This section describes the new XML elements and attributes that have been added to enhance the downloading and uploading of robots.
Enhancing Create Robot Program
MoveJointActivity XML description
<MoveAttributes>
<MotionBasis
Criterion="Time OR Speed"
Units="s OR
m/s">2</MotionBasis>
<Acceleration
Units="%">30</Acceleration>
<Rounding
Units="%">100</Rounding>
</MoveAttributes>
<JointTarget>
<!-- List of device joints with
corresponding units, types, names, and values.
>
<Joint Units="deg
OR m" JointName="STRING(Joint
1)" JointType="Rotational
OR Translational"
DOFNumber="INTEGER(1)">
<JointValue>FLOAT(0.000000)</JointValue>
</Joint>
<Joint Units="deg
OR m" JointName="STRING(Joint
2)" JointType="Rotational
OR Translational"
DOFNumber="INTEGER(2)">
<JointValue>FLOAT(-11.702878)</JointValue>
</Joint>
</JointTarget>
XML elements
| MoveAttributes | The top level element, which is a child of Activity element (only for MoveJointActivity activity type). It serves as a container for all the move attributes. |
| MotionBasis | The element that defines how long this motion will last in seconds (if Criterion attribute is set to Time), or how fast the device will move in meters per second (if Criterion attribute is set to Speed). |
| Acceleration | Specifies what device acceleration is, as a percentage of the maximum device acceleration. |
| Rounding | Specifies when the rounding will start (speed based fly-by), as a percentage of the programmed speed during deceleration. |
| JointTarget | The top level element, which is a child of Activity element (only for MoveJointActivity activity type). |
| Joint | Contains all the attributes that fully describe device DOFs. |
| JointValue | A simple content XML element that contains DOF value. |
XML attributes (of JointTarget element)
| Units | Specifies the units in which DOF values are expressed. Supported values are degrees (deg) and meters (m). |
| JointName | Contains the name of a robot joint which is defined as a DOF. |
| JointType | Defines the type of joint. Supported values are Rotational and Translational. |
| DOFNumber | Specifies the DOF number in the robot’s kinematics chain. |
GrabActivity XML description
ReleaseActivity XML description
XML description of GrabActivity and ReleaseActivity is the same as before (when they were members of robot tasks alone).
On download, XML stream for MoveJointActivity is created.
Also, XML descriptions of Release and Grab
activities are included, which until now were only members of robot tasks.
On upload, based on the enhanced XML stream describing
MoveJointActivity activity, the activity in
a Device Task is created. Release and Grab activities
are also created based on their
XML description.
Downloading DOF Limits
<Joint Units="deg OR m" JointName="STRING(Joint 2)" JointType="Rotational OR Translational" DOFNumber="INTEGER(2)">
<JointValue LowerTravelLimit="FLOAT(0)" UpperTravelLimit="FLOAT(10)" ReachabilityStatus="WithinReach OR Unreachable" >FLOAT(-11.702878)</JointValue>
</Joint>
XML attributes
| LowerTravelLimit | Specifies a lower value for a given DOF. The value is expressed in either degrees (deg) or meters (m), depending on the joint type. |
| UpperTravelLimit | Specifies an upper value for a given DOF. The value is expressed in either degrees (deg) or meters (m), depending on the joint type. |
| ReachabilityStatus | Specifies whether this DOF has overrun its limits. Supported values are WithinReach and Unreachable. |
Exporting Operation Attributes
XML elements
| OperationAttribute | This element is a container for each operation
attribute. It is a top level element for this XML fragment, and is a child of AttributeList element and a grand child of Action or Activity element. |
| AttributeName | A simple content XML element that displays operation attribute name. |
| AttributeValue | A simple content XML element that displays operation attribute value. |
XML attributes
| Operation | Specifies the name of the V5 operation which contains this Action or Activity. |
During uploading, all the attributes will be created and their values
set, regardless of them being action, activity or operation attributes.
Also, if the Operation attribute is set, then, the created
operation will have that name, after being uploaded.
During downloading, all the attributes, regardless of what their parent
is in the PPR tree (task, operation, action, or activity), will always
be created in OLP XML.
Exporting Attached Device Info
XML elements
| MountedDevices | This element is a container for all the mounted devices and their user-defined parameters. It is a top level element for this XML fragment and is a child of Resource XML element. |
| Device | A complex content XML element that contains an attribute named Name which points to a mounted devices instance name. |
| ParameterList | A complex content XML element, which is a container for all the user-defined parameters of the parent mounted device. |
| Parameter | A complex content XML element, which is a container for user-defined parameter name and parameter value pairs. |
| ParameterName | A simple content XML element that points to a user-defined parameter name. |
| ParameterValue | A simple content XML element that points to a user-defined parameter value. |
XML attributes
| AuxDeviceName | Specifies the name of the auxiliary device that owns the DOF pointed by DOFNumber attribute. |
On download, all the new attributes and XML elements will always be
created in OLP XML.
