RTDE 菜单
输入菜单为发布（publish）的数据，即客户端向服务端推送数据的菜单，输出菜单为订阅（subscribe）的数据，即服务端向客户端推送数据的菜单。
R1代表与robot1交互，R2代表与robot2交互，以此类推，目前只支持R1。
输入菜单
| 名称 | 数据类型 | 说明 |
|---|---|---|
| set_recipe | RtdeRecipe | Set |
| input_bit_registers0_to_31 | int | General purpose bits This range of the boolean input registers is reserved forFieldBus/PLC interface usage. |
| input_bit_registers32_to_63 | int | General purpose bits This range of the boolean input registers is reserved forFieldBus/PLC interface usage. |
| input_bit_registers64_to_127 | int64_t | 64 general purpose bits X: [64..127] - The upper range of the boolean input registers canbe used by external RTDE clients (i.e AUBOCAPS). |
| input_int_registers_0 | int | 48 general purpose integer registers X: [0..23] - The lower range of the integer input registers isreserved for FieldBus/PLC interface usage. X: [24..47] - Theupper range of the integer input registers can be used byexternal RTDE clients (i.e AUBOCAPS). |
| input_float_registers_0 | float | 48 general purpose integer registers X: [0..23] - The lower range of the integer input registers isreserved for FieldBus/PLC interface usage. X: [24..47] - Theupper range of the integer input registers can be used byexternal RTDE clients (i.e AUBOCAPS). |
| input_double_registers_0 | double | 48 general purpose double registersX: [0..23] - The lower range of the double input registers is reserved for FieldBus/PLC interface usage.X: [24..47] - The upper range of the double input registers can be used by external RTDE clients (i.e AUBOCAPS). |
| input_int16_registers_0 | double | |
| input_int16_registers0_to_63 | std::vector\ |
|
| R1_speed_slider_mask | double | 0 = don't change speed slider with this input = use speed_slider_fraction to set speed slider value |
| R1_speed_slider_fraction | double | new speed slider value |
| R1_standard_digital_output_mask | uint32_t | Standard digital outputs |
| R1_configurable_digital_output_mask | uint32_t | Configurable digital outputs |
| R1_standard_digital_output | uint32_t | Standard digital outputs |
| R1_configurable_digital_output | uint32_t | Configurable digital outputs |
| R1_tool_digital_output | uint32_t | Tool digital outputs its 0-1: output state, remaining bits are reserved for future use |
| R1_standard_analog_output_type | std::vector\ |
Output domain {0=current[A], 1=voltage[V]} Bits 0-1: standard_analog_output_0 standard_analog_output_1 |
| R1_standard_analog_output_mask | uint32_t | Standard analog output 0 (ratio) [0..1] |
| R1_standard_analog_output | std::vector\ |
Standard analog output 1 (ratio) [0..1] |
| R1_debug | uint32_t | Debug for internal use |
| R1_tool_digital_output_mask | uint32_t | Tool digital outputs mask |
| R1_rtde_input_max | int | |
| R2_speed_slider_mask | double | 0 = don't change speed slider with this input = use speed_slider_fraction to set speed slider value |
| R2_speed_slider_fraction | double | new speed slider value |
| R2_standard_digital_output_mask | uint32_t | Standard digital outputs |
| R2_configurable_digital_output_mask | uint32_t | Configurable digital outputs |
| R2_standard_digital_output | uint32_t | Standard digital outputs |
| R2_configurable_digital_output | uint32_t | Configurable digital outputs |
| R2_tool_digital_output | uint32_t | Tool digital outputs its 0-1: output state, remaining bits are reserved for future use |
| R2_standard_analog_output_type | std::vector\ |
Output domain {0=current[A], 1=voltage[V]} Bits 0-1: standard_analog_output_0 standard_analog_output_1 |
| R2_standard_analog_output_mask | uint32_t | Standard analog output 0 (ratio) [0..1] |
| R2_standard_analog_output | std::vector\ |
Standard analog output 1 (ratio) [0..1] |
| R2_debug | uint32_t | Debug for internal use |
| R2_tool_digital_output_mask | uint32_t | Tool digital outputs mask |
| R2_rtde_input_max | int | |
