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rsi context for older versions
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Svastits committed Jan 3, 2024
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11 changes: 6 additions & 5 deletions doc/wiki/KSS_RSI.md
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Expand Up @@ -50,21 +50,22 @@ There are 3 files necessary for RSI that are available in the `krl` directory:

- `ros_rsi.src`: This contains the KRL program that starts external control and should not be modified.
- `ros_rsi.rsix`: This contains the RSI context (can be visualized with **RSIVisual**). It can be modified for example to add filtering behaviour, but this is not recommended and should be implemented on the client side instead.
- For older RSI versions (<=4.0.3), the context can only be defined in 3 different files: `ros_rsi.rsi.xml`, `ros_rsi.rsi.diagram` and `ros_rsi.rsi`, these can be found under `krl/deprecated`. In this case, these 3 files should be copied to the controller instead of the `ros_rsi.rsix`.

There are two options to upload these files to the controller:

Method 1:
1. Copy the files to a USB-stick.
2. Plug it into the teach pad or controller.
3. Log in as **Expert** or **Administrator**.
3. Log in as **Expert** or **Administrator** on the controller.
4. Copy the `ros_rsi.src` file to `KRC:\R1\Program`.
5. Copy the rest of the files to `C:\KRC\ROBOTER\Config\User\Common\SensorInterface`.

Method 2:
1. Use the WorkVisual, connect to the KRC
2. Log in as **Expert** or **Administrator**.
4. Copy the `ros_rsi.src` file to `KRC:\R1\Program` in the WorkVisual
5. Copy the rest of the files to `C:\KRC\ROBOTER\Config\User\Common\SensorInterface` in the WorkVisual
1. Connect to the KRC with WorkVisual
2. Log in as **Expert** or **Administrator** on the controller.
4. Copy the `ros_rsi.src` file to `KRC:\R1\Program` in WorkVisual
5. Copy the rest of the files to `C:\KRC\ROBOTER\Config\User\Common\SensorInterface` in WorkVisual
6. Deploy the project

