FanucInterfaceNet (com.github.dathlin:HslCommunication 3.4.0 API)

java.lang.Object
- HslCommunication.Core.Net.NetworkBase.NetworkBase
- - HslCommunication.Core.Net.NetworkBase.NetworkDoubleBase
  - - HslCommunication.Core.Net.NetworkBase.NetworkDeviceBase
    - - HslCommunication.Robot.FANUC.FanucInterfaceNet

所有已实现的接口:

IReadWriteDevice, IReadWriteNet
```
public class FanucInterfaceNet
extends NetworkDeviceBase
implements IReadWriteNet
```
Fanuc机器人的PC Interface实现，在R-30iB mate plus型号上测试通过，支持读写任意的数据，写入操作务必谨慎调用，写入数据不当造成生命财产损失，作者概不负责。读写任意的地址见api文档信息
The Fanuc robot's PC Interface implementation has been tested on R-30iB mate plus models. It supports reading and writing arbitrary data. The writing operation must be called carefully. Improper writing of data will cause loss of life and property. The author is not responsible. Read and write arbitrary addresses see api documentation information

字段概要

字段
限定符和类型字段和说明

int ClientId
获取或设置当前客户端的ID信息，默认为1024
Gets or sets the ID information of the current client.
- 从类继承的字段 HslCommunication.Core.Net.NetworkBase.NetworkDeviceBase
  WordLength
- 从类继承的字段 HslCommunication.Core.Net.NetworkBase.NetworkDoubleBase
  AlienSession, isPersistentConn, IsSocketError, isUseAccountCertificate, LogMsgFormatBinary, simpleHybirdLock
- 从类继承的字段 HslCommunication.Core.Net.NetworkBase.NetworkBase
  CoreSocket, fileCacheSize, LogNet, Token
- 从接口继承的字段 HslCommunication.Core.Net.IReadWriteNet
  LogNet

字段
限定符和类型	字段和说明
`int`	`ClientId` 获取或设置当前客户端的ID信息，默认为1024 Gets or sets the ID information of the current client.

构造器概要

构造器
构造器和说明
`FanucInterfaceNet()` 实例化一个默认的对象
`FanucInterfaceNet(String ipAddress, int port)` 指定ip及端口来实例化一个默认的对象，端口默认60008 Specify the IP and port to instantiate a default object, the port defaults to 60008