| R3_speed_slider_mask | double | 0 = don't change speed slider with this input = use speed_slider_fraction to set speed slider value |
| R3_speed_slider_fraction | double | new speed slider value |
| R3_standard_digital_output_mask | uint32_t | Standard digital outputs |
| R3_configurable_digital_output_mask | uint32_t | Configurable digital outputs |
| R3_standard_digital_output | uint32_t | Standard digital outputs |
| R3_configurable_digital_output | uint32_t | Configurable digital outputs |
| R3_tool_digital_output | uint32_t | Tool digital outputs its 0-1: output state, remaining bits are reserved for future use |
| R3_standard_analog_output_type | std::vector\ |
Output domain {0=current[A], 1=voltage[V]} Bits 0-1: standard_analog_output_0 standard_analog_output_1 |
| R3_standard_analog_output_mask | uint32_t | Standard analog output 0 (ratio) [0..1] |
| R3_standard_analog_output | std::vector\ |
Standard analog output 1 (ratio) [0..1] |
| R3_debug | uint32_t | Debug for internal use |
| R3_tool_digital_output_mask | uint32_t | Tool digital outputs mask |
| R3_rtde_input_max | int | |
| R4_speed_slider_mask | double | 0 = don't change speed slider with this input = use speed_slider_fraction to set speed slider value |
| R4_speed_slider_fraction | double | new speed slider value |
| R4_standard_digital_output_mask | uint32_t | Standard digital outputs |
| R4_configurable_digital_output_mask | uint32_t | Configurable digital outputs |
| R4_standard_digital_output | uint32_t | Standard digital outputs |
| R4_configurable_digital_output | uint32_t | Configurable digital outputs |
| R4_tool_digital_output | uint32_t | Tool digital outputs its 0-1: output state, remaining bits are reserved for future use |
| R4_standard_analog_output_type | std::vector\ |
Output domain {0=current[A], 1=voltage[V]} Bits 0-1: standard_analog_output_0 standard_analog_output_1 |
| R4_standard_analog_output_mask | uint32_t | Standard analog output 0 (ratio) [0..1] |
| R4_standard_analog_output | std::vector\ |
Standard analog output 1 (ratio) [0..1] |
| R4_debug | uint32_t | Debug for internal use |
| R4_tool_digital_output_mask | uint32_t | Tool digital outputs mask |
| R4_rtde_input_max | int |
输出菜单
| 名称 | 数据类型 | 说明 |
|---|---|---|
| timestamp | double | Time elapsed since the controller was started [s] |
| line_number | int | line number set by setPlanContext |
| runtime_state | RuntimeState | Program state |
| output_bit_registers_0_to_63 | int64_t | 64 [000..063] General purpose bits |
| output_bit_registers_64_to_127 | int64_t | 64 [064..127] general purpose bits |
| output_int_registers_0 | int | 48 general purpose integer registersX: [0..23] - The lower range of the integer output registers isreserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the integer output registers can be used by external RTDE clients (i.e AUBOCAPS). |
| output_float_registers_0 | int | 48 general purpose integer registersX: [0..23] - The lower range of the integer output registers isreserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the integer output registers can be used by external RTDE clients (i.e AUBOCAPS). |
| output_double_registers_0 | double | 48 general purpose double registersX: [0..23] - The lower range of the double output registers isreserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the double output registers can be used by external RTDE clients (i.e AUBOCAPS). |
| input_bit_registers_r0_to_63 | int64_t | [0..63] General purpose bits This range of the boolean outputregisters is reserved for FieldBus/PLC interface usage. |
| input_bit_registers_r64_to_127 | int64_t | 64 [64..127] general purpose bits |
| input_int_registers_r0 | int | ([0 .. 48]) 48 general purpose integer registersX: [0..23] - The lower range of the integer input registers isreserved for FieldBus/PLC interface usage. X: [24..47] - Theupper range of the integer input registers can be used byexternal RTDE clients (i.e AUBOCAPS). |
