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) {};
56 rpc RTTask (RTTaskRequest) returns (RTTaskResponse) {};
57 rpc RTTaskBatch(RTTaskBatchRequest) returns (RTTaskBatchResponse) {};
61 rpc RTTaskManager (RTTaskManagerRequest) returns (RTTaskManagerResponse) {};
62 rpc RTTaskManagerBatch(RTTaskManagerBatchRequest) returns (RTTaskManagerBatchResponse) {};
67message MotionControllerConfig {
69 optional int32 axis_count = 1;
72 optional int32 multi_axis_count = 2;
75 optional int32 user_limit_count = 3;
78 optional int32 recorder_count = 4;
81 repeated int32 recorder_buffer_sizes = 5;
84 optional int32 compensator_count = 6;
87 repeated int32 compensator_point_counts = 7;
90 repeated int32 axis_frame_buffer_sizes = 8;
93 optional int32 user_version = 10;
96 optional
double sample_rate = 11;
113 uint64 host_address = 4;
119 uint32 firmware_address = 6;
123 optional int32 index = 7;
126 optional int32 mask = 8;
129message MotionControllerMemory {
131 uint64 host_address = 1;
135 uint64 host_address = 1;
139 uint64 host_address = 1;
150message MotionControllerCreationParameters {
152 optional
string rmp_path = 1;
153 optional
string node_name = 2;
155 optional
string primary_nic = 3;
156 optional
string secondary_nic = 4;
158 optional int32 cpu_affinity = 5;
159 optional int32 rmp_thread_priority_max = 6;
161 optional int32 controller_index = 7;
164message MotionControllerAction {
166 optional MotionControllerCreationParameters create = 1;
168 repeated MotionControllerMemory memory_sets = 2;
169 repeated MotionControllerMemory memory_gets = 3;
170 repeated AddressInfo address_gets = 4;
171 optional Shutdown shutdown = 5;
172 optional ProcessorUsageClear processor_usage_clear = 6;
178 message ProcessorUsageClear {}
185message MotionControllerInfo {
187 uint32 serial_number = 1;
190 string rapid_code_version = 2;
193 string firmware_version = 3;
196 int32 axis_license_count = 4;
198 repeated AddressInfo addresses = 5;
201 Constants constants = 6;
205 uint32 network_start_timeout_milliseconds_default = 1;
208 uint32 axis_count_maximum = 2;
211 uint32 motion_count_maximum = 3;
214 uint32 network_node_count_maximum = 4;
217 uint32 recorder_count_maximum = 5;
220 uint32 compensator_count_maximum = 6;
223 uint32 user_buffer_data_count_maximum = 7;
226 double sample_rate_default = 8;
228 CreationParameters creation_parameters = 9;
230 message CreationParameters {
232 uint32 path_length_maximum = 1;
235 uint32 cpu_affinity_default = 2;
238 uint32 rmp_thread_priority_maximum_default = 3;
241 uint32 rmp_thread_priority_range = 4;
246 MotionControllerCreationParameters creation_parameters = 7;
253message MotionControllerStatus {
255 int32 sample_counter = 1;
258 uint32 network_node_count = 2;
261 double processor_usage = 3;
264 uint32 firmware_timing_delta = 4;
267 int32 external_memory_size = 9;
274message MotionControllerRequest {
276 RSI.RapidServer.RequestHeader header = 1;
278 optional MotionControllerConfig config = 2;
279 optional MotionControllerAction action = 3;
285message MotionControllerResponse {
287 RSI.RapidServer.ResponseHeader header = 1;
289 optional MotionControllerConfig config = 2;
290 optional MotionControllerAction action = 3;
291 optional MotionControllerInfo info = 4;
292 optional MotionControllerStatus status = 5;
297message FirmwareValue {
300 int32 int8_value = 2;
301 uint32 uint8_value = 3;
302 int32 int16_value = 4;
303 uint32 uint16_value = 5;
304 int32 int32_value = 6;
305 uint32 uint32_value = 7;
306 float float_value = 8;
307 double double_value = 9;
308 int64 int64_value = 10;
