openapi: 3.0.1
info:
  description: |
    RAPID Service

    ![RAPID Service resources](/api/RWS/Swagger_Doc/images/rapid-sitemap.png)
  version: 3HAC073675-001 Revision:L
  title: Robot Web Services
tags:
  - name: Operations on RAPID Execution
    description: Operations on RAPID Execution
  - name: Operations on Modules
    description: Operations on Modules
  - name: Operations on RAPID Symbols
    description: Operations on RAPID Symbols
  - name: Operations on RAPID Tasks
    description: Operations on RAPID Tasks
  - name: Operations on RAPID UI Instructions
    description: Operations on RAPID UI Instructions
  - name: Operations on RAPID Taskpanel
    description: Operations on RAPID Taskpanel
  - name: Operations on Rapid AliasIO
    description: Operations on Rapid AliasIO
servers:
  - url: https://127.0.0.1
    description: Localhost VC
  - url: https://192.168.125.1
    description: RC MGMT connection
components:
  securitySchemes:
    basicAuth:
      type: http
      scheme: basic
paths:
  /rw/rapid/aliasio:
    get:
      tags:
        - Operations on Rapid AliasIO
      summary: Get AliasIO List
      description: >+
        **Description :** This API returns all the aliases which are defined in
        the rapid program for the IO signals

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/aliasio?start=0" 

         __Notes__  None.

        **Pre-requisites**: None


        **Limitation**: None






        **Example java script**: 

        ```

        const https = require('https')

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')


        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/aliasio',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.end()

        ```
         


      parameters:
        - name: start
          in: query
          description: '{start position}'
          required: false
          schema:
            type: string
        - name: limit
          in: query
          description: '{number of aliasios}'
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-alias-io:
                    description: Rapid AliasIO resource
                  alias-name:
                    description: IO signal alias name
                  signal-name:
                    description: name of the IO signal
                  type:
                    description: IO signal type {DI/ DO/ AI/ AO/ GI/ GO}
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://localhost:4444/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="aliasio?start=0" rel="self"/>
                    <ul>
                    <li class="rap-alias-io" title="aliasio0"> 
                    <span class="alias-name">signaldi1</span>
                    <span class="signal-name">TestD1</span>
                    <span class="type">DI</span>
                    </li>
                    <li class="rap-alias-io" title="aliasio1">
                    <span class="alias-name">signaldi2</span>
                    <span class="signal-name">TestD2</span>
                    <span class="type">DI</span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-alias-io:
                    description: Rapid AliasIO resource
                  alias-name:
                    description: IO signal alias name
                  signal-name:
                    description: name of the IO signal
                  type:
                    description: IO signal type {DI/ DO/ AI/ AO/ GI/ GO}
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/execution:
    get:
      tags:
        - Operations on RAPID Execution
      summary: Get RAPID Execution State
      description: >
        **Description :** Returns the rapid execution state.

        Use /rw/rapid/execution;ctrlexecstate to filter ctrlexecstate value."


        The resource can be subscribed (RAPID execution state) using
        /subscription with resource uri /rw/rapid/execution;ctrlexecstate


        Sample response for RAPID execution state subscription

            <?xml version="1.0" encoding="utf-8"?>
            <html xmlns="http://www.w3.org/1999/xhtml">
            <head>
                <base href="https://localhost/"/>
            </head>
            <body>
                <div class="state">
                <a href="subscription/4" rel="group"/>
                <a href="ws://localhost/poll/4" rel="self"/>
                <ul>
                    <li class="rap-ctrlexecstate-ev" title="ctrlexecstate">
                        <a href="/rw/rapid/execution;ctrlexecstate" rel="self"/>
                        <span class="ctrlexecstate">stopped</span>
                    </li>
                </ul>
                </div>
            </body>
            </html>
            
        The resource can also be subscribed (RAPID execution cycle) using
        /subscription with resource uri /rw/rapid/execution;rapidexeccycle  


        Sample response for RAPID execution cycle subscription

            <?xml version="1.0" encoding="utf-8"?>
            <html xmlns="http://www.w3.org/1999/xhtml">
            <head>
                <base href="https://localhost/"/>
            </head>
            <body>
                <div class="state">
                <a href="subscription/4" rel="group"/>
                <a href="wss://localhost/poll/2" rel="self"/>
                <ul>
                    <li class="rap-execcycle-ev" title="rapidexeccycle">
                        <a href="/rw/rapid/execution;rapidexeccycle" rel="self"/>
                        <span class="rapidexeccycle">once</span>
                    </li>
                </ul>
                </div>
            </body>
           </html>
             
        The resource can be subscribed (RAPID hold to run) using /subscription
        with resource uri /rw/rapid/execution;hdtrun


        Sample response for RAPID hold to run subscription

            <?xml version="1.0" encoding="utf-8"?>
            <html xmlns="http://www.w3.org/1999/xhtml">
            <head>
                <base href="https://localhost/"/>
            </head>
            <body>
                <div class="state">
                <a href="subscription/4" rel="group"/>
                <a href="ws://localhost/poll/4" rel="self"/>
                </div>
            </body>
            </html>

        A hold to run change event for RAPID hold to run subscription look like 

            <?xml version="1.0" encoding="utf-8"?>
            <html xmlns="http://www.w3.org/1999/xhtml">
            <head>
                <base href="https://localhost/"/>
            </head>
            <body>
                <div class="state">
                <a href="subscription/4" rel="group"/>
                <a href="ws://localhost/poll/4" rel="self"/>
                <span class="holdtorun">true</span>
                </div>
            </body>
            </html>
            

        **Example java script**: 

        ```

        const https = require('https')

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')


        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/execution',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.end()

        ```
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  ctrlexecstate:
                    description: Rapid Control Execution State
                  rapidexeccycle:
                    description: Rapid Execution Cycle
                  hdtrun:
                    description: Hold to run state
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://localhost:4444/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="execution;ctrlexecstate" rel="self"/>
                    <span class="ctrlexecstate">stopped</span>
                    <span class="rapidexeccycle">once</span>
                    <span class="hdtrun">true</span>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  ctrlexecstate:
                    description: Rapid Control Execution State
                  rapidexeccycle:
                    description: Rapid Execution Cycle
                  hdtrun:
                    description: Hold to run state
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/execution/start:
    post:
      tags:
        - Operations on RAPID Execution
      summary: Start RAPID Execution
      description: >+
        **Description :** Start rapid execution.

        The v=2.1 is supported from RW version 7.2.

        The API with v=2.1 supports mastership as URL parameter.

        Controller supports UTF-8 character for this API from RW7.1
         This API requires mastership on "edit" domain.
         In case of explicit mastership, client needs to take the mastership only on "edit" domain before running this API. If the client explicitly holds mastership on "motion" domain then the API won't execute successfully.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "regain=continue&execmode=continue&cycle=forever&condition=none&stopatbp=disabled&alltaskbytsp=false" "https://localhost/rw/rapid/execution/start" 

         __Notes__ : None

        **Pre-requisites**: None


        **Limitation**: None


        **Example java script**: 

        ```

        const https = require('https')

        //To disable SSL

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')

        const data =
        'regain=continue&stopatbp=disabled&execmode=continue&alltaskbytsp=false&condition=none&cycle=forever';

        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/execution/start',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        console.log(res.headers.location)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.write(data)

        req.end()

        ```
         


      parameters:
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - regain
                - execmode
                - cycle
                - condition
                - stopatbp
                - alltaskbytsp
              properties:
                regain:
                  description: '{continue | regain | clear | continueconsume}'
                  type: string
                execmode:
                  description: >-
                    {continue | stepin | stepover | stepout | stepback |
                    steplast | stepmotion}
                  type: string
                cycle:
                  description: '{forever | asis | once}'
                  type: string
                condition:
                  description: '{none | callchain}'
                  type: string
                stopatbp:
                  description: '{disabled | enabled} (stop at breakpoint)'
                  type: string
                alltaskbytsp:
                  description: '{true | false}'
                  type: string
              example: >-
                regain=string&execmode=string&cycle=string&condition=string&stopatbp=string&alltaskbytsp=string
          application/x-www-form-urlencoded;v=2.1:
            schema:
              type: object
              required:
                - regain
                - execmode
                - cycle
                - condition
                - stopatbp
                - alltaskbytsp
              properties:
                regain:
                  description: '{continue | regain | clear | continueconsume}'
                  type: string
                execmode:
                  description: >-
                    {continue | stepin | stepover | stepout | stepback |
                    steplast | stepmotion}
                  type: string
                cycle:
                  description: '{forever | asis | once}'
                  type: string
                condition:
                  description: '{none | callchain}'
                  type: string
                stopatbp:
                  description: '{disabled | enabled} (stop at breakpoint)'
                  type: string
                alltaskbytsp:
                  description: '{true | false}'
                  type: string
              example: >-
                regain=string&execmode=string&cycle=string&condition=string&stopatbp=string&alltaskbytsp=string
          application/x-www-form-urlencoded;v=2.2:
            schema:
              type: object
              required:
                - regain
                - execmode
                - cycle
                - condition
                - stopatbp
                - alltaskbytsp
              properties:
                regain:
                  description: '{continue | regain | clear | continueconsume}'
                  type: string
                execmode:
                  description: >-
                    {continue | stepin | stepover | stepout | stepback |
                    steplast | stepmotion}
                  type: string
                cycle:
                  description: '{forever | asis | once}'
                  type: string
                condition:
                  description: '{none | callchain}'
                  type: string
                stopatbp:
                  description: '{disabled | enabled} (stop at breakpoint)'
                  type: string
                alltaskbytsp:
                  description: '{true | false}'
                  type: string
              example: >-
                regain=string&execmode=string&cycle=string&condition=string&stopatbp=string&alltaskbytsp=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/execution/stop:
    post:
      tags:
        - Operations on RAPID Execution
      summary: Stop RAPID Execution
      description: |+
        **Description :** Stop rapid execution."

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "stopmode=stop" -X POST "https://localhost/rw/rapid/execution/stop" 

         __Notes__ : None

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        const data = 'stopmode=stop';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/execution/stop',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              properties:
                stopmode:
                  description: '{cycle | instr | stop | qstop} (default: stop)'
                  type: string
                usetsp:
                  description: '{normal | alltsk} (default: normal)'
                  type: string
              example: stopmode=string&usetsp=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/execution/startprodentry:
    post:
      tags:
        - Operations on RAPID Execution
      summary: Start RAPID Execution from Production Entry
      description: |-
        **Description :** Start rapid execution from production entry.
        Mastership is required.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST "https://localhost/rw/rapid/execution/startprodentry" 

         __Notes__ 

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        nvar auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/execution/startprodentry',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


         Mastership is required.
      parameters:
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/execution/resetpp:
    post:
      tags:
        - Operations on RAPID Execution
      summary: Reset RAPID Program Pointer to Main
      description: |+
        **Description :** Reset rapid program pointer to main.
        Mastership is required.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST "https://localhost/rw/rapid/execution/resetpp" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/execution/resetpp',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/execution/cycle:
    post:
      tags:
        - Operations on RAPID Execution
      summary: Set Number of Execution Cycles
      description: |+
        **Description :** Sets the number of execution cycles.
        Mastership is required.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "cycle=once" -X POST "https://localhost/rw/rapid/execution/cycle" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        const data = 'cycle=once';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/execution/cycle',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - cycle
              properties:
                cycle:
                  description: '{once | forever}'
                  type: string
              example: cycle=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/execution/holdtorun:
    post:
      tags:
        - Operations on RAPID Execution
      summary: Set Hold to Run Cmd
      description: |+
        **Description :** Sets the hold to run execution state.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST -d "state={press | held | release}" "https://localhost/rw/rapid/execution/holdtorun" 

         __Notes__ 

         + Supported in VC only 
         + Login as Local Client 
         + Mastership is required 
         + The Hold-To-Run control prevents RAPID-program execution to start until the holdtorun state is changed to Press. 
         + In the state Pressed the client must poll the Hold-To-Run control every 2 second, otherwise the program execution will stop. This is done by setting the holdtorun state to Held. 
         + If the client want's to stop the program execution immediately it must change the state to Release. 
         + Rapid program should run in motors on state. 
         + Operation mode should be Manual(Reduced Speed) or Manual Full Speed.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        const data = 'state={press | held | release}';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/execution/holdtorun',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - state
              properties:
                state:
                  description: '{press | held | release}'
                  type: string
              example: state=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid:
    get:
      tags:
        - RAPID Service
      summary: Get RAPID System Resources
      description: |+
        **Description :** Returns a list of rapid resource.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid" 

         __Notes__ : None

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```

      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-tasks-li:
                    description: Rapid tasks resource list item
                  rap-symbols-li:
                    description: Rapid symbols list item
                  rap-execution-li:
                    description: Rapid execution list item
                  rap-uiinstr-li:
                    description: Rapid UI instruction list item
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://localhost:7777/rw/rapid/"/>

                    </head>

                    <body>

                    <div class="state"> <a href="" rel="self"></a> <ul> <li
                    class="rap-tasks-li" title="tasks"> <a href="tasks"
                    rel="self"></a> </li> <li class="rap-symbols-li"
                    title="symbols"> <a href="symbols" rel="self"></a> </li> <li
                    class="rap-execution-li" title="execution"> <a
                    href="execution" rel="self"></a> </li> <li
                    class="rap-uiinstr-li" title="uiinstr"> <a href="uiinstr"
                    rel="self"></a> </li> <li class="rap-taskselection-li"
                    title="taskselection"> <a href="taskselection"
                    rel="self"></a> </li> <li class="rap-modules-li"
                    title="modules"> <a href="modules" rel="self"></a> </li> <li
                    class="rap-aliasio-li" title="aliasio"> <a
                    href="aliasio?start=0" rel="self"></a> </li> </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-tasks-li:
                    description: Rapid tasks resource list item
                  rap-symbols-li:
                    description: Rapid symbols list item
                  rap-execution-li:
                    description: Rapid execution list item
                  rap-uiinstr-li:
                    description: Rapid UI instruction list item
                xml:
                  name: data
                  wrapped: true
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/modules:
    get:
      tags:
        - Operations on Modules
      summary: Get Mod Possible All
      description: >+
        **Description :** Returns a list of targets that are currently
        synchronized and can be modified.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/modules" 

        __Notes__ : None.


        **Pre-requisites**: None


        **Limitation**: None






        **Example java script**: 

        ```

        const https = require('https')

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and password

        let encoded = Buffer.from("Default user:robotics").toString('base64')


        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/modules',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.end()

        ```

      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  module-name:
                    description: Rapid module name
                  task-name:
                    description: Task name
                  start-row:
                    description: Start Row
                  start-col:
                    description: Start Col
                  end-row:
                    description: End Row
                  end-col:
                    description: End Col
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |-
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://127.0.0.1/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="modules" rel="self"></a>
                    <ul>
                      <li class="rap-mod-possible-all" title="mod-possible-all">
                        <span class="module-name">MainModule</span>
                        <span class="task-name">T_ROB1</span>
                        <span class="start-row">17</span>
                        <span class="start-col">15</span>
                        <span class="end-row">17</span>
                        <span class="end-col">17</span>
                      </li>
                      <li class="rap-mod-possible-all" title="mod-possible-all">
                        <span class="module-name">MainModule</span>
                        <span class="task-name">T_ROB2</span>
                        <span class="start-row">18</span>
                        <span class="start-col">15</span>
                        <span class="end-row">18</span>
                        <span class="end-col">17</span>
                      </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  module-name:
                    description: Rapid module name
                  task-name:
                    description: Task name
                  start-row:
                    description: Start Row
                  start-col:
                    description: Start Col
                  end-row:
                    description: End Row
                  end-col:
                    description: End Col
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
    post:
      tags:
        - Operations on Modules
      summary: Set Modify All Positions
      description: |+
        **Description :** Modify the position for all synchronized targets.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST -d "checklimit=false&checkdeactaxes=false" "https://localhost/rw/rapid/modules" 

         __Notes__ : User needs to be local client and mastership is also required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        const data = 'checkdeactaxes=false&checklimit=false';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/modules',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: mastership
          in: query
          description: >-
            {implicit | explicit}  by default mastership is explicit. Supported
            from RW7.2
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - checklimit
                - checkdeactaxes
              properties:
                checklimit:
                  description: '{true | false}'
                  type: string
                checkdeactaxes:
                  description: '{true | false}'
                  type: string
              example: checklimit=string&checkdeactaxes=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get RAPID Modules
      description: >+
        **Description :** Returns a list of rapid modules loaded in a rapid
        task.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://127.0.0.1/rw/rapid/tasks/T_ROB1/modules" 

         __Notes__ : None.

        **Pre-requisites**: None


        **Limitation**: None






        **Example java script**: 

        ```

        const https = require('https')

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and password

        let encoded = Buffer.from("Default user:robotics").toString('base64')


        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/modules',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.end()

        ```

      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-module-info-li:
                    description: Rapid tasks resource list item
                  name:
                    description: Module name
                  type:
                    description: Module type {ProgMod | SysMod}
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |-
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://127.0.0.1/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/T_ROB1/modules" rel="self"></a>
                    <ul>
                    <li class="rap-module-info-li" title="T_ROB1/user">
                    <span class="name">user</span>
                    <span class="type">SysMod</span>
                    </li>
                    <li class="rap-module-info-li" title="T_ROB1/BASE">
                    <span class="name">BASE</span>
                    <span class="type">SysMod</span>
                    </li>
                    <li class="rap-module-info-li" title="T_ROB1/MainModule">
                    <span class="name">MainModule</span>
                    <span class="type">ProgMod</span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-module-info-li:
                    description: Rapid tasks resource list item
                  name:
                    description: Module name
                  type:
                    description: Module type {ProgMod | SysMod}
                xml:
                  name: data
                  wrapped: true
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get RAPID Module Attributes
      description: |-
        "Get RAPID module attributes."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/modules/mymodule" 

         __Notes__ 

         None.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
        - name: continue-on-err
          in: query
          description: >-
            {1|0}  Default value is 0. In case input is 1, the API continues
            execution even if any error occurs in between.
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-module:
                    description: Provides RAPID module attributes
                  modname:
                    description: Name of the module.
                  filename:
                    description: Name of the module file.
                  attribute:
                    description: >-
                      {sysmod|encode|noview|nostepin|viewonly|readonly} Module
                      attributes.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html>

                    <head>

                    <base href="https://localhost:7777/rw/rapid/" />

                    </head>

                    <body>

                    <div class="state">

                    <a href="tasks/T_ROB1/modules/mymodule" rel="self"/>

                    <ul>

                    <li class="rap-module-changecount-li" title="changecount"><a
                    href="tasks/T_ROB1/modules/MainModule/changecount"
                    rel="self"></a></li>

                    <li class="rap-module-mod-possible-li"
                    title="mod-possible"><a
                    href="tasks/T_ROB1/modules/MainModule/mod-possible"
                    rel="self"></a></li>

                    <li class="rap-module-extension-li" title="extension"><a
                    href="tasks/T_ROB1/modules/MainModule/extension"
                    rel="self"></a></li>

                    <li class="rap-module-sync-pers-li" title="sync-pers"><a
                    href="tasks/T_ROB1/modules/MainModule/sync-pers"
                    rel="self"></a></li>

                    <li class="rap-module-text-li" title="text"><a
                    href="tasks/T_ROB1/modules/MainModule/text"
                    rel="self"></a></li>

                    <li class="rap-module-rules-instr-li" title="rules-instr"><a
                    href="tasks/T_ROB1/modules/MainModule/rules-instr"
                    rel="self"></a></li>

                    <li class="rap-module-symbol-li" title="symbol"><a
                    href="tasks/T_ROB1/modules/MainModule/symbol"
                    rel="self"></a></li>

                    <li class="rap-module-possible-attributes-li"
                    title="attributes"><a
                    href="tasks/T_ROB1/modules/MainModule/attributes"
                    rel="self"></a></li>

                    <li class="rap-module-object-li" title="object"><a
                    href="tasks/T_ROB1/modules/MainModule/object"
                    rel="self"></a></li>

                    <li class="rap-module-routine-li" title="routine"><a
                    href="tasks/T_ROB1/modules/MainModule/routine"
                    rel="self"></a></li>

                    <li class="rap-module" title="T_ROB1/user">

                    <span class="modname">user</span>

                    <span class="filename">MainModule.mod</span>

                    <span class="attribute">sysmod,readonly</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-module:
                    description: Provides RAPID module attributes
                  modname:
                    description: Name of the module.
                  filename:
                    description: Name of the module file.
                  attribute:
                    description: >-
                      {sysmod|encode|noview|nostepin|viewonly|readonly} Module
                      attributes.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/save:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Save RAPID Module
      description: |+
        **Description :** Save a rapid program module.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "name=MainModule&path=C:/Users/mymod" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/modules/MainModule/save" 