| input_float_registers_r0 | int | ([0 .. 48]) 48 general purpose integer registersX: [0..23] - The lower range of the integer input registers isreserved for FieldBus/PLC interface usage. X: [24..47] - Theupper range of the integer input registers can be used byexternal RTDE clients (i.e AUBOCAPS). |
| input_double_registers_r0 | double | ([0 .. 48]) 48 general purpose double registersX: [0..23] - The lower range of the double input registers isreserved for FieldBus/PLC interface usage. X: [24..47] - Theupper range of the double input registers can be used byexternal RTDE clients (i.e AUBOCAPS). |
| modbus_signals | std::vector\ |
Modbus signals from connected modbus slaves |
| modbus_signals_errors | std::vector\ |
Modbus signals request status from connected modbus slaves |
| input_int16_registers_r0 | int16_t | input_int16_registers_r0 |
| input_int16_registers_0_to_63 | std::vector\ |
|
| runtime_context | std::vector\ |
|
| R1_message | RobotMsg | Robot message from controller |
| R1_target_q | std::vector\ |
Target joint positions |
| R1_target_qd | std::vector\ |
Target joint velocities |
| R1_target_qdd | std::vector\ |
Target joint accelerations |
| R1_target_current | std::vector\ |
Target joint currents |
| R1_target_moment | std::vector\ |
Target joint moments (torques) |
| R1_actual_q | std::vector\ |
Actual joint positions |
| R1_actual_qd | std::vector\ |
Actual joint velocities |
| R1_actual_current | std::vector\ |
Actual joint currents |
| R1_joint_control_output | std::vector\ |
Joint control currents |
| R1_joint_temperatures | std::vector\ |
Temperature of each joint in degrees Celsius |
| R1_actual_joint_voltage | std::vector\ |
Actual joint voltages |
| R1_joint_mode | std::vector\ |
Joint control modes Please see Remote Control Via TCP/IP - 16496 |
| R1_actual_execution_time | double | Controller real-time thread execution time |
| R1_robot_mode | RobotModeType | Robot mode Please see Remote Control Via TCP/IP - 16496 |
| R1_safety_mode | SafetyModeType | Safety mode Please see Remote Control Via TCP/IP - 16496 |
| R1_safety_status | unknown | Safety ststus |
| R1_robot_status_bits | unknown | Bits 0-3 0: Is power on 1: Is program running 2: Isteach button pressed 3: Is power button pressed |
| R1_safety_status_bits | unknown | Bits 0-10 0: Is normal mode 1: Is reduced mode 2: Is protectivestopped 3: Is recovery mode 4: Is safeguard stopped 5: Is systememergency stopped 6: Is robot emergency stopped 7: Is emergencystopped 8: Is violation 9: Is fault 10: Is stopped due to safety |
| R1_speed_scaling | double | Speed scaling of the trajectory limiter |
| R1_target_speed_fraction | double | Target speed fraction |
| R1_actual_TCP_pose | std::vector\ |
Actual Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R1_actual_TCP_speed | std::vector\ |
Actual speed of the tool given in Cartesian coordinates |
| R1_actual_TCP_force | std::vector\ |
Generalized forces in the TCP |
| R1_target_TCP_pose | std::vector\ |
Target Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R1_target_TCP_speed | std::vector\ |
Target speed of the tool given in Cartesian coordinates |
| R1_elbow_position | std::vector\ |
Position of robot elbow in Cartesian Base Coordinates |
| R1_elbow_velocity | std::vector\ |
Velocity of robot elbow in Cartesian Base Coordinates |
| R1_actual_momentum | std::vector\ |
Norm of Cartesian linear momentum |
| R1_tcp_force_scalar | std::vector\ |
TCP force scalar [N] |
| R1_future_path_points | std::vector\ |
Get future path points joint |
| R1_actual_main_voltage | unknown | Safety Control Board: Main voltage |
| R1_actual_robot_voltage | unknown | Safety Control Board: Robot voltage (48V) |
| R1_actual_robot_current | unknown | Safety Control Board: Robot current |
