ABB机器人EGM控制模块开发（附完整仿真源码+保姆级讲解）

// 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; }