         __Notes__  None.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/modules/{module}/save',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - name
                - path
              properties:
                name:
                  description: '{module_name}, Saved module will be with .modx extension.'
                  type: string
                path:
                  description: >-
                    {file_path}, RobotWare environment variables such as $HOME,
                    $TEMP can be used in the file path.
                  type: string
              example: name=string&path=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/text/range:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Set Text Range
      description: >2+
         **Description :** Set text in a given range of rapid module."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "replace-mode=After&query-mode=Force&startrow=8&startcol=8&endrow=8&endcol=15&text=SampleTest" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/modules/MainModule/text/range" 

         __Notes__ : Mastership is Required.
        Controller supports UTF-8 character for this API from RW7.1.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "regain=continue&execmode=continue&cycle=forever&condition=none&stopatbp=disabled&alltaskbytsp=false" "https://localhost/rw/rapid/execution/start" 

         __Notes__ : None

        **Pre-requisites**: None


        **Limitation**: None


        **Example java script**: 

        ```

        const https = require('https')

        //To disable SSL

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')

        const data =
        'replace-mode=After&text=SampleTest&endcol=15&startrow=8&startcol=8&query-mode=Force&endrow=8';

        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/modules/{module}/text/range',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        console.log(res.headers.location)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.write(data)

        req.end()

        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: >-
            {implicit | explicit} by default mastership is explicit. Supported
            from RW7.2
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - replace-mode
                - query-mode
                - startrow
                - startcol
                - endrow
                - endcol
                - text
              properties:
                replace-mode:
                  description: '{After | Before | Replace}'
                  type: string
                query-mode:
                  description: '{Force | Try} Try mode required program pointer'
                  type: string
                startrow:
                  description: '{Start Row Number}'
                  type: string
                startcol:
                  description: '{Start Column Number}'
                  type: string
                endrow:
                  description: '{End Row Number}'
                  type: string
                endcol:
                  description: '{End Column Number}'
                  type: string
                text:
                  description: '{Input Text}'
                  type: string
              example: >-
                replace-mode=After&text=SampleTest&endcol=15&startrow=8&startcol=8&query-mode=Force&endrow=8
        description: Data parameter(s)
        required: true
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-set-text-range:
                    description: Set text in given range Resource.
                  module-changed-name:
                    description: Module name changed or not.
                  new-modnam:
                    description: Gives new module name, if module-changed-name is TRUE.
                  change-count:
                    description: Gives Change count.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://localhost:7777/rw/rapid/" />

                    </head>

                    <body>

                    <div class="state"> <a
                    href="tasks/TROB_1/modules/MainModule/text/range?startrow=8&amp;startcol=8&amp;endrow=8&amp;endcol=15"
                    rel="self" />

                    <ul>

                    <li class="rap-set-text-range" title="set-text-range">
                      <span class="module-changed-name">false</span>
                      <span class="new-modnam"></span>
                      <span class="change-count">234850</span></li>
                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-set-text-range:
                    description: Set text in given range Resource.
                  module-changed-name:
                    description: Module name changed or not.
                  new-modnam:
                    description: Gives new module name, if module-changed-name is TRUE.
                  change-count:
                    description: Gives Change count.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get a Specified Range of Text
      description: |+
        **Description :** Get a specified range of text from rapid module.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/modules/mymodule/text/range?startrow=1&startcol=1&endrow=20&endcol=-1" 

         __Notes__ : Controller supports UTF-8 character for this API from RW7.1.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/execution" 

         __Notes__ 

         Use /rw/rapid/execution;ctrlexecstate to filter ctrlexecstate value.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/modules/{module}/text/range',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
        - name: startrow
          in: query
          description: '{start row}'
          required: true
          schema:
            type: string
        - name: startcol
          in: query
          description: '{start column}'
          required: true
          schema:
            type: string
        - name: endrow
          in: query
          description: '{end row}'
          required: true
          schema:
            type: string
        - name: endcol
          in: query
          description: '{end column}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-mod-text:
                    description: Provides RAPID module text
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://localhost:443/rw/rapid/"/>

                    </head>

                    <body>

                    <div class="state">

                    <a
                    href="tasks/T_ROB1/modules/mainmodule/text/range?startrow=1&startcol=1&endrow=10&endcol=1"
                    rel="self"/>

                    <ul>

                    <li class="rap-mod-text" title="pgm">

                    <span class="text"> %%%

                    VERSION:1

                    LANGUAGE:ENGLISH

                    %%%


                    MODULE backup_big

                    ! Used for testing RAP variable

                    ! variable declarations

                    ! xx1 is not changed by the RAPID program. It is instead
                    changed via RAP. xx2 is

                    ! 1234567890123456789


                    CONST robtarget
                    p1:=[[981.71,-451.78,1468.82],[0.698099,0.107363,0.675469,-0.211834],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

                    CONST robtarget
                    p2:=[[284.77,1042.49,1468.82],[0.612974,-0.445876,0.518631,0.395575],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

                    CONST robtarget
                    p3:=[[339.41,1050.6,1190.44],[0.520765,-0.505042,0.611223,0.316454],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

                    CONST robtarget
                    p4:=[[839.92,-713.86,1177.73],[0.547049,0.228559,0.763995,-0.25458],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

                    CONST robtarget
                    p5:=[[864.51,-558.6,928.77],[0.441535,0.194446,0.858386,-0.174389],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

                    CONST robtarget
                    p6:=[[1029.19,71.83,933.78],[0.476903,-0.086711,0.874284,-0.025937],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

                    CONST robtarget
                    p7:=[[860.12,569.73,933.78],[0.467764,-0.306641,0.823326,0.096455],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

                    CONST robtarget
                    p8:=[[488.77,908.57,933.78],[0.430164,-0.497979,0.723819,0.207515],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

                    CONST robtarget
                    p9:=[[-97.86,1029.43,933.2],[0.351519,-0.686459,0.548339,0.323317],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

                    </span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-mod-text:
                    description: Provides RAPID module text
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/modify-position:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Set Modify Position
      description: |-
        "Modify the position for the first found target in the given extension."

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST -d "startrow=3&startcol=9&endrow=3&endcol=102&checklimit=false&checkdeactaxes=false&allowdeact=false" "https://localhost/rw/rapid/tasks/T_ROB1/modules/MainModule/modify-position" 

         __Notes__ 

         - Login as Local Client in Manual Mode 
         - Rapid program should run in motors on state. 
         - Rapid MasterShip is needed 
         - Load Motion RAPID program.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: >-
            {implicit | explicit}  by default mastership is explicit. Supported
            from RW7.2
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - startrow
                - startcol
                - endrow
                - endcol
                - checklimit
                - checkdeactaxes
                - allowdeact
              properties:
                startrow:
                  description: '{start Row Number}'
                  type: string
                startcol:
                  description: '{start Col Number}'
                  type: string
                endrow:
                  description: '{End Row Number}'
                  type: string
                endcol:
                  description: '{End Col Number}'
                  type: string
                checklimit:
                  description: '{false | true}'
                  type: string
                checkdeactaxes:
                  description: '{false | true}'
                  type: string
                allowdeact:
                  description: '{false | true}'
                  type: string
              example: >-
                startrow=string&startcol=string&endrow=string&endcol=string&checklimit=string&checkdeactaxes=string&allowdeact=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/text:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Module Text
      description: |-
        "Get a module text."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/modules/MainModule/text" 

         __Notes__ 

         - Depends on RAPID program size output, it can be module-text or file-path.
         - Controller supports UTF-8 character for this API from RW7.1
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  change-count:
                    description: System configuration change count number
                  module-text:
                    description: RAPID program for a given task
                  module-length:
                    description: maximum length of module
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html>

                    <head>

                    <base href="https://localhost:7777/rw/rapid/" />

                    </head>

                    <body>

                    <div class="state">

                    <a href="tasks/T_ROB1/modules/MainModule/text" rel="self"/>

                    <ul>

                    <li class="rap-module-text" title="moduletext">

                    <span class="change-count">217220</span>

                    <span class="module-text">MODULE MainModule PERS num num1 :=
                    1; PERS num num2 := 2; PROC main() WaitTime 1; WaitTime 1;
                    WaitTime 1; ENDPROC PROC main1() reg1 := 2; Routine1 reg1,
                    "Hello", TRUE; reg2 := Routine2(reg1, "Test"); ENDPROC LOCAL
                    PROC Routine1(num var1, string var2, bool flag) reg4 := 2;
                    ENDPROC FUNC num Routine2(num var3, string var4) reg4 := 1;
                    RETURN reg4; ENDFUNC TRAP Routine3 reg5 := 1; ENDTRAP
                    ENDMODULE</span>

                    <span class="module-length">1368</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  change-count:
                    description: System configuration change count number
                  module-text:
                    description: RAPID program for a given task
                  module-length:
                    description: maximum length of module
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Set Module Text
      description: |-
        "Update text in RAPID module"

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST -d "text=SampleTest" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/modules/MainModule/text" 

         __Notes__ 

         - Mastership is required. 
         - Controller supports UTF-8 character for this API from RW7.1. 
         - For uploading RAPID module, any one of "text" or "path" needs to be provided as input Data parameter "path" is supported from RW7.2.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              properties:
                text:
                  description: '{Input Text}'
                  type: string
                path:
                  description: '{File path}'
                  type: string
              example: text=string&path=string
        description: Data parameter(s)
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-set-module-text:
                    description: Set Module Text Resource.
                  module-changed-name:
                    description: Module name is changed or not.
                  new-modnam:
                    description: New Module name.
                  change-count:
                    description: Change count.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |-
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html>
                    <head>
                    <base href="https://localhost:443/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/T_ROB1/modules/MainModule/text" rel="self"/>
                    <ul>
                    <li class="rap-set-module-text" title="set-module-text">
                    <span class="module-changed-name">TRUE</span>
                    <span class="new-modnam">MainModule1</span>
                    <span class="change-count">103879</span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-set-module-text:
                    description: Set Module Text Resource.
                  module-changed-name:
                    description: Module name is changed or not.
                  new-modnam:
                    description: New Module name.
                  change-count:
                    description: Change count.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/sync-pers:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get SyncPers Status
      description: |-
        "Get a syncpers status."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/modules/MainModule/sync-pers" 

         __Notes__ 

         None.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  syncperstatus:
                    description: Status from Persistent variable {1 - TRUE|0 - FALSE}
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html>

                    <head>

                    <base href="https://localhost:7777/rw/rapid/" />

                    </head>

                    <body>

                    <div class="state">

                    <a href="tasks/T_ROB1/modules/MainModule/sync-pers"
                    rel="self"/>

                    <ul>

                    <li class="rap-syncper-status" title="syncperstatus">

                    <span class="syncperstatus">1</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  syncperstatus:
                    description: Status from Persistent variable {1 - TRUE|0 - FALSE}
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Set SyncPers
      description: >-
        "Update the initial values of persistent data in the module with their
        current values."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/modules/mymodule/sync-pers" 

         __Notes__ 

         Mastership is required.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/module-extension:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Module Extension
      description: |-
        "Get a module extension."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/modules/MainModule/module-extension" 

         __Notes__ 

         None.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  num-of-lines:
                    description: Number of rows in RAPID module
                  max-num-of-col:
                    description: Maximum number of cols in RAPID module
                  count:
                    description: Change Count
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html>

                    <head>

                    <base href="https://localhost:7777/rw/rapid/" />

                    </head>

                    <body>

                    <div class="state">

                    <a href="tasks/T_ROB1/modules/MainModule/module-extension"
                    rel="self"/>

                    <ul>

                    <li class="rap-module-extension" title="extension">

                    <span class="num-of-lines">24</span>

                    <span class="max-num-of-col">118</span>

                    <span class="count">680609</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  num-of-lines:
                    description: Number of rows in RAPID module
                  max-num-of-col:
                    description: Maximum number of cols in RAPID module
                  count:
                    description: Change Count
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/mod-possible:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Mod Possible
      description: |-
        "Get targets that can be modified in a given extension in a module."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/modules/MainModule/mod-possible?startrow=19&startcol=1&endrow=21&endcol=1" 

         __Notes__ 

         None.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
        - name: startrow
          in: query
          description: '{Start  Row Number}  , Default startrow = 1'
          required: false
          schema:
            type: string
        - name: startcol
          in: query
          description: '{Start Column Number}  , Default startcol = 1'
          required: false
          schema:
            type: string
        - name: endrow
          in: query
          description: '{End Row Number}'
          required: true
          schema:
            type: string
        - name: endcol
          in: query
          description: '{End Column Number}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  no_lines_modifiable:
                    description: Number of modifiable motion instructions
                  start_row:
                    description: Start Row
                  start_col:
                    description: Start Col
                  end_row:
                    description: End Row
                  end_col:
                    description: End Col
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html>

                    <head>

                    <base href="https://localhost:7777/rw/rapid/" />

                    </head>

                    <body>

                    <div class="state">

                    <a
                    href="tasks/T_ROB1/modules/MainModule/mod-possible?startrow=19&startcol=1&endrow=21&endcol=1"
                    rel="self"/>

                    <ul>

                    <li class="rap-module-mod-possible" title="mod-possible">

                    <span class="no_lines_modifiable">2</span>

                    <span class="start_row">19</span>

                    <span class="start_col">9</span>

                    <span class="end_row">19</span>

                    <span class="end_col">11</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  no_lines_modifiable:
                    description: Number of modifiable motion instructions
                  start_row:
                    description: Start Row
                  start_col:
                    description: Start Col
                  end_row:
                    description: End Row
                  end_col:
                    description: End Col
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/changecount:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Module Change Count
      description: |-
        "Get module change count."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/modules/MainModule/changecount" 

         __Notes__ 

         None.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  count:
                    description: changecount.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html>

                    <head>

                    <base href="https://localhost:7777/rw/rapid/" />

                    </head>

                    <body>

                    <div class="state">

                    <a href="tasks/T_ROB1/modules/mymodule/changecount"
                    rel="self"/>

                    <ul>

                    <li class="rap-module-changecount" title="changecount">

                    <span class="count"></span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  count:
                    description: changecount.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/routine:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Routine Information
      description: |-
        "Gets the routine information at the given position."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/modules/MainModule/routine?row=10&column=9" 

         __Notes__ 

         None.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
        - name: row
          in: query
          description: '{row}'
          required: true
          schema:
            type: string
        - name: column
          in: query
          description: '{column}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  name:
                    description: The name of the symbol. NULL if not retreived
                  symtyp:
                    description: Type pf symbol {prc | fun | trp}
                  named:
                    description: True if symbol is named.
                  local:
                    description: '{true|false}, FALSE if global module procedure'
                  npar:
                    description: >-
                      Number of routine parameters, -1 if parameter list not
                      linked
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?><html><head><base
                    href="https://localhost/rw/rapid/" /></head><body><div
                    class="state"><a
                    href="tasks/T_ROB1/modules/MainModule/routine?row=10&column=9"
                    rel="self"/><ul><li class="rap-routine-prop"
                    title="RAPID/T_ROB1/MainModule/Routine1"><span
                    class="symburl">RAPID/T_ROB1/MainModule/Routine1</span><span
                    class="name">Routine1</span><span
                    class="symtyp">prc</span><span
                    class="named">true</span><span
                    class="local">false</span><span
                    class="npar">1</span></li></ul></div></body></html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  name:
                    description: The name of the symbol. NULL if not retreived
                  symtyp:
                    description: Type pf symbol {prc | fun | trp}
                  named:
                    description: True if symbol is named.
                  local:
                    description: '{true|false}, FALSE if global module procedure'
                  npar:
                    description: >-
                      Number of routine parameters, -1 if parameter list not
                      linked
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/routine/arguments:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Routine args information
      description: >-
        "Gets the routine argument information at a given position.

        Routineargs will show a list of arguments based on the mark and limit.

        Default value of mark is 0.

        Absence of next link indicates last page.

        You will get routine argument information only on lines having proceure
        call."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/modules/MainModule/routine/arguments?mark=3&limit=3&row=4&column=9" 

         __Notes__ 

         None.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
        - name: mark
          in: query
          description: '{mark} (index of the element)'
          required: false
          schema:
            type: string
        - name: limit
          in: query
          description: '{numberofelements}'
          required: false
          schema:
            type: string
        - name: row
          in: query
          description: '{row}'
          required: true
          schema:
            type: string
        - name: column
          in: query
          description: '{column}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  next:
                    description: >-
                      Link to next page (Will be absent if there is no next
                      page)
                  rap-routine-args:
                    description: RAPID routine argument list item
                  param-no:
                    description: Param number
                  alternate-arg:
                    description: Alternate argument number
                  start-row:
                    description: Starting row of argument
                  start-col:
                    description: Starting column of argument
                  end-row:
                    description: Ending row of argument
                  end-col:
                    description: Ending column of argument
                  rap-objtype:
                    description: >-
                      Rapid object type {NoObject | PlaceHolder | End | Module |
                      ConstantDeclaration | VariableDeclaration |
                      PersistentDeclaration | FunctionDeclaration |
                      ProcedureDeclaration | TrapDeclaration | RequiredParameter
                      | OptionalParameter | AlternativeParameter |
                      LabelStatement | ReturnStatement | RaiseStatement |
                      RetryStatement | TrynextStatement | ConnectStatement |
                      ExitStatement | GotoStatement | AssignmentStatement |
                      IfStatement | CompactIfStatement | WhileStatement |
                      ForStatement | TestStatement | ProcedureCallStatement |
                      ElseifStatementPart | CaseStatementPart | RequiredArgument
                      | OptionalArgument | ConstantExpression | Expression |
                      LiteralExpression | DataObjectReference | ObjectName |
                      ObjectNameReference | ValueType | DataType |
                      ArrayDimensions | Comment | ProcedureEvaluateAndCall |
                      AliasTypeDeclaration | RecordDeclaration |
                      RecordComponentDeclaration}
                  data-type:
                    description: Argument data type
                  list-num:
                    description: List number of argument
                  list-len:
                    description: Total number of arguments
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?><html><head><base
                    href="https://localhost:443/rw/rapid/" /></head><body><div
                    class="state"><a
                    href="tasks/T_ROB1/modules/MainModule/routine/arguments?row=4&column=9"
                    rel="self"/><a
                    href="tasks/T_ROB1/modules/MainModule/routine/arguments?mark=3&limit=3&task=T_ROB1&row=4&column=9"
                    rel="next"/><ul><li class="rap-routine-args"
                    title="arg0"><span class="param-no">0</span><span
                    class="alternate-arg">0</span><span
                    class="start-row">4</span><span
                    class="start-col">9</span><span
                    class="end-row">4</span><span class="end-col">16</span><span
                    class="rap-objtype">ObjectNameReference</span><span
                    class="data-type">NONE</span><span
                    class="list-num">0</span><span
                    class="list-len">0</span></li><li class="rap-routine-args"
                    title="arg1"><span class="param-no">1</span><span
                    class="alternate-arg">0</span><span
                    class="start-row">4</span><span
                    class="start-col">18</span><span
                    class="end-row">4</span><span class="end-col">21</span><span
                    class="rap-objtype">RequiredArgument</span><span
                    class="data-type">num</span><span
                    class="list-num">1</span><span
                    class="list-len">503</span></li><li class="rap-routine-args"
                    title="arg2"><span class="param-no">2</span><span
                    class="alternate-arg">0</span><span
                    class="start-row">4</span><span
                    class="start-col">24</span><span
                    class="end-row">4</span><span class="end-col">30</span><span
                    class="rap-objtype">RequiredArgument</span><span
                    class="data-type">string</span><span
                    class="list-num">2</span><span
                    class="list-len">503</span></li></ul></div></body></html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  next:
                    description: >-
                      Link to next page (Will be absent if there is no next
                      page)
                  rap-routine-args:
                    description: RAPID routine argument list item
                  param-no:
                    description: Param number
                  alternate-arg:
                    description: Alternate argument number
                  start-row:
                    description: Starting row of argument
                  start-col:
                    description: Starting column of argument
                  end-row:
                    description: Ending row of argument
                  end-col:
                    description: Ending column of argument
                  rap-objtype:
                    description: >-
                      Rapid object type {NoObject | PlaceHolder | End | Module |
                      ConstantDeclaration | VariableDeclaration |
                      PersistentDeclaration | FunctionDeclaration |
                      ProcedureDeclaration | TrapDeclaration | RequiredParameter
                      | OptionalParameter | AlternativeParameter |
                      LabelStatement | ReturnStatement | RaiseStatement |
                      RetryStatement | TrynextStatement | ConnectStatement |
                      ExitStatement | GotoStatement | AssignmentStatement |
                      IfStatement | CompactIfStatement | WhileStatement |
                      ForStatement | TestStatement | ProcedureCallStatement |
                      ElseifStatementPart | CaseStatementPart | RequiredArgument
                      | OptionalArgument | ConstantExpression | Expression |
                      LiteralExpression | DataObjectReference | ObjectName |
                      ObjectNameReference | ValueType | DataType |
                      ArrayDimensions | Comment | ProcedureEvaluateAndCall |
                      AliasTypeDeclaration | RecordDeclaration |
                      RecordComponentDeclaration}
                  data-type:
                    description: Argument data type
                  list-num:
                    description: List number of argument
                  list-len:
                    description: Total number of arguments
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/rules-instr:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get RulesInstr
      description: >-
        "Returns suggested template for data type/instruction when new data
        type/instruction is added."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/modules/MainModule/rules-instr?name=movej" 

