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basic_cutting_configuration.xml
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<?xml version="1.0"?>
<rtde_config>
<recipe key="out">
<field name="timestamp" type="DOUBLE"/>
<field name="target_q" type="VECTOR6D"/>
<field name="target_qd" type="VECTOR6D"/>
<field name="target_qdd" type="VECTOR6D"/>
<field name="target_current" type="VECTOR6D"/>
<field name="target_moment" type="VECTOR6D"/>
<field name="actual_q" type="VECTOR6D"/>
<field name="actual_qd" type="VECTOR6D"/>
<field name="actual_current" type="VECTOR6D"/>
<field name="joint_control_output" type="VECTOR6D"/>
<field name="actual_TCP_pose" type="VECTOR6D"/>
<field name="actual_TCP_speed" type="VECTOR6D"/>
<field name="actual_TCP_force" type="VECTOR6D"/>
<field name="target_TCP_pose" type="VECTOR6D"/>
<field name="target_TCP_speed" type="VECTOR6D"/>
<field name="actual_digital_input_bits" type="UINT64"/>
<field name="joint_temperatures" type="VECTOR6D"/>
<field name="actual_execution_time" type="DOUBLE"/>
<field name="robot_mode" type="INT32"/>
<field name="joint_mode" type="VECTOR6INT32"/>
<field name="safety_status" type="INT32"/>
<field name="actual_tool_accelerometer" type="VECTOR3D"/>
<field name="speed_scaling" type="DOUBLE"/>
<field name="target_speed_fraction" type="DOUBLE"/>
<field name="actual_momentum" type="DOUBLE"/>
<field name="actual_main_voltage" type="DOUBLE"/>
<field name="actual_robot_voltage" type="DOUBLE"/>
<field name="actual_robot_current" type="DOUBLE"/>
<field name="actual_joint_voltage" type="VECTOR6D"/>
<field name="actual_digital_output_bits" type="UINT64"/>
<field name="runtime_state" type="UINT32"/>
<field name="joint_position_deviation_ratio" type="DOUBLE"/>
<field name="standard_analog_input0" type="DOUBLE"/>
<field name="standard_analog_input1" type="DOUBLE"/>
<field name="standard_analog_output0" type="DOUBLE"/>
<field name="standard_analog_output1" type="DOUBLE"/>
<field name="tool_analog_input0" type="DOUBLE"/>
<field name="tool_analog_input1" type="DOUBLE"/>
<field name="output_bit_register_76" type="BOOL"/>
</recipe>
<recipe key="waypoint">
<field name="input_double_register_0" type="DOUBLE"/>
<field name="input_double_register_1" type="DOUBLE"/>
<field name="input_double_register_2" type="DOUBLE"/>
<field name="input_double_register_3" type="DOUBLE"/>
<field name="input_double_register_4" type="DOUBLE"/>
<field name="input_double_register_5" type="DOUBLE"/>
</recipe>
<recipe key="scissors">
<field name="input_bit_register_73" type="BOOL"/>
</recipe>
<recipe key="y_belt">
<field name="input_double_register_6" type="DOUBLE"/>
</recipe>
<recipe key="z_belt">
<field name="input_double_register_7" type="DOUBLE"/>
</recipe>
<recipe key="gripper">
<field name="input_double_register_8" type="DOUBLE"/>
<field name="input_double_register_9" type="DOUBLE"/>
</recipe>
<recipe key="watchdog">
<field name="input_int_register_0" type="INT32"/>
</recipe>
</rtde_config>