309 uint64 uint64_value = 11;
315message NetworkConfig {}
319message NetworkAction {
321 optional Shutdown shutdown = 1;
324 optional Discover discover = 2;
325 optional Start start = 3;
326 optional DiscoverAndStart discover_and_start = 4;
329 optional TimingMetricsEnable timing_metrics_enable = 5;
330 optional TimingMetricsDisable timing_metrics_disable = 6;
331 optional TimingMetricsClear timing_metrics_clear = 7;
334 repeated OutputOverride output_override = 8;
337 optional EniGenerate eni_generate = 9;
344 optional uint32 timeout_milliseconds = 3;
350 optional uint32 timeout_milliseconds = 2;
353 message DiscoverAndStart {
357 optional uint32 timeout_milliseconds = 2;
360 message TimingMetricsEnable {
362 optional uint32 low_threshold = 1;
364 optional uint32 high_threshold = 2;
366 message TimingMetricsDisable {}
367 message TimingMetricsClear {}
369 message OutputOverride {
373 optional
bool override = 2;
375 optional int64 override_value = 3;
378 message EniGenerate {
382 optional
string output = 2;
388message NetworkRequest {
390 RSI.RapidServer.RequestHeader header = 1;
392 optional NetworkConfig config = 2;
394 optional NetworkAction action = 3;
399message NetworkResponse {
401 RSI.RapidServer.ResponseHeader header = 1;
403 optional NetworkConfig config = 2;
404 optional NetworkAction action = 3;
405 optional NetworkInfo info = 4;
406 optional NetworkStatus status = 5;
411message NetworkStatus {
413 int32 node_count = 2;
415 bool synchronized = 4;
419 string log_message = 6;
422 TimingMetricsStatus timing_metrics = 7;
425 repeated PdoInputStatus pdo_inputs = 8;
428 repeated PdoOutputStatus pdo_outputs = 9;
430 message TimingMetricsStatus {
434 uint32 min_recorded = 2;
436 uint32 max_recorded = 3;
438 uint32 low_count = 4;
440 uint32 high_count = 5;
443 message PdoInputStatus {
450 message PdoOutputStatus {
454 int64 sent_value = 2;
456 int64 override_value = 3;
458 int64 firmware_value = 4;
460 bool override_enabled = 5;
468 int32 pdo_input_count = 4;
469 int32 pdo_output_count = 5;
472 repeated PdoInputInfo pdo_inputs = 6;
475 repeated PdoOutputInfo pdo_outputs = 7;
477 message PdoInputInfo {
479 AddressInfo address_info = 2;
481 int32 bit_offset = 4;
484 message PdoOutputInfo {
486 AddressInfo sent_value_address = 2;
487 AddressInfo override_value_address = 3;
488 AddressInfo firmware_value_address = 4;
490 int32 bit_offset = 6;
501 RSI.RapidServer.RequestHeader header = 1;
506 optional AxisConfig config = 3;
507 optional AxisAction action = 4;
512message AxisResponse {
514 RSI.RapidServer.ResponseHeader header = 1;
519 optional AxisConfig config = 3;
520 optional AxisAction action = 4;
521 optional AxisInfo info = 5;
522 optional AxisStatus status = 6;
527message AxisBatchRequest {
529 RSI.RapidServer.RequestHeader header = 1;
531 repeated AxisRequest requests = 2;
534message AxisBatchResponse {
536 RSI.RapidServer.ResponseHeader header = 1;
538 repeated AxisResponse responses = 2;
545 bool amp_enabled = 1;
554 string source_name = 4;
557 PositionStatus position = 5;
560 VelocityStatus velocity = 6;
563 AccelerationStatus acceleration = 7;
566 int32 frames_to_execute = 8;
569 uint32 motion_id = 9;
572 uint32 motion_id_executing = 10;
575 int32 element_id_executing = 11;
578 bool gear_enabled = 12;
581 MotorStatusBits motor_status_bits = 13;
584 MotionStatusBits motion_status_bits = 14;
587 Ds402StatusBits ds402_status_bits = 15;
590 DedicatedOutputBits dedicated_output_bits = 16;
593 DedicatedInputBits dedicated_input_bits = 17;
596 bool home_state = 18;
600 uint32 general_input_bits = 20;
603 uint32 general_output_bits = 21;
