4package RSI.RapidCodeRemote;
5import "rsienums.proto";
6import "rapidgrpc.proto";
16 rpc MotionController(MotionControllerRequest) returns (MotionControllerResponse) {};
21 rpc Network(NetworkRequest) returns (NetworkResponse) {};
25 rpc Axis (AxisRequest) returns (AxisResponse) {};
26 rpc AxisBatch (AxisBatchRequest) returns (AxisBatchResponse) {};
31 rpc MultiAxis (MultiAxisRequest) returns (MultiAxisResponse) {};
32 rpc MultiAxisBatch (MultiAxisBatchRequest) returns (MultiAxisBatchResponse) {};
36 rpc NetworkNode (NetworkNodeRequest) returns (NetworkNodeResponse) {};
37 rpc NetworkNodeBatch (NetworkNodeBatchRequest) returns (NetworkNodeBatchResponse) {};
41 rpc Recorder (RecorderRequest) returns (RecorderResponse) {};
42 rpc RecorderBatch(RecorderBatchRequest) returns (RecorderBatchResponse) {};
46 rpc UserLimit (UserLimitRequest) returns (UserLimitResponse) {};
47 rpc UserLimitBatch(UserLimitBatchRequest) returns (UserLimitBatchResponse) {};
51 rpc RTOS(RTOSRequest) returns (RTOSResponse) {};
52 rpc RTOSBatch(RTOSBatchRequest) returns (RTOSBatchResponse) {};
60 rpc TaskManager (TaskManagerRequest) returns (TaskManagerResponse) {};
61 rpc TaskManagerBatch(TaskManagerBatchRequest) returns (TaskManagerBatchResponse) {};
65 rpc Task (TaskRequest) returns (TaskResponse) {};
66 rpc TaskBatch(TaskBatchRequest) returns (TaskBatchResponse) {};
73message MotionControllerConfig {
75 optional int32 axis_count = 1;
78 optional int32 multi_axis_count = 2;
81 optional int32 user_limit_count = 3;
84 optional int32 recorder_count = 4;
87 repeated int32 recorder_buffer_sizes = 5;
90 optional int32 compensator_count = 6;
93 repeated int32 compensator_point_counts = 7;
96 repeated int32 axis_frame_buffer_sizes = 8;
99 optional int32 user_version = 10;
102 optional
double sample_rate = 11;
119 uint64 host_address = 4;
125 uint32 firmware_address = 6;
129 optional int32 index = 7;
132 optional int32 mask = 8;
135message MotionControllerMemory {
137 uint64 host_address = 1;
141 uint64 host_address = 1;
145 uint64 host_address = 1;
156message MotionControllerAction {
158 optional Create create = 1;
159 repeated MotionControllerMemory memory_sets = 2;
160 repeated MotionControllerMemory memory_gets = 3;
161 repeated AddressInfo address_gets = 4;
162 optional Shutdown shutdown = 5;
163 optional ProcessorUsageClear processor_usage_clear = 6;
167 optional
string rmp_path = 1;
168 optional
string node_name = 2;
170 optional
string primary_nic = 3;
171 optional
string secondary_nic = 4;
173 optional int32 cpu_affinity = 5;
174 optional int32 rmp_thread_priority_max = 6;
183 message ProcessorUsageClear {}
190message MotionControllerInfo {
192 uint32 serial_number = 1;
195 string rapid_code_version = 2;
198 string firmware_version = 3;
201 int32 axis_license_count = 4;
203 repeated AddressInfo addresses = 5;
206 Constants constants = 6;
210 uint32 network_start_timeout_milliseconds_default = 1;
213 uint32 axis_count_maximum = 2;
216 uint32 motion_count_maximum = 3;
219 uint32 network_node_count_maximum = 4;
222 uint32 recorder_count_maximum = 5;
225 uint32 compensator_count_maximum = 6;
228 uint32 user_buffer_data_count_maximum = 7;
231 double sample_rate_default = 8;
233 CreationParameters creation_parameters = 9;
235 message CreationParameters {
237 uint32 path_length_maximum = 1;
240 uint32 cpu_affinity_default = 2;
243 uint32 rmp_thread_priority_maximum_default = 3;
246 uint32 rmp_thread_priority_range = 4;
255message MotionControllerStatus {
257 int32 sample_counter = 1;
260 uint32 network_node_count = 2;
263 double processor_usage = 3;
