@kuriousdesign/machine-sdk 1.0.64 → 1.0.69

package/src/custom-types/Devices/Robot.ts

@@ -1,208 +1,208 @@
-// {attribute 'qualified_only'}
-// {attribute 'strict'}
-// TYPE RobWaypoints :
-// (
-// 	NONE := 0, //do not remove or change this
-// 	HOME := 1, //identifier for the robot's home position
-// 	FIXTURE_LEFT_PERCH := 2, //identifier for the fixture perch position
-// 	FIXTURE_RIGHT_PERCH := 3, //identifier for the fixture perch position
-// 	TOOL_PERCH :=4
-// );
-// END_TYPE
-
-export enum RobWaypoints {
-    NONE = 0,
-    HOME = 1,
-    FIXTURE_LEFT_PERCH = 2,
-    FIXTURE_RIGHT_PERCH = 3,
-    TOOL_PERCH = 4
-}
-
-export function robotWaypointToString(waypoint: RobWaypoints): string {
-    switch (waypoint) {
-        case RobWaypoints.NONE:
-            return 'None';
-        case RobWaypoints.HOME:
-            return 'Home';
-        case RobWaypoints.FIXTURE_LEFT_PERCH:
-            return 'Fixture Left Perch';
-        case RobWaypoints.FIXTURE_RIGHT_PERCH:
-            return 'Fixture Right Perch';
-        case RobWaypoints.TOOL_PERCH:
-            return 'Tool Perch';
-        default:
-            return 'Unknown';
-    }
-}
-
-// {attribute 'qualified_only'}
-// {attribute 'strict'}
-// TYPE RobTools :
-// (
-// 	NONE := 0, //do not remove or change this
-// 	WEIGHING_GRIPPER := 1, //identifier for the weighing gripper tool
-// 	APPLICATOR := 2, //identifier for the applicator tool
-// 	CAMERA := 3 //identifier for the camera tool
-// );
-// END_TYPE
-
-export enum RobTools {
-    NONE = 0,
-    WEIGHING_GRIPPER = 1,
-    APPLICATOR = 2,
-    CAMERA = 3
-}
-
-export function robotToolToString(tool: RobTools): string {
-    switch (tool) {
-        case RobTools.NONE:
-            return 'None';
-        case RobTools.WEIGHING_GRIPPER:
-            return 'Weighing Gripper';
-        case RobTools.APPLICATOR:
-            return 'Applicator';
-        case RobTools.CAMERA:
-            return 'Camera';
-        default:
-            return 'Unknown';
-    }
-}
-
-// {attribute 'qualified_only'}
-// {attribute 'strict'}
-// TYPE RobTasks :
-// (
-// 	NONE := 0, //do not remove or change this
-// 	RETRIEVE_TOOL := 1, //param0: toolId (identifier from Tools enum specifying which tool to retrieve, e.g., WEIGHING_GRIPPER, APPLICATOR, CAMERA), checks for tool presence; if missing, moves to "Home" and signals fault
-// 	RETURN_TOOL := 2, //param0: toolId (identifier from Tools enum specifying which tool to return to the tool rack)
-// 	GO_TO_WAYPOINT := 3, //param0: positionId (identifier from Positions enum specifying the target waypoint, e.g., FIXTURE_PERCH, HOME), moves robot to the specified position
-// 	GRIP_PART := 4, //param0: partId (identifier of the part to grip, e.g., part 1), performs a diagonal lift (½" up, ½" away from fixed clamp side) for clearance
-// 	SAMPLE_WEIGHT := 5, //param0: sampleCount (number of weight samples, e.g., XX), param1: sampleDuration (duration in seconds, e.g., 2), waits briefly then records average weight over the period
-// 	REPOSITION_AND_RELEASE_PART := 6, //no params: moves back ¼" toward fixed clamp, down ¼", opens gripper to drop tube onto false bottom, returns to perch position
