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事業原簿【公開】 - 新エネルギー・産業技術総合開発機構

Contents

1.
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5. RT RT
6. 3 gt F
7. RT
8. RT RT lt
9. 2007 11
10. RTM OMG 2007 12 PR 4
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12. PL IS0 IEC J1S OMG
13. PLC Zigbee c 1 11
14. 5 5 5 6 2010 9 2011 1 1 RT 179 b 1 24 b 1 25
15. 5 R RT R NEDO D
16. RT RT
17. I 1 1980 1990
18. RT ISO14121 ISO12100 1 2
19. 2 R R 2 R
20. a RT PLC ZigBee EE 9 PLC CAN mm lt lt lt FF we Em ie 8 LN NN NII c 2 1 284 Ethernet PLC CAN ZigBee GPIO c 2 1 c 2 2 c 2 2 PC OS Wi
21. RT RT RT RT a x RT se n a 3 1
22. RT RT RT RT
23. 200
24. RT PC 24 365 LonWorks 40
25. 2 Et Lb IMessageSending StartUp 1 RTC Noriaki Ando ASTexample SequenceOutComponent10 me equenceOutComponentD WaitTime Preceding Configuration View Manager Conrol View Composile Compone el omponentgd SendingTime RTC Noriaki Ando AISTexample Cansoleir10 RTC Noriaki Ando AISTexample ConsoleOut1C Timeouts RTC Noriaki Ando AISTexample SequencelnCo ml RTC Noriaki Ando AISTexample SequenceOutC Componentd mstanceName RTC Noriaki Ando AISTexampleConsolein1n Consolsi MessageSendimng ExecutionConte Startup Shutd Acty Deact 0 RTG Noriaki Ando AISTexample ConsoleIr10 RTC Noriaki Ando AISTexample OConsoleOut10 RTC Noriaki Ando AISTexampleSequencalComponent10 RTC Noriaki
26. RT RT RT
27. RT 2006 12 RT RT 2009 3 RT
28. RT RT RT RT RT R RT N
29. 1 RT RT RTCProfile 2
30. 201 9 MI 2 RT RT IBM PC D gt 2 mm 2 lt ss 7
31. 281 c 2 c 2 1 OpenRTM aist RT RT RT RTC Lite Manager RT RT RTC HUB RTC Lite Manager
32. 1 1 ge ow em I 5 2 3 NEDO NEDO PL 1 3 1 4 21 RT RT RT IETo Lits amp
33. RT RT Ethernet PLC Power Line Communication RT PLC
34. 1 DI wait b 1 9 100 1 8 SEED DRIVER 256 GO 169 b 1 1
35. 88 P a 3 3 ar I 89 RT RT MPU RT RT
36. a 3 46 RT RT RT RT 125 ei 1 PP xt targ et_com po nent i KK gt 1 USRR3OSSSSN9IN9 TargetComponent componentId string id instanceName string Faas startUp FLLLLLLLLLI 1 RTC 0 targets RI shutdown 8 target_executioncontext R 5 I j sequence integer lt Target id string 0 1
37. 204 c 1 6 RT c 1 6 1 RT c 1 6 1 a
38. RT RT c 3 1 c 3 1 RT 1 RT 1 SysML 1
39. 2009 3 2007 7
40. 2 2 R 1 RT 0penRTM RT 2 R B RT R 3
41. RT 24 365 RT RT
42. NEDO 3 NEDO N EDO NEDO
43. 2 4 2 2 RT R R 3
44. 2 R RT E 5 2 0 1 2 RR 6
45. RT IT c 1 1 lt O 2 RT RT RT
46. RTM RTM 190 b 3 3 RTC Lite RTC Lite RT miniRTCs miniRTCs THK SEED RT miniRTCs
47. k k 44 2 L4 a 1 9 Mk o ha oe O1 CM 00 0l ol ee HH a 1 8 PLC 21 CPU PLC mSATAt 9 H 79 CPU PL CC PU J PLC a 1 9
48. RT rtc conf RT RT 189 conf RT RT RTSystemEditor RTSProfile RT RT FSM conf RTS 3
49. a 4 1 a 4 1 RT RT 1 OpenRTM aist MPU RT 1 TOPPERS OpenRTM aist SH2 1 ARM MPU 2 2 2 RT
50. CAN RT RT 600 RT 300 RT RT RT
51. b 1 26 ICE 250mm s 150N b 1 28 b 1 27 b 1 29 b 1 26 b 1 27 b 1 28 MI 180 b 1 29
52. RT RT RTC RTC OpenRTM NET Microsoft NET Framework RT RT RT Bridge RTC RTC RTC OpenRTM aist RT RT RTC HUB
53. RT 3 RT 4 RT
54. jal lt EE OR Es i iv meermmmmmmmmmmnmmmtn vi I 1 NEDO nn a I 1 1 1 NEDO mm I 1 1 2 nnermemmmmmmmmmmmtnm 1 1 2 IPI ILRRN RINLRR NHRTRRRRRRRRRRRRRRRRRRRRRRRRERRRERRREERRRELRELREEER I 2 IT 1 mmm I 1 2 I 1 2 1 ementsmmmmtrmm TT 1 2 2 mememmmmtmmmmmmmtnmm I 5 2 3 nn a I 6 2 4 mmm I 6 3 mm I 7
55. RT SEED miniRTCs RT onExecute ECHONET RT b 3 3 b 3 3 RT RT 6 OPEN CLOSE CLOSE STOP 0x31 UP 0x32 DOWN 0x33 OPEN 0x41 OPEN 0x38
56. 3 207 c 1 6 2 RT RT c 1 4 c 1 4 RT c 1
57. MPU c 1 6 c 1 6 W EPSON EndeavorNP15 16 18 4 4 0 6 227
58. MPU RT RT CAN RTC Lite miniRTC Zigbee RTC Lite microRTC i i PIC dsPIC RTC Lite oi ta Se Sa Sk i in SB i tae i SSE Si nice a ait Sai a ad ct i RTCBuilder UE St Ri De SC FT cE Rh Be Re RT RTCProfile Hi RT
59. Bb 3 1 RT H R H R R RT 3 R
60. c 2 2 1 c 2 1 RT 1 1 MPU RT RT
61. 213 Zig Bee PLC AC100V Amax CA N CO2 V Ad et c 1 11 214 c 1 6 4 b
62. RT RT RT RT RT Hazard and Operability Studies for Software Software HAZOP RT RT
63. gt 7 2035 9 7 2025 2004 2006 FY2010 2015 1 gt TT ETE TE a 1 Ms 4 HNI INV 06 12 lt 06 d
64. RT RT RT RT RT NEDO
65. b 1 30
66. c 1 3 100 4500 WinWin
67. yyt e RT e RT
68. RT II RT RT RT RT RT RT
69. 1 2 Ny D n hi ou RT G G R RT
70. periodic everyDay everyMonth everyYear ID 7 Trigger View Guard View Action View Time Trigger PE add everyDay dee DOCOU _ petete m tm kind id hame start a 3 72
71. RT Robot Technology RT RT RT 2 4
72. p12 1 RT p12 2 RT RT p12 3 RT p12 3 RTC RTC 1 RTC 1 50mm 30mm 16mm 50N
73. everyDay everyMonth everyYear ID 144 FSM FSM Node hame FinalState 0 22_ 23 rr Transition SQUPCE targe
74. 3 http www renkei jst go jp platform robot index html R 2 RT RT RT http www omg org technology documents domain_spec_catalog htm 1 R http wwwris aist go Jp rt OpenRTM aist htm1 3 2 0 2 2 3 4 NEDO
75. RT RT RT
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77. 2 3 2 2 5 1 NEDO NEDO
78. I 4 2008 2008 6 3 2 3 IT
79. RTM RTM RTM RTC Lite RT RTC Lite RT RT
80. Lt 2 3 G RT 3 _ Te 7 4 rm 5 5 sm
81. RT 3 ia 3 8 RT 24
82. 7 8 1 2
83. i iRT RT Et i
84. 7 5 5 ta EE TTP i Rs 3D SLAM ex UPnP 3 3 A 4
85. RT 1 2 RT OpenRTM RT RT RT RT RT RTC Lite
86. MPU RT RT RT RT RT RT RT RT MPU RT
87. RT System Editor Node ID RT System Editor DD 1byte
88. RT RT RTSProfile 5 1 2 a 4 RT RT 1 0penRTM aist MPU RT 1 TOPPERS OpenRTM aist SH2 1 p9 ARM MPU 2 2 2 p9
89. c 3 8 1 297 ipd iPad ceebaeo SS lt PLC gt gt lt lt PLC gt gt gt ee SnIO gt I lt lt CAN gt lt lt CAN gt gt lt lt CAN gt gt lt lt CAN gt CAN gt lt CAN gt lt lt CAN gt gt 2 DIO gt gt 2 0 a 2 SW hes 2 2 2 2 SW
90. 70 8ch 2 RT RTM R RT Robotic Technology Component RTC 1 0 adopted OMG yl TS http www omg org technology documents domain_spec_catalog htm 3 20W 4 150cm 5 6 1 70 2
91. 3 4 5 c A PLC PLC
92. RT R R R 2 ul RT RT
93. RTC RTC RTS 282 c 2 5 3 RTC RTC RTC HUB c 2 22 c 2 23 c 2 24 c 2 19 c 2 22 TCP 30byte TCP 31byte CAN 60bit CAN 68bit
94. 2 7 2 NEDO f 3 1 5 1 2 6 1 2 0 4
95. DC e DC CPU ARM7 A D 4ch 1 O 4ch CAN e 38mm x 23mm x 11mm RT RTC Lites 168 b 1 3 RTC gt RTC gt RT
96. 3 RT RT II 4 2 2 T 1 T 1 2 0 2 2 2 2 3 H20 H21 H22 H20 10 H21 4 H22 4 MPU MPU RT RT
97. HHHHHH HHL HHHH HHHL HHL HHHHLH HHHH PO8014
98. c 1 12 4 c 1 12 5 c 1 12 1 c 1 12 5 c 1 12 5
99. RT OpenRTM RT 2 RT RT RT 3 RT RT RT 5 RT 0penRTM Robotic Technology Component RTC 1 0 adopted 0OMG http www omg org technology documents domain_spec_catalog htm 2 1 3 RT RT 2 1 3 1
100. 114 Se a PFFK 1 Path URI ConfigurationSet ID 0 localhost Sample0 rtc default name1 4 4 4 Tune Profile Information Tune type tn RT system Tune file a 3 32 RT RtsProfile RT RTS I 115 1 2
101. ECHONET Energy Conservation and Homecare Network ECHONET ECHONET RT 93 ElectricFan HousingFacilities GeneralLighting AudioVisual DigitalTelevision MobileFurniture MobileTable MobileChair gz mw Mobil
102. 1 RT OMG Robotic Technology Component Specification Stimulus Response Processing FSM FSM FSM 146 module RTC 1 typedef EXECUTION HANDLE TYPE NATIVE ExecutionContextHandle enum ReturnCode_t RTC_OK RTC_ERROR BAD_PARAMETER UNSUPPORTED OUT_OF_RESOURCES PRECONDITION_NOT_MET imterface FsmParticipantAction 1 ReturnCode_t on_actionGn ExecutionContextHandle_t exec_handle interface FsmObject ReturnCode_t send
103. 1 1 RT RT RT R
104. 3 10 2 4 2 2 21 1 3 NEDO PL 8 2 4 3 PL PL
105. RT RT RT RT 2 1 3 2 RT RT II 3 2 1 3 3
106. RT RT RT RT 2 1 2 2 RT 2 2 1 2 3 RT 1
107. RT R R RT RT 1 NEDO R
108. RT R T RT RT RT RT PJ A PJ 0204 B C I I I DD lt p 1 08 10 8 RT 1 1 RT 1
109. 2 1 2 3 RT 1 Gi Gii RT RE R
110. OFF b 1 13 171 b 1 13 b 1 11 DC
111. Zigbee 3 b 1 ON
112. i RT RT i i i i We RT RT i RT i RTCProfile
113. Zigbee 20 000 2 3 BGA 1 2 1 a 2 RTC Lite RT 1 RT OMG RTC RTC Lite RTC Lite H8 PIC ZigBee CAN 2 p5 2 21 RT RT
114. LED
115. 2 3 5 1 1000 900 00 700 300 200 i000 0 1985 1990 1995 2000 2005 HP 1 9 000F 0 0 0 9091929394959697989900010203040506 07 7 000 6 000 2 009 2 RT
116. RT a 3 30 RT RT RT
117. c 1 12 5 c 1 12 2 RT RT c 1 12 4 c 1 12 2 c 1 12 3 215 A c 1 12 3 2 216 NN c 1 12 5 217 A PLC
118. 1990 R T RT 0O R T R T 3 1 RT
119. Power Line Communications PLC PC Ethernet 226 PLC PLC HD PLC HomePlugAV HD PLC HomePlug Powerline Alliance HomePlug HomePlugAV HomePlugAV HomePlugAV
120. c 1 2 lt a Fz _ es c 1 2 c 1 3 B 300 CO2 205 i 20 C
121. RTSystemEditor Eclipse Eclipse i i 83 i RT on
122. RT RT THK SEED PC SEED PC OS OpenRTM aist CAN SEED SEED PC RFID RFID DENSO WAVE PR 550RKM GLS b 3 8 em Home SerVer Ethernet b 3 8 b 3 9
123. 0 273 connect connect C RTC ReturnCode_t connect RTCHub ConnectorProfile amp connector_profile 1I O I connector profile RTC RTC_OK CONNECT RTC RTC_ERROR CONNEOT CONNECT RTC Lite Manager 2 object_id 274 disconnect disconnect
124. 100x75x35 330g 1 4 2 IV 2 THK 10 300 RT THK 10 NEDO 2020 3
125. FSM FSM 21 22 23
126. RT RT 596 2400 40 60 RT 120 RT RT 233 c 2 2 RT RT RT RT RT RT
127. RT E a 3 63 RT RT RT RTCProfile RTCProfile
128. RT RT RT 2 1 1 2 1 1 1 RT RT RT RT RT RT
129. Tt BasicE ditorF ormPage RtcBuilderEditor RtcBuilderPlugin GuiRtcBuilder Generator GenerateManager RtcParam RT 6 1 1 1 1 H 1 1 H 1 TT 1 L 2 allUpdates H t 1 1 1 1 3 validateParam 1 1 6 1 1 1 1 1 L 1 1 HI H 1 1 Lt 1 1 1 1 1 1 1 1 1 1 1 1 L 1 L L 1 1 1 1 1 1 1 H 1 i 1 1 1 1 1 1 1 1 1 1 1 ad 4 getDefault getLoader getManagerList a 5 managerList getManagerlist _ 1 1 1 el 1 t i L L add 6 addGenerateManager nManager 7 getGeneratorParam 8 generatorParam getGHeneratorParam _ 1 9 doGenerateWrite genergtorParam rO L 10 doGenerateWrite genkratorParam new MergeHandl 4 i I RI EE EI RE EE EE I EE RE Toop RtcParam 11 generateTemplateCod generatorParam 1 loop
130. RT WaitTime Preceding 2 WaitTime RT Preceding RT RT RT WaitTime WaitTime Preceding SendingTiming SYNC ASYNC Add RTC RT
131. 4 2 TRT RT PLC PLC mp 23 1 1 2 1 NEDO
132. 6 Software HAZOP Software HAZOP 3 Fault Tree Analysis FTA Software HAZOP
133. AD IR RT AD IR AD I
134. 181 gt RT RTC TOSTEM YKKap gt RT System Editor 1 5 RT RT
135. b 3 5 194 ZigBee ZigBee ZigBee Digi XBee b 3 6 XBee ZigBee XBee ZigBee Alliance XBee b 3 6 Digi XBee ZigBee
136. 285 c 3 3 c 3 2 bdd lt lt block gt gt 4 lt lt block hardware gt gt lt block gt gt lt lt block gt gt block gt gt lt lt block hardware lt lt block gt gt block gt gt SW lt lt block gt gt lt lt block hard block hardwa pct hana lt lt block gt gt
137. PCT H20FY 0 0 0 0 0 0 H21FY 0 0 0 2 4 2 H22FY 2 0 0 3 11 4 300 IV 1 1 1 2 PR 1 2
138. complete flash_writer 0x603fO000 2000n O 0x603f0000 checkMagicWordForFlash 0x603f0000 OpenRTM OpenRTM 1 OpenRTM 0 setMagicWord OpenRTM getNameServerAddr 0x603fO000 OpenRTM OpenRTM NameServer corbanameservers NameServer NameServer 160
139. RT RT RTC LITE RTC LTTE a 3 2
140. 2 c 1 6 1 a c 1 4 A RT cegw cemw oow or c 1 4 A RT
141. RT RT E R R R 2
142. SI2010 1E4 5 1 RT 2010 2 RT 2010 3 2011 in 2011 1 THK 2009 SEED 2 THK 10 2009 SEED SI2009 3 THK
143. 1990 1 2 2005
144. 3 RT i i RT RT RT 4 RT RT 5 RT OpenRTM
145. 3 1 6 3 7 Hazard and Operability Studies for Software Software HAZOP HAZOP Software HAZOP HAZOP HAZOP RT
146. 107 1 BasicEditorFormPage k RtcBuilderEditor 1 _ RTC Profile L L ProfileHandler a XML GeneratorParam 1 1 L jp go aist rtm tools common profiles util XmlHandler NV RtcParam rtcxml String 6 javax xml bind Unmarshaller langlist ArrayList String gt 1 L RTC Profile JAXB XML L 0 2 L 1 ML aw om CG a _ XML String javax xml bind Marshaller 1 JAXB XML ava ML L a 0 org ho yaml Yaml T L YAML JYaml
147. R RT
148. R 2 1 f 1 ff NEDO Ta NEDO f RT RT ff 1 NEDO 1 2 f
149. a 4 6 TOPPERS OpenRTM aist RT OpenRTM aist Armadillo240 EE TOPPERS OpenRTM aist 1 0 OpenRTM aist 1 0 Python a 4 6 TOPPERS OpenRTM aist 1 0 a 4 2 24 365 PC PC PC
150. 178 20 W EE a nn B 599 a m rm n b 1 23 b 1 23 01 20 CAN 02 03 1 O 1 Hi 08 Low 04 04 1 O 2 Hi 08
151. RT 3 PR
152. TOPPERS ASP TOPPERS ASP rtc conf CORBA RtORB 157 COIL OpenRTM aist1 0 COIL TOPPERS ASP TOPPERS COIL POSIX COIL TOPPERS COIL gt TOPPERS DynamicLib cpp DynamicLib h Signal cpp Singal h TOPPERS Mutex cpp Mutex h pthread_mutex TOPPERS Properties cpp
153. OpenRTM aist RT miniRTC OpenRTM aist miniRTC OpenRTM aist miniRTC OpenRTM aist miniRTC 2 c 1 20 222 ibd MR lt lt CAN gt gt Zigbee gt gt 1 SW Zigbee gt gt 1 1 1 1 y RD 1
154. R Value i RTC Omission RTC RTC Commission 1 RTC RTC Early RTC RTC Late RTC RTC Value RTC RTO 0Omission RTC
155. 14 CAN 2 DIO 4ch A D 4ch SD EDITOR CANUSB CAN Ed CAN LHI HD vey Bind SHD LL LL HD DRIVER DRIVER DRIVER b 1 3 SEED DRIVER 14 SEED DRIVER RT RTC Lite RTC Lite miniRTCc RT RT OS CORBA SEED DRIVER RT SEED DRIVER
156. a 3 56 RT 181 org eclipse ui part ViewPart gt PnPConfigView RTS Profle MessageSending MessageSendingsParam componentid instancename executioncontext startup shutdown activation deactivation resetting initialize finalize compositeType JAXB RTS Profle org openrtp namespaces rts version02 RtsProfileExt tvComponent RT tvSequence MessageSending tvComponert tvSequence org eclipse jface viewers TableViewer 8 5 A ee jp go aist rtm toolscommon profiles util XmlHandler XML I 1 1 JAXB XML
157. miniRTCc RT RT PR b 1 19 RT gt RT SEED 175 b 1 6 gt RT RT RT