266 uint32 firmware_timing_delta = 4;
269 int32 external_memory_size = 9;
276message MotionControllerRequest {
278 RSI.RapidServer.RequestHeader header = 1;
280 optional MotionControllerConfig config = 2;
281 optional MotionControllerAction action = 3;
287message MotionControllerResponse {
289 RSI.RapidServer.ResponseHeader header = 1;
291 optional MotionControllerConfig config = 2;
292 optional MotionControllerAction action = 3;
293 optional MotionControllerInfo info = 4;
294 optional MotionControllerStatus status = 5;
299message NetworkConfig {}
303message NetworkAction {
305 optional Shutdown shutdown = 1;
308 optional Discover discover = 2;
309 optional Start start = 3;
310 optional DiscoverAndStart discover_and_start = 4;
313 optional TimingMetricsEnable timing_metrics_enable = 5;
314 optional TimingMetricsDisable timing_metrics_disable = 6;
315 optional TimingMetricsClear timing_metrics_clear = 7;
318 repeated OutputOverride output_override = 8;
321 optional EniGenerate eni_generate = 9;
328 optional uint32 timeout_milliseconds = 3;
334 optional uint32 timeout_milliseconds = 2;
337 message DiscoverAndStart {
341 optional uint32 timeout_milliseconds = 2;
344 message TimingMetricsEnable {
346 optional uint32 low_threshold = 1;
348 optional uint32 high_threshold = 2;
350 message TimingMetricsDisable {}
351 message TimingMetricsClear {}
353 message OutputOverride {
357 optional
bool override = 2;
359 optional int64 override_value = 3;
362 message EniGenerate {
366 optional
string output = 2;
372message NetworkRequest {
374 RSI.RapidServer.RequestHeader header = 1;
376 optional NetworkConfig config = 2;
378 optional NetworkAction action = 3;
383message NetworkResponse {
385 RSI.RapidServer.ResponseHeader header = 1;
387 optional NetworkConfig config = 2;
388 optional NetworkAction action = 3;
389 optional NetworkInfo info = 4;
390 optional NetworkStatus status = 5;
395message NetworkStatus {
397 int32 node_count = 2;
399 bool synchronized = 4;
403 string log_message = 6;
406 TimingMetricsStatus timing_metrics = 7;
409 repeated PdoInputStatus pdo_inputs = 8;
412 repeated PdoOutputStatus pdo_outputs = 9;
414 message TimingMetricsStatus {
418 uint32 min_recorded = 2;
420 uint32 max_recorded = 3;
422 uint32 low_count = 4;
424 uint32 high_count = 5;
427 message PdoInputStatus {
434 message PdoOutputStatus {
438 int64 sent_value = 2;
440 int64 override_value = 3;
442 int64 firmware_value = 4;
444 bool override_enabled = 5;
452 int32 pdo_input_count = 4;
453 int32 pdo_output_count = 5;
456 repeated PdoInputInfo pdo_inputs = 6;
459 repeated PdoOutputInfo pdo_outputs = 7;
461 message PdoInputInfo {
463 AddressInfo address_info = 2;
465 int32 bit_offset = 4;
468 message PdoOutputInfo {
470 AddressInfo sent_value_address = 2;
471 AddressInfo override_value_address = 3;
472 AddressInfo firmware_value_address = 4;
474 int32 bit_offset = 6;
485 RSI.RapidServer.RequestHeader header = 1;
490 optional AxisConfig config = 3;
491 optional AxisAction action = 4;
496message AxisResponse {
498 RSI.RapidServer.ResponseHeader header = 1;
503 optional AxisConfig config = 3;
504 optional AxisAction action = 4;
505 optional AxisInfo info = 5;
506 optional AxisStatus status = 6;
511message AxisBatchRequest {
513 RSI.RapidServer.RequestHeader header = 1;
515 repeated AxisRequest requests = 2;
518message AxisBatchResponse {
520 RSI.RapidServer.ResponseHeader header = 1;
522 repeated AxisResponse responses = 2;
529 bool amp_enabled = 1;
538 string source_name = 4;
541 PositionStatus position = 5;
544 VelocityStatus velocity = 6;
547 AccelerationStatus acceleration = 7;
