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.