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X06SA/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
T
gac-S_Changer 4239b7fb57 Second guiding tool
2021-08-03 15:18:30 +02:00

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<?xml version="1.0" encoding="utf-8"?>
<Database xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Data/2">
<Datas>
<Data name="jSafe" access="private" xsi:type="array" type="jointRx" size="1">
<Value key="0" j1="68.451859" j2="12.0998448" j3="75.745245" j4="-7.951387E-16" j5="92.15491" j6="-257.185421" />
</Data>
<Data name="mNomSpeed" access="private" xsi:type="array" type="mdesc" size="1" />
<Data name="pForce1" access="private" xsi:type="array" type="pointRx" size="1">
<Value key="0" x="177.353535" y="513.634231" z="-23.304373" rx="-0.00095359" ry="-179.999632" rz="34.36272" fatherId="world[0]" />
</Data>
<Data name="pForce2" access="private" xsi:type="array" type="pointRx" size="1">
<Value key="0" x="-94.656318" y="513.634233" z="-23.253066" rx="1.08559E-05" ry="-179.999615" rz="34.362403" fatherId="world[0]" />
</Data>
<Data name="bContact" access="private" xsi:type="array" type="bool" size="1" />
<Data name="bInZone" access="private" xsi:type="array" type="bool" size="1" />
<Data name="mSlow" access="private" xsi:type="array" type="mdesc" size="1">
<Value key="0" leave="10" reach="10" />
</Data>
<Data name="nJntForce" access="private" xsi:type="array" type="num" size="6">
<Value key="0" value="0.62658" />
<Value key="1" value="-1.962937" />
<Value key="2" value="-2.381452" />
<Value key="3" value="-0.772125" />
<Value key="4" value="-1.706145" />
<Value key="5" value="-0.557219" />
</Data>
<Data name="nJntMaxForce" access="private" xsi:type="array" type="num" size="6" />
<Data name="nJntMaxMeasured" access="private" xsi:type="array" type="num" size="6" />
<Data name="JF" access="private" xsi:type="array" type="aio" size="6">
<Value key="0" link="ModbusSrv-0\Modbus-Word\M1" />
<Value key="1" link="ModbusSrv-0\Modbus-Word\M2" />
<Value key="2" link="ModbusSrv-0\Modbus-Word\M3" />
<Value key="3" link="ModbusSrv-0\Modbus-Word\M4" />
<Value key="4" link="ModbusSrv-0\Modbus-Word\M5" />
<Value key="5" link="ModbusSrv-0\Modbus-Word\M6" />
</Data>
<Data name="wAcknowlege" access="private" xsi:type="array" type="aio" size="1">
<Value key="0" link="ModbusSrv-0\Modbus-Word\ACKNOWLEDGE" />
</Data>
<Data name="wReturn" access="private" xsi:type="array" type="aio" size="12">
<Value key="0" link="ModbusSrv-0\Modbus-Word\RETURN[0]" />
<Value key="1" link="ModbusSrv-0\Modbus-Word\RETURN[1]" />
<Value key="2" link="ModbusSrv-0\Modbus-Word\RETURN[2]" />
<Value key="3" link="ModbusSrv-0\Modbus-Word\RETURN[3]" />
<Value key="4" link="ModbusSrv-0\Modbus-Word\RETURN[4]" />
<Value key="5" link="ModbusSrv-0\Modbus-Word\RETURN[5]" />
<Value key="6" link="ModbusSrv-0\Modbus-Word\RETURN[6]" />
<Value key="7" link="ModbusSrv-0\Modbus-Word\RETURN[7]" />
<Value key="8" link="ModbusSrv-0\Modbus-Word\RETURN[8]" />
<Value key="9" link="ModbusSrv-0\Modbus-Word\RETURN[9]" />
<Value key="10" link="ModbusSrv-0\Modbus-Word\RETURN[10]" />
<Value key="11" link="ModbusSrv-0\Modbus-Word\RETURN[11]" />
</Data>
<Data name="wStatus" access="private" xsi:type="array" type="aio" size="6">
<Value key="0" link="ModbusSrv-0\Modbus-Word\STATUS[0]" />
<Value key="1" link="ModbusSrv-0\Modbus-Word\STATUS[1]" />
<Value key="2" link="ModbusSrv-0\Modbus-Word\STATUS[2]" />
<Value key="3" link="ModbusSrv-0\Modbus-Word\STATUS[3]" />
<Value key="4" link="ModbusSrv-0\Modbus-Word\STATUS[4]" />
<Value key="5" link="ModbusSrv-0\Modbus-Word\STATUS[5]" />
</Data>
<Data name="wRequest" access="private" xsi:type="array" type="aio" size="1">
<Value key="0" link="ModbusSrv-0\Modbus-Word\REQUEST" />
</Data>