         __Notes__ 

         None.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
        - name: name
          in: query
          description: '{datatype_name | instruction_name}'
          required: true
          schema:
            type: string
        - name: data-type
          in: query
          description: true | false
          required: false
          schema:
            type: string
        - name: line
          in: query
          description: '{line_num}'
          required: false
          schema:
            type: string
        - name: col
          in: query
          description: '{column_num}'
          required: false
          schema:
            type: string
        - name: parnum
          in: query
          description: '{parnum_value}'
          required: false
          schema:
            type: string
        - name: altnum
          in: query
          description: '{altnum_value}'
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-module-rulesinstr:
                    description: >-
                      rapid module suggested templete for data type or
                      instruction.
                  arg-num:
                    description: Parameter number.
                  required:
                    description: >-
                      TRUE for mandatory argument and FALSE for optional
                      argument.
                  arg-name:
                    description: Parameter name
                  dec-data:
                    description: True if symbol declarataion needed
                  arg-symbol:
                    description: Argument symbol name or empty if literal
                  data-value:
                    description: Symbol initial value
                  data-type:
                    description: Symbol datatype
                  obj-type:
                    description: Object type like CONST, VAR and PERS.
                  local:
                    description: Declared locally if TRUE.
                  ndim:
                    description: Number of dimensions
                  num-args:
                    description: >-
                      Number of arguments that are retrieved as part of the
                      response.
                  mark:
                    description: Index value where it is started retrieving.
                  last:
                    description: All arguments are read if value is 1.
                  parnum:
                    description: Formal parameter number to override rules
                  altnum:
                    description: >-
                      Alternative parameter number to override rules and it can
                      be used along with parnum to get optional parameters.
                  col:
                    description: column number
                  line:
                    description: row number.
                  name:
                    description: data type or instruction name.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html>

                    <head>

                    <base href="https://localhost:7777/rw/rapid/" />

                    </head>

                    <body>

                    <div class="state">

                    <a href="tasks/T_ROB1/modules/MainModule/rules-instr"
                    rel="self"/>

                    <ul>

                    <li class="rap-module-rulesinstr" title="header">

                    <span class="num-args">4</span>

                    <span class="mark">0</span>

                    <span class="last">1</span>

                    <span class="version">2</span>

                    <span class="select-param">0</span>

                    </li>

                    <li class="rap-module-rulesinstr" title="arg2">

                    <span class="arg-num">2</span>

                    <span class="required">TRUE</span>

                    <span class="arg-name">ToPoint</span>

                    <span class="dec-data">FALSE</span>

                    <span class="arg-symbol"/>

                    <span
                    class="data-value">[[515.00,0.00,712.00],[0.707107,0,0.707107,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]</span>

                    <span class="data-type">robtarget</span>

                    <span class="obj-type">CONST</span>

                    <span class="local">FALSE</span>

                    <span class="ndim">0</span>

                    </li>

                    <li class="rap-module-rulesinstr" title="arg4">

                    <span class="arg-num">4</span>

                    <span class="required">TRUE</span>

                    <span class="arg-name">Speed</span>

                    <span class="dec-data">FALSE</span>

                    <span class="arg-symbol">v1000</span>

                    <span class="data-value">[1000,500,5000,1000]</span>

                    <span class="data-type">speeddata</span>

                    <span class="obj-type">CONST</span>

                    <span class="local">FALSE</span>

                    <span class="ndim">0</span>

                    </li>

                    <li class="rap-module-rulesinstr" title="arg6">

                    <span class="arg-num">6</span>

                    <span class="required">TRUE</span>

                    <span class="arg-name">Zone</span>

                    <span class="dec-data">FALSE</span>

                    <span class="arg-symbol">%3cEXP%3e</span>

                    <span class="data-value"/>

                    <span class="data-type">zonedata</span>

                    <span class="obj-type"/>

                    <span class="local">FALSE</span>

                    <span class="ndim">0</span>

                    </li>

                    <li class="rap-module-rulesinstr" title="arg9">

                    <span class="arg-num">9</span>

                    <span class="required">TRUE</span>

                    <span class="arg-name">Tool</span>

                    <span class="dec-data">FALSE</span>

                    <span class="arg-symbol">tool0</span>

                    <span
                    class="data-value">[TRUE,[[0,0,0],[1,0,0,0]],[-1,[0,0,0],[1,0,0,0],0,0,0]]</span>

                    <span class="data-type">tooldata</span>

                    <span class="obj-type">TASK PERS</span>

                    <span class="local">FALSE</span>

                    <span class="ndim">0</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-module-rulesinstr:
                    description: >-
                      rapid module suggested templete for data type or
                      instruction.
                  arg-num:
                    description: Parameter number.
                  required:
                    description: >-
                      TRUE for mandatory argument and FALSE for optional
                      argument.
                  arg-name:
                    description: Parameter name
                  dec-data:
                    description: True if symbol declarataion needed
                  arg-symbol:
                    description: Argument symbol name or empty if literal
                  data-value:
                    description: Symbol initial value
                  data-type:
                    description: Symbol datatype
                  obj-type:
                    description: Object type like CONST, VAR and PERS.
                  local:
                    description: Declared locally if TRUE.
                  ndim:
                    description: Number of dimensions
                  num-args:
                    description: >-
                      Number of arguments that are retrieved as part of the
                      response.
                  mark:
                    description: Index value where it is started retrieving.
                  last:
                    description: All arguments are read if value is 1.
                  parnum:
                    description: Formal parameter number to override rules
                  altnum:
                    description: >-
                      Alternative parameter number to override rules and it can
                      be used along with parnum to get optional parameters.
                  col:
                    description: column number
                  line:
                    description: row number.
                  name:
                    description: data type or instruction name.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/object/child:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Object Child
      description: |-
        "Get a rapid object child details."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/modules/base/object/child?startline=1&startcolumn=1&endline=16&endcolumn=9" 

         __Notes__ 

         None.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
        - name: startline
          in: query
          description: '{startline} , default startline=1'
          required: false
          schema:
            type: string
        - name: startcolumn
          in: query
          description: '{startcolumn} , default startcolumn=1'
          required: false
          schema:
            type: string
        - name: endline
          in: query
          description: '{endline}'
          required: true
          schema:
            type: string
        - name: endcolumn
          in: query
          description: >-
            {endcolumn}. startline & startcolumn refers to the start of the
            object. endline & endcolumn referes to the end of object extent.
            Choose the entire extent of the object, to obtain the
            details(children) of the object
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  object-type:
                    description: Type of the object for which extent details are obtained.
                  Extent:
                    description: >-
                      details are: startline(beg-line), startcolumn(beg-col),
                      endline(end-line), endcolumn(end-col).
                  Output:
                    description: varies with the object type under consideration.
                  Object:
                    description: >-
                      type examples: Module, procedure declaration, data
                      declaration, function declaration etc.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://localhost:4444/rw/rapid/"/>

                    </head>

                    <body>

                    <div class="state">

                    <a
                    href="tasks/T_ROB1/modules/base/object/child?startline=1&startcolumn=1&endline=16&endcolumn=9"
                    rel="self"/>

                    <ul>

                    <li class="rap-mod-child" title="object-child">

                    <span class="object-type">"module"</span>

                    <span class="nam-beg-line">1</span>

                    <span class="nam-beg-col">8</span>

                    <span class="nam-end-line">1</span>

                    <span class="nam-end-col">11</span>

                    <span class="sys-mod-beg-line">0</span>

                    <span class="sys-mod-beg-col">0</span>

                    <span class="sys-mod-end-line">0</span>

                    <span class="sys-mod-end-col">0</span>

                    <span class="nostepin-mod-beg-line">0</span>

                    <span class="nostepin-mod-beg-col">0</span>

                    <span class="nostepin-mod-end-line">0</span>

                    <span class="nostepin-mod-end-col">0</span>

                    <span class="viewonly-mod-beg-line">0</span>

                    <span class="viewonly-mod-beg-col">0</span>

                    <span class="viewonly-mod-end-line">0</span>

                    <span class="viewonly-mod-end-col">0</span>

                    <span class="readonly-mod-beg-line">0</span>

                    <span class="readonly-mod-beg-col">0</span>

                    <span class="readonly-mod-end-line">0</span>

                    <span class="readonly-mod-end-col">0</span>

                    <span class="type-def-beg-line">1</span>

                    <span class="type-def-beg-col">44</span>

                    <span class="type-def-end-line">1</span>

                    <span class="type-def-end-col">43</span>

                    <span class="data-decl-beg-line">3</span>

                    <span class="data-decl-beg-col">2</span>

                    <span class="data-decl-end-line">14</span>

                    <span class="data-decl-end-col">69</span>

                    <span class="rout-decl-beg-line">14</span>

                    <span class="rout-decl-beg-col">70</span>

                    <span class="rout-decl-end-line">14</span>

                    <span class="rout-decl-end-col">69</span>

                    <span class="endmod-beg-line">16</span>

                    <span class="endmod-beg-col">1</span>

                    <span class="endmod-end-line">16</span>

                    <span class="endmod-end-col">9</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  object-type:
                    description: Type of the object for which extent details are obtained.
                  Extent:
                    description: >-
                      details are: startline(beg-line), startcolumn(beg-col),
                      endline(end-line), endcolumn(end-col).
                  Output:
                    description: varies with the object type under consideration.
                  Object:
                    description: >-
                      type examples: Module, procedure declaration, data
                      declaration, function declaration etc.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/symbol:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Symbol Information
      description: |-
        "Get symbol information from a position."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/modules/MainModule/symbol?row=5&col=9" 

         __Notes__ 

         Output varies with different symbol "type" under "Resources".
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
        - name: row
          in: query
          description: '{row number} , Default row = 1'
          required: false
          schema:
            type: string
        - name: col
          in: query
          description: '{col number} , Default col = 1'
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  version:
                    description: version number
                  symbolname:
                    description: RAPID symbol name
                  block_url:
                    description: RAPID symbol URL
                  sysmbol_type:
                    description: RAPID symbol Type
                  linked:
                    description: TRUE if definition is complete
                  local:
                    description: FALSE if global module constant
                  typurl:
                    description: URL to type symbol
                  dattyp:
                    description: Underlying data type
                  ndim:
                    description: Number of array dimensions
                  storage:
                    description: Symbol declaration storage
                  heap:
                    description: TRUE if heap allocated (always TRUE)
                  refcount:
                    description: Reference count
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html>

                    <head>

                    <base href="https://localhost:7777/rw/rapid/" />

                    </head>

                    <body>

                    <div class="state">

                    <a href="tasks/T_ROB1/modules/MainModule/symbol?row=5&col=9"
                    rel="self"/>

                    <ul>

                    <li class="rap-module-symbol" title="module-symbol">

                    <span class="version">#2</span>

                    <span class="symbolname">p10</span>

                    <span class="block_url">RAPID/T_ROB1/MainModule/p10</span>

                    <span class="sysmbol_type">CON</span>

                    <span class="linked">1</span>

                    <span class="local">1</span>

                    <span class="typurl">RAPID/robtarget</span>

                    <span class="dattyp">robtarget</span>

                    <span class="ndim">0</span>

                    <span class="storage">0</span>

                    <span class="heap">0</span>

                    <span class="refcount">1</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  version:
                    description: version number
                  symbolname:
                    description: RAPID symbol name
                  block_url:
                    description: RAPID symbol URL
                  sysmbol_type:
                    description: RAPID symbol Type
                  linked:
                    description: TRUE if definition is complete
                  local:
                    description: FALSE if global module constant
                  typurl:
                    description: URL to type symbol
                  dattyp:
                    description: Underlying data type
                  ndim:
                    description: Number of array dimensions
                  storage:
                    description: Symbol declaration storage
                  heap:
                    description: TRUE if heap allocated (always TRUE)
                  refcount:
                    description: Reference count
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/attributes:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Module Possible Attributes
      description: |-
        "Get a module possible attributes.
        URL param "attribute" can be provided multiple times"

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/modules/mymodule" 

         __Notes__ 

         None.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
        - name: attribute
          in: query
          description: >-
            {[noview,nostepin,viewonly,readonly,systemmod]}. For multiple
            values, group inside '[]' and seperate each value using ',' Ex:
            [1,2,3]. attribute parameter value can be given in any combination
            as attribute=[nostepin,readonly,viewonly]
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-mod-text:
                    description: Provides RAPID module text
                  attribute:
                    description: >-
                      Rapid module attribtes(System module, No step in module,
                      Read only module)
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://localhost:443/rw/rapid/"/>

                    </head>

                    <body>

                    <div class="state">

                    <a
                    href="/tasks/T_ROB1/modules/MainModule/attributes?attribute=[noview,systemmod]"
                    rel="self"></a>

                    <ul>

                    <li class="rap-posattribs" title="posattribs">

                    <span class="attribute">systemmod</span>

                    <span class="attribute">noview</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-mod-text:
                    description: Provides RAPID module text
                  attribute:
                    description: >-
                      Rapid module attribtes(System module, No step in module,
                      Read only module)
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/object:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get RAPID Object
      description: |-
        "Get details of the rapid object."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/modules/BASE/object?startrow=3&startcol=2&destination=Inner" 

         __Notes__ 

         None.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
        - name: startrow
          in: query
          description: '{start row}  , Default startrow = 1'
          required: false
          schema:
            type: string
        - name: startcol
          in: query
          description: '{start column}  , Default startcol = 1'
          required: false
          schema:
            type: string
        - name: destination
          in: query
          description: >-
            {Inner|Outer|Outer2|Before|After|Statement|InnerStatement}  ,
            Default destination = inner
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  start-row:
                    description: Starting position of the row.
                  start-column:
                    description: Starting position of the column.
                  end-row:
                    description: Ending position of the row.
                  end-column:
                    description: Ending position of the column.
                  type:
                    description: >-
                      Type of the object. Possible object types are 0-No object,
                      1-Place holder, 2-End of compound
                      statement/routine/module, 3-Module declaration, 4-Constant
                      data declaration, 5-Variable data declaration,
                      6-Persistent data declaration, 7-Function declaration,
                      8-Procedure declaration, 9-Trap declaration, 10-Required
                      parameter, 11-Optional parameter, 12-Alternative
                      parameter, 13-Label statement, 14-Return statement,
                      15-Raise statement, 16-Retry statement, 17-Trynext
                      statement, 18-Connect statement, 19-Exit statement,
                      20-Goto statement, 21-Assignment statement, 22-If
                      statement, 23-Compact if statement, 24-While statement,
                      25-For statement, 26-Test statement, 27-Procedure call
                      statement, 28-Elseif statement part, 29-Case statement
                      part, 30-Required argument, 31-Optional argument,
                      32-Constant expression, 33-Expression, 34-Literal
                      expression, 35-Data object reference, 36-Object name,
                      37-Object name reference, 38-Value type, 39-Data type,
                      40-Dimensions of conformant array, 41-Comment,
                      42-Procedure evaluate and call statement, 43-Alias type
                      declaration, 44-Record declaration, 45-Record component
                      declaration
                  list-num:
                    description: List element number.
                  list-len:
                    description: Number of list elements.
                  data-type-id:
                    description: Symbol name.
                  data-type-instance:
                    description: Symbol name instance number.
                  expression-type:
                    description: Expression type.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://localhost:4444/rw/rapid/"/>

                    </head>

                    <body>

                    <div class="state">

                    <a
                    href="tasks/T_ROB1/modules/BASE/object?startrow=3&startcol=2&destination=Inner"
                    rel="self"></a>

                    <ul>

                    <li class="rap-object" title="object"> <span
                    class="start-row">3</span>

                    <span class="start-column">2</span>

                    <span class="end-row">3</span>

                    <span class="end-column">50</span>

                    <span class="type">41</span>

                    <span class="list-num">1</span>

                    <span class="list-len">7</span>

                    <span class="data-type-id">NONE</span>

                    <span class="data-type-instance">0</span>

                    <span class="expression-type">0</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  start-row:
                    description: Starting position of the row.
                  start-column:
                    description: Starting position of the column.
                  end-row:
                    description: Ending position of the row.
                  end-column:
                    description: Ending position of the column.
                  type:
                    description: >-
                      Type of the object. Possible object types are 0-No object,
                      1-Place holder, 2-End of compound
                      statement/routine/module, 3-Module declaration, 4-Constant
                      data declaration, 5-Variable data declaration,
                      6-Persistent data declaration, 7-Function declaration,
                      8-Procedure declaration, 9-Trap declaration, 10-Required
                      parameter, 11-Optional parameter, 12-Alternative
                      parameter, 13-Label statement, 14-Return statement,
                      15-Raise statement, 16-Retry statement, 17-Trynext
                      statement, 18-Connect statement, 19-Exit statement,
                      20-Goto statement, 21-Assignment statement, 22-If
                      statement, 23-Compact if statement, 24-While statement,
                      25-For statement, 26-Test statement, 27-Procedure call
                      statement, 28-Elseif statement part, 29-Case statement
                      part, 30-Required argument, 31-Optional argument,
                      32-Constant expression, 33-Expression, 34-Literal
                      expression, 35-Data object reference, 36-Object name,
                      37-Object name reference, 38-Value type, 39-Data type,
                      40-Dimensions of conformant array, 41-Comment,
                      42-Procedure evaluate and call statement, 43-Alias type
                      declaration, 44-Record declaration, 45-Record component
                      declaration
                  list-num:
                    description: List element number.
                  list-len:
                    description: Number of list elements.
                  data-type-id:
                    description: Symbol name.
                  data-type-instance:
                    description: Symbol name instance number.
                  expression-type:
                    description: Expression type.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/modules/{module}/text/search:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Search Text
      description: |-
        "Search text in RAPID module."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/modules/MainModule/text/search?startrow=1&startcol=1&text=main" 

         __Notes__ 

         + Controller supports UTF-8 character for this API from RW7.1 onwards. 
         + If the text is not found,the row and column values will be zero.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: module
          in: path
          description: '{module}'
          required: true
          schema:
            type: string
        - name: startrow
          in: query
          description: '{Start Row Number} , Default startrow = 1'
          required: false
          schema:
            type: string
        - name: startcol
          in: query
          description: '{Start Column Number} , Default startcol = 1'
          required: false
          schema:
            type: string
        - name: text
          in: query
          description: '{search text}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  Row:
                    description: Row number of Text.
                  Column:
                    description: Column number of Text.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html>

                    <head>

                    <base href="https://localhost:7777/rw/rapid/" />

                    </head>

                    <body>

                    <div class="state">

                    <a
                    href="tasks/TROB_1/modules/MainModule/text/search?startrow=1&startcol=1&text=main"
                    rel="self"/>

                    <ul>

                    <li class="rap-text-position" title="text-position">

                    <span class="Row">5</span>

                    <span class="Column">8</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  Row:
                    description: Row number of Text.
                  Column:
                    description: Column number of Text.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/motion:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get RAPID Motion
      description: |-
        **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/motion" 

         __Notes__ 

         None.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  robtarget:
                    description: The target position from the home position.
                  jointtarget:
                    description: The target position of the joint.
                  extjointstate:
                    description: >-
                      If any ext mechnical unit is attached than provide the
                      extjoints.
                  mechunit:
                    description: >-
                      The unit in which robtarget, jointtarget and extjoint
                      applies.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |-
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://localhost:80/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/T_ROB1/motion" rel="self"/>
                    <ul>
                    <li class="rapid-robtarget-li" title="robtarget">
                    <a href="tasks/T_ROB1/motion/robtarget" rel="self"/>
                    </li>
                    <li class="rapid-jointtarget-li" title="jointtarget">
                    <a href="tasks/T_ROB1/motion/jointtarget" rel="self"/>
                    </li>
                    <li class="rapid-extjointstate-li" title="extjointstate">
                    <a href="tasks/T_ROB1/motion/extjointstate" rel="self"/>
                    </li>
                    <li class="rapid-mechunit-li" title="mechunit">
                    <a href="tasks/T_ROB1/motion/mechunits" rel="self"/>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  robtarget:
                    description: The target position from the home position.
                  jointtarget:
                    description: The target position of the joint.
                  extjointstate:
                    description: >-
                      If any ext mechnical unit is attached than provide the
                      extjoints.
                  mechunit:
                    description: >-
                      The unit in which robtarget, jointtarget and extjoint
                      applies.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/motion/robtarget:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get RobTarget
      description: |-
        "Get a robtarget for the task."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/motion/robtarget?tool=tool0&wobj=wobj1" 