158. 2010 9 2011 1 RT YYVVV gt gt 182 b 2 b 2 1 RT 1 RT RT
159. 208 c 1 5 c 1 3 c 1 3
160. ECHONET 2
161. RTC service ID ID 143 7 Trigger View Guard View Action View Time Triggal Time Guard vi I kind id hame datetime priority periodic period1 8 pelee SL amy Lceea a 3 71
162. RTC Lite Manager 263 activate_component activate_component INAOTIVE ACTIVE C RTC ReturnCode_t activate_component RTCHub DeviceComponentld t id I O I id ID RTC RTC_OK ACTIVATE RTC RTC_ERROR ACTIVATE ACTIVATE RTC Lite Manager 264 deactivate_component deactivate_component ACTIVE INACTIVE C RTOC ReturnCode_t deactivate_component RTCHub DeviceComponentld t id 1 O I id ID
163. RTC Lite miniRTC RTC Lite microRTC RTO Lite Manager RT 2 RTCHub RTC Lite Manager RTCHub
164. a 2 11 2 onFinalize 3 onDeactivated Inactive onFinalize 4 onReset Inactive onFinalize a 2 3 3 a 2 3 3 1 CAN miniRTCs CAN RTC RTC a 2 3 3 2 CAN CAN a 2 4 ID CAN ID 16 2 7 3 9 a 0 ACK RTR CRC ID SOF
165. 2 R 2 DD 3 R 1 RT
166. 5 RT 6 RT 2 10
167. 230 etc CAD
168. CAN RT b 3 10 FE b 3 10 CAN 12V CAN
169. b 3 1 189 miniRTCs SH2 CAN RTC Lite Manager 200 b 3 2 b 3 2 miniRTCs 56 CAN Device Driver 32 CAN Device Driver 32 RTC Lite Manager 64 32 216 RTC Lite Manager Yanboo II Yanboo II miniRTCs
170. DataPort_getInPortID IN ID DataPort_getOutPortID OUT ID DataPort_inPortRead IN DataPort_outPortWrite OUT a 2 21 1 DataPort_getInPortID DataPort_getInPortID IN ID 0x01 ID C UByte DataPort_getInPortID void 0x010x0F ID OxF ID ID 0x01 0xOF 2 DataPort_getOutPortID DataPort_getOutPortID OUT ID 0x01 ID C UByte DataPort_getOutPortID void 0x01 0x0F ID
171. e lt gt 7 RD gt p y e e RE lt RT mm 1
172. 1 RT RT c 2 17 RTC RTC RTC RTC RTC c 2 19 RTC RTC c 2 19
173. H20fy H21fy H22fy EE RT RT RT H20fy H21fy H22fy 49 135 99 283 9 5 i 5 8 49 135 99 283 Re THK 1
174. RT 1 1 1 1 1 c RT RT 1 1 b RT RT RT
175. 1 5 RT RT PLC Zigbee MPU RT lt
176. RT i I i Ri OpenRTM aist miniRTC
177. ETP European Technology Platform EUROP European Robotics Platform Willow Garage 5
178. RTSystemEditor 1 RTS lt isRequire gt 2 3 Active Inactive Active RTSystemEditor Error 1 Error Error RESET 242 c 2 3 RTC Lite Manager c 2 3 1 RTC Lite Manager RTC Lite Manager miniRTCs microRTCs RTC Lite Manager RTC
179. 3 RT RT gt
180. 2 WEB WEB b A 2 c 1 8 c 1 8 1 Zigbee 2
181. 2 lt cblooks gt SDIO 2 a 2 2 lt 2 lt 2 2 sw sw SW 2 2 1 SW ns lt lt CAN gt gt CAN gt gt CAN gt gt lt lt OAN gt gt lt lt GAN gt gt lt lt GAN gt gt lt lt OAN gt gt lt lt GAN gt gt lt lt GAN gt gt lt lt GAN gt gt lt lt Zigbee gt gt 1 sw AD gt gt lt lt Zigbee gt gt lt lt AD gt gt 1 5 5 1 lt 2pB Cme SE 1 1 lt lt DIO gt gt DIO gt gt 1 1 1 Ff
182. RTC Lite Manager miniRTCs _ microRTCs Ne i EE miniRTCs microRTCs c 2 3 289 PLC c 2 2 4 RTC c 2 4 PLC 2R mmmmmm CAN RTC ZigBee a 1 RTC RTO RTC 1 gt RTC 240 c 2 4 RTC RTC Bridge RTC
183. RT RT RT RT RT 3RTCHub RT RTSProfile 4 RTSystemEditor Eclipse Eclipse
184. RT 1 2 3 RT p8 1 RT RT RT RT 2 RT RT 3 RT RT 4 1
185. RTC Lite RT RT 1 2 2 gt 1 RT RT RT OpenRTM RT 2 3 RT
186. RTM RT RTM RTM RTM THK SEED MPU Cortex M3 Cortec M3 RTM MPU MPU MPU RTM SH2
187. RTC Lite miniRTCs OS RT RTC CAN RTC RTC miniRTCs RT RTC Lite M3T MR30 4 RT microRTCs RTC RTC Lite Manager ZigBee RTC RTC microRTCs RT 288 c 2 2 3 c 2 3 RT OpenRTM NET RT RTCHub
188. RTM o7 1 Or 9 1 2 3 4 5 6 7 14 s16 7 A gt IOIOlol GIQIO AB G RT
189. RT RT RT b 1 2 RTC Lite gt THK SEED Smart End Effector Devices Solutions RT 1 SEED DRIVER SEED DRIVER RTC Lite RT
190. 0 1 0 2 0 2 0 1 1 ASDU 2121210 1 0 1 NSDU NN MAC 2 MSDU 1 0 2 0 2 8 0 2 0 2 8 2 BCSN PSDU 5 8 a 2 16 ZigBee ASDU ASDU ASDU a 2 17 microRTCs 8bit 8bit 8bit 856bit 82byte N TD N IDD ID a 2 17 ASDU a 2 15 DD ASDU 3byte ID ID ID ID a 2 15
191. HomePlug AV CAN Controller Area Network CAN LAN IEEE 802 15 4 Zigbee Alliance vl I 1 NEDO 1 1 NEDO RT RT
192. RTC RTC Tigger view Guard iew 5 nction View Time Trigger V Time Guard vi Component Madule Namel port type port name id condition TimedOctetS ModuleNameliaut2 ed11 x gt TimedQctetS ModuleNameliaut4 ed12 x gt 20 6D acel a 3 69 RT I 142 RTC Data Type
193. 2 RT R T 3 R T
194. a 2 3 RTC Lite miniRTCs a 2 3 1 miniRTOs miniRTCs RTC Lite a 2 2 a 2 2 miniRTOs RT OpenRTM aist RT RT Ds RTC Lite Manage Ethernet CAN ZigBee miniRTOs RT 1 1 I 48 a 2 3 2 miniRTCs a 2 2 a 2 2 a 2 3 15 ID 1 15 IN
195. ProxyRTC 21 RT RT ProxyRTC ProxyRTC 232 22 RT RT
196. RT 2 lt gt R RT RT R R RT
197. OpenRTM aist TOPPERS TOPPERS OpenRTM aist TOPPERS OpenRTM aist std cout lt lt nv ilname lt not a string value lt lt std endl API newlib API _read write toppers_asp asp pdic syscalls c TOPERS OpenRTM aist Armadillo 210 24
198. ZigBee Manager RTC Lite b 3 7 RT TCP IP ZigBee Manager ZigBee Manaer ZigBee Manager TCP IP TCP IP ZigBee ZigBee ZigBee RT module A RT module B b 3 7 ZigBee Manager RT module A ZigBee Manager RT RT RT module B 195 RT 2
199. c 2 14 c 2 14 n byte 5 RTS ID RTS ID c 2 15 c 2 15 RTS ID RTS ID RTS Profile ID nbyte 6 RTC RTC c 2 16 RTC c 2 17 ID c 2 18 c 2 16 RTC RTC LiteManager ID ID 1byte c 2 17 RTC RTC LiteManager RTC HUB ID ID 1byte nbyte 249 c 2 18 ID
200. p16 5 RT p16 1 RT 2 RT 3 RT 4 RT 5 1 2 3
201. MLaa EE BasicEdtorFormPage ProfileHandler XmHander Unmarshaller ParamUti RtcParam GeneratorParam RT 1 XML H 2 restorefromXMLFile filsPath i 1 L L 1 L L L 1 1 1 1 L L N 1 1 3 restoreFromXmlRtc String 1 T 1 H T RTC Profle 0 1 6 org openrtp namespaces rtcversion0 1 XML XML Java 4 unmarshal T 1 Object RtcProfileanmarsial r 1 6 convertRtcProfile0 1t lt H r 2 RtcProfile 7 RtcProfilerestoreFromXmlRte Sa 1 JAXB RtcParam pl 8 1 8 J amp he 8 convertFromModule prohile generatorParam manag rlist 1 10 setRtcXml String 11 getRtcParams add rtcParam t 1 1 XML strng RtcParam t t 1 t t NS EE 1 1 1 L 1 1 1 1 1 L 1 H 1 1 1 1 1 1 1 1 1 1 1 1 1
202. XML JAXB Java Architecture for XML Binding UML ExecutionEnvironment Eclipse Platform ibrary gt Jp go aist rtm toolscommon profiles_1 0 0jar a 3 51 RTC MES F GE ruw mawm cpha aaTva fa 0D mm 1 TE Os PININ INNINIBIIIBIBIIIIBIIIIIIIIIIII RTS ES HB 8 8 8 8 8 8 8 8 8 8 8 8 H 8 B 8 8 8 8 BB 8 B 8 8 BB utuLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL Java Eclipse SDK E GE T N P GO 0 0 gt PathUri Componentid jnstanceName EC Star Shu Acti Dea Res Initi Fina Co MessageSending PE Required PathUr
203. RT RT RTSProfle 86
204. RT Comp3Ec1 WaitTime 750 Comp2Ec1 0 75 RT SystemA RTS Profile a target_executioncontext Component id Comp1Ec1 startUp sequence 1 componentId RTC SampleVendor SampleCategory SampleComponent 1 0 0 instanceName SampleComponent_1 Ey 1 ee WaitTime waitTime 1000 condition Target target_executioncontext Component id Comp2Ec1 componentId RTC SampleVendor SampleCategory SampleComponent2 1 0 0 instanceName SampleComponent2_1 Target tarqet_executioncontext Component id Comp3Ec1 componentId RTC SampleVendor SampleCategory SampleComponent3 0 5 0 instanceName SampleComponent3_1 a 3 48 1 Preceding shutDown 3 condition 2 RT T Comp2Ec1 Preceding RTC Comp3Ec1
205. 1 XML YAML a 3 25 BasicEditorFormPage ProfileHandler XML XmlHandler YAML YamlHandler 2 XML String RtcParam 108 XML sd XML J JAXB XMLYAML RTC Profile XML XM RTC Profle
206. RTC c 2 5 RTC RTS RTC TD ssRTS RTC 1 1 c 2 5 Bridge RTC RTC 241 1 RTC
207. 23 1 Zigbee 23 2 3 a 2 RTC Lite RT a 2 1 RTC Lite RT RTC Lite OMG RTC OpenRTM aist RT RT CAN RTC Lite miniRTCs ZigBee RTC Lite microRTCs 2 RT miniRTCs
208. 30 C 28 C Tmin lt Tset lt Tmax 0 1 C tout troom ttop OPEN CLOSE OPEN CLOSE UP STOPDOWN UP DOWN STOP ON OFF H A ON OFF lttop lt troom 3 2troomt 3 lt troom 3 troom 3 lt troom 3 troom 3 lt troom 3 troom 3 lt troom 3 troom 3 CLOSE OPEN OPEN CLOSE OPEN OPEN OPEN CLOSE CLOSE OPEN OPEN CLOSE CLOSE OPEN OPEN CLOSE OPEN OPEN OPEN CLOSE CLOSE OPEN OPEN CLOSE 12 1 4 5 1 CLOSE
209. RT RT 2 1 20 1 3 20 22 3 1 RT RTT
210. 1 RTC 1 1 1Value 1 RTG 1 RTC 1 Omission RTC 1 RTC 1 Commission RTG 1 RTC 1 Early RTC 1 RTC RTO 1 1 2 ission 1 RE 2 1Commission 1
211. JAXB ParamUtil JAXB RtcParam l RtcParam l YAML a 3 27 7 ver0 1 ver0 2 YamlHandler l XML sd XML XML YAML lt RTC Profile re XML JAXB XML ERTU2 lava ML BasicEditorFormPage ProfileHandler ParamUtil XmlHandler Marshaller RT 1 1 1 L 1 XML 1 N 1 1 1 1 1 1 1 1 1 0 2 storeToXMLfilePath gqneratorParam 1 1 1 1 1 1 Ss convertToModule generatorParam managerList 1 L L L L L 1 r 1 RtcParam
212. SEED b 1 4 RT gt RT b 1 11 b 1 11 gt b 1 12 mm mm IN Im sec i 0 042 0 042 19 800 19 800 Lot150 Lot150 b 1 12 16mm 19mm 2 DC
213. http www omg org technology documents domain_spec_catalog htm 3 15W 4 5 50cm 150g 6 13
214. E 8 2 NR SS es i eS A OR A i 8 BE GR 0 0 PE nl ww IN 3 3 EC EE TTP 4 1 8 1 1 RS SRR AS SR RS Te a SRR FS N 4 1 I 1 1 SN 1 1 1 1 1 8 1 1 3 i i WO Et a OY Rn ER E 1 g 1 1 R 1 1 1 1 1 1 5 ea Me a Ge Rae a 1 3 1 8 1 1 RI 1 E 1 1 1 1 1 1 R 8 1E 1 1 1 1 1 i i 1 UN_ NE 1 N a gE 1 1 1 Eg 1 Et ii 8 NN Ii NN Ei g 9 8 8318 8
215. HO Ethernet rr CAN Zigbee rer A D DIO PLC 1V MV V 5 1 5 2 23 2 28 NEDO RT
216. ID C 34141005F b 1 6 ID4 167 Node A D3 33135 00 sF 32153 00 SF KR Ether Node ID 1 Node ID 2 B 32135005F 351 53 00 SF b 1 7 ID3 ID5 gt CAN
217. R R RT RT RT RT
218. 10 ia IOl IOl LAls Fl IOIOIO IO 1 7 IOIO 1O sx 1 A 1o O RT ll LRT RFID RT OIO IO IOlk O IO Ol IO 10 1OI O 1OI gt AG Al cp EF 3D SLAM O Ol UWB
219. Bridge RTC RT RTC Lite Manager RT RTC Lite Manager OpenRTM 287 c 2 5 2 2 RTC RTC RTC Lite Manager RTC RTS RTC PLC CAN ZigBee Gateway
220. RT 22 1 2 Ethernet 1 22 5 6 Ethernet 2 RT RT RT 22 5 SHCPU PLC 22 7 CPU ARM 22 RT RT 22 9 PLC 22 12 PLC
221. 3 R R R gt RT RT RT RT R 3
222. p15 3 RT p16 4 p16 5 RT p16 1 RT 2 RT 3 RT 4
223. LAlB D IO _ 1O IOIO j LAlsleloplelrlc 1 _ ISI lt gt D gt _ IOIO _ IOIO lk IOI IO _ lo 19o 1O lk O O IO l OI 0o
224. RT PL amp as IT 2 2 4 NEDO PL 2 4 1 NEDO NEDO PL NED O
225. RT NEDO RT RT RT RT RT RT I 2 8 000 7 000 6 000 5 000 4 000 3 000 2 000 1 000 0 1978 1983 1988 1993 1998 20
226. RT 3 c 1 RT c 2 c 3 c 1 RT 1 RT p15 2 RT RT p15 3 RT p16 4
227. THK 1 RT RT N 1 4 1 RT RT THK
228. c 1 6 4 c EE Window CeilingFan Wi L_is Temperature sensor 196 b 3 9 b 3 4 RTC Lite RT CAN RT b 3 2 RT CAN RT RT
229. RTC 1 RTC 1 1 RTC 1 1 d RTC 1 1 i 1 3 NOS N 1 1 1 8 i 1 4 miniRTOs RTC 1 miniRTCs RTC RTC 1
230. O RT RT O RT RT RT 3 540 60 WASV L 2 220 PD Fa kn lt gt 8 0 ATC a 1 lt gt lt
231. O a a 1 13 25 ek HHH HHH 19 a 1 9 POWER LED LED AC100V 1 AC L 2 AC N XHP 2 JST 2 AWG 30 AWG 22 1 XD 2 RXD 3 NC 4 GND 38400bps 8bit 1 2 PHR 4 JST 2 AWG 30 AWG 22 CAN CAN 1 CANO H 2 CAN0L 3 GND PHR 3 JST 2 AWG 30 AWG 24 H UDI ICE E10 ICE 9 1 1 3 3V 2 TCK UL 3 GND 4 GND HHHHHHHH 5 RST 6 Tpo 20 2 7 ASEBRK 8 TMS 9 TDI 10 RE
232. 145 FSM RTS FSM sample_fsmxml 3 Select gt Element lt State InitialState FinalState gt Connector Transitian 1 actian 1 actian2 2 actinnd 1 actian2 2 actinnd a 3 74 FSM FSMProfile FSMEditor
233. 2010 SEED 2010 UU 1 2 1 1 RT RT RT RT RT
234. 271 get_component_profile get component_profile C RTCHub ComponentProfile get_component_profile RTCHub DeviceComponentld t id 1 O I id ID ComponentProfile 272 get_ member_ component_profiles get member_ component_profiles C RTCHub ComponentProfileList get member_ component_profiles I O ComponentProfileList
235. MessageSending ctivation Sequence 1 PathUri localhost khatibhost cxt CanfigSamplenrtc RTC Noriaki Ando AIST example ConfigSample 1 0 lame OonfigSamplen ExecutionCantext 0 O WaitTime Preceding WaitTime ms SendingTime SYNG Timeout ms PathUri Componentid jnstanceName ExecutionCon a 3 53 RTC RT RT RT RT RTC Componentld 7 RTC Noriaki ndo AIS Texam RTG Noriaki Ando AIST example a 3 54 RTC 130 dialog views RT dto uti jp co tech_arts rtm pnpconfig a 3 55
236. c 1 6 4 c 3 RT 3 3 RT RT RT PLC RT 5 c 1 6 4 d 151 a 4 2 OpenRTM aist MPU RT TOPPERS OpenRTM aist SH2 TOPPERS OpenRTM aist ARM9 CPU TOPPERS OpenRTM aist MMU SH2 a 4 1 OpenRTM aist TOPPERS OpenRTM aist MMU TOPPERS DigiConnect
237. OS os Version Mini Micro RTC Port ID MiniZMicro RTC Nede7Channel TD This section links Mini Micro RTC and Node Channel ID Channel ID 1 This section links Data port and Port ID and defines Data port Profile information Node ID ID that i Channel ID Data Ports RTC_WindowControl Port name DatanFort test 755 5 5 gt id Port name DataOutPort unit state id InPort OutPort Port ID Data type Object type Check and select object when yu use command port ylobect Detail lt RTCxml Mapping ID RTC Lite Variable name Specifie The vari Disp Pasition Specifie This pro Documentation Describe Athouet 8g Buildview 3 2 ModuleName c ModuleName mcp MotorUnit RTC Buider gt ln ModuleName mcs n new_C30_dsPIC30F3n14Defh rtc baseh rtc_globalh rtc_inparth in rtc_messageh i rte outporth gt Proxy PICfunc_MPLAB C30py Proxy py RTCL basepy RTCLCMDpy
238. c 1 1 RT 202 4 bm 4X ir c 1 4 RT RT c 1 2 c 1 2 RT 10 6 7 8
239. c 1 21 223 ipd 2 2zw AD gt gt lt lt AD gt gt T lt lt Ethernet gt gt iPad lt lt WIFD gt lt PLO gt gt RC lt lt PLC gt gt lt lt PLC gt gt ys lt PLC gt gt lt lt PLG gt gt DIO gt gt CAN gt gt AN gt gt lt lt CAN gt gt T AD gt gt lt lt AD gt gt DIO gt gt lt lt AD gt gt lt lt DIO gt gt lt lt Zigbee gt gt lt lt AD gt gt lt lt AD gt gt 2 Sw lt lt Zigbee gt gt
