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arm_data.xml
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57 lines (57 loc) · 8.45 KB
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<?xml version="1.0" encoding="UTF-8"?>
<File ID="71DBD7A2FD2EB56C967A822797DB7752">
<Version>2</Version>
<FormType>TRANSMIT</FormType>
<CommMode>BINARY</CommMode>
<CodeTable>
<Setting Item="Robot_Error" Description="Error or Not" Type="bool" Size="1" Accessibility="R" Note1="Yes:1 No: 0" WritableMode="" />
<Setting Item="Project_Run" Description="Project Running or Not" Type="bool" Size="1" Accessibility="R" Note1="Yes:1 No: 0" WritableMode="" />
<Setting Item="Project_Pause" Description="Project Pause or Not" Type="bool" Size="1" Accessibility="R" Note1="Yes:1 No: 0" WritableMode="" />
<Setting Item="Safeguard_A" Description="Safety IO (Safeguard Port A trigger)" Type="bool" Size="1" Accessibility="R" Note1="Triggered: 1 Restored: 0" WritableMode="" />
<Setting Item="ESTOP" Description="Emergency Stop" Type="bool" Size="1" Accessibility="R" Note1="Triggered: 1 Restored: 0" WritableMode="" />
<Setting Item="Camera_Light" Description="Light" Type="byte" Size="1" Accessibility="R/W" Note1="Enable: 1 Disable: 0" WritableMode="M/A" />
<Setting Item="Error_Code" Description="Last Error Code" Type="int" Size="1" Accessibility="R" Note1="Format: Hexadecimal" WritableMode="" />
<Setting Item="Joint_Angle" Description="Joint 1 angle - Joint 6 angle" Type="float" Size="6" Accessibility="R" Note1="Unit: degree" WritableMode="" />
<Setting Item="Coord_Robot_Flange" Description="Cartesian coordinate w.r.t. Robot Base without tool" Type="float" Size="6" Accessibility="R" Note1="Unit: mm, deg" WritableMode="" />
<Setting Item="Coord_Robot_Tool" Description="Cartesian coordinate w.r.t. Robot Base with tool" Type="float" Size="6" Accessibility="R" Note1="Unit: mm, deg" WritableMode="" />
<Setting Item="TCP_Force" Description="Tool Force FX,FY,FZ" Type="float" Size="3" Accessibility="R" Note1="Unit: N" WritableMode="" />
<Setting Item="TCP_Force3D" Description="Tool Force FX,FY,FZ 3D" Type="float" Size="1" Accessibility="R" Note1="Unit: N" WritableMode="" />
<Setting Item="TCP_Speed" Description="Tool Speed X,Y,Z,RX,RY,RZ" Type="float" Size="6" Accessibility="R" Note1="Unit: mm/s, deg/s" WritableMode="" />
<Setting Item="TCP_Speed3D" Description="Tool Speed X,Y,Z 3D" Type="float" Size="1" Accessibility="R" Note1="Unit: mm/s" WritableMode="" />
<Setting Item="Joint_Speed" Description="Joint Speed" Type="float" Size="6" Accessibility="R" Note1="Unit: deg/s" WritableMode="" />
<Setting Item="Joint_Torque" Description="Joint Torque 1 - 6" Type="float" Size="6" Accessibility="R" Note1="Unit: mNm" WritableMode="" />
<Setting Item="Project_Speed" Description="Project Running Speed" Type="int" Size="1" Accessibility="R/W" Note1="Unit: %&#13;&#10;Project speed can only be written multiples of five (5≦Project Speed≦100)&#13;&#10;*Refer to safety manual for detail" WritableMode="A" />
<Setting Item="MA_Mode" Description="M/A Mode" Type="int" Size="1" Accessibility="R" Note1="None:0, A:1; M:2" WritableMode="" />
<Setting Item="Robot_Light" Description="Robot Light" Type="int" Size="1" Accessibility="R" Note1="0: Light off, when the emergency stop button is pressed.&#13;&#10;1: Solid Red, fatal error.&#13;&#10;2: Flashing Red, Robot is initializing.&#13;&#10;3: Solid Blue, standby in Auto Mode.&#13;&#10;4. Flashing Blue, in Auto Mode.&#13;&#10;5: Solid Green, standby in Manual Mode.&#13;&#10;6. Flashing Green, in Manual Mode.&#13;&#10;9: Alternating Blue&Red, Auto Mode error.&#13;&#10;10: Alternating Green&Red, Manual Mode error.&#13;&#10;13. Alternating Purple&Green, in Manual Mode (Safeguard Port B trigger).&#13;&#10;14. Alternating Purple&Blue, in Auto Mode (Safeguard Port B trigger).&#13;&#10;17. Alternating White&Green, in Manual Mode & Reduced Space.&#13;&#10;18. Alternating White&Blue, in Auto Mode & Reduced Space.&#13;&#10;19. Flashing light blue, representing that it enters the Safe Startup Mode." WritableMode="" />
<Setting Item="Ctrl_DO0" Description="Digital Output 0" Type="byte" Size="1" Accessibility="R/W" Note1="High: 1 Low: 0" WritableMode="M/A" />
