204 lines
9.3 KiB
XML
204 lines
9.3 KiB
XML
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
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<RSIObjects xsi:noNamespaceSchemaLocation="/Roboter/Config/System/Common/Schemes/RSIContext.xsd" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
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<!-- =================== Signal Sources (Robot State) =================== -->
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<RSIObject ObjType="POSACT" ObjTypeID="46" ObjID="POSACT1">
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<Parameters>
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<Parameter Name="Type" ParamID="1" ParamValue="1" IsRuntime="false" />
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</Parameters>
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</RSIObject>
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<RSIObject ObjType="AXISACT" ObjTypeID="44" ObjID="AXISACT1">
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<Parameters>
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<Parameter Name="Type" ParamID="1" ParamValue="1" IsRuntime="false" />
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</Parameters>
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</RSIObject>
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<RSIObject ObjType="AXISACTEXT" ObjTypeID="69" ObjID="AXISACTEXT1">
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<Parameters>
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<Parameter Name="Type" ParamID="1" ParamValue="1" IsRuntime="false" />
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</Parameters>
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</RSIObject>
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<RSIObject ObjType="MOTORCURRENT" ObjTypeID="57" ObjID="MOTORCURRENT1">
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</RSIObject>
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<RSIObject ObjType="DIGIN" ObjTypeID="29" ObjID="DIGIN1">
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<Parameters>
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<Parameter Name="Index" ParamID="1" ParamValue="1" />
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<Parameter Name="DataSize" ParamID="2" ParamValue="2" />
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</Parameters>
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</RSIObject>
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<RSIObject ObjType="DIGOUT" ObjTypeID="43" ObjID="DIGOUT1">
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<Parameters>
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<Parameter Name="Index" ParamID="1" ParamValue="1" />
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<Parameter Name="DataSize" ParamID="2" ParamValue="0" />
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</Parameters>
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</RSIObject>
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<RSIObject ObjType="DIGOUT" ObjTypeID="43" ObjID="DIGOUT2">
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<Parameters>
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<Parameter Name="Index" ParamID="1" ParamValue="2" />
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<Parameter Name="DataSize" ParamID="2" ParamValue="0" />
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</Parameters>
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</RSIObject>
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<RSIObject ObjType="DIGOUT" ObjTypeID="43" ObjID="DIGOUT3">
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<Parameters>
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<Parameter Name="Index" ParamID="1" ParamValue="3" />
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<Parameter Name="DataSize" ParamID="2" ParamValue="0" />
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</Parameters>
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</RSIObject>
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<RSIObject ObjType="SOURCE" ObjTypeID="45" ObjID="SOURCE1">
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<Parameters>
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<Parameter Name="Type" ParamID="1" ParamValue="1" />
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<Parameter Name="Offset" ParamID="2" ParamValue="0" />
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<Parameter Name="Amplitude" ParamID="3" ParamValue="0" />
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<Parameter Name="Period" ParamID="4" ParamValue="0" />
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</Parameters>
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</RSIObject>
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<RSIObject ObjType="OV_PRO" ObjTypeID="73" ObjID="OV_PRO1">
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</RSIObject>
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<RSIObject ObjType="STATUS" ObjTypeID="72" ObjID="STATUS1">
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</RSIObject>
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<!-- =================== Action Objects (PC → Robot) =================== -->
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<RSIObject ObjType="POSCORR" ObjTypeID="27" ObjID="POSCORR1">
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<Inputs>
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<Input InIdx="1" OutObjID="ETHERNET1" OutIdx="1" />
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<Input InIdx="2" OutObjID="ETHERNET1" OutIdx="2" />
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<Input InIdx="3" OutObjID="ETHERNET1" OutIdx="3" />
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<Input InIdx="4" OutObjID="ETHERNET1" OutIdx="4" />
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<Input InIdx="5" OutObjID="ETHERNET1" OutIdx="5" />
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<Input InIdx="6" OutObjID="ETHERNET1" OutIdx="6" />
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</Inputs>
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<Parameters>
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<Parameter Name="LowerLimX" ParamID="1" ParamValue="-500" />
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<Parameter Name="LowerLimY" ParamID="2" ParamValue="-500" />