方法概要

所有方法实例方法具体方法
限定符和类型	方法和说明
`protected INetMessage`	`GetNewNetMessage()` 获取一个新的消息对象的方法，需要在继承类里面进行重写 The method to get a new message object needs to be overridden in the inheritance class
`protected OperateResult`	`InitializationOnConnect(Socket socket)` 根据实际的协议选择是否重写本方法，有些协议在创建连接之后，需要进行一些初始化的信号握手，才能最终建立网络通道。
`OperateResultExOne<byte[]>`	`Read(byte select, int address, short length)` 按照字为单位批量读取设备的原始数据，需要指定数据块地址，偏移地址及长度，主要针对08, 10, 12的数据块，注意地址的起始为1 Read the raw data of the device in batches in units of words.
`OperateResultExOne<byte[]>`	`Read(String address)`
`OperateResultExOne<byte[]>`	`Read(String address, short length)` 按照字为单位批量读取设备的原始数据，需要指定地址及长度，地址示例：D1，AI1，AQ1，共计3个区的数据，注意地址的起始为1 Read the raw data of the device in batches in units of words.
`OperateResultExOne<boolean[]>`	`ReadBool(byte select, int address, short length)` 按照位为单位批量读取设备的原始数据，需要指定数据块地址，偏移地址及长度，主要针对70, 72, 76的数据块，注意地址的起始为1
`OperateResultExOne<boolean[]>`	`ReadBool(String address, short length)` 按照位为单位批量读取设备的原始数据，需要指定地址及长度，地址示例：M1，I1，Q1，共计3个区的数据，注意地址的起始为1 Read the raw data of the device in batches in units of boolean.
`OperateResultExOne<FanucData>`	`ReadFanucData()` 读取机器人的详细信息，返回解析后的数据类型 Read the details of the robot and return the resolved data type
`OperateResultExOne<short[]>`	`ReadGI(int address, short length)` 读取机器人的GI信息
`OperateResultExOne<short[]>`	`ReadGO(int address, short length)` 读取机器人的GO信息
`OperateResultExOne<boolean[]>`	`ReadPMCR2(int address, short length)` 读取机器人的PMCR2信息
`OperateResultExOne<boolean[]>`	`ReadRDI(int address, short length)` 读取机器人的RDI信息
`OperateResultExOne<boolean[]>`	`ReadRDO(int address, short length)` 读取机器人的RDO信息
`OperateResultExOne<boolean[]>`	`ReadSDI(int address, short length)` 读取机器人的SDI信息 Read the SDI information of the robot
`OperateResultExOne<boolean[]>`	`ReadSDO(int address, short length)` 读取机器人的SDO信息 Read the SDO information of the robot
`OperateResultExOne<boolean[]>`	`ReadSI(int address, short length)` 读取机器人的SI信息
`OperateResultExOne<boolean[]>`	`ReadSO(int address, short length)` 读取机器人的SO信息
`OperateResultExOne<boolean[]>`	`ReadUI(int address, short length)` 读取机器人的UI信息
`OperateResultExOne<boolean[]>`	`ReadUO(int address, short length)` 读取机器人的UO信息
`String`	`toString()` 返回当前对象表示的字符串 Returns the string represented by the current object
`OperateResult`	`Write(byte select, int address, byte[] value)` 写入原始的byte数组数据到指定的地址，返回是否写入成功，，需要指定数据块地址，偏移地址，主要针对08, 10, 12的数据块，注意起始的起始为1 Write the original byte array data to the specified address, and return whether the writing is successful.
`OperateResult`	`Write(String address, boolean[] value)` 批量写入`Boolean`数组数据，返回是否写入成功，需要指定起始地址，地址示例：M1，I1，Q1，共计3个区的数据，注意地址的起始为1 Write `Boolean` array data in batches.
`OperateResult`	`Write(String address, byte[] value)` 写入原始的byte数组数据到指定的地址，返回是否写入成功，地址示例：D1，AI1，AQ1，共计3个区的数据，注意起始的起始为1 Write the original byte array data to the specified address, and return whether the write was successful.
`OperateResult`	`WriteBool(byte select, int address, boolean[] value)` 批量写入`Boolean`数组数据，返回是否写入成功，需要指定数据块地址，偏移地址，主要针对70, 72, 76的数据块，注意起始的起始为1
`OperateResult`	`WriteGI(int address, short[] value)` 写入机器人的GI信息
`OperateResult`	`WriteGO(int address, short[] value)` 写入机器人的GO信息
`OperateResult`	`WritePMCR2(int address, boolean[] value)` 写入机器人的PMCR2信息
`OperateResult`	`WriteRDI(int address, boolean[] value)` 写入机器人的RDI信息
`OperateResult`	`WriteRDO(int address, boolean[] value)` 写入机器人的RDO信息
`OperateResult`	`WriteRJoint(int address, float[] joint, short UserFrame, short UserTool)` 写入机器人的Joint信息
`OperateResult`	`WriteRXyzwpr(int Address, float[] Xyzwpr, short[] Config, short UserFrame, short UserTool)` 写入机器人的Rxyzwpr信息，谨慎调用，
`OperateResult`	`WriteSDI(int address, boolean[] value)` 写入机器人的SDI信息 Write the SDI information of the robot
`OperateResult`	`WriteSDO(int address, boolean[] value)` 写入机器人的SDO信息 Write the SDO information of the robot
`OperateResult`	`WriteSO(int address, boolean[] value)` 写入机器人的SO信息
`OperateResult`	`WriteUO(int address, boolean[] value)` 写入机器人的UO信息

从类继承的方法 HslCommunication.Core.Net.NetworkBase.NetworkDeviceBase
ReadBool, ReadCustomer, ReadDouble, ReadDouble, ReadFloat, ReadFloat, ReadInt16, ReadInt16, ReadInt32, ReadInt32, ReadInt64, ReadInt64, ReadString, ReadString, ReadUInt16, ReadUInt16, ReadUInt32, ReadUInt32, Write, Write, Write, Write, Write, Write, Write, Write, Write, Write, Write, Write, Write, Write, Write, WriteCustomer, WriteUnicodeString, WriteUnicodeString

