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Extend Kuka .rsix and .xml with more GPIOs #13

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343659e
Extend the kuka .rsix and .xml gpios
habartakh Jun 26, 2026
c202915
Update GPIOs names to use lowercase
habartakh Jun 30, 2026
d1f076a
Remove example GPIOs and update IO indexes
habartakh Jul 1, 2026
b7f0376
Add the constructs for the IOs or the .rsix
habartakh Jul 3, 2026
ef02728
Added backup file for the robot config.
destogl Jul 29, 2026
456307c
First version of the old port.
destogl Jul 29, 2026
c1d76e9
Files are renamed properly.
destogl Jul 29, 2026
42d4abd
Correct version in the comments.
destogl Jul 29, 2026
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305 changes: 292 additions & 13 deletions workspaces/kuka/KSS_above_v8.5/Config/User/Common/SensorInterface/gpios/b_ctrldbox_rsi.rsix
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44 changes: 31 additions & 13 deletions ...paces/kuka/KSS_above_v8.5/Config/User/Common/SensorInterface/gpios/b_ctrldbox_rsi_eth.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,25 +10,43 @@
<ELEMENT TAG="DEF_RIst" TYPE="DOUBLE" INDX="INTERNAL" /> <!-- Cartesian position -->
<ELEMENT TAG="DEF_AIPos" TYPE="DOUBLE" INDX="INTERNAL" /> <!-- Joint position -->
<ELEMENT TAG="DEF_EIPos" TYPE="DOUBLE" INDX="INTERNAL" /> <!-- External axis position -->
<ELEMENT TAG="DEF_Delay" TYPE="LONG" INDX="INTERNAL" /> <!-- Number of late packets -->
<!-- Inputs -->
<ELEMENT TAG="GPIO.01" TYPE="BOOL" INDX="1" />
<ELEMENT TAG="GPIO.02" TYPE="BOOL" INDX="2" />
<ELEMENT TAG="DEF_Delay" TYPE="LONG" INDX="INTERNAL" /> <!-- Number of late packets -->
<!-- Contact feedback -->
<ELEMENT TAG="GPIO.extend_check_1" TYPE="BOOL" INDX="1" />
<ELEMENT TAG="GPIO.extend_check_3" TYPE="BOOL" INDX="2" />
<ELEMENT TAG="GPIO.retract_check_1" TYPE="BOOL" INDX="3" />
<ELEMENT TAG="GPIO.retract_check_3" TYPE="BOOL" INDX="4" />
<ELEMENT TAG="GPIO.extend_check_2" TYPE="BOOL" INDX="5" />
<ELEMENT TAG="GPIO.extend_check_4" TYPE="BOOL" INDX="6" />
<ELEMENT TAG="GPIO.retract_check_2" TYPE="BOOL" INDX="7" />
<ELEMENT TAG="GPIO.retract_check_4" TYPE="BOOL" INDX="8" />
</ELEMENTS>
</SEND>
<RECEIVE>
<ELEMENTS>
<!-- Stop flag -->
<ELEMENT TAG="Stop" TYPE="BOOL" INDX="1" HOLDON="0" />
<ELEMENT TAG="Stop" TYPE="BOOL" INDX="1" HOLDON="0" />
<!-- Joint setpoints -->
<ELEMENT TAG="AK.A1" TYPE="DOUBLE" INDX="2" HOLDON="1" />
<ELEMENT TAG="AK.A2" TYPE="DOUBLE" INDX="3" HOLDON="1" />
<ELEMENT TAG="AK.A3" TYPE="DOUBLE" INDX="4" HOLDON="1" />
<ELEMENT TAG="AK.A4" TYPE="DOUBLE" INDX="5" HOLDON="1" />
<ELEMENT TAG="AK.A5" TYPE="DOUBLE" INDX="6" HOLDON="1" />
<ELEMENT TAG="AK.A6" TYPE="DOUBLE" INDX="7" HOLDON="1" />
<!-- Outputs -->
<ELEMENT TAG="GPIO.01" TYPE="BOOL" INDX="8" HOLDON="1" />
<ELEMENT TAG="AK.A1" TYPE="DOUBLE" INDX="2" HOLDON="1" />
<ELEMENT TAG="AK.A2" TYPE="DOUBLE" INDX="3" HOLDON="1" />
<ELEMENT TAG="AK.A3" TYPE="DOUBLE" INDX="4" HOLDON="1" />
<ELEMENT TAG="AK.A4" TYPE="DOUBLE" INDX="5" HOLDON="1" />
<ELEMENT TAG="AK.A5" TYPE="DOUBLE" INDX="6" HOLDON="1" />
<ELEMENT TAG="AK.A6" TYPE="DOUBLE" INDX="7" HOLDON="1" />
<!-- Ejectors (suction) -->
<ELEMENT TAG="GPIO.suction_1" TYPE="BOOL" INDX="8" HOLDON="1" />

@destogl destogl Jul 2, 2026

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But above those start at index 7, so the other file has to be adjusted

@habartakh habartakh Jul 3, 2026

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Yes, but from what I have seen on the example file, there is an offset of 1 between the indexes in the .rsix and eth.xml as displayed with the example GPIO:

  • Map2DigOut_1: OutIdx:7 (.rsix) --> INDX:8 (eth.xml).
    The same pattern is followed by the other elements:
  • e.g: AK.A6: OutIdx:6 (.rsix) --> INDX:7 (.eth.xml)

I just want to confirm before making the change: shall we set the OutIdx to 8 in the .rsix file when mapping it to GPIO.suction_1? And change all indexes accordingly?

