Technical Interfaces

This section describes the data interfaces to other systems around it. It follows 3 of the levels of interoperability (IO):

• Technical interoperability - Datastreams btwn systems. i.e. TCP/IP, RS232, …
• Syntactic interoperability - Units within the stream. i.e. XML, CSV, HL7, DICOM
• Semantic interoperability - Common definition of unit meaning.

Powerlink for MotorControl

Technical IO

Powerlink

Syntactic IO

SDO, PDO, NMT messages

Semantic IO

The package names or registers or

class RoboyPlexus

Public Functions

void motorStatusPublisher()

Publishes information about motors.