从类继承的方法 HslCommunication.Core.Net.NetworkBase.NetworkBase
CheckRemoteToken, CloseSocket, CreateSocketAndConnect, CreateSocketAndConnect, CreateSocketAndConnect, ReadStream, Receive, Receive, Receive, ReceiveAndCheckBytes, ReceiveByMessage, ReceiveByMessage, ReceiveBytesContentFromSocket, ReceiveBytesContentFromSocket, ReceiveCommandLineFromSocket, ReceiveCommandLineFromSocket, ReceiveCommandLineFromSocket, ReceiveCommandLineFromSocket, ReceiveFrameWebSocketPayload, ReceiveHslMessage, ReceiveMqttMessage, ReceiveRedisCommand, ReceiveRedisCommandString, ReceiveStringArrayContentFromSocket, ReceiveStringArrayContentFromSocket, ReceiveStringContentFromSocket, ReceiveStringContentFromSocket, ReceiveWebSocketPayload, Send, Send, SendAccountAndCheckReceive, SendBaseAndCheckReceive, SendBytesAndCheckReceive, SendStreamToSocket, SendStringAndCheckReceive, SendStringAndCheckReceive, ThreadPoolCheckTimeOut, WriteStream, WriteStreamFromSocket

从类继承的方法 java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

从接口继承的方法 HslCommunication.Core.Net.IReadWriteNet
ConnectClose, getConnectionId, ReadBool, ReadCustomer, ReadDouble, ReadDouble, ReadFloat, ReadFloat, ReadInt16, ReadInt16, ReadInt32, ReadInt32, ReadInt64, ReadInt64, ReadString, ReadString, ReadUInt16, ReadUInt16, ReadUInt32, ReadUInt32, setConnectionId, Write, Write, Write, Write, Write, Write, Write, Write, Write, Write, Write, Write, Write, Write, Write, WriteCustomer

从接口继承的方法 HslCommunication.Core.Net.IReadWriteDevice
ReadFromCoreServer

- 字段详细资料
  - ClientId
```
public int ClientId
```
    获取或设置当前客户端的ID信息，默认为1024
    Gets or sets the ID information of the current client. The default is 1024.
- 构造器详细资料
  - FanucInterfaceNet
```
public FanucInterfaceNet()
```
    实例化一个默认的对象
  - FanucInterfaceNet
```
public FanucInterfaceNet(String ipAddress,
                         int port)
```
    指定ip及端口来实例化一个默认的对象，端口默认60008
    Specify the IP and port to instantiate a default object, the port defaults to 60008
    
    参数:
    
    ipAddress - ip地址
    
    port - 端口号
- 方法详细资料
  - GetNewNetMessage
```
protected INetMessage GetNewNetMessage()
```
    从类复制的说明: NetworkDoubleBase
    
    获取一个新的消息对象的方法，需要在继承类里面进行重写
    The method to get a new message object needs to be overridden in the inheritance class
    
    覆盖:
    
    GetNewNetMessage 在类中 NetworkDoubleBase
    
    返回:
    
    消息类对象
  - InitializationOnConnect
```
protected OperateResult InitializationOnConnect(Socket socket)
```
    从类复制的说明: NetworkDoubleBase
    
    根据实际的协议选择是否重写本方法，有些协议在创建连接之后，需要进行一些初始化的信号握手，才能最终建立网络通道。
    Whether to rewrite this method is based on the actual protocol. Some protocols require some initial signal handshake to establish a network channel after the connection is created.
    
    覆盖:
    
    InitializationOnConnect 在类中 NetworkDoubleBase
    
    参数:
    
    socket - 网络套接字
    
    返回:
    
    结果类对象
  - Read
```
public OperateResultExOne<byte[]> Read(String address)
```
  - Read
```
public OperateResultExOne<byte[]> Read(String address,
                                       short length)
```
    按照字为单位批量读取设备的原始数据，需要指定地址及长度，地址示例：D1，AI1，AQ1，共计3个区的数据，注意地址的起始为1
    Read the raw data of the device in batches in units of words. You need to specify the address and length. Example addresses: D1, AI1, AQ1, a total of 3 areas of data. Note that the start of the address is 1.
    