240. 1 RT RTC Lite RT p13 RTC Lite RT p14 1 CAN RT RT 1 RTM RTM RT 1
241. PIC dsPIC RTC Lite PWM RTC Lite PU O16F877A RTC Lite Pattern for dsPIC dsPIC30F3n14 Digitalm Digital Out analog In Pw Out DI Component DO Component gt O07 or 1 U4 0 or w 1 U4 PWM Component 0 4095 0 100 DI Digital In DO Digital Out Al Analog In PWM Pulse Width Modulation a 3 9 miniRTC microRTC CAN Zigbee MPU RT RT
242. R 4 RT R R R
243. RT c 1 13 c 1 14 RT c 1 15 PLC 2 PC 3 lt PH lt Acnoow AllLleHT D ADE650548 I AUN550474 F ASE640235 H ABE645044 G ASN640241 F Se ATE560091 N a ATN930094 C ADE650550 L B AUN646119 Tt d ATN930095 LL A AUE645386 3 gt b ATN930093 c ATN930096 N c 1 13 A 218 G LL moan pcy F CYKK AP THK
244. RT CAN RTC Lite miniRTC Zigbee RTC Lite microRTC PIC dsPIC RTC Lite 2 RTCBuilder Eclipse 3 MPU RT RTCProfile 4 RT RT Eclipse
245. ID 000 microRTCs 001 010 011 81byte 100 101 RTC 110 111 a 2 4 3 3 a 2 15 ASDU 1 ASDU a 2 18 microRTCs ASDU 0x00 672bit 84byte a 2 18 2
246. RT RTC Lite RT RT RT PC 3 Zigbee CAN PLC MPU SH2 RT RTC Lite RT RT PLC MPU SH4 ARM9 RT OpenRTM aist CPU RT
247. gt CAD 10o EE 1010 10 IOl _ IO 10o 0o 1 IOIO lt gt B
248. RT RT RT RT RT 2 1 1 2 RT 2 1 1 3 1
249. 1 1 1 A 2 2 c 1 15 2 2 1 1 1 1 8 2 2 1 1 2 8 16 3 6W 6
250. a 1 4 Texas Instruments CPU 9 AM1808 375MHz RAM DDR2 256Mbyte ROM NAND FLASHROM 2Gbyte m SATA EC INT6400 INT1400 ChipSET 200 Mbps PHY rate a CPU Real Time Clock 2 8 RS 232C 1ch Max38400bps 4 2 2 3 00000000 a 1 5 EE a 2 leeeeeeeesel s a 101214 OO sssssssss 8 5 EEE HH i HH
251. corba endpoint corbanameservers 0 9 is_enable logger enable YES NO is_log level Iogger log level SILENT ERROR WARN INFO NORNAL DEBUG TRACE VERBOSE PARANOID MANDATORY is_number exec_cxt periodic rate timer tick 159 0 9 s_putc 1 n r s puts 1 n
252. RT a 3 RTC Lite RT a 4 RT RT a 1 RT 1 RT RT RT RT 20 000 p3 p3 1 Ethernet PLC RT RT
253. RTSystemEditor TL 123 RT System Editor Eclipse SDK E CE N i CP GO F3 o Repos mm 4System Diagram 3 WU RTS_RTHousing Window0 mr 192168019876 a ssdaplhostLcxt RoomManageltc me 3h RTS_RTHousing_Envir Windo xr RTSystemE 8 a ip RTS RTHousing Winc Path URI 19216801 Instance Name RTS RTHou Type Name RTS RTHou Name 53 d Offline System Diagra Description Version Vendor RTServic 6 RTCHublmer RTS_RTHousing_Environment0 _ RTS RTHousing Windewd Category State State RUNNING Kind PERIODIC Rate 10000 participate InPort Name WindowCont Data Type TimedOctet Interface Typ corba cdr Dataflow Typ pullpush Subscription Amy Configuration Manager Con Composite C SS ExecutionC RT Loe View component RTS_RTHousing Window0 ype RToHub component WindowGontol 1 WindowGontol 1 WindowGontol 1 WindowControl 1 WindowControl 1 WindowControl 1 WindowContol 1 MotorUnit1 MotorUnit1 prt Apply WindowControl_ 1 motor_in WindowCantrol 1 window_in WindowControl 1 control WindowControl 1 lock_in WindowControl 1 mot
254. b 1 20 176 1 b 1 21 RT b 1 1 395 177 b 1 22 b 1 22
255. RT RTC ID RTC OpenRTM aist RT RTManager 121 RT RT RTSystemEditor Eclipse ERT System Edit or System Diaeram Eclipse SDK P r RW JE OFFLINEEONLINE ponentID RTC Noriaki Ando AISTexam RTC Noriaki 6ndo_AISTexam Manaeer
256. gt THK 3 ji iv b 1 17 b 1 2 100V ON OFF b 1 18 6 RTC Lite miniRTCc RT
257. ij DC ji DC iii Picsel iv PM vV IO ON OFF b 1 17 RT Picsel OO ERR CAN amp DC24V b 1 18 I 174 RT PR 2009 b 1 19 RT
258. RTC Commission RTC RTC Early RTC RTC Late 1 i RTG RTG Value RTC 1 RTC 1 0mission RTC 1 RTC 1 8 mmission
259. RT RT RT RT RT RT NEDO 1 2
260. Zigbee Zigbeee b 2 1 b 2 1 RT RT RT RT RT Zigbee 2 000 Zigbee
261. RT 2010 2015 2020 2025 2030 2035 7 4 2 PCT 1 2011 03 02 2011 045664 2 THK Patent Cooperation Treaty 1 RT 2009 2F2 04 2 Smart RT Device with Easy The 6th 2009 Replaceability in International Ubiquitous Robot Conference on Environment Ubiquitous Robots and Ambient Intelligence URAI 2009 pp 194 198 3 Smart home for security The 6th 2009 and low power International consumption based on Conference on Ubiquitous Robotics Ubiquitous Robots and Ambient Intelligence URAI 2009 pp 185 188 4
262. RT PLC 1 3 RT RT 2 RT RT RT RT RT CAN RTC Lite miniRTC RT Zigbee RTC Lite microRTC RT PIC dsPIC RTC Lite RT RTCHub miniRTC microRTC RTSystemEditor RT
263. 1 _ lt rts StartUp gt lt rts targets xsi type rtsExt condition_ext rts sequence 1 gt 1 lt rts WaitTime rts waitTime 1000 gt lt rts TargetComponent rts id Comp1Ec1 rts instanceName SampleComponent_1 rts componentId RTC Samplevendor SampleCategory SampleComponent 1 0 0 gt lt rts targets gt lt rts targets xsi type rtsExt condition_ext rts sequence 2 gt lt rts WaitTime rts waitTime 500 gt lt rts TargetComponent rts id Comp2Ec1 rts instanceName SampleComponent2_1 1 1 i 1 1 i 1 i i 1 1 i 1 i rts componentid RTC Samplevendor SampleCategory SampleComponent2 1 0 0 gt lt rts targets gt lt rts targets xsi type rtsExt condition_ext rts sequence 3 gt lt rts WaitTime rts waitTime 750 gt lt rts TargetComponent rts id Comp3Ec1 rts instanceName SampleComponent3_1 rts componentId RTC Samplevendor SampleCategory SampleComponent3 0 5 0 gt lt rts targets gt lt rts StartUp gt lt rts ShutDown gt lt rts targets xsi type rtsExt condition_ext rts sequence 1 gt lt rts WaitTime rts waitTime 300 gt lt rts TargetComponent rts id Comp3Ec1 rts instanceName SampleComponent3_1 rts componentId RTC Samplevendor SampleCategory SampleComponent3 0 5 0 gt lt rts targets gt 1 lt rtsitargets xsi type rt
264. CAN ZigBee RTC HUB RT c 2 1 c 2 1 RT PC MPU RTC Lite OpenRMT aist SH4 ARM9 200MHz RT ProxyRTC Linux Windows 2 OS RTC
265. ID RTC RTC Triswer View Guard View a Te rar iecusrd wg Component FsmState21n port name type interface id hame fail trige 2 EIA ET rag ee act12 12 cgesl ARe a 3 70 RT
266. Sw SW Sv 1 1 SW 42 2 c 1 21 A 224 B c lt 1 22 PLC Ethernet E A Zigbee FT i i enene 5 tW CAN CAN gt gt lt lt CAN gt CAN CAN gt gt lt Do gt gt Do gt gt Dio gt Bor orzxs po hos x2 LED LED 1 2 3 4 CA 3 TTF TiF
267. 10o10 LAlB 3 IOIO OIO GPS GPS _ OIOIO 1O IOIO T1010 gt IOIO al 2 0o T1010 3 IO OIO IO l OIO IOl 1O 1OI B LAlB
268. 11 WG 6 I 1 3
269. 20 109 600 2011 RT 2012 2035 100 RT 00 201 0 201 5 2020 2025 2030 2035 RT 1 4 3 3 RT R T
270. RTO Lite iManager RT i i RTCHub iRTC Lite Manager i RTCHub i RT RT i i RT iRT
271. a 1 16 29 PLC CPU PLC 9 H 79 CPU PLC PU PLC a 1 17 PLC a 1 4 Zigbee Zigbee 1 CPU SH7214 100MHz SH 2 PLC HomePlug AV ChipSet CPU 1MByte Zigbee TI CC2530 CPU RISC CPU SH7214 100MHz CPU 128KByte CPU FLASH 1MByte PLC Intellon INT6400 INT1400 1ch Zigbee LSI CC2530 TI CPU a 1 18 Zigbee a 1 20 PLC 31 2 a 1 10
272. 40 x2 L O H UDI IC SW 5V 109 Max 400mA 0C lt 50C mm 71x 51 4 a 4 3 AD DIO u ST ADIO 4ch 2ch 5V 0V 5V 940KO 10 8bit AD ADC10154 A D 1 4 5u s A D 19 3ch 0V 24V 20u s 3ch 80V 20u s 4700 25mA 3 75kV ML 700 NH20 CPLD XC9572XL 10VQ64C Xilinx 40pin x 2 HIF 40PB 2 54DSA Max 200mA
273. RT 2 2 1 RT R R OpenRTM RT R
274. 10 SISIGI lt gt 8 K RT IOIOIO 0 IA ClplElFlel O 0 gt O IO Ols a A exUPnP O 1O OI EGG 10 10 10 II 1010 F G 1O Ol _ _ OIOIOIOIOIOI
275. 19 800 1 THK RT SEED 1 2 3 3 1 1 1 1 2 3 b 2 1 RT RT RT Zigbee 2 000
276. NEDO NEDO E NEDO 4 NEDO
277. RT 5 1 2 3 4 5 c 1 2
278. SEED EDITOR b 1 8 feeD EDITOR Leo 5nn LINK pps jp _ tNk lmHH ch1 ch2 ch3 ch4 tk gs aphzes ke he4e 7z LY4 2 lsl lslcl7ls il D lms 2 AM b 1 8 SEED EDITOR PC Windows2000 XP 14 1 8 2
279. gt LanguageEditorFormPage RtcXmlEditorFormPage RTC XML a 3 21 RT RTC Profile RT 1 RtcBuilderEditor 2 1 RT RtcParam 1 104 BuildView EMF RT sd RT
280. IC TV RT RT
281. PLC Zigbee CAN c 1 10 CAN c 1 10 RT 1 1
282. RT OpenRTM NET i RTC HUB 1 9 Am RTC Lite Manager c 2 19 281 2 miniRTCs RTC RTC RTC Open
283. 2006 7 2007 6 25 2007 6
284. 2015 1 6 2035 9 7 I 1 3 2035 RT 201 0 201 5 2020 2025 2030 20835 21 NEDO 1 1 2035 2 2 1 1980 4
285. 5 1 RT 2 3 2 1 4 RT RTC 5 RT RT
286. RT RT System Editor Eclipse 5DK E CD P D F3 RT System E OE 0 Name Service RepositoryVie mm 4System Dlaeam 3 a 3 RTS_RTHousing Wint a 19216801 9976 asdap host ext me RTS_RTHousing WindowD RTS RTHousine Window composite RTOHub ACTIVE 0 le RUNNING FF Confieuration View Manaeer Oontrol View Composite Component View Execution Context View RT Loe View ka ComponentName RTS RTHousine Winc ConfigurationSet default active contig name Vake et or a Dy Wn 1 a 192168019876 asdanhost ox Pos 324 44 Size 93 59 a 3 39 minRTC microRTC RTSystemEditor miniRTC microR
287. 3 b 1 RT b 2 b 3 RT RT b 1 RT RTC Lite 1 CAN 1 DC DC 1 p10 2 2 O A D CAN 2
288. AT localhost khatiblhostcxt ConfigSample0tc hp Consolenlrtc ConsoleOutOte Hh managerlmer MyServiceConsumerOtc eer MyServiceProviderDlrtc 3 SequencenComponentOlrtc 8 SequenceOutComponentOlrte ConsoleOutd Configuration View Manager Control View Composite Component View RT Log View RTS Tuner View 3 Import A msec ooo A msec 50 Enoon B msec EQn Ennn B msec nn EE Cancel Description tune definition RTC Noriaki Ando AIST example C INTERVaL msec WAIT msec Huma definition RT System Editor System Diaeram Eclipse SDK D 4 CP E D Ca a i CL ES RT Systen E M Name Servic 23 RepositoryVi ll Tn System Diaeram 83 2 Nm sp AT localhost BB khatiblhost_cxt ConfigSampleDlrtc 3 ConsoleInolrtc 3 ConsoleOutntc T 1 ie SMyServiceConsumerOlrtc th C
289. PatternWeaver for RT Middleware RT RT 1 4
290. RT RT RT OpenRTM I 1 RT RT 2 1 2
291. RTC RTC HUB RTC miniRTCs RTC 3 RTC RTC
292. c 1 5 A 209 7053 1366 1365 455 682 455 2730 2 2730 1820 2275 8645 c 1 6 A 210 1820 5233 c 1 6 3 b B c 1 7 c 1 8 2 c 1 9 c 1 7 B 2F 1 5F 2 5F c 1 8 B 211 c 1 9 212 c 1 6 4 RT c 1 6 4 a
293. sendingTiming SYNC Comp3Ec1 Comp2Ec1 timeout 100 0 1 Comp3Ec1 127 SystemA RTS Profile XML RT XML Condition Target Component id Comp3Ec1 componentId RTC SampleVendor SampleCategory SampleComponent3 0 5 0 instanceName SampleComponent3_1 RTC Condition Target Component id Comp2Ec1 componentld RTC SampleVendor SampleCategory SampleComponent2 1 0 0 instanceName SampleComponent2_1 Preceding sendingTiming SYNC timeout 100 Preceding Component condition Condition Ccondition id Comp3Ec1 UE componentId RTC SampleVendor SampleCategory SampleComponent3 0 5 0 9 instanceName SampleComponent3_1 3 RTC a 3 49 2 XML
294. RT RTCHub RT RTSProfile i RTSystemEditor Eclipse Eclipse 85 RT RT RT i
295. SW c 3 9 2 298 Software HAZOP Fault Tree Analysis FTA c 3 10 FTA SW SW SW c 3 10 FTA
296. View Controller generator manager RTC Profle template CORBAIDL corba EMF model BuildView RTC Profile a 3 16 RT RT 99 Jp go aist rtm rtcbuilder 5 L mpot gt mport a we IN mport mport wi L L L generator manager corba model uti mport L ll template a 3 17 RT RT ui editors wizard dialog compare preference
297. a 2 6 a 2 6 ID ID ACTIVATE DEACTIVATE RESET EXIT SET_RATE GET_RATE GET_KIND a CONNECT ID ID 4bit ID 4bit DISCONNECT ID GET ERRORLOG 3 ID a 2 8 ID 010 4bit 4bit Ma ID ID ID 8bit 4bit 4bit 0 48bit os ID ID Ne a 2 8 a
298. R 55s 4 RT R 5 RT OpenRTM Robotic Technology Component RTC 1 0 adopted OMG http www omg org technology documents domain_spec_catalog htm RT 1 RT
299. RT a 3 4 RT RT MPU RT RT CAN RTC Lite miniRTC Zigbee RTC Lite microRTC PIC dsPIC RTC Lite RTCBuilder
300. RT 20 000 RT Zigbee 20 000 2 3 BGA 1 2 Atom gt PS Windows L nux 0pen RTM Eth t PLC 6 TCP IP RT em AM1808 375MHz 0pen RTM CORBA TCP IP RTC x 2 3 AC100W RTC Lite 20 000 P Stack CAN PLC RTC x CC2530 16MHz 2 000 0S P Stack ZigBee i a 1 1 a 1 2 RT
301. a 3 62 RTManager 136 a 3 4 RT RT RT RT RT
302. 1 CPU AM1808 375MHz ARM PLC HomePlug AV ChipSet NAND FLASH 2GByte CPU PLC CPU TI ARM CPU AM1808 375MHz DDR2 256MByte NAND FLASH 2GByte SATA PLC INT6400 INT1400 RTC 1ch a 1 3 CPU a 1 4 PLC 2 a 1 2 AC100V AC85 132V 1ms 5W LED POWER a 1 3 0 lt 50 C 20 70 C 30 lt 9096RH 30 lt 9096RH
303. c 3 5 289 c 3 2 Type Mechanical Electrical Thermal Type ISO14121 1 Safety of machinery Risk assessment Part1 Principles ISO14121 1 Origin Consequences Type
304. AC100V AC85 132V 2 1ms 5W a 1 11 0 50 C 25 70 C 30 lt 9096RH 30 lt 9096RH a 1 12 CPU SH 7214 SH 2 100MHz RAM CPU 128Kbyte ROM CPU 1Mbyte Intellon INT6400 INT1400 ChipSET 200 Mbps PHY rate RS 232C 1ch Max38400bps PH4 2 TI 32 3 a SO on Ol Waa mgm oc A Om 0 BE nin EE o oO Fa
305. 37 lt 6 un 0 calc HHH oO dq lt Ta 1 HIHHPI HI HI 7 ne 16 I 9 0 eeeeeeeeeel SN CO PLC ZigBee a 1 24 38 CPU PLC 29 H 22 CPU PLC CPU PLC a 1 25 ZigBee PLO a 1 5 21 RT PC RT RT
306. IT 1 22 RT RT RT RT RT RT 2 2 1 3
307. RTS RISp sg Ci 3 RTS RTS a 3 33 RT RTS RT ConfigurationSet msec 10nn i msec 5000 a 3 34 CSV 116 epee unaluupun m sec SD m sec
308. 1 RT RT 2 RTSystemEditor Eclipse Eclipse 3
309. RT 1 0 adopted OMG http www omg org technology documents domain_spec_catalog htm 20W 4 150cm 250g 5 6 1 2 3 4 5 O 3 11 II 1
310. RTC Lite RT CAN RTC Lite RTC Lite RT b 3 1 b 3 1 RT RT
311. action views figure editpart GUI parts perspective 100 xmlEditor 5 Ea Viewpart wizard figure dialog RR editpart compare factory KS GUI 1 Perspective gt Fatcory a 3 18 RT RT UI generator RT RT param parser 101
312. flowPort gt gt _1ON OFF SW lt lt flowPort gt gt pr lt flowPort gt gt ON OFF lt flowPort flowPort gt gt 1T flowPort gt gt flowPort gt gt flowPort gt gt MM flowPort gt gt c 3 5 c 3 4
