160 lines
7.8 KiB
XML
160 lines
7.8 KiB
XML
<ROOT>
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<CONFIG>
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<IP_NUMBER>10.10.10.10</IP_NUMBER>
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<PORT>64000</PORT>
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<SENTYPE>ImFree</SENTYPE>
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<ONLYSEND>FALSE</ONLYSEND>
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</CONFIG>
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<!-- =================================================================
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RSI Channel Budget: 64 max across SEND + RECEIVE
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INTERNAL tags don't count toward the 64-channel limit
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SEND channels used: 38 (DiL, Digout x3, Source1, PosAct x6,
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AxisAct x6, ExtAct x6, MotCur x6,
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OvPro, Status)
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RECEIVE channels used: 13 (RKorr x6, AKorr x6, DiO)
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Total: 51 / 64
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All DEF_ tags are INTERNAL (free)
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================================================================= -->
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<!-- ===================== SEND: Robot to PC ========================= -->
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<SEND>
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<ELEMENTS>
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<!-- INTERNAL: Cartesian actual position (expanded to X,Y,Z,A,B,C) -->
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<ELEMENT TAG="DEF_RIst" TYPE="DOUBLE" INDX="INTERNAL" />
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<!-- INTERNAL: Cartesian setpoint position -->
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<ELEMENT TAG="DEF_RSol" TYPE="DOUBLE" INDX="INTERNAL" />
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<!-- INTERNAL: Robot axis actual positions (A1-A6 in deg) -->
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<ELEMENT TAG="DEF_AIPos" TYPE="DOUBLE" INDX="INTERNAL" />
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<!-- INTERNAL: Robot axis setpoint positions (A1-A6 in deg) -->
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<ELEMENT TAG="DEF_ASPos" TYPE="DOUBLE" INDX="INTERNAL" />
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<!-- INTERNAL: External axis actual positions (E1-E6) -->
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<ELEMENT TAG="DEF_EIPos" TYPE="DOUBLE" INDX="INTERNAL" />
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<!-- INTERNAL: External axis setpoint positions (E1-E6) -->
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<ELEMENT TAG="DEF_ESPos" TYPE="DOUBLE" INDX="INTERNAL" />
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<!-- INTERNAL: Robot motor currents (A1-A6, % of max) -->
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<ELEMENT TAG="DEF_MACur" TYPE="DOUBLE" INDX="INTERNAL" />
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<!-- INTERNAL: External motor currents (E1-E6, % of max) -->
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<ELEMENT TAG="DEF_MECur" TYPE="DOUBLE" INDX="INTERNAL" />
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<!-- INTERNAL: Late packet counter -->
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<ELEMENT TAG="DEF_Delay" TYPE="LONG" INDX="INTERNAL" />
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<!-- INTERNAL: Tech channels -->
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<ELEMENT TAG="DEF_Tech.C1" TYPE="DOUBLE" INDX="INTERNAL" />
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<ELEMENT TAG="DEF_Tech.C2" TYPE="DOUBLE" INDX="INTERNAL" />
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<ELEMENT TAG="DEF_Tech.C3" TYPE="DOUBLE" INDX="INTERNAL" />
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<ELEMENT TAG="DEF_Tech.C4" TYPE="DOUBLE" INDX="INTERNAL" />
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<ELEMENT TAG="DEF_Tech.C5" TYPE="DOUBLE" INDX="INTERNAL" />
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<ELEMENT TAG="DEF_Tech.C6" TYPE="DOUBLE" INDX="INTERNAL" />
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<ELEMENT TAG="DEF_Tech.T1" TYPE="DOUBLE" INDX="INTERNAL" />