-// 	REMOVE_FALSE_BOTTOMS := 7, //no params: removes false bottoms from the fixture(s)
-// 	HOME_SQUEEGEE_MOTOR := 8, //no params: homes the squeegee motor while moving to fixture perch position
-// 	WIPE_APPLICATOR := 9, //no params: cleans the applicator (detailed cleaning procedure TBD)
-// 	PERFORM_APPLICATION_TASK := 10, //param0: tubeId (identifier of the tube to process, e.g., tube 1), applies the task to the specified tube
-// 	INSERT_FALSE_BOTTOMS := 11, //no params: slides false bottoms back into place in the fixture(s)
-// 	TAKE_IMAGES := 12 //param0: tubeList (list of tube IDs to image), captures images and sends to HMI for display (most recent as large image, others in album view)
-// );
-// END_TYPE
-
-export const RobTasks = {
-    NONE: 0,
-    RETRIEVE_TOOL: 1,
-    RETURN_TOOL: 2,
-    GO_TO_WAYPOINT: 3,
-    GRIP_PART: 4,
-    SAMPLE_WEIGHT: 5,
-    REPOSITION_AND_RELEASE_PART: 6,
-    REMOVE_FALSE_BOTTOMS: 7,
-    HOME_SQUEEGEE_MOTOR: 8,
-    WIPE_APPLICATOR: 9,
-    PERFORM_APPLICATION_TASK: 10,
-    INSERT_FALSE_BOTTOMS: 11,
-    TAKE_IMAGES: 12
-};
-
-export function robotTaskToString(task: number): string {
-    switch (task) {
-        case RobTasks.NONE:
-            return 'None';
-        case RobTasks.RETRIEVE_TOOL:
-            return 'Retrieve Tool';
-        case RobTasks.RETURN_TOOL:
-            return 'Return Tool';
-        case RobTasks.GO_TO_WAYPOINT:
-            return 'Go To Waypoint';
-        case RobTasks.GRIP_PART:
-            return 'Grip Part';
-        case RobTasks.SAMPLE_WEIGHT:
-            return 'Sample Weight';
-        case RobTasks.REPOSITION_AND_RELEASE_PART:
-            return 'Reposition And Release Part';
-        case RobTasks.REMOVE_FALSE_BOTTOMS:
-            return 'Remove False Bottoms';
-        case RobTasks.HOME_SQUEEGEE_MOTOR:
-            return 'Home Squeegee Motor';
-        case RobTasks.WIPE_APPLICATOR:
-            return 'Wipe Applicator';
-        case RobTasks.PERFORM_APPLICATION_TASK:
-            return 'Perform Application Task';
-        case RobTasks.INSERT_FALSE_BOTTOMS:
-            return 'Insert False Bottoms';
-        case RobTasks.TAKE_IMAGES:
-            return 'Take Images';
-        default:
-            return 'Unknown';
-    }
-}
-
-
-// TYPE RobSts :
-// STRUCT
-// 	Cfg:DeviceTemplateCfg; //read-only, references _cfg
-// 	ActiveToolId:INT;
-// 	ActualWaypoint:INT;
-// 	TargetWaypoint:INT;
-// 	ActualZone:INT;
-// 	WaypointPlan: RobWaypointPlan;
-// 	SqueegeeIsCalibrated:BOOL; //required once per job
-// 	SqueegeeIsHomed:BOOL; //required after every tool change
-// END_STRUCT
-// END_TYPE
-
-
-// TYPE RobWaypointPlan :
-// STRUCT
-// 	Cnt:INT;
-// 	activeIndex:INT;
-// 	list:ARRAY[0..RobConstants.MOVE_PLAN_LEN -1] OF INT;
-// END_STRUCT
-// END_TYPE
-
-export interface RobWaypointPlan {
-  cnt: number;
-  activeIndex: number;
-  list: number[];
-}
-
-
-export interface RobCfg {
-}
-
-export interface RobSts {
-  cfg: RobCfg;
-  activeToolId: number;
-  actualWaypoint: number;
-  targetWaypoint: number;
-  actualZone: number;
-  waypointPlan: RobWaypointPlan;