         __Notes__ 

         None.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: tool
          in: query
          description: '{tool_name}'
          required: false
          schema:
            type: string
        - name: wobj
          in: query
          description: '{wobj_name}'
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  robtarget:
                    description: The target position from the home position.
                  x-z:
                    description: Target positions.
                  q1-q4:
                    description: Orientation.
                  cf1-cfx:
                    description: Configuration.
                  eax_a-eax_f:
                    description: Extjoints.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |-
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://localhost:80/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/T_ROB1/motion/robtarget" rel="self"/>
                    <ul>
                    <li class="rapid-robtarget" title="robtarget">
                    <span class="x"></span>
                    <span class="y"></span>
                    <span class="z"></span>
                    <span class="q1"></span>
                    <span class="q2"></span>
                    <span class="q3"></span>
                    <span class="q4"></span>
                    <span class="cf1"></span>
                    <span class="cf4"></span>
                    <span class="cf6"></span>
                    <span class="cfx"></span>
                    <span class="eax_a"></span>
                    <span class="eax_b"></span>
                    <span class="eax_c"></span>
                    <span class="eax_d"></span>
                    <span class="eax_e"></span>
                    <span class="eax_f"></span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  robtarget:
                    description: The target position from the home position.
                  x-z:
                    description: Target positions.
                  q1-q4:
                    description: Orientation.
                  cf1-cfx:
                    description: Configuration.
                  eax_a-eax_f:
                    description: Extjoints.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/motion/jointtarget:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Joint Target
      description: |+
        **Description :** Get a jointtarget for the task.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/motion/jointtarget" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/motion/jointtarget',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  jointtarget:
                    description: The target position of the joint.
                  rax_1-rax_6:
                    description: Rotations.
                  eax_a-eax_f:
                    description: Target positions.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |-
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://localhost:80/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/T_ROB1/motion/jointtarget" rel="self"/>
                    <ul>
                    <li class="rapid-jointtarget" title="jointtarget">
                    <span class="rax_1"></span>
                    <span class="rax_2"></span>
                    <span class="rax_3"></span>
                    <span class="rax_4"></span>
                    <span class="rax_5"></span>
                    <span class="rax_6"></span>
                    <span class="eax_a"></span>
                    <span class="eax_b"></span>
                    <span class="eax_c"></span>
                    <span class="eax_d"></span>
                    <span class="eax_e"></span>
                    <span class="eax_f"></span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  jointtarget:
                    description: The target position of the joint.
                  rax_1-rax_6:
                    description: Rotations.
                  eax_a-eax_f:
                    description: Target positions.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/motion/mechunits:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Mechanical Units
      description: >+
        **Description :** Get information about all mechunits belonging to the
        task.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/motion/mechunits" 

         __Notes__  None.

        **Pre-requisites**: None


        **Limitation**: None






        **Example java script**: 

        ```

        const https = require('https')

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')


        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/motion/mechunits',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.end()

        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rapid-mechunit:
                    description: >-
                      The Unit in which robtarget, jointtarget and extjoint
                      applies.
                  name:
                    description: Name of mechnical unit.
                  mode:
                    description: Mode of mechnical unit.
                  type:
                    description: Type of mechnical unit.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |-
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://localhost:80/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/T_ROB1/motion/mechunits" rel="self"/>
                    <ul>
                    <li class="rapid-mechunit" title="ROB_1">
                    <span class="name">ROB_1</span>
                    <span class="mode">active</span>
                    <span class="type">tcp_robot</span>
                    </li>
                    <li class="rapid-mechunit" title="CNV1">
                    <span class="name">CNV1</span>
                    <span class="mode">inactive</span>
                    <span class="type">single</span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rapid-mechunit:
                    description: >-
                      The Unit in which robtarget, jointtarget and extjoint
                      applies.
                  name:
                    description: Name of mechnical unit.
                  mode:
                    description: Mode of mechnical unit.
                  type:
                    description: Type of mechnical unit.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/motion/extjointstate:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get External Joint States
      description: |+
        **Description :** Get state of external joints.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/motion/extjointstate" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/motion/extjointstate',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rapid-extjointstate:
                    description: >-
                      If any ext mechnical unit is attached than provide the
                      extjoints.
                  j1-j6:
                    description: Joints 1-6 {linear|not_active|no_position|rotating}
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |-
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://localhost:80/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/T_ROB1/motion/extjointstate" rel="self"/>
                    <ul>
                    <li class="rapid-extjointstate" title="extjointstate">
                    <span class="j1">linear</span>
                    <span class="j2">linear</span>
                    <span class="j3">linear</span>
                    <span class="j4">not_active</span>
                    <span class="j5">linear</span>
                    <span class="j6">rotating</span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rapid-extjointstate:
                    description: >-
                      If any ext mechnical unit is attached than provide the
                      extjoints.
                  j1-j6:
                    description: Joints 1-6 {linear|not_active|no_position|rotating}
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/program:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get RAPID Program Resource
      description: |+
        **Description :** Returns the rapid program resource for a rapid task.
        Http response code is NO_CONTENT(204) when RAPID program is not loaded.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/program" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/program',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: continue-on-err
          in: query
          description: >-
            {1|0}  Default value is 0. In case input is 1, the API continues
            execution even if any error occurs in between.
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-program:
                    description: Rapid program resource
                  name:
                    description: Program name
                  entrypoint:
                    description: >-
                      The program entry is the point PP will move to when
                      PP-to-main is called.
                  rap-program-breakpoint-li:
                    description: Rapid program breakpoint resource
                  rap-builderrs-li:
                    description: Rapid program builderrors resource
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |-
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://localhost/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/T_ROB1/program" rel="self"></a>
                    <ul>
                    <li class="rap-program">
                    <span class="name">NewProgramName</span>
                    <span class="entrypoint">routine</span>
                    </li>
                    <li class="rap-program-breakpoint-li" title="breakpoint">
                    <a href="tasks/T_ROB1/program/breakpoints" rel="self"></a>
                    </li>
                    <li class="rap-builderrs-li" title="builderrs">
                    <a href="tasks/T_ROB1/program/builderror" rel="self"></a>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-program:
                    description: Rapid program resource
                  name:
                    description: Program name
                  entrypoint:
                    description: >-
                      The program entry is the point PP will move to when
                      PP-to-main is called.
                  rap-program-breakpoint-li:
                    description: Rapid program breakpoint resource
                  rap-builderrs-li:
                    description: Rapid program builderrors resource
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/program/load:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Load Program into a RAPID Task
      description: >+
        **Description :** Load rapid program into a rapid task. Location header
        /progress/{id} will be returned after successful completion of the API.


        The resource can be subscibed to get events with current status of
        loading RAPID program. 

        The resource URI for this subscription will be /progress/{id}, where
        /progress/{id} 

        is the"location header" returned after successful completion of "Load
        RAPID program" API.


        Sample response for Load RAPID Program subscription

            <?xml version="1.0" encoding="utf-8"?>
            <html xmlns="http://www.w3.org/1999/xhtml">
            <head>
              <base href="https://localhost:443/"/>
            </head>
            <body>
              <div class="state">
                <a href="subscription/1" rel="group"></a>
                <a href="wss://localhost:443/poll/1" rel="self"></a>
                <ul>
                <a href="/progress/1" rel="self"/>
                  <li class="progress-ev" title="Load-Program">
                  <span class="state">pending</span>
                  <span class="code">294912</span>
                  </li>
                </ul>
              </div>
            </body>
            </html>

        An event will look like

            <?xml version="1.0" encoding="utf-8"?>
            <html xmlns="http://www.w3.org/1999/xhtml">
            <head>
              <base href="https://localhost:443/"/>
            </head>
            <body>
              <div class="state">
                <a href="subscription/1" rel="group"></a>
                <ul>
                <a href="/progress/1" rel="self"/>
                  <li class="progress-ev" title="Load-Program">
                  <a href="/user/HOME/testprg.pgf" rel="resource"/>
                  <span class="state">ready</span>
                  <span class="code">294912</span>
                  </li>
                </ul>
              </div>
            </body>
            </html>

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "progpath=$HOME/myprog.pgf" "https://localhost/rw/rapid/tasks/T_ROB2/program/load" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None


        **Limitation**: None


        **Example java script**: 

        ```

        const https = require('https')

        //To disable SSL

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')

        const data = 'progpath=$HOME/myprog.pgf';

        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/program/load',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        console.log(res.headers.location)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.write(data)

        req.end()

        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - progpath
              properties:
                progpath:
                  description: '{program path}'
                  type: string
                loadmode:
                  description: '{add | replace} Default value is add'
                  type: string
                unload:
                  description: '{true | false} Default value is false'
                  type: string
              example: progpath=string&loadmode=string&unload=string
        description: Data parameter(s)
      responses:
        '202':
          description: >-
            The request has been accepted for processing, but the processing has
            not been completed
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/program/unload:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Unload Program from a RAPID Task
      description: |+
        **Description :** Unload rapid program from a rapid task.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/program/unload" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/program/unload',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/program/save:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Save the RAPID Program
      description: |+
        **Description :** Save the RAPID Program "

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "path=$HOME/myprog" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/program/save" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        const data = 'path=$HOME/myprog';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/program/save',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - path
              properties:
                path:
                  description: '{program_path}'
                  type: string
              example: path=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/program/name:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Set Program Name
      description: |+
        **Description :** Set program name.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "name=myprog" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/program/name" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        const data = 'name=myprog';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/program/name',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - name
              properties:
                name:
                  description: '{program_name}'
                  type: string
              example: name=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/program/entrypoint:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Set Entry Point
      description: |+
        **Description :** Set entry point of a rapid program.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "routine=myroutine" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/program/entrypoint" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        const data = 'routine=myroutine';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/program/entrypoint',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - routine
              properties:
                routine:
                  description: '{routine-name}'
                  type: string
              example: routine=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/program/builderror:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Build Errors
      description: |+
        **Description :** Returns the build errors list for a rapid task.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/program/builderror?start=1&limit=2" 

         __Notes__ 

         - Default value of start is 1 and maximum value of limit is 30(maximum supported by RAPID). 
         - Absence of prev and next link indicates first and last page respectively.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/program/builderror',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: limit
          in: query
          description: '{limit_value}'
          required: false
          schema:
            type: string
        - name: start
          in: query
          description: '{start_value}'
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  start:
                    description: >-
                      Reference to where the retrieval of build errors should
                      start. Set to 1 to start from the beginning. The value
                      returned can be used in the next call.
                  limit:
                    description: The maximal number of elements to retrieve
                  prev:
                    description: >-
                      Link to previous page (Will be absent if there is no prev
                      page)
                  next:
                    description: >-
                      Link to next page (Will be absent if there is no next
                      page)
                  ModuleName:
                    description: Module name
                  row:
                    description: Row number
                  column:
                    description: Column number
                  error:
                    description: RAPID build error
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://localhost:443/rw/rapid/"/>

                    </head>

                    <body>

                    <div class="state">

                    <a href="tasks/T_ROB1/program/builderror?limit=2"
                    rel="self"/>

                    <a href="tasks/T_ROB1/program/builderror?start=1&limit=2"
                    rel="prev"/>

                    <a href="tasks/T_ROB1/program/builderror?start=3&limit=2"
                    rel="next"/>

                    <ul>

                    <li class="rap-builderrs" title="builderrs1">

                    <span class="ModuleName">MainModule</span>

                    <span class="row">15</span>

                    <span class="column">8</span>

                    <span class="error">S:"';'"</span>

                    </li>

                    <li class="rap-builderrs" title="builderrs2">

                    <span class="ModuleName">MainModule</span>

                    <span class="row">19</span>

                    <span class="column">8</span>

                    <span class="error-num">135</span>

                    <span class="error">S:"';'"</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  start:
                    description: >-
                      Reference to where the retrieval of build errors should
                      start. Set to 1 to start from the beginning. The value
                      returned can be used in the next call.
                  limit:
                    description: The maximal number of elements to retrieve
                  prev:
                    description: >-
                      Link to previous page (Will be absent if there is no prev
                      page)
                  next:
                    description: >-
                      Link to next page (Will be absent if there is no next
                      page)
                  ModuleName:
                    description: Module name
                  row:
                    description: Row number
                  column:
                    description: Column number
                  error:
                    description: RAPID build error
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/program/breakpoints:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Break Points
      description: |+
        **Description :** Returns the break points list for a rapid task.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/program/breakpoints?start=1&limit=2" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/program/breakpoints',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: start
          in: query
          description: '{start_value}'
          required: false
          schema:
            type: string
        - name: limit
          in: query
          description: '{limit_value}'
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  module-name:
                    description: Name of the module
                  start-row:
                    description: Start row number
                  start-col:
                    description: Start column number
                  end-row:
                    description: End row number
                  end-col:
                    description: End col number
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >-
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://127.0.0.1/rw/rapid/"/>

                    </head>

                    <body>

                    <div class="state">

                    <a href="tasks/T_ROB1/program/breakpoints?limit=2"
                    rel="self"></a>

                    <a href="tasks/T_ROB1/program/breakpoints?start=2&limit=2"
                    rel="next"/>

                    <ul>

                    <li class="rap-program-breakpoint" title="breakpoint1">

                    <span class="module-name">MainModule</span>

                    <span class="start-row">11</span>

                    <span class="start-col">3</span>

                    <span class="end-row">11</span>

                    <span class="end-col">31</span>

                    </li>

                    <li class="rap-program-breakpoint" title="breakpoint2">

                    <span class="module-name">MainModule</span>

                    <span class="start-row">13</span>

                    <span class="start-col">3</span>

                    <span class="end-row">13</span>

                    <span class="end-col">31</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  module-name:
                    description: Name of the module
                  start-row:
                    description: Start row number
                  start-col:
                    description: Start column number
                  end-row:
                    description: End row number
                  end-col:
                    description: End col number
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Set Break Point
      description: |+
        **Description :** Set break point.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -H "accept: application/xhtml+xml;v=2.0" -X POST -d "module=MainModule&row=15&column=3" "https://localhost/rw/rapid/tasks/T_ROB1/program/breakpoints" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        const data = 'column=3&module=MainModule&row=14';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/program/breakpoints',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - module
                - row
                - column
              properties:
                module:
                  description: '{module-name}'
                  type: string
                row:
                  description: '{row_no}'
                  type: string
                column:
                  description: '{column_no}'
                  type: string
              example: module=string&row=string&column=string
        description: Data parameter(s)
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  start-row:
                    description: Break point begin position line number
                  start-col:
                    description: Break point begin position col number
                  end-row:
                    description: Break point end position line number
                  end-col:
                    description: Break point end position col number
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |-
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://localhost:7777/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/T_ROB1/program/breakpoints" rel="self"></a>
                    <ul>
                    <li class="rap-program-breakpoint" title="breakpoint">
                    <span class="start-row">15</span>
                    <span class="start-col">3</span>
                    <span class="end-row">15</span>
                    <span class="end-col">31</span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  start-row:
                    description: Break point begin position line number
                  start-col:
                    description: Break point begin position col number
                  end-row:
                    description: Break point end position line number
                  end-col:
                    description: Break point end position col number
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/program/breakpoints/remove:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Clear Break Points
      description: |+
        **Description :** Clear one or all break points.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -H "accept: application/xhtml+xml;v=2.0" -X POST -d "module=MainModule&row=15&column=3" "https://localhost/rw/rapid/tasks/T_ROB1/program/breakpoints/remove" 

         __Notes__ 

         - Mastership is required.
         - Supported from RW 7.2.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        const data = 'module=MainModule&row=4&column=0';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/program/breakpoints/remove',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
        - name: all
          in: query
          description: '={true | false} Optional. By default "all" value will be false'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              properties:
                module:
                  description: '{module name} Optional, it is required only if all=false'
                  type: string
                row:
                  description: '{row no} Optional, it is required only if all=false'
                  type: string
                column:
                  description: '{column no} Optional, it is required only if all=false'
                  type: string
              example: module=MainModule&row=4&column=0
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/symbols:
    get:
      tags:
        - Operations on RAPID Symbols
      summary: Get RAPID Symbols Resources
      description: |+
        **Description :** Returns symbols resource."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/symbols" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/symbols',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  symbols:
                    description: Rapid Symbol Resource.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://127.0.0.1/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="symbols" rel="self"></a>
                    <ul>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  symbols:
                    description: Rapid Symbol Resource.
                xml:
                  name: data
                  wrapped: true
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/symbols/search:
    post:
      tags:
        - Operations on RAPID Symbols
      summary: Search RAPID Symbols
      description: >+
        **Description :** Search rapid symbols.


        Shared modules belong to global scope and its symbol can be searched
        through RAPID block URL.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "view=block&vartyp=any&blockurl=RAPID/T_ROB1&symtyp=var&symtyp=fun&recursive=true&dattyp=num&skipshared=TRUE&onlyused=TRUE&stack=0&posl=0&posc=0" "https://localhost/rw/rapid/symbols/search" 

         __Notes__ : 
         + The dataparam "typurl" is available from RW version 7.1 onwards.
         + By Default Procedure data will be displayed if symtyp parameter is not filtered to required symbol.  

        **Pre-requisites**: None


        **Limitation**: None


        **Example java script**: 

        ```

        const https = require('https')

        //To disable SSL

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')

        const data =
        'posl=0&recursive=true&dattyp=num&posc=0&skipshared=TRUE&vartyp=any&symtyp=var,fun&onlyused=TRUE&stack=0&blockurl=RAPID/T_ROB1&view=block';

        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/symbols/search',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        console.log(res.headers.location)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.write(data)

        req.end()

        ```
         


      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              properties:
                view:
                  description: >-
                    {block | scope | stack }, For both scope and stack you must
                    use blockurl with task, for stack even program pointer
                    should be set.
                  type: string
                vartyp:
                  description: '{udef | rw | ro | loop | any},Variable type to be searched.'
                  type: string
                blockurl:
                  description: >-
                    {string},Relative URL describing the block where the search
                    should start.
                  type: string
                recursive:
                  description: >-
                    {TRUE | FALSE},True if search should be recursive otherwise
                    false.
                  type: string
                posl:
                  description: '{position row},Line position in module.'
                  type: string
                posc:
                  description: >-
                    {position col},Column position in module (if posl and posc
                    are both 0 is the blockurl used instead).
                  type: string
                stack:
                  description: '{integer},stackframe to search when searching in stack.'
                  type: string
                onlyused:
                  description: '{TRUE|FALSE},True if only used symbols should be returned.'
                  type: string
                skipshared:
                  description: >-
                    {TRUE|FALSE},True when shared symbols should be
                    skipped,otherwise False.
                  type: string
                regexp:
                  description: '{regular expression}'
                  type: string
                symtyp:
                  description: >-
                    { atm | rec | ali | rcp | con | var | per | par | lab | for
                    | fun | prc | trp | mod | tsk | any | udef}. Type of Symbol
                    to be searched.atm-Atomic type, rec-Record type, ali-Alias
                    type, rcp-Record component, con-Constant, var-Variable,
                    per-Persistent, par-Parameter, lab-Label, for-For statement,
                    fun-Function, prc-Procedure, trp-Trap, mod-Module, tsk-Task,
                    any-any of the above symbol type
                  type: string
                typurl:
                  description: >-
                    {string}. URL to type symbol, to filter user defined data
                    type
                  type: string
                dattyp:
                  description: '{string},Datatype which has to be filtered.'
                  type: string
              example: >-
                view=string&vartyp=string&blockurl=string&recursive=string&posl=string&posc=string&stack=string&onlyused=string&skipshared=string&regexp=string&symtyp=string&dattyp=string
        description: Data parameter(s).At least one data parameter should be provided.
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-sympropvar-li:
                    description: Rapid-Symbol resource
                  symburl:
                    description: the name of the symbol. NULL if not retreived
                  name:
                    description: the name of the symbol. NULL if not retreived
                  symtyp:
                    description: the symbol properties. NULL if not retreived
                  named:
                    description: true if symbol is named. Undefined if the symbol
                  dattyp:
                    description: underlying type
                  ndim:
                    description: number of array dimensions
                  dim:
                    description: array dimensions
                  local:
                    description: FALSE if global module constant
                  rdonly:
                    description: TRUE if variable is readonly
                  taskvar:
                    description: TRUE if var is global within task
                  typurl:
                    description: URL to type symbol
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://127.0.0.1/rw/rapid/"/>

                    </head>

                    <body>

                    <div class="state">

                    <ul>

                    <li class="rap-sympropvar-li"
                    title="RAPID/T_ROB1/user/reg5">

                    <a href="symbol/RAPID/T_ROB1/user/reg5/properties"
                    rel="self"/>

                    <span class="symburl">RAPID/T_ROB1/user/reg5</span>

                    <span class="name">reg5</span>

                    <span class="symtyp">var</span>

                    <span class="named">true</span>

                    <span class="dattyp">num</span>

                    <span class="ndim">0</span>

                    <span class="dim"/>

                    <span class="local">false</span>

                    <span class="rdonly">false</span>

                    <span class="taskvar">false</span>

                    <span class="typurl">RAPID/num</span>

                    <span class="key">20</span>

                    </li>

                    <li class="rap-sympropvar-li"
                    title="RAPID/T_ROB1/user/reg3">

                    <a href="symbol/RAPID/T_ROB1/user/reg3/properties"
                    rel="self"/>

                    <span class="symburl">RAPID/T_ROB1/user/reg3</span>

                    <span class="name">reg3</span>

                    <span class="symtyp">var</span>

                    <span class="named">true</span>

                    <span class="dattyp">num</span>

                    <span class="ndim">0</span>

                    <span class="dim"/>

                    <span class="local">false</span>

                    <span class="rdonly">false</span>

                    <span class="taskvar">false</span>

                    <span class="typurl">RAPID/num</span>

                    <span class="key">100</span>

                    </li>

                    <li class="rap-sympropvar-li"
                    title="RAPID/T_ROB1/user/reg1">