550 int32 frames_to_execute = 8;
553 uint32 motion_id = 9;
556 uint32 motion_id_executing = 10;
559 int32 element_id_executing = 11;
562 bool gear_enabled = 12;
565 MotorStatusBits motor_status_bits = 13;
568 MotionStatusBits motion_status_bits = 14;
571 Ds402StatusBits ds402_status_bits = 15;
574 DedicatedOutputBits dedicated_output_bits = 16;
577 DedicatedInputBits dedicated_input_bits = 17;
580 bool home_state = 18;
584 uint32 general_input_bits = 20;
587 uint32 general_output_bits = 21;
589 message PositionStatus {
595 double encoder_0 = 6;
596 double encoder_1 = 7;
597 double compensation = 8;
601 message VelocityStatus {
606 message AccelerationStatus {
610 message MotorStatusBits {
612 bool amp_warning = 2;
613 bool feedback_fault = 3;
614 bool limit_position_error = 4;
615 bool limit_torque = 5;
616 bool limit_hardware_negative = 6;
617 bool limit_hardware_positive = 7;
618 bool limit_software_negative = 8;
619 bool limit_software_positive = 9;
622 message MotionStatusBits {
626 bool at_velocity = 4;
627 bool out_of_frames = 5;
628 bool near_target = 6;
633 message Ds402StatusBits {
634 bool ready_to_switch_on = 1;
635 bool switched_on = 2;
636 bool operation_enabled = 3;
638 bool voltage_enabled = 5;
640 bool switch_on_disabled = 7;
642 bool manufacturer_specific_8 = 9;
644 bool target_reached = 11;
645 bool internal_limit_active = 12;
646 bool operation_mode_specific_12 = 13;
647 bool operation_mode_specific_13 = 14;
648 bool manufacturer_specific_14 = 15;
649 bool manufacturer_specific_15 = 16;
652 message DedicatedOutputBits {
654 bool brake_release = 2;
657 message DedicatedInputBits {
659 bool brake_applied = 2;
661 bool limit_hardware_positive = 4;
662 bool limit_hardware_negative = 5;
664 bool index_secondary = 7;
665 bool feedback_fault = 8;
670 bool amp_active = 13;
672 bool drive_status_9 = 15;
673 bool drive_status_10 = 16;
674 bool feedback_fault_primary = 17;
675 bool feedback_fault_secondary = 18;
682 optional Abort abort = 1;
683 optional EStopAbort e_stop_abort = 2;
684 optional EStopModifyAbort e_stop_modify_abort = 3;
685 optional EStopModify e_stop_modify = 4;
686 optional EStop e_stop = 5;
687 optional TriggeredModify triggered_modify = 6;
688 optional Stop stop = 7;
689 optional Resume resume = 8;
691 optional ClearFaults clear_faults = 9;
692 optional AmpEnable amp_enable = 10;
693 optional AmpDisable amp_disable = 11;
694 optional HoldGateSet hold_gate_set = 12;
695 optional PositionSet position_set = 13;
696 optional Move move = 14;
697 optional GearEnable gear_enable = 15;
698 optional GearDisable gear_disable = 16;
699 optional Home home = 17;
700 optional HomeCancel home_cancel = 18;
701 optional OperationMode operation_mode_set = 19;
702 optional OperationMode operation_mode_get = 20;
705 message EStopAbort {}
706 message EStopModifyAbort{}
707 message EStopModify{}
709 message TriggeredModify {}
713 message ClearFaults {}
716 optional int32 timeout_milliseconds = 1;
717 optional int32 duration = 2;
719 message AmpDisable {}
720 message HoldGateSet {
730 AxisMovePointToPoint point_to_point = 3;
731 AxisMoveVelocity velocity = 4;
732 MoveStreaming streaming = 5;
736 optional uint32 motion_id = 6;
739 optional MotionHold motion_hold = 7;
746 optional int32 master_axis_number = 2;
749 int32 denominator = 5;
751 message GearDisable {}
756 double slow_velocity = 3;
757 double acceleration = 4;
758 double deceleration = 5;
759 optional
double jerk_percent = 6;
760 optional
bool move_to_zero = 7;
761 optional
double offset = 8;
765 message HomeCancel {}
767 message OperationMode {
