KUKA RSI config with the xml file

  • I am using kuka ros 8.3 and RSI 3.2

    I am tryinig using a deep camera get the workpiece location, transform the location to robot coordinate system with the RSI object TRAFO_ROBFRAME.

    RSI signal flow shown as in the image.C2fj69T




    The problem is how to code the xml config file for RSI object TRAFO_ROBFRAME output link with ETHERNET object input. XML file shown as below


    <ROOT>

    <CONFIG>

    <IP_NUMBER>172.31.1.100</IP_NUMBER> <!-- IP-number of the external socket -->

    <PORT>49152</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" />

    <ELEMENT TAG="DiL" TYPE="LONG" INDX="6" />

    <ELEMENT TAG="DiL" TYPE="LONG" INDX="7" />

    <ELEMENT TAG="DiL" TYPE="LONG" INDX="8" />

    </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="AKorr.A1" TYPE="DOUBLE" INDX="1" HOLDON="1" />

    <ELEMENT TAG="AKorr.A2" TYPE="DOUBLE" INDX="2" HOLDON="1" />

    <ELEMENT TAG="AKorr.A3" TYPE="DOUBLE" INDX="3" HOLDON="1" />

    <ELEMENT TAG="AKorr.A4" TYPE="DOUBLE" INDX="4" HOLDON="1" />

    <ELEMENT TAG="AKorr.A5" TYPE="DOUBLE" INDX="5" HOLDON="1" />

    <ELEMENT TAG="AKorr.A6" TYPE="DOUBLE" INDX="6" HOLDON="1" />

    <ELEMENT TAG="FREE" TYPE="LONG" INDX="7" HOLDON="1" />

    <ELEMENT TAG="DiO" TYPE="LONG" INDX="8" HOLDON="1" />

    <ELEMENT TAG="X_dection" TYPE="LONG" INDX="9" HOLDON="1" />

    <ELEMENT TAG="Y_dection" TYPE="LONG" INDX="10" HOLDON="1" />

    <ELEMENT TAG="Z_dection" TYPE="LONG" INDX="11" HOLDON="1" />

    </ELEMENTS>

    </RECEIVE>

    </ROOT>





    For <TAG> option I do not know how to fill it?

    Edited once, last by Abbott ().

  • AD

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