### Configuration
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74 changes: 0 additions & 74 deletions kuka_kss_rsi_driver/krl/README_KRC4.md
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87 changes: 0 additions & 87 deletions kuka_kss_rsi_driver/krl/README_KRC5.md
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126 changes: 126 additions & 0 deletions kuka_kss_rsi_driver/krl/deprecated/ros_rsi.rsi
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<?xml version="1.0" encoding="utf-8"?>
<rSIModel dslVersion="1.0.0.0" name="" xmlns="http://schemas.microsoft.com/dsltools/RSIVisual">
<rSIObjects>
<rSIElement name="AXISCORR1" objType="AXISCORR" objTypeID="33" maxInputs="0" maxOutputs="0">
<rSIInPorts>
<rSIInPort name="CorrA1" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out1" />
</source>
</rSIInPort>
<rSIInPort name="CorrA2" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out2" />
</source>
</rSIInPort>
<rSIInPort name="CorrA3" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out3" />
</source>
</rSIInPort>
<rSIInPort name="CorrA4" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out4" />
</source>
</rSIInPort>
<rSIInPort name="CorrA5" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out5" />
</source>
</rSIInPort>
<rSIInPort name="CorrA6" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out6" />
</source>
</rSIInPort>
</rSIInPorts>
<rSIOutPorts>
<rSIOutPort name="Stat" signalType="Int" />
<rSIOutPort name="A1" />
<rSIOutPort name="A2" />
<rSIOutPort name="A3" />
<rSIOutPort name="A4" />
<rSIOutPort name="A5" />
<rSIOutPort name="A6" />
</rSIOutPorts>
<rSIParameters>
<rSIParameter name="LowerLimA1" value="-170.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="1" />
<rSIParameter name="LowerLimA2" value="-135.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="2" />
<rSIParameter name="LowerLimA3" value="-210.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="3" />
<rSIParameter name="LowerLimA4" value="-185.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="4" />
<rSIParameter name="LowerLimA5" value="-210.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="5" />
<rSIParameter name="LowerLimA6" value="-350.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="6" />
<rSIParameter name="UpperLimA1" value="170.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="13" />
<rSIParameter name="UpperLimA2" value="90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="14" />
<rSIParameter name="UpperLimA3" value="90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="15" />
<rSIParameter name="UpperLimA4" value="90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="16" />
<rSIParameter name="UpperLimA5" value="120.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="17" />
<rSIParameter name="UpperLimA6" value="350.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="18" />
</rSIParameters>
</rSIElement>
<rSIElement name="ETHERNET1" objType="ETHERNET" objTypeID="64" maxInputs="64" maxOutputs="64">
<rSIInPorts>
<rSIInPort name="In1" mandatory="false" />
</rSIInPorts>
<rSIOutPorts>
<rSIOutPort name="Out1" />
<rSIOutPort name="Out2" />
<rSIOutPort name="Out3" />
<rSIOutPort name="Out4" />
<rSIOutPort name="Out5" />
<rSIOutPort name="Out6" />
<rSIOutPort name="Out7" />
<rSIOutPort name="Out8" />
</rSIOutPorts>
<rSIParameters>
<rSIParameter name="ConfigFile" value="ros_rsi_ethernet.xml" paramType="System.FileName" minVal="-2147483648" maxVal="2147483647" isEnum="false" isRuntime="false" index="1" />
<rSIParameter name="Timeout" value="100" paramType="System.Int32" minVal="0" maxVal="2147483647" isEnum="false" index="1" />
<rSIParameter name="Flag" value="1" paramType="System.Int32" minVal="-1" maxVal="999" isEnum="false" index="4" />
<rSIParameter name="Precision" value="4" paramType="System.Int32" minVal="1" maxVal="32" isEnum="false" index="8" />
</rSIParameters>
</rSIElement>
<rSIElement name="AXISCORRMON1" objType="AXISCORRMON" objTypeID="82" maxInputs="0" maxOutputs="0">
<rSIOutPorts>
<rSIOutPort name="A1" />
<rSIOutPort name="A2" />
<rSIOutPort name="A3" />
<rSIOutPort name="A4" />
<rSIOutPort name="A5" />
<rSIOutPort name="A6" />
<rSIOutPort name="E1" />
<rSIOutPort name="E2" />
<rSIOutPort name="E3" />
<rSIOutPort name="E4" />
<rSIOutPort name="E5" />
<rSIOutPort name="E6" />
</rSIOutPorts>
<rSIParameters>
<rSIParameter name="MaxA1" value="360.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="1" />
<rSIParameter name="MaxA2" value="200.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="2" />
<rSIParameter name="MaxA3" value="360.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="3" />
<rSIParameter name="MaxA4" value="720.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="4" />
<rSIParameter name="MaxA5" value="360.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="5" />
<rSIParameter name="MaxA6" value="360.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="6" />
<rSIParameter name="MaxE1" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="7" />
<rSIParameter name="MaxE2" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="8" />
<rSIParameter name="MaxE3" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="9" />
<rSIParameter name="MaxE4" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="10" />
<rSIParameter name="MaxE5" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="11" />
<rSIParameter name="MaxE6" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" index="12" />
</rSIParameters>
</rSIElement>
<rSIElement name="STOP1" objType="STOP" objTypeID="18" maxInputs="0" maxOutputs="0">
<rSIInPorts>
<rSIInPort name="In1" signalType="Bool">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out7" />
</source>
</rSIInPort>
</rSIInPorts>
<rSIParameters>
<rSIParameter name="Mode" value="ExitMoveCorr" paramType="KUKA.RSIVisual.RSI_StopType" minVal="-2147483648" maxVal="2147483647" isEnum="true" index="1" />
<rSIParameter name="Channel" value="0" paramType="System.Int32" minVal="0" maxVal="2147483647" isEnum="false" index="2" />
</rSIParameters>
</rSIElement>
</rSIObjects>
</rSIModel>
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