774 message AxisMovePointToPoint {
779 optional
double velocity = 2;
782 optional
double acceleration = 3;
785 optional
double deceleration = 4;
790 optional
double jerk_percent = 5;
794 optional
double final_velocity = 6;
800message AxisMoveVelocity {
805 double acceleration = 2;
809 double jerk_percent = 3;
812message MoveStreaming {
813 repeated
double positions = 1;
814 repeated
double velocities = 2;
815 repeated
double accelerations = 3;
816 repeated
double jerks = 4;
817 repeated
double times = 5;
818 int32 empty_count = 6;
832message MotionHoldGate{
836message MotionHoldAxis {
844 int32 hold_axis_number = 3;
847 double hold_axis_position = 4;
850message MotionHoldUser {
864 MotionHoldGate gate = 2;
865 MotionHoldAxis axis = 3;
866 MotionHoldUser user = 4;
870 optional
double hold_timeout_seconds = 6;
873 optional
double delay_seconds = 7;
879 optional
double user_units = 1;
882 optional
double origin_position = 2;
885 optional
string user_label = 3;
888 optional TrajectoryDefaults defaults = 4;
889 optional HardwareTrigger amp_fault = 5;
890 optional HardwareTrigger home_switch = 6;
891 optional ErrorLimit error_limit = 7;
892 optional HardwareTrigger hardware_negative_limit = 8;
893 optional HardwareTrigger hardware_positive_limit = 9;
894 optional SoftwareTrigger software_negative_limit = 10;
895 optional SoftwareTrigger software_positive_limit = 11;
896 optional Settling settling = 12;
897 optional MotionConfig motion = 13;
898 optional Homing homing = 14;
899 optional int32 frame_buffer_size = 15;
901 optional
double feed_rate = 17;
904 message TrajectoryDefaults
906 optional
double velocity = 1;
907 optional
double acceleration = 2;
908 optional
double deceleration = 3;
909 optional
double jerk_percent = 4;
910 optional
double position1 = 5;
911 optional
double position2 = 6;
912 optional
double relative_increment = 7;
915 message HardwareTrigger {
917 optional
bool trigger_state = 2;
918 optional
double duration = 3;
921 message SoftwareTrigger {
923 optional
double trigger_value = 2;
928 optional
double trigger_value = 2;
929 optional
double duration = 3;
933 optional
double position_tolerance_fine = 1;
934 optional
double position_tolerance_coarse = 2;
935 optional
double velocity_tolerance = 3;
936 optional
double time_seconds = 4;
937 optional
bool on_stop = 5;
938 optional
bool on_estop = 6;
939 optional
bool on_estop_cmd_equals_actual = 7;
942 message MotionConfig {
944 optional
double stop_time = 1;
947 optional
double estop_time = 2;
950 optional
double triggered_modify_deceleration = 3;
953 optional
double triggered_modify_jerk_percent = 4;
956 optional
double estop_modify_deceleration = 5;
959 optional
double estop_modify_jerk_percent = 6;
973 repeated AddressInfo addresses = 2;
976 NetworkNodeInfo node_info = 3;
979 Constants constants = 4;
982 int32 motion_supervisor_index = 5;
986 uint32 network_index_invalid = 1;
989 double amp_enable_amp_fault_timeout_seconds_default = 2;
997message MultiAxisRequest {
999 RSI.RapidServer.RequestHeader header = 1;
1004 optional MultiAxisConfig config = 3;
1005 optional MultiAxisAction action = 4;
1010message MultiAxisResponse {
1012 RSI.RapidServer.ResponseHeader header = 1;
1017 optional MultiAxisConfig config = 3;
1018 optional MultiAxisAction action = 4;
1019 optional MultiAxisInfo info = 5;
1020 optional MultiAxisStatus status = 6;
1025message MultiAxisBatchRequest {
1027 RSI.RapidServer.RequestHeader header = 1;
1029 repeated MultiAxisRequest requests = 2;
1032message MultiAxisBatchResponse {
1034 RSI.RapidServer.ResponseHeader header = 1;