| R1_joint_torque_sensor | std::vector\ |
Joint torque sensor |
| R1_operationalModeSelectorInput | OperationalModeType | Current state of the operational mode selector input |
| R1_threePositionEnablingDeviceInput | unknown | |
| R1_masterboard_temperature | unknown | |
| R1_standard_digital_input_bits | uint64_t | Current state of the standard digital inputs. |
| R1_tool_digital_input_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R1_configurable_digital_input_bits | uint64_t | Current state of the safety inputs. |
| R1_link_digital_input_bits | uint64_t | Current state of the link digital inputs. |
| R1_standard_digital_output_bits | uint64_t | Current state of the standard digital outputs. |
| R1_tool_digital_output_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R1_configurable_digital_output_bits | uint64_t | Current state of the safety outputs. |
| R1_link_digital_output_bits | uint64_t | Current state of the link digital outputs. |
| R1_standard_analog_input_values | std::vector\ |
Current values of the standard analog inputs. |
| R1_tool_analog_input_values | std::vector\ |
Current values of the tool analog inputs. |
| R1_standard_analog_output_values | std::vector\ |
Current values of the standard analog outputs. |
| R1_tool_analog_output_values | std::vector\ |
Current values of the tool analog outputs. |
| R1_is_simulation_enabled | bool | |
| R1_collision_level | int | |
| R1_master_io_current | unknown | I/O current [A] |
| R1_euromap67_input_bits | unknown | Euromap67 input bits |
| R1_euromap67_output_bits | unknown | Euromap67 output bits |
| R1_euromap67_24V_voltage | unknown | Euromap 24V voltage [V] |
| R1_euromap67_24V_current | unknown | Euromap 24V current [A] |
| R1_tool_mode | unknown | Tool mode Please see Remote Control Via TCP/IP - 16496 |
| R1_tool_output_mode | unknown | The current output mode |
| R1_tool_output_voltage | unknown | Tool output voltage [V] |
| R1_tool_output_current | unknown | Tool current [A] |
| R1_tool_voltage_48V | unknown | |
| R1_tool_current | unknown | |
| R1_tool_temperature | unknown | Tool temperature in degrees Celsius |
| R1_actual_tool_accelerometer | unknown | Tool x, y and z accelerometer values |
| R1_motion_progress | unknown | Trajectory running progress |
| R1_actual_qdd | unknown | Actual joint accelerations |
| R1_controlbox_humidity | double | Controbox humidity |
| R1_actual_tool_pose | std::vector\ |
Actual Cartesian coordinates of the tool(without TCP) |
| R1_rtde_output_max | int | |
| R1_actual_TCP_force_sensor | std::vector\ |
TCP force sensor |
| R1_fc_cond_fullfiled | bool | |
| R1_actual_payload | Payload | Actual payload |
| R1_tool_button_status | bool | Tool button status |
| R2_message | RobotMsg | Robot message from controller |
| R2_target_q | std::vector\ |
Target joint positions |
| R2_target_qd | std::vector\ |
Target joint velocities |
| R2_target_qdd | std::vector\ |
Target joint accelerations |
| R2_target_current | std::vector\ |
Target joint currents |
| R2_target_moment | std::vector\ |
Target joint moments (torques) |
| R2_actual_q | std::vector\ |
Actual joint positions |
| R2_actual_qd | std::vector\ |
Actual joint velocities |
| R2_actual_current | std::vector\ |
Actual joint currents |
| R2_joint_control_output | std::vector\ |
Joint control currents |
| R2_joint_temperatures | std::vector\ |
Temperature of each joint in degrees Celsius |
| R2_actual_joint_voltage | std::vector\ |
Actual joint voltages |
| R2_joint_mode | std::vector\ |
Joint control modes Please see Remote Control Via TCP/IP - 16496 |
| R2_actual_execution_time | double | Controller real-time thread execution time |
| R2_robot_mode | RobotModeType | Robot mode Please see Remote Control Via TCP/IP - 16496 |
| R2_safety_mode | SafetyModeType | Safety mode Please see Remote Control Via TCP/IP - 16496 |
| R2_safety_status | unknown | Safety ststus |
