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egm_wrapper.proto
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egm_wrapper.proto
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//======================================================================================================================
//
// Wrapper messages.
//
// Note: Used to wrap the actual EGM messages, which are defined in the egm.proto file from ABB Robotics.
// This can be used in intermediate components that are utilizing EGM communication for motion control.
//
//======================================================================================================================
syntax = "proto2";
package abb.egm.wrapper;
//======================================================================================================================
//
// Auxiliary messages.
//
//======================================================================================================================
message Header
{
enum MessageType
{
UNDEFINED = 0;
DATA = 1; // Message contains data sent by the robot controller.
}
optional uint32 sequence_number = 1; // Sequence number (to be able to detect lost messages).
optional uint32 time_stamp = 2; // Time stamp in milliseconds.
optional MessageType message_type = 3 [default = UNDEFINED];
}
// Note: Status of the robot controller, and the active EGM motion.
message Status
{
enum EGMState
{
EGM_UNDEFINED = 0;
EGM_ERROR = 1;
EGM_STOPPED = 2;
EGM_RUNNING = 3;
}
enum MotorState
{
MOTORS_UNDEFINED = 0;
MOTORS_ON = 1;
MOTORS_OFF = 2;
}
enum RAPIDExecutionState
{
RAPID_UNDEFINED = 0;
RAPID_STOPPED = 1;
RAPID_RUNNING = 2;
}
optional bool egm_convergence_met = 1;
optional EGMState egm_state = 2 [default = EGM_UNDEFINED];
optional MotorState motor_state = 3 [default = MOTORS_UNDEFINED];
optional RAPIDExecutionState rapid_execution_state = 4 [default = RAPID_UNDEFINED];
}
// Note: Time in seconds and microseconds since the epoch (1 Jan 1970)
message Clock
{
optional uint64 sec = 1;
optional uint64 usec = 2;
}
//===========================================================
//
// Joint space related messages.
//
//===========================================================
// 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.
message Joints
{
repeated double values = 1;
}
message JointSpace
{
optional Joints position = 1; // Units [degrees]
optional Joints velocity = 2; // Units [degrees/s]
}
//===========================================================
//
// Cartesian space related messages.
//
// Note 1: Cartesian messages from the robot controller are
// relative to the work object specified when setting
// up EGM. E.g. with EGMActPose RAPID instructions.
//
// Note 2: Cartesian messages to the robot controller are
// interpreted relative to the sensor frame defined
// when setting up EGM. E.g. with EGMActPose RAPID
// instructions.
//
//===========================================================
message Cartesian
{
optional double x = 1;
optional double y = 2;
optional double z = 3;
}
// Note: Higher priority than quaternions.
message Euler
{
optional double x = 1;
optional double y = 2;
optional double z = 3;
}
// Note: Lower priority than Euler angles. The quaternion is defined as: u0 + u1*i + u2*j + u3*k.
message Quaternion
{
optional double u0 = 1;
optional double u1 = 2;
optional double u2 = 3;
optional double u3 = 4;
}
message CartesianPose
{
optional Cartesian position = 1; // Units [mm].
optional Euler euler = 2; // Units [degrees].
optional Quaternion quaternion = 3; // Units [-].
}
message CartesianVelocity
{
optional Cartesian linear = 1; // Units [mm/s].
optional Euler angular = 2; // Units [degrees/s].
}
message CartesianSpace
{
optional CartesianPose pose = 1;
optional CartesianVelocity velocity = 2;
}
//===========================================================
//
// Combined joint and Cartesian space auxiliary messages.
//
//===========================================================
// Note: Joint or Cartesian motion depends on the used EGM RAPID instructions.
message Robot
{
optional JointSpace joints = 1;
optional CartesianSpace cartesian = 2;
}
message External
{
optional JointSpace joints = 1;
}
// Note: The velocity sub fields are estimated from the actual EGM messages.
message Feedback
{
optional Robot robot = 1;
optional External external = 2;
optional Clock time = 3;
}
// Note: The velocity sub fields are estimated from the actual EGM messages.
message Planned
{
optional Robot robot = 1;
optional External external = 2;
optional Clock time = 3;
}
//======================================================================================================================
//
// Primary messages.
//
//======================================================================================================================
// Inputs extracted from the robot controller outbound messages (i.e. EgmRobot).
message Input
{
optional Header header = 1;
optional Feedback feedback = 2;
optional Planned planned = 3;
optional Status status = 4;
}
// Outputs to send to the robot controller.
message Output
{
optional Robot robot = 1; // Outputs to the robot.
optional External external = 2; // Outputs to external axes.
}