1036 repeated MultiAxisResponse responses = 2;
1042message MultiAxisStatus {
1045 string source_name = 3;
1046 bool amp_enabled = 4;
1047 MotionStatusBits motion_status_bits = 5;
1048 repeated AxisStatus axis_statuses = 6;
1051 message MotionStatusBits {
1055 bool at_velocity = 4;
1056 bool out_of_frames = 5;
1062message MultiAxisAction {
1063 optional Abort abort = 1;
1064 optional EStopAbort e_stop_abort = 2;
1065 optional EStopModifyAbort e_stop_modify_abort = 3;
1066 optional EStopModify e_stop_modify = 4;
1067 optional EStop e_stop = 5;
1068 optional TriggeredModify triggered_modify = 6;
1069 optional Stop stop = 7;
1070 optional Resume resume = 8;
1072 optional ClearFaults clear_faults = 9;
1073 optional AmpEnable amp_enable = 10;
1074 optional AmpDisable amp_disable = 11;
1075 optional Move move = 12;
1076 optional RemoveAxes remove_axes = 13;
1077 optional Unmap unmap = 14;
1078 optional Map map = 15;
1079 optional AxisAdd axis_add = 16;
1082 message EStopAbort {}
1083 message EStopModifyAbort{}
1084 message EStopModify{}
1086 message TriggeredModify {}
1090 message ClearFaults {}
1093 optional int32 timeout_milliseconds = 1;
1094 optional int32 duration = 2;
1096 message AmpDisable {}
1100 MultiAxisMovePointToPoint point_to_point = 3;
1101 MultiAxisMoveVelocity velocity = 4;
1102 MoveStreaming streaming = 5;
1104 optional uint32 motion_id = 6;
1107 optional MotionHold motion_hold = 7;
1111 message MultiAxisMovePointToPoint {
1112 repeated AxisMovePointToPoint axis_move_point_to_points = 1;
1116 message MultiAxisMoveVelocity {
1117 repeated AxisMoveVelocity axis_move_velocities = 1;
1120 message RemoveAxes {}
1124 int32 axis_index = 1;
1130message MultiAxisConfig {
1131 repeated int32 axes_indices = 1;
1132 optional
string user_label = 2;
1133 optional
double feed_rate = 3;
1134 optional
double stop_time = 4;
1135 optional
double e_stop_time = 5;
1140message MultiAxisInfo {
1145 int32 motion_supervisor_index = 2;
1148 repeated AddressInfo addresses = 3;
1153message NetworkNodeInfo {
1161 int32 axis_count = 3;
1167 IOCounts io_counts = 5;
1170 IOAddresses io_addresses = 6;
1176 uint32 vendor_id = 8;
1179 uint32 product_code = 9;
1182 uint32 hardware_revision = 10;
1185 uint32 station_alias = 11;
1188 string serial_number = 12;
1194 string product_name = 14;
1197 string vendor_name = 15;
1199 Constants constants = 16;
1207 int32 digital_inputs = 1;
1210 int32 digital_outputs = 2;
1213 int32 analog_inputs = 3;
1216 int32 analog_outputs = 4;
1219 message IOAddresses {
1221 repeated AddressInfo digital_inputs = 1;
1224 repeated AddressInfo digital_outputs = 2;
1227 repeated AddressInfo analog_inputs = 3;
1230 repeated AddressInfo analog_outputs = 4;
1235 uint32 sdo_timeout_milliseconds_default = 1;
1241message NetworkNodeStatus {
1243 repeated
bool digital_input_states = 2;
1246 repeated
bool digital_output_states = 3;
1249 repeated int32 analog_input_values = 4;
1252 repeated int32 analog_output_values = 5;
1259message DigitalOutput {
1261 int32 bit_number = 1;
1271message AnalogOutput {
1290 int32 sub_index = 2;
1293 int32 byte_count = 3;
1297 option allow_alias =
true;
1305 optional ValueType read_type = 4;
1308 optional uint32 timeout_milliseconds = 5;
1316 int32 integer_value = 6;
1319 string string_value = 7;
1322 bytes bytes_value = 8;
1333 optional
string result = 2;
1339message NetworkNodeAction {
1345 repeated DigitalOutput digital_output_sets = 1;
1351 repeated AnalogOutput analog_output_sets = 2;
1356 repeated SDO sdo_writes = 3;
1361 repeated SDO sdo_reads = 4;
1367 repeated AKDASCII akd_asciis = 5;
1372message NetworkNodeConfig {}