| R2_robot_status_bits | unknown | Bits 0-3 0: Is power on 1: Is program running 2: Isteach button pressed 3: Is power button pressed |
| R2_safety_status_bits | unknown | Bits 0-10 0: Is normal mode 1: Is reduced mode 2: Is protectivestopped 3: Is recovery mode 4: Is safeguard stopped 5: Is systememergency stopped 6: Is robot emergency stopped 7: Is emergencystopped 8: Is violation 9: Is fault 10: Is stopped due to safety |
| R2_speed_scaling | double | Speed scaling of the trajectory limiter |
| R2_target_speed_fraction | double | Target speed fraction |
| R2_actual_TCP_pose | std::vector\ |
Actual Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R2_actual_TCP_speed | std::vector\ |
Actual speed of the tool given in Cartesian coordinates |
| R2_actual_TCP_force | std::vector\ |
Generalized forces in the TCP |
| R2_target_TCP_pose | std::vector\ |
Target Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R2_target_TCP_speed | std::vector\ |
Target speed of the tool given in Cartesian coordinates |
| R2_elbow_position | std::vector\ |
Position of robot elbow in Cartesian Base Coordinates |
| R2_elbow_velocity | std::vector\ |
Velocity of robot elbow in Cartesian Base Coordinates |
| R2_actual_momentum | std::vector\ |
Norm of Cartesian linear momentum |
| R2_tcp_force_scalar | std::vector\ |
TCP force scalar [N] |
| R2_future_path_points | std::vector |
Get future path points joint |
| R2_actual_main_voltage | unknown | Safety Control Board: Main voltage |
| R2_actual_robot_voltage | unknown | Safety Control Board: Robot voltage (48V) |
| R2_actual_robot_current | unknown | Safety Control Board: Robot current |
| R2_joint_torque_sensor | std::vector\ |
Joint torque sensor |
| R2_operationalModeSelectorInput | OperationalModeType | Current state of the operational mode selector input |
| R2_threePositionEnablingDeviceInput | unknown | |
| R2_masterboard_temperature | unknown | |
| R2_standard_digital_input_bits | uint64_t | Current state of the standard digital inputs. |
| R2_tool_digital_input_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R2_configurable_digital_input_bits | uint64_t | Current state of the safety inputs. |
| R2_link_digital_input_bits | uint64_t | Current state of the link digital inputs. |
| R2_standard_digital_output_bits | uint64_t | Current state of the standard digital outputs. |
| R2_tool_digital_output_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R2_configurable_digital_output_bits | uint64_t | Current state of the safety outputs. |
| R2_link_digital_output_bits | uint64_t | Current state of the link digital outputs. |
| R2_standard_analog_input_values | std::vector\ |
Current values of the standard analog inputs. |
| R2_tool_analog_input_values | std::vector\ |
Current values of the tool analog inputs. |
| R2_standard_analog_output_values | std::vector\ |
Current values of the standard analog outputs. |
| R2_tool_analog_output_values | std::vector\ |
Current values of the tool analog outputs. |
| R2_is_simulation_enabled | bool | |
| R2_collision_level | int | |
| R2_master_io_current | unknown | I/O current [A] |
| R2_euromap67_input_bits | unknown | Euromap67 input bits |
| R2_euromap67_output_bits | unknown | Euromap67 output bits |
| R2_euromap67_24V_voltage | unknown | Euromap 24V voltage [V] |
| R2_euromap67_24V_current | unknown | Euromap 24V current [A] |
| R2_tool_mode | unknown | Tool mode Please see Remote Control Via TCP/IP - 16496 |
| R2_tool_output_mode | unknown | The current output mode |
| R2_tool_output_voltage | unknown | Tool output voltage [V] |
| R2_tool_output_current | unknown | Tool current [A] |
| R2_tool_voltage_48V | unknown | |
| R2_tool_current | unknown | |
| R2_tool_temperature | unknown | Tool temperature in degrees Celsius |
| R2_actual_tool_accelerometer | unknown | Tool x, y and z accelerometer values |
