How to get DriveIndex via gRPC proto?

edco · March 30, 2026, 5:14pm

In the RapidCode C++ SDK we use Axis::DriveIndexGet() to compute SDO index offsets for dual-axis drives (Kollmorgen AKD2G) — for example, CiA402 SDOs are +0x800 for DriveIndex 1 (e.g., 0x6041 vs 0x6841)

We can’t find an equivalent in rapidcode.proto. AxisInfo has node_info.axis_count but nothing indicating which axis on the drive. AxisStatus and AxisConfig also lack this field.

Is there a way to retrieve drive index via the gRPC API that we’re missing?

jacob · March 30, 2026, 5:26pm

Hi @edco,

Yeah it looks like we are missing it. It is easy to add in. We are planning a release later today. I’ll follow up with you once it is available.

jacob · March 30, 2026, 8:34pm

Hi @edco,

The release is now up.

edco · April 2, 2026, 10:48pm

Thanks @jacob.

Tangentially related, does the gRPC version of OperationModeGet/Set have this fix in 11.0.0? I was assuming the grpc request would trigger rapidserver to call the C++ function but just want to be sure

Fix RapidCode - Axis::OperationModeGet/Set now uses its NetworkNode::DriveIndexGet() when using SDO to change operation mode.

shota · April 2, 2026, 10:58pm

Yes, the rapidserver should invoke the currently installed version of RapidCode. The adjustment to have Axis::OperationModeGet/Set use the NetworkNode::DriveIndexGet() when using SDO to change operation mode was committed internally on December 15 of 2025, so 11.0.0 (released in January) should have it.