605 message PositionStatus {
611 double encoder_0 = 6;
612 double encoder_1 = 7;
613 double compensation = 8;
617 message VelocityStatus {
622 message AccelerationStatus {
626 message MotorStatusBits {
628 bool amp_warning = 2;
629 bool feedback_fault = 3;
630 bool limit_position_error = 4;
631 bool limit_torque = 5;
632 bool limit_hardware_negative = 6;
633 bool limit_hardware_positive = 7;
634 bool limit_software_negative = 8;
635 bool limit_software_positive = 9;
638 message MotionStatusBits {
642 bool at_velocity = 4;
643 bool out_of_frames = 5;
644 bool near_target = 6;
649 message Ds402StatusBits {
650 bool ready_to_switch_on = 1;
651 bool switched_on = 2;
652 bool operation_enabled = 3;
654 bool voltage_enabled = 5;
656 bool switch_on_disabled = 7;
658 bool manufacturer_specific_8 = 9;
660 bool target_reached = 11;
661 bool internal_limit_active = 12;
662 bool operation_mode_specific_12 = 13;
663 bool operation_mode_specific_13 = 14;
664 bool manufacturer_specific_14 = 15;
665 bool manufacturer_specific_15 = 16;
668 message DedicatedOutputBits {
670 bool brake_release = 2;
673 message DedicatedInputBits {
675 bool brake_applied = 2;
677 bool limit_hardware_positive = 4;
678 bool limit_hardware_negative = 5;
680 bool index_secondary = 7;
681 bool feedback_fault = 8;
686 bool amp_active = 13;
688 bool drive_status_9 = 15;
689 bool drive_status_10 = 16;
690 bool feedback_fault_primary = 17;
691 bool feedback_fault_secondary = 18;
698 optional Abort abort = 1;
699 optional EStopAbort e_stop_abort = 2;
700 optional EStopModifyAbort e_stop_modify_abort = 3;
701 optional EStopModify e_stop_modify = 4;
702 optional EStop e_stop = 5;
703 optional TriggeredModify triggered_modify = 6;
704 optional Stop stop = 7;
705 optional Resume resume = 8;
707 optional ClearFaults clear_faults = 9;
708 optional AmpEnable amp_enable = 10;
709 optional AmpDisable amp_disable = 11;
710 optional HoldGateSet hold_gate_set = 12;
711 optional PositionSet position_set = 13;
712 optional Move move = 14;
713 optional GearEnable gear_enable = 15;
714 optional GearDisable gear_disable = 16;
715 optional Home home = 17;
716 optional HomeCancel home_cancel = 18;
717 optional OperationMode operation_mode_set = 19;
718 optional OperationMode operation_mode_get = 20;
721 message EStopAbort {}
722 message EStopModifyAbort{}
723 message EStopModify{}
725 message TriggeredModify {}
729 message ClearFaults {}
732 optional int32 timeout_milliseconds = 1;
733 optional int32 duration = 2;
734 optional
bool override_restricted_state = 3;
736 message AmpDisable {}
737 message HoldGateSet {
747 AxisMovePointToPoint point_to_point = 3;
748 AxisMoveVelocity velocity = 4;
749 MoveStreaming streaming = 5;
753 optional uint32 motion_id = 6;
756 optional MotionHold motion_hold = 7;
763 optional int32 master_axis_number = 2;
766 int32 denominator = 5;
768 message GearDisable {}
773 double slow_velocity = 3;
774 double acceleration = 4;
775 double deceleration = 5;
776 optional
double jerk_percent = 6;
777 optional
bool move_to_zero = 7;
778 optional
double offset = 8;
782 message HomeCancel {}
784 message OperationMode {
791 message AxisMovePointToPoint {
796 optional
double velocity = 2;
799 optional
double acceleration = 3;
802 optional
double deceleration = 4;
808 optional
double jerk_percent = 5;
812 optional
double final_velocity = 6;
818message AxisMoveVelocity {
823 double acceleration = 2;
828 double jerk_percent = 3;
831message MoveStreaming {
832 repeated
double positions = 1;
833 repeated
double velocities = 2;
834 repeated
