RapidPlan Realtime Controller ASCII API
The ASCII API is the primary runtime integration surface for the Realtime Controller. A client opens a TCP socket to the controller and exchanges inline YAML 1.2 command strings (topic / type / id / data) terminated with CR+LF; responses come back as inline YAML or, after SetResponseType, as CSV. Version 2.9 documents roughly seventy commands across four groups: Project (SetResponseType, GetUnits, SetUnits, GetMode, ClearFaults, LoadProject, GetLoadedProject, UnloadProject, SetDefaultProject, EnterOperationMode, EnterConfigurationMode, Shutdown, UserLog, BeginInterlockRecording, GenerateInterlockData), Robot (ActivateRobots, DeactivateRobot, Connect, Disconnect, AcquireControl, ReleaseControl, SetMaxLinearAcceleration, SetMaxLinearSpeed, SetAlternateLocation, SetInterruptBehavior, SetRobotPreset, GetRobotPresets, Move, CombinedMove, CancelMove, HoldMove, ResumeMove, GetTargets, CreateTarget, UpdateTarget, RenameTarget, RemoveTarget, AddConnection, RemoveConnection, GetJointConfiguration, GetTCPPose, IsOnTarget), Scene Modeling (GetObjectStates, GetStatefulObjects, SetObjectState, GetFrames, AddFrame, UpdateFrame, RemoveFrames, AddBox, AddObject, RemoveBoxes, RemoveObjects, Reparent) and the combined SetWorkcellState. No OpenAPI is published for it.