The RPS-integration is based on the Artiminds WebSocket API. The timestamps delivered by the RPS are used. At the starting time of the measurement the timestamp is saved as an offset and subtracted from the timestamps of further frames.
<MeasurementSystem id="rps" system="RPS" fileSuffix="rps"> <Property name="dnsidentifiablename" value="192.168.12.27"/> <Property name="sampleRate" value="120.0"/> <!--Property name="timeout" value="10000"/--> <TransducerUnit name="actual" displayName="Actual"> <!-- Availability of temperatures is no standard feature of the RPS--> <Channel name="URt0"/> <Channel name="URt1"/> <Channel name="URt2"/> <Channel name="URt3"/> <Channel name="URt4"/> <Channel name="URt5"/> </TransducerUnit> <TransducerUnit name="target" displayName="Target"> <Channel name="URAngle0"/> <Channel name="URAngle1"/> <Channel name="URAngle2"/> <Channel name="URAngle3"/> <Channel name="URAngle4"/> <Channel name="URAngle5"/> <Channel name="T"/> </TransducerUnit> </MeasurementSystem>
Be careful: In the RPS in Settings → Compiler the checkbox „Streaming“ must be set. Furthermore the Control-Plugin must be activated. Also keep in mind the setting of the Streaming-Delay. Typically a minimum delay of 32ms works. Sometimes smaller delays with at minimum of 16ms can work.
The <MeasurementSystem>-element has the following additional properties:
|dnsidentifiablename||This can be a domain name but typically this is ip a IP-adress in a local network.||No|
|bufferSize||Data is read from the Websocket into a ringbuffer. The default size of this buffer is 20 but it can be changed. If there is a overrun of the buffer a log warning is given and the size has to be adjusted.||No|
If the recording starts JDAQ subscribes to the RPS-Websocket and waits for the first frame. There is a timeout of fix 3s. If the first frame is not available after 3s than no data is recorded from the RPS and no rps-file is saved. A warning is written. This can be happen if the UR has problems to get the needed data. In this case a message box is opend on the UR display with the text „An error occurred while sending the robot state to the Artiminds RPS. Permantently disable state publishing.“