                    <a href="symbol/RAPID/T_ROB1/user/reg1/properties"
                    rel="self"/>

                    <span class="symburl">RAPID/T_ROB1/user/reg1</span>

                    <span class="name">reg1</span>

                    <span class="symtyp">var</span>

                    <span class="named">true</span>

                    <span class="dattyp">num</span>

                    <span class="ndim">0</span>

                    <span class="dim"/>

                    <span class="local">false</span>

                    <span class="rdonly">false</span>

                    <span class="taskvar">false</span>

                    <span class="typurl">RAPID/num</span>

                    <span class="key">20</span>

                    </li>

                    <li class="rap-sympropvar-li"
                    title="RAPID/T_ROB1/user/reg4">

                    <a href="symbol/RAPID/T_ROB1/user/reg4/properties"
                    rel="self"/>

                    <span class="symburl">RAPID/T_ROB1/user/reg4</span>

                    <span class="name">reg4</span>

                    <span class="symtyp">var</span>

                    <span class="named">true</span>

                    <span class="dattyp">num</span>

                    <span class="ndim">0</span>

                    <span class="dim"/>

                    <span class="local">false</span>

                    <span class="rdonly">false</span>

                    <span class="taskvar">false</span>

                    <span class="typurl">RAPID/num</span>

                    <span class="key">50</span>

                    </li>

                    <li class="rap-sympropvar-li"
                    title="RAPID/T_ROB1/user/reg2">

                    <a href="symbol/RAPID/T_ROB1/user/reg2/properties"
                    rel="self"/>

                    <span class="symburl">RAPID/T_ROB1/user/reg2</span>

                    <span class="name">reg2</span>

                    <span class="symtyp">var</span>

                    <span class="named">true</span>

                    <span class="dattyp">num</span>

                    <span class="ndim">0</span>

                    <span class="dim"/>

                    <span class="local">false</span>

                    <span class="rdonly">false</span>

                    <span class="taskvar">false</span>

                    <span class="typurl">RAPID/num</span>

                    <span class="key">20</span>

                    </li>

                    <li class="rap-sympropvar-li"
                    title="RAPID/T_ROB1/user/clock1">

                    <a href="symbol/RAPID/T_ROB1/user/clock1/properties"
                    rel="self"/>

                    <span class="symburl">RAPID/T_ROB1/user/clock1</span>

                    <span class="name">clock1</span>

                    <span class="symtyp">var</span>

                    <span class="named">true</span>

                    <span class="dattyp">clock</span>

                    <span class="ndim">0</span>

                    <span class="dim"/>

                    <span class="local">false</span>

                    <span class="rdonly">false</span>

                    <span class="taskvar">false</span>

                    <span class="typurl">RAPID/clock</span>

                    <span class="key">210</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-sympropvar-li:
                    description: Rapid-Symbol resource
                  symburl:
                    description: the name of the symbol. NULL if not retreived
                  name:
                    description: the name of the symbol. NULL if not retreived
                  symtyp:
                    description: the symbol properties. NULL if not retreived
                  named:
                    description: true if symbol is named. Undefined if the symbol
                  dattyp:
                    description: underlying type
                  ndim:
                    description: number of array dimensions
                  dim:
                    description: array dimensions
                  local:
                    description: FALSE if global module constant
                  rdonly:
                    description: TRUE if variable is readonly
                  taskvar:
                    description: TRUE if var is global within task
                  typurl:
                    description: URL to type symbol
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/symbols/{symbol URL}/object-list-ext:
    get:
      tags:
        - Operations on RAPID Symbols
      summary: Get Object Extension List
      description: |+
        **Description :** Returns symbol extension list."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/symbols/RAPID/T_ROB1/mainmodule/object-list-ext?type=DataDecls" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/symbols/{symbol URL}/object-list-ext',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: symbol URL
          in: path
          description: '{symbol URL}'
          required: true
          schema:
            type: string
        - name: type
          in: query
          description: >-
            {Statements | BackwardStmts | ErrorStmts | UndoStmts | TypeDecls | 
            DataDecls |  ParDecls | RtnDecls | Attribs}. Default value is
            TypeDecls. Statements-List of statement, BackwardStmts-List of
            backward statement, ErrorStmts-List of error statement,
            UndoStmts-List of undo statements, TypeDecls-List of type
            declarations, DataDecls-List of data declarations, ParDecls-List of
            parameter declarations, RtnDecls-List of routine declarations,
            Attribs-List of module attributes
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  ext-begin-line:
                    description: Begin line number of the object extension list
                  ext-begin-column:
                    description: Begin column number of the object extension list
                  ext-end-line:
                    description: End line number of the object extension list
                  ext-end-column:
                    description: End column number of the object extension list
                  ext-first-begin-line:
                    description: Begin line number of the first object in the list
                  ext-first-begin-column:
                    description: Begin column number of the first object in the list
                  ext-first-end-line:
                    description: End line number of the first object in the list
                  ext-first-end-column:
                    description: End column number of the first object in the list
                  ext-last-begin-line:
                    description: Begin line number of the last object in the list
                  ext-last-begin-column:
                    description: Begin column number of the last object in the list
                  ext-last-end-line:
                    description: End line number of the last object in the list
                  ext-last-end-column:
                    description: End column number of the last object in the list
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                      <head>
                        <base href="https://localhost:4444/rw/rapid/"/>
                      </head>
                      <body>
                        <div class="state">
                          <a href="symbols/RAPID/T_ROB1/MainModule?info=object-list-ext&type=TypeDecls" rel="self"></a>
                          <ul>
                            <li class="object-list-extension" title="RAPID/T_ROB1/mainmodule">
                              <span class="ext-begin-line">2</span>
                              <span class="ext-begin-column">2</span>
                              <span class="ext-end-line">7</span>
                              <span class="ext-end-column">137</span>
                              <span class="ext-first-begin-line">2</span>
                              <span class="ext-first-begin-column">2</span>
                              <span class="ext-first-end-line">2</span>
                              <span class="ext-first-end-column">125</span>
                              <span class="ext-last-begin-line">7</span>
                              <span class="ext-last-begin-column">5</span>
                              <span class="ext-last-end-line">7</span>
                              <span class="ext-last-end-column">137</span>
                            </li>
                          </ul>
                        </div>
                      </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  ext-begin-line:
                    description: Begin line number of the object extension list
                  ext-begin-column:
                    description: Begin column number of the object extension list
                  ext-end-line:
                    description: End line number of the object extension list
                  ext-end-column:
                    description: End column number of the object extension list
                  ext-first-begin-line:
                    description: Begin line number of the first object in the list
                  ext-first-begin-column:
                    description: Begin column number of the first object in the list
                  ext-first-end-line:
                    description: End line number of the first object in the list
                  ext-first-end-column:
                    description: End column number of the first object in the list
                  ext-last-begin-line:
                    description: Begin line number of the last object in the list
                  ext-last-begin-column:
                    description: Begin column number of the last object in the list
                  ext-last-end-line:
                    description: End line number of the last object in the list
                  ext-last-end-column:
                    description: End column number of the last object in the list
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/symbol/{symbolurl}/data:
    get:
      tags:
        - Operations on RAPID Symbols
      summary: Get RAPID Symbol Data
      description: >+
        **Description :** Returns rapid data state.

        Controller supports UTF-8 character for this API from RW7.1.

        The API with v=2.1 supports "begin-column" tag instead of
        "begin-coloumn" and "end-column" tag instead of "end-coloumn" in
        response."

         **Sample Call** 

         curl -u "Default User":robotics "https://localhost/rw/rapid/symbol/RAPID/T_ROB1/user/reg1/data" 

         __Notes__  : None.

        **Pre-requisites**: None


        **Limitation**: None






        **Example java script**: 

        ```

        const https = require('https')

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')


        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/symbol/{symbolurl}/data',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.end()

        ```
         


      parameters:
        - name: symbolurl
          in: path
          description: '{symbolurl}'
          required: true
          schema:
            type: string
        - name: value
          in: query
          description: raw Returns a non stringify json value.
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-data:
                    description: rapid data
                  rap-data-decl-pos:
                    description: rapid data decleration position
                  begin-row:
                    description: begin row number
                  begin-coloumn:
                    description: begin column number
                  end-row:
                    description: end row number
                  end-coloumn:
                    description: end column number
                  rap-data-initval-pos:
                    description: rapid data initial value position
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                      <head>
                        <base href="https://localhost:7777/rw/rapid/"/>
                      </head>
                      <body>
                        <div class="state">
                          <a href="symbol/RAPID/T_ROB1/user/reg1/data" rel="self"></a>
                          <ul>
                            <li class="rap-data" title="RAPID/T_ROB1/user/reg1"> <span class="value">0</span></li>
                            <li class="rap-data-decl-pos" title="decl-pos">
                              <span class="begin-row">8</span>
                              <span class="begin-column">2</span>
                              <span class="end-row">8</span>
                              <span class="end-column">19</span>
                            </li>
                            <li class="rap-data-initval-pos" title="initval_pos">
                              <span class="begin-row">8</span>
                              <span class="begin-column">18</span>
                              <span class="end-row">8</span>
                              <span class="end-column">18</span>
                            </li>
                          </ul>
                        </div>
                      </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-data:
                    description: rapid data
                  rap-data-decl-pos:
                    description: rapid data decleration position
                  begin-row:
                    description: begin row number
                  begin-coloumn:
                    description: begin column number
                  end-row:
                    description: end row number
                  end-coloumn:
                    description: end column number
                  rap-data-initval-pos:
                    description: rapid data initial value position
                xml:
                  name: data
                  wrapped: true
            application/xhtml+xml;v=2.1:
              schema:
                properties:
                  rap-data:
                    description: rapid data
                  rap-data-decl-pos:
                    description: rapid data decleration position
                  begin-row:
                    description: begin row number
                  begin-coloumn:
                    description: begin column number
                  end-row:
                    description: end row number
                  end-coloumn:
                    description: end column number
                  rap-data-initval-pos:
                    description: rapid data initial value position
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                      <head>
                        <base href="https://localhost:7777/rw/rapid/"/>
                      </head>
                      <body>
                        <div class="state">
                          <a href="symbol/RAPID/T_ROB1/user/reg1/data" rel="self"></a>
                          <ul>
                            <li class="rap-data" title="RAPID/T_ROB1/user/reg1"> <span class="value">0</span></li>
                            <li class="rap-data-decl-pos" title="decl-pos">
                              <span class="begin-row">8</span>
                              <span class="begin-column">2</span>
                              <span class="end-row">8</span>
                              <span class="end-column">19</span>
                            </li>
                            <li class="rap-data-initval-pos" title="initval_pos">
                              <span class="begin-row">8</span>
                              <span class="begin-column">18</span>
                              <span class="end-row">8</span>
                              <span class="end-column">18</span>
                            </li>
                          </ul>
                        </div>
                      </body>
                    </html>
            application/hal+json;v=2.1:
              schema:
                properties:
                  rap-data:
                    description: rapid data
                  rap-data-decl-pos:
                    description: rapid data decleration position
                  begin-row:
                    description: begin row number
                  begin-coloumn:
                    description: begin column number
                  end-row:
                    description: end row number
                  end-coloumn:
                    description: end column number
                  rap-data-initval-pos:
                    description: rapid data initial value position
                xml:
                  name: data
                  wrapped: true
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
    post:
      tags:
        - Operations on RAPID Symbols
      summary: Update RAPID Variable Current/Init Value
      description: >+
        **Description :** Update rapid variable.

        When updating a rapid variable, mastership over rapid is required.

        Controller supports UTF-8 character for this API from RW7.1"


        The resource can be subscribed (RAPID persistent value) using
        /subscription with resource uri /rw/rapid/symbol/{symbolurl}/data;value

        The event contains a link to the variable that has changed and the new
        value of the changed variable

        It is possible to subscribe with any subscription priority (i.e High,
        Medium, Low priority) for RAPID persistent variables value.


        Sample response for RAPID persistent value subscription

            <?xml version="1.0" encoding="utf-8"?>
            <html xmlns="http://www.w3.org/1999/xhtml">
                <head>
                    <base href="https://127.0.0.1:7777/"/>
                </head>
                <body>
                    <div class="state">
                        <a href="subscription/1" rel="group"></a>
                        <a href="ws://127.0.0.1:7777/poll/1" rel="self"></a>
                        <ul>
                            <li class="rap-value-ev" title="value">
                                <a href="/rw/rapid/symbol/RAPID/T_ROB1/MainModule/numt/data;value" rel="self"/>
                            </li>
                            <li class="rap-data" title="RAPID/T_ROB1/MainModule/numt">
                                <span class="value">4</span>
                            </li>
                        </ul>
                    </div>
                </body>
            </html>

         **Sample Call** 

         Update a num: curl -u "Default User":robotics -X POST -d "value=10" "https://localhost/rw/rapid/symbol/RAPID/T_ROB1/user/reg1/data?initval=true" 

         Update a string: curl -u "Default User":robotics -X POST -d "value=10" "https://localhost/rw/rapid/symbol/RAPID/T_ROB1/MyMod/SStr/data?initval=true" 

         Update a num: curl -u "Default User":robotics -X POST -d "value=10" "https://localhost/rw/rapid/symbol/RAPID/T_ROB1/user/reg1/data" 

         Update a string: curl -u "Default User":robotics -X POST -d "value=10" "https://localhost/rw/rapid/symbol/RAPID/T_ROB1/MyMod/SStr/data" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None


        **Limitation**: None


        **Example java script**: 

        ```

        const https = require('https')

        //To disable SSL

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')

        const data = 'state=running&name=Local';

        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/symbol/{symbolurl}/data',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        console.log(res.headers.location)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.write(data)

        req.end()

        ```
         


      parameters:
        - name: symbolurl
          in: path
          description: '{symbolurl}'
          required: true
          schema:
            type: string
        - name: initval
          in: query
          description: >-
            {true|false}  by default initval will be false. true- set the
            initial value. false- set the current value value.
          required: false
          schema:
            type: string
        - name: log
          in: query
          description: >-
            {true|false}  changes will be updated in elog (not applicable in
            updating initial value). Default value is false.
          required: false
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - value
              properties:
                value:
                  description: '{value_num}'
                  type: string
              example: value=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/symbols/validate:
    post:
      tags:
        - Operations on RAPID Symbols
      summary: Validate RAPID Variable
      description: >+
        **Description :** Validate rapid variable.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "task=T_ROB1&value=[TRUE,[[0,0,0],[-1,0,0,0]],[1,[0,0,-1],[1,0,0,0],0,0,0]]&datatype=tooldata" "https://localhost/rw/rapid/symbols/validate" 

         __Notes__ : None.

        **Pre-requisites**: None


        **Limitation**: None


        **Example java script**: 

        ```

        const https = require('https')

        //To disable SSL

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')

        const data =
        'datatype=tooldata&task=T_ROB1&value=[TRUE,[[0,0,0],[-1,0,0,0]],[1,[0,0,-1],[1,0,0,0],0,0,0]]';

        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/symbols/validate',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        console.log(res.headers.location)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.write(data)

        req.end()

        ```
         


      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - task
                - datatype
                - value
              properties:
                task:
                  description: task name
                  type: string
                datatype:
                  description: Rapid base data type
                  type: string
                value:
                  description: Rapid variable value
                  type: string
              example: >-
                task=T_ROB1&value=[TRUE,[[0,0,0],[-1,0,0,0]],[1,[0,0,-1],[1,0,0,0],0,0,0]]&datatype=tooldata
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/symbol/{symbolurl}/properties:
    get:
      tags:
        - Operations on RAPID Symbols
      summary: Get RAPID Symbol Properties
      description: |+
        **Description :** Returns a rapid symbol properties."

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/symbol/RAPID/T_ROB1/user/reg1/properties" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/symbol/{symbolurl}/properties',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: symbolurl
          in: path
          description: '{symbolurl}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  symburl:
                    description: Symbol URL
                  symtyp:
                    description: >-
                      Symbol type {udef | atm | rec | ali | rcp | con | var |
                      per | par | lab | for | fun | prc | trp | mod | tsk | any}
                  named:
                    description: '{True | False}'
                  dattyp:
                    description: Data type
                  ndim:
                    description: Number of array dimensions
                  dim:
                    description: Array dimensions
                  heap:
                    description: '{True | False} TRUE if heap allocated'
                  linked:
                    description: '{True | False} TRUE if definition is complete'
                  local:
                    description: '{True | False} FALSE if global module persistent'
                  ro:
                    description: '{True | False} TRUE if persistent is readonly'
                  taskvar:
                    description: '{True | False} TRUE if var is global within task'
                  storage:
                    description: Symbol declaration storage
                  typurl:
                    description: URL to type symbol
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                      <head>
                        <base href="https://192.168.8.105/rw/rapid/"/>
                      </head><body>
                        <div class="state">
                          <a href="symbol/RAPID/T_ROB1/user/reg1/properties" rel="self"></a>
                          <ul>
                            <li class="rap-sympropvar" title="RAPID/T_ROB1/user/reg1">
                              <a href="symbol/RAPID/T_ROB1/user/reg1/data" class="rap-data"></a>
                              <span class="symburl">RAPID/T_ROB1/user/reg1</span>
                              <span class="symtyp">var</span>
                              <span class="named">true</span>
                              <span class="dattyp">num</span>
                              <span class="ndim">0</span>
                              <span class="dim"></span>
                              <span class="heap">true</span>
                              <span class="linked">true</span>
                              <span class="local">false</span>
                              <span class="ro">false</span>
                              <span class="taskvar">false</span>
                              <span class="storage">loaded</span>
                              <span class="typurl">RAPID/num</span>
                            </li>
                          </ul>
                        </div>
                      </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  symburl:
                    description: Symbol URL
                  symtyp:
                    description: >-
                      Symbol type {udef | atm | rec | ali | rcp | con | var |
                      per | par | lab | for | fun | prc | trp | mod | tsk | any}
                  named:
                    description: '{True | False}'
                  dattyp:
                    description: Data type
                  ndim:
                    description: Number of array dimensions
                  dim:
                    description: Array dimensions
                  heap:
                    description: '{True | False} TRUE if heap allocated'
                  linked:
                    description: '{True | False} TRUE if definition is complete'
                  local:
                    description: '{True | False} FALSE if global module persistent'
                  ro:
                    description: '{True | False} TRUE if persistent is readonly'
                  taskvar:
                    description: '{True | False} TRUE if var is global within task'
                  storage:
                    description: Symbol declaration storage
                  typurl:
                    description: URL to type symbol
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/taskselection:
    get:
      tags:
        - Operations on RAPID Taskpanel
      summary: Get User Modify from Taskpanel
      description: >+
        **Description :** Get rapid user modify value from taskpanel.


        The resource can be subscribed (Tasks Panel Change) using /subscription
        with resource uri /rw/rapid/taskselection;taskpanelchange


        Sample response for Tasks Panel Change subscription

            <?xml version="1.0" encoding="utf-8"?>
            <html xmlns="http://www.w3.org/1999/xhtml">
            <head>
              <base href="https://localhost/"/>
            </head>
            <body>
              <div class="state">
                <a href="subscription/4" rel="group"/>
                <a href="ws://localhost/poll/4" rel="self"/>
              </div>
            </body>
            </html>

        A task panel change event look like

            <?xml version="1.0" encoding="utf-8"?>
            <html xmlns="http://www.w3.org/1999/xhtml">
            <head>
              <base href="https://localhost/"/>
            </head>
            <body>
              <div class="state">
                <a href="subscription/4" rel="group"/>
                <a href="ws://localhost/poll/4" rel="self"/>
                <ul>
                  <li class="rap-taskpanel-ev" title="taskpanel">
                  <a href="/rw/rapid/taskselection;taskpanelchange" rel="self"/>
                  <span class="change-count">2</span>
                  </li>
                </ul>
              </div>
            </body>
            </html>

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/taskselection" 

         __Notes__  None.

        **Pre-requisites**: None


        **Limitation**: None






        **Example java script**: 

        ```

        const https = require('https')

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')


        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/taskselection',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.end()

        ```
         


      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-taskselection:
                    description: Rapid tasks user modify flag.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                      <head>
                      <base href="https://localhost/rw/rapid/"/>
                      </head>
                      <body>
                      <div class="state">
                        <a href="taskselection" rel="self">
                        </a>
                        <ul>
                        <li class="rap-taskselection" title="T_ROB1">
                          <span class="name">T_ROB1</span>
                          <span class="state">ON</span>
                          <span class="motiontask">TRUE</span>
                          <span class="usermodify">TRUE</span>
                        </li>
                        <li class="rap-taskselection" title="T_ROB2">
                          <span class="name">T_ROB2</span>
                          <span class="state">ON</span>
                          <span class="motiontask">TRUE</span>
                          <span class="usermodify">TRUE</span>
                        </li>
                        <li class="rap-taskselection" title="T_ROB3">
                          <span class="name">T_ROB3</span>
                          <span class="state">ON</span>
                          <span class="motiontask">TRUE</span>
                          <span class="usermodify">TRUE</span>
                        </li>
                        <li class="rap-taskselection" title="T_ROB4">
                          <span class="name">T_ROB4</span>
                          <span class="state">ON</span>
                          <span class="motiontask">TRUE</span>
                          <span class="usermodify">TRUE</span>
                        </li>
                        </ul>
                      </div>
                      </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-taskselection:
                    description: Rapid tasks user modify flag.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/execution:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get RAPID Program Counter Position
      description: |+
        **Description :** Get program counter position.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/execution" 

         __Notes__  None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/execution',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-pcp:
                    description: Rapid Program Counter Position Resource.
                  module:
                    description: Gives Module name.
                  routine:
                    description: Gives Routine name.
                  startline:
                    description: Gives Start line.
                  startcol:
                    description: Gives Start column.
                  endline:
                    description: Gives End line.
                  endcol:
                    description: Gives End column.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                      <base href="https://127.0.0.1:9898/rw/rapid/"/>
                    </head>
                    <body>
                      <div class="state">
                        <a href= "tasks/T_ROB1/execution" rel="self"/>
                        <ul>
                        <li class="rap-pcp">
                          <span class="module">mymodule</span>
                          <span class="routine">routine1</span>
                          <span class="startline">10</span>
                          <span class="startcol">10</span>
                          <span class="endline">1</span>
                          <span class="endcol">1</span>
                        </li>
                        </ul>
                      </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-pcp:
                    description: Rapid Program Counter Position Resource.
                  module:
                    description: Gives Module name.
                  routine:
                    description: Gives Routine name.
                  startline:
                    description: Gives Start line.
                  startcol:
                    description: Gives Start column.
                  endline:
                    description: Gives End line.
                  endcol:
                    description: Gives End column.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get RAPID Tasks
      description: >+
        **Description :** Returns a list of all rapid tasks.