-  squeegeeIsCalibrated: boolean;
-  squeegeeIsHomed: boolean;
-}
-
-export interface RobDataDEPRECATED {
-  zone: RobZoneData;
-  pos: RobWaypoints;
-  dest: RobWaypoints;
-  cartesian: RobPositionData;
-  //taskReq: TaskId; //incoming task request
-  //taskData: TaskData;
-  recipeOffsets: RobPositionData[];
-}
-
-export interface RobPositionData {
-  x: number;
-  y: number;
-  z: number;
-  wdeg: number;
-  pdeg: number;
-  rdeg: number;
-}
-
-export interface RobZoneData {
-  cncHorzShuttle: boolean;
-  waypointShuttle: boolean; //Joint moves, wrist is holding parts upright and at a distance that allows robot to rotate about J1 without fear of collision, basically just moving J1
-  dcsNoGo: boolean;
-  outsideOfCnc: boolean;
-}
+// {attribute 'qualified_only'}
+// {attribute 'strict'}
+// TYPE RobWaypoints :
+// (
+// 	NONE := 0, //do not remove or change this
+// 	HOME := 1, //identifier for the robot's home position
+// 	FIXTURE_LEFT_PERCH := 2, //identifier for the fixture perch position
+// 	FIXTURE_RIGHT_PERCH := 3, //identifier for the fixture perch position
+// 	TOOL_PERCH :=4
+// );
+// END_TYPE
+
+export enum RobWaypoints {
+    NONE = 0,
+    HOME = 1,
+    FIXTURE_LEFT_PERCH = 2,
+    FIXTURE_RIGHT_PERCH = 3,
+    TOOL_PERCH = 4
+}
+
+export function robotWaypointToString(waypoint: RobWaypoints): string {
+    switch (waypoint) {
+        case RobWaypoints.NONE:
+            return 'None';
+        case RobWaypoints.HOME:
+            return 'Home';
+        case RobWaypoints.FIXTURE_LEFT_PERCH:
+            return 'Fixture Left Perch';
+        case RobWaypoints.FIXTURE_RIGHT_PERCH:
+            return 'Fixture Right Perch';
+        case RobWaypoints.TOOL_PERCH:
+            return 'Tool Perch';
+        default:
+            return 'Unknown';
+    }
+}
+
+// {attribute 'qualified_only'}
+// {attribute 'strict'}
+// TYPE RobTools :
+// (
+// 	NONE := 0, //do not remove or change this
+// 	WEIGHING_GRIPPER := 1, //identifier for the weighing gripper tool
+// 	APPLICATOR := 2, //identifier for the applicator tool
+// 	CAMERA := 3 //identifier for the camera tool
+// );
+// END_TYPE
+
+export enum RobTools {
+    NONE = 0,
+    WEIGHING_GRIPPER = 1,
+    APPLICATOR = 2,
+    CAMERA = 3
+}
+
+export function robotToolToString(tool: RobTools): string {
+    switch (tool) {
+        case RobTools.NONE:
+            return 'None';
+        case RobTools.WEIGHING_GRIPPER:
+            return 'Weighing Gripper';
+        case RobTools.APPLICATOR:
+            return 'Applicator';
+        case RobTools.CAMERA:
+            return 'Camera';
+        default:
+            return 'Unknown';
+    }
+}
+
+// {attribute 'qualified_only'}
+// {attribute 'strict'}
+// TYPE RobTasks :
+// (
+// 	NONE := 0, //do not remove or change this
+// 	RETRIEVE_TOOL := 1, //param0: toolId (identifier from Tools enum specifying which tool to retrieve, e.g., WEIGHING_GRIPPER, APPLICATOR, CAMERA), checks for tool presence; if missing, moves to "Home" and signals fault
+// 	RETURN_TOOL := 2, //param0: toolId (identifier from Tools enum specifying which tool to return to the tool rack)