    指定者:
    
    Read 在接口中 IReadWriteNet
    
    覆盖:
    
    Read 在类中 NetworkDeviceBase
    
    参数:
    
    address - 起始地址，地址示例：D1，AI1，AQ1，共计3个区的数据，注意起始的起始为1
    
    length - 读取的长度，字为单位
    
    返回:
    
    返回的数据信息结果
  - Write
```
public OperateResult Write(String address,
                           byte[] value)
```
    写入原始的byte数组数据到指定的地址，返回是否写入成功，地址示例：D1，AI1，AQ1，共计3个区的数据，注意起始的起始为1
    Write the original byte array data to the specified address, and return whether the write was successful. Example addresses: D1, AI1, AQ1, a total of 3 areas of data. Note that the start of the address is 1.
    
    指定者:
    
    Write 在接口中 IReadWriteNet
    
    覆盖:
    
    Write 在类中 NetworkDeviceBase
    
    参数:
    
    address - 起始地址，地址示例：D1，AI1，AQ1，共计3个区的数据，注意起始的起始为1
    
    value - 写入值
    
    返回:
    
    带有成功标识的结果类对象
  - ReadBool
```
public OperateResultExOne<boolean[]> ReadBool(String address,
                                              short length)
```
    按照位为单位批量读取设备的原始数据，需要指定地址及长度，地址示例：M1，I1，Q1，共计3个区的数据，注意地址的起始为1
    Read the raw data of the device in batches in units of boolean. You need to specify the address and length. Example addresses: M1，I1，Q1, a total of 3 areas of data. Note that the start of the address is 1.
    
    指定者:
    
    ReadBool 在接口中 IReadWriteNet
    
    覆盖:
    
    ReadBool 在类中 NetworkDeviceBase
    
    参数:
    
    address - 起始地址，地址示例：M1，I1，Q1，共计3个区的数据，注意地址的起始为1
    
    length - 读取的长度，位为单位
    
    返回:
    
    返回的数据信息结果
  - Write
```
public OperateResult Write(String address,
                           boolean[] value)
```
    批量写入Boolean数组数据，返回是否写入成功，需要指定起始地址，地址示例：M1，I1，Q1，共计3个区的数据，注意地址的起始为1
    Write Boolean array data in batches. If the write success is returned, you need to specify the starting address. Example address: M1, I1, Q1, a total of 3 areas of data. Note that the starting address is 1.
    
    指定者:
    
    Write 在接口中 IReadWriteNet
    
    覆盖:
    
    Write 在类中 NetworkDeviceBase
    
    参数:
    
    address - 起始地址，地址示例：M1，I1，Q1，共计3个区的数据，注意地址的起始为1
    
    value - 等待写入的数据值
    
    返回:
    
    是否写入成功
  - Read
```
public OperateResultExOne<byte[]> Read(byte select,
                                       int address,
                                       short length)
```
    按照字为单位批量读取设备的原始数据，需要指定数据块地址，偏移地址及长度，主要针对08, 10, 12的数据块，注意地址的起始为1
    Read the raw data of the device in batches in units of words. You need to specify the data block address, offset address, and length. It is mainly for data blocks of 08, 10, and 12. Note that the start of the address is 1.
    
    参数:
    
    select - 数据块信息
    
    address - 偏移地址
    
    length - 读取的长度，字为单位
    
    返回:
    
    读取的原始字节数据
  - Write
```
public OperateResult Write(byte select,
                           int address,
                           byte[] value)
```
    写入原始的byte数组数据到指定的地址，返回是否写入成功，，需要指定数据块地址，偏移地址，主要针对08, 10, 12的数据块，注意起始的起始为1
    Write the original byte array data to the specified address, and return whether the writing is successful. You need to specify the data block address and offset address, which are mainly for the data blocks of 08, 10, and 12. Note that the start of the start is 1.
    
    参数:
    
    select - 数据块信息
    
    address - 偏移地址
    
    value - 原始数据内容
    
    返回:
    
    是否写入成功
  - ReadBool
```
public OperateResultExOne<boolean[]> ReadBool(byte select,
                                              int address,
                                              short length)
```
    按照位为单位批量读取设备的原始数据，需要指定数据块地址，偏移地址及长度，主要针对70, 72, 76的数据块，注意地址的起始为1
    
    参数:
    
    select - 数据块信息
    
    address - 偏移地址
    
    length - 读取的长度，字为单位
    
    返回:
    