<Setting Item="Ctrl_DO1" Description="Digital Output 1" Type="byte" Size="1" Accessibility="R/W" Note1="High: 1 Low: 0" WritableMode="M/A" />
<Setting Item="Ctrl_DO2" Description="Digital Output 2" Type="byte" Size="1" Accessibility="R/W" Note1="High: 1 Low: 0" WritableMode="M/A" />
<Setting Item="Ctrl_DO3" Description="Digital Output 3" Type="byte" Size="1" Accessibility="R/W" Note1="High: 1 Low: 0" WritableMode="M/A" />
<Setting Item="Ctrl_DO4" Description="Digital Output 4" Type="byte" Size="1" Accessibility="R/W" Note1="High: 1 Low: 0" WritableMode="M/A" />
<Setting Item="Ctrl_DO5" Description="Digital Output 5" Type="byte" Size="1" Accessibility="R/W" Note1="High: 1 Low: 0" WritableMode="M/A" />
<Setting Item="Ctrl_DO6" Description="Digital Output 6" Type="byte" Size="1" Accessibility="R/W" Note1="High: 1 Low: 0" WritableMode="M/A" />
<Setting Item="Ctrl_DO7" Description="Digital Output 7" Type="byte" Size="1" Accessibility="R/W" Note1="High: 1 Low: 0" WritableMode="M/A" />
<Setting Item="Ctrl_DI0" Description="Digital Input 0" Type="byte" Size="1" Accessibility="R" Note1="High: 1 Low: 0" WritableMode="" />
<Setting Item="Ctrl_DI1" Description="Digital Input 1" Type="byte" Size="1" Accessibility="R" Note1="High: 1 Low: 0" WritableMode="" />
<Setting Item="Ctrl_DI2" Description="Digital Input 2" Type="byte" Size="1" Accessibility="R" Note1="High: 1 Low: 0" WritableMode="" />
<Setting Item="Ctrl_DI3" Description="Digital Input 3" Type="byte" Size="1" Accessibility="R" Note1="High: 1 Low: 0" WritableMode="" />
<Setting Item="Ctrl_DI4" Description="Digital Input 4" Type="byte" Size="1" Accessibility="R" Note1="High: 1 Low: 0" WritableMode="" />
<Setting Item="Ctrl_DI5" Description="Digital Input 5" Type="byte" Size="1" Accessibility="R" Note1="High: 1 Low: 0" WritableMode="" />
<Setting Item="Ctrl_DI6" Description="Digital Input 6" Type="byte" Size="1" Accessibility="R" Note1="High: 1 Low: 0" WritableMode="" />
<Setting Item="Ctrl_DI7" Description="Digital Input 7" Type="byte" Size="1" Accessibility="R" Note1="High: 1 Low: 0" WritableMode="" />
<Setting Item="Ctrl_AO0" Description="Analog Output 0" Type="float" Size="1" Accessibility="R/W" Note1="Unit: Volt" WritableMode="M/A" />
<Setting Item="Ctrl_AI0" Description="Analog Input 0" Type="float" Size="1" Accessibility="R" Note1="Unit: Volt" WritableMode="" />
<Setting Item="Ctrl_AI1" Description="Analog Input 1" Type="float" Size="1" Accessibility="R" Note1="Unit: Volt" WritableMode="" />
<Setting Item="End_DO0" Description="End Module Digital Output 0" Type="byte" Size="1" Accessibility="R/W" Note1="High: 1 Low: 0" WritableMode="M/A" />
<Setting Item="End_DO1" Description="End Module Digital Output 1" Type="byte" Size="1" Accessibility="R/W" Note1="High: 1 Low: 0" WritableMode="M/A" />
<Setting Item="End_DO2" Description="End Module Digital Output 2" Type="byte" Size="1" Accessibility="R/W" Note1="High: 1 Low: 0" WritableMode="M/A" />
<Setting Item="End_DO3" Description="End Module Digital Output 3" Type="byte" Size="1" Accessibility="R/W" Note1="High: 1 Low: 0" WritableMode="M/A" />
<Setting Item="End_DI0" Description="End Module Digital Input 0" Type="byte" Size="1" Accessibility="R" Note1="High: 1 Low: 0" WritableMode="" />
<Setting Item="End_DI1" Description="End Module Digital Input 1" Type="byte" Size="1" Accessibility="R" Note1="High: 1 Low: 0" WritableMode="" />
<Setting Item="End_DI2" Description="End Module Digital Input 2" Type="byte" Size="1" Accessibility="R" Note1="High: 1 Low: 0" WritableMode="" />
<Setting Item="End_AI0" Description="End Module Analog Input 0" Type="float" Size="1" Accessibility="R" Note1="Unit: Volt" WritableMode="" />
<Setting Item="g_FTsensor" Description="" Type="double[]" Size="0" Accessibility="R/W" Note1="" WritableMode="" />
<Setting Item="g_fts" Description="" Type="float[]" Size="0" Accessibility="R/W" Note1="" WritableMode="" />
<Setting Item="DHTable" Description="DHTable&#13;&#10;{ theta1, alpha1, a1, d1, joint_type1, lower_bound1, upper_bound1; theta2, alpha2, .... , upper_bound6 } forms a 7x6 matrix" Type="float" Size="42" Accessibility="R" Note1="Unit: mm | deg&#13;&#10;joint_type: always 0" WritableMode="" />
</CodeTable>
</File>