+// 	GO_TO_WAYPOINT := 3, //param0: positionId (identifier from Positions enum specifying the target waypoint, e.g., FIXTURE_PERCH, HOME), moves robot to the specified position
+// 	GRIP_PART := 4, //param0: partId (identifier of the part to grip, e.g., part 1), performs a diagonal lift (½" up, ½" away from fixed clamp side) for clearance
+// 	SAMPLE_WEIGHT := 5, //param0: sampleCount (number of weight samples, e.g., XX), param1: sampleDuration (duration in seconds, e.g., 2), waits briefly then records average weight over the period
+// 	REPOSITION_AND_RELEASE_PART := 6, //no params: moves back ¼" toward fixed clamp, down ¼", opens gripper to drop tube onto false bottom, returns to perch position
+// 	REMOVE_FALSE_BOTTOMS := 7, //no params: removes false bottoms from the fixture(s)
+// 	HOME_SQUEEGEE_MOTOR := 8, //no params: homes the squeegee motor while moving to fixture perch position
+// 	WIPE_APPLICATOR := 9, //no params: cleans the applicator (detailed cleaning procedure TBD)
+// 	PERFORM_APPLICATION_TASK := 10, //param0: tubeId (identifier of the tube to process, e.g., tube 1), applies the task to the specified tube
+// 	INSERT_FALSE_BOTTOMS := 11, //no params: slides false bottoms back into place in the fixture(s)
+// 	TAKE_IMAGES := 12 //param0: tubeList (list of tube IDs to image), captures images and sends to HMI for display (most recent as large image, others in album view)
+// );
+// END_TYPE
+
+export const RobTasks = {
+    NONE: 0,
+    RETRIEVE_TOOL: 1,
+    RETURN_TOOL: 2,
+    GO_TO_WAYPOINT: 3,
+    GRIP_PART: 4,
+    SAMPLE_WEIGHT: 5,
+    REPOSITION_AND_RELEASE_PART: 6,
+    REMOVE_FALSE_BOTTOMS: 7,
+    HOME_SQUEEGEE_MOTOR: 8,
+    WIPE_APPLICATOR: 9,
+    PERFORM_APPLICATION_TASK: 10,
+    INSERT_FALSE_BOTTOMS: 11,
+    TAKE_IMAGES: 12
+};
+
+export function robotTaskToString(task: number): string {
+    switch (task) {
+        case RobTasks.NONE:
+            return 'None';
+        case RobTasks.RETRIEVE_TOOL:
+            return 'Retrieve Tool';
+        case RobTasks.RETURN_TOOL:
+            return 'Return Tool';
+        case RobTasks.GO_TO_WAYPOINT:
+            return 'Go To Waypoint';
+        case RobTasks.GRIP_PART:
+            return 'Grip Part';
+        case RobTasks.SAMPLE_WEIGHT:
+            return 'Sample Weight';
+        case RobTasks.REPOSITION_AND_RELEASE_PART:
+            return 'Reposition And Release Part';
+        case RobTasks.REMOVE_FALSE_BOTTOMS:
+            return 'Remove False Bottoms';
+        case RobTasks.HOME_SQUEEGEE_MOTOR:
+            return 'Home Squeegee Motor';
+        case RobTasks.WIPE_APPLICATOR:
+            return 'Wipe Applicator';
+        case RobTasks.PERFORM_APPLICATION_TASK:
+            return 'Perform Application Task';
+        case RobTasks.INSERT_FALSE_BOTTOMS:
+            return 'Insert False Bottoms';
+        case RobTasks.TAKE_IMAGES:
+            return 'Take Images';
+        default:
+            return 'Unknown';
+    }
+}
+
+
+// TYPE RobSts :
+// STRUCT
+// 	Cfg:DeviceTemplateCfg; //read-only, references _cfg
+// 	ActiveToolId:INT;
+// 	ActualWaypoint:INT;
+// 	TargetWaypoint:INT;
+// 	ActualZone:INT;
+// 	WaypointPlan: RobWaypointPlan;
