ABB IRC5 Applications Manual page 31

Transmitted XML messages
Each XML message has the data variable name as root element with the attributes
Id (the message ID) and Ts (the time stamp of the message). The subelements
are then the record fields. The values of a multiple value field (array or record) are
expressed as attributes.
Message sent out from robot controller
The time unit is second (float) with a resolution of 1 ms. The position (length) unit
is millimeter (float). The position (angle) unit is radians.
Name
Id
Ts
RobMode
TS_act
P_act
J_act
TS_des
P_des
J_des
AppData
Message received from robot controller
The time unit is seconds (float).
Name
Id
Ts
EStr
3HAC031973-001 Revision: F
Data type
Integer
Float
Operationmode
Float
Pose
Joint
Float
Pose
Joint
Array of 18 Floats
<RobData Id="111" Ts="1.202" >
<RobMode>Auto</RobMode>
<Ts_act>1.200</Ts_act>
<P_act X="1620.0" Y="1620.0" Z="1620.0" Rx="100.0" Ry="100.0"
Rz="100.0" />
<J_act J1="1.0" J2="1.0" J3="1.0" J4="1.0" J5="1.0" J6="1.0" />
<Ts_des>1.200</Ts_des>
<P_des X="1620.0" Y="1620.0" Z="1620.0" Rx="100.0" Ry="100.0"
Rz="100.0" />
<J_des J1="1.0" J2="1.0" J3="1.0" J4="1.0" J5="1.0" J6="1.0" />
<AppData X1="1" X2="1620.000" X3="1620.000" X4="1620.000"
X5="1620.000" X6="1620.000" X7="1620.000" X8="1620.000"
X9="1620.000" X10="1620.000" X11="1620.000" X12="1620.000"
X13="1620.000" X14="1620.000" X15="1620.000" X16="1620.000"
X17="1620.000" X18="1620.000" />
</RobData>
Data type
Integer
Float
String
© Copyright 2008-2009,2013 ABB. All rights reserved.
4 Configuration examples
4.2 Example configuration
Description
Last received robot data message ID
Time stamp (message)
Operation mode
Time stamp (actual position)
Actual cartesian position
Actual joint position
Time stamp (desired position)
Desired cartesian position
Desired joint position
Free defined application data
Description
Last received data message ID. This ID
must correspond to the ID sent from the
robot controller.
Time stamp
Error message
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