| R2_motion_progress | unknown | Trajectory running progress |
| R2_actual_qdd | unknown | Actual joint accelerations |
| R2_controlbox_humidity | double | Controbox humidity |
| R2_actual_tool_pose | std::vector\ |
Actual Cartesian coordinates of the tool(without TCP) |
| R2_rtde_output_max | int | |
| R2_actual_TCP_force_sensor | std::vector\ |
TCP force sensor |
| R2_fc_cond_fullfiled | bool | |
| R2_actual_payload | Payload | Actual payload |
| R2_tool_button_status | bool | Tool button status |
| R3_message | RobotMsg | Robot message from controller |
| R3_target_q | std::vector\ |
Target joint positions |
| R3_target_qd | std::vector\ |
Target joint velocities |
| R3_target_qdd | std::vector\ |
Target joint accelerations |
| R3_target_current | std::vector\ |
Target joint currents |
| R3_target_moment | std::vector\ |
Target joint moments (torques) |
| R3_actual_q | std::vector\ |
Actual joint positions |
| R3_actual_qd | std::vector\ |
Actual joint velocities |
| R3_actual_current | std::vector\ |
Actual joint currents |
| R3_joint_control_output | std::vector\ |
Joint control currents |
| R3_joint_temperatures | std::vector\ |
Temperature of each joint in degrees Celsius |
| R3_actual_joint_voltage | std::vector\ |
Actual joint voltages |
| R3_joint_mode | std::vector\ |
Joint control modes Please see Remote Control Via TCP/IP - 16496 |
| R3_actual_execution_time | double | Controller real-time thread execution time |
| R3_robot_mode | RobotModeType | Robot mode Please see Remote Control Via TCP/IP - 16496 |
| R3_safety_mode | SafetyModeType | Safety mode Please see Remote Control Via TCP/IP - 16496 |
| R3_safety_status | unknown | Safety ststus |
| R3_robot_status_bits | unknown | Bits 0-3 0: Is power on 1: Is program running 2: Isteach button pressed 3: Is power button pressed |
| R3_safety_status_bits | unknown | Bits 0-10 0: Is normal mode 1: Is reduced mode 2: Is protectivestopped 3: Is recovery mode 4: Is safeguard stopped 5: Is systememergency stopped 6: Is robot emergency stopped 7: Is emergencystopped 8: Is violation 9: Is fault 10: Is stopped due to safety |
| R3_speed_scaling | double | Speed scaling of the trajectory limiter |
| R3_target_speed_fraction | double | Target speed fraction |
| R3_actual_TCP_pose | std::vector\ |
Actual Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R3_actual_TCP_speed | std::vector\ |
Actual speed of the tool given in Cartesian coordinates |
| R3_actual_TCP_force | std::vector\ |
Generalized forces in the TCP |
| R3_target_TCP_pose | std::vector\ |
Target Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R3_target_TCP_speed | std::vector\ |
Target speed of the tool given in Cartesian coordinates |
| R3_elbow_position | std::vector\ |
Position of robot elbow in Cartesian Base Coordinates |
| R3_elbow_velocity | std::vector\ |
Velocity of robot elbow in Cartesian Base Coordinates |
| R3_actual_momentum | std::vector\ |
Norm of Cartesian linear momentum |
| R3_tcp_force_scalar | std::vector\ |
TCP force scalar [N] |
| R3_future_path_points | std::vector |
Get future path points joint |
| R3_actual_main_voltage | unknown | Safety Control Board: Main voltage |
| R3_actual_robot_voltage | unknown | Safety Control Board: Robot voltage (48V) |
| R3_actual_robot_current | unknown | Safety Control Board: Robot current |
| R3_joint_torque_sensor | std::vector\ |
Joint torque sensor |
| R3_operationalModeSelectorInput | OperationalModeType | Current state of the operational mode selector input |
| R3_threePositionEnablingDeviceInput | unknown | |
| R3_masterboard_temperature | unknown | |
| R3_standard_digital_input_bits | uint64_t | Current state of the standard digital inputs. |
| R3_tool_digital_input_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R3_configurable_digital_input_bits | uint64_t | Current state of the safety inputs. |
