package abb.egm.wrapper.trajectory

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Notes: - The Euler angles have higher priority than the quaternions (parts of the pose component). - Only linear velocity, because the orientation interporlation method (i.e. Slerp) result in uniform angular speed. - Only linear acceleration, and it is only used as potential input for interpolation.

Used in: RobotGoal

• optional CartesianPose pose = 1

  Units [mm] and [degrees] or [-]

• optional Cartesian velocity = 2

  Units [mm/s].

• optional Cartesian acceleration = 3

  Units [mm/s^2].

An execution progress for an EGM trajectory interface.

• optional ExecutionProgress.State state = 1

• optional ExecutionProgress.SubState sub_state = 2

• optional Input inputs = 3

  The latest inputs received from the robot controller.

• optional Output outputs = 4

  The latest outputs sent to the robot controller.

• optional double time_passed = 5

  The time [s] passed since the current goal became active.

• optional bool goal_active = 6

  Indicates if a goal is currently active or not.

• optional PointGoal goal = 7

  The current goal.

• optional TrajectoryGoal active_trajectory = 8

  The currently active trajectory (if any has been activated).

• optional uint32 pending_trajectories = 9

  The number of pending trajectories in the queue.

Possible states of the EGM trajectory interface.

Used in: ExecutionProgress

• UNDEFINED = 0

  The state is undefined.

• NORMAL = 1

  Motion references are generated from trajectories added by a user.

• RAMP_DOWN = 2

  Motion references are being ramped down.

• STATIC_GOAL = 3

  Motion references are generated by tracking a goal point specified by a user.

Possible sub states of the EGM trajectory interface's state.

Used in: ExecutionProgress

• NONE = 0

  The current state has not been activated yet.

• RUNNING = 1

  The current state is being executed.

• FINISHED = 2

  The current state has finished.

Used in: PointGoal

• optional JointGoal joints = 1

Note: The acceleration field is only used as potential input for interpolation.

Used in: ExternalGoal, RobotGoal

• optional Joints position = 1

  Units [degrees].

• optional Joints velocity = 2

  Units [degrees/s].

• optional Joints acceleration = 3

  Units [degrees/s^2].

Point goal in a trajectory.

Used in: ExecutionProgress, TrajectoryGoal

• optional double duration = 1

  Units [s]. I.e. the time it should take to reach the point.

• optional RobotGoal robot = 2

  Goal for the robot.

• optional ExternalGoal external = 3

  Goal for external axes.

• optional bool reach = 4

  Flag indicating that the point is important to reach or not.

Note: Joint or Cartesian motion depends on the used EGM RAPID instructions.

Used in: PointGoal

• optional JointGoal joints = 1

• optional CartesianGoal cartesian = 2

Note: Joint or Cartesian motion depends on the used EGM RAPID instructions.

Used in: StaticPositionGoal

• optional Joints joints = 1

  Units [degrees].

• optional CartesianPose cartesian = 2

  Units [mm] and [degrees].

Note: Joint or Cartesian motion depends on the used EGM RAPID instructions.

Used in: StaticVelocityGoal

• optional Joints joints = 1

  Units [degrees/s].

• optional CartesianVelocity cartesian = 2

  Units [mm/s] and [degrees/s].

A static position goal that an EGM trajectory interface should execute.

• optional RobotPositionGoal robot = 1

  Units [degrees] and [mm].

• optional Joints external = 2

  Units [degrees].

A static velocity goal that an EGM trajectory interface should execute.

• optional RobotVelocityGoal robot = 1

  Units [degrees/s] and [mm/s].

• optional Joints external = 2

  Units [degrees/s].

A trajectory goal that an EGM trajectory interface should follow.

Used in: ExecutionProgress

• repeated PointGoal points = 1