Controller

The Controllers and Controller elements are used to define the top-controller and/or sub-controller configurations, which will run on the simulator. Controller elements for sub-controllers should be contained in a Bus element to specify which bus it should be created in.

See also

Controller

Explanation of the general concept of controllers and their purpose in the motion software.

Bus

Explanation of the general concept of a bus and its purpose in the motion software.

Top-controller

Top-controller description and its purpose in the motion software.

Sub-controller

Sub-controller description and its purpose in the motion software.

Example

Example XML for Controller

<System>
  <Controllers>
    <Controller Description="./controller_arcas_5eg.xml" HardwareSerialNumber="1" Id="1">
      <Bus Name="EtherCatBus">
        <Controller Description="./controller_cygnus_d3_400_4.xml" HardwareSerialNumber="2" Id="1"/>
        <Controller Description="./controller_cygnus_d3_400_4.xml" HardwareSerialNumber="3" Id="2"/>
      </Bus>
    </Controller>
  </Controllers>
</System>

XML schema

Element Controllers

<xs:element name="Controllers">
  <xs:complexType>
    <xs:sequence>
      <xs:element ref="Controller" minOccurs="0" maxOccurs="unbounded"/>
    </xs:sequence>
  </xs:complexType>
</xs:element>

Element Controller

<xs:element name="Controller">
  <xs:complexType>
    <xs:sequence>
      <xs:element ref="Properties" minOccurs="0" maxOccurs="1"/>
      <xs:element ref="Controller" minOccurs="0" maxOccurs="unbounded" />
      <xs:element ref="Bus" minOccurs="0" maxOccurs="unbounded" />
    </xs:sequence>
    <xs:attribute name="Description" type="xs:string" use="required" />
    <xs:attribute name="HardwareSerialNumber" type="xs:string" use="required" />
    <xs:attribute name="Id" type="xs:unsignedInt" use="optional" />
  </xs:complexType>
</xs:element>

Attribute	Description
Description	Path to the controller description file. The path can be absolute or relative. When loading a system description from an XML file, relative paths are resolved against the location of the system description XML file. When loading a system description from an XML string, relative paths are resolved against the current working directory.
HardwareSerialNumber	Serial number of the simulated controller. Must be unique within the system.
Id	(optional) ID of the simulated controller, ignored if controller does not support an ID. If the controller supports an ID but it is not provided, the ID will have a default value of 0.

Note

The current working directory can be adjusted using language specific methods.

C++

std::filesystem::current_path

C#

Directory.SetCurrentDirectory