double accelerations = 3;
835 repeated
double jerks = 4;
836 repeated
double times = 5;
837 int32 empty_count = 6;
851message MotionHoldGate{
855message MotionHoldAxis {
863 int32 hold_axis_number = 3;
866 double hold_axis_position = 4;
869message MotionHoldUser {
883 MotionHoldGate gate = 2;
884 MotionHoldAxis axis = 3;
885 MotionHoldUser user = 4;
889 optional
double hold_timeout_seconds = 6;
892 optional
double delay_seconds = 7;
898 optional
double user_units = 1;
901 optional
double origin_position = 2;
904 optional
string user_label = 3;
907 optional TrajectoryDefaults defaults = 4;
908 optional HardwareTrigger amp_fault = 5;
909 optional HardwareTrigger home_switch = 6;
910 optional ErrorLimit error_limit = 7;
911 optional HardwareTrigger hardware_negative_limit = 8;
912 optional HardwareTrigger hardware_positive_limit = 9;
913 optional SoftwareTrigger software_negative_limit = 10;
914 optional SoftwareTrigger software_positive_limit = 11;
915 optional Settling settling = 12;
916 optional MotionConfig motion = 13;
917 optional Homing homing = 14;
918 optional int32 frame_buffer_size = 15;
920 optional
double feed_rate = 17;
923 message TrajectoryDefaults
925 optional
double velocity = 1;
926 optional
double acceleration = 2;
927 optional
double deceleration = 3;
928 optional
double jerk_percent = 4;
929 optional
double position1 = 5;
930 optional
double position2 = 6;
931 optional
double relative_increment = 7;
934 message HardwareTrigger {
936 optional
bool trigger_state = 2;
937 optional
double duration = 3;
940 message SoftwareTrigger {
942 optional
double trigger_value = 2;
947 optional
double trigger_value = 2;
948 optional
double duration = 3;
952 optional
double position_tolerance_fine = 1;
953 optional
double position_tolerance_coarse = 2;
954 optional
double velocity_tolerance = 3;
955 optional
double time_seconds = 4;
956 optional
bool on_stop = 5;
957 optional
bool on_estop = 6;
958 optional
bool on_estop_cmd_equals_actual = 7;
961 message MotionConfig {
963 optional
double stop_time = 1;
966 optional
double estop_time = 2;
969 optional
double triggered_modify_deceleration = 3;
972 optional
double triggered_modify_jerk_percent = 4;
975 optional
double estop_modify_deceleration = 5;
978 optional
double estop_modify_jerk_percent = 6;
992 repeated AddressInfo addresses = 2;
995 NetworkNodeInfo node_info = 3;
998 Constants constants = 4;
1001 int32 motion_supervisor_index = 5;
1005 uint32 network_index_invalid = 1;
1008 double amp_enable_amp_fault_timeout_seconds_default = 2;
1016message MultiAxisRequest {
1018 RSI.RapidServer.RequestHeader header = 1;
1023 optional MultiAxisConfig config = 3;
1024 optional MultiAxisAction action = 4;
1029message MultiAxisResponse {
1031 RSI.RapidServer.ResponseHeader header = 1;
1036 optional MultiAxisConfig config = 3;
1037 optional MultiAxisAction action = 4;
1038 optional MultiAxisInfo info = 5;
1039 optional MultiAxisStatus status = 6;
1044message MultiAxisBatchRequest {
1046 RSI.RapidServer.RequestHeader header = 1;
1048 repeated MultiAxisRequest requests = 2;
1051message MultiAxisBatchResponse {
1053 RSI.RapidServer.ResponseHeader header = 1;
1055 repeated MultiAxisResponse responses = 2;
1061message MultiAxisStatus {
1064 string source_name = 3;
1065 bool amp_enabled = 4;
1066 MotionStatusBits motion_status_bits = 5;
1067 repeated AxisStatus axis_statuses = 6;
1070 message MotionStatusBits {
1074 bool at_velocity = 4;
1075 bool out_of_frames = 5;
1081message MultiAxisAction {
1082 optional Abort abort = 1;
1083 optional EStopAbort e_stop_abort = 2;
