egm.proto

// Definition of ABB sensor interface V1.1
//
// messages of type EgmRobot are sent out from the robot controller
// messages of type EgmSensor are sent to the robot controller
//
syntax = "proto2";
package abb.egm;

message EgmHeader
{ 
    optional uint32 seqno = 1; // sequence number (to be able to find lost messages)
    optional uint32 tm = 2;    // controller send time stamp in ms

    enum MessageType {
        MSGTYPE_UNDEFINED = 0;
        MSGTYPE_COMMAND = 1;			// for future use
        MSGTYPE_DATA = 2;				// sent by robot controller
        MSGTYPE_CORRECTION = 3;			// sent by sensor for position guidance
        MSGTYPE_PATH_CORRECTION = 4;	// sent by sensor for path correction
    }

    optional MessageType  mtype = 3 [default = MSGTYPE_UNDEFINED];
}

message EgmCartesian			// Cartesian position in mm
{
    required double x = 1;
    required double y = 2;
    required double z = 3;
}

// If you have pose input, i.e. not joint input, you can choose to send orientation data as quaternion or as Euler angles.
// If both are sent, Euler angles have higher priority.

message EgmQuaternion			// Quaternion orientation
{
    required double u0 = 1;
    required double u1 = 2;
    required double u2 = 3;
    required double u3 = 4;
}

message EgmEuler				// Euler angle orientation in degrees
{
    required double x = 1;
    required double y = 2;
    required double z = 3;
}

message EgmClock				// Time in seconds and microseconds since 1 Jan 1970
{
    required uint64 sec = 1;
    required uint64 usec = 2;
}

message EgmPose					// Pose (i.e. cartesian position and Quaternion orientation) relative to the correction frame defined by EGMActPose
{ 
    optional EgmCartesian	pos = 1;
    optional EgmQuaternion	orient = 2;
	optional EgmEuler		euler = 3;
} 

message EgmCartesianSpeed 		// Array of 6 speed reference values in mm/s or degrees/s
{
    repeated double value = 1;
}

message EgmJoints 				// Array of 6 joint values for TCP robot in degrees
{
    repeated double joints = 1;
}

message EgmExternalJoints 		// Array of 6 joint values for additional axis, in degrees for rotating axis, in mm for linear axis
{
    repeated double joints = 1;
}

message EgmPlanned				// Planned  position for robot (joints or cartesian) and additional axis (array of 6 values)
{								// Is used for position streaming (source: controller) and position guidance (source: sensor)
    optional EgmJoints	joints = 1;
    optional EgmPose	cartesian = 2;
    optional EgmJoints	externalJoints = 3;
	optional EgmClock	time = 4;
}

message EgmSpeedRef				// Speed reference values for robot (joint or cartesian) and additional axis (array of 6 values)
{
    optional EgmJoints			joints = 1;
    optional EgmCartesianSpeed	cartesians = 2;
    optional EgmJoints			externalJoints = 3;
}


message EgmPathCorr				// Cartesian path correction and measurment age
{
    required EgmCartesian   pos = 1;	// Sensor measurement (x, y, z) relative the sensor tool coordinate system
	required uint32			age = 2;	// Sensor measurement age in ms
}


message EgmFeedBack				// Feed back position, i.e. actual measured position for robot (joints or cartesian) and additional axis (array of 6 values)
{
    optional EgmJoints  joints = 1;
    optional EgmPose    cartesian = 2;
    optional EgmJoints  externalJoints = 3;
	optional EgmClock	time = 4;
}

message EgmMotorState			// Motor state
{
    enum MotorStateType {
        MOTORS_UNDEFINED = 0;
        MOTORS_ON = 1;
        MOTORS_OFF = 2;
    }

    required MotorStateType state = 1;
}

message EgmMCIState				// EGM state
{
    enum MCIStateType {
        MCI_UNDEFINED = 0;
        MCI_ERROR = 1;
        MCI_STOPPED = 2;
        MCI_RUNNING = 3;
    }

    required MCIStateType state = 1 [default = MCI_UNDEFINED];
}

message EgmRapidCtrlExecState	// RAPID execution state
{
    enum RapidCtrlExecStateType {
        RAPID_UNDEFINED = 0;
        RAPID_STOPPED = 1;
        RAPID_RUNNING = 2;
    };

    required RapidCtrlExecStateType state = 1  [default = RAPID_UNDEFINED];
}

message EgmTestSignals			// Test signals
{
    repeated double signals = 1;
}

message EgmMeasuredForce 				// Array of 6 force values for a robot
{
    optional bool   fcActive = 1;
    repeated double force = 2;
}
message EgmCollisionInfo 				// Array of  collision info values for a robot
{
    optional bool collsionTriggered = 1;
    repeated double collDetQuota = 2;
}

message EgmRAPIDdata				    // message format robot controller outbound
{
    optional bool 	digVal = 1;
    repeated double dnum = 2;
}

// Robot controller outbound message, sent from the controller to the sensor during position guidance and position streaming
message EgmRobot
{
    optional EgmHeader				header = 1;
    optional EgmFeedBack			feedBack = 2;
    optional EgmPlanned				planned = 3;

    optional EgmMotorState			motorState = 4;
    optional EgmMCIState			mciState = 5;
    optional bool					mciConvergenceMet = 6;
    optional EgmTestSignals			testSignals = 7;
    optional EgmRapidCtrlExecState	rapidExecState = 8; 
    optional EgmMeasuredForce		measuredForce = 9;
    optional double                 utilizationRate=10;
    optional uint32                 moveIndex=11;
    optional EgmCollisionInfo       CollisionInfo = 12;
    optional EgmRAPIDdata 	        RAPIDfromRobot = 13;
}


// Robot controller inbound message, sent from sensor to the controller during position guidance
message EgmSensor
{
    optional EgmHeader		header = 1;
    optional EgmPlanned		planned = 2;
    optional EgmSpeedRef	speedRef = 3;
    optional EgmRAPIDdata   RAPIDtoRobot = 4;
}

// Robot controller inbound message, sent from sensor during path correction
message EgmSensorPathCorr
{
    optional EgmHeader		header = 1;
    optional EgmPathCorr	pathCorr = 2;
}