313. gt BasicEditorFormPage LanguageEditorFormPage O RtcBuilderEditor GeneratorParam RtcParam rtcxml Strin langList ArrayList lt String gt EY 0 x Ek F GuiRtcBuilder Generator lt gt GenerateManager ConcreteGenerateManager a 3 23 BasicEditorFormPage GenerateManager RtcParam GenerateManager LanguageEditorFormPage OS CPU 106
314. RT RTSystemEditor Eclipse Eclipse 113 RT System Editor System Diaeram Eclipse SDK GE D CP GO PD Ca CN ioe LC TE M 19 uP Rr systen E gt 1 Name Servio 23 RepostooV ST EE 0 gs
315. XML L L i 4 RtsProfileExt unmarshal 3 unmarshal L RTS Profle 0 11 Ver0 1 Var0 2 T 5 1 convertRts Profile0 1to02 1 JAXB 1 1 a 3 58 PnPConfigView XML XmlHandler XmlHandler XML RT ver0 1 ver0 2 XML Ver0 1 ver0 2 133 sd L L 6 sav
316. 1 2 2005
317. 1 2 3 4 5 RT RT RT RT p8 1 RT RT 2 5 RT RT
318. Linux PnP TCP IP HW a 1 6 PLC 5 AM1808 NEE lt UART2 mSATA gt SATA SSD 2GByte RESET 506 RESET SPIk 3 SERIAL FLASH OSC OSC RTC DDR2 Se X TAL OS DDR2 256MByte 32 168KHz RTC BAT sh JTAG JTAG MI gt 18V PMC gt 09V gt 1 2V CPU MI INT6400 3 3V LAN INT6400 PLC POW MI INT6400 MAC INT1400 AC100V 3e B P F 3e A Ac pc pc pc 3 gt a 1 7 PLC 20 6 CPU kk 44 00000000 s 00000000 82 68699669969996 88888888888888 PLC
319. RT Zigbee 2 000 Zigbee 1 8 980u A 183 b 2 2 Zigbee 1 TI CC2530 A D 4ch DIO 4 Zigbee Zigbee PU TI Zigbee CC2530 16MHz CPU 8KByte CPU FLASH 256KByte b 2 1 Zigbee 2 b 2 2 DC3V DC2 4V 3 3V 1ms 1W b 2 3 0 50C 25 70C 30 lt 9096RH
320. RTC PRECONDITION NOT MET 0x05 a 2 23 Rcode ID E_OK 0x00 E_ ERROR 0x11 E_BUSY 0x21 EID 0x22 ID E_NOINIT 0x23 E_SIZE 0x24 E STATE 0x25 E OVER 0x26 E SETTING 0x27 E EVENT 0x28 E PAR 0x29 E PORT 0x30 E NODATA 0x31 a 3 1 a 3 1 i RT RT MPU RT RT RT
321. 1 O IOIOl 17 1 1 A Pl B PID RT D RT ck 3 0 oo
322. ASDU a 2 19 ASDU ID TD TD 0x01 8bit 8bit 8bit 4 4 0 lt 640bit 80byte ID a 2 19 ASDU ID a 2 16 a 2 16 DD ID 0x00 ACTIVATE RT 0x01 DEACTIVATE RT 0x02 RESET RT 0x03 EXIT RT 0x10 SET RATE Ox11 GET_RATE 0x12 GET_KIND 0x20 CONNEOCT 0x21 DISCONNECT 0x30 GET_ERROR_LOG ASDU a 2 17 a 2 17
323. Beer a 6 setRtcProfile Rtcprofile 1 7 dump RtcProfileHoldr true 1 1 0 JAXB YAML EE XML YAML RTC Profile AML E YAML YAML MHD Re JYaml BasicEditorFormPage ProfileHander PaiU YamlHander RtcProfileHolder Yaml RT 1 L R H H t H 1 H H 1 YAML 1 tL 1 L 1 1 1 Lt 1 KR EE 1 L L 1 1 1 H 1 H 2 createYaml filePath genBratorParam 1 1 6 t i 1 3 convertToModule generatorParam managerList i t H 1 1 H M H 1 H 1 H 1 H 1 RtcParam 6 R t L JAXB L 1 L H 1 H H H H W RtcProfile convertToModuke t t H H 1 H Sm t h h H H 1 1 t H 5 convertToYamIRte RtoPrbfile H La 1 H H 1 H H H H 1 er H H H H H H H H H H H t a 3 29 YAML ParamUtil
324. miniRTC MD G9 2 2 P FO 3 0 GS o2 3 Thes secteon wie RT Cemewev Bm nlrmien ee te HLT HH TP HJ m RF Mapping ID ini7Micrg RTC Node7GhanneT I This section links Mni Micro RTC and Node Channel ID Node ID Tp that identifiss Mini Micro RTO node ini RTC is allacated in Node ID from 1 t Nede ID 2 Charnel ID 2 Micro RTC is allocated in Node ID from 1 Channel ID ID that identifies Mini Micro RTC chamel Mini RTC js allocated in Channel ID from TF This section lgks Data port and Port ID Micro RTC js allocated n Channel ID ro and defines Data port Profile nformation Data Ports A port to se There are ar Port name DatanPorO id add Port name DataOutPort id To connect humidity 1 InPort A port to im Delete It ie connect OutPort A port to oufput data It is connected with RT Components Port ID 1D We identifles py Te VO Bort ooaled to ID from 1 to 1 Data type Specifies a data type to send and receive The data type is TimedOctetSeq fixation i Variable name Specities the variable name associated wi Check and select object when you use command port The variable name is different according tc Disp Position Specifies the pos ition that the component Ohiprt ee
325. 2 ID a 2 7 ID 001 4bit 4bit 05 ID TDD TD 8bit 4bit 4bit 0 48bit a ID ID 2 a 2 7 ID a 2 5 a 2 5 DD ID 0x00 ACTIVATE RT 0x01 DEACTIVATE RT 0x02 RESET RT 0x03 EXIT RT 0x10 SET_RATE 0x11 GET_RATE 0x12 GET_KIND 0x20 CONNEOCT 0x21 DISCONNECT 0x30 GET_ ERROR_LOG
326. ID RTC ERROR_STATE ERROR RTC CREATED_STATE RTC INACTIVE_STATE INACTIVE RTC ACTIVE_STATE ACTIVE RTC Lite Manager 267 get_rate get_rate C CORBA Double get rate RTCHub DeviceComponentld t id I O I id ID rate 268 set rate set _rate C RTOC ReturnCode_t set rate RTCHub DeviceComponentld t id CORBA Double rate I O
327. RT MPU RT RT RT 3 a b RT c RT RT 3 1 1 a RT RT
328. RT RT RT RT
329. RT RT PnP RTC 1 RTS 3 PnP 2 RTSI PnP EATLELELLLLLLLLLLLLLLLLLLL 1 4 RTS PnP PnP Configuration PnP a 3 46 124 ORT RT AIST RT amp RT
330. RTO 2 Early RTC 2 2 RTC 2 1Value 1 RTO 2 RTC ission RTC 2 7 RTC mmission RTC 2 7 RTC y RTC 2 RTC 2 RTC 2 7 RTC ue 1 296 c 3 5 Software
331. if DEBUG ifdef DEBUG 155 DEBUG IOR POA API DigiConnectME TOPPERS OpenRTM aist DigiConnectME OpenRTM aist DigiConnectME CPU RTC RT RT OpenRTM C OpenRTM C OpenRTM C OS Linux OS TOPPERS OS TOPPERS a 4 4 OpenRTM aist 1 0 RT OpenRTM aist 1 0 TOPPERS OpenRTM aist 0 4 1 0 RTC TOPEPRS OpenRTM aist OpenRTM aist 10 TOPPERS CPU
332. maaan a 9 16 HEHnEHHig nn SL_ 8 O O O 17 a 1 5 No POWER LED LED AC100V 1 AC L 2 AC N XHP 2 JST 2 AWG 30 AWG 22 1 TXD 2 RX 3 NC 4 GND 38400bps 8bit 1 PHR 4 JST 2 AWG 30 AWG 22 JTAG 1 3 3V 2 TRST 3 TDI 4 TMS 5 TCK 6 RTCK 7 TDO 8 nRST 9 EMUO 10 GND SM10B SRSS TB JST 2 AWG 30 AWG 26 4 PLC PLC AM1808
333. 1 RTC y RTC RTS 7 RTC Value 1 RTC 1 1 1Omission 1 RTC 1 1 1Commission 1 RTC 1 1 Early 1 RTC 1 1 1Late
334. 5 RT RT 1 2 3 4 5 c 3 1 RT p17 2 p17 1 SysML 2 1 2 2011 8 2 a 1 RT a 1 1 RTC Lite RT
335. Low 04 05 500 ms wait 06 08 03 07 200 08 09 21 CAN b 1 23 RT RT RT RT
336. Panasonic LED ON OFF LED LED 3 2DO A 0 5sec 1sec 1sec 11sec 8 ea gbee gb mee zigbee E sa dE IES sss IR a LED 24 F2f IR a a LED Si Mo RT 5 mgNctosEboW YKKap 4 7 4 a pre CAN 0 1sec 0 1sec EM A HA 0 1sec JAM
337. RtsProfileExt XmlHandler XML RT RT RtsProfile NameService RTC OpenRTM aist RT RTManager 184 T System Edit m Editor System Di H N P 2 B r ER EER I P x RTSysemE A Name Service PepositoryVi lem Diagras EOFFLINE ONLINEY OF FLINE nstercs Name ONLINE Instance Name ONLINE PathURT lc a 3 60 RTC RTSProfile
338. p13 1 RT RT Zigbee RT Zigbee 2 000 Zigbee 1 8 980u A 1 b 3 RT RT RT 1 RT p13 RTC Lite
339. RT 2011 2012 RT 2 RT
340. b 1 14 b 1 12 150 LPD 254 LPD 0 17mm 0 1mm 0 43 0 2mm 1 ELIIIIITITT PE ss b 1 14 SEED ST1A DC DC SEED Driver b 1 15 172 SD Editor
341. c 3 4 ibd WO SW SW c 3 4 288 c 3 5 ibd
342. 50 300 250 1 2 3 200 4 5 150 6 100 15V 50 0 50 60 70 80 90 100 SEED Driver 100 0 85A b 1 16 173 gt e 50mm 30mm 16mm b 1 5 RT gt RT RT
343. Eclipse RT RT Eclipse ER RT 0 OS 14 RTC Buiger gt C _ miniRTG RTC Builder RTC_MotorUnit RTC xml Eclipse SDI microRTC RTC Lie Java 5 Python Y Mapping ID EB dummy RTC Act BB RTC HumiditySensor RTC MotorUnit 9 RTC RoomManaee FB RTC RTService HB RTC SensorControl 9 BB RTO_TemperatureSensor gt Node ID 1
344. R 3 1 RT R RT OpenRTM RT R 2
345. RTC Early _ RTC RTC Late RTC RTC Value i RTC RTC Omission RTC RTC Commission RTC RTC Early RTC RTC Late
346. RTC Lite CAN DC DC I O A D CAN 2mm 1g RT RTC Lite RTOc RTC R TC
347. 2 RT 3 RT R MM 10 3 1 9
348. 5 RTS a 3 66 RT 140 MM gt State ar 1921688100 Mh managerlmgr i SB ET managerlmgr_cxt hame Running Actions Apply Cancel ab Nataanrulnate nvt BF hame interface oe 0D11 syPortaction1 021 syPortaction2 a examnlelrate cyt H TV TF Bad VR Eee TE Pixar Vi TRE VR Womponent hame interface U0 KV MG FRPm F AM kind everyDay dayg1 start DOO 10 00 0 name nA datetime In0 05 id hame periodic periad1 1 Trigger View Guard View FsmState21n Component Interface id fail trie actiO7 ECU port name syPort PT hame EN
349. C RTC ReturnCode_t disconnect RTCHub ConnectorProfile amp connector_profile 1I O I connector profile RTC RTC_OK DISCONNECT RTC RTC_ERROR DISCONNEOT DISCONNECT RTC Lite Manager 275 get_connector_profiles get_connector_profiles C RTCHub ConnectorProfileList get connector_profiles I O ConnectorProfileList 0 276 c 2 4 4 Bridge RTC OpenRTM aists
350. RT i RT RT RT RT i RT A RT RT RT i i RTC Lite miniRTC RTC Lite microRTC i
351. RT RT RT PC RT RT RT 21 RTC Lite RT RTC Lite OMG RTC OpenRTM aist RT Zigbee Zigbee Ethernet 22 PLC RT Zigbee Zigbee RT
352. Robotic Technology Component RTO 1 0 adopted OMG http www omg org technology documents domain_spec_catalog htm 2 1 2 R T 2 1 2 1 RT RT RT RT
353. NameServer 1 n NameServer 1 n n 0 CORBA RtORB OpenRTM aist1 0 Linux omniORB CORBA RtORB CDR RtORB CDR AS NVList NVList_ptr NamingContext SDOPackage NameValue newNV const char name Value valuey Value ServantAlreadyActive Object in CdrData RtORB Armadillo240 TOPPERS OpenRTM aist 1 0 PC OpenRTM aist 1 0 Python
354. RTC HUB RTC miniRTCsmicroRTCs c 2 6 RTCLite Manager 243 Bridge RTC RTC RTC Lite Manager miniRTCs microRTCs RT RTC RTC Lite Manager miniRTCs microRTCs RTC miniRTCs microRTOs RT 1 1 244 c 2 3 2 RTC Lite Manager c 2 8 c 2 8 1 RTC c 2 7 RTC
355. AND FTA Software HAZOP RT 299
356. ID RTC_OK 0x00 RTC_ERROR 0x01 RTC_BAD_PARAMETER 0x02 RTC_UNSUPPORTED 0x03 RTC_OUT_OF_RESOURCES 0x04 RTC PRECONDITION NOT MET 0x05 a 2 12 Rcode ID E_OK 0x00 E_ ERROR 0x11 E_BUSY 0x21 EID 0x22 ID E_NOINIT 0x23 E_SIZE 0x24 E STATE 0x25 E OVER 0x26 E SETTING 0x27 E EVENT 0x28 E PAR 0x29 E PORT 0x30 E NODATA 0x31 a 2 4 RTC Lite microRTCs a 2 4 1 microRTCs microRTCs RTO Lite a 2 13 a 2 13 microRTCSs RT OpenRT
357. RT A 2 c 1 12 1 c 1 12 1 2 c 1 12 2 c 1 12 3 c 1 12 4
358. fog 2 5 5 Ro Tan B RtcLteTest BS Device Proxy a READMEfoo rtecont Module name Module description Module version Module vender VenderName_ Module category Category wv Component type STaTo Be 6 Component s activity type PERIODIC Component kind 2 DataFlow FsSM EMuttiMode Number of maximum instance 1 FeriodicExecutionContext Execution type Execution Rate MultiMode RTGC Type Abstract Output Project RTC
359. 3 R 1 RT RT RT OpenRTM RT RT R ul
360. ECHONET Energyj Conservation and Homecare Network i RT RT RT RT RT i
361. Trigger View P Companent ConsoleInD port type port name id hame conditio TimedLong nut gd1 1 x gt 20 TLLLL LNN NN IN Guard View Action View Time Trigger View Time Guard View Component ConsoleInD port type port name id name canditin TimedLong out tr1 1 x gt 10 2 trH2 2 12 3 Delete a 3 67 RT RTC RTC 141 Guard View Action View Time Trigger V Time Guard vi Component ModuleName TimedQctet ModuleNameD out2 tro1 1 x gt 1I 2 TimedOctet ModuleNamelnut4 trH2
362. RTC Profile XML YAML generator Darser a 3 19 RT RT generator template C velocity cpp Visual Studio velocity cppwin RTM ver0 42 C velocity 042 RTM ver1 0 C velocity 100 velocity common 102 template C gt VisualStudio cppwin common gt _100 RTMver1 0 common gt common README a 3 20 RT RT template
363. I dataSize 0 81 E OK EID 0x01 0xOF ID E PORT ID IN ID E_SIZE 82byte 81byte a 2 4 6 ID a 2 4 7 a 2 22 a 2 23 a 2 22 ReturnCode t ID RTC_OK 0x00 RTC_ERROR 0x01 RTC_BAD_PARAMETER 0x02 RTC_UNSUPPORTED 0x03 RTC_OUT_OF_RESOURCES 0x04
364. NIS M ss c 2 16 278 CAN c 2 21 RT CPU Intel Core2Duo 2 00GHz RAM 1GB OS Windows XP CPU SH7764 324MHz Flash 32MB RAM 128MB OS Linux CPU SH7216 200MHz Flash 1MB CAN RAM 128KB OS TOPPERS ASP CPU ARM7 60MHz Flash 256KB CAN RAM 16KB OS c 2 17 iPad RTS HomeManaeementSystem c 2 17 279 RTC c 2 18 HomeApplic
365. RT RT RT 3 1 RTC Lite CAN miniRTCs Zigbee microRTCs 2 RT 2 miniRTCs microRTCs 3 RT 1 2 3 a 2 2
366. a 2 4 CAN ID a 2 5 miniRTCs ID ID 3bit 4bit 4bit Ne a ID ID ID a 2 5 ID 3 a 2 4 ID 8 ID ID ID CPU 0000B 1111B 16 ID ID CPU 0000B 1111B 16 ID a 2 4 DD ID 000 mini
367. RT RT RT RT RT RT RT RT
368. RT 1 RT RT RT OpenRTM RT RT RT 2 RT
369. RT RT 5 3 3 RT Software HAZOP 294 c 3 3 RT Software HAZOP Local System H 3 TS 3 7 R Omission HA miniRTCs 24 R Commission lt miniRTCs 24 R Ear
370. RT RT RT RT RT RT RT RT RT RT
371. RT miniRTCs b 3 11 197 b 3 11 RT b 3 12 b 3 12 b 3 13 198 b 3 13
372. UML RT RT RT 1 RT a 3 11 RT RT ORT RT RT AIST RT RT RT rtc_profile basic_info id string abstract string 0 1 lt enumeration gt Version string activityType activity_type activity_type category string componentKind string lt enum PERIODIC componentType component_type lt enum SPORADIC 0 creationDate dateTime num EVENTDRIVEN B if description string 0 1 DIO executionRate double 0 1
373. Wa msec lt tune definitian definition a 3 37 RT 118 tune definition a 3 4 RT QO RT
374. a 1 15 PLC 28 6 CPU PLC 82 1 9 oo O Ea Sr ss BE 6 EE Om O mE HBBEBBBR a 0 HH am HMI ls 95 44 4 3 HB 00 08 Ma b d 0 4 OF NW 9 9 9 OD Om ga OL iE BS_ OU ED nn 9 16
375. 108 ORT RT org eclipse ui forms editor FormEditor a L RtcBuilderEditor org eclipse ui forms editor FormPage AbstractEditorFormPage BasicEditorFormPage W GeneratorParam i A 1 targetCompohent L L ActivityEditorFormPage L RtcParam BuildViewImpl DataPortEditorFormPage T RTC Profle ComponentImpl PE ServicePortEditorFormPage T EMF gt org eclipse ui part ViewPart ConfigurationEditorFormPage _ A DocumentEditorFormPage ComponentBuildView 1