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<ELEMENT TAG="DEF_Tech.T2" TYPE="DOUBLE" INDX="INTERNAL" />
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<ELEMENT TAG="DEF_Tech.T3" TYPE="DOUBLE" INDX="INTERNAL" />
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<ELEMENT TAG="DEF_Tech.T4" TYPE="DOUBLE" INDX="INTERNAL" />
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<ELEMENT TAG="DEF_Tech.T5" TYPE="DOUBLE" INDX="INTERNAL" />
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<ELEMENT TAG="DEF_Tech.T6" TYPE="DOUBLE" INDX="INTERNAL" />
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<!-- Channel 1: Digital input latch (from DIGIN1) -->
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<ELEMENT TAG="DiL" TYPE="LONG" INDX="1" />
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<!-- Channels 2-4: Digital output readback (from DIGOUT1-3) -->
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<ELEMENT TAG="Digout.o1" TYPE="BOOL" INDX="2" />
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<ELEMENT TAG="Digout.o2" TYPE="BOOL" INDX="3" />
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<ELEMENT TAG="Digout.o3" TYPE="BOOL" INDX="4" />
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<!-- Channel 5: Signal source (from SOURCE1) -->
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<ELEMENT TAG="Source1" TYPE="DOUBLE" INDX="5" />
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<!-- Channels 13-18: Cartesian actual position (from POSACT1) -->
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<ELEMENT TAG="PosAct.X" TYPE="DOUBLE" INDX="13" />
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<ELEMENT TAG="PosAct.Y" TYPE="DOUBLE" INDX="14" />
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<ELEMENT TAG="PosAct.Z" TYPE="DOUBLE" INDX="15" />
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<ELEMENT TAG="PosAct.A" TYPE="DOUBLE" INDX="16" />
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<ELEMENT TAG="PosAct.B" TYPE="DOUBLE" INDX="17" />
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<ELEMENT TAG="PosAct.C" TYPE="DOUBLE" INDX="18" />
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<!-- Channels 19-24: Joint axis actual positions (from AXISACT1) -->
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<ELEMENT TAG="AxisAct.A1" TYPE="DOUBLE" INDX="19" />
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<ELEMENT TAG="AxisAct.A2" TYPE="DOUBLE" INDX="20" />
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<ELEMENT TAG="AxisAct.A3" TYPE="DOUBLE" INDX="21" />
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<ELEMENT TAG="AxisAct.A4" TYPE="DOUBLE" INDX="22" />
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<ELEMENT TAG="AxisAct.A5" TYPE="DOUBLE" INDX="23" />
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<ELEMENT TAG="AxisAct.A6" TYPE="DOUBLE" INDX="24" />
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<!-- Channels 25-30: External axis actual positions (from AXISACTEXT1) -->
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<ELEMENT TAG="ExtAct.E1" TYPE="DOUBLE" INDX="25" />
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<ELEMENT TAG="ExtAct.E2" TYPE="DOUBLE" INDX="26" />
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<ELEMENT TAG="ExtAct.E3" TYPE="DOUBLE" INDX="27" />
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<ELEMENT TAG="ExtAct.E4" TYPE="DOUBLE" INDX="28" />
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<ELEMENT TAG="ExtAct.E5" TYPE="DOUBLE" INDX="29" />
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<ELEMENT TAG="ExtAct.E6" TYPE="DOUBLE" INDX="30" />
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<!-- Channels 31-36: Motor currents (from MOTORCURRENT1) -->
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<ELEMENT TAG="MotCur.A1" TYPE="DOUBLE" INDX="31" />
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<ELEMENT TAG="MotCur.A2" TYPE="DOUBLE" INDX="32" />
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<ELEMENT TAG="MotCur.A3" TYPE="DOUBLE" INDX="33" />
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<ELEMENT TAG="MotCur.A4" TYPE="DOUBLE" INDX="34" />
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<ELEMENT TAG="MotCur.A5" TYPE="DOUBLE" INDX="35" />
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<ELEMENT TAG="MotCur.A6" TYPE="DOUBLE" INDX="36" />
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<!-- Channel 37: Program override percentage (from OV_PRO1) -->
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<ELEMENT TAG="OvPro" TYPE="DOUBLE" INDX="37" />
