struct.MONITORING_DATA
This is structure information for checking robot operation data information of the robot controller, and is composed of the following information on five 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 |
423 | Operation Information (#5) | - | - | Other Robot-related Input Information |
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 Work Coordinate Space: 1 |
Operation information (#2) 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 |
- 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 | 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 |
- Brake information 0 means the released brake state and 1 means the locked brake state, which is the state where the robot cannot be operated. (Currently this is not supported.)
- An explanation of I/O information is as follows.
I/O Information | Description |
I/O Information (#1) | Information on six digital inputs attached to the edge of the robot |
I/O Information (#2) | Information on six digital outputs attached to the edge of the robot |
- Button information means the on/off state of five push buttons attached to six axes.