        The resource can be subscribed (Build Log Change) using /subscription
        with resource uri /rw/rapid/tasks;buildlogchange


        Sample response for Build Log Change subscription

            <?xml version="1.0" encoding="utf-8"?>
            <html xmlns="http://www.w3.org/1999/xhtml">
            <head>
                <base href="https://localhost/"/>
            </head>
            <body>
                <div class="state">
                <a href="subscription/4" rel="group"/>
                <a href="ws://localhost/poll/4" rel="self"/>
                </div>
            </body>
            </html>

        A build log change event look like 

            <?xml version="1.0" encoding="utf-8"?>
            <html xmlns="http://www.w3.org/1999/xhtml">
            <head>
                <base href="https://localhost/"/>
            </head>
            <body>
                <div class="state">
                <a href="subscription/4" rel="group"/>
                <a href="ws://localhost/poll/4" rel="self"/>
                <ul>
                    <li class="rap-buildlog-ev" title="buildlog">
                    <a href="/rw/rapid/tasks;buildlogchange" rel="self"/>
                    <span class="task-name">T_ROB1</span>
                    <span class="build-count">16</span>
                    <span class="build-log-change">SYS_CTRL_S_RAPID_SEMANTIC_ERROR</span>
                    </li>
                </ul>
                </div>
            </body>
            </html>

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks" 

         __Notes__ : None.

        **Pre-requisites**: None


        **Limitation**: None






        **Example java script**: 

        ```

        const https = require('https')

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')


        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.end()

        ```
         


      parameters:
        - name: continue-on-err
          in: query
          description: >-
            {1|0}  Default value is 0. In case input is 1, the API continues
            execution even if any error occurs in between.
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-task-li:
                    description: RAPID tasks resource list item
                  name:
                    description: Task name
                  type:
                    description: Task type can be normal, static, semistatic or unknown.
                  taskstate:
                    description: >-
                      Task state can be empty, initiated, linked, loaded or
                      uninitialized.
                  excstate:
                    description: >-
                      Task execution state can be ready, stopped, started or
                      uninitialized.
                  active:
                    description: Task active state.
                  motiontask:
                    description: Motion state of task.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html
                      xmlns="http://www.w3.org/1999/xhtml">
                      <head>
                      <base href="https://127.0.0.1:80/rw/rapid/"/>
                      </head>
                      <body>
                      <div class="state">
                        <a href="tasks" rel="self"></a>
                        <ul>
                        <li class="rap-tasks-spy-li" title="spy">
                          <a href="tasks/spy" rel="self"></a>
                        </li>
                        <li class="rap-tasks-syncstate-pp-li" title="program-pointer">
                          <a href="tasks/syncstate/program-pointer" rel="self"></a>
                        </li>
                        <li class="rap-tasks-syncstate-mp-li" title="motion-pointer">
                          <a href="tasks/syncstate/motion-pointer" rel="self"></a>
                        </li>
                        <li class="rap-task-li" title="T_ROB1">
                          <a href="tasks/T_ROB1" rel="self"></a>
                          <span class="name">T_ROB1</span>
                          <span class="type">normal</span>
                          <span class="taskstate">linked</span>
                          <span class="excstate">ready</span>
                          <span class="active">On</span>
                          <span class="motiontask">TRUE</span>
                        </li>
                        </ul>
                      </div>
                      </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-task-li:
                    description: RAPID tasks resource list item
                  name:
                    description: Task name
                  type:
                    description: Task type can be normal, static, semistatic or unknown.
                  taskstate:
                    description: >-
                      Task state can be empty, initiated, linked, loaded or
                      uninitialized.
                  excstate:
                    description: >-
                      Task execution state can be ready, stopped, started or
                      uninitialized.
                  active:
                    description: Task active state.
                  motiontask:
                    description: Motion state of task.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
      security:
        - basicAuth: []
  /rw/rapid/tasks/spy:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get RAPID Spy Logging Status
      description: |+
        **Description :** Get rapid spy logging status.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/spy" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/spy',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  status:
                    description: Rapid spy logging status {Logging|Not Logging}
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html>
                    <head>
                    <base href="https://localhost:7777/rw/rapid/" />
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/spy" rel="self"/>
                    <ul>
                    <li class="rap-spy-status" title="spy-status">
                    <span class="status">Not Logging</span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  status:
                    description: Rapid spy logging status {Logging|Not Logging}
                xml:
                  name: data
                  wrapped: true
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/spy/start:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Start RAPID Spy Logging
      description: |+
        **Description :** Starts rapid spy logging.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "log-file=log.txt" -X POST "https://localhost/rw/rapid/tasks/spy/start" 

         __Notes__ 

         + By default, log file will be created in HOME folder.
         + Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        const data = 'log-file=log.txt';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/spy/start',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - log-file
              properties:
                log-file:
                  description: '{file-path}'
                  type: string
              example: log-file=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/spy/stop:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Stop RAPID Spy Logging
      description: |+
        **Description :** Stops rapid spy logging.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST "https://localhost/rw/rapid/tasks/spy/stop" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/spy/stop',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/activate:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Activate RAPID Tasks
      description: |+
        **Description :** Activate/Deactivate rapid tasks in the task panel.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/deactivate" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/deactivate',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/deactivate:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Deactivate RAPID Tasks
      description: |-
        "Activate/Deactivate rapid tasks in the task panel."

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/deactivate" 

         __Notes__ 

         Mastership is required.
      parameters:
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/syncstate/program-pointer:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Program Pointer Sync State for all Tasks
      description: |+
        **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/syncstate/program-pointer" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/syncstate/program-pointer',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-sync-state:
                    description: Program Pointer Sync State resource.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://127.0.0.1:9898/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/syncstate/program-pointer" rel="self"/>
                    <ul>
                    <li class="rap-sync-state" title="sync-state">
                    <span class="program-pointer-state">On</span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-sync-state:
                    description: Program Pointer Sync State resource.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/calibration:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Set Calibration for Single/Dual Armed Robot
      description: |+
        **Description :** Calibration for a single/dual armed robot.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "task1=T_ROB1&selected_joints1=[1,1,1,1,0,0,0]" -X POST "https://localhost/rw/rapid/tasks/calibration" 

         __Notes__ 

         - "task2" and "selected_joints2" data parameters will be required for dual armed Robot. 
         - Motors should be in OFF state.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        const data = 'task1=T_ROB1&selected_joints1=[1,1,1,1,0,0,0]';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/calibration',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - task1
                - selected_joints1
              properties:
                task1:
                  description: '{task-name}'
                  type: string
                selected_joints1:
                  description: '[0,0,0,0,0,0,0]'
                  type: string
                task2:
                  description: '{task-name}'
                  type: string
                selected_joints2:
                  description: '[0,0,0,0,0,0,0] selected_joints  values should be 1 or 0'
                  type: string
                fineCalibration:
                  description: '{TRUE|FALSE} Default value:FALSE'
                  type: string
              example: >-
                task1=string&selected_joints1=string&task2=string&selected_joints2=string&fineCalibration=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/syncstate/motion-pointer:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Motion Pointer Sync State for all Tasks
      description: |+
        **Description :** Get the motion pointer sync state for all tasks.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/syncstate/motion-pointer" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/syncstate/motion-pointer',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-sync-state:
                    description: Rapid sync state resource.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://127.0.0.1:9898/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/syncstate/motion-pointer" rel="self"/>
                    <ul>
                    <li class="rap-sync-state" title="sync-state">
                    <span class="motion-pointer-state">Off</span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-sync-state:
                    description: Rapid sync state resource.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}:
    get:
      tags:
        - RobotWebServices
      summary: Get RAPID Task State
      description: >-
        **Description :** Returns the rapid task resource. Retcode is provided
        if API fails.


        The resource can be subscribed (RAPID task change) using /subscription
        with resource uri /rw/rapid/tasks/{task}; taskchange. On subscription,
        an empty initial event will be generated.


        Sample response for RAPID task change subscription:


        <?xml version="1.0" encoding="utf-8"?>

        <html xmlns="http://www.w3.org/1999/xhtml">

        <head>

        <base href="https://localhost/"/>

        </head>

        <body>

        <div class="state">

        <a href="subscription/4" rel="group"/>

        <a href="ws://localhost/poll/4" rel="self"/>

        </div>

        </body>

        </html>


        A task change event looks like:


        <?xml version="1.0" encoding="utf-8"?>

        <html xmlns="http://www.w3.org/1999/xhtml">

        <head>

        <base href="https://localhost/"/>

        </head>

        <body>

        <div class="state">

        <a href="subscription/4" rel="group"/>

        <a href="ws://localhost/poll/4" rel="self"/>

        <ul>

        <li class="rap-task-ev" title="taskchange">

        <a href="/rw/rapid/tasks/T_ROB1;taskchange" rel="self"/>

        <span class="change-count">15262</span>

        <span class="task-name">T_ROB1</span>

        <span class="module-name">MainModule</span>

        <span class="program-name"></span>

        <span class="changetype">module</span>

        </li>

        </ul>

        </div>

        </body>

        </html>


        The resource can also be subscribed (RAPID PP Sync State Change) using
        /subscription with resource uri /rw/rapid/tasks/{task}; syncstatechange.
        On subscription, an empty initial event will be generated followed by
        the current value.


        Sample response for RAPID PP Sync State Change subscription:


        <?xml version="1.0" encoding="utf-8"?>

        <html xmlns="http://www.w3.org/1999/xhtml">

        <head>

        <base href="https://localhost/"/>

        </head>

        <body>

        <div class="state">

        <a href="subscription/4" rel="group"/>

        <a href="ws://localhost/poll/4" rel="self"/>

        </div>

        </body>

        </html>


        A task sync state change event looks like:


        <?xml version="1.0" encoding="utf-8"?>

        <html xmlns="http://www.w3.org/1999/xhtml">

        <head>

        <base href="https://localhost/"/>

        </head>

        <body>

        <div class="state">

        <a href="subscription/4" rel="group"/>

        <a href="ws://localhost/poll/4" rel="self"/>

        <ul>

        <li class="rap-syncstate-ev" title="syncstatechange">

        <a href="/rw/rapid/tasks/T_ROB1;syncstatechange" rel="self"/>

        <span class="sync-state">off</span>

        </li>

        </ul>

        </div>

        </body>

        </html>


        The resource can also be subscribed (RAPID task sync state change) using
        /subscription with resource uri /rw/rapid/tasks/{taskname}; excstate. On
        subscription, an empty initial event will be generated followed by the
        current value.


        Sample response for RAPID task PGM Execution State Change subscription:


        <?xml version="1.0" encoding="utf-8"?>

        <html xmlns="http://www.w3.org/1999/xhtml">

        <head>

        <base href="https://localhost/"/>

        </head>

        <body>

        <div class="state">

        <a href="subscription/4" rel="group"/>

        <a href="ws://localhost/poll/4" rel="self"/>

        </div>

        </body>

        </html>


        A task PGM Execution State Change event looks like:


        <?xml version="1.0" encoding="utf-8"?>

        <html xmlns="http://www.w3.org/1999/xhtml">

        <head>

        <base href="https://localhost/"/>

        </head>

        <body>

        <div class="state">

        <a href="subscription/4" rel="group"/>

        <a href="ws://localhost/poll/4" rel="self"/>

        <ul>

        <li class="rap-execstate-ev" title="execstatechange">

        <a href="/rw/rapid/tasks/T_ROB1;excstate" rel="self"/>

        <span class="task-name">T_ROB1</span>

        <span class="pgmtaskexec-state">started</span>

        </li>

        </ul>

        </div>

        </body>

        </html>


        Sample response in case of any error from APIs, Retcode is provided
        under <a> tag.


        <?xml version="1.0" encoding="utf-8"?>

        <html xmlns="http://www.w3.org/1999/xhtml">

        <head>

        <base href="https://localhost/rw/rapid/"/>

        </head>

        <body>

        <div class="state">

        <a href="tasks/T_ROB1" rel="self"></a>

        <a href="tasks/T_ROB1" rel="self"></a>

        <ul>

        <li class="rap-tasks-program-li" title="program">

        <a href="tasks/T_ROB1/program" rel="self"></a>

        </li>

        <li class="rap-tasks-module-li" title="module">

        <a href="tasks/T_ROB1/modules" rel="self"></a>

        </li>

        <li class="rap-tasks-pref-data-types-li" title="pref-data-types">

        <a href="tasks/T_ROB1/pref-data-types" rel="self"></a>

        </li>

        <li class="rap-tasks-activation-record-li" title="activation-record">

        <a href="tasks/T_ROB1/activation-record" rel="self"></a>

        </li>

        <li class="rap-tasks-structural-changecount-li"
        title="structural-changecount">

        <a href="tasks/T_ROB1/structural-changecount" rel="self"></a>

        </li>

        <li class="rap-tasks-syncstate-pp-li" title="program-pointer">

        <a href="tasks/T_ROB1/syncstate/program-pointer" rel="self"></a>

        </li>

        <li class="rap-tasks-syncstate-mp-li" title="motion-pointer">

        <a href="tasks/T_ROB1/syncstate/motion-pointer" rel="self"></a>

        </li>

        <li class="rap-tasks-pallet-li" title="pallet">

        <a href="tasks/T_ROB1/pallet/9" rel="self"></a>

        </li>

        <li class="rap-tasks-pallet-head-li" title="pallet-head">

        <a href="tasks/T_ROB1/pallet-head" rel="self"></a>

        </li>

        <li class="rap-tasks-motion-li" title="motion">

        <a href="tasks/T_ROB1/motion" rel="self"></a>

        </li>

        <li class="rap-task" title="T_ROB1">

        <span class="name">T_ROB1</span>

        <span class="type">normal</span>

        <span class="taskstate">linked</span>

        <span class="excstate">ready</span>

        <span class="active">On</span>

        <span class="motiontask">True</span>

        <span class="trust">None</span>

        <span class="taskID">1</span>

        <span class="execmode">unknown</span>

        <span class="execcycle">forever</span>

        <span class="exectype">None</span>

        <span class="prodentrypt">main</span>

        <span class="bind_ref">True</span>

        <span class="task_in_forgnd"></span>

        <a href="https://localhost:443/rw/retcode?code=-1073442809" rel="error"
        class="execlevel"/>

        </li>

        </ul>

        </div>

        </body>

        </html>


        **Sample Call**


        curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0"
        "https://localhost/rw/rapid/tasks/T_ROB1"


        __Notes__


        None.
      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: continue-on-err
          in: query
          description: '{1|0}  Default value is 0...'
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                type: object
                properties:
                  rap-task:
                    type: object
                    description: Rapid task resource
                  program:
                    type: string
                    description: Link to the program loaded into the task
                  modules:
                    type: array
                    description: Link to modules loaded into the task
                    items:
                      type: string
                  name:
                    type: string
                    description: Task Name
                  type:
                    type: string
                    description: Type of Task [normal, static, semistatic]
                  taskstate:
                    type: string
                    description: Task state can be empty, initiated, linked or loaded.
                  excstate:
                    type: string
                    description: >-
                      Task execution state can be ready, stopped, started or
                      uninitialized.
                  active:
                    type: boolean
                    description: Task is active or not
                  motiontask:
                    type: boolean
                    description: Motion Task is active or not [True, False]
                  trust:
                    type: string
                    description: Task trust level [SysFail, SysHalt, SysStop, None]
                  taskID:
                    type: integer
                    description: Task ID
                  execlevel:
                    type: string
                    description: Task Execution Level [None, Normal, Trap, User, Unknown]
                  execmode:
                    type: string
                    description: PGM execution mode...
                  execcycle:
                    type: string
                    description: PGM Current run cycle...
                  exectype:
                    type: string
                    description: Program execution Type...
                  prodentrypt:
                    type: string
                    description: RAPID program entry point...
                  bind_ref:
                    type: boolean
                    description: Task has configurated/Binded with Number...
                  task_in_forgnd:
                    type: string
                    description: Name of the foreground task
                additionalProperties: false
              examples:
                response:
                  value: <?xml version="1.0" encoding="UTF-8"?>...
            application/hal+json;v=2.0:
              schema:
                type: object
                properties:
                  rap-task:
                    type: object
                    description: Rapid task resource
                  program:
                    type: string
                    description: Link to the program loaded into the task
                  modules:
                    type: array
                    description: Link to modules loaded into the task
                    items:
                      type: string
                  name:
                    type: string
                    description: Task Name
                  type:
                    type: string
                    description: Type of Task [normal, static, semistatic]
                  taskstate:
                    type: string
                    description: Task state can be empty, initiated, linked or loaded.
                  excstate:
                    type: string
                    description: >-
                      Task execution state can be ready, stopped, started or
                      uninitialized.
                  active:
                    type: boolean
                    description: Task is active or not
                  motiontask:
                    type: boolean
                    description: Motion Task is active or not [True, False]
                  trust:
                    type: string
                    description: Task trust level [SysFail, SysHalt, SysStop, None]
                  taskID:
                    type: integer
                    description: Task ID
                  execlevel:
                    type: string
                    description: Task Execution Level [None, Normal, Trap, User, Unknown]
                  execmode:
                    type: string
                    description: PGM execution mode...
                  execcycle:
                    type: string
                    description: PGM Current run cycle...
                  exectype:
                    type: string
                    description: Program execution Type...
                  prodentrypt:
                    type: string
                    description: RAPID program entry point...
                  bind_ref:
                    type: boolean
                    description: Task has configurated/Binded with Number...
                  task_in_forgnd:
                    type: string
                    description: Name of the foreground task
                additionalProperties: false
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task_name}/pref-data-types:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Preferable Data Types
      description: |+
        **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/pref-data-types?instruction=AliasIO&parameter=FromSignal" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task_name}/pref-data-types',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: task_name
          in: path
          description: '{task_name}'
          required: true
          schema:
            type: string
        - name: instruction
          in: query
          description: '{AliasIO}'
          required: true
          schema:
            type: string
        - name: parameter
          in: query
          description: '{FromSignal}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  task-pref-data-types:
                    description: Get Preferable Data Types resources
                  name-prefdattype:
                    description: Name of the signal
                  type-prefdattype:
                    description: Data type of signal
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://localhost:443/rw/rapid/"/>

                    </head>

                    <body>

                    <div class="state">

                    <a href="tasks/pref-data-types/pref-data-types" rel="self"/>

                    <ul>

                    <li class="rap-task-pref-data-types"
                    title="pref-data-types1">

                    <span class="name-prefdattype">signaldi</span>

                    <span class="type-prefdattype">dattyp</span>

                    </li>

                    <li class="rap-task-pref-data-types"
                    title="pref-data-types2">

                    <span class="name-prefdattype">signaldo</span>

                    <span class="type-prefdattype">dattyp</span>

                    </li>

                    <li class="rap-task-pref-data-types"
                    title="pref-data-types3">

                    <span class="name-prefdattype">signalgi</span>

                    <span class="type-prefdattype">dattyp</span>

                    </li>

                    <li class="rap-task-pref-data-types"
                    title="pref-data-types4">

                    <span class="name-prefdattype">signalgo</span>

                    <span class="type-prefdattype">dattyp</span>

                    </li>

                    <li class="rap-task-pref-data-types"
                    title="pref-data-types5">

                    <span class="name-prefdattype">signalgo</span>

                    <span class="type-prefdattype">dattyp</span>

                    </li>

                    <li class="rap-task-pref-data-types"
                    title="pref-data-types6">

                    <span class="name-prefdattype">signalgo</span>

                    <span class="type-prefdattype">dattyp</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  task-pref-data-types:
                    description: Get Preferable Data Types resources
                  name-prefdattype:
                    description: Name of the signal
                  type-prefdattype:
                    description: Data type of signal
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/abortexeclevel:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Abort Current Execution Level
      description: |+
        **Description :** Abort current execution level.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/abortexeclevel" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/abortexeclevel',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/loadmod:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Load RAPID Module into a RAPID Task
      description: |+
        **Description :** Load module into a rapid task.

