Features
Returns a list of output data supported by a specific version.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|
strVersion |
string |
- |
Output Data Version |
Return
|
Value |
Description |
|
string |
Output Data List. Comma(,) separated. |
Output Data List
|
Parameter Name |
Data Type |
Description |
First Updated Controller Version |
|
time_stamp |
double |
timestamp at the data of data acquisition [s] |
v1.0 |
|
actual_joint_position |
float[6] |
actual joint position from incremental encoder at motor side(used for control) [deg] |
v1.0 |
|
actual_joint_position_abs |
float[6] |
actual joint position from absolute encoder at link side (used for exact link position) [deg] |
v1.0 |
|
actual_joint_velocity |
float[6] |
actual joint velocity from incremental encoder at motor side [deg/s] |
v1.0 |
|
actual_joint_velocity_abs |
float[6] |
actual joint velocity from absolute encoder at link side [deg/s] |
v1.0 |
|
actual_tcp_position |
float[6] |
actual robot tcp position w.r.t. base coordinates: (x, y, z, a, b, c), where (a, b, c) follows Euler ZYZ notation [mm, deg] |
v1.0 |
|
actual_tcp_velocity |
float[6] |
actual robot tcp velocity w.r.t. base coordinates [mm, deg/s] |
v1.0 |
|
actual_flange_position |
float[6] |
actual robot flange position w.r.t. base coordinates: (x, y, z, a, b, c), where (a, b, c) follows Euler ZYZ notation [mm, deg] |
v1.0 |
|
actual_flange_velocity |
float[6] |
robot flange velocity w.r.t. base coordinates [mm, deg/s] |
v1.0 |
|
actual_motor_torque |
float[6] |
actual motor torque applying gear ratio = gear_ratio * current2torque_constant * motor current [Nm] |
v1.0 |
|
actual_joint_torque |
float[6] |
estimated joint torque by robot controller [Nm] |
v1.0 |
|
raw_joint_torque |
float[6] |
calibrated joint torque sensor data |
v1.0 |
|
raw_force_torque |
float[6] |
calibrated force torque sensor data w.r.t. flange coordinates [N, Nm] |
v1.0 |
|
external_joint_torque |
float[6] |
estimated joint torque [Nm] |
v1.0 |
|
external_tcp_force |
float[6] |
estimated tcp force w.r.t. base coordinates [N, Nm] |
v1.0 |
|
target_joint_position |
float[6] |
target joint position [deg] |
v1.0 |
|
target_joint_velocity |
float[6] |
target joint velocity [deg/s] |
v1.0 |
|
target_joint_acceleration |
float[6] |
target joint acceleration [deg/s^2] |
v1.0 |
|
target_motor_torque |
float[6] |
target motor torque [Nm] |
v1.0 |
|
target_tcp_position |
float[6] |
target tcp position w.r.t. base coordinates: (x, y, z, a, b, c), where (a, b, c) follows Euler ZYZ notation [mm, deg] |
v1.0 |
|
target_tcp_velocity |
float[6] |
target tcp velocity w.r.t. base coordinates [mm, deg/s] |
v1.0 |
|
jacobian_matrix |
float[6][6] |
jacobian matrix=J(q) w.r.t. base coordinates |
v1.0 |
|
gravity_torque |
float[6] |
gravity torque=g(q) [Nm] |
v1.0 |
|
coriolis_matrix |
float[6][6] |
coriolis matrix=C(q) [Nm.s] |
v1.0 |
|
mass_matrix |
float[6][6] |
mass matrix=M(q)+B [Nm.s^2] |
v1.0 |
|
solution_space |
uint8 |
robot configuration |
v1.0 |
|
singularity |
float |
minimum singular value |
v1.0 |
|
operation_speed_rate |
float |
current operation speed rate(1~100 %) |
v1.0 |
|
joint_temperature |
float[6] |
joint temperature(celsius) |
v1.0 |
|
controller_digital_input |
uint16 |
controller digital input(16 channel) |
v1.0 |
|
controller_digital_output |
uint16 |
controller digital output(16 channel) |
v1.0 |
|
controller_analog_input_type |
uint8 |
controller analog input type(2 channel) |
v1.0 |
|
controller_analog_input |
float[2] |
controller analog input(2 channel) |
v1.0 |
|
controller_analog_output_type |
uint8 |
controller analog output type(2 channel) |
v1.0 |
|
controller_analog_output |
float[2] |
controller analog output(2 channel) |
v1.0 |
|
flange_digital_input |
uint8 |
flange digital input (A-Series: 2 channel, M/H-Series: 6 channel) |
v1.0 |
|
flange_digital_output |
uint8 |
flange digital input (A-Series: 2 channel, M/H-Series: 6 channel) |
v1.0 |
|
flange_analog_input |
float[4] |
flange analog input (A-Series: 2 channel, M/H-Series: 4 channel) |
v1.0 |
|
external_encoder_strobe_count |
uint8[2] |
strobe count (increased by 1 when detecting setting edge) |
v1.0 |
|
external_encoder_count |
uint32[2] |
external encoder count |
v1.0 |
|
goal_joint_position |
float[6] |
final goal joint position (reserved) |
v1.0 |
|
goal_tcp_position |
float[6] |
final goal tcp position (reserved) |
v1.0 |
|
robot_mode |
uint8 |
ROBOT_MODE_MANUAL(0), ROBOT_MODE_AUTONOMOUS(1), ROBOT_MODE_MEASURE(2) |
v1.0 |
|
robot_state |
uint8 |
STATE_INITIALIZING(0), STATE_STANDBY(1), STATE_MOVING(2), STATE_SAFE_OFF(3), STATE_TEACHING(4), STATE_SAFE_STOP(5), STATE_EMERGENCY_STOP(6), STATE_HOMMING(7), STATE_RECOVERY(8), STATE_SAFE_STOP2(9), STATE_SAFE_OFF2(10) |
v1.0 |
|
control_mode |
uint16 |
position control mode, torque mode |
v1.0 |
Example
string data_list = Drfl.get_rt_control_output_data_list();
cout << data_list << endl;