    读取的结果数据内容
  - WriteBool
```
public OperateResult WriteBool(byte select,
                               int address,
                               boolean[] value)
```
    批量写入Boolean数组数据，返回是否写入成功，需要指定数据块地址，偏移地址，主要针对70, 72, 76的数据块，注意起始的起始为1
    
    参数:
    
    select - 数据块信息
    
    address - 偏移地址
    
    value - 原始的数据内容
    
    返回:
    
    是否写入成功
  - ReadFanucData
```
public OperateResultExOne<FanucData> ReadFanucData()
```
    读取机器人的详细信息，返回解析后的数据类型
    Read the details of the robot and return the resolved data type
    
    返回:
    
    结果数据信息
  - ReadSDO
```
public OperateResultExOne<boolean[]> ReadSDO(int address,
                                             short length)
```
    读取机器人的SDO信息
    Read the SDO information of the robot
    
    参数:
    
    address - 偏移地址
    
    length - 读取的长度
    
    返回:
    
    结果数据
  - WriteSDO
```
public OperateResult WriteSDO(int address,
                              boolean[] value)
```
    写入机器人的SDO信息
    Write the SDO information of the robot
    
    参数:
    
    address - 偏移地址
    
    value - 数据值
    
    返回:
    
    是否写入成功
  - ReadSDI
```
public OperateResultExOne<boolean[]> ReadSDI(int address,
                                             short length)
```
    读取机器人的SDI信息
    Read the SDI information of the robot
    
    参数:
    
    address - 偏移地址
    
    length - 读取长度
    
    返回:
    
    结果内容
  - WriteSDI
```
public OperateResult WriteSDI(int address,
                              boolean[] value)
```
    写入机器人的SDI信息
    Write the SDI information of the robot
    
    参数:
    
    address - 偏移地址
    
    value - 数据值
    
    返回:
    
    是否写入成功
  - ReadRDI
```
public OperateResultExOne<boolean[]> ReadRDI(int address,
                                             short length)
```
    读取机器人的RDI信息
    
    参数:
    
    address - 偏移地址
    
    length - 读取长度
    
    返回:
    
    结果信息
  - WriteRDI
```
public OperateResult WriteRDI(int address,
                              boolean[] value)
```
    写入机器人的RDI信息
    
    参数:
    
    address - 偏移地址
    
    value - 数据值
    
    返回:
    
    是否写入成功
  - ReadUI
```
public OperateResultExOne<boolean[]> ReadUI(int address,
                                            short length)
```
    读取机器人的UI信息
    
    参数:
    
    address - 偏移地址
    
    length - 读取长度
    
    返回:
    
    结果信息
  - ReadUO
```
public OperateResultExOne<boolean[]> ReadUO(int address,
                                            short length)
```
    读取机器人的UO信息
    
    参数:
    
    address - 偏移地址
    
    length - 读取长度
    
    返回:
    
    结果信息
  - WriteUO
```
public OperateResult WriteUO(int address,
                             boolean[] value)
```
    写入机器人的UO信息
    
    参数:
    
    address - 偏移地址
    
    value - 数据值
    
    返回:
    
    是否写入成功
  - ReadSI
```
public OperateResultExOne<boolean[]> ReadSI(int address,
                                            short length)
```
    读取机器人的SI信息
    
    参数:
    
    address - 偏移地址
    
    length - 读取长度
    
    返回:
    
    结果信息
  - ReadSO
```
public OperateResultExOne<boolean[]> ReadSO(int address,
                                            short length)
```
    读取机器人的SO信息
    
    参数:
    
    address - 偏移地址
    
    length - 读取长度
    
    返回:
    
    结果信息
  - WriteSO
```
public OperateResult WriteSO(int address,
                             boolean[] value)
```
    写入机器人的SO信息
    
    参数:
    
    address - 偏移地址
    
    value - 数据值
    
    返回:
    
    是否写入成功
  - ReadGI
```
public OperateResultExOne<short[]> ReadGI(int address,
                                          short length)
```
    读取机器人的GI信息
    
    参数:
    
    address - 偏移地址
    
    length - 数据长度
    
    返回:
    
    结果信息
  - WriteGI
```
public OperateResult WriteGI(int address,
                             short[] value)
```
    写入机器人的GI信息
    
    参数:
    
    address - 偏移地址
    
    value - 数据值
    
    返回:
    