1084 optional EStopModifyAbort e_stop_modify_abort = 3;
1085 optional EStopModify e_stop_modify = 4;
1086 optional EStop e_stop = 5;
1087 optional TriggeredModify triggered_modify = 6;
1088 optional Stop stop = 7;
1089 optional Resume resume = 8;
1091 optional ClearFaults clear_faults = 9;
1092 optional AmpEnable amp_enable = 10;
1093 optional AmpDisable amp_disable = 11;
1094 optional Move move = 12;
1095 optional RemoveAxes remove_axes = 13;
1096 optional Unmap unmap = 14;
1097 optional Map map = 15;
1098 optional AxisAdd axis_add = 16;
1101 message EStopAbort {}
1102 message EStopModifyAbort{}
1103 message EStopModify{}
1105 message TriggeredModify {}
1109 message ClearFaults {}
1112 optional int32 timeout_milliseconds = 1;
1113 optional int32 duration = 2;
1114 optional
bool override_restricted_state = 3;
1116 message AmpDisable {}
1120 MultiAxisMovePointToPoint point_to_point = 3;
1121 MultiAxisMoveVelocity velocity = 4;
1122 MoveStreaming streaming = 5;
1124 optional uint32 motion_id = 6;
1127 optional MotionHold motion_hold = 7;
1131 message MultiAxisMovePointToPoint {
1132 repeated AxisMovePointToPoint axis_move_point_to_points = 1;
1136 message MultiAxisMoveVelocity {
1137 repeated AxisMoveVelocity axis_move_velocities = 1;
1140 message RemoveAxes {}
1144 int32 axis_index = 1;
1150message MultiAxisConfig {
1151 repeated int32 axes_indices = 1;
1152 optional
string user_label = 2;
1153 optional
double feed_rate = 3;
1154 optional
double stop_time = 4;
1155 optional
double e_stop_time = 5;
1160message MultiAxisInfo {
1165 int32 motion_supervisor_index = 2;
1168 repeated AddressInfo addresses = 3;
1173message NetworkNodeInfo {
1181 int32 axis_count = 3;
1187 IOCounts io_counts = 5;
1190 IOAddresses io_addresses = 6;
1196 uint32 vendor_id = 8;
1199 uint32 product_code = 9;
1202 uint32 hardware_revision = 10;
1205 uint32 station_alias = 11;
1208 string serial_number = 12;
1214 string product_name = 14;
1217 string vendor_name = 15;
1219 Constants constants = 16;
1227 int32 digital_inputs = 1;
1230 int32 digital_outputs = 2;
1233 int32 analog_inputs = 3;
1236 int32 analog_outputs = 4;
1239 message IOAddresses {
1241 repeated AddressInfo digital_inputs = 1;
1244 repeated AddressInfo digital_outputs = 2;
1247 repeated AddressInfo analog_inputs = 3;
1250 repeated AddressInfo analog_outputs = 4;
1255 uint32 sdo_timeout_milliseconds_default = 1;
1261message NetworkNodeStatus {
1263 repeated
bool digital_input_states = 2;
1266 repeated
bool digital_output_states = 3;
1269 repeated int32 analog_input_values = 4;
1272 repeated int32 analog_output_values = 5;
1279message DigitalOutput {
1281 int32 bit_number = 1;
1291message AnalogOutput {
1310 int32 sub_index = 2;
1313 int32 byte_count = 3;
1317 option allow_alias =
true;
1325 optional ValueType read_type = 4;
1328 optional uint32 timeout_milliseconds = 5;
1336 int32 integer_value = 6;
1339 string string_value = 7;
1342 bytes bytes_value = 8;
1353 optional
string result = 2;
1359message NetworkNodeAction {
1365 repeated DigitalOutput digital_output_sets = 1;
1371 repeated AnalogOutput analog_output_sets = 2;
1376 repeated SDO sdo_writes = 3;
1381 repeated SDO sdo_reads = 4;
1387 repeated AKDASCII akd_asciis = 5;
1392message NetworkNodeConfig {}
1396message NetworkNodeRequest {
1398 RSI.RapidServer.RequestHeader header = 1;
1403 optional NetworkNodeConfig config = 3;
1404 optional NetworkNodeAction action = 4;
1409message NetworkNodeResponse {
1411 RSI.RapidServer.ResponseHeader header = 1;
1416 optional NetworkNodeConfig config = 3;
1417 optional NetworkNodeAction action = 4;
