CDRFLEx.get_rt_control_output_data_list
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;