+// 	SqueegeeIsCalibrated:BOOL; //required once per job
+// 	SqueegeeIsHomed:BOOL; //required after every tool change
+// END_STRUCT
+// END_TYPE
+
+
+// TYPE RobWaypointPlan :
+// STRUCT
+// 	Cnt:INT;
+// 	activeIndex:INT;
+// 	list:ARRAY[0..RobConstants.MOVE_PLAN_LEN -1] OF INT;
+// END_STRUCT
+// END_TYPE
+
+export interface RobWaypointPlan {
+  cnt: number;
+  activeIndex: number;
+  list: number[];
+}
+
+
+export interface RobCfg {
+}
+
+export interface RobSts {
+  cfg: RobCfg;
+  activeToolId: number;
+  actualWaypoint: number;
+  targetWaypoint: number;
+  actualZone: number;
+  waypointPlan: RobWaypointPlan;
+  squeegeeIsCalibrated: boolean;
+  squeegeeIsHomed: boolean;
+}
+
+export interface RobDataDEPRECATED {
+  zone: RobZoneData;
+  pos: RobWaypoints;
+  dest: RobWaypoints;
+  cartesian: RobPositionData;
+  //taskReq: TaskId; //incoming task request
+  //taskData: TaskData;
+  recipeOffsets: RobPositionData[];
+}
+
+export interface RobPositionData {
+  x: number;
+  y: number;
+  z: number;
+  wdeg: number;
+  pdeg: number;
+  rdeg: number;
+}
+
+export interface RobZoneData {
+  cncHorzShuttle: boolean;
+  waypointShuttle: boolean; //Joint moves, wrist is holding parts upright and at a distance that allows robot to rotate about J1 without fear of collision, basically just moving J1
+  dcsNoGo: boolean;
+  outsideOfCnc: boolean;
+}

package/src/custom-types/Devices/index.ts

@@ -1,5 +1,4 @@
-export * from "./Axis";
-export * from "../BaseDevice/Device";
-export * from "./DeviceTypes";
-export * from "./Robot";
+export * from "./Axis";
+
+export * from "./Robot";
 export * from "./Pot";

package/src/custom-types/GlobalConstants.ts

@@ -1,99 +1,99 @@
-export interface GlobalConstants {
-  HIDE_LEFT_TWO_COLUMNS: boolean;
-  HIDE_RIGHT_COLUMN: boolean;
-}
-
-// {attribute 'qualified_only'}
-// VAR_GLOBAL CONSTANT
-// 	NUM_AXES:INT:=20;
-// 	MAX_NUM_NAUTILUS_AXES:INT:=20;
-// 	NUM_DEVICES:INT:=50; //get this from DeviceIds
-// 	//STEP_TIMEOUT: TIME := T#5000MS;
-// 	//TIMEOUT_ERROR_CODE_SHIFT: INT:= 10000;
-// 	//DEVICE_FAULTCODEARRAY_LEN:INT:=3;
-
-// 	MOMENTARY_PB: TIME:= T#250MS;
-// 	ROBOT_PART_COUNT: INT:=2;
-// 	//CNC_PART_COUNT: INT:=2;
-// 	RECIPE_COUNT_MAX:INT :=20;
-// 	HIDE_LEFT_TWO_COLUMNS:BOOL:=TRUE;//if true, the robot will pick/load the last two columns of the raw/done shelves
-// 	HIDE_RIGHT_COLUMN:BOOL:=TRUE;
-// 	HIDE_LEFT_ONE_COLUMN:BOOL:=FALSE;//this must be false if hide left two is true
-// 	SHELF_PART_COUNT: INT:=100;
-// 	NUM_OF_COLS:INT:=20; //total columns on shelf
-// 	PARTS_IN_COL:INT:=5; //total parts in a column
-// 	//DIAGONAL_PATTERN: BOOL:=TRUE;//is shelf picking/loading is diagonal pattern, otherwise its column picking/loading
-// 	//WASHER_PART_COUNT: INT:=2;
-// 	MACHINE_FAULTCODEARRAY_LEN: INT:=50;
-// 	MAX_NUM_INPUTS: INT :=50;
-	
-// 	NUM_PARTS_XFER:INT:=10;
-// 	NUM_PARTS_IB:INT:=51;
-	
-
-// 	NUM_LOG_ENTRIES:INT:=25;
-// 	TASK_LIST_LEN:INT:=25;
-// 	TASK_STORE_LEN:INT:=100 + TASK_LIST_LEN; //length of the array of stored (configured) tasks, the range of index 100 and greater are reserved for waypoints
-// 	TASK_LOG_LEN:INT:=25;