1376message NetworkNodeRequest {
1378 RSI.RapidServer.RequestHeader header = 1;
1383 optional NetworkNodeConfig config = 3;
1384 optional NetworkNodeAction action = 4;
1389message NetworkNodeResponse {
1391 RSI.RapidServer.ResponseHeader header = 1;
1396 optional NetworkNodeConfig config = 3;
1397 optional NetworkNodeAction action = 4;
1398 optional NetworkNodeInfo info = 5;
1399 optional NetworkNodeStatus status = 6;
1404message NetworkNodeBatchRequest {
1406 RSI.RapidServer.RequestHeader header = 1;
1408 repeated NetworkNodeRequest requests = 2;
1411message NetworkNodeBatchResponse {
1413 RSI.RapidServer.ResponseHeader header = 1;
1415 repeated NetworkNodeResponse responses = 2;
1421message RecorderRequest {
1423 RSI.RapidServer.RequestHeader header = 1;
1428 optional RecorderConfig config = 3;
1429 optional RecorderAction action = 4;
1435message RecorderResponse {
1437 RSI.RapidServer.ResponseHeader header = 1;
1442 optional RecorderConfig config = 3;
1443 optional RecorderAction action = 4;
1444 optional RecorderInfo info = 5;
1445 optional RecorderStatus status = 6;
1450message RecorderBatchRequest {
1452 RSI.RapidServer.RequestHeader header = 1;
1454 repeated RecorderRequest requests = 2;
1457message RecorderBatchResponse {
1459 RSI.RapidServer.ResponseHeader header = 1;
1461 repeated RecorderResponse responses = 2;
1467message RecorderInfo { }
1471message RecorderStatus {
1473 bool is_recording = 1;
1476 int32 records_available = 2;
1481message RecorderAction {
1483 optional Reset reset = 1;
1484 optional Start start = 2;
1485 optional Stop stop = 3;
1486 optional RetrieveRecords retrieve_records = 4;
1492 message RetrieveRecords {
1494 repeated Record records = 1;
1499 repeated Data data = 1;
1516message RecorderConfig {
1518 optional int32 period = 1;
1521 optional
bool circular_buffer = 2;
1524 repeated AddressInfo addresses = 3;
1527 optional RecorderTriggerOnMotion trigger_on_motion = 4;
1530 optional int32 buffer_high_count = 5;
1533 optional int32 record_max_count = 6;
1537 message RecorderTriggerOnMotion {
1539 optional int32 motion_supervisor_index = 1;
1541 optional
bool enable = 2;
1548message UserLimitStatus {
1561message UserLimitAction {
1563 optional Reset reset = 1;
1564 optional Enable enable = 2;
1565 optional Disable disable = 3;
1575message UserLimitInfo {}
1580message UserLimitConfig {
1586 optional UserLimitCondition condition_0 = 2;
1589 optional UserLimitCondition condition_1 = 3;
1592 optional UserLimitOutput output = 4;
1598 optional int32 action_axis = 6;
1601 optional
double duration = 7;
1604 optional
bool is_single_shot = 8;
1607 repeated UserLimitInterruptUserData user_data = 9;
1610 message UserLimitCondition {
1621 optional uint32 mask = 4;
1624 optional int32 integer_limit_value = 5;
1627 optional
double double_limit_value = 6;
1630 message UInt32Masks {
1632 uint32 and_mask = 1;
1638 message UInt64Masks {
1640 uint64 and_mask = 1;
1646 message UserLimitOutput {
1659 UInt32Masks uint32_masks = 6;
1662 int32 int32_value = 7;
1665 UInt64Masks uint64_masks = 8;
1668 double double_value = 9;
1672 uint64 input_address = 10;
1676 message UserLimitInterruptUserData {
1681 optional uint64 address = 2;
1687message UserLimitRequest {
1689 RSI.RapidServer.RequestHeader header = 1;
1694 optional UserLimitConfig config = 3;
1696 optional UserLimitAction action = 4;
1701message UserLimitResponse {
1703 RSI.RapidServer.ResponseHeader header = 1;
1708 optional UserLimitConfig config = 3;
1709 optional UserLimitAction action = 4;
1710 optional UserLimitInfo info = 5;