         **Sample Call** 

         curl -u "Default User":robotics-H "accept: application/xhtml+xml;v=2.0" -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "modulepath=$HOME/mymod.mod" "https://localhost/rw/rapid/tasks/T_ROB1/loadmod" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        const data = 'modulepath=$HOME/MainModule.modx';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/loadmod',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - modulepath
              properties:
                modulepath:
                  description: '{module_path}'
                  type: string
                replace:
                  description: '{true | false}  Default value is false'
                  type: string
              example: modulepath=string&replace=string
        description: Data parameter(s)
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-task-module-li:
                    description: Loaded module details
                  name:
                    description: Loaded module name
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://localhost/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/T_ROB1/loadmod" rel="self"/>
                    <ul>
                    <li class="rap-task-module-li" title="loaded-module">
                    <span class="name">module_test</span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-task-module-li:
                    description: Loaded module details
                  name:
                    description: Loaded module name
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/unloadmod:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Unload Module from a RAPID Task
      description: |+
        **Description :** Unload module from a rapid task.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "module=modulename" "https://localhost/rw/rapid/tasks/T_ROB1/unloadmod" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        const data = 'module=modulename';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/unloadmod',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              properties:
                module:
                  description: '{modulename}'
                  type: string
              example: module=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/build:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Link RAPID Task
      description: |+
        **Description :** Set link of a rapid task.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/build" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/build',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/activate:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Activate RAPID Task
      description: |+
        **Description :** Activate rapid task in the task panel.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST "https://localhost/rw/rapid/tasks/activate" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/activate',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/deactivate:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Deactivate RAPID Task
      description: |+
        **Description :** Deactivate rapid task in the task panel.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST "https://localhost/rw/rapid/tasks/deactivate" 

         __Notes__ : Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/deactivate',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task_name}/activation-record:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Activation Record
      description: >+
        **Description :** An activation record consists of information needed
        for program execution, such as instances of routines parameters and
        locally defined data. Preconditions are Motors on, Load Rapid program,
        Run program

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/activation-record?stackframe=1" 

         __Notes__ 

         1. Motors on 
         2. Load Rapid program 
         3. Run program.

        **Pre-requisites**: None


        **Limitation**: None






        **Example java script**: 

        ```

        const https = require('https')

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')


        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task_name}/activation-recod',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.end()

        ```
         


      parameters:
        - name: task_name
          in: path
          description: '{task_name}'
          required: true
          schema:
            type: string
        - name: stackframe
          in: query
          description: >-
            {stack frame} The stack frame is a number starting with 1 for the
            current activation record, i.e., the activation record containing
            the user program pointer. The stack frame increases with one for
            each previous activation record until the entry point is reached.
            Default value for stackframe is 1.
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-stackframe:
                    description: Rapid-Symbol resource
                  execlevel:
                    description: Execution level (Normal/Trap/User)
                  beg-row:
                    description: begin position of row
                  beg-col:
                    description: begin position of column
                  end-row:
                    description: end position of row
                  end-col:
                    description: begin position of column
                  stack-url:
                    description: >-
                      URL to the stack frame. In the format of RAPID/{task
                      name}/{stack frame}
                  routine-url:
                    description: Routine URL
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://127.0.0.1:9898/rw/rapid/"/>

                    </head>

                    <body>

                    <div class="state">

                    <a href="tasks/T_ROB1/activation-record" rel="self"/>

                    <ul>

                    <li class="rap-stackframe" title="stackframe">

                    <span class="execlevel">Normal</span>

                    <span class="beg-row">4</span>

                    <span class="beg-col">8</span>

                    <span class="end-row">4</span>

                    <span class="end-col">18</span>

                    <span class="stack-url">RAPID/T_ROB1/%1</span>

                    <span
                    class="routine-url">RAPID/T_ROB1/MainModule/main</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-stackframe:
                    description: Rapid-Symbol resource
                  execlevel:
                    description: Execution level (Normal/Trap/User)
                  beg-row:
                    description: begin position of row
                  beg-col:
                    description: begin position of column
                  end-row:
                    description: end position of row
                  end-col:
                    description: begin position of column
                  stack-url:
                    description: >-
                      URL to the stack frame. In the format of RAPID/{task
                      name}/{stack frame}
                  routine-url:
                    description: Routine URL
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task_name}/syncstate/program-pointer:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Program Pointer Sync State
      description: |+
        **Description :** Get Program Pointer Sync State 

        **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/syncstate/program-pointer" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task_name}/syncstate/program-pointer',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: task_name
          in: path
          description: '{task_name}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-sync-state:
                    description: Rapid-sync-State resource
                  Program-Pointer-State:
                    description: Program pointer state
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://127.0.0.1:9898/rw/rapid/"/>

                    </head>

                    <body>

                    <div class="state">

                    <a href="tasks/T_ROB1/syncstate/program-pointer"
                    rel="self"/>

                    <ul>

                    <li class="rap-sync-state" title="sync-state">

                    <span class="Program-Pointer-State">On</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-sync-state:
                    description: Rapid-sync-State resource
                  Program-Pointer-State:
                    description: Program pointer state
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task_name}/syncstate/motion-pointer:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Motion Pointer Sync State
      description: |+
        **Description :** Get Motion Pointer Sync State

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/syncstate/motion-pointer" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '',
          method: 'GET',
          headers:{
           'Accep/rw/rapid/tasks/{task_name}/syncstate/motion-pointer': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: task_name
          in: path
          description: '{task_name}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-sync-state:
                    description: Rapid-sync-State resource
                  Motion-Pointer-State:
                    description: Motion pointer state
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://127.0.0.1:9898/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/T_ROB1/syncstate/motion-pointer" rel="self"/>
                    <ul>
                    <li class="rap-sync-state" title="sync-state">
                    <span class="Motion-Pointer-State">Off</span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-sync-state:
                    description: Rapid-sync-State resource
                  Motion-Pointer-State:
                    description: Motion pointer state
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task_name}/structural-changecount:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Structural Change Count
      description: |+
        **Description :** Get Structural Change Count

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/structural-changecount" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task_name}/structural-changecount',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: task_name
          in: path
          description: '{task_name}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  task-struc-change-count:
                    description: Structural Change Count resource
                  change-count:
                    description: Relevant change occurs in the system
                  struc-change-count:
                    description: >-
                      Load, Unload and renaming of modules. A rename is
                      considered to be an unload/load, from the structural point
                      of view.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://127.0.0.1/rw/rapid/"/>

                    </head>

                    <body>

                    <div class="state">

                    <a href="tasks/T_ROB1/structural-changecount" rel="self"/>

                    <ul>

                    <li class="rap-task-struc-change-count"
                    title="task-struc-change-count">

                    <span class="change-count">197</span>

                    <span class="struc-change-count">887287</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  task-struc-change-count:
                    description: Structural Change Count resource
                  change-count:
                    description: Relevant change occurs in the system
                  struc-change-count:
                    description: >-
                      Load, Unload and renaming of modules. A rename is
                      considered to be an unload/load, from the structural point
                      of view.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task_name}/pallet/{pallet_no}:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Pallet
      description: |+
        **Description :** Operations on RAPID Tasks.

        **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/pallet/9?start=1&limit=3" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task_name}/pallet/{pallet_no}',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: task_name
          in: path
          description: '{task_name}'
          required: true
          schema:
            type: string
        - name: pallet_no
          in: path
          description: >-
            {pallet_no}. pallet_no. 1  - Common, pallet_no. 2  - Prog.Flow,
            pallet_no. 3  - Various, pallet_no. 4  - Settings, pallet_no. 5  -
            Motion&Proc., pallet_no. 6  - I/O, pallet_no. 7  - Communicate,
            pallet_no. 8  - Interrupts, pallet_no. 9  - Error Rec., pallet_no.
            10 - System&Time, pallet_no. 11 - Mathematics, pallet_no. 12 - M.C
            1, pallet_no. 13 - M.C 2, pallet_no. 14 - M.C 3, pallet_no. 15 -
            MotionSetAdv, pallet_no. 16 - Motion Adv., pallet_no. 17 -
            Ext.Computer, pallet_no. 18 - MultiTasking&MultiMove, pallet_no. 19
            - RAPIDsupport, pallet_no. 20 - Calib&Service,
          required: true
          schema:
            type: string
        - name: start
          in: query
          description: '{page_no}'
          required: false
          schema:
            type: string
        - name: limit
          in: query
          description: '{elements_no}'
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-pallet:
                    description: RAPID Pallet
                  Name:
                    description: Pallet name
                  Instruction:
                    description: Pallet instruction
                  Parameter:
                    description: Pallet parameter
                  Alternative:
                    description: Pallet alternative
                  Keyword:
                    description: Pallet keyword
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://localhost:443/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/T_ROB1/pallet/9?limit=3" rel="self"/>
                    <a href="T_ROB1/pallet/9?start=2&amp;limit=3" rel="next"/>
                    <ul>
                    <li class="rap-pallet" title="pallet1">
                    <span class="Name">EXIT</span>
                    <span class="Instruction">307623174</span>
                    <span class="Parameter">0</span>
                    <span class="Alternative">0</span>
                    <span class="Keyword">1</span>
                    </li>
                    <li class="rap-pallet" title="pallet2">
                    <span class="Name">RAISE</span>
                    <span class="Instruction">307623054</span>
                    <span class="Parameter">0</span>
                    <span class="Alternative">0</span>
                    <span class="Keyword">1</span>
                    </li>
                    <li class="rap-pallet" title="pallet3">
                    <span class="Name">RETRY</span>
                    <span class="Instruction">307622934</span>
                    <span class="Parameter">0</span>
                    <span class="Alternative">0</span>
                    <span class="Keyword">1</span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-pallet:
                    description: RAPID Pallet
                  Name:
                    description: Pallet name
                  Instruction:
                    description: Pallet instruction
                  Parameter:
                    description: Pallet parameter
                  Alternative:
                    description: Pallet alternative
                  Keyword:
                    description: Pallet keyword
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task_name}/pallet-head:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get Pallet Head
      description: |+
        **Description :** Get Pallet Head.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/pallet-head?start=1&limit=5" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task_name}/pallet-head',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: task_name
          in: path
          description: '{task_name}'
          required: true
          schema:
            type: string
        - name: start
          in: query
          description: '{page_no}'
          required: false
          schema:
            type: string
        - name: limit
          in: query
          description: '{elements_no}'
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-pallet-head:
                    description: RAPID Pallet head
                  Name:
                    description: Pallet name
                  Number:
                    description: Pallet number
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://localhost:443/rw/rapid/"/>

                    </head>

                    <body>

                    <div class="state">

                    <a href="tasks/T_ROB1/pallet-head?limit=5" rel="self"/>

                    <a href="tasks/T_ROB1/pallet-head?start=2&amp;limit=5"
                    rel="next"/>

                    <ul>

                    <li class="rap-pallet-head" title="pallet-head1">

                    <span class="Name">Common</span>

                    <span class="Number">1</span>

                    </li>

                    <li class="rap-pallet-head" title="pallet-head2">

                    <span class="Name">Prog.Flow</span>

                    <span class="Number">2</span>

                    </li>

                    <li class="rap-pallet-head" title="pallet-head3">

                    <span class="Name">Various</span>

                    <span class="Number">3</span>

                    </li>

                    <li class="rap-pallet-head" title="pallet-head4">

                    <span class="Name">Settings</span>

                    <span class="Number">4</span>

                    </li>

                    <li class="rap-pallet-head" title="pallet-head5">

                    <span class="Name">Motion&amp;Proc.</span>

                    <span class="Number">5</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-pallet-head:
                    description: RAPID Pallet head
                  Name:
                    description: Pallet name
                  Number:
                    description: Pallet number
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/serviceroutine:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get RAPID Service Routine
      description: |+
        **Description :** Returns the rapid task service routines.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/serviceroutine" 

         __Notes__ : None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/serviceroutine',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: start
          in: query
          description: '{PageNumber}'
          required: false
          schema:
            type: string
        - name: limit
          in: query
          description: '{no. of elements}'
          required: false
          schema:
            type: string
        - name: allread
          in: query
          description: '{TRUE|FALSE}'
          required: false
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-task-routine:
                    description: Rapid task serviceroutine
                  Routine_name:
                    description: Name of the Routine
                  URL_to_Routine:
                    description: URL to Routine
                  service-routine:
                    description: 'TRUE: service routine, FALSE: normal routine'
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://localhost:443/rw/rapid/"/>

                    </head>

                    <body>

                    <div class="state">

                    <a href="tasks/T_ROB1/serviceroutine?limit=32" rel="self"/>

                    <ul>

                    <li class="rap-task-routine" title="routine1">

                    <span class="routine_name">SkipTaskExec</span>

                    <span
                    class="url-to-routine">RAPID/T_ROB1/BASEFUN/SkipTaskExec</span>

                    <span class="service-routine">TRUE</span>

                    </li>

                    <li class="rap-task-routine" title="routine2">

                    <span class="routine_name">LoadIdentify</span>

                    <span
                    class="url-to-routine">RAPID/T_ROB1/BASEFUN/LoadIdentify</span>

                    <span class="service-routine">TRUE</span>

                    </li>

                    <li class="rap-task-routine" title="routine3">

                    <span class="routine_name">ManLoadIdentify</span>

                    <span
                    class="url-to-routine">RAPID/T_ROB1/BASEFUN/ManLoadIdentify</span>

                    <span class="service-routine">TRUE</span>

                    </li>

                    <li class="rap-task-routine" title="routine4">

                    <span class="routine_name">WristOptimization</span>

                    <span
                    class="url-to-routine">RAPID/T_ROB1/CAL_WRIST/WristOptimization</span>

                    <span class="service-routine">TRUE</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-task-routine:
                    description: Rapid task serviceroutine
                  Routine_name:
                    description: Name of the Routine
                  URL_to_Routine:
                    description: URL to Routine
                  service-routine:
                    description: 'TRUE: service routine, FALSE: normal routine'
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/pcp:
    get:
      tags:
        - Operations on RAPID Tasks
      summary: Get RAPID Task Motion & Program Pointer Positions
      description: >+
        **Description :** Returns the rapid task PCP resources.

        The v=2.1 is supported from RW 7.1.

        The API with v=2.1 supports "modulename" tag instead of "modulemame" in
        response.

        The v=2.2 is supported from RW 7.10.

        The API with v=2.2 supports "beginposition" tag instead of "begposition"
        in response.


        The resource can be subscribed (program pointer) using /subscription
        with resource uri /rw/rapid/tasks/{taskname}/pcp;programpointerchange

        On subscription an empty initial event will be generated followed by the
        current value.


        Sample response for program pointer subscription

            <?xml version="1.0" encoding="utf-8"?>
            <html xmlns="http://www.w3.org/1999/xhtml">
            <head>
              <base href="https://localhost/"/>
            </head>
            <body>
              <div class="state">
                <a href="subscription/4" rel="group"/>
                <a href="ws://localhost/poll/4" rel="self"/>
              </div>
            </body>
            </html>

        An event will look like

            <?xml version="1.0" encoding="utf-8"?>
            <html xmlns="http://www.w3.org/1999/xhtml">
            <head>
              <base href="https://localhost/"/>
            </head>
            <body>
              <div class="state">
                <a href="subscription/4" rel="group"/>
                <a href="ws://localhost/poll/4" rel="self"/>
                <ul>
                  <li class="rap-pp-ev" title="pp">
                  <a href="/rw/rapid/tasks/T_ROB1/pcp;programpointerchange" rel="self"/>
                  <span class="module-name">MainModule</span>
                  <span class="routine-name">routine1</span>
                  <span class="BegPosLine">3</span>
                  <span class="BegPosCol">3</span>
                  <span class="EndPosLine">3</span>
                  <span class="EndPosCol">122</span>
                  </li>
                </ul>
              </div>
            </body>
            </html>

          The resource can also be subscribed (motion pointer) using /subscription with resource uri /rw/rapid/tasks/{taskname}/pcp;motionpointerchange
          
          Sample response for motion pointer. subscription
          
              <?xml version="1.0" encoding="utf-8"?>
              <html xmlns="http://www.w3.org/1999/xhtml">
              <head>
                <base href="https://localhost/"/>
              </head>
              <body>
                <div class="state">
                  <a href="subscription/4" rel="group"/>
                  <a href="ws://localhost/poll/4" rel="self"/>
                </div>
              </body>
              </html>

          An event will look like

              <?xml version="1.0" encoding="utf-8"?>
              <html xmlns="http://www.w3.org/1999/xhtml">
              <head>
              <base href="https://localhost/"/>
              </head>
              <body>
                <div class="state">
                  <a href="subscription/4" rel="group"/>
                  <a href="ws://localhost/poll/4" rel="self"/>
                  <ul>
                    <li class="rap-mp-ev" title="mp">
                    <a href="/rw/rapid/tasks/T_ROB1/pcp;motionpointerchange" rel="self"/>
                    <span class="module-name">MainModule</span>
                    <span class="routine-name">routine1</span>
                    <span class="BegPosLine">3</span>
                    <span class="BegPosCol">3</span>
                    <span class="EndPosLine">3</span>
                    <span class="EndPosCol">122</span>
                    </li>
                  </ul>
                </div>
              </body>
              </html>

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/tasks/T_ROB1/pcp" 

         __Notes__ : None.

        **Pre-requisites**: None


        **Limitation**: None






        **Example java script**: 

        ```

        const https = require('https')

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')


        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/pcp',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.end()

        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  pcp-info:
                    description: Rapid task pcp resource
                  modulemame:
                    description: Current running module.
                  routinename:
                    description: >-
                      Current routine name in module where progarm pointer and
                      motion pointer located .
                  changecount:
                    description: >-
                      Number of time progarm pointer or motion pointer relocated
                      .
                  executiontype:
                    description: >-
                      ExecutionType can be No execution context, Normal,
                      Interrupt, extrenal interrupt, user routine, event
                      routine.
                  beginposition:
                    description: begin position of programe poionter.
                  endposition:
                    description: end position of programe poionter.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://localhost:7777/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/T_ROB1/pcp" rel="self"></a>
                    <ul>
                    <li class="pcp-info" title="progpointer">
                    <span class="beginposition">9,8</span>
                    <span class="endposition">9,20</span>
                    <span class="modulename">module_test</span>
                    <span class="routinename">main</span>
                    <span class="changecount">-1</span>
                    <span class="executiontype">normal</span>
                    </li>
                    <li class="pcp-info" title="motionpointer">
                    <span class="beginposition">9,8</span>
                    <span class="endposition">9,20</span>
                    <span class="modulename">module_test</span>
                    <span class="routinename">main</span>
                    <span class="executiontype">-1</span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  pcp-info:
                    description: Rapid task pcp resource
                  modulemame:
                    description: Current running module.
                  routinename:
                    description: >-
                      Current routine name in module where progarm pointer and
                      motion pointer located .
                  changecount:
                    description: >-
                      Number of time progarm pointer or motion pointer relocated
                      .
                  executiontype:
                    description: >-
                      ExecutionType can be No execution context, Normal,
                      Interrupt, extrenal interrupt, user routine, event
                      routine.
                  beginposition:
                    description: begin position of programe poionter.
                  endposition:
                    description: end position of programe poionter.
                xml:
                  name: data
                  wrapped: true
            application/xhtml+xml;v=2.1:
              schema:
                properties:
                  pcp-info:
                    description: Rapid task pcp resource
                  modulemame:
                    description: Current running module.
                  routinename:
                    description: >-
                      Current routine name in module where progarm pointer and
                      motion pointer located .
                  changecount:
                    description: >-
                      Number of time progarm pointer or motion pointer relocated
                      .
                  executiontype:
                    description: >-
                      ExecutionType can be No execution context, Normal,
                      Interrupt, extrenal interrupt, user routine, event
                      routine.
                  beginposition:
                    description: begin position of programe poionter.
                  endposition:
                    description: end position of programe poionter.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://localhost:7777/rw/rapid/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="tasks/T_ROB1/pcp" rel="self"></a>
                    <ul>
                    <li class="pcp-info" title="progpointer">
                    <span class="beginposition">9,8</span>
                    <span class="endposition">9,20</span>
                    <span class="modulename">module_test</span>
                    <span class="routinename">main</span>
                    <span class="changecount">-1</span>
                    <span class="executiontype">normal</span>
                    </li>
                    <li class="pcp-info" title="motionpointer">
                    <span class="beginposition">9,8</span>
                    <span class="endposition">9,20</span>
                    <span class="modulename">module_test</span>
                    <span class="routinename">main</span>
                    <span class="executiontype">-1</span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.1:
              schema:
                properties:
                  pcp-info:
                    description: Rapid task pcp resource
                  modulemame:
                    description: Current running module.
                  routinename:
                    description: >-
                      Current routine name in module where progarm pointer and
                      motion pointer located .
                  changecount:
                    description: >-
                      Number of time progarm pointer or motion pointer relocated
                      .
                  executiontype:
                    description: >-
                      ExecutionType can be No execution context, Normal,
                      Interrupt, extrenal interrupt, user routine, event
                      routine.
                  beginposition:
                    description: begin position of programe poionter.
                  endposition:
                    description: end position of programe poionter.
                xml:
                  name: data
                  wrapped: true
            application/xhtml+xml;v=2.2:
              schema:
                properties:
                  pcp-info:
                    description: Rapid task pcp resource
                  modulemame:
                    description: Current running module.
                  routinename:
                    description: >-
                      Current routine name in module where progarm pointer and
                      motion pointer located .
                  changecount:
                    description: >-
                      Number of time progarm pointer or motion pointer relocated
                      .
                  executiontype:
                    description: >-
                      ExecutionType can be No execution context, Normal,
                      Interrupt, extrenal interrupt, user routine, event
                      routine.
                  beginposition:
                    description: begin position of programe poionter.
                  endposition:
                    description: end position of programe poionter.
                xml:
                  name: data
                  wrapped: true
            application/hal+json;v=2.2:
              schema:
                properties:
                  pcp-info:
                    description: Rapid task pcp resource
                  modulemame:
                    description: Current running module.
                  routinename:
                    description: >-
                      Current routine name in module where progarm pointer and
                      motion pointer located .
                  changecount:
                    description: >-
                      Number of time progarm pointer or motion pointer relocated
                      .
                  executiontype:
                    description: >-
                      ExecutionType can be No execution context, Normal,
                      Interrupt, extrenal interrupt, user routine, event
                      routine.
                  beginposition:
                    description: begin position of programe poionter.
                  endposition:
                    description: end position of programe poionter.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/pcp/cursor:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Set the Program Pointer(PP) Position to Cursor
      description: |+
        **Description :** Set the Program Pointer(PP) Position to cursor.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "module=modulename&line=6&column=14" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/pcp/cursor" 

         __Notes__ 

         + Line number and Column number should be in given routine range.
         + Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        const data = 'column=14&line=6&module=modulename&routine=routinename';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/pcp/cursor',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - module
                - line
                - column
              properties:
                module:
                  description: '{module name}'
                  type: string
                line:
                  description: '{line_number}'
                  type: string
                column:
                  description: '{column_number name}'
                  type: string
              example: module=string&line=string&column=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/pcp/routine:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Set the Program Pointer(PP) Position to Routine
      description: |+
        **Description :** Set the program pointer(PP) position to routine.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "routine=routinename&userlevel=true" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/pcp/routine" 

         __Notes__ 

         + Controller needs to be in auto mode.
         + Mastership is required.

