Core lifecycle¶

RSIAPI is the entry point: it owns the client, the network process and the namespaces on the other API pages.

Usage¶

api = RSIAPI(
    config_file=context("joints"),  # required: a shipped context, or the path to your own config
    rsi_mode="relative",        # "absolute" or "relative" -- must match KRL
    max_cartesian_rate=0.5,     # Max mm/cycle for RKorr (0 = unlimited)
    max_joint_rate=0.1,         # Max deg/cycle for AKorr (0 = unlimited)
    cycle_time=0.004            # 0.004 = 4ms/250Hz, 0.012 = 12ms/83Hz
)

api.start()                     # Start UDP listener in background thread
api.wait_for_connection(10.0)   # Block until first robot packet (returns bool)
api.is_running()                # Check if communication is active
api.stop()                      # Graceful shutdown
api.reconnect()                 # Restart network with fresh resources

Reference¶

RSIAPI ¶

RSIAPI(config_file: str, rsi_mode: str = 'relative', max_cartesian_rate: float = 0.0, max_joint_rate: float = 0.0, cycle_time: float = 0.004, rsi_limits_file: Optional[str] = None, enable_auto_reconnect: bool = False, auto_reconnect_retries: int = 5, auto_reconnect_delay: float = 5.0)

High-level API orchestrator for KUKA RSI robot control.

Supports context manager usage for safe cleanup

with RSIAPI('RSI_EthernetConfig.xml') as api: ... api.start() ... api.motion.update_cartesian(X=10)

Parameters:

Name	Type	Description	Default
`config_file`	`str`	Path to the RSI Ethernet config XML. Required, and it must be the SAME file the controller's ETHERNET object loads — the two ends have to agree on the telegram structure. There is deliberately no default: a relative one would resolve against the working directory and could silently pick up a config that does not match the robot.	required
`rsi_mode`	`str`	'absolute' or 'relative' — must match KRL RSI_MOVECORR() mode	`'relative'`
`max_cartesian_rate`	`float`	Max mm/cycle for RKorr corrections (0 = no limit)	`0.0`
`max_joint_rate`	`float`	Max degrees/cycle for AKorr corrections (0 = no limit)	`0.0`
`cycle_time`	`float`	Expected RSI cycle time in seconds (0.004 = 4ms/250Hz, 0.012 = 12ms/83Hz)	`0.004`
`rsi_limits_file`	`Optional[str]`	Optional path to .rsi.xml safety limits file	`None`
`enable_auto_reconnect`	`bool`	Enable automatic reconnection on communication loss	`False`
`auto_reconnect_retries`	`int`	Maximum reconnection attempts (0 = unlimited)	`5`
`auto_reconnect_delay`	`float`	Base delay between retries in seconds	`5.0`

start ¶

start() -> str

Start RSI communication in a background thread.

Raises whatever the client raised if it failed to start, rather than reporting success and leaving the caller to discover it much later. A bad config, a busy UDP port or a bad state transition all surface here; without this, wait_for_connection() would sit for its full timeout and then blame the robot for a fault on this side.

stop ¶

stop() -> str

Stop RSI communication gracefully.

wait_for_connection ¶

wait_for_connection(timeout: float = 10.0) -> bool

Block until the robot's first packet is received.

Parameters:

Name	Type	Description	Default
`timeout`	`float`	Maximum time to wait in seconds	`10.0`

Returns:

Type	Description
`bool`	True if connected, False if timeout

reconnect ¶

reconnect() -> str

Restart network connection with fresh resources.