@destogl destogl Jul 3, 2026

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Ah OK, you are right! Ok we try it like this on the robot.

<ELEMENT TAG="GPIO.suction_2" TYPE="BOOL" INDX="9" HOLDON="1" />
<ELEMENT TAG="GPIO.suction_3" TYPE="BOOL" INDX="10" HOLDON="1" />
<ELEMENT TAG="GPIO.suction_4" TYPE="BOOL" INDX="11" HOLDON="1" />
<!-- Cylinder valves -->
<ELEMENT TAG="GPIO.retract_1" TYPE="BOOL" INDX="12" HOLDON="1" />
<ELEMENT TAG="GPIO.extend_1" TYPE="BOOL" INDX="13" HOLDON="1" />
<ELEMENT TAG="GPIO.retract_2" TYPE="BOOL" INDX="14" HOLDON="1" />
<ELEMENT TAG="GPIO.extend_2" TYPE="BOOL" INDX="15" HOLDON="1" />
<ELEMENT TAG="GPIO.retract_3" TYPE="BOOL" INDX="16" HOLDON="1" />
<ELEMENT TAG="GPIO.extend_3" TYPE="BOOL" INDX="17" HOLDON="1" />
<ELEMENT TAG="GPIO.retract_4" TYPE="BOOL" INDX="18" HOLDON="1" />
<ELEMENT TAG="GPIO.extend_4" TYPE="BOOL" INDX="19" HOLDON="1" />
</ELEMENTS>
</RECEIVE>
</ROOT>
73 changes: 73 additions & 0 deletions workspaces/kuka/KSS_above_v8.5/backup.bat
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@echo off
setlocal enabledelayedexpansion

REM ============================================
REM KUKA KSSv8.6 b_ctrldbox Backup Script
REM Copies the CURRENT on-controller files that
REM deploy.bat would overwrite into a timestamped
REM backup folder, for manual comparison later.
REM ============================================

echo.
echo ============================================
echo KUKA KSSv8.6 b_ctrldbox Backup
echo ============================================
echo.

REM ============================================
REM PATH CONFIGURATION - must match deploy.bat
REM ============================================
set "DST_RSI_CONFIG=C:\KRC\ROBOTER\Config\User\Common\SensorInterface"
set "DST_EKI_CONFIG=C:\KRC\ROBOTER\Config\User\Common\EthernetKRL"
set "DST_PROGRAM=C:\KRC\ROBOTER\KRC\R1\Program\b_ctrldbox"

REM ============================================
REM TIMESTAMP
REM ============================================
for /f "skip=1" %%x in ('wmic os get localdatetime') do if not defined MyDate set "MyDate=%%x"
set "TIMESTAMP=%MyDate:~0,8%_%MyDate:~8,6%"

set "BACKUP_ROOT=%~dp0Backup\%TIMESTAMP%"

echo Backup folder:
echo %BACKUP_ROOT%
echo.

call :BackupFolder "RSI config files" "%DST_RSI_CONFIG%" "%BACKUP_ROOT%\Config\User\Common\SensorInterface"
call :BackupFolder "EKI config files" "%DST_EKI_CONFIG%" "%BACKUP_ROOT%\Config\User\Common\EthernetKRL"
call :BackupFolder "Program files (RSI+EKI)" "%DST_PROGRAM%" "%BACKUP_ROOT%\KRC\R1\Program\b_ctrldbox"

echo.
echo ============================================
echo Backup finished.
echo Backed up files are in:
echo %BACKUP_ROOT%
echo ============================================
pause
goto :eof

REM ============================================
REM FUNCTION: BackupFolder
REM Arguments: %1=Description, %2=Source (current on-controller), %3=Destination (backup)
REM ============================================
:BackupFolder
set "desc=%~1"
set "src=%~2"
set "dst=%~3"

echo.
echo ============================================
echo BACKUP: %desc%
echo FROM: %src%
echo TO: %dst%
echo ============================================

if not exist "%src%\*" (
echo Source folder does not exist or is empty - nothing to back up.
goto :eof
)