| R3_link_digital_input_bits | uint64_t | Current state of the link digital inputs. |
| R3_standard_digital_output_bits | uint64_t | Current state of the standard digital outputs. |
| R3_tool_digital_output_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R3_configurable_digital_output_bits | uint64_t | Current state of the safety outputs. |
| R3_link_digital_output_bits | uint64_t | Current state of the link digital outputs. |
| R3_standard_analog_input_values | std::vector\ |
Current values of the standard analog inputs. |
| R3_tool_analog_input_values | std::vector\ |
Current values of the tool analog inputs. |
| R3_standard_analog_output_values | std::vector\ |
Current values of the standard analog outputs. |
| R3_tool_analog_output_values | std::vector\ |
Current values of the tool analog outputs. |
| R3_is_simulation_enabled | bool | |
| R3_collision_level | int | |
| R3_master_io_current | unknown | I/O current [A] |
| R3_euromap67_input_bits | unknown | Euromap67 input bits |
| R3_euromap67_output_bits | unknown | Euromap67 output bits |
| R3_euromap67_24V_voltage | unknown | Euromap 24V voltage [V] |
| R3_euromap67_24V_current | unknown | Euromap 24V current [A] |
| R3_tool_mode | unknown | Tool mode Please see Remote Control Via TCP/IP - 16496 |
| R3_tool_output_mode | unknown | The current output mode |
| R3_tool_output_voltage | unknown | Tool output voltage [V] |
| R3_tool_output_current | unknown | Tool current [A] |
| R3_tool_voltage_48V | unknown | |
| R3_tool_current | unknown | |
| R3_tool_temperature | unknown | Tool temperature in degrees Celsius |
| R3_actual_tool_accelerometer | unknown | Tool x, y and z accelerometer values |
| R3_motion_progress | unknown | Trajectory running progress |
| R3_actual_qdd | unknown | Actual joint accelerations |
| R3_controlbox_humidity | double | Controbox humidity |
| R3_actual_tool_pose | std::vector\ |
Actual Cartesian coordinates of the tool(without TCP) |
| R3_rtde_output_max | int | |
| R3_actual_TCP_force_sensor | std::vector\ |
TCP force sensor |
| R3_fc_cond_fullfiled | bool | |
| R3_actual_payload | Payload | Actual payload |
| R3_tool_button_status | bool | Tool button status |
| R4_message | RobotMsg | Robot message from controller |
| R4_target_q | std::vector\ |
Target joint positions |
| R4_target_qd | std::vector\ |
Target joint velocities |
| R4_target_qdd | std::vector\ |
Target joint accelerations |
| R4_target_current | std::vector\ |
Target joint currents |
| R4_target_moment | std::vector\ |
Target joint moments (torques) |
| R4_actual_q | std::vector\ |
Actual joint positions |
| R4_actual_qd | std::vector\ |
Actual joint velocities |
| R4_actual_current | std::vector\ |
Actual joint currents |
| R4_joint_control_output | std::vector\ |
Joint control currents |
| R4_joint_temperatures | std::vector\ |
Temperature of each joint in degrees Celsius |
| R4_actual_joint_voltage | std::vector\ |
Actual joint voltages |
| R4_joint_mode | std::vector\ |
Joint control modes Please see Remote Control Via TCP/IP - 16496 |
| R4_actual_execution_time | double | Controller real-time thread execution time |
| R4_robot_mode | RobotModeType | Robot mode Please see Remote Control Via TCP/IP - 16496 |
| R4_safety_mode | SafetyModeType | Safety mode Please see Remote Control Via TCP/IP - 16496 |
| R4_safety_status | unknown | Safety ststus |
| R4_robot_status_bits | unknown | Bits 0-3 0: Is power on 1: Is program running 2: Isteach button pressed 3: Is power button pressed |
| R4_safety_status_bits | unknown | Bits 0-10 0: Is normal mode 1: Is reduced mode 2: Is protectivestopped 3: Is recovery mode 4: Is safeguard stopped 5: Is systememergency stopped 6: Is robot emergency stopped 7: Is emergencystopped 8: Is violation 9: Is fault 10: Is stopped due to safety |
| R4_speed_scaling | double | Speed scaling of the trajectory limiter |
