From 3b0e38868b59b0439aad3576207f1fa104683103 Mon Sep 17 00:00:00 2001 From: Alvaro Capellan Date: Mon, 4 Jul 2016 14:45:21 +0200 Subject: [PATCH] Updated Masterboard data format for 3.x UR firmware --- urx/ursecmon.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/urx/ursecmon.py b/urx/ursecmon.py index 70c017a..ce8dd1c 100644 --- a/urx/ursecmon.py +++ b/urx/ursecmon.py @@ -88,7 +88,9 @@ class ParserUtils(object): elif ptype == 5: allData["LaserPointer(OBSOLETE)"] = self._get_data(pdata, "iBddd", ("size", "type")) elif ptype == 3: - allData["MasterBoardData"] = self._get_data(pdata, "iBhhbbddbbddffffBBb", ("size", "type", "digitalInputBits", "digitalOutputBits", "analogInputRange0", "analogInputRange1", "analogInput0", "analogInput1", "analogInputDomain0", "analogInputDomain1", "analogOutput0", "analogOutput1", "masterBoardTemperature", "robotVoltage48V", "robotCurrent", "masterIOCurrent")) # , "masterSafetyState" ,"masterOnOffState", "euromap67InterfaceInstalled" )) + #fmt = "iBhhbbddbbddffffBBb" # firmware 1.6, 1.7, 1.8 + fmt = "iBiibbddbbddffffBBb" # firmware 3.0, 3.1, 3.2 + allData["MasterBoardData"] = self._get_data(pdata, fmt, ("size", "type", "digitalInputBits", "digitalOutputBits", "analogInputRange0", "analogInputRange1", "analogInput0", "analogInput1", "analogInputDomain0", "analogInputDomain1", "analogOutput0", "analogOutput1", "masterBoardTemperature", "robotVoltage48V", "robotCurrent", "masterIOCurrent")) # , "masterSafetyState" ,"masterOnOffState", "euromap67InterfaceInstalled" )) elif ptype == 2: allData["ToolData"] = self._get_data(pdata, "iBbbddfBffB", ("size", "type", "analoginputRange2", "analoginputRange3", "analogInput2", "analogInput3", "toolVoltage48V", "toolOutputVoltage", "toolCurrent", "toolTemperature", "toolMode")) elif ptype == 9: