RSI mode and rate limiting

Absolute vs Relative Mode

The rsi_mode parameter must match what your KRL program uses with RSI_MOVECORR():

Mode	Behavior	Use Case
"relative"	Corrections are added to the programmed path each cycle. Sending X=1.0 every cycle moves 1mm/cycle continuously.	Continuous adjustments, sensor feedback
"absolute"	Corrections specify total offset from programmed path. Sending X=10.0 holds 10mm offset regardless of how many cycles.	Target position offsets

Cycle Time

KUKA RSI supports two cycle rates, configured on the robot controller side. RSIPI's network loop is reactive (it responds to whatever the robot sends), but the cycle_time parameter ensures diagnostics, health checks, and jitter warnings use the correct baseline:

# 4ms cycle / 250Hz (default)
api = RSIAPI("RSI_EthernetConfig.xml", cycle_time=0.004)

# 12ms cycle / 83Hz
api = RSIAPI("RSI_EthernetConfig.xml", cycle_time=0.012)

Cycle Time	Frequency	Use Case
0.004 (4ms)	250 Hz	High-frequency corrections, sensor feedback loops
0.012 (12ms)	83 Hz	Standard motion corrections, less demanding applications

Rate Limiting

Rate limiting caps the per-cycle change to prevent sudden jumps:

api = RSIAPI(
    "RSI_EthernetConfig.xml",
    rsi_mode="relative",
    max_cartesian_rate=0.5,   # Max 0.5 mm per cycle
    max_joint_rate=0.1,       # Max 0.1 deg per cycle
    cycle_time=0.004          # 4ms cycle
)

Set rates to 0.0 (default) to disable rate limiting. Clamping is applied in the network process right before the response is sent to the robot.