The supported data types are as in the following table.
Joint Space | - Actual/Target angle [degree], Velocity [degree/sec]
- Actual Angle(ABS) [degree]
|
Task Space (Base) | - Actual/Target TCP [mm], Velocity [mm/sec]
- Actual Flange Pose [mm]
- Actual/Target TCP Speed [mm/sec]
- Solution Space
|
Task Space (World/User) | - Actual/Target TCP [mm], Velocity [mm/sec]
- Actual Flange Pose [mm]
|
Force | - Joint Torque(Sensor) [Nm]
- Motor Torque [Nm]
- Force Torque Sensor [N], Acceleration Sensor [m/s2]
- Joint Torque (Gravity/Model), Joint External Torque [Nm]
- Task External Force (Base/World/User/Tool) [N]
|
IO | - Flange digital Input (6), digital output (6)
|
ETC | - Motor Current (A)
- Inverter Temperature (℃)
|