    是否写入成功
  - ReadGO
```
public OperateResultExOne<short[]> ReadGO(int address,
                                          short length)
```
    读取机器人的GO信息
    
    参数:
    
    address - 偏移地址
    
    length - 读取长度
    
    返回:
    
    结果信息
  - WriteGO
```
public OperateResult WriteGO(int address,
                             short[] value)
```
    写入机器人的GO信息
    
    参数:
    
    address - 偏移地址
    
    value - 数据值
    
    返回:
    
    写入结果
  - ReadPMCR2
```
public OperateResultExOne<boolean[]> ReadPMCR2(int address,
                                               short length)
```
    读取机器人的PMCR2信息
    
    参数:
    
    address - 偏移地址
    
    length - 读取长度
    
    返回:
    
    结果信息
  - WritePMCR2
```
public OperateResult WritePMCR2(int address,
                                boolean[] value)
```
    写入机器人的PMCR2信息
    
    参数:
    
    address - 偏移信息
    
    value - 数据值
    
    返回:
    
    是否写入成功
  - ReadRDO
```
public OperateResultExOne<boolean[]> ReadRDO(int address,
                                             short length)
```
    读取机器人的RDO信息
    
    参数:
    
    address - 偏移地址
    
    length - 读取长度
    
    返回:
    
    结果信息
  - WriteRDO
```
public OperateResult WriteRDO(int address,
                              boolean[] value)
```
    写入机器人的RDO信息
    
    参数:
    
    address - 偏移地址
    
    value - 数据值
    
    返回:
    
    是否写入成功
  - WriteRXyzwpr
```
public OperateResult WriteRXyzwpr(int Address,
                                  float[] Xyzwpr,
                                  short[] Config,
                                  short UserFrame,
                                  short UserTool)
```
    写入机器人的Rxyzwpr信息，谨慎调用，
    
    参数:
    
    Address - 偏移地址
    
    Xyzwpr - 姿态信息
    
    Config - 设置信息
    
    UserFrame - 参考系
    
    UserTool - 工具
    
    返回:
    
    是否写入成功
  - WriteRJoint
```
public OperateResult WriteRJoint(int address,
                                 float[] joint,
                                 short UserFrame,
                                 short UserTool)
```
    写入机器人的Joint信息
    
    参数:
    
    address - 偏移地址
    
    joint - 关节坐标
    
    UserFrame - 参考系
    
    UserTool - 工具
    
    返回:
    
    是否写入成功
  - toString
```
public String toString()
```
    从类复制的说明: NetworkBase
    
    返回当前对象表示的字符串
    Returns the string represented by the current object
    
    覆盖:
    
    toString 在类中 NetworkDeviceBase
    
    返回:
    
    字符串信息

类 FanucInterfaceNet

字段概要

从类继承的字段 HslCommunication.Core.Net.NetworkBase.NetworkDeviceBase

从类继承的字段 HslCommunication.Core.Net.NetworkBase.NetworkDoubleBase

从类继承的字段 HslCommunication.Core.Net.NetworkBase.NetworkBase

从接口继承的字段 HslCommunication.Core.Net.IReadWriteNet

构造器概要

方法概要

从类继承的方法 HslCommunication.Core.Net.NetworkBase.NetworkDeviceBase

从类继承的方法 HslCommunication.Core.Net.NetworkBase.NetworkDoubleBase

从类继承的方法 HslCommunication.Core.Net.NetworkBase.NetworkBase

从类继承的方法 java.lang.Object

从接口继承的方法 HslCommunication.Core.Net.IReadWriteNet

从接口继承的方法 HslCommunication.Core.Net.IReadWriteDevice

字段详细资料

ClientId

构造器详细资料

FanucInterfaceNet

FanucInterfaceNet

方法详细资料

GetNewNetMessage

InitializationOnConnect

Read

Read

Write

ReadBool

Write

Read

Write

ReadBool

WriteBool

ReadFanucData

ReadSDO

WriteSDO

ReadSDI

WriteSDI

ReadRDI

WriteRDI

ReadUI

ReadUO

WriteUO

ReadSI

ReadSO

WriteSO

ReadGI

WriteGI

ReadGO

WriteGO

ReadPMCR2

WritePMCR2

ReadRDO

WriteRDO

WriteRXyzwpr

WriteRJoint

toString