<ETHERNETKRL>
  <CONFIGURATION>
        <EXTERNAL>
          <IP>x.x.x.x</IP>
          <PORT>7000</PORT>
          <TYPE>Server</TYPE>
        </EXTERNAL>
        <INTERNAL>
          <BUFFERING Mode="FIFO" Limit="32"/>
          <BUFFSIZE Limit="65534"/>
          <ALIVE Set_Flag="997"/>
        </INTERNAL>
      </CONFIGURATION>
  <SEND>
    <XML>
      <ELEMENT Tag="req/node/rc_gripper_db" Type="STRING"/>
      <ELEMENT Tag="req/service/set_gripper_schunk" Type="STRING"/>
      <ELEMENT Tag="req/args/base_position" Type="INT"/>
      <ELEMENT Tag="req/args/custom_fingers/@type" Type="STRING"/>
      <ELEMENT Tag="req/args/custom_fingers/box/@x" Type="REAL"/>
      <ELEMENT Tag="req/args/custom_fingers/box/@y" Type="REAL"/>
      <ELEMENT Tag="req/args/custom_fingers/box/@z" Type="REAL"/>
      <ELEMENT Tag="req/args/custom_fingers/cylinder/@height" Type="REAL"/>
      <ELEMENT Tag="req/args/custom_fingers/cylinder/@radius" Type="REAL"/>
      <ELEMENT Tag="req/args/fingers" Type="STRING"/>
      <ELEMENT Tag="req/args/flange_radius" Type="REAL"/>
      <ELEMENT Tag="req/args/gripping_direction" Type="STRING"/>
      <ELEMENT Tag="req/args/id" Type="STRING"/>
      <ELEMENT Tag="req/args/projector" Type="STRING"/>
      <ELEMENT Tag="req/args/quick_change" Type="STRING"/>
      <ELEMENT Tag="req/args/sensor_mounting" Type="STRING"/>
      <ELEMENT Tag="req/args/stroke_m" Type="REAL"/>
      <ELEMENT Tag="req/args/tcp_offset_z" Type="REAL"/>
      <ELEMENT Tag="req/args/tip_position" Type="INT"/>
      <ELEMENT Tag="req/end_of_request" Type="BOOL"/>
    </XML>
  </SEND>
  <RECEIVE>
    <XML>
      <ELEMENT Tag="res/gripper/@base_position" Type="INT"/>
      <ELEMENT Tag="res/gripper/@fingers" Type="STRING"/>
      <ELEMENT Tag="res/gripper/@flange_radius" Type="REAL"/>
      <ELEMENT Tag="res/gripper/@gripping_direction" Type="STRING"/>
      <ELEMENT Tag="res/gripper/@id" Type="STRING"/>
      <ELEMENT Tag="res/gripper/@payload" Type="REAL"/>
      <ELEMENT Tag="res/gripper/@projector" Type="STRING"/>
      <ELEMENT Tag="res/gripper/@quick_change" Type="STRING"/>
      <ELEMENT Tag="res/gripper/@sensor_mounting" Type="STRING"/>
      <ELEMENT Tag="res/gripper/@stroke_m" Type="REAL"/>
      <ELEMENT Tag="res/gripper/@tcp_offset_z" Type="REAL"/>
      <ELEMENT Tag="res/gripper/@tip_position" Type="INT"/>
      <ELEMENT Tag="res/gripper/cog/@x" Type="REAL"/>
      <ELEMENT Tag="res/gripper/cog/@y" Type="REAL"/>
      <ELEMENT Tag="res/gripper/cog/@z" Type="REAL"/>
      <ELEMENT Tag="res/gripper/custom_fingers/@type" Type="STRING"/>
      <ELEMENT Tag="res/gripper/custom_fingers/box/@x" Type="REAL"/>
      <ELEMENT Tag="res/gripper/custom_fingers/box/@y" Type="REAL"/>
      <ELEMENT Tag="res/gripper/custom_fingers/box/@z" Type="REAL"/>
      <ELEMENT Tag="res/gripper/custom_fingers/cylinder/@height" Type="REAL"/>
      <ELEMENT Tag="res/gripper/custom_fingers/cylinder/@radius" Type="REAL"/>
      <ELEMENT Tag="res/gripper/tcp_pose_flange/@X" Type="REAL"/>
      <ELEMENT Tag="res/gripper/tcp_pose_flange/@Y" Type="REAL"/>
      <ELEMENT Tag="res/gripper/tcp_pose_flange/@Z" Type="REAL"/>
      <ELEMENT Tag="res/gripper/tcp_pose_flange/@A" Type="REAL"/>
      <ELEMENT Tag="res/gripper/tcp_pose_flange/@B" Type="REAL"/>
      <ELEMENT Tag="res/gripper/tcp_pose_flange/@C" Type="REAL"/>
      <ELEMENT Tag="res/return_code/@message" Type="STRING"/>
      <ELEMENT Tag="res/return_code/@value" Type="INT"/>
      <ELEMENT Tag="res" Set_Flag="998"/>
    </XML>
  </RECEIVE>
</ETHERNETKRL>
