Users Manual

<pose X="..." Y="..." Z="..." A="..." B="..." C="..."></pose>
Positions are converted from meters to millimeters and orientations are converted from quaternions
to KUKA ABC (in degrees).
Note: No other unit conversions are included in the EKI Bridge. All dimensions and 3D coordi-
nates that don’t belong to a pose are expected and returned in meters.
Arrays:
Arrays are identified by adding the child element <le> (short for list element) to the list name. As an
example, the JSON object
{
"rectangles": [
{
"x": "float64",
"y": "float64"
}
]
}
is converted to the XML fragment
<rectangles>
<le>
<x>...</x>
<y>...</y>
</le>
</rectangles>
Use of XML attributes:
All JSON keys whose values is a primitive data type and don’t belong to an array are stored in
attributes. As an example, the JSON object
{
"item": {
"uuid": "string",
"confidence": "float64",
"rectangle": {
"x": "float64",
"y": "float64"
}
}
}
is converted to the XML fragment
<item uuid="..." confidence="...">
<rectangle x="..." y="...">
</rectangle>
</item>
Request XML structure
The <SEND> element in the XML configuration file for a generic service follows the specification below.
<SEND>
<XML>
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8.4. KUKA Ethernet KRL Interface 167