376. 2 F vwkAP A _ el c 1 14 A PC lt AC100V gt a ww 1 T Oo O PC i 5 8 a a c 1 15 A RT 219
377. 3 3 1 3 2 RT RT PLC PLC 1 1 1 RT Robot Technology RTC Lite
378. I 91 Mapping ID ITD TD Cd rloExt Prentice TeExt yns 2 HCE hame mT id lt rtcExtPranerties rtcExtvalue 2 rtcExtname channel_ id gt CE Froperties rtcExtwalue zighee rtcExtname protocol RTC BasicInfo a 3 7 ID ID Mini Micro RTC Port ID eS Add I This sectian links Data port and Part ID and defines Data port Profile information Part name DatalmPart i i In Port Name DataInPort Add Port Name DataOutPart RTS DetaPorts 92 a 3 8 PIC dsPIC RTC Lite RT PIC dsPIC RTC Lite
379. lt ae RTS nl a tt RTC RIC ua TiteManager LiteManeger CAN ZigBee 1 RTS a 3 43 RTCHub miniRTC microRTC RTC LiteManager RTCHub RT RTCHub RTC miniRTC microRTC Repos g ar 192168019876 System Diagram 3 RTCHub RTC asdaplhostLcxt IEEE3 af RoomManageOlrtc ER TS RTHousing_Envird 1 RTS_RTHousing Windo 2a RTServiceOlrtc activate Ctrkalt A 3 RTCHublmer RTSRTHou Deactivate CtrlrAlt D Reset Exit Start Stop Create Composite Component ml System Diagram MMotorLnit_1 WindowControl 1 a 3 44 miniRTC microRTC
380. RT c 1 6 4 c 161 a 4 3 RT RT RT RT c 1 6 4 d 162 b RT
381. RTSystemEditor RTS Bridge RTC RTC ExcutionContext compositeType BridgeServant Bridge EXIT 277 c 2 5 c 2 5 1 c 2 15 c 2 16 c 2 21 c 2 15
382. gt RT 2005 4 RT e RT e RT e RT 5 6 e RT e RT e RT kao da gag RT 147 QOL 9
383. iPad WEB 208 c 1 6 3 c 1 6 3 a A A c 1 5 c 1 6 30 cm LDK
384. lt lt block gt gt lt lt block gt gt E lt lt block hardware gt gt EE block gt gt lt lt block hardware gt gt I lt lt block hardware gt gt lt lt block hardware gt gt block hardware gt gt lt lt block hardwa 24 lt block hardwa lt lt block hardware gt gt block hardwa c 3 2 3 2 c 3 3 286 bdd lt block gt gt lt block hard
385. 3 30 4 50cm 250g 12 1 1 1ms Linux 2 RT RTM RT RT Robotic Technology Component RTC 1 0 adopted 0OMG Ny Nk kk DE O ri I Rk
386. EIRQ UART 10 100Base T 10 100Mbps RJ 45 magnetics 802 3af 3 3V DC 346mA typical 1 14W 3 3V DC 186mA 613mW 3 3V DC 34mA 113mW 40 85 C 154 TOPPERS ASP Digi Connect Me 9210 TOPPERS ASP ARM ARM7TDMI AT91SAM7S a 4 5 Digi Connect Me 9210 ARM9TDMI v5TEJ ARM926EJ S 4KB 4KB MMU 75MHz NS9210 SDRAM 8MB FLASH 4MB TOPPERS ASP
387. ID 1 255 microRTCs a 2 14 a 2 14 stm entryjRtc_nnlnitialize exitJRtc_nnFinalize a Inactive entry Rtc_onActivated a deactivate dnrRtc_nnExecute exitJRtc_nnDeactiyated ReturnCnde t 0R JRtc_nnABaring dnrRtc_nnErrar Steady Error ReturnCnde_t QR ReturnCnde_t QR entry Rtc_onReset a 2 14 a 2 14 NN d activate leactivate reset exit 3 sai Active PRECONDITION PRECONDITION 2 Inactive onActivated _NOT_MET 1 _NOT_MET onFinalize Acti PRECONDITION Inactive PRECONDITION i Active SN _NOT_MET onDeactivated _NOT_MET 0 i MS onExecute onFinalize E PRECONDITION PRECONDITION Inactive 4 E onE 0 _NOT MET _NOT MET onReset onFinalize RE 1 a 2 22 2 onFinalize 3 onDeactivated Inactive onFinalize 4 onReset Inactive onFinalize a 2 4 3
388. RTSProfile RTSProfile RTSystemEditor FSM 1 RTC i 0 lp 3 L XML RTS RTS FSM FSM xml FSM a 3 65 RT RT RT RT RT
389. 0C lt 50C CPU Digi DigiConnectME a 4 3 a 4 4 TOPPERS ASP DigiConnectME 153 a 4 3 Digi Digi Connect ME 9210 a 4 4 Digi Digi Connect ME 9210 CPU 32 Digi NS9210 75MHz ARM926EJ S 256 AES FIM 300MHz DRPIC165X CPU 2kbyte 192byte RAM 2 4 MB NOR Flash 8MB SDRAM TTL TXD RXD RTS CTS DTR DSR DCD 33 3Mbps 7 5Mbps I2C v1 0 7 10 GPIO 10 3 IRQ 19
390. 2 3 ul 17 30fps 16 1000 8x8 100ms 2m 10cm 1 2 RT RTM RT 3 Robotic Technology Component RTC A 3 IM O
391. 8 Y BuildView 23 a 3 14 RT RT 3 RT RT RT RT Eclipse miniRTC ID ID
392. GET_RATE GET_KIND CONNEOT 1byte DISCONNECT 1byte GET_ ERROR_LOG 4 ASDU a 2 21 ID ID ASDU 0x03 8bit 0x00 8bit 0 648bit 81byte ID a 2 21 5 ASDU a 2 22 ID ID ID ASDU 0x04 8bit 0x00 8bit 1 7 0 640bit 80byte a 2 22 ZigBee PSDU 127byte MAC 85byte microRTCs
393. OUT ID 0x01 ID C UByte DataPort_getOutPortID void 0x01 0x0F ID 0xFF ID ID 0x010x0F 3 DataPort_inPortRead DataPort_inPortRead IN ID C RCode DataPort_inPortRead UByte portID UByte dataBuffer UInt32 dataSize I O I portID ID 0x01 0x0F O dataBuffer O dataSize E OK EID 0x01 0xOF ID E PORT ID OUT ID 8byte 4 DataPort_outPortWrite DataPort_outPortWrite
394. 5 PIC dsPIC RTC Lite PWM RT ECHONET Energy Conservation and Homecare Network 1 2 3 4 5 RT RT p8 1 RT 2 3
395. CPU A D 4ch I O 4ch CAN 8 24V 40mA 2mm 1g 36x23x7mm 10g p10 3 RT RTC Lite p11 RTC 1 RTC p11 RT 1 p12 RT 1 RT
396. PLC a 1 3 CAN 1 CPU SH7214 100MHz SH 2 CPU 1MByte PLC HomePlug AV ChipSet CPU RISC CPU SH7214 100MHz CPU 128KByte CPU FLASH 1MByte PLC INT6400 INT1400 1ch CAN 1ch 9 a 1 12 PLC 2 a 1 6 AC100V AC85 132V 2 1ms 5W a 1 7 0 lt 50C 25 70C 30 lt 9096RH 30 lt 9096RH a 1 8
397. RTC RTC_OK DEACTIVATE RTC RTC_ERROR DEACTIVATE DEACTIVATE RTC Lite Manager 265 reset componert reset_componert ERROR INACTIVE C RTC ReturnCode_t reset_ component RTCHub DeviceComponentld t id 1 O I id ID RTC RTC_OK RESET RTC RTC_ERROR RESET RESET RTC Lite Manager 266 get_component _state get_component_state C RTCHub LifeCycleState get_component_state RTCHub DeviceComponentld t id I O I id
398. CPU SH 7214 SH 2 100MHz RAM CPU 128Kbyte ROM CPU 1Mbyte CAN CPU 1ch Intellon INT6400 INT1400 ChipSET 200 Mbps PHY rate RS 232C 1ch Max38400bps PH4 24 3 QO sa 9 L9 a 0000000 Eh oD en BBEB Taam a aE aa a oi Yimioiinion te m i 99 lt 5 IUDLTITIULIIITITIIODTLIIIN 93 PD II o o o o o o o o L sm SE ghBBBBBBBRaPF eg OE 0 Hm IO i O 1 a L I 9 9 BEBEBBBEBSBBEBBEBBB nm ow mm BY
399. ID ID ACTIVATE DEACTIVATE RESET EXIT SET_RATE GET_RATE GET_KIND CONNECT ID ID 8bit ID 8bit DISCONNECT ID GET_ ERROR_LOG 3 ASDU a 2 20 ID TD TD ASDU 0x02 8bit 8bit 8bit 4 4 0 640bit 80byte ID RNN NG TDD a 2 20 a 2 18 a 2 18 ACTIVATE 1byte DEACTIVATE 1byte RESET 1byte EXIT 1byte SET_RATE
400. ID 0x00 RTC 1 0 1byte 1 Inactive Active Error 0 Undefined Created Timeout 0x01 1byte RTC 1byte 0x02 1byte getRate nbyte 0x03 1byte setRate nbyte 0x04 1byte getKind nbyte c 2 3 3 4 UDP RTC HUB RTC Lite Manager TCP UDP UDP c 2 19 c 2 19 UDP 4byte RTS ID RTS Profile ID 1byte IP IP 4byte 2byte ID RTC ID 1byte nbyte c 2 3 3 5 CAN a 2 3 3 c 2 3 3 6 ZigBee a 2 4 3 c 2 3 4 RTS Profile RTC ID
401. a 1 21 33 I a 1 13 No POWER LED LED AC100V 1 AC L 2 AC N XHP 2 JST 2 AWG 30 AWG 22 1 TXD 2 RXD 3 5V 4 GND 38400bps 8bit 1 PHR 4 JST 2 AWG 30 AWG 22 H UDI ICE E10 ICE 2 1 3 3V 2 TCK MM hl 3 GND 4 GND HHHHH 5 TRST e Tpo 20 2 7 ASEBRK gs TMS 9 TDI 10 REST 11 MPMD 12 AUDSYNC 13 AUDATA0 14 AUDATA1 15 AUDATA2 16 AUDATA3 17 GND 18 GND 19 GND 20 AUDCK SHLDP 20V S JST AWG 28 AWG 32 Zigbee ICE Zigbee ICE 1 TCK 2 TDA 3 RST 4 GND
402. 57 6W 60W 228 c 1 6 4 e a A B B RT RT WEB WEB
403. AC PLC PLC RT
404. O RT 50mm 30mm 16mm 50N RT RT THK RT 168 gt SEED RT
405. RT RT RT RT RT Ethernet 0penRTM ais 4 L i jj PLC zigpeekg microRTCs 5 Ethernet Plc CANM zimbee Appo a 2 1 RT
406. RT RT RT CAN Zigbee Zigbee RT a 1 1 a 1 1 a 1 1 RT 1 RT RT 1 Ethernet PLC RT 1 RT
407. RT RT RTC Lite RT CAN RT RT RT RT 188 b 3 2 RT RT miniRTCs microRTCs RTM
408. 1 OpenRTMSetup 0x603fO000 OpenRTM OpenRTM 0x603fO000 OpenRTM corba endpoint corbanameservers naming formats logger enable logger log level exec_cxt periodi c rate timer tick
409. 3 2011 8 a 3 RTC Lite RT RT RT p8 1 MPU RT 2 RT RT 3 RT 4 1 MPU RT
410. RT RT RT
411. RT RT RT RT CAN Control Area Network RT RT RT RT ZigBee GUI
412. RT 2010 2 2010 2P1 B02 10 RT 2010 RT 2010 2A2 C06 11 RT MODULE DESIGN FOR The 27th 2010 HOME AND BUILDING International AUTOMATION Symposium on Automation and Robotics in Construction ISARC2010 pp 165 174 12 RT 12 2010 pp 217 13 28 2010 RT RSJ2010AC2P2 1 14 Smart home for security International 2010 and low power Conference on consumption with common Advanced
413. RT RT RT RT gt b 1 20 b 1 20 CAN High Low 2 Zigbee am RT
414. blecl lt lt flowPort gt gt flowPort gt gt lt flowPort gt gt 2 RTC K lt flowPort gt gt lt lt flowPort gt gt miniRTC bl RTC lt lt flowPort gt gt f 2 lt lt fowPort gt gt lt fiowPort gt gt lt bTlock gt gt i gt lt lt block gt gt 2 RTC lt fowPort gt gt RS lt lt flowPort gt gt 1 1 RTG IE lt flowPort gt gt PT lt miniRTC gt gt lt lt foWPort gt gt lt lt flowPort gt gt lt flowPort gt gt flowPort gt gt le lt lt 5lock gt gt lt bT6ck gt gt IOCI 2 miniRTCs lt miniRTC block gt gt miniRTO block gt gt 2 RTC miniRTC block gt gt
415. 1 H H 1 1 H 1 H 1 H I i 8 getComponents 1 H 1 i 1 1 H 1 H H H 1 H 1 1 H 0 1 1 H 1 1 r r 9 set r 1 L 1 H H H 1 H 1 L L 1 H H H 1 1 t 1 H to notifyChanged i H H F pi notifychanged 1 t H i H 1 H H H 1 1 H k 12 refreshVisuals t 1 1 H 1 H 1 i 1 t 1 1 t 1 5 H H H 1 H 5 H H H 1 H he a 1 H t H 1 t 1 3 1 L L 13 L L L 4 9 L L L 1 1 L L L 1 0 t t 1 t t 1 5 H H H 1 H H t H 1 H 1 R R R 1 1 1 1 1 1 1 1 1 1 t t 1 1 t a 3 22 RT RtcParam BuildView EMF GEF 105
416. 199 c RT RT c 1 RT c 1 1 RT RT 2 c 1 1 1 RT p15 2 RT RT
417. EMF Editpart RTC Profle GEF GEF 1 EMF Model Cd View FormPage RtcBuilderEditor GeneratorParam RtcParam Buildview Component Adapter EditPart Figure RT 1 1 Lt L 1 1 1 L L 1 1 r r t 1 1 1 1 1 L a 8 1 r 1 1 R 1 t lL 3 getRtcParams 1 L 1 H L t 1 L 1 H L L 1 r 1 L H 4 RtocParam getRtcRarams _ N a i 1 5 RtcParam getRtcParam t t 1 1 1 L L Lt L L 3 L L L 16 setO h i 1 2 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 t 1 H 1 H 1 H 1 T H 1 H H H H 1 H H H 1 1 t H 1 H 1 H t H H H H H 1 0 i H H 1 BuildView t 1 1 t 1 H 1 My H H 7 updateEMF 1 1 EOtject
418. I id ID I rate onExecute ms RTC RTC_OK RTC RTC_ERROR 269 get kind get kind C RTCHub ExecutionKind get kind RTCHub DeviceComponentld_t id I O I id ID RTC PERIODIC PERIODIC RTC EVENT_DRIVEN EVENT_DRIVEN RTC OTHER 270 exit exit C RTC ReturnCode_t exit RTCHub DeviceComponentld t id 1 O I id ID RTC RTC_OK EXIT RTC RTC_ERROR EXIT EXIT RTC Lite Manager
419. INoise Movingparts Discomfort ISlight Regular Possple ll U re 12 go 8 Es CS tO Ee 2 2 6 a eC Mer Objects or Serious Rare materials with a 2 high or low mperature Serious Regular Highly unlikely unlikely materials with a high or low ight Discomfort X rotating parts Mechanical Falling object RTHub Electrical Short circuit Burn Objects or 11 RTHub Unbalanced Serious Rare temperature unlikely Objects or 6 6 Serious Rare Migh or low temperature 6 be IMechanical es falling SI materials with a Ergonomic Posture _ IDiscomfort t mml IErgonomic IDiscomfort m mv Rare IPossible 291 c 3 4 Hazard and Operability Studies HAZOP RT
420. ProxyRTC p17 4 22 RT RT p17 5 RT 59 2400 40 60 RT 120 p17 1 RTC 2 3 RT
421. RTCLmsgpy RTCLprofilepy Saocketpy README ModuleName 16F877A dsPios0Fsn14 analeg In rtc conf rtc RTCxml RTC Lite Pattern for dsPIG Digital In PWM Out Digital Out lt RTCxml RTC Lite RTC xml20091022113531 Buidview 52 a 3 6 PIC dsPIC RT i RT RTCProfile RT MPU RTCProfile
422. b 1 RT THK b 1 1 RT OpenRTM RT miniRTCc RTC RT RT RT gt SEED
423. OpenRTM R RT RT 2 R 3
424. RT RTC Lite RT RT 0S CPU IDE Eclipse Eclipse OS CPU Eclipse
425. SEED DRIVER RTC Lite gt SEED DRIVER SEED DRIVER 2 b 1 1 1A 36mm x 23mm x 7mm 10g 2mm 4mm SEED DRIVER b 1 1 SEED
426. executionType string 1 hardwareProfile string 0 1 maxInstances integer 0 1 lt enumeration gt a string 011 component_type rtcType string 0 updateDate dateTime _ lt enum STATIC vendor string enum UNIQUE lt num COMMUTATIVE version string Onlnitialize actions 0 1 action_status gt OnFinalize 0 1 implemented boolean OnStartup 0 1 OnShutdt nShutdown 0 1 3 OnActivated 0 1 OnDeactivated 0 1 Adtions OnAborting 0 1 gt 1 OnError oi1 OnReset 0 1 OnExecut nExecute a gt 0 1 OnStateUpdate 0 1 OnRateChanged 0 1 OnAction 0 1 5 gt OnModeChanged mn a configuration ConfiguratiohSet configuration_set Configuration defaultValue string gt name string 0 1 0 type string H i i H dataport dataflowType string 0 1 idlFile string 0 1 enumeration DataPprts interfaceType string 0 1 VO name string
427. CLOSE 0x42 CLOSE 0x30 ON a OFF OFF 193 b 3 3 2 ZigBee RT 1 THK SEED PC 2 RT 1 RT RTC Lite RT 1 DI 2 ON OF
428. HomePlug AV 200 M Ethernet A 5M 4M Fast EtherNet 100BASE TX 100M 20M
429. ID Nods ID ID ID 41 00 5F 04 01 00 00 00 b 1 4 CAN 166 RT b 1 5 b 1 6 b 1 7 Ether 5 12 Node ID 1 Node ID 2 Node ID 3 gt 2 Node 3 ID 4 Node ID 5 b 1 5 RT Ether AA 311 1400 5F Node ID 1 B 321 14 00 5F Node ID 2 D 3214100 5F
430. OUT RTC 1 byte 8byte 15 ID 1 15 miniRTCs a 2 3 a 2 3 stm entryjRtc_nnlnitialize exitJRtc_nnFinalize a Inactive entry Rtc_onActivated a deactivate dnrRtc_nnExecute exitJRtc_nnDeactiyated ReturnCnde t 0R JRtc_nnABaring dnrRtc_nnErrar Steady Error ReturnCnde_t QR ReturnCnde_t QR entry Rtc_onReset a 2 3 a 2 3 NN d activate leactivate reset exit 3 sai Active PRECONDITION PRECONDITION 2 Inactive onActivated _NOT_MET 1 _NOT_MET onFinalize Acti PRECONDITION Inactive PRECONDITION i Active SN _NOT_MET onDeactivated _NOT_MET 0 i MS onExecute onFinalize E PRECONDITION PRECONDITION Inactive 4 E onE 0 _NOT MET _NOT MET onReset onFinalize RE 1
431. OpenRTM aist 1 0 1 0 RT Armadillo 210 220 240 a 4 4 Armadillo240 156 a 4 7 Armadillo240 EP9307 Cirrus Logic CPU ARM920T CPU 200MHz SDRAM 64MB FLASH 8MB NOR NAND LAN Ethernet 10BASE T 100BASE TX PoE TTL 2 16 SW x1 USB 2 0 Full Speed 12Mbps 2 Type A D sub15 1024x768 75 0 x 50 0 Lmm W83 0 x D58 0 x H24 3 mm DC5V Power over Ethernet Type A B Typ 1 5W 0 60 OpenRTM aist 1 0 Linux TOPPERS ASP OpenRTM TOPPERS ASP TOPPERS COIL TOPPERS ASP