1418 optional NetworkNodeInfo info = 5;
1419 optional NetworkNodeStatus status = 6;
1424message NetworkNodeBatchRequest {
1426 RSI.RapidServer.RequestHeader header = 1;
1428 repeated NetworkNodeRequest requests = 2;
1431message NetworkNodeBatchResponse {
1433 RSI.RapidServer.ResponseHeader header = 1;
1435 repeated NetworkNodeResponse responses = 2;
1441message RecorderRequest {
1443 RSI.RapidServer.RequestHeader header = 1;
1448 optional RecorderConfig config = 3;
1449 optional RecorderAction action = 4;
1455message RecorderResponse {
1457 RSI.RapidServer.ResponseHeader header = 1;
1462 optional RecorderConfig config = 3;
1463 optional RecorderAction action = 4;
1464 optional RecorderInfo info = 5;
1465 optional RecorderStatus status = 6;
1470message RecorderBatchRequest {
1472 RSI.RapidServer.RequestHeader header = 1;
1474 repeated RecorderRequest requests = 2;
1477message RecorderBatchResponse {
1479 RSI.RapidServer.ResponseHeader header = 1;
1481 repeated RecorderResponse responses = 2;
1487message RecorderInfo { }
1491message RecorderStatus {
1493 bool is_recording = 1;
1496 int32 records_available = 2;
1501message RecorderAction {
1503 optional Reset reset = 1;
1504 optional Start start = 2;
1505 optional Stop stop = 3;
1506 optional RetrieveRecords retrieve_records = 4;
1512 message RetrieveRecords {
1514 repeated Record records = 1;
1519 repeated Data data = 1;
1536message RecorderConfig {
1538 optional int32 period = 1;
1541 optional
bool circular_buffer = 2;
1544 repeated AddressInfo addresses = 3;
1547 optional RecorderTriggerOnMotion trigger_on_motion = 4;
1550 optional int32 buffer_high_count = 5;
1553 optional int32 record_max_count = 6;
1557 message RecorderTriggerOnMotion {
1559 optional int32 motion_supervisor_index = 1;
1561 optional
bool enable = 2;
1568message UserLimitStatus {
1581message UserLimitAction {
1583 optional Reset reset = 1;
1584 optional Enable enable = 2;
1585 optional Disable disable = 3;
1595message UserLimitInfo {}
1600message UserLimitConfig {
1606 optional UserLimitCondition condition_0 = 2;
1609 optional UserLimitCondition condition_1 = 3;
1612 optional UserLimitOutput output = 4;
1618 optional int32 action_axis = 6;
1621 optional
double duration = 7;
1624 optional
bool is_single_shot = 8;
1627 repeated UserLimitInterruptUserData user_data = 9;
1630 message UserLimitCondition {
1641 optional uint32 mask = 4;
1644 optional int32 integer_limit_value = 5;
1647 optional
double double_limit_value = 6;
1650 message UInt32Masks {
1652 uint32 and_mask = 1;
1658 message UInt64Masks {
1660 uint64 and_mask = 1;
1666 message UserLimitOutput {
1679 UInt32Masks uint32_masks = 6;
1682 int32 int32_value = 7;
1685 UInt64Masks uint64_masks = 8;
1688 double double_value = 9;
1692 uint64 input_address = 10;
1696 message UserLimitInterruptUserData {
1701 optional uint64 address = 2;
1707message UserLimitRequest {
1709 RSI.RapidServer.RequestHeader header = 1;
1714 optional UserLimitConfig config = 3;
1716 optional UserLimitAction action = 4;
1721message UserLimitResponse {
1723 RSI.RapidServer.ResponseHeader header = 1;
1728 optional UserLimitConfig config = 3;
1729 optional UserLimitAction action = 4;
1730 optional UserLimitInfo info = 5;
1731 optional UserLimitStatus status = 6;
1736message UserLimitBatchRequest {
1738 RSI.RapidServer.RequestHeader header = 1;
1740 repeated UserLimitRequest requests = 2;
1743message UserLimitBatchResponse {
1745 RSI.RapidServer.ResponseHeader header = 1;
1747 repeated UserLimitResponse responses = 2;
1752message RTOSConfig {}
1758 string rmp_catalog = 1;
