Abb robot subscription
Subscribe to robot's resource and emit message on resource change.
Inputs
Field | Type | Description |
---|---|---|
payload |
object | the object with subscription definition. |
Outputs
Field | Type | Description |
---|---|---|
topic |
string | Description of content type. |
Details
msg.payload
includes subscription definition:
msg.payload.subscribe
(boolean) when it's not equaltrue
subscription will be done for resource setup from node configuration.msg.payload.resource
(string) path to subscribed resource.msg.payload.priority
(number) integer from range 0 to 2. Defines respectivelyLOW
,MEDIUM
andHIGH
priorities. In general priority define delay between change and sending event.
ℹ️ NOTE:
HIGH
priority is applicable only for persistent RAPID variables and IO Signals.
Example subscription message for /rw/panel/speedratio
resource with priority MEDIUM
:
{
"payload": {
"subscribe": true,
"resource": "/rw/panel/speedratio",
"priority": 1
}
}
When output message is response on subscription message then msg.topic
is equal ABB_SUBSCRIPTION_SUCCESS
, ie.:
{
"topic": "ABB_SUBSCRIPTION_SUCCESS",
"payload": {
"subscribe": true,
"resource": "/rw/panel/speedratio",
"priority": 1
}
}
In case of subscription fail, error message is emitted with msg.topic
set to ABB_SUBSCRIPTION_ERROR
.
Resource change emits message with msg.topic
set to ABB_ROBOT_SUBSCRIPTION_VALUE
and resourcePath
to path the resource, ie.:
{
"topic": "ABB_ROBOT_SUBSCRIPTION_VALUE",
"payload": "<?xml version=\"1.0\" encoding=\"utf-8\"?><html xmlns=\"http://www.w3.org/1999/xhtml\"> <head> <title>Event</title><base href=\"http://192.168.122.38:80/\"/> </head> <body> <div class=\"state\"><a href=\"subscription/31\" rel=\"group\"></a> <ul> <li class=\"pnl-speedratio-ev\" title=\"speedratio\"><a href=\"/rw/panel/speedratio\" rel=\"self\"></a><span class=\"speedratio\">3</span></li> </ul> </div> </body></html>",
"resourcePath": "/rw/panel/speedratio"
}
Configuration
Property | Description |
---|---|
Name | Name of the node instance |
Priority | Resource update sending priority |
Config | A config node with robot connection parameters |
Config ID | ID of config node |
Resource | List of resources and resource categories for subscription |
Resource URL | Read only field with resource path |
References
- Subscriptions section in ABB Robot Web Services
- ABB Subscribe on resources API