432. R RT R RT
433. RT 3 RT PLC PLC
434. RTC Lite 10 2009 3D3 3 5 RT 10 2009 p 1467 1469 3D2 5 6 miniRTC 10 2009 RT p 1494 1496 3D4 4 7 2010 2010 1A2 G01 8 2010 2010 2P1 B05 9
435. TOPPERS gt TOPPERS API TOPPERS String cpp String h TOPPERS OpenRTM aist printf toppers_task c toppers_task h toppers_task cfg TOPPERS OpenRTM aist API toppers_semph c toppers_semph h toppers_semph cfg TOPPERS OpenRTM aist API OS TOPPERS OS 158
436. Component 0 4 Preceding H 0 Component deactivation eSetting sendingTiming string 1 timeout string PE Preceding WaitTime RTC 0 finalize 3 i 1 Component TOTP TargetComponent id PP initialize I a 3 47 message_sending condition sequence RT RT target_executioncontext condition Preceding WaitTime Precedin
437. ID RTC 0x00 0x01 Created 0x02 Inactive 0x03 Active 0x04 Error 0x10 246 c 2 3 3 c 2 3 3 1 TCP IP TCP IP RTC HUB RTC Lite Manager c 2 3 3 2 TCP IP TCP IP c 2 9 c 2 9 TCP IP 4byte ID ID 1byte ID ID 1byte ID ID 1byte ID ID 1byte ID ID 1byte
438. RTC lt RTC 3 RTC 1 i RTC RTC Omission RTC RTC Commission 1 RTC
439. gt 8 CAN USB gt SED Driver 1 b 1 15 19mm b 1 16 DC 12V 1 2 DC 1 3A 0 85A 12V 15V 80 19mm 16mm
440. 1 mmm 1 2 mmm 13 IV 1 TV 1 23 9 30 ss P08014 2 1 4 gt 23 2 sl sl 4 20 1 1 2 1 3 20 10 1980
441. 1 lt mp1 F Ver 04 2 mm2 FVver ID 3 FVer No KEI3 gt E3 gt ID 4 FVer No ID ly 0 0 ou on rer wlml ou on rwln Eo uoln roln sl s pr TS Ln lelesleslsiolesls G G 1G C G 1 0 o jn n 0 jn 0 0 0 0 o no Slelceclcolcclolclcsclcs 13 b 1 10 GO 170 gt R TC
442. 2 2 0 7 1 R RT R H R RT R
443. 30 lt 9096RH 184 b 2 4 CB Texas Instruments CPU CC2530 16MHz RAM 8Kbyte CPU ROM 256Kbyte CPU RS 232C 1ch Max38400bps A D 4ch DIO 4 3 3V 1 3 b 2 2 b 2 5 No 1 3 3V 2 GND PHR 2 JST 2 AWG 30 AWG 24 185 3 3V DIO 1 DIO 2 DIO 3 DIO 4 AD 1 AD 2 ON on PF ROIM AD 3 AD 4 TX RX o GND SM12B SRSS TB JST AWG 30 AWG 28 Zigbee ICE Dy Dy Zigbee ICE TCK TDA RST OID GND SHR 04V S B JST
444. CAN 15 ZigBee 64 RTC ID 0 128 RTC 128 RTC RTC Ethernet RT CAN ZigBee RTC Lite Manager RTC miniRTCs CAN microRTCSs ZigBee 245 RTC Lite Manager RTC c 2 7 RTC c 2 8 c 2 7 RTC RTC Inactive Active Error Timeout RTC Inactive Inactive Active Error Active Active Error Error Timeout Error c 2 8 RTC
445. RT Zigbee Zigbee B c 1 16 c 1 17 RT 1 2F 1 5F 2 5F c 1 16 B RT 220 BB
446. RT RT RT RT SysML c 3 6 RT RT c 3 7 ibd
447. RT RT RT a 3 38 RT 119 RTCHub miniRTC microRTC RTSystemEditor RTC Lite miniRTC RTC Lite microRTC RTC Lite Manager
448. RTC Hite RTC HUB OpenRTM aist QpenRTM alst 2 TC 1 RTC RTC Lite RTC RTC 1 RTC 2 RTC miniRTCs miniRTCs c 2 7 RTC Lite RTC HUB OpenRTM aist OpenRTM NET CORBA CORBA WCF OpenRTM for Ethernet miniRTCs microRTCs RTC Lite for CAN RTC Lite for Zigbee c 2 8 RTC HUB RT 251 c 2 4 1 RTC HUB RTC HUB OpenRTM aist RTC Lite Manager Bridge RTC Bridge RTC OpenRTM aist RT RTSystemEditor CORBA c 2 9RTC HUB Bridge RTC R
449. microRTCs a 2 15 a 2 15 microRTCs a 2 4 3 1 ZigBee microRTCs ZigBee RTC RTC a 2 4 3 2 ZigBee ZigBee a 2 16 PANTD PANID ID ID
450. n byte ID c 2 10 c 2 10 DD ID 0x00 RTC Lite Manager 0x01 0x02 0x03 8byte 0x04 0x05 RTC Ox10 RTS ID RTS Profile ID 0x20 RTC RTC Lite Manager RTC 247 c 2 3 3 3 c 2 3 3 1 c 2 11 c 2 11 1byte Activate ID 0x00 Deactivate ID 0x01 Reset ID 0x02
451. 1bit 7bit 0 56bit Ne or a 2 10 CAN A 8byte 8byte a 2 1 1 1 896byte 7byte x 128 1 0 0 1bit 7bit 1 8bit 8bit 8bit 8bit 8bit 8bit 8bit MM oo OO OO mM a 2 11 6 ID a 2 12 ID 101 4bit 4bit ID
452. 2F 2F fobs T T T gt lt 23 br Hube LE emem 2Zgbeer 1 F lt lt Zigbee gt gt lt lt Zgbees gt lt lt Ziebees gt Em kn js ES CN tp Ee T2PRW GiPad ONOFF iPad WEB RT Zigbee lt 1 22 B 225 c 1 6 4 d RT RT RT
453. 4 5 c 2 1 RT PC MPU RTC Lite OpenRMT aist SH4 ARM9 200MHz RT ProxyRTC Linux Windows 2 OS p17 2 ProxyRTC 21 RT RT ProxyRTC p17 3
454. CLOSE STOP OFF 2 c 1 3 206 A c 1 4 w_ sm OPEN OPEN c 1 4 A c 1 6 1 b
455. OpenRTM RT 2 RT R RT 3 R RT R 5 RT OpenRTM Robotic Technology Component RTC 1 0 adopted OMG http www omg org technology documents domain_spec_catalog htm k R R 1
456. RT c 1 6 4 c 3 RT 3 3 p9 RT RT RT PLC RT 5 c 1 6 4 d 1 1 b RT 1 1 a
457. lt lt block gt gt RTC lt flowPort gt gt 2 lt lt flowPort gt gt 2 lt lt flowPort gt gt 2 lt lt flowPort gt gt 2 lt lt bTock gt gt 2 miniRTCs miniRTC block gt gt 2 RTC miniRTC block gt gt 2 RTC miniRTC block gt gt 2 RTC lt valueTy e2 gt lt valueType gt gt lt lt miniRTC block gt gt 2 RTC c 3 6 292 ibd lt lt flowPort gt gt lt lt block gt gt 5 gt lt lt flowPort gt gt 2 1 RTC lt lt flowPort gt gt 1 lt flowPort gt gt lt lt flowPort gt gt
458. OUT ID C RCode DataPort_outPortWrite UByte portID const UByte dataBuffer UInt32 dataSize I O I portID ID 0x01 0x0OF I dataBuffer I dataSize 0 8 E OK EID 0x01 0xOF ID E PORT ID IN ID E_SIZE 9byte 8byte a 2 3 6 ID a 2 3 7 a 2 11 a 2 12 a 2 11 ReturnCode_t
459. SW DIO gt gt DIO gt gt 1 1 1 c 1 20 A 1 2 SW 1 1 CAN THRK CAN Zigbee
460. 1 RTC RTC Value 1 Id BB lu Id miniRTCs Omission miniRTCs 4 Commission miniRTCs Early 2 miniRTCs Late f miniRTCs Value ys 295 RTC 7 RTC Omission RTC Commission
461. Digi Connect Me 9210 TOPPERS ASP TINET a 4 6 OS PC Window2000 WindowsXP GCC 4 2 0 Digi 4 GDB 6 1 JTAG J Link Cygwin 1 5 25 Eclipse 3 1 2 RtORB Armadillo OpenRTM aist1 0RC RtROB Armadillo Armadillo SH OpenRTM aist0 4 2 RtORB
462. Exit ID 0x03 Connect ID 0x20 ID ID Disconnect ID 0x21 ID ID 2 c 2 12 c 2 12 1byte Activate ID 0x00 Deactivate ID 0x01 Reset ID 0x02 Exit ID 0x03 Connect ID 0x20 Disconnect ID 0x21 3 c 2 13 c 2 13 RTC 4byte RTC 1byte 248 4
463. Initialize Finalize RT RT implemented true RT RT 96 RT RT RTC Lite RT RT RT
464. RT Eclipse i i i MPU 82 iPIC dsPIC RTC Lite i PWM i RT
465. RT RE L amp RT 1 4 2 2 2005 6 7 2010 22 2006 3 4
466. b 3 2 191 RT 1 SEED RT RT SEED b 3 3 b 3 4 1 4 192 b 3 4 RT SEED SEED H A SEED H A ON OFF H A SEED
467. 1 H JAXB 1 i r i i Lt L Lt 4 RtcProfile convertToModule _ 40 1 t L L L 1 1 L 1 L 1 1 L 5 convertToXmlRtc RtcProfild 1 N marshal RtcProfile xmFileWriter L 1 XML Java XML 7 String convertToXmlRtc _ XML L L L L L L L L L 1 1 L L L L L L L 1 L L L L L L L L L L L L L L L L L L L L L L 1 L rd a 3 28 XKML XML ParamUtil RtcParam JAXB XmlHandler XML 111 YAML sd YAML 1 L L L L L L L L L L L L L L L L L L L L L 1 1 1 1 L L L L 1 L L L L L L L L L L L L L L L 8 String convertToYamlRt YAML
468. 2 112 2 7
469. 27 SR Mio lt lt AD gt gt lt lt AD gt 2 2 2 2 2 i SW SW SW 22002 2 2 2 1 SW CAS lt lt DIO gt gt 1 lt lt CAN gt gt CAN gt CAN gt gt lt lt CAN gt gt lt Zigbee gt gt ce 1 SW 1 ctigpee gt gt a lt AD gt 1 1 1 SW 1 1 hg lt lt DlO gt gt lt lt DIO gt gt 1 1 1 1 2 1 w 2 SW SW SW 1 1
470. IO A B F E G 1O1OI IO F 3 7 o se E a E gt EN LOLG_ EN IOI MM 0 0 O LAlB l F gt OIO O
471. OxFF ID ID 0x01 0xOF 3 DataPort_inPortRead DataPort_inPortRead IN ID C RCode DataPort_inPortRead UByte portID UByte dataBuffer UInt32 dataSize I O I portID ID 0x01 0x0F O dataBuffer O dataSize E OK EID 0x01 0xOF ID E PORT ID OUT ID 81byte 4 DataPort_outPortWrite DataPort_outPortWrite OUT ID C RCode DataPort_outPortWrite UByte portID const UByte dataBuffer UInt32 dataSize I O I portID ID 0x01 0xOF I dataBuffer
472. RT RT RT RT RT RT
473. RT miniRTCs b 3 3 1 1 2 2 2 5 RT SEED RT b 3 2 Ethernet Je CAN DIO H A DIO 2 2
474. RT RT RT p5 3 p5 1 RTC Lite CAN miniRTCs Zigbee microRTCs 2 RT 2 miniRTCs microRTCs 3 RT 1 2
475. RTC Lite miniRTCc RTC Lite Manager SEED DRIVER 1 RT 165 miniRTCc SEED DRIVER miniRTCc miniRTCc SEED DRIVER SEED DRIVER RT RT miniRTCc SEED DRIVER
476. RTSProfile RT RT RTC RTCProfile RT RT 137 FSM Editor FSM Editor Eclipse SDK WindowLockOlrte ar syCommand OPENS 6 1 a 3 64 RT Eclipse Eclipse 188
477. SHR 04V S B JST 2 AWG 30 AWG 28 95 4 ZigBee PLC ZigBee PLC ZigBee I1 F iTron TOPPERS ASP PLC CC2530 ZigBee ZigBee HW a 1 22 ZigBee PLC 836 5 SH7214 CONSOLE 2 MS gt UART UART 3 NO RESET Zigbee LOGIC RES XIN 9 12 5MHz 3 3V POWER JTAG JTAG MI MI MI LAN8700 3 3V LAN LAN8700 PLC POW MI INT6400 MAC INT1400 k AC100V 8 B P F EI M Ac po pco a 1 23 ZigBee PLC
478. a 3 35 A msec 1000 10000 A msec 5000 5OO00 B msec 200 20nn B msec 300 Cancel ed Nameld RTC Noriaki Ando AISTexampleG INTERVaL msec WaT msec en lt tune definition a 3 36 RT tune definition ww msec 1000 8 5000 B msec 200 msec 300 um tune definition tune Nameld Description 9 RTG Nariaki Ando AIST example C INTERVaL msec
479. pn pepery ts optonal Documentation Describes imformation on the data port as gt Detail Although not everything need to be descrt This section specifies a short description of each Data Port RR i A RR NE RO Hf data port above is selected each port can be described Port name Mini Micro RTC Port ID LL Data type RTC TimedOctetseq Var name Disp position LEFT Node ID LE BB BB BB BE BB BB Port crrintinr 1 i 1 1 1 1 2 RTCxml Mappine ID RTC Lite LE EE E E B BB BB BB BB EEB BE RB Bmmm mm 3 a 3 15 miniRTC ID 98 ui RT RT generator manager template CORBA IDL corba MVC Model model util Jp go aist rtm rtcbuilder
480. 1 L L 1 1 1 1 L 1 1 1 H 1 L 1 1 1 1 L 1 L 1 1 1 1 1 1 Lt L 1 1 1 1 1 tL L L 1 1 1 1 1 1 1 1 1 1 1 1 L 1 1 1 1 1 1 1 1 1 1 1 a 3 26 XML XML ProfileHandler XML XmlHandler XmlHandler XML RT ver0 1ver0 2 XML Ver0 1 ver0 2 ParamUtil JAXB RtcParam XML String RtcParam 109 o YAML 7
481. H Javax xml bind Marshaller A 1 1 JAXB XML javax xml bind Unmar shaller ML ava org eclipse jface dialogs Dialog ee RTC a 3 57 Eclipse org eclipse ui part ViewPart PnPConfigView 2 JFace TableViewer tvComponent i RT RT ExecutionContext tvSequence MessageSending MessageSending DetailConfigDialog
482. ID15 CAN RT Node ID1 Node ID 2 14 13 Node ID15 SEED Editor 1 Out Port 2 15 In Port Node ID Node ID2 CAN b 1 4 SEED 1byts bit
483. PC RT PC RT PLC RT RT RT RT RT RT RT PC 4 a 1 RT a 2 RTC Lite
484. R RT R RT RT RT RT 2 2 RT 1 R RT RT
485. c 1 23 htp A92168012 HomeCantrol indexhtm amp Q Google 7 i Yahool Japan Goagle YouTube Wikipedia 9 v MISAWA 280 so lpoo Hoo 200 eo ly CLOSE ZA oe c lt 1 23 B 229 c 1 7 c 1 7 1 TCP IP PL C Ethernet
486. c 2 23 ms 8 32 RTC Lite Manager miniRTCs TCP 7 54 RTC Lite Manager 0 06 CAN 0 72 miniRTCs RTC HUB RTOC Lite Manager miniRTCs CAN 1ms 1ns RT 283 c 3 c 3 1 RT
487. velocity EMF GEF XML JAXB YAML JYaml UML ExecutionEnvironment gt Eclipse Platform RT RT _ Re Ge 3 3 ib 2 tbrary 2 a log4j 1 2 15 jar a 3 13 RT RT _Rrc Builder RteBuilder Eclipse MPN 1 2 F EC RT Component Basic Profile RT
488. 0 Connect Disconnect IN Connect IN OUT 250 c 2 4 10 100 RT RTC Lite RTC RTC miniRTCs microRTCs OpenRTM aist RT RT RT RTC RT RT RTC HUB c 2 7 c 2 8
489. 07 7 o9 13 ee 6 oy i a os 07 a ER Es a h oe 1o 4 Yo Ri os o7 RTM
490. 2 2 2 2011 8 c 3 2 RT RT RT RT SysML OMG Systems Modeling Language SysML UML Unified Modeling Lan
491. 2 RTC 2 RTC 4 miniRTCs miniRTO block gt gt 2 RTC lt lt miniRTCblock gt gt 2 RTC block gt gt 1 1 miniRTCs miniRTC block gt gt 1 RTC miniRTO block gt gt 1 RTC lt miniRTC block gt gt 1 RTC valueType gt gt valueType gt gt foat long lt valueType gt gt miniRTC block gt gt 1 RTC miniRTC block gt RTC miniRTC block gt gt 1 RTC lt lt valueType gt gt lt lt flowPort gt gt c 3 7 293
492. 2 x gt 20n 2 py port type port name id hame condition mes a A a 3 68 RT RTC Data Type event ID 0
493. 253 c 2 4 3 c 2 4 3 1 TCP IP a 2 3 3 c 2 4 3 2 UDP a 2 4 3 c 2 4 3 3 1 c 2 10 BridgeServant ComponentProfile get component_profile id port profiles get member_ component_profiles get connector_profiles PortProfile ownerid rr N k 1 ConnectorProfile port profiles c 2 10 254 2 RTS RTC HUB RTS xml componert componert attributes pathUri 1 RTC dataPort dataPort attributes name 1 255 3 RTC RTC HUB RTC basic_info_ext Properties
494. 4 A RT 2 hE hut 1 H PC 9 1 PLC 11 3 1 zZimbee NR 14 1 zbee PLC PC c 1 5 B RT IR 3 3 HA 1 3 1 1 1 3 We b API 4 be PO 1 WEB API 1 8
495. A HA c 1 17 B RT 1012 c 1 18 B RT 221 c 1 6 4 c A PLC c 1 19 ibd Ethermet gt gt lt lt Bluetooth gt gt iPad lt lt WIFD gt RBG lt lt PLC gt gt lt cEthemato gt lt PLC gt gt lt PLC gt gt lt PLC gt gt c 1 19 A RT RT OpenRTM aist RT OpenRTM aist
496. AWG 30 AWG 28 4 CC2530 SIO A D 4ch SH12 DIO 4ch RESET b 2 3 I 186 PH2 5 Go 187 b 3 RT RT b 3 1 RT RT Middleware RTC Lite RT RT RTC Lite
497. Cortrol View Composite Component View RT Loe Vew ComponentName ConfigurationSet rome Vake LN a 3 42 RT RTCHub miniRTC microRTC RTSystemEditor RTCHub MPU miniRTC microRTC RTCHub RTCBuilder RTC Lite miniRTC microRTC RTC RTC RTC Lite RTC RTCHub RTC RTCHub RTC RTS RTCHub RTC LiteManager RTC LiteManager RTCHub RTC RTC LiteManager RTCHub RTCHub RTC RTS RTCHub 122 RTSystemEditor 2 RTS PD
498. HAZOP FTA Software HAZOP RT c 3 8 c 3 9 PLC CAN DIO Zigbee Zigbee Zigbee ibd iPad lt lt EtHemet gt gt ye lewws
499. NameServiceView RTC ComponentID RtsProfile NameService RTC DD OFFLINE Instance Name RtsProfile RTC ONLINE Instance Name NameServiceView RTC ONLINE PathUri NameServiceView RTC PathUri RTSProfile RT ID RT NameServiceView RTSProfile RTC RTSProfile OFFLINE O NLINE ComponentID OFFLINE Instance Name ONLINE Instance Name ONLINE PathURI RTG Noriaki Ando AIST example ConsoleIn 1 0 ConsoleIn 1 Con