if not exist "%dst%\" mkdir "%dst%"
xcopy /Y /E /I "%src%\*" "%dst%\"
echo Backup completed.
goto :eof
50 changes: 50 additions & 0 deletions workspaces/kuka/kss_under_8.5/Config/User/Common/EthernetKRL/b_ctrldbox_EkiKSSinterface.xml
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<ETHERNETKRL>
<CONFIGURATION>
<EXTERNAL>
<TYPE>Client</TYPE>
</EXTERNAL>
<INTERNAL>
<ENVIRONMENT>Submit</ENVIRONMENT>
<BUFFERING Limit="512" />
<ALIVE Set_Flag="105" Ping="120" />
<IP>10.28.23.240</IP>
<PORT>54600</PORT>
<PROTOCOL>TCP</PROTOCOL>
<MESSAGES Logging="warning" Display="disabled" />
</INTERNAL>
</CONFIGURATION>
<RECEIVE>
<XML>
<ELEMENT Tag="External/@REQTYPE" Type="INT" />
<ELEMENT Tag="External/@ControlMode" Type="INT" />
<ELEMENT Tag="External/@CycleTime" Type="INT" />
<ELEMENT Tag="External" Set_Flag="110" />
</XML>
</RECEIVE>
<SEND>
<XML>
<!-- BEGIN - Generic parameters -->
<ELEMENT Tag="Robot/Response/@EventID" />
<ELEMENT Tag="Robot/Response" />
<!-- END - Generic parameters -->
<!-- BEGIN - Status parameters -->
<ELEMENT Tag="Robot/Status/@ControlMode" />
<ELEMENT Tag="Robot/Status/@CycleTime" />
<ELEMENT Tag="Robot/Status/@DrivesPowered" />
<ELEMENT Tag="Robot/Status/@EmergencyStop" />
<ELEMENT Tag="Robot/Status/@GuardStop" />
<ELEMENT Tag="Robot/Status/@InMotion" />
<ELEMENT Tag="Robot/Status/@MotionPossible" />
<ELEMENT Tag="Robot/Status/@OperationMode" />
<ELEMENT Tag="Robot/Status/@RobotStopped" />
<!-- END - Status parameters -->
<!-- BEGIN - Initial parameters -->
<ELEMENT Tag="Robot/Init/@VER" />
<ELEMENT Tag="Robot/Init/@NumAxes" />
<ELEMENT Tag="Robot/Init/@NumExternalAxes" />
<ELEMENT Tag="Robot/Init/@Model" />
<ELEMENT Tag="Robot/Init/@RobVer" />
<!-- END - Initial parameters -->
</XML>
</SEND>
</ETHERNETKRL>
126 changes: 126 additions & 0 deletions workspaces/kuka/kss_under_8.5/Config/User/Common/SensorInterface/b_ctrldbox_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="AxisCorr_1" objType="AXISCORR" objTypeID="33" maxInputs="0" maxOutputs="0">
<rSIInPorts>
<rSIInPort name="CorrA1" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out2" />
</source>
</rSIInPort>
<rSIInPort name="CorrA2" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out3" />
</source>
</rSIInPort>
<rSIInPort name="CorrA3" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out4" />
</source>
</rSIInPort>
<rSIInPort name="CorrA4" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out5" />
</source>
</rSIInPort>
<rSIInPort name="CorrA5" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out6" />
</source>
</rSIInPort>
<rSIInPort name="CorrA6" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out7" />
</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" isPublic="true" index="1" />
<rSIParameter name="LowerLimA2" value="-135.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" isPublic="true" index="2" />
<rSIParameter name="LowerLimA3" value="-210.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" isPublic="true" index="3" />
<rSIParameter name="LowerLimA4" value="-185.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" isPublic="true" index="4" />
<rSIParameter name="LowerLimA5" value="-210.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" isPublic="true" index="5" />
<rSIParameter name="LowerLimA6" value="-350.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" isPublic="true" index="6" />
<rSIParameter name="UpperLimA1" value="170.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" isPublic="true" index="13" />
<rSIParameter name="UpperLimA2" value="90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" isPublic="true" index="14" />
<rSIParameter name="UpperLimA3" value="90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" isPublic="true" index="15" />
<rSIParameter name="UpperLimA4" value="90.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" isPublic="true" index="16" />
<rSIParameter name="UpperLimA5" value="120.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" isPublic="true" index="17" />
<rSIParameter name="UpperLimA6" value="350.0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" isPublic="true" 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="b_ctrldbox_rsi_eth.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="AxisCorrMon_1" 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" isPublic="true" index="1" />
<rSIParameter name="MaxA2" value="200.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" isPublic="true" index="2" />
<rSIParameter name="MaxA3" value="360.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" isPublic="true" index="3" />
<rSIParameter name="MaxA4" value="720.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" isPublic="true" index="4" />
<rSIParameter name="MaxA5" value="360.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" isPublic="true" index="5" />
<rSIParameter name="MaxA6" value="360.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" isPublic="true" index="6" />
<rSIParameter name="MaxE1" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" isPublic="true" index="7" />
<rSIParameter name="MaxE2" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" isPublic="true" index="8" />
<rSIParameter name="MaxE3" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" isPublic="true" index="9" />
<rSIParameter name="MaxE4" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" isPublic="true" index="10" />
<rSIParameter name="MaxE5" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" isPublic="true" index="11" />
<rSIParameter name="MaxE6" value="6.0" paramType="System.Double" minVal="0" maxVal="2147483647" isEnum="false" isPublic="true" 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/Out1" />
</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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