
    // Global network input index for each analog input.
    repeated int32 analog_inputs = 3;
 
    // Global network output index for each analog output.
    repeated int32 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;
 
    // Maximum characters in a node or I/O point user label (64).
    uint32 user_label_character_count_maximum = 2;
 
    // Size in bytes of the controller-wide shared buffer that stores I/O point user labels (65536).
    uint32 io_user_label_buffer_bytes = 3;
  }
}

🔹 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;
 
  // EtherCAT AL Status register (0x0130). Bits 0-3: state (1=Init, 2=PreOp, 4=SafeOp, 8=Op).
  uint32 al_status = 6;
  // EtherCAT AL Status Code register. Non-zero indicates an error condition.
  uint32 al_status_code = 7;
  // CANopen over EtherCAT (CoE) emergency message (8 bytes per CiA 301).
  uint64 coe_emergency_message = 8;
  // Network counter when CoeEmergencyMessage was received.
  int32 coe_emergency_message_network_counter = 9;
  // Cumulative EoE (Ethernet over EtherCAT) frames sent host->this node since network start.
  uint64 eoe_host_to_node_frame_count = 10;
  // Cumulative EoE frames received this node->host since network start.
  uint64 eoe_node_to_host_frame_count = 11;
  // The sync group this node is assigned to.
  uint32 sync_group_id = 12;
  // True if the node is currently present on the network.
  bool present = 13;
  // How far this node has progressed through network startup. General node
  //  lifecycle state: use it to judge the validity of any state-dependent node
  //  data (identity fields like serial number and vendor ID, I/O counts, etc.).
  //  For labels specifically: the node's user_label requires at least
  //  DISCOVERED; per-I/O-point labels require CONFIGURED.
  RSINetworkNodeInitializationState initialization_state = 14;
  // Advances whenever an I/O point user label is written on any node. 0 until the
  //  first I/O label write. The node's own user_label does NOT advance it.
  uint64 io_user_label_generation = 15;
  // Cumulative service channel reads the network firmware serviced for this node since
  //  network start: CoE SDO (service data object) uploads and also EtherCAT register
  //  reads (index below 0x1000), which skip the mailbox but use the same service
  //  channel thread.
  uint64 sdo_read_count = 16;
  // Cumulative service channel reads for this node that finished unsuccessfully (could not
  //  be issued, SDO abort or other error status, or the firmware's completion wait ran out
  //  with no response) since network start. That wait outlasts the host call's timeout, so
  //  the failure can be counted a second or more after the call already timed out.
  uint64 sdo_read_fail_count = 17;
  // Cumulative service channel writes the network firmware serviced for this node since
  //  network start: CoE SDO (service data object) downloads and also EtherCAT register
  //  writes (index below 0x1000), which skip the mailbox but use the same service
  //  channel thread.
  uint64 sdo_write_count = 18;
  // Cumulative service channel writes for this node that finished unsuccessfully (could not
  //  be issued, SDO abort or other error status, or the firmware's completion wait ran out
  //  with no response) since network start. That wait outlasts the host call's timeout, so
  //  the failure can be counted a second or more after the call already timed out. Register
  //  writes (index below 0x1000) are fire and forget and never count as failures.
  uint64 sdo_write_fail_count = 19;
  // Cumulative Kollmorgen AKD ASCII commands the network firmware serviced for this node since network start.
  // Only the nodes where IsAKDASCIICommandSupported() is true accept AKDASCIICommand, so this and
  //  akd_ascii_fail_count stay 0 elsewhere. A command whose host call timed out before the firmware
  //  reached it is withdrawn and never counted, so a starved node can show fewer commands than the
  //  application sent.
  uint64 akd_ascii_count = 20;
  // Cumulative AKD ASCII commands for this node that failed to send or got no usable response since network start.
  uint64 akd_ascii_fail_count = 21;
}