Get up and running in Linux
Getting Started with RMP-Linux
We are thrilled to introduce the integration of our robust RMP Motion Controller with Linux. For a hassle-free experience, we've crafted a custom hard drive image, included with our PC, containing only the essential files required to operate the RMP and ensure its accessibility through our RapidServer. With RapidServer active, you can seamlessly access the RMP via our gRPC RapidCodeRemote API or our innovative RapidSetupX multi-platform tool.
PC Info
Type | iPC300 |
CPU | i7-6700TE |
Name | ermp (embedded RMP) |
OS | Linux, Debian 12.0 βBookwormβ (Headless, CLI-based, no GUI) |
Kernel | 6.4.0-2-rt-amd64 |
Username | rsi |
Password | rsi |
Keywords
RMP | RSIβs EtherCAT Motion Controller
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RapidServer π | An application/process that provides services via a Remote Procedure Call (RPC) framework. Client applications can communicate with a RapidServer instance from any operating system (Windows, Linux, MacOS, etc). The RapidServer application itself can run on Windows and INtime.
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RapidSetupX | Multi-platform (Linux, Windows, MacOS) UI client that allows you to connect to RapidServer instances and view, configure, and troubleshoot the RMP. Can be downloaded via portal.roboticsys.com
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ENI File | EtherCAT Network Information file. This must be created once your EtherCAT topology is ready.
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rsiconfig π | An application/process used to configure parts of the RMP during runtime. |
Get up and Running
Follow these steps to get RapidServer, RapidSetupX UI, and the RMP controller up and running:
Power on the PC
Your PC is equipped with a custom hard drive image. Upon powering on, the RapidServer initiates automatically, providing you access to the RMP. Note, however, that the RMP does not start on its own. To start it, you must do it manually via the RapidCodeRemote API or RapidSetupX.
Log in to the PC
Username β rsi
Password β rsi
This image of Linux is CLI only and has no GUI.
Verify RapidServer is Running (Optional)
Run CLI Command β
top
or more specificsystemctl status rapidserver
This step is optional, but it is useful in case you would like to see if RapidServer is running and what other processes are running.
Configure the EtherCAT Network
Verify all your EtherCAT node(s) are powered on, connected to each other, and connected to the PC EtherCAT βenp5s0β NIC. Refer to the PC picture above or the βPC NICsβ section below to identify your EtherCAT NIC port.
Generate the ENI File
Run CLI Command β
sudo rsiconfig -eni --cpu-affinity 3 --primary-nic enp5s0
The ENI file is necessary to start the EtherCAT network communication between your nodes and the RMP controller. Make sure this file has been created before you try starting the EtherCAT network. Once the command is run it will use our utility βrsiconfigβ to create a new ENI (EtherCAT.xml) file in the β/rsiβ directory.
Open RapidSetupX GUI Client
Download from portal.roboticsys.com/downloads (recommended) (currently disabled)
Request the download link for your preferred OS at tech@roboticsys.com
This UI client is designed to aid in visualizing and configuring the RMP across Linux, Windows, or MacOS platforms. RapidSetupX allows you to connect to any RapidServer running on the same network. As RapidSetupX is currently in the Beta stage.
Useful Commands
Here are some Linux Debian CLI commands that can be useful:
~$ top | Open a command-line utility that provides a real-time, dynamic view of the processes running on a system, displaying information about system performance and usage. |
~$ q | Quit certain command-line utilities. |
~$ sudo | Stands for βsuper user doβ. It is appended to commands you wish to run with elevated privileges, typically as the root user. |
~$ ls /rsi | List the contents of the directory /rsi . This folder contains everything the RMP needs to run. Things like: NodeInfo.xml, RapidCode.NET.dll, rapidserver, rmpnetwork, rmp, rsi.lic, rsiconfig, protos, ESI, etc. |
~$ sudo rsiconfig -eni --cpu-affinity 3 --primary-nic enp5s0 | Generate a new ENI (EtherCAT.xml) file with the rsiconfig utility that comes pre-installed. sudo: Run with elevated privilege. rsiconfig -eni: Run our rsiconfig utility with the parameter βeniβ to create an ENI file. --cpu-affinity 3: Run this command in specifically in CPU core #3. --primary-nic enp5s0: Designate what network interface to use, in this case βenp5s0β. This should be where your EtherCAT cable is connected. |
~$ sudo apt install rmp_10.4.4.0-1_amd64.deb | Install the RMP. This is our first release candidate version. |
~$ sudo apt remove rmp | Remove the RMP if any is available. This is useful if you wish to download a new version. Delete before downloading another version. |
~$ rapidserver & | Run rapidserver (inside the /rsi folder) as a background process. rapidserver runs when the PC is powered ON. Regardless, you can use this command to start it. |
General Information
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