Skip to content

Latest commit

 

History

History
48 lines (41 loc) · 2.39 KB

RobotUserNodeFormat.md

File metadata and controls

48 lines (41 loc) · 2.39 KB
Raw

Format for robot user nodes

Name

  • Name of the node
  • Has to be unique for all nodes that share the same parent

Parent

  • Parent object(s) of the node
  • Nested parents are split with a /
  • Parents that are not yet present in the OPC-UA Robotics Companion Specification are automatically created
  • Examples: Output for new outputs or MotionDevices/MotionDevice_1/ParameterSet for new parameters for the first motion device

Datatype

  • The datatype of the variable
  • Positions and Joints are encoded as arrays of doubles with length 10 and 8 respectively
  • For positions the format is x, y, z, a, b, c, l1, l2, fl1, fl2
  • For joints the format is j1, j2, j3, j4, j5, j6, j7, j8

ReadCommand command

  • The r3 command that gets sent to the robot to read the value
  • The mecha number and task slot at the beginning is optional (if not provided 1;1; is used as the default)
  • Examples: VALP_Curr returns the current position of the robot, OUT64 returns the value of the 16 outputs 64-79 as hexadecimal number

ReadCommand match

  • The regular expression match to extract the value from the answer received from the robot
  • See re2 for information about regular expression syntax (regex for short)
  • The value from the first capture group is used as the value
  • The answer that the match is matched against doesn't include the QoK
  • Examples:
    • ^P_Curr=(.*) captures the value of the position that is after the equal sign
    • ^([^;]*);? captures the value until the first semicolon
    • ^(?:[^;]*;){{7}}([^;]*);? captures the value after the 7th semicolon
  • Note: quantifiers in regex like {2} have to be replaced with {{2}}

Writeable

  • Whether the value is writeable
  • Have to provide a WriteCommand if it is
  • Writeable variables are only supported for the datatypes Integer, Hexadecimal Integer and Double

WriteCommand

  • The r3 command that gets sent to the robot to write the value
  • The mecha number and task slot at the beginning is optional (if not provided 1;1; is used as the default)
  • The to be written value is inserted in place of {value}
  • Examples:
    • 1;9;VAL=M1={value} assigns the value to M1
    • OUT=64;{value:04x} writes the value to the outputs 64-79 as a 4 digit hexadecimal number
  • Format specifiers for formatting the value are supported
  • For the supported syntax see fmt format specifiers