| R4_target_speed_fraction | double | Target speed fraction |
| R4_actual_TCP_pose | std::vector\ |
Actual Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R4_actual_TCP_speed | std::vector\ |
Actual speed of the tool given in Cartesian coordinates |
| R4_actual_TCP_force | std::vector\ |
Generalized forces in the TCP |
| R4_target_TCP_pose | std::vector\ |
Target Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R4_target_TCP_speed | std::vector\ |
Target speed of the tool given in Cartesian coordinates |
| R4_elbow_position | std::vector\ |
Position of robot elbow in Cartesian Base Coordinates |
| R4_elbow_velocity | std::vector\ |
Velocity of robot elbow in Cartesian Base Coordinates |
| R4_actual_momentum | std::vector\ |
Norm of Cartesian linear momentum |
| R4_tcp_force_scalar | std::vector\ |
TCP force scalar [N] |
| R4_future_path_points | std::vector |
Get future path points joint |
| R4_actual_main_voltage | unknown | Safety Control Board: Main voltage |
| R4_actual_robot_voltage | unknown | Safety Control Board: Robot voltage (48V) |
| R4_actual_robot_current | unknown | Safety Control Board: Robot current |
| R4_joint_torque_sensor | std::vector\ |
Joint torque sensor |
| R4_operationalModeSelectorInput | OperationalModeType | Current state of the operational mode selector input |
| R4_threePositionEnablingDeviceInput | unknown | |
| R4_masterboard_temperature | unknown | |
| R4_standard_digital_input_bits | uint64_t | Current state of the standard digital inputs. |
| R4_tool_digital_input_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R4_configurable_digital_input_bits | uint64_t | Current state of the safety inputs. |
| R4_link_digital_input_bits | uint64_t | Current state of the link digital inputs. |
| R4_standard_digital_output_bits | uint64_t | Current state of the standard digital outputs. |
| R4_tool_digital_output_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R4_configurable_digital_output_bits | uint64_t | Current state of the safety outputs. |
| R4_link_digital_output_bits | uint64_t | Current state of the link digital outputs. |
| R4_standard_analog_input_values | std::vector\ |
Current values of the standard analog inputs. |
| R4_tool_analog_input_values | std::vector\ |
Current values of the tool analog inputs. |
| R4_standard_analog_output_values | std::vector\ |
Current values of the standard analog outputs. |
| R4_tool_analog_output_values | std::vector\ |
Current values of the tool analog outputs. |
| R4_is_simulation_enabled | bool | |
| R4_collision_level | int | |
| R4_master_io_current | unknown | I/O current [A] |
| R4_euromap67_input_bits | unknown | Euromap67 input bits |
| R4_euromap67_output_bits | unknown | Euromap67 output bits |
| R4_euromap67_24V_voltage | unknown | Euromap 24V voltage [V] |
| R4_euromap67_24V_current | unknown | Euromap 24V current [A] |
| R4_tool_mode | unknown | Tool mode Please see Remote Control Via TCP/IP - 16496 |
| R4_tool_output_mode | unknown | The current output mode |
| R4_tool_output_voltage | unknown | Tool output voltage [V] |
| R4_tool_output_current | unknown | Tool current [A] |
| R4_tool_voltage_48V | unknown | |
| R4_tool_current | unknown | |
| R4_tool_temperature | unknown | Tool temperature in degrees Celsius |
| R4_actual_tool_accelerometer | unknown | Tool x, y and z accelerometer values |
| R4_motion_progress | unknown | Trajectory running progress |
| R4_actual_qdd | unknown | Actual joint accelerations |
| R4_controlbox_humidity | double | Controbox humidity |
| R4_actual_tool_pose | std::vector\ |
Actual Cartesian coordinates of the tool(without TCP) |
| R4_rtde_output_max | int | |
| R4_actual_TCP_force_sensor | std::vector\ |
TCP force sensor |
| R4_fc_cond_fullfiled | bool | |
| R4_actual_payload | Payload | Actual payload |
| R4_tool_button_status | bool | Tool button status |