Data Orchestration - ABB IRC5 Applications Manual

2.3 Data orchestration

Overview
The outgoing message can be combined from any data from the RAPID level and
internal data from the cabinet and motion topic. The orchestration of the data is
defined in the device configuration by setting the Link attribute of internally linked
data to Intern.
Illustration
xx0800000178
Data from the Controller topic
Name
OperationMode
Data from the Motion topic
Name
FeedbackTime
FeedbackPose
FeedbackJoints
PredictedTime
PlannedPose
PlannedJoints
3HAC031973-001 Revision: F
Type Description
OpMode Operation mode
of the robot.
Type Description
Time Time stamp for the robot posi-
tion from drive feedback.
Frame Robot TCP calculated from
drive feedback.
Joints Robot joint values gathered
from drive feedback.
Time Timestamp for planned robot
TCP position and joint values.
Frame Planned robot TCP.
Joints Planned robot joint values.
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2.3 Data orchestration
Comment
The mapping of the members for the Op-
Mode type can be defined in the configura-
tion file.
Comment
There is a delay of approxim-
ately 8ms.
Current tool and workobject
are used for calculation.
Prediction time from approxim-
ately 24ms to 60ms depending
on robot type.
Current tool and workobject
are used for calculation.
2 Installation
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