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<Parameter Name="LowerLimZ" ParamID="3" ParamValue="-500" />
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<Parameter Name="UpperLimX" ParamID="4" ParamValue="500" />
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<Parameter Name="UpperLimY" ParamID="5" ParamValue="500" />
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<Parameter Name="UpperLimZ" ParamID="6" ParamValue="500" />
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<Parameter Name="MaxRotAngle" ParamID="7" ParamValue="500" />
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<Parameter Name="RefCorrSys" ParamID="1" ParamValue="1" IsRuntime="false" />
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</Parameters>
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</RSIObject>
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<RSIObject ObjType="AXISCORR" ObjTypeID="24" ObjID="AXISCORR1">
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<Inputs>
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<Input InIdx="1" OutObjID="ETHERNET1" OutIdx="7" />
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<Input InIdx="2" OutObjID="ETHERNET1" OutIdx="8" />
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<Input InIdx="3" OutObjID="ETHERNET1" OutIdx="9" />
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<Input InIdx="4" OutObjID="ETHERNET1" OutIdx="10" />
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<Input InIdx="5" OutObjID="ETHERNET1" OutIdx="11" />
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<Input InIdx="6" OutObjID="ETHERNET1" OutIdx="12" />
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</Inputs>
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<Parameters>
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<Parameter Name="LowerLimA1" ParamID="1" ParamValue="-180" />
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<Parameter Name="LowerLimA2" ParamID="2" ParamValue="-180" />
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<Parameter Name="LowerLimA3" ParamID="3" ParamValue="-180" />
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<Parameter Name="LowerLimA4" ParamID="4" ParamValue="-180" />
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<Parameter Name="LowerLimA5" ParamID="5" ParamValue="-180" />
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<Parameter Name="LowerLimA6" ParamID="6" ParamValue="-180" />
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<Parameter Name="UpperLimA1" ParamID="7" ParamValue="180" />
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<Parameter Name="UpperLimA2" ParamID="8" ParamValue="180" />
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<Parameter Name="UpperLimA3" ParamID="9" ParamValue="180" />
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<Parameter Name="UpperLimA4" ParamID="10" ParamValue="180" />
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<Parameter Name="UpperLimA5" ParamID="11" ParamValue="180" />
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<Parameter Name="UpperLimA6" ParamID="12" ParamValue="180" />
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</Parameters>
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</RSIObject>
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<RSIObject ObjType="MAP2DIGOUT" ObjTypeID="14" ObjID="MAP2DIGOUT1">
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<Inputs>
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<Input InIdx="1" OutObjID="ETHERNET1" OutIdx="13" />
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</Inputs>
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<Parameters>
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<Parameter Name="Index" ParamID="1" ParamValue="20" />
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<Parameter Name="DataSize" ParamID="2" ParamValue="2" />
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</Parameters>
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</RSIObject>
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<RSIObject ObjType="MAP2SEN_PREA" ObjTypeID="17" ObjID="MAP2SEN_PREA1">
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<Inputs>
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<Input InIdx="1" OutObjID="ETHERNET1" OutIdx="1" />
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</Inputs>
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<Parameters>
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<Parameter Name="Index" ParamID="1" ParamValue="1" />
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</Parameters>
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</RSIObject>
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<RSIObject ObjType="MAP2SEN_PREA" ObjTypeID="17" ObjID="MAP2SEN_PREA2">
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<Inputs>
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<Input InIdx="1" OutObjID="ETHERNET1" OutIdx="2" />
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</Inputs>
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<Parameters>
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<Parameter Name="Index" ParamID="1" ParamValue="2" />
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</Parameters>
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</RSIObject>
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<RSIObject ObjType="MAP2SEN_PREA" ObjTypeID="17" ObjID="MAP2SEN_PREA3">
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<Inputs>
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<Input InIdx="1" OutObjID="ETHERNET1" OutIdx="3" />
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</Inputs>
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<Parameters>
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<Parameter Name="Index" ParamID="1" ParamValue="3" />
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</Parameters>
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</RSIObject>
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<!-- =================== Monitoring =================== -->
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<RSIObject ObjType="POSCORRMON" ObjTypeID="81" ObjID="POSCORRMON1">
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<Parameters>