1761 string rmp_network_catalog = 2;
1764 uint32 node_count = 3;
1770 optional Restart restart = 1;
1771 optional Stop stop = 2;
1772 optional Start start = 3;
1788message RTOSRequest {
1790 RSI.RapidServer.RequestHeader header = 1;
1795 optional RTOSConfig config = 3;
1796 optional RTOSAction action = 4;
1801message RTOSResponse {
1803 RSI.RapidServer.ResponseHeader header = 1;
1808 optional RTOSConfig config = 3;
1809 optional RTOSAction action = 4;
1810 optional RTOSInfo info = 5;
1811 optional RTOSStatus status = 6;
1816message RTOSBatchRequest {
1818 RSI.RapidServer.RequestHeader header = 1;
1820 repeated RTOSRequest requests = 2;
1823message RTOSBatchResponse {
1825 RSI.RapidServer.ResponseHeader header = 1;
1827 repeated RTOSResponse responses = 2;
1833 RTTaskStateUNKNOWN = 0;
1834 RTTaskStateDEAD = 1;
1835 RTTaskStateDISABLED = 2;
1836 RTTaskStateWAITING = 3;
1837 RTTaskStateRUNNING = 4;
1843 RTTaskManagerStateUNKNOWN = 0;
1844 RTTaskManagerStateDEAD = 1;
1845 RTTaskManagerStateRUNNING = 2;
1846 RTTaskManagerStateSTOPPED = 3;
1852 PlatformTypeUNKNOWN = 0;
1853 PlatformTypeNATIVE = 1;
1854 PlatformTypeINTIME = 2;
1855 PlatformTypeLINUX = 3;
1856 PlatformTypeWINDOWS = 4;
1864 TaskPriorityNONREALTIME = 0;
1865 TaskPriorityLOWEST = 1;
1866 TaskPriorityLOW = 2;
1867 TaskPriorityMEDIUMLOW = 3;
1868 TaskPriorityMEDIUM = 4;
1869 TaskPriorityMEDIUMHIGH = 5;
1870 TaskPriorityHIGH = 6;
1871 TaskPriorityHIGHEST = 7;
1876message RTTaskCreationParameters {
1878 string function_name = 1;
1881 optional
string library_name = 2;
1882 optional
string library_directory = 3;
1885 optional
string user_label = 4;
1891 optional int32 repeats = 6;
1894 optional int32 period = 7;
1899 optional int32 phase = 8;
1902 optional
bool enable_timing = 9;
1907message RTTaskConfig {}
1912message RTTaskAction {
1914 optional Stop stop = 1;
1917 optional Remove
remove = 2;
1920 optional TimingReset timing_reset = 3;
1923 optional ExecutionCountAbsoluteWait execution_count_absolute_wait = 4;
1926 optional ExecutionCountRelativeWait execution_count_relative_wait = 5;
1930 message TimingReset {}
1932 message ExecutionCountAbsoluteWait {
1934 optional int64 count = 1;
1937 optional int32 timeout_ms = 2;
1940 message ExecutionCountRelativeWait {
1942 optional int64 count = 1;
1945 optional int32 timeout_ms = 2;
1956 int32 manager_id = 2;
1959 Constants constants = 3;
1962 RTTaskCreationParameters creation_parameters = 4;
1966 CreationParameterConstants creation_parameters = 1;
1969 StatusConstants status = 2;
1971 message CreationParameterConstants {
1973 int32 directory_length_maximum = 1;
1976 int32 name_length_maximum = 2;
1979 string library_name_default = 3;
1982 int32 priority_default = 4;
1985 int32 repeat_forever = 5;
1988 int32 repeat_none = 6;
1991 int32 period_default = 7;
1994 int32 phase_default = 8;
1997 int32 enable_timing_default = 9;
2000 message StatusConstants {
2002 int64 invalid_execution_count = 1;
2005 uint64 invalid_execution_time = 2;
2008 uint64 error_message_size_maximum = 3;
2015message RTTaskStatus {
2020 optional int64 execution_count = 2;
2023 optional uint64 execution_time_max = 3;
2026 optional uint64 execution_time_min = 4;
2029 optional
double execution_time_mean = 5;
2032 optional uint64 execution_time_last = 6;
2035 optional uint64 start_time_delta_last = 7;
2038 optional uint64 start_time_delta_max = 8;
2041 optional
double start_time_delta_mean = 9;
2044 optional
string error_message = 10;
2049message RTTaskRequest {
2051 RSI.RapidServer.RequestHeader header = 1;
2057 int32 manager_id = 3;
2059 optional RTTaskConfig config = 4;