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<!-- Channel 38: Robot status (from STATUS1) -->
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<ELEMENT TAG="Status" TYPE="LONG" INDX="38" />
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</ELEMENTS>
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</SEND>
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<!-- =================== RECEIVE: PC to Robot ======================== -->
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<RECEIVE>
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<ELEMENTS>
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<!-- INTERNAL: Status/error string to robot -->
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<ELEMENT TAG="DEF_EStr" TYPE="STRING" INDX="INTERNAL" />
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<!-- INTERNAL: Tech channels (advance parameters, PC to robot) -->
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<ELEMENT TAG="DEF_Tech.T1" TYPE="DOUBLE" INDX="INTERNAL" HOLDON="0" />
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<ELEMENT TAG="DEF_Tech.T2" TYPE="DOUBLE" INDX="INTERNAL" HOLDON="0" />
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<ELEMENT TAG="DEF_Tech.T3" TYPE="DOUBLE" INDX="INTERNAL" HOLDON="0" />
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<ELEMENT TAG="DEF_Tech.T4" TYPE="DOUBLE" INDX="INTERNAL" HOLDON="0" />
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<ELEMENT TAG="DEF_Tech.T5" TYPE="DOUBLE" INDX="INTERNAL" HOLDON="0" />
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<ELEMENT TAG="DEF_Tech.T6" TYPE="DOUBLE" INDX="INTERNAL" HOLDON="0" />
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<!-- INTERNAL: Tech channels (main run parameters, PC to robot) -->
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<ELEMENT TAG="DEF_Tech.C1" TYPE="DOUBLE" INDX="INTERNAL" HOLDON="0" />
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<ELEMENT TAG="DEF_Tech.C2" TYPE="DOUBLE" INDX="INTERNAL" HOLDON="0" />
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<ELEMENT TAG="DEF_Tech.C3" TYPE="DOUBLE" INDX="INTERNAL" HOLDON="0" />
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<ELEMENT TAG="DEF_Tech.C4" TYPE="DOUBLE" INDX="INTERNAL" HOLDON="0" />
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<ELEMENT TAG="DEF_Tech.C5" TYPE="DOUBLE" INDX="INTERNAL" HOLDON="0" />
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<ELEMENT TAG="DEF_Tech.C6" TYPE="DOUBLE" INDX="INTERNAL" HOLDON="0" />
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<!-- Channels 1-6: Cartesian corrections (to POSCORR1, HOLDON keeps last value) -->
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<ELEMENT TAG="RKorr.X" TYPE="DOUBLE" INDX="1" HOLDON="1" />
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<ELEMENT TAG="RKorr.Y" TYPE="DOUBLE" INDX="2" HOLDON="1" />
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<ELEMENT TAG="RKorr.Z" TYPE="DOUBLE" INDX="3" HOLDON="1" />
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<ELEMENT TAG="RKorr.A" TYPE="DOUBLE" INDX="4" HOLDON="1" />
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<ELEMENT TAG="RKorr.B" TYPE="DOUBLE" INDX="5" HOLDON="1" />
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<ELEMENT TAG="RKorr.C" TYPE="DOUBLE" INDX="6" HOLDON="1" />
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<!-- Channels 7-12: Joint corrections (to AXISCORR1) -->
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<ELEMENT TAG="AKorr.A1" TYPE="DOUBLE" INDX="7" HOLDON="1" />
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<ELEMENT TAG="AKorr.A2" TYPE="DOUBLE" INDX="8" HOLDON="1" />
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<ELEMENT TAG="AKorr.A3" TYPE="DOUBLE" INDX="9" HOLDON="1" />
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<ELEMENT TAG="AKorr.A4" TYPE="DOUBLE" INDX="10" HOLDON="1" />
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<ELEMENT TAG="AKorr.A5" TYPE="DOUBLE" INDX="11" HOLDON="1" />
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<ELEMENT TAG="AKorr.A6" TYPE="DOUBLE" INDX="12" HOLDON="1" />
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<!-- Channel 13: Digital output word (to MAP2DIGOUT1) -->
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<ELEMENT TAG="DiO" TYPE="LONG" INDX="13" HOLDON="1" />
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</ELEMENTS>
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</RECEIVE>
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</ROOT>
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