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.