2060 optional RTTaskAction action = 5;
2065message RTTaskResponse {
2067 RSI.RapidServer.ResponseHeader header = 1;
2073 int32 manager_id = 3;
2075 optional RTTaskConfig config = 4;
2076 optional RTTaskAction action = 5;
2077 optional RTTaskInfo info = 6;
2078 optional RTTaskStatus status = 7;
2083message RTTaskBatchRequest {
2085 RSI.RapidServer.RequestHeader header = 1;
2087 repeated RTTaskRequest requests = 2;
2090message RTTaskBatchResponse {
2092 RSI.RapidServer.ResponseHeader header = 1;
2094 repeated RTTaskResponse responses = 2;
2099message RTTaskManagerCreationParameters {
2101 optional
string rt_task_directory = 1;
2108 optional
string node_name = 3;
2111 optional int32 cpu_core = 4;
2114 optional
string user_label = 5;
2117 optional
bool no_rmp = 6;
2122message RTTaskManagerConfig {}
2127message RTTaskManagerAction {
2129 optional Create create = 1;
2132 optional Discover discover = 2;
2135 optional Shutdown shutdown = 3;
2138 optional TaskSubmit task_submit = 4;
2141 optional TaskRemove task_remove = 5;
2144 repeated GlobalValueSet global_value_sets = 6;
2148 RTTaskManagerCreationParameters creation_parameters = 1;
2156 repeated int32 manager_ids = 1;
2161 message TaskSubmit {
2163 RTTaskCreationParameters task_creation_parameters = 1;
2166 optional int32 task_id = 2;
2169 message TaskRemove {
2174 message GlobalValueSet {
2176 FirmwareValue value = 1;
2183 optional
string library_name = 3;
2184 optional
string library_directory = 4;
2190message RTTaskManagerInfo {
2195 Constants constants = 2;
2198 RTTaskManagerCreationParameters creation_parameters = 3;
2202 int32 rt_task_manager_count_maximum = 1;
2205 int32 rt_task_count_maximum = 2;
2208 string rt_task_manager_executable_name = 3;
2211 CreationParameterConstants creation_parameters = 4;
2213 message CreationParameterConstants {
2215 int32 directory_length_maximum = 1;
2218 int32 name_length_maximum = 2;
2221 string user_label_default = 3;
2228message RTTaskManagerStatus {
2231 repeated int32 task_ids = 1;
2234 map<string, FirmwareValue> global_values = 2;
2240 optional uint64 task_submission_count = 4;
2243 optional int64 cycle_count = 5;
2246 optional uint64 cycle_time_max = 6;
2249 optional uint64 cycle_time_min = 7;
2252 optional
double cycle_time_mean = 8;
2255 optional uint64 cycle_time_last = 9;
2258 optional uint64 start_time_delta_last = 10;
2261 optional uint64 start_time_delta_max = 11;
2264 optional
double start_time_delta_mean = 12;
2269message RTTaskManagerRequest {
2271 RSI.RapidServer.RequestHeader header = 1;
2274 optional int32
id = 2;
2276 optional RTTaskManagerConfig config = 3;
2277 optional RTTaskManagerAction action = 4;
2282message RTTaskManagerResponse {
2284 RSI.RapidServer.ResponseHeader header = 1;
2287 optional int32
id = 2;
2289 optional RTTaskManagerConfig config = 3;
2290 optional RTTaskManagerAction action = 4;
2291 optional RTTaskManagerInfo info = 5;
2292 optional RTTaskManagerStatus status = 6;
2297message RTTaskManagerBatchRequest {
2299 RSI.RapidServer.RequestHeader header = 1;
2301 repeated RTTaskManagerRequest requests = 2;
2304message RTTaskManagerBatchResponse {
2306 RSI.RapidServer.ResponseHeader header = 1;
2308 repeated RTTaskManagerResponse responses = 2;
TaskPriority
Enum representing the priority levels for a real-time task.
RTTaskManagerState
Enum representing the possible states of an RTTaskManager.
RTTaskState
Enum representing the possible states of a real-time task.
PlatformType
Enum representing the platform type for an RTTaskManager.
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.