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+# Festo FHPP XML-RPC Server for UR10/uraxis
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+See also uraxis
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+
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+#### /
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+Index
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+
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+#### /rel(int relPos, int speed)
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+Perform relative movement by relPos ticks at speed.
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+Blocks until position reached (calls checkPos()).
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+
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+#### /abs(int targetPos, int speed)
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+Perform absolute movement to targetPos at speed.
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+Blocks until position reached (calls checkPos()).
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+
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+### /getpos()
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+Fetches live status from axis and returns current position.
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+
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+### /ready
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+Enable freedrive/teach - Mode
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+
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+### /status
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+Returns map of status flags
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+
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+### Usage
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+```python
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+Usage: <main class> [-h] [-aip=<axisIP>] [-ap=<axisPort>] [-p=<port>]
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+ -aip, --axisip=<axisIP>
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+ Axis ip address
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+ -ap, --axisport=<axisPort>
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+ Axis modbus port
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+ -h, --help display a help message
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+ -p, --port=<port> HTTP Server port
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+```
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+
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+```
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+./jdk-12+33-jre/bin/java -jar urweb-1.0-SNAPSHOT-shaded.jar
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+```
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+
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+## Deployment
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+
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+[systemd service documentation](https://www.freedesktop.org/software/systemd/man/systemd.service.html)
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+```python
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+[Unit]
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+Description=uraxisdaemon
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+After=syslog.target
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+
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+[Service]
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+Type=notify
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+NotifyAccess=all
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+WorkingDirectory=/opt/myserver/
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+ExecStart=/usr/bin/java -server -jar uraxisdaemon.jar -p=8080 -aip=192.168.30.200 -ap=30001
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+# WatchdogSec=30
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+Restart=always
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+
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+[Install]
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+WantedBy=multi-user.target
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+```
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