-// 	STATION_COUNT:INT:=6; //total number of designated areas that can hold parts: robot, raw shelf, preop, cnc, postop and done shelf
-// 	TOP_PRIORITY_COUNT:INT:=7; //total number of top priorities in the Priorities ENUM
-	
-// 	//DEBUG_LOG_LEN:INT:=10;
-// 	DEFAULT_TASK_DURATION_SEC:INT:=5;
-// 	PARTDATA_COUNT:INT:= 25;//total count of parts contained in PartData struct
-	
-// 	USERFRAME_COUNT:INT:=10;
-// 	//DEVICE_CHILDREN_ARRAY_LEN:INT:=10;
-// 	SYSTIME_TO_UTC_SCALAR:ULINT := LREAL_TO_ULINT(10E6);
-// 	NUM_PARTS_PER_FIXTURE:INT:=8;
-// 	//TASKQUEUE_LEN:INT:=100;
-	
-	
-// 	// HW SIDE
-// 	MAX_NUM_HW_CARDS:INT:=16;
-// END_VAR
-
-export const GCs = {
-
-  NUM_AXES: 20,
-  MAX_NUM_NAUTILUS_AXES: 20,
-  NUM_DEVICES: 50, //get this from DeviceIds
-  //STEP_TIMEOUT: TIME := T#5000MS;
-  //TIMEOUT_ERROR_CODE_SHIFT: INT:= 10000;
-  MOMENTARY_PB: 250, // TIME:= T#250MS;
-  ROBOT_PART_COUNT: 2,
-  //CNC_PART_COUNT: INT:=2;
-  RECIPE_COUNT_MAX: 20,
-  HIDE_LEFT_TWO_COLUMNS: true, //if true, the robot will pick/load the last two columns of the raw/done shelves
-  HIDE_RIGHT_COLUMN: true,
-  HIDE_LEFT_ONE_COLUMN: false, //this must be false if hide left two is true
-  SHELF_PART_COUNT: 100,
-  NUM_OF_COLS: 20, //total columns on shelf
-  PARTS_IN_COL: 5, //total parts in a column
-  //DIAGONAL_PATTERN: BOOL:=TRUE;//is shelf picking/loading is diagonal pattern, otherwise its column picking/loading
-  //WASHER_PART_COUNT: INT:=2;
-  MACHINE_FAULTCODEARRAY_LEN: 50,
-  MAX_NUM_INPUTS: 50,
-  NUM_PARTS_XFER: 10,
-  NUM_PARTS_IB: 51,
-  NUM_LOG_ENTRIES: 25,
-  TASK_LIST_LEN: 50,
-  TASK_STORE_LEN: 125, //length of the array of stored (configured) tasks, the range of index 100 and greater are reserved for waypoints
-  TASK_LOG_LEN: 25,
-  STATION_COUNT: 6, //total number of designated areas that can hold parts: robot, raw shelf, preop, cnc, postop and done shelf 
-  TOP_PRIORITY_COUNT: 7, //total number of top priorities in the Priorities ENUM
-  //DEBUG_LOG_LEN:INT:=10;
-  DEFAULT_TASK_DURATION_SEC: 5,
-  PARTDATA_COUNT: 25, //total count of parts contained in PartData struct
-  USERFRAME_COUNT: 10,
-  //DEVICE_CHILDREN_ARRAY_LEN:INT:=10;
-  SYSTIME_TO_UTC_SCALAR: 10E6, //ULINT := LREAL_TO_ULINT(10E6);
-  NUM_PARTS_PER_FIXTURE: 8,
-  //TASKQUEUE_LEN:INT:=100;
-  // HW SIDE
-  MAX_NUM_HW_CARDS: 16,
-  NUM_ENTRIES_MACHINE_LOG: 100,
-  MAX_NUM_RECIPES: 20,
-	MAX_NUM_CAMERAS: 3,
-	MAX_APPLICATOR_SETPOINTS: 10,
+export interface GlobalConstants {
+  HIDE_LEFT_TWO_COLUMNS: boolean;
+  HIDE_RIGHT_COLUMN: boolean;
+}
+
+// {attribute 'qualified_only'}
+// VAR_GLOBAL CONSTANT
+// 	NUM_AXES:INT:=20;
+// 	MAX_NUM_NAUTILUS_AXES:INT:=20;
+// 	NUM_DEVICES:INT:=50; //get this from DeviceIds
+// 	//STEP_TIMEOUT: TIME := T#5000MS;
+// 	//TIMEOUT_ERROR_CODE_SHIFT: INT:= 10000;
+// 	//DEVICE_FAULTCODEARRAY_LEN:INT:=3;
+
+// 	MOMENTARY_PB: TIME:= T#250MS;
+// 	ROBOT_PART_COUNT: INT:=2;
+// 	//CNC_PART_COUNT: INT:=2;
+// 	RECIPE_COUNT_MAX:INT :=20;
+// 	HIDE_LEFT_TWO_COLUMNS:BOOL:=TRUE;//if true, the robot will pick/load the last two columns of the raw/done shelves
+// 	HIDE_RIGHT_COLUMN:BOOL:=TRUE;
+// 	HIDE_LEFT_ONE_COLUMN:BOOL:=FALSE;//this must be false if hide left two is true