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<Parameter Name="MaxTrans" ParamID="1" ParamValue="500" />
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<Parameter Name="MaxRotAngle" ParamID="2" ParamValue="180" />
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</Parameters>
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</RSIObject>
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<RSIObject ObjType="AXISCORRMON" ObjTypeID="82" ObjID="AXISCORRMON1">
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<Parameters>
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<Parameter Name="MaxA1" ParamID="1" ParamValue="180" />
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<Parameter Name="MaxA2" ParamID="2" ParamValue="180" />
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<Parameter Name="MaxA3" ParamID="3" ParamValue="180" />
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<Parameter Name="MaxA4" ParamID="4" ParamValue="180" />
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<Parameter Name="MaxA5" ParamID="5" ParamValue="180" />
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<Parameter Name="MaxA6" ParamID="6" ParamValue="180" />
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<Parameter Name="MaxE1" ParamID="7" ParamValue="180" />
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<Parameter Name="MaxE2" ParamID="8" ParamValue="180" />
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<Parameter Name="MaxE3" ParamID="9" ParamValue="180" />
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<Parameter Name="MaxE4" ParamID="10" ParamValue="180" />
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<Parameter Name="MaxE5" ParamID="11" ParamValue="180" />
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<Parameter Name="MaxE6" ParamID="12" ParamValue="180" />
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</Parameters>
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</RSIObject>
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<!-- =================== ETHERNET Communication =================== -->
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<RSIObject ObjType="ETHERNET" ObjTypeID="64" ObjID="ETHERNET1">
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<Inputs>
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<Input InIdx="1" OutObjID="DIGIN1" OutIdx="1" />
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<Input InIdx="2" OutObjID="DIGOUT1" OutIdx="1" />
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<Input InIdx="3" OutObjID="DIGOUT2" OutIdx="1" />
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<Input InIdx="4" OutObjID="DIGOUT3" OutIdx="1" />
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<Input InIdx="5" OutObjID="SOURCE1" OutIdx="1" />
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<Input InIdx="13" OutObjID="POSACT1" OutIdx="1" />
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<Input InIdx="14" OutObjID="POSACT1" OutIdx="2" />
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<Input InIdx="15" OutObjID="POSACT1" OutIdx="3" />
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<Input InIdx="16" OutObjID="POSACT1" OutIdx="4" />
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<Input InIdx="17" OutObjID="POSACT1" OutIdx="5" />
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<Input InIdx="18" OutObjID="POSACT1" OutIdx="6" />
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<Input InIdx="19" OutObjID="AXISACT1" OutIdx="1" />
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<Input InIdx="20" OutObjID="AXISACT1" OutIdx="2" />
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<Input InIdx="21" OutObjID="AXISACT1" OutIdx="3" />
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<Input InIdx="22" OutObjID="AXISACT1" OutIdx="4" />
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<Input InIdx="23" OutObjID="AXISACT1" OutIdx="5" />
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<Input InIdx="24" OutObjID="AXISACT1" OutIdx="6" />
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<Input InIdx="25" OutObjID="AXISACTEXT1" OutIdx="1" />
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<Input InIdx="26" OutObjID="AXISACTEXT1" OutIdx="2" />
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<Input InIdx="27" OutObjID="AXISACTEXT1" OutIdx="3" />
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<Input InIdx="28" OutObjID="AXISACTEXT1" OutIdx="4" />
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<Input InIdx="29" OutObjID="AXISACTEXT1" OutIdx="5" />
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<Input InIdx="30" OutObjID="AXISACTEXT1" OutIdx="6" />
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<Input InIdx="31" OutObjID="MOTORCURRENT1" OutIdx="1" />
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<Input InIdx="32" OutObjID="MOTORCURRENT1" OutIdx="2" />
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<Input InIdx="33" OutObjID="MOTORCURRENT1" OutIdx="3" />
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<Input InIdx="34" OutObjID="MOTORCURRENT1" OutIdx="4" />
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<Input InIdx="35" OutObjID="MOTORCURRENT1" OutIdx="5" />
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<Input InIdx="36" OutObjID="MOTORCURRENT1" OutIdx="6" />
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<Input InIdx="37" OutObjID="OV_PRO1" OutIdx="1" />
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<Input InIdx="38" OutObjID="STATUS1" OutIdx="1" />
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</Inputs>
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<Parameters>
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<Parameter Name="ConfigFile" ParamID="1" ParamValue="RSI_EthernetConfig_Full.xml" IsRuntime="false" />
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<Parameter Name="Timeout" ParamID="1" ParamValue="100" />
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<Parameter Name="Flag" ParamID="4" ParamValue="1" />
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<Parameter Name="Precision" ParamID="8" ParamValue="1" />
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</Parameters>
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</RSIObject>
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</RSIObjects>
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