1711 optional UserLimitStatus status = 6;
1716message UserLimitBatchRequest {
1718 RSI.RapidServer.RequestHeader header = 1;
1720 repeated UserLimitRequest requests = 2;
1723message UserLimitBatchResponse {
1725 RSI.RapidServer.ResponseHeader header = 1;
1727 repeated UserLimitResponse responses = 2;
1732message RTOSConfig {}
1738 string rmp_catalog = 1;
1741 string rmp_network_catalog = 2;
1744 uint32 node_count = 3;
1750 optional Restart restart = 1;
1751 optional Stop stop = 2;
1752 optional Start start = 3;
1768message RTOSRequest {
1770 RSI.RapidServer.RequestHeader header = 1;
1775 optional RTOSConfig config = 3;
1776 optional RTOSAction action = 4;
1781message RTOSResponse {
1783 RSI.RapidServer.ResponseHeader header = 1;
1788 optional RTOSConfig config = 3;
1789 optional RTOSAction action = 4;
1790 optional RTOSInfo info = 5;
1791 optional RTOSStatus status = 6;
1796message RTOSBatchRequest {
1798 RSI.RapidServer.RequestHeader header = 1;
1800 repeated RTOSRequest requests = 2;
1803message RTOSBatchResponse {
1805 RSI.RapidServer.ResponseHeader header = 1;
1807 repeated RTOSResponse responses = 2;
1817 optional int64 int_val = 1;
1818 optional uint64 uint_val = 2;
1819 optional
double real_val = 3;
1824 GlobalTagTypeUNKNOWN = 0;
1825 GlobalTagTypeINT = 1;
1826 GlobalTagTypeUINT = 2;
1827 GlobalTagTypeREAL = 3;
1831message TaskParameters {
1832 optional
string library_directory = 1;
1833 optional
string library_name = 2;
1834 string function_name = 3;
1835 optional int32 task_priority = 4;
1836 optional int32 repeats = 5;
1837 optional int32 period = 6;
1838 optional int32 phase = 7;
1839 optional
bool enable_timing = 8;
1842enum PlatformTypeEnum {
1843 PlatformTypeNATIVE = 0;
1844 PlatformTypeINTIME = 1;
1845 PlatformTypeLINUX = 2;
1846 PlatformTypeWINDOWS = 3;
1849enum TaskManagerStateEnum {
1850 TaskManagerStateUNKNOWN = 0;
1851 TaskManagerStateDEAD = 1;
1852 TaskManagerStateRUNNING = 2;
1853 TaskManagerStateSTOPPED = 3;
1857message TaskManagerConfig {}
1861message TaskManagerAction {
1862 optional Create create = 1;
1863 optional Discover discover = 2;
1864 optional Stop stop = 3;
1865 optional TaskSubmit task_submit = 4;
1867 optional GlobalNamesGet global_names_get = 5;
1868 optional GlobalTagGet global_tag_get = 6;
1870 message CreationParameters {
1871 optional int32
id = 1;
1872 optional int32 max_tasks = 2;
1873 optional
string rt_task_directory = 3;
1874 optional PlatformTypeEnum platform = 4;
1875 optional
string node_name = 5;
1876 optional int32 cpu_core = 6;
1880 CreationParameters creation_parameters = 1;
1884 repeated int32 task_manager_ids = 1;
1889 message TaskSubmit {
1890 TaskParameters task_parameters = 1;
1891 optional int32 task_id = 2;
1894 message GlobalNamesGet {
1895 optional
string library_name = 1;
1896 optional
string library_directory = 2;
1897 repeated
string global_names = 3;
1900 message GlobalTagGet {
1902 optional
string library_name = 2;
1903 optional
string library_directory = 3;
1904 GlobalTagType type = 4;
1911message TaskManagerInfo {
1913 optional
string node_name = 2;
1914 optional int32 cpu_core = 3;
1916 Constants constants = 4;
1919 string executable_name = 1;
1920 CreationParameters creation_parameters = 2;
1922 message CreationParameters {
1923 int32 first_manager_id = 1;
1924 int32 max_managers = 2;
1925 int32 last_manager_id = 3;
1926 int32 max_tasks_limit = 4;
1927 int32 max_directory_length = 5;
1928 int32 max_name_length = 6;
1935message TaskManagerStatus {
1936 TaskManagerStateEnum state = 1;
1937 uint64 task_submission_count = 2;
1938 int64 cycle_count = 3;
1939 optional uint64 cycle_time_max = 4;