+// 	SHELF_PART_COUNT: INT:=100;
+// 	NUM_OF_COLS:INT:=20; //total columns on shelf
+// 	PARTS_IN_COL:INT:=5; //total parts in a column
+// 	//DIAGONAL_PATTERN: BOOL:=TRUE;//is shelf picking/loading is diagonal pattern, otherwise its column picking/loading
+// 	//WASHER_PART_COUNT: INT:=2;
+// 	MACHINE_FAULTCODEARRAY_LEN: INT:=50;
+// 	MAX_NUM_INPUTS: INT :=50;
+	
+// 	NUM_PARTS_XFER:INT:=10;
+// 	NUM_PARTS_IB:INT:=51;
+	
+
+// 	NUM_LOG_ENTRIES:INT:=25;
+// 	TASK_LIST_LEN:INT:=25;
+// 	TASK_STORE_LEN:INT:=100 + TASK_LIST_LEN; //length of the array of stored (configured) tasks, the range of index 100 and greater are reserved for waypoints
+// 	TASK_LOG_LEN:INT:=25;
+// 	STATION_COUNT:INT:=6; //total number of designated areas that can hold parts: robot, raw shelf, preop, cnc, postop and done shelf
+// 	TOP_PRIORITY_COUNT:INT:=7; //total number of top priorities in the Priorities ENUM
+	
+// 	//DEBUG_LOG_LEN:INT:=10;
+// 	DEFAULT_TASK_DURATION_SEC:INT:=5;
+// 	PARTDATA_COUNT:INT:= 25;//total count of parts contained in PartData struct
+	
+// 	USERFRAME_COUNT:INT:=10;
+// 	//DEVICE_CHILDREN_ARRAY_LEN:INT:=10;
+// 	SYSTIME_TO_UTC_SCALAR:ULINT := LREAL_TO_ULINT(10E6);
+// 	NUM_PARTS_PER_FIXTURE:INT:=8;
+// 	//TASKQUEUE_LEN:INT:=100;
+	
+	
+// 	// HW SIDE
+// 	MAX_NUM_HW_CARDS:INT:=16;
+// END_VAR
+
+export const GCs = {
+
+  NUM_AXES: 20,
+  MAX_NUM_NAUTILUS_AXES: 20,
+  NUM_DEVICES: 50, //get this from DeviceIds
+  //STEP_TIMEOUT: TIME := T#5000MS;
+  //TIMEOUT_ERROR_CODE_SHIFT: INT:= 10000;
+  MOMENTARY_PB: 250, // TIME:= T#250MS;
+  ROBOT_PART_COUNT: 2,
+  //CNC_PART_COUNT: INT:=2;
+  RECIPE_COUNT_MAX: 20,
+  HIDE_LEFT_TWO_COLUMNS: true, //if true, the robot will pick/load the last two columns of the raw/done shelves
+  HIDE_RIGHT_COLUMN: true,
+  HIDE_LEFT_ONE_COLUMN: false, //this must be false if hide left two is true
+  SHELF_PART_COUNT: 100,
+  NUM_OF_COLS: 20, //total columns on shelf
+  PARTS_IN_COL: 5, //total parts in a column
+  //DIAGONAL_PATTERN: BOOL:=TRUE;//is shelf picking/loading is diagonal pattern, otherwise its column picking/loading
+  //WASHER_PART_COUNT: INT:=2;
+  MACHINE_FAULTCODEARRAY_LEN: 50,
+  MAX_NUM_INPUTS: 50,
+  NUM_PARTS_XFER: 10,
+  NUM_PARTS_IB: 51,
+  NUM_LOG_ENTRIES: 25,
+  TASK_LIST_LEN: 50,
+  TASK_STORE_LEN: 125, //length of the array of stored (configured) tasks, the range of index 100 and greater are reserved for waypoints
+  TASK_LOG_LEN: 25,
+  STATION_COUNT: 6, //total number of designated areas that can hold parts: robot, raw shelf, preop, cnc, postop and done shelf 
+  TOP_PRIORITY_COUNT: 7, //total number of top priorities in the Priorities ENUM
+  //DEBUG_LOG_LEN:INT:=10;
+  DEFAULT_TASK_DURATION_SEC: 5,
+  PARTDATA_COUNT: 25, //total count of parts contained in PartData struct
+  USERFRAME_COUNT: 10,
+  //DEVICE_CHILDREN_ARRAY_LEN:INT:=10;
+  SYSTIME_TO_UTC_SCALAR: 10E6, //ULINT := LREAL_TO_ULINT(10E6);
+  NUM_PARTS_PER_FIXTURE: 8,
+  //TASKQUEUE_LEN:INT:=100;
+  // HW SIDE
+  MAX_NUM_HW_CARDS: 16,
+  NUM_ENTRIES_MACHINE_LOG: 100,
+  MAX_NUM_RECIPES: 20,
+	MAX_NUM_CAMERAS: 3,
+	MAX_APPLICATOR_SETPOINTS: 10,
 };