package abb.egm.wrapper

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Used in: CartesianPose, CartesianVelocity, trajectory.CartesianGoal

• optional double x = 1

• optional double y = 2

• optional double z = 3

Used in: CartesianSpace, trajectory.CartesianGoal, trajectory.RobotPositionGoal

• optional Cartesian position = 1

  Units [mm].

• optional Euler euler = 2

  Units [degrees].

• optional Quaternion quaternion = 3

  Units [-].

Used in: Robot

• optional CartesianPose pose = 1

• optional CartesianVelocity velocity = 2

Used in: CartesianSpace, trajectory.RobotVelocityGoal

• optional Cartesian linear = 1

  Units [mm/s].

• optional Euler angular = 2

  Units [degrees/s].

Note: Time in seconds and microseconds since the epoch (1 Jan 1970)

Used in: Feedback, Planned

• optional uint64 sec = 1

• optional uint64 usec = 2

Note: Higher priority than quaternions.

Used in: CartesianPose, CartesianVelocity

• optional double x = 1

• optional double y = 2

• optional double z = 3

Used in: Feedback, Output, Planned

• optional JointSpace joints = 1

Note: The velocity sub fields are estimated from the actual EGM messages.

Used in: Input

• optional Robot robot = 1

• optional External external = 2

• optional Clock time = 3

Used in: Input

• optional uint32 sequence_number = 1

  Sequence number (to be able to detect lost messages).

• optional uint32 time_stamp = 2

  Time stamp in milliseconds.

• optional Header.MessageType message_type = 3

• optional Header.RWVersion rw_version = 4

• optional Header.EGMVersion egm_version = 5

Note: EGM messages received during runtime are inspected to detect the EGM version.

Used in: Header

• EGM_UNKNOWN = 0

• EGM_1_0 = 1

  Selected if no time field exist (was added in 6.07).

• EGM_1_1 = 2

  Selected if the field mentioned below exist.

Used in: Header

• UNDEFINED = 0

• DATA = 1

  Message contains data sent by the robot controller.

Note: EGM messages received during runtime are inspected to detect the RobotWare version.

Used in: Header

• RW_UNKNOWN = 0

• RW_6_10_AND_NEWER = 1

  Selected if all the fields mentioned below exist.

• RW_BETWEEN_6_AND_6_06_03 = 2

  Selected if no time field exist (was added in RW6.07).

• RW_BETWEEN_6_07_AND_6_09_02 = 3

  Selected if no utilization rate field exist (was added in RW6.10).

Inputs extracted from the robot controller outbound messages (i.e. EgmRobot).

Used in: trajectory.ExecutionProgress

• optional Header header = 1

• optional Feedback feedback = 2

• optional Planned planned = 3

• optional Status status = 4

Used in: External, Robot

• optional Joints position = 1

  Units [degrees]

• optional Joints velocity = 2

  Units [degrees/s]

Note: This message is used for joints values, and only up to seven values will be considered. For six axes robots: - If robot joints : 1-6 values. - If external joints: 1-6 values. For seven axes robots: - If robot joints : 1-7 values. - If external joints: 1-5 values.

Used in: JointSpace, trajectory.JointGoal, trajectory.RobotPositionGoal, trajectory.RobotVelocityGoal, trajectory.StaticPositionGoal, trajectory.StaticVelocityGoal

• repeated double values = 1

Outputs to send to the robot controller.

Used in: trajectory.ExecutionProgress

• optional Robot robot = 1

  Outputs to the robot.

• optional External external = 2

  Outputs to external axes.

Note: The velocity sub fields are estimated from the actual EGM messages.

Used in: Input

• optional Robot robot = 1

• optional External external = 2

• optional Clock time = 3

Note: Lower priority than Euler angles. The quaternion is defined as: u0 + u1*i + u2*j + u3*k.

Used in: CartesianPose

• optional double u0 = 1

• optional double u1 = 2

• optional double u2 = 3

• optional double u3 = 4

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

Used in: Feedback, Output, Planned

• optional JointSpace joints = 1

• optional CartesianSpace cartesian = 2

Note: Status of the robot controller, and the active EGM motion.

Used in: Input

• optional bool egm_convergence_met = 1

• optional Status.EGMState egm_state = 2

• optional Status.MotorState motor_state = 3

• optional Status.RAPIDExecutionState rapid_execution_state = 4

• optional double utilization_rate = 5

Used in: Status

• EGM_UNDEFINED = 0

• EGM_ERROR = 1

• EGM_STOPPED = 2

• EGM_RUNNING = 3

Used in: Status

• MOTORS_UNDEFINED = 0

• MOTORS_ON = 1

• MOTORS_OFF = 2

Used in: Status

• RAPID_UNDEFINED = 0

• RAPID_STOPPED = 1

• RAPID_RUNNING = 2