Commonplace Robotics Mover 4 - 12 Language Specification

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12. Language Specification
The following nine commands can be combined to form a robot program. A program
is a XML file that starts with the lines
<?xml version="1.0" encoding="utf-8"?>
<!-- values in mm and degree -->
<Program>
<Header ProgramName ="CPRog recording" Author="nn" SetUpDate=""
LastChangeDate="" Kinematic="CPRFour"/>
Then the commands follow, the program closes with the line
</Program>
Command Reference
<Linear Nr="2" x="232.93" y="12.2" z="494.01" a="0.05"
b="84.25" c="0" vel="70" acc="40" smooth="true"
Descr=""/>
<Joint Nr="1" a1="5.19" a2="-26.08" a3="124.72" a4="-14.39"
a5="0" a6="0" velPercent="35" acc="40" smooth="true”
Descr="" />
<Relative Nr="17" x="0" y="0" z="-20.0" a="0" b="0" c="0"
vel="50" acc="40" smooth="true" Descr=""/>
<Gripper Nr="6" Pos="100" Descr="" />
<Output Nr="6" Local="True" DIO="5" State="True" Descr="" />
<Wait Nr="4" Seconds="1" Descr="" />
<Loop Nr="1" Mode="Count" Times="3" Descr=""/>
… place the commands to be repeated here
<EndLoop Nr="1" />
Alternative:
<Loop Nr="1" Mode="DIn" Local="True" Channel="0" State="True"
Descr=""/>
<If Nr="15" Local="True" Channel="0" Descr=""/>
… place the then-commands here
<Else/>
… place the else-commands here
<EndIf/>
<Sub Nr="6" File="up.xml" Descr=""/>
<ExMotion Nr="14" IP="127.0.0.1" Port="1234" Scale="1"
Descr="" />