RobotState.msg

Features

Topic message of robot state.

Parameters

Parameter Name	Data Type	Description
robot_state	int32	Robot State : enum.ROBOT_STATE
robot_state_str	string	Output robot status as string
actual_mode	int8	Robot Control Mode: enum.CONTROL_MODE
actual_space	int8	Robot Control Space: enum.ROBOT_SPACE
current_posj	float64[6]	6 current joint angle
joint_abs	float64[6]	6 current joint angle(Absolute Encorder)
current_velj	float64[6]	6 current joint velocity
joint_err	float64[6]	6 current joint error
target_posj	float64[6]	6 target joint angle
target_velj	float64[6]	6 target joint velocity
current_posx	float64[6]	6 current task position
current_tool_posx	float64[6]	6 current flange position
current_velx	float64[6]	6 current task velocity
task_err	float64[6]	6 current task error
target_posx	float64[6]	6 target task position
target_velx	float64[6]	6 target task velocity
solution_space	int8	solution space(0~7)
rotation_matrix	std_msgs/Float64MultiArray[]	Rotation matrix: float[3][3]
dynamic_tor	float64[6]	6 dynamic torque
actual_jts	float64[6]	6 joint torque sensor data
actual_ejt	float64[6]	6 current joint axis external force
actual_ett	float64[6]	6 current Task-based external forces
actual_w2b	float64[6]	Position deviation between 6 World and Base coordinate systems This argument is only available in M2.50 and higher versions.
current_posw	std_msgs/Float64MultiArray[]	6 current task position based on world coordinate system This argument is only available in M2.50 and higher versions.
current_velw	float64[6]	6 current task velocity based on world coordinate system This argument is only available in M2.50 and higher versions.
world_ett	float64[6]	6 external force based on world coordinate system This argument is only available in M2.50 and higher versions.
target_posw	float64[6]	6 target task position based on world coordinate system This argument is only available in M2.50 and higher versions.
target_velw	float64[6]	6 target task velocity based on world coordinate system This argument is only available in M2.50 and higher versions.
rotation_matrix_world	std_msgs/Float64MultiArray[]	Rotation matrix based on world coordinate system: float[3][3] This argument is only available in M2.50 and higher versions.
actual_UCN	int8	User coordinate ID information(101 ~ 200) This argument is only available in M2.50 and higher versions.
parent	int8	Parent coordinate of current user coordinate system This argument is only available in M2.50 and higher versions.
current_posu	float64[6]	6 current task position based on user coordinate system This argument is only available in M2.50 and higher versions.
current_velu	float64[6]	6 current task velocity based on user coordinate system This argument is only available in M2.50 and higher versions.
user_ett	float64[6]	6 external force based on user coordinate system This argument is only available in M2.50 and higher versions.
target_posu	float64[6]	6 target task position based on user coordinate system This argument is only available in M2.50 and higher versions.
target_velu	float64[6]	6 target task velocity based on user coordinate system This argument is only available in M2.50 and higher versions.
rotation_matrix_user	std_msgs/Float64MultiArray[]	Rotation matrix based on user coordinate system: float[3][3] This argument is only available in M2.50 and higher versions.
sync_time	int8	Internal clock count
flange_digital_output	int8[6]	6 flange digital output
flange_digital_input	int8[6]	6 Flange Digital Input
actual_bk	int8[6]	6 break state
actual_bt	int8[5]	5 robot button information
actual_mc	float64[6]	Current consumption of 6 motors
actual_mt	float64[6]	6 inverter temperature information
ctrlbox_digital_input	int8[6]	16 control boxes digital intput information
actual_ai	int8[2]	2 Analog Input numeric information
actual_sw	int8[3]	3 switch state
actual_si	int8[2]	2 safety input state
actual_at	int8[2]	2 analog input type information This argument is only available in M2.50 and higher versions.
ctrlbox_digital_output	int8[16]	16 control box digital output information
target_ao	float64[2]	2 Analog Output numeric information
target_at	int8[2]	2 analog output type information This argument is only available in M2.50 and higher versions.
actual_es	int8[2]	2 Encorder state information This argument is only available in M2.50 and higher versions.
actual_ed	int8[2]	2 Encorder Raw data numerical information
actual_er	int8[2]	2 Encorder Reset status information This argument is only available in M2.50 and higher versions.
modbus_state	ModbusState[]	Modbus State : See ModbusState.msg
access_control	int32	Control state: See enum.ACCESS_CONTROL
homming_completed	bool	Whether the robot is homing
tp_initialized	bool	TP initialization state
mastering_need	int8	Whether robot mastering is required
drl_stopped	bool	DRL (Doosan Robot Language) standstill
disconnected	bool	communication connection status

enum.ROBOT_STATE

Num	Name	Description
0	STATE_INITIALIZING	It is an initialization state for setting various parameters by automatically entering by TP application.
1	STATE_STANDBY	Operable Standby state.
2	STATE_MOVING	It is a command operation state that is automatically switched when the command is received after receiving the command in the command wait state. When the operation is completed, it is switched to the auto command waiting state.
3	STATE_SAFE_OFF	Robot stop mode due to function and operation error, Servo off state (motor and brake power are cut off after control stop)
4	STATE_TEACHING	Direct teaching state
5	STATE_SAFE_STOP	Robot stop mode due to function and operation error. Safe stop status (status in which only the control is stopped, program suspended status in the automatic mode)
6	STATE_EMERGENCY_STOP	Emergency stop state
7	STATE_HOMMING	Homing mode state (state in which robot is aligned in hardware).
8	STATE_RECOVERY	When the robot is stopped due to an error such as exceeding the robot driving range, it is in the recovery mode state to move within the driving range.
9	eSTATE_SAFE_STOP2	Same as eSTATE_SAFE_STOP but a state that must be switched to recovery mode because the robot is out of range
10	STATE_SAFE_OFF2	Same as eSTATE_SAFE_OFF state, but must be in recovery mode due to exceeding the robot drive range
11	STATE_RESERVED1	reserved
12	STATE_RESERVED2	reserved

enum.CONTROL_MODE

Num	Name	Description
0	CONTROL_MODE_POSITION	Position control mode
1	CONTROL_MODE_TORQUE	Torque control mode

enum.ROBOT_STATE

Num	Name	Description
0	ROBOT_SPACE_JOINT	Joint space
1	ROBOT_SPACE_TASK	Task Space

enum.ACCESS_CONTROL

Num	Name	Description
0	MANAGE_ACCESS_CONTROL_FORCE_REQUEEST	Control forced release message transmission
1	MANAGE_ACCESS_CONTROL_REQUEST	Send control request message
2	MANAGE_ACCESS_CONTROL_RESPONSE_YES	Send control authorization request acknowledge message
3	MANAGE_ACCESS_CONTROL_RESPONSE_NO	Send control permission request decline message