<Data name="wCommand" access="private" xsi:type="array" type="aio" size="1">
<Value key="0" link="ModbusSrv-0\Modbus-Word\COMMAND" />
</Data>
<Data name="wArguments" access="private" xsi:type="array" type="aio" size="12">
<Value key="0" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[0]" />
<Value key="1" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[1]" />
<Value key="2" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[2]" />
<Value key="3" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[3]" />
<Value key="4" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[4]" />
<Value key="5" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[5]" />
<Value key="6" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[6]" />
<Value key="7" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[7]" />
<Value key="8" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[8]" />
<Value key="9" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[9]" />
<Value key="10" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[10]" />
<Value key="11" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[11]" />
</Data>
<Data name="sSio" access="private" xsi:type="array" type="sio" size="1">
<Value key="0" link="Socket\sSIO" />
</Data>
<Data name="tcp_events" access="private" xsi:type="array" type="string" size="10" />
<Data name="tcp_n" access="private" xsi:type="array" type="num" size="1" />
<Data name="tcp_a" access="private" xsi:type="array" type="num" size="10" />
<Data name="tcp_b" access="private" xsi:type="array" type="bool" size="1" />
<Data name="gripper" access="private" xsi:type="array" type="tool" size="30">
<Value key="0" fatherId="flange[0]" ioLink="valve1" />
<Value key="1" fatherId="flange[0]" ioLink="valve1" />
<Value key="2" fatherId="flange[0]" ioLink="valve1" />
<Value key="3" fatherId="flange[0]" ioLink="valve1" />
<Value key="4" fatherId="flange[0]" ioLink="valve1" />
<Value key="5" fatherId="flange[0]" ioLink="valve1" />
<Value key="6" fatherId="flange[0]" ioLink="valve1" />
<Value key="7" fatherId="flange[0]" ioLink="valve1" />
<Value key="8" fatherId="flange[0]" ioLink="valve1" />
<Value key="9" fatherId="flange[0]" ioLink="valve1" />
<Value key="10" fatherId="flange[0]" ioLink="valve1" />
<Value key="11" fatherId="flange[0]" ioLink="valve1" />
<Value key="12" fatherId="flange[0]" ioLink="valve1" />
<Value key="13" fatherId="flange[0]" ioLink="valve1" />
<Value key="14" fatherId="flange[0]" ioLink="valve1" />
<Value key="15" fatherId="flange[0]" ioLink="valve1" />
<Value key="16" fatherId="flange[0]" ioLink="valve1" />
<Value key="17" fatherId="flange[0]" ioLink="valve1" />
<Value key="18" fatherId="flange[0]" ioLink="valve1" />
<Value key="19" fatherId="flange[0]" ioLink="valve1" />
<Value key="20" fatherId="flange[0]" ioLink="valve1" />
<Value key="21" fatherId="flange[0]" ioLink="valve1" />
<Value key="22" fatherId="flange[0]" ioLink="valve1" />
<Value key="23" fatherId="flange[0]" ioLink="valve1" />
<Value key="24" fatherId="flange[0]" ioLink="valve1" />
<Value key="25" fatherId="flange[0]" ioLink="valve1" />
<Value key="26" fatherId="flange[0]" ioLink="valve1" />
<Value key="27" fatherId="flange[0]" ioLink="valve1" />
<Value key="28" fatherId="flange[0]" ioLink="valve1" />
<Value key="29" fatherId="flange[0]" ioLink="valve1" />
</Data>
<Data name="tcp_j" access="private" xsi:type="array" type="jointRx" size="1" />
<Data name="tcp_p" access="private" xsi:type="array" type="pointRx" size="1">
<Value key="0" fatherId="world[0]" />
</Data>
<Data name="tcp_t" access="private" xsi:type="array" type="trsf" size="1" />
<Data name="tcp_f" access="private" xsi:type="array" type="frame" size="1">
<Value key="0" fatherId="world[0]" />
</Data>
</Datas>
</Database>
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