1940 optional uint64 cycle_time_min = 5;
1941 optional
double cycle_time_mean = 6;
1942 optional uint64 cycle_time_last = 7;
1943 repeated int32 task_ids = 8;
1948message TaskManagerRequest {
1950 RSI.RapidServer.RequestHeader header = 1;
1953 optional int32
id = 2;
1955 optional TaskManagerConfig config = 3;
1956 optional TaskManagerAction action = 4;
1961message TaskManagerResponse {
1963 RSI.RapidServer.ResponseHeader header = 1;
1966 optional int32
id = 2;
1968 optional TaskManagerConfig config = 3;
1969 optional TaskManagerAction action = 4;
1970 optional TaskManagerInfo info = 5;
1971 optional TaskManagerStatus status = 6;
1976message TaskManagerBatchRequest {
1978 RSI.RapidServer.RequestHeader header = 1;
1980 repeated TaskManagerRequest requests = 2;
1983message TaskManagerBatchResponse {
1985 RSI.RapidServer.ResponseHeader header = 1;
1987 repeated TaskManagerResponse responses = 2;
1992message TaskConfig {}
1997 optional Stop stop = 1;
2006 int32 task_manager_id = 2;
2007 Constants constants = 3;
2010 TaskParameters task_parameters = 1;
2011 TaskStatus task_status = 2;
2013 message TaskParameters {
2014 int32 max_directory_length = 1;
2015 int32 max_name_length = 2;
2016 int32 default_priority = 3;
2017 int32 cyclic_repeats = 4;
2018 int32 no_repeats = 5;
2019 int32 default_period = 6;
2020 int32 default_phase = 7;
2021 bool default_timing = 8;
2024 message TaskStatus {
2025 int64 invalid_execution_count = 1;
2026 uint64 invalid_execution_time = 2;
2033 TaskStateUNKNOWN = 0;
2035 TaskStateDISABLED = 2;
2036 TaskStateWAITING = 3;
2037 TaskStateRUNNING = 4;
2042 TaskStateEnum state = 1;
2043 int64 execution_count = 2;
2044 optional uint64 execution_time_max = 3;
2045 optional uint64 execution_time_min = 4;
2046 optional
double execution_time_mean = 5;
2047 optional uint64 execution_time_last = 6;
2052message TaskRequest {
2054 RSI.RapidServer.RequestHeader header = 1;
2058 int32 task_manager_id = 3;
2060 optional TaskConfig config = 4;
2061 optional TaskAction action = 5;
2066message TaskResponse {
2068 RSI.RapidServer.ResponseHeader header = 1;
2072 int32 task_manager_id = 3;
2074 optional TaskConfig config = 4;
2075 optional TaskAction action = 5;
2076 optional TaskInfo info = 6;
2077 optional TaskStatus status = 7;
2082message TaskBatchRequest {
2084 RSI.RapidServer.RequestHeader header = 1;
2086 repeated TaskRequest requests = 2;
2089message TaskBatchResponse {
2091 RSI.RapidServer.ResponseHeader header = 1;
2093 repeated TaskResponse responses = 2;
RSINetworkEniResult
NetworkEniGenerate return values.
RSINetworkStartMode
Network start modes.
RSINetworkState
State of network.
RSIControllerAddressType
Used to get firmware address used in User Limits, Recorders, etc.
RSIMotorDisableAction
Action for when a motor is disabled.
RSIMotionType
PT and PVT streaming motion types.
RSIDataType
Data types for User Limits and other triggers.
RSIUserLimitLogic
Logic options for User Limits.
RSIAction
Action to perform on an Axis.
RSIAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
RSINetworkStartError
Network start errors.
RSIMultiAxisAddressType
Used to get firmware address used in User Limits, Recorders, etc.
RSIUserLimitTriggerType
Trigger types for UserLimits.
INtimeStatus
INtime status values.
RSIHomeStage
Predefined Homing Stage sections.
RSINetworkType
Type of Network topology.
RSINodeType
Valid Node types.
RSISource
Possible sources that have caused an Error state.
RSIOperationMode
DS402 modes of operation.
RSIAxisMasterType
Sources available to a slave Axis for electronic gearing & camming.