500. OpenRTM aist TOPPERS SH2 OpenRTM aist a 4 1 Alpha Project SH2 a 4 2 a 4 2 OpenRTM aist CPU RT AD a 4 3 MMU CPU OpenRTM aist MMU CPU a 4 2 SH2 CPU p ST SH2 152 a 4 2 SH2 CPU h ST SH2 CPU R4S76190B125BGV SH7619 14 7456MHz CPU 117 9648MHz 58 9824MHz 29 4912MHz FlashROM 8MB SDRAM 32MB I O 17 Ethernet 10 100BaseTX CPU 1 I F 3ch 2ch SD MMC 1 SPI RTC S 35190A SII
501. Properties h ROM stringutil cpp stringutil h ROM gt sprintf 1024 512 Task cpp Task h TOPPERS Time cpp Time h TOPPERS OpenRTM aist API sleep_until UUID cpp UUID h TOPPERS OpenRTM aist UUID UUID UUID Condition h unix pthread cond TOPPERS Factory h Windows DLL export TOPPERS File h unix dirname TOPPERS API dirname Os h Os cpp
502. RT THK RT 20 4 20 7 RT OpenRTM aist RTC Lite RTC PLC CAN Zigbee Robot Technology RT MPU PIC RT RT RT RTC Robot Technology Component PLC Power Line Communication HD PLC HomePlug AV UPA
503. RT 1 RT amp gt RT RT RT RT RT RT gt RTC Lite RT MPU RT
504. RTC 2 132 JFace Dialog amp TRT XML RT XML XmlHandler sd J XML JAXB XML ee XMLJava i PnPConfigView XmlHandler Unmars haller RT 1 1 i 1 1 1 1 XMI String FO JAXB XML a 2 restoreFromXmlRts String N 1 1 L RTS Profile 0 1 org qpenrtp namespaces rts version01 RTS Profle 0 2 L org openrtp ra mespa ces rts version02
505. Rtc_onReset Rtc_onError Rtc_onFinalize Rtc_onStateUpdate Rtc_onStartup Rtc_onShutdown x x OO OO OO OO a 2 3 5 a 2 10 a 2 10 DataPort_getInPortID IN ID DataPort_getOutPortID OUT ID DataPort_inPortRead IN DataPort_outPortWrite OUT a 2 10 1 DataPort_getInPortID DataPort_getInPortID IN ID 0x01 ID C UByte DataPort_getInPortID void 0x01 lt 0x0F D OxFF ID ID 0x01 0xOF 2 DataPort_getOutPortID DataPort_getOutPortID
506. a 0 portType port type lt e num y DatalInPort H subscriptionType string 0 1 lt num DataOutPort type string 5 UE ON NL ce a GEREN KEEN H serviceinterface H direction interface_direction s sorVicppolt idiFile string 0 1 ServiceRorts name string Servicelnterfaces instanceName string 0 1 50 0 name string path string 0 1 H type string 8 I H 1 1 Trans Methods transmission_method kind string 1 0 a eon parameter defaultValue string 0 1 name string Parameters lt enumeration interface_direction lt enum y Provided lt enum Required language Language 0 1 kind string 1L 8 a 3 12 RT RT RT RTM
507. attributes value 1 ID miniRTCs 1 15 microRTCs 1 255 ID name 1 node_id Properties attributes value 1 CAN ID ZigBee PAN ID miniRTCs 1 255 microRTCs 1 255 ID name 1 bus_id dataport_ext Properties attributes value 1 ID miniRTCs 1 15 microRTCs 1 15 ID name 1 object id 256 c 2 4 3 4 CORBA 1 RTSystemEditor RTSystemEditor RTSystemEditor RTC HUB IDL c 2 11 E Bridge Servant c 2 11 RTSystemEditor 257 2 IDL IDL c 2 12 interface gt gt RTObject lt lt interface gt gt lt lt interface gt gt DataFlowComponent BridgeSer
508. network modules based on Mechatronics 2010 RT middleware ICAM2010 15 System Integration for The 7th 2010 Wireless Home Network International with RT Middleware Conference on Ubiquitous Robots and Ambient Intelligence pp 494 497 16 RT 11 2010 SI2010 1E4 1 17 RT 11 2010 3 SI2010 1E4 2 18 27 RT 11 2010 SI2010 1E4 3 19 RTC Lite 11 2010 SI2010 1E4 4 20 THK SEED 11 2010
509. r 0 s_copy_default corba endpoint corba nameservers naming formats logger enable logger log level exec_cxt periodi c rate timer tick S_StrcmDp 2 1 1 0 s_strncmp 2 1 1 0 s_strlen S_StrcDy 2 1 s_strncpy 2
510. 0 TOPPERS ASP Armadillo 210 240 JP2 0x603f0000 OprnRTM 7 corba endpoint NIC F corba nameservers IP naming formats RTC logger enable logger log level exec_cxt periodic rate timer tick OpenRTMSetup h OpenRTMSetup C is_ipaddr_str IP
511. 0 0xFFFFFFFF RT RT ID RT a 2 19 a 2 19 RT ID RT 0x00 0x01 Created 0x02 Inactive 0x03 Active 0x04 Error a 2 4 4 RTC RT microRTCs a 2 20 a 2 14 a 2 20 Rtc_onlnitialize Rtc_onActivated Rtc_onExecute Rtc_onDeactivated Rtc_onAborting Rtc_onReset Rtc_onError Rtc_onFinalize Rtc_onStateUpdate Rtc_onStartup Rtc_onShutdown x x OO OO OO OO a 2 4 5 a 2 21 a 2 21
512. 0 5 iData 2 O In aoe 5 ek mmor ln 7jp EE sw HE0E3 EE GO 3 6 tS _ HD b 1 9 JOG pps amp JOG JOG JOG Jt OFF OFF OFF zh x a 0 1 1 lt
513. 03 2009 1 2 2004 2006 FY2010 90 5 2025 RON gt l 4 RT 02 04 1 3 2010 RT A 5 02 04 B C md Q7 11 I i D PJ 08 10 1 r il I 5 lt RT RT RT
514. 1 1 3 TT 1 E 1 K 3 E 38 E ES Ei 3 I 8 g 1 1 1 E 1 Fi 1 8 N 8 s W ee 8 St 1 1 RN 1 8 W E WMJjE 5 1FWM E g W 1 wm i rt tts FE PPE ttt s 8 E 1 1 8 1 1 1 E 3 1 1 1 E s Ss 1 TI 1 1 2 Kl ss i i 5 IS G 3 EL 8 3 E El K 8 SN Tf J Si 3 a Oa aa a AN 8 NN Ei 7 ww Gs NN a H FE 8 pu o 71N g R o o XML String YAML 7 YamlHandler RT z 110 3 ProfileHandler YAML gt z
515. 1 Contiguration Vew FE Manscer Control View Composite Component View a Select Al eomponent RTSyslem tpe Rrcma Fedied Pos 848 Sce G39 120 a 3 40 RTCHub RTSystemEditor RT RTSystemEditor Eclipse RT RTSProfile RT RT
516. 1D 32bit 8bit RT a 2 12 0 0xFFFFFFFF RT RT ID RT a 2 8 a 2 8 RT ID RT 0x00 0x01 Created 0x02 Inactive 0x03 Active 0x04 Error a 2 3 4 RTC RT miniRTCs a 2 9 a 2 3 a 2 9 Rtc_onlnitialize Rtc_onActivated Rtc_onExecute Rtc_onDeactivated Rtc_onAborting
517. 2 7 a 2 7 ACTIVATE 1byte DEACTIVATE 1byte RESET 1byte EXIT 1byte SET_RATE GET_RATE GET_KIND CONNECT 1byte DISCONNECT 1byte GET_ERROR LOG 4 ID a 2 9 ID 011 4bit 4bit TID TD ID 0 64bit a 2 9 5 ID a 2 10 ID 10 4bit 4bit Ne ID TDD ID
518. Ando AISTexample SequenceOutComponent1 0 a 3 41 RT RTSystemEditor Eclipse RT RT RT RtcProfile RT RT RT RtcProfile RT RT RT
519. DRIVER 1A 38mm x 23mm x 11mm 11g 2 8A 35mm 16g SEED DRIVER DC DC 2 HB PM SEED DRIVER b 1 2 ARM7 164 5EED ACTUATOR 2 HE 5EED DRTVER Pie el Z b 1 2 SEED DRIVER THK CAN 1Mbps SEED DRIVER b 1 3
520. F DO 3 AD 4 DA 5 IR 1 4 RT RT RT RT RT RT IR
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522. ID 81byte 81byte a 2 23 1 10240byte 80byte x 128 1 0 0 1bit 7bit 1 8bit 2 8bit 3 8bit 79 8bit 80 8bit a 2 23 H 6 ASDU a 2 24 ASDU TD TD 0x05 8bit 0x00 32bit 8bit Ne sb a 2 24 RT ASDU
523. M aist RT RT RTC Lite Manage Ethernet CAN ZigBee microRTCs RT 1 1 62 a 2 3 2 microRTCs a 2 13 a 2 13 a 2 14 15 ID 1 15 IN OUT RTC 1 byte 81byte 255
524. Mechanical Origin Acceleration deceleration Consequences Crushing Severity Exposure 0ccurrence Avoidance 290 c 3 2 Severity Exposure Occurrence IAvoidance IS eleration ES 2 Mechanical Moving elements Crushing Serious Regular Even chance
525. R RT RT NE DO RT RT RT R
526. RT RT RT 2014 RT FS RT RT RT
527. RTCs 001 010 011 8byte 100 101 RTC 110 111 a 2 3 3 3 a 2 4 ID 1 ID a 2 6 miniRTCs ID 00 8bit 0 ID 3 0 64bit NT a 2 6
528. RtcParam L 12 generateTemplateCode rtcParam L dei nee Ee 1 Lt 3 isLanguageExi st IRtcBuilderConstantsXXXX NG_XXXX H NN H H H H H opt 1 mmm 1 HI 1 1 r 1 1 L t t 1 1 R H H Lt 1 1 r T T R 1 1 tL 1 1 a 3 24 Eclipse GenerateManager GenerateManager LanguageEditorFormPage
529. SET 11 MPMD 12 AUDSYNC 13 AUDATA0 14 AUDATA1 15 AUDATA2 16 AUDATA3 17 GND 18 GND 19 GND 20 AUDCK SHLDP 20V S JST AWG 28 AWG 32 4 PLC PLC iTron TOPPERS ASP PLC CAN HW a 1 14 PLC 5 SH7214 CONSOLE RS 232C gt AR A CAN gt 2PORT RESET LOGIC RES XIN 9 12 5MHz 3 3V POWER JTAG JTAG MI MI MI LAN8700 3 3V LAN LAN8700 PLC POW MI INT6400 MAC INT1400 k AC100V 8 B P F EI M Ac po pco
530. Service boolean is_running in DeviceComponentId_t id ReturnCode_t activate_component in DeviceComponentld_t id ReturnCode_t deactivate_component in DeviceComponentld_t id ReturnCode_t reset_component in DeviceComponentld_ t id LifeCycleState get_component_state in DeviceComponentld_t id double get_rate in DeviceComponentld t id ReturnCode_t set_rate in DeviceComponentld t id in double rate ExecutionKind get_kind in DeviceComponentld_t id ReturnCode_t exit in DeviceComponentld_t id ComponentProfile get_component_profile in DeviceComponentld_t id ComponentProfileList get_member_component_profiles ReturnCode_t connect inout ConnectorProfile connector_profile ReturnCode_t disconnect inout ConnectorProfile connector_profile ConnectorProfileList get_connector_profiles c 2 14 IDL 2 2 260 4 IDL PortProfile a name Instance Pot Instance rts RtsProfile rts Components rts instanceName Port rtc RtcProfile rtc DataPorts rtc name owner id rtc RtcProfile rtc BasicInfo rtcExt Properties rtcExt name node_id properties port port type rtc RtcProfile rtc DataPorts rtc portType dataport data_type rtc RtcProfile rtc DataPorts rtc type dataport dataflow_type rtc RtcProfile rtc DataPorts rtc dataflowType dataport interface_type rtc RtcProfile rtc DataPorts rt
531. T RT RTCHub RTC Lite Manager RTCHub RT RT RT RT ditor Ec 9 Q 4 3 wr RT System home Service ff RepositoryVie tt Otfline System Diagram ipse SDK A R OO AM Profile Table Imformation GupD hi Channel ID 16 TP Address 19216801 Orboard WindowControl1 Path C RTS 1 gt MotorUnit RTC MotorUnitxmD 3 Delete Vendor TA System Name Versior
532. TC RTC Lite Manager miniRTCs microRTCs RT 252 c 2 4 2 RTC HUB c 2 20 c 2 20 RTC Lite Manager UDP TCP RTS RTC Bridge RTC Bridge RTC RTC Lite Manager 5 Bridge RTC RT CORBA Socket RTC Lite Manager Socket TCP 2 TCP 2 UDP 5
533. THK PLC CAN microRTCs PLC Zigbee a 2 1 a 2 2 a 2 1 RTC Lite RT 1 RT OMG RTC RTC Lite RTC Lite H8 PIC ZigBee CAN 2 2 21 RT RT
534. YAML RtcParam JAXB YamlHandler YAML 112 sz a 3 3 RT RT RT
535. _stimulus in string message in ExecutionContextHandle_t exec_handle RT RT RT ECHONET ECHONET RT FSM XML 147 lt xml Vers1on 1 0 encoding UTF 8 gt lt xsd schema xmlns xsd http www w3 org72001 XMLSchema xmlns fsm http 7 www openrtp org7namespaces fSm targetNames ace http www o enrtp org namespaces fsm qualified attributeFormDefault qualified gt elementFormDefault lt xsd element name FsmProfile type fsm fsm_profile gt lt xsd complexType hame em_ profile gt lt x
536. ation HomeController Intelligent irConditioning DataReceiver WindowB gt RTG c 2 18RT HomeApplication HomeController DataReceiver IntelligentAirConditioning GUI RTC RTC WindowA WindowB 1 RTC WindowA WindowB RTC HUB RTC RTC OpenRTM NET RTC miniRTCs RTC RTC 280 c 2 5 2 RT 1 RT 2 miniRTCs 3
537. c interfaceType dataport subscription_type rtc RtcProfile rtc DataPorts subscriptionType object_id rtc RtcProfile rtc DataPorts rtcExt Properties rtcExtiname object_id ComponentProfile id rtc RtcProfile rtc Basiclnfo rtcExt Properties rtcExt name node_id instance_name rtc RtcProfile rtc Basiclnfo rtc name type_name rtc RtcProfile rtc Basiclnfo rtc name description rtc RtcProfile rtc Basiclnfo rtc description version rtc RtcProfile rtc BasicInfo rtc version vendor rtc RtcProfile rtc BasicInfo rtc vendor category rtc RtcProfile rtc Basiclnfo rtc category kind rtc RtcProfile rtc Basiclnfo rtc activityType rate rtc RtcProfile rtc Basiclnfo rtc executionRate port_profiles rtc RtcProfile rtc DataPorts properties node_id rtc RtcProfile rtc Basiclnfo rtcExt Properties rtcExt name node_id bus_id rtc RtcProfile rtc BasicInfo rtcExt Properties rtcExt name bus_id ConnectorProfile name rts RtsProfile rts DataPortConnectors rts name connector_id rts RtsProfile rts DataPortConnectors connectorld port_profiles rts RtsProfile rts DataPortConnectors rts sourceDataPort rts RtsProfile rts DataPortConnectors rts targetDataPort properties PortProfile name Instance Port Instance rts RtsProfile rts Components rts instanc
538. ction gt lt xsd simpleType gt 148 lt xsd attribute gt lt xsd attribute name left type xsd integer use required gt lt xsd attribute name top type xsd integer use required gt lt xsd attribute name right type xsd integer use required gt lt xsd attribute name bottom type xsd integer use required gt lt xsd complexType gt lt xsd complexType name entry gt lt xsd sequence gt lt xsd element name OwnedOperation type fsm owned_operation minOccurs 0 maxOccurs 1 gt lt xsd sequence gt lt xsd complexType gt lt xsd complexType name owned_operation gt lt xsd sequence gt lt xsd element name Action type fsm action minOccurs 1 maxOccurs unbounded gt lt xsd sequence gt lt xsd complexType gt lt xsd complexType name action gt lt xsd attribute name id type xsd string use required gt lt xsd attribute name priority type xsd integer use optional gt lt xsd complexType gt lt xsd complexType name transition gt lt xsd sequence gt lt xsd element name Trigger type fsm trigger minOccurs 0 maxOccurs unbounded gt lt xsd element name Guard type fsm guard minOccurs 0 maxOccurs unbounded gt lt xsd element name BendPoint type fsm bend_point minOccurs 0 maxOccurs unbounded gt lt xsd sequence gt lt xsd attribute name source type xsd string use required gt lt xsd attribute name target type xsd str
539. eDinningWagon miniRTC microRTC Object type AirConditioner Java HouseFasiites ini i udio vk RS MobileFurniture HH RT Name Service View RT Repository View RT System Editor RtcBuilder Tasks 9 er proper Power Ox0032 On Airvol Ox0040 AU AirVol Ox0041 AutoS Ox0032 D ev a 3 10 3 1 AIST RT RT RT 2 3 RT RT RT XML YAML
