package abb.egm

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Used in: EgmPathCorr, EgmPose

• required double x = 1

• required double y = 2

• required double z = 3

Used in: EgmSpeedRef

• repeated double value = 1

Used in: EgmFeedBack, EgmPlanned

• required uint64 sec = 1

• required uint64 usec = 2

Used in: EgmPose

• required double x = 1

• required double y = 2

• required double z = 3

• repeated double joints = 1

Used in: EgmRobot

• optional EgmJoints joints = 1

• optional EgmPose cartesian = 2

• optional EgmJoints externalJoints = 3

• optional EgmClock time = 4

Used in: EgmRobot, EgmSensor, EgmSensorPathCorr

• optional uint32 seqno = 1

  sequence number (to be able to find lost messages)

• optional uint32 tm = 2

  controller send time stamp in ms

• optional EgmHeader.MessageType mtype = 3

Used in: EgmHeader

• MSGTYPE_UNDEFINED = 0

• MSGTYPE_COMMAND = 1

  for future use

• MSGTYPE_DATA = 2

  sent by robot controller

• MSGTYPE_CORRECTION = 3

  sent by sensor for position guidance

• MSGTYPE_PATH_CORRECTION = 4

  sent by sensor for path correction

Used in: EgmFeedBack, EgmPlanned, EgmSpeedRef

• repeated double joints = 1

Used in: EgmRobot

• required EgmMCIState.MCIStateType state = 1

Used in: EgmMCIState

• MCI_UNDEFINED = 0

• MCI_ERROR = 1

• MCI_STOPPED = 2

• MCI_RUNNING = 3

Used in: EgmRobot

• repeated double force = 1

Used in: EgmRobot

• required EgmMotorState.MotorStateType state = 1

Used in: EgmMotorState

• MOTORS_UNDEFINED = 0

• MOTORS_ON = 1

• MOTORS_OFF = 2

Used in: EgmSensorPathCorr

• required EgmCartesian pos = 1

  Sensor measurement (x, y, z) relative the sensor tool coordinate system

• required uint32 age = 2

  Sensor measurement age in ms

Is used for position streaming (source: controller) and position guidance (source: sensor)

Used in: EgmRobot, EgmSensor

• optional EgmJoints joints = 1

• optional EgmPose cartesian = 2

• optional EgmJoints externalJoints = 3

• optional EgmClock time = 4

Used in: EgmFeedBack, EgmPlanned

• optional EgmCartesian pos = 1

• optional EgmQuaternion orient = 2

• optional EgmEuler euler = 3

Used in: EgmPose

• required double u0 = 1

• required double u1 = 2

• required double u2 = 3

• required double u3 = 4

Used in: EgmRobot

• required EgmRapidCtrlExecState.RapidCtrlExecStateType state = 1

Used in: EgmRapidCtrlExecState

• RAPID_UNDEFINED = 0

• RAPID_STOPPED = 1

• RAPID_RUNNING = 2

Robot controller outbound message, sent from the controller to the sensor during position guidance and position streaming

• optional EgmHeader header = 1

• optional EgmFeedBack feedBack = 2

• optional EgmPlanned planned = 3

• optional EgmMotorState motorState = 4

• optional EgmMCIState mciState = 5

• optional bool mciConvergenceMet = 6

• optional EgmTestSignals testSignals = 7

• optional EgmRapidCtrlExecState rapidExecState = 8

• optional EgmMeasuredForce measuredForce = 9

• optional double utilizationRate = 10

Robot controller inbound message, sent from sensor to the controller during position guidance

• optional EgmHeader header = 1

• optional EgmPlanned planned = 2

• optional EgmSpeedRef speedRef = 3

Robot controller inbound message, sent from sensor during path correction

• optional EgmHeader header = 1

• optional EgmPathCorr pathCorr = 2

Used in: EgmSensor

• optional EgmJoints joints = 1

• optional EgmCartesianSpeed cartesians = 2

• optional EgmJoints externalJoints = 3

Used in: EgmRobot

• repeated double signals = 1