        **Pre-requisites**: None

        **Limitation**: None

        **Example java script**: 
        ```
        const https = require('https')
        //To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')
        const data = 'userlevel=true&module=modulename&routine=routinename';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/pcp/routine',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        console.log(res.headers.location)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.write(data)
        req.end()
        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - routine
              properties:
                routine:
                  description: '{routine name}'
                  type: string
                module:
                  description: '{module name}'
                  type: string
                userlevel:
                  description: >-
                    {true | false} we should set user level to 'true' only in
                    case of service modules.Otherwise default to 'false'
                    (optional).
                  type: string
              example: routine=string&module=string&userlevel=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/pcp/routine-from-url:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Set the Program Pointer(PP) Position to Routine by URL
      description: >+
        **Description :** Set the program pointer(PP) position to routine by
        URL.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "routineurl=/RAPID/T_ROB1/module_test/main&userlevel=false" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/pcp/routine-from-url" 

         __Notes__ 

         + Controller needs to be in auto mode.
         + The routine which is declared as LOCAL  or has parameters is not allowed.
         + Mastership is required.

        **Pre-requisites**: None


        **Limitation**: None


        **Example java script**: 

        ```

        const https = require('https')

        //To disable SSL

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')

        const data = 'module=modulename&routine=routinename';

        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/pcp/routine-form-url',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        console.log(res.headers.location)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.write(data)

        req.end()

        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              required:
                - routineurl
              properties:
                routineurl:
                  description: '{ /RAPID/{taskname}/{modulename}/{routinename} }'
                  type: string
                userlevel:
                  description: >-
                    {true | false}  Needs to be true, in case of setting the PP
                    in user module. Otherwise false (optional).
                  type: string
              example: routineurl=string&userlevel=string
        description: Data parameter(s)
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/pcp/prev-inst:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Set the Program Pointer(PP) Position to Previous Instruction
      description: >+
        **Description :** Set the program pointer(PP) position to previous
        instruction.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/pcp/prev-inst" 

         __Notes__ 

         + Controller needs to be in auto mode.
         + Mastership is required.

        **Pre-requisites**: None


        **Limitation**: None


        **Example java script**: 

        ```

        const https = require('https')

        //To disable SSL

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/pcp/prev-inst',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        console.log(res.headers.location)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.write(data)

        req.end()

        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/pcp/next-inst:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Set the Program Pointer(PP) Position to Next Instruction
      description: >+
        **Description :** Set the program pointer(PP) position to next
        instruction.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/pcp/next-inst" 

         __Notes__ 

         + Controller needs to be in auto mode.
         + Mastership is required.

        **Pre-requisites**: None


        **Limitation**: None


        **Example java script**: 

        ```

        const https = require('https')

        //To disable SSL

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/pcp/next-inst',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        console.log(res.headers.location)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.write(data)

        req.end()

        ```
         


      parameters:
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/tasks/{task}/pcp/reset:
    post:
      tags:
        - Operations on RAPID Tasks
      summary: Reset RAPID Program Pointer to Main for specified task
      description: >+
        **Description :** Reset RAPID Program Pointer to Main for specified
        task.

         **Sample Call** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "module=modulename&line=6&column=14" -X POST "https://localhost/rw/rapid/tasks/T_ROB1/pcp/reset" 

         __Notes__ 

         Supported from RW7.2.

        **Pre-requisites**: None


        **Limitation**: None


        **Example java script**: 

        ```

        const https = require('https')

        //To disable SSL

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')

        const data = 'state=running&name=Local';

        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/tasks/{task}/pcp/reset',
          method: 'POST',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth
           'Content-Length': data.length
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        console.log(res.headers.location)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.write(data)

        req.end()

        ```
         


      parameters:
        - name: mastership
          in: query
          description: '{implicit | explicit}  by default mastership is explicit'
          required: false
          schema:
            type: string
        - name: task
          in: path
          description: '{task}'
          required: true
          schema:
            type: string
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []
  /rw/rapid/uiinstr:
    get:
      tags:
        - Operations on RAPID UI Instructions
      summary: Get UI Instruction Resource
      description: >+
        **Description :** Returns a list of UI instruction resources


        The resource can be subscribed (UI Events) using /subscription with
        resource uri /rw/rapid/uiinstr;uievent.

        From RW7.1, this subscription information will support UTF8 characters.


        Sample response for UI Events subscription

            

        Any empty event is sent as an initial UI event

             <?xml version="1.0" encoding="utf-8"?>
            <html xmlns="http://www.w3.org/1999/xhtml">
            <head>
            </head>
            <body>
            <a href="ws://127.0.0.1:9696/poll/1" rel="events"/>
            <div class="state">
            <ul/>
            </div>
            </body>
            </html>

        A UI event may look like.UIinstruction parameter in response is
        supported from RW7.1.

            <?xml version="1.0" encoding="utf-8"?>
            <html xmlns="http://www.w3.org/1999/xhtml">
            <head>
            </head>
            <body>
              <div class="state">
                <ul>
                  <li class="rap-ui-ev" title="uiinstruction">
                 <span class="instr">IMessageBox</span>
                  <span class="event">SEND</span>
                  <span class="stack">RAPID/T_ROB1/$67775</span>
                  <span class="execlv">NORMAL</span>
                  <span class="msg">""</span>
                  </li>
                </ul>
              </div>
            </body>
            </html>

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/uiinstr" 

         __Notes__ : None.

        **Pre-requisites**: None


        **Limitation**: None






        **Example java script**: 

        ```

        const https = require('https')

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')


        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/uiinstr',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.end()

        ```
         


      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-active-li:
                    description: Active UI instruction resource list
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://localhost/rw/rapid/uiinstr/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="" rel="self"/>
                    <ul>
                    <li class="rap-active-li" title="active">
                    <a href="active" rel="self"/>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-active-li:
                    description: Active UI instruction resource list
                xml:
                  name: data
                  wrapped: true
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/uiinstr/active:
    get:
      tags:
        - Operations on RAPID UI Instructions
      summary: Get Active UI Instruction
      description: |+
        **Description :** Returns any active UI instruction resource.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/uiinstr/active" 

         __Notes__  None.

        **Pre-requisites**: None

        **Limitation**: None





        **Example java script**: 
        ```
        const https = require('https')
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        //provide the user id and passowrd
        let encoded = Buffer.from("Default user:robotics").toString('base64')

        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/uiinstr/active',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)
        })
        })
        req.on('error', error => {
          console.error(error)
        })
        req.end()
        ```
         


      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-uiactive-li:
                    description: The pending UI instruction resource
                  instr:
                    description: >-
                      Instruction is one of {IAlphaEntry | IListView |
                      IMessageBox | IMsgBox | INumEntry | INumTune | IShow |
                      TPErase | TPReadFK | TPReadNum | TPShow | TPWrite}.
                  event:
                    description: Event is one of {SEND | POST | ABORT}.
                  stack:
                    description: The stack url, a link to the UI instruction parameters.
                  execlv:
                    description: Rapid task execution level.
                  msg:
                    description: Line of text
                  params:
                    description: >-
                      Link to UI message parameters. The parameters are defined
                      in the RAPID manual.
                  param:
                    description: Link to UI message parameter.
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://localhost/rw/rapid/uiinstr/"/>

                    </head>

                    <body>

                    <div class="state">

                    <a href="active" rel="self"/>

                    <ul>

                    <li class="rap-uiactive-li">

                    <span class="instr">TPReadNum</span>

                    <span class="event">SEND</span>

                    <span class="stack">RAPID/T_ROB1/%$104</span>

                    <span class="execlv">NORMAL</span>

                    <span class="msg"/>

                    <a href="active/params/RAPID/T_ROB1/%25%24104"
                    rel="params"/>

                    <a href="active/param/RAPID/T_ROB1/%25%2499/Result"
                    rel="param"/>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-uiactive-li:
                    description: The pending UI instruction resource
                  instr:
                    description: >-
                      Instruction is one of {IAlphaEntry | IListView |
                      IMessageBox | IMsgBox | INumEntry | INumTune | IShow |
                      TPErase | TPReadFK | TPReadNum | TPShow | TPWrite}.
                  event:
                    description: Event is one of {SEND | POST | ABORT}.
                  stack:
                    description: The stack url, a link to the UI instruction parameters.
                  execlv:
                    description: Rapid task execution level.
                  msg:
                    description: Line of text
                  params:
                    description: >-
                      Link to UI message parameters. The parameters are defined
                      in the RAPID manual.
                  param:
                    description: Link to UI message parameter.
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
      security:
        - basicAuth: []
  /rw/rapid/uiinstr/active/params/{stackurl}:
    get:
      tags:
        - Operations on RAPID UI Instructions
      summary: Get Active UI Instruction Parameters
      description: >+
        **Description :** Get active UI instruction parameters.

        This API works only for waiting instructions like UIMsgBox, UIAlphaEntry
        etc. but not for UIMsgWrite and TPWrite which are non waiting
        instructions.

         **Sample Call** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/uiinstr/active/params/RAPID/T_ROB1/%25%2499" 

         __Notes__ : None.

        **Pre-requisites**: None


        **Limitation**: None






        **Example java script**: 

        ```

        const https = require('https')

        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";

        //provide the user id and passowrd

        let encoded = Buffer.from("Default user:robotics").toString('base64')


        var auth = "Basic " + encoded;

        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/uiinstr/active/params/{stackurl}',
          method: 'GET',
          headers:{
           'Accept': 'application/hal+json;v=2.0',
            'Authorization': auth
          }
        }


        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`)
          res.on('data', d => {
        process.stdout.write(d)

        })

        })

        req.on('error', error => {
          console.error(error)
        })

        req.end()

        ```
         


      parameters:
        - name: stackurl
          in: path
          description: '{stackurl}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-uiparam-li:
                    description: UI instruction parameter
                  title:
                    description: Parameter name
                  value:
                    description: Parameter value
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: >
                    <?xml version="1.0" encoding="UTF-8"?>

                    <html xmlns="http://www.w3.org/1999/xhtml">

                    <head>

                    <base href="https://localhost/rw/rapid/uiinstr/active/"/>

                    </head>

                    <body>

                    <div class="state">

                    <a href="params" rel="self"/>

                    <ul>

                    <li class="rap-uiparams-li" title="Result">

                    <span class="value">0</span>

                    <a href="params/RAPID/T_ROB1/%25%2499/Result" rel="self"/>

                    </li>

                    <li class="rap-uiparams-li" title="TPCompleted">

                    <span class="value">FALSE</span>

                    <a href="params/RAPID/T_ROB1/%25%2499/TPCompleted"
                    rel="self"/>

                    </li>

                    <li class="rap-uiparams-li" title="Header">

                    <span class="value">"UIMsgBox Header"</span>

                    </li>

                    <li class="rap-uiparams-li" title="MsgArray">

                    <span class="value">["Message Line 1","Message Line
                    2","Message Line 3","Message Line 4","Message Line
                    5"]</span>

                    </li>

                    <li class="rap-uiparams-li" title="Wrap">

                    <span class="value">FALSE</span>

                    </li>

                    <li class="rap-uiparams-li" title="Buttons">

                    <span class="value">2</span>

                    </li>

                    <li class="rap-uiparams-li" title="Icon">

                    <span class="value">1</span>

                    </li>

                    <li class="rap-uiparams-li" title="DIpass">

                    <span class="value">FALSE</span>

                    </li>

                    <li class="rap-uiparams-li" title="DOpass">

                    <span class="value">FALSE</span>

                    </li>

                    <li class="rap-uiparams-li" title="InstrUsingIMessageBox">

                    <span class="value">"UIMsgBox"</span>

                    </li>

                    </ul>

                    </div>

                    </body>

                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-uiparam-li:
                    description: UI instruction parameter
                  title:
                    description: Parameter name
                  value:
                    description: Parameter value
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
  /rw/rapid/uiinstr/active/param/{stackurl}/{uiparam}:
    get:
      tags:
        - Operations on RAPID UI Instructions
      summary: Get Parameter Value for an Active UI Instruction
      description: |
        **Description:** Get a parameter value for an active UI instruction.

        **Sample Call:** 

         curl -u "Default User":robotics -H "accept: application/xhtml+xml;v=2.0" "https://localhost/rw/rapid/uiinstr/active/param/RAPID/T_ROB1/%25%2499/Result" 

        __Notes__ 

         This API works only for waiting instructions like UIMsgBox, UIAlphaEntry, etc., but not for UIMsgWrite and TPWrite which are non-waiting instructions. The controller supports UTF-8 character encoding for this API from RW7.1.

        **Pre-requisites:** None

        **Limitation:** None

        **Example JavaScript:** 
        ```
        const https = require('https');
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        // Provide the user ID and password
        let encoded = Buffer.from("Default User:robotics").toString('base64');
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/uiinstr/active/param/{stackurl}/{uiparam}',
          method: 'GET',
          headers: {
           'Accept': 'application/hal+json;v=2.0',
           'Authorization': auth
          }
        };

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`);
          res.on('data', d => {
            process.stdout.write(d);
          });
        });
        req.on('error', error => {
          console.error(error);
        });
        req.end();
        ```
      parameters:
        - name: stackurl
          in: path
          description: '{stackurl}'
          required: true
          schema:
            type: string
        - name: uiparam
          in: path
          description: '{uiparam}'
          required: true
          schema:
            type: string
      responses:
        '200':
          description: Standard response for successful HTTP requests
          content:
            application/xhtml+xml;v=2.0:
              schema:
                properties:
                  rap-uiparam:
                    description: UI param
                  value:
                    description: Requested UI parameter value
                xml:
                  name: data
                  wrapped: true
              examples:
                response:
                  value: |-
                    <?xml version="1.0" encoding="UTF-8"?>
                    <html xmlns="http://www.w3.org/1999/xhtml">
                    <head>
                    <base href="https://localhost/rw/rapid/uiinstr/active/"/>
                    </head>
                    <body>
                    <div class="state">
                    <a href="params" rel="self"></a>
                    <ul>
                    <li class="rap-uiparams-li" title="TPAnswer">
                    <span class="value">0</span>
                    </li>
                    <li class="rap-uiparams-li" title="TPText">
                    <span class="value">&quot;Show the layout&quot;</span>
                    </li>
                    <li class="rap-uiparams-li" title="TPFK1">
                    <span class="value">&quot;&quot;</span>
                    </li>
                    <li class="rap-uiparams-li" title="TPFK2">
                    <span class="value">&quot;&quot;</span>
                    </li>
                    <li class="rap-uiparams-li" title="TPFK3">
                    <span class="value">&quot;&quot;</span>
                    </li>
                    <li class="rap-uiparams-li" title="TPFK4">
                    <span class="value">&quot;&quot;</span>
                    </li>
                    <li class="rap-uiparams-li" title="TPFK5">
                    <span class="value">&quot;OK&quot;</span>
                    </li>
                    </ul>
                    </div>
                    </body>
                    </html>
            application/hal+json;v=2.0:
              schema:
                properties:
                  rap-uiparam:
                    description: UI param
                  value:
                    description: Requested UI parameter value
                xml:
                  name: data
                  wrapped: true
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '406':
          description: >-
            The server can only generate a response that is not accepted by the
            client
      security:
        - basicAuth: []
    post:
      tags:
        - Operations on RAPID UI Instructions
      summary: Update an Active UI Instruction Parameter
      description: |
        **Description:** Update an active UI instruction parameter.

        **Sample Call:** 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "value=0" -X POST "https://localhost/rw/rapid/uiinstr/active/param/RAPID/T_ROB1/%$104/TPFK3" 

         curl -u "Default User":robotics -H "Content-Type: application/x-www-form-urlencoded;v=2.0" -d "value=TRUE" -X POST "https://localhost/rw/rapid/uiinstr/active/param/RAPID/T_ROB1/%$104/TPCompleted" 

        __Notes__ 

         - {stackurl} ends with a variable number, which can be obtained from the "Get Active UI Instruction" API. 
         - The RAPID program should be running. 
         - Examples of {uiparam} include TPFK1, TPFK2, TPFK3, TPCompleted, etc. 
         - Mastership is required.

        **Pre-requisites:** None

        **Limitation:** None

        **Example JavaScript:** 
        ```
        const https = require('https');
        // To disable SSL
        process.env.NODE_TLS_REJECT_UNAUTHORIZED = "0";
        // Provide the user ID and password
        let encoded = Buffer.from("Default User:robotics").toString('base64');
        const data = 'value=0';
        var auth = "Basic " + encoded;
        const options = {
          hostname: 'localhost',
          port: 443,
          path: '/rw/rapid/uiinstr/active/param/{stackurl}/{uiparam}',
          method: 'POST',
          headers: {
           'Accept': 'application/hal+json;v=2.0',
           'Content-Type': 'application/x-www-form-urlencoded;v=2.0',
           'Authorization': auth,
           'Content-Length': data.length
          }
        };

        const req = https.request(options, res => {
          console.log(`statusCode: ${res.statusCode}`);
          res.on('data', d => {
            process.stdout.write(d);
            console.log(res.headers.location);
          });
        });
        req.on('error', error => {
          console.error(error);
        });
        req.write(data);
        req.end();
        ```
      parameters:
        - name: stackurl
          in: path
          description: '{stackurl}'
          required: true
          schema:
            type: string
        - name: uiparam
          in: path
          description: '{uiparam}'
          required: true
          schema:
            type: string
        - name: mastership
          in: query
          description: '{implicit | explicit} by default mastership is explicit'
          required: false
          schema:
            type: string
      requestBody:
        content:
          application/x-www-form-urlencoded;v=2.0:
            schema:
              type: object
              properties:
                value:
                  description: Value to set
                  type: string
              example:
                value: '0'
        description: >-
          Value parameter to update. For example, TPFK3 can accept a value like
          `0` and TPCompleted can accept a value like `TRUE`.
        required: true
      responses:
        '204':
          description: >-
            The request has been successfully processed, but is not returning
            any content
        '400':
          description: The request cannot be fulfilled due to bad syntax
        '403':
          description: >-
            The request was a legal request, but the server is refusing to
            respond to it
        '404':
          description: >-
            The requested page could not be found but may be available again in
            the future
        '415':
          description: >-
            The server will not accept the request, because the media type is
            not supported
      security:
        - basicAuth: []