540. eName Port rtc RtcProfile rtc DataPorts rtc name dataport data_type rts RtsProfile rts DataPortConnectors rts dataType dataport dataflow_type rts RtsProfile rts DataPortConnectors dataflowType dataport interface_type rts RtsProfile rts DataPortConnectors interfaceType dataport subscription_type rts RtsProfile rts DataPortConnectors subscriptionType 261 c 2 4 3 5 1 1 RTC RTC RTC ID 2 get_sdo_service const char id id BridgeService 262 c 2 4 3 6 CORBA is_running is_running C CORBA Boolean is_running RTCHub DeviceComponentld t id I O I id ID TRUE FALSE
541. eXmlRts RtsProfileExt 1 3 li pe a PS gE a R ra MessageSending JAXB XML JAxB XML NT PnPConfigView tvSequence Mes sageSendingsParam RtsProfileExt XmlHandler Marshaller RT 1 1 L 1 t 1 1 1 1 1 L L L L L L L 5 L L NR L L L L L 1 H H H H L L L L 1 L 1 L L L 1 1 1 1 1 1 L 1 1 2 get a E ll f I 3 set 1 N 1 1 1 T 1 1 1 1 1 1 1 1 1 1 1 4 get i 5 L 1 T JAXB 1 5 set 1 1 1 1 r 1 1 1 1 1 1 1 1 1 1 1 1 1 7 convertToXmlRts RtsPtofileExt XML 8 marshal 1 RD 1 1 Ea a 3 59 tvSequence MessageSendingsParam MessageSending MessageSendingsParam JAXB
542. equired gt lt xsd attribute name pathUri type xsd string use required gt lt xsd complexType gt EC GDN OR DE name target_port gt lt xsd complexContent gt lt xsd extension base fsm target_component gt lt xsd attribute name portName type xsd string use required gt lt xsd extension gt lt xsd complexContent gt lt xsd complexType gt RN OOD De name target_interface gt lt xsd complexContent gt lt xsd extension base fsm target_port gt lt xsd attribute name interfaceName type xsd string use required gt lt xsd extension gt lt xsd complexContent gt lt xsd complexType gt 149 lt xsd complexTYpe name guard_source gt lt xsd choice minOccurs 1 maxOccurs 1 gt lt xsd element name DataSource type fsm data_source gt lt xsd element name TimePeriod type fSm time_period gt lt xsd cho1ce gt lt 7xsd complexType gt lt xsd complexType name data_source gt lt xsd sequence gt lt xsd element name SourcePort type fsm target_port minOccurs 1 maxOccurs 1 gt lt xsd sequence gt lt xsd complexType gt lt xsd complexType name time_period gt lt xsd attribute name kind type xsd string use required gt lt xsd attribute name start type xsd string use required gt lt xsd attribute name end type xsd string use required gt lt xsd complexType gt lt xsd complexType name trigger_definition gt lt
543. g RT RT RT sendingTiming WaitTime RT 126 startUp 3 condition sequence 1 RT Comp1Ec1 condition WaitTime 1000 1 RT Comp2Ec1 WaitTime 500 Comp1Ec1 0 5 RT
544. gt 1 3 10 3 2 WG IV gt 2006
545. guage OMG Object Management Group UML UML SysML UML 3 RT 3 c 3 1 284 c 3 1
546. i ComponentHd JmstanceName Compos SG OOD SOHN NN ounn mw CA EE Version Comment FC a 3 52 129 3 RT RT RT ExecutionContext MessageSending RT RT RT RT RT
547. ing use required gt lt xsd attribute name sourceX type xsd integer use required gt lt xsd attribute name sourceY type xsd integer use required gt lt xsd attribute name endX type xsd integer use required gt lt xsd attribute name endY type xsd integer use required gt lt xsd complexType gt lt xsd complexType name trigger gt i 3 lt xsdi attribute name id type xsd string use required gt lt xsd complexType gt lt xsd complexType name guard gt lt xsd attribute name id type xsd string use required gt lt xsd complexType gt lt xsd complexType name bend_point gt lt xsd attribute name posX type xsd integer use required gt lt xsd attribute name posY type xsd integer use required gt lt xsd complexType gt lt xsd complexType name action_definition gt lt xsd sequence gt lt xsd element name targetInterface type fsm target_interface minOccurs 1 maxOccurs 1 gt lt xsd sequence gt lt xsd attribute name id type xsd string use required gt lt xsd attribute name name type xsd string use optional gt lt xsd attribute name failTrigger type xsd string use optional gt lt xsd complexType gt lt xsd complexType name target_component gt lt xsd sequence gt lt xsd sequence gt lt xsd attribute name componentId type xsd string use required gt lt xsd attribute name instanceName type xsd string use r
548. ly miniRTCs 24 1 R Late miniRTCs 24 1 RI Value 1 RTC R Omission RTC R Commission R Early R Late
549. ndows RTM OpenRTM NET RT CPU AM1808 375MHz OS Linux ROM 2GB RTM OpenRTM aist RAM 256MB CPU SH7214 100MHz OS TOPPERS ASP PLC CAN ROM 1MB RTM RTC Lite Manager miniRTCs RAM 128KB I F CAN CPU SH7214 100MHz OS TOPPERS ASP PLC ZigBee ROM 1MB RTM RTC Lite Manager microRTOs RAM 128KB I F ZigBee CPU Cortex 72MHz OS Flash 256KB RTM miniRTCs RAM 64KB CPU CC2530 16MHz OS ROM 256KB RTM microRTOs RAM 8KB c 2 1 c 2 3 c 2 3 Ethernet Mbps PLC Mbps CAN 1Mbps ZigBee 250Kbps 235 c 2 2 2 c 2 2 RTC Lite RTC Lite RTC Lite OpenRTM aist 2 RT RTC Li
550. or_out WindowControl 1 window out WindowControl 1 lock_out MotorUnit 1 command MoatorLinit 1 unit_ state InPort a B OutPort portport type DatainPort Name WindowCont Data Type TimedOctett Interface Typ corba_cdr Dataflow Typ pullpush Subscription Any portport_type DatainPort Name WindowCont Data Type TimedOctet jmterface Typ corbacdr lt gt gt iM Fos 22360 Size 9359 a 3 45 RTCHub miniRTC microRTC RTSystemEditor 3 1 RT RT XML RTSProfile RTSProfile amp 2 RTSProfile 3
551. ried 3 MySeryiceProvidernlrtc 3 SequenceInComponentOlrtc 3 5equenceOutComponentUlrtc Configuration View Manager Contol View Composite Component View RT Loe View Import RR RTS Tuner View x m sec 120 SD m sec 1 Export Cancel Configuration View Manager Control View Composite Component View RT Log View FmTEa 66 1 m sec 7 msec 1 4 1 tune definition 1 2 3 4 79 1 2 82 1 88 1 definition a 3 31 RT RT
552. s 2 Zigbes lt PLC gt gt lt PLC gt gt lt lt Ethemet gt gt lt PLC gt gt lt PIC gt gt lt lt PLC gt gt lt DIO gt lt DIO gt gt lt DIO gt lt lt CAN gt SE Azigbee gt gt 9 lt lt Zigbee gt gt lt lt Zigbee gt gt lt CAN gt gt io gg sW lt lt Zigbee gt gt ighee2 gt lt lt Zighee gt gt lt lt CAN gt gt SW SW lt lt Zigbee gt gt lt lt Zigbee gt gt lt lt Zigbee gt gt 1 2 SW SW z a 5 pq lt lt AD gt gt lt AD gt gt lt DIO gt gt lt lt DIO gt gt lt AD gt lt lt DIO gt 1 1 1 EE 2
553. sExt condition_ext rts sequence 2 gt lt rts Preceding rts sendingTiming SYNC rts timeout 100 gt lt rts PrecedingComponents rts id Comp3Ec1 rts instanceName SampleComponent3_1 rts componentId RTC Samplevendor SampleCategory SampleComponent3 0 5 0 gt lt rts Preceding gt lt rtsi TargetComponent rts id Comp2Ec1 rts instanceName SampleComponent2_1 1 rtsicnmnanentid RTC SampnleVendor SampnleCategory SampleComponent2 1 0 0 gt i lt rts targets gt lt rts targets xsi type rtsExt condition_ext rts sequence 3 gt lt rtsiPrecedind rts sendingTiming SYNC rts timeout 100 gt lt rts PrecedingComponents rtsiid Cnmp3Ec1 rtsiinstanceName SarmpleComponent3_1 rts componentIid RTC SamplevYendor SampleCategory SampleComponent3 0 5 0 gt lt rts PrecedingComponents rts id Comp2Ec1 rts instanceName SampleComponent2_1 rts componentid RTC Samplevendor SampleCategory SampleComponent2 1 0 0 gt lt rts Preceding gt lt rts TargetComponent rts id Comp1Ec1 rts instanceName SampleComponent_1 rts componentId RTC Samplevendor SampleCategory SampleComponent 1 0 0 gt lt rts targets gt 8 lt rts ShutDown gt a 3 50 XML 128 IDE Eclipse
554. sd sequence gt lt xsd element name StateMachine type fsm state_machine minOccurs 1 maxOccurs 1 gt lt xsd sequence gt lt xsd attribute name version type xsd string use required gt lt xsd complexType gt lt xsd complexType name state_machine gt lt xsd sequence gt lt xsd element name State type fsm state minOccurs 0 maxOccurs unbounded gt lt xsd element name Transition type fsm transition minOccurs 0 maxOccurs unbounded gt lt xsd element name ActionDefinition type fsm action_definition minOccurs 0 maxOccurs unbounded gt lt xsd element name TriggerDefinition type fsm trigger_definition minOccurs 0 maxOccurs unbounded gt lt xsd element name GuardDefinition type fsm guard_definition minOccurs 0 maxOccurs unbounded gt lt xsd sequence gt lt xsd attribute name name type xsd string use required gt lt xsd attribute name version type xsd string use required gt lt xsd complexType gt lt xsd complexType name state gt lt xsd sequence gt lt xsd element name Entry type fsm entry minOccurs 0 maxOccurs 1 gt lt xsd sequence gt lt xsd attribute name name type xsd string use required gt lt xsd attribute name kind use optional gt lt xsd simpleType gt lt xsd restriction base xsd string gt lt xsd enumeration value normal gt lt xsd enumeration value initial gt lt xsd enumeration value final gt lt xsd restri
555. soleIn0 localhost khatib host cxt ConsoleInO rtc ConsoleInD localhost ConsoleInQ rtc ConsoleOutn localhost khatibhost cxt ConsoleOut rtc ConsoleOut0 localhost ConsoleOutO rtc a 3 61 RTC RTManager RTSProfile NameServiceView RTManager RTC RTManager ComponentType RtsProfile RTC Manager Path RTC RTManager RTManager RtsProfile 185 RTC RTC RTManager NameServiceView RTManager RTC RTC ComponentType Manager Path ConsoleOut khatib manager manaeger a khatib manager manager
556. t Actions Trigger hame interface co a RTOGActfcon Up Ti action3 RTG_Actdco Up 2 name type trig1 RTC_ActD outZ name type trig1 RTC_ActD out2 trig2 RTC_ActD out2 trig3 RTC_ActD out2 LC RTC_ActD out2 timetr1 periodic timetr2 every Month _ ace actinn2 RTC_ActD command Che action3 RTC_ActD command Sou actian RTC_ActD command Pow SV 21 FsmState220 syPort act SV 22 FsmState220 syPort act SV 11 FsmState210isyPartiact Guards name SV 12 FsmState210 syPortact name type guard1 RTC_Act0 outZ timegd1 everyDay lt transition a 3 73 FSM
557. te RTC Lite RT CAN ZibBee RT IN 2 RT OpenRTM aist OpenRTM NET Socket RTC Lite Manager RTC Lite Manager RTC Lite RTC Lite Rida Socket RTC Lite RTC Lite c 2 2 236 c 2 2 c 2 4 c 2 5 c 2 4 1 2
558. vice A DataFlowComponentBase yy EE BridgeComponent c 2 12 IDL 258 3 IDL IDL c 2 13 c 2 14 RTCHub idl include SDOPackage idI include RTC id17 pragma prefix sec co jp efine EXECUTION_HANDLE_TYPE_NATIVE long module RTCHub typedef SDOPackage Uniqueldentifier Uniqueldentifier typedef SDOPackage NVList NVList typedef EXECUTION_HANDLE_TYPE_NATIVE DeviceComponentld t typedef RTC ReturnCode_t ReturnCode_t typedef RTC LifeCycleState LifeCycleState typedef RTC ExecutionKind ExecutionKind interface BridgeService struct PortProfile string name DeviceComponentId_t owner_id NVList properties typedef sequence lt PortProfile gt PortProfileList struct ConnectorProfile string name Uniqueldentifier connector_id PortProfileList port_profiles NVList properties typedef sequence lt ConnectorProfile gt ConnectorProfileList c 2 13 IDL 1 2 259 struct ComponentProfile DeviceComponentId_t id string instance_name string type_name string description string version string vendor string category ExecutionKind kind double rate PortProfileList port_profiles NVList properties typedef sequence lt ComponentProfile gt ComponentProfileList interface BridgeService SDOPackage SDO
559. wa lt block gt gt lt block hardware gt gt lt block hardwa RTHub block hardwa block hardware gt gt lt lt block hardwa block hardwa block hardwa PPE lt lt block hardware gt gt block hardware gt gt SW block hardwa SW c 3 3 RTHub 287
560. xsd sequence gt lt xsd element name TriggerSource type fsm trigger_source minOccurs 1 maxOccurs 1 gt lt xsd sequence gt lt xsd attribute name id type xsd string use required gt lt xsd attribute name name type xsd string use optional gt lt xsd attribute name priority type xsd integer use optional gt lt xsd complexType gt lt xsd complexType name trigger_source gt lt xsd choice minOccurs 1 maxOccurs 1 gt lt xsd element name DataTrigger type fsm data_trigger gt lt xsd element name EventTrigger type fsm event_trigger gt lt xsd element name TimeTrigger type fsm time_trigger gt lt xsd choice gt lt xsd complexType gt oS 6 name data_trigger gt lt xsd complexContent gt lt xsd extension base fsm data_source gt lt xsd sequence minOccurs 1 maxOccurs 1 gt lt xsd element name Constraint type fsm constraint gt lt xsd sequence gt lt xsd extension gt lt xsd complexContent gt lt xsd complexType gt lt xsd complexType name event_trigger gt lt xsd complexContent gt lt xsd extension base fsm data_source gt lt xsd sequence minOccurs 1 maxOccurs 1 gt lt xsd element name Message type fsm message gt lt xsd sequence gt lt xsd extension gt lt xsd complexContent gt lt xsd complexType gt lt xsd complexType name time_trigger gt lt xsd sequence minOccurs 1 maxOccurs 1 gt lt xsd element name TimeEvent t
561. ype fsm time_event gt lt xsd sequence gt lt xsd complexType gt lt xsd complexType name constraint gt lt xsd attribute name body type xsd string use required gt lt xsd complexType gt lt xsd complexType name time_event gt 1 N lt xsd attribute name kind type xsd string use required gt lt xsd attribute name body type xsd string use required gt lt 7xsd complexType gt lt xsd complexType name message gt lt xsd attribute name body type xsd string use required gt lt 7xsd complexType gt lt xsd schema gt 150 a 4 RT RT a 4 1 OpenRTM aist MPU RT RT Linux Windows PC MPU OS RT MPU RT RT

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