42 lines
2.2 KiB
XML
42 lines
2.2 KiB
XML
<ROOT>
|
|
<CONFIG>
|
|
<IP_NUMBER>10.10.10.10</IP_NUMBER> <!-- IP-number of the external socket -->
|
|
<PORT>64000</PORT> <!-- Port-number of the external socket -->
|
|
<SENTYPE>ImFree</SENTYPE> <!-- The name of your system send in <Sen Type="" > -->
|
|
<ONLYSEND>FALSE</ONLYSEND> <!-- TRUE means the client don't expect answers. Do not send anything to robot -->
|
|
</CONFIG>
|
|
<!-- RSI Data: TYPE= "BOOL", "STRING", "LONG", "DOUBLE" -->
|
|
<!-- INDX= "INTERNAL" switch on internal read values. Needed by DEF_... -->
|
|
<!-- INDX= "nmb" Input/Output index of RSI-Object / Maximum of RSI Channels: 64 -->
|
|
<!-- HOLDON="1", set this output index of RSI Object to the last value -->
|
|
<!-- DEF_Delay count the late packages and send it back to server -->
|
|
<!-- DEF_Tech: .T = advance .C = main run / .T1 advance set function generator 1 -->
|
|
|
|
<SEND>
|
|
<ELEMENTS>
|
|
<ELEMENT TAG="DEF_RIst" TYPE="DOUBLE" INDX="INTERNAL" />
|
|
<ELEMENT TAG="DEF_RSol" TYPE="DOUBLE" INDX="INTERNAL" />
|
|
<ELEMENT TAG="DEF_Delay" TYPE="LONG" INDX="INTERNAL" />
|
|
<ELEMENT TAG="DEF_Tech.C1" TYPE="DOUBLE" INDX="INTERNAL" />
|
|
<ELEMENT TAG="DiL" TYPE="LONG" INDX="1" />
|
|
<ELEMENT TAG="Digout.o1" TYPE="BOOL" INDX="2" />
|
|
<ELEMENT TAG="Digout.o2" TYPE="BOOL" INDX="3" />
|
|
<ELEMENT TAG="Digout.o3" TYPE="BOOL" INDX="4" />
|
|
<ELEMENT TAG="Source1" TYPE="DOUBLE" INDX="5" />
|
|
</ELEMENTS>
|
|
</SEND>
|
|
<RECEIVE>
|
|
<ELEMENTS>
|
|
<ELEMENT TAG="DEF_EStr" TYPE="STRING" INDX="INTERNAL" />
|
|
<ELEMENT TAG="DEF_Tech.T2" TYPE="DOUBLE" INDX="INTERNAL" HOLDON="0" />
|
|
<ELEMENT TAG="RKorr.X" TYPE="DOUBLE" INDX="1" HOLDON="1" />
|
|
<ELEMENT TAG="RKorr.Y" TYPE="DOUBLE" INDX="2" HOLDON="1" />
|
|
<ELEMENT TAG="RKorr.Z" TYPE="DOUBLE" INDX="3" HOLDON="1" />
|
|
<ELEMENT TAG="RKorr.A" TYPE="DOUBLE" INDX="4" HOLDON="1" />
|
|
<ELEMENT TAG="RKorr.B" TYPE="DOUBLE" INDX="5" HOLDON="1" />
|
|
<ELEMENT TAG="RKorr.C" TYPE="DOUBLE" INDX="6" HOLDON="1" />
|
|
<ELEMENT TAG="FREE" TYPE="LONG" INDX="7" HOLDON="1" />
|
|
<ELEMENT TAG="DiO" TYPE="LONG" INDX="8" HOLDON="1" />
|
|
</ELEMENTS>
|
|
</RECEIVE>
|
|
</ROOT> |