struct.MONITORING_DATA_EX
This is structure information for checking robot operation data information of the robot controller, and is composed of the following information on seven operations.
BYTE# | Field Name | Data Type | Value | Remarks |
|---|---|---|---|---|
0 | Operation Information(#1) | - | - | Control-related Information |
2 | Operation Information(#2) | - | - | Joint Space Information |
146 | Operation Information(#3) | - | - | Task Space Information |
327 | Operation Information(#4) | - | - | Torque and External Force Information |
439 | Operation Information(#5) | - | - | World Space Information |
643 | Operation Information(#6) | - | - | User Space Information |
825 | Operation Information(#7) | - | - | Other Robot-related Input Information |
919 | Reserved Space(#1) | - | - | 120 bytes Reserved Space |
1039 | Reserved Space(#2) | - | - | 120 bytes Reserved Space |
Operation Information(#1) is composed of control mode information about current robot motions as follows.
BYTE# | Field Name | Data Type | Value | Remarks |
|---|---|---|---|---|
0 | Control Mode | uchar | 0x00~0x01 | Position Control : 0 Torque Control : 1 |
1 | Control Space | uchar | 0x00~0x01 | Joint Angle Space : 0 Task Coordinate Space : 1 |
Operation Information(#2)는 is composed of control input/output mode information about robot motions in joint space (based on robot joint) as follows.
BYTE# | Field Name | Data Type | Value | Remarks |
|---|---|---|---|---|
0 | Location Information | float | - | Information on Six Current Joint Angles |
24 | Location Information | float | - | Information on Six Current Joint Angles (Absolute Encoder) |
48 | Velocity Information | float | - | Information on Six Current Joint Velocity |
72 | Error Information | float | - | Information on Six Current Joint Errors |
96 | Location Information | float | - | Information on Six Targets Joint Location |
120 | Location Information | float | - | Information on Six Targets Joint Velocity |
Operation Information(#3) is composed of control input/output information about robot motions in joint space (based on tool installed in robot flange) as follows.
BYTE# | Field Name | Data Type | Value | Remarks |
|---|---|---|---|---|
0 | Location Information (Tool) | float | - | Information on Six Current Tool Locations |
24 | Location Information (Flange) | float | - | Information on Six Current Flange Locations |
48 | Velocity Information | float | - | Information on Six Current Tool Velocity |
72 | Error Information | float | - | Information on Six Current Tool Errors |
96 | Location Information | float | - | Information on Six Target Tool Locations |
120 | Velocity Information | float | - | Information on Six Targets Tool Velocity |
144 | Pose Information | uchar | 0x00~0x07 | Information on Robot Pose |
145 | Rotation Matrix | float | - | Information on 3x3 matrix |
- Pose information is one of eight pose information items that the robot can point to at one point.
- The velocity information of operation information (#3) is the current and target velocity information of X, Y, Z, Rx, Ry, and Rz.
Operation information (#4) is composed of control input/output information about robot motions in torque control mode such as torque and external force as follows.
BYTE# | Field Name | Data Type | Value | Remarks |
|---|---|---|---|---|
0 | Torque Information | float | - | Information on Six Currently Calculated Dynamic Torque |
24 | Torque Information | float | - | Information on Six currently measured JTS sensor |
48 | External Force Information | float | - | Information on Six current joint External force by axis |
72 | External Force Information | float | - | Information on external force based on six current tools |
Operation information (#5) is composed of other robot-related input/output information as follows.
BYTE# | Field Name | Data Type | Value | Remarks |
|---|---|---|---|---|
0 | Relationship between World and Base coordinate systems | float | - | Information on Six position deviation |
24 | Location Information (Tool) | float | - | Information on Six Current Tool Location |
48 | Location Information (Flange) | float | - | Information on Six Current Flange Location |
72 | Velocity Information | float | - | Information on Six Current Tool Velocity |
96 | External Force Information | float | - | Information on Six Current Tool External force by Axis |
120 | Location Information | float | - | Information on Six Target Tool Location |
144 | Velocity Information | float | - | Information on Six Target Tool Velocity |
168 | Rotation Matrix | float | - | Information on 3x3 matrix |
Operation information (#6) is composed of control input/output information about robot motions in user space as follows.
BYTE# | Field Name | Data Type | Value | Remarks |
|---|---|---|---|---|
0 | User Coordinate ID | float | - | Coordinate ID(101~200) |
1 | Parent coordinate system of User coordinate system | float | - | Base : 0 World : 2 |
2 | Location Information (Tool) | float | - | Information on Six Current Tool Location Information |
26 | Location Information (Flange) | float | - | Information on Six Current Flange Location Information |
50 | Velocity Information | float | - | Information on Six Current Tool Velocity Information |
74 | External Force Information | float | - | Information on Six current tool External force by axis |
98 | Location Information | float | - | Information on Six Target Tool Location |
122 | Velocity Information | float | - | Information on Six Target Tool Velocity |
146 | Rotation Matrix | float | - | Information on 3x3 matrix |
Operation information (#7) is composed of other robot-related input/output information as follows.
BYTE# | Field Name | Data Type | Value | Remarks |
|---|---|---|---|---|
0 | Time Information | double | - | Information on Internal Clock Counter |
8 | I/O Information (#1) | uchar | - | Information on Six Digital On/Off |
14 | I/O Information (#2) | uchar | Information on Six Digital On/Off | |
20 | Brake Information | uchar | - | Information on state of six brakes |
26 | Button Information | uint | Information on five robot buttons | |
46 | Current Information | float | - | Information on six motors’ current consumption |
70 | Temperature Information | float | Information on temperature of six inverters |
Reserved Space (#1) is a reserve space for expansion of operational information.
The button information is the same as the button information of the operation information (# 7), but includes information in which the data type and button size have been changed.
BYTE# | Field Name | Data Type | Value | Remarks |
|---|---|---|---|---|
0 | Button Information | uchar | - | Information on six buttons |
Reserved Space (# 2) is a reserve space for provided in the for a small model.
The following input / output information is provided in the for a small model.
BYTE# | Field Name | Data Type | Value | Remarks |
|---|---|---|---|---|
0 | Torque Information | float | - | Information on Six Mesured Current FTS sensor |
24 | Torque Information | float | - | Information on Six Measured Current CS sensor |
48 | Velocity Information | float | - | Information on three current measured acceleration sensor |
60 | Singularity Information | uchar | - | Minimum Singular Value |
- If the brake information is 0, it is unlocked, and if it is 1, it is locked and the robot cannot be operated (currently not supported).
- Description of I / O information is as follows.
I/O Information | Description |
|---|---|
I/O Information (#1) | Digital input information of 6 attached to the end of the robot |
I/O Information (#2) | Digital output information of 6 attached to the end of the robot |
- Button information means On / Off status of 5 push buttons attached to 6 axis.