Types

1 Robot Operation State rokae::OperationState

State	Description
idle	Robot idle
jog	Jog state (not moving)
rtControlling	Real-time mode controlling
drag	Drag enabled
rlProgram	RL project running
demo	Demo running
dynamicIdentify	Dynamic identification
frictionIdentify	Friction identification
loadIdentify	Load identification
moving	Robot moving
jogging	Jog moving
unknown	Unknown

2 Robot Type rokae::WorkType

Type	Description
industrial	Industrial robot
collaborative	Collaborative robot

3 Robot Operation Mode rokae::OperateMode

Mode	Description
manual	Manual
automatic	Automatic
unknown	Unknown (exception occurred)

4 Robot Power State and Emergency Stop rokae::PowerState

State	Description
on	Power on
off	Power off
estop	Emergency stop pressed
gstop	Safety door open
unknown	Unknown (exception occurred)

5 Pose Coordinate Type rokae::CoordinateType

Type	Description
flangeInBase	Flange relative to base coordinate system
endInRef	End effector relative to external reference coordinate system

6 Motion Control Mode rokae::MotionControlMode

Mode	Description
Idle	Idle
NrtCommand	Non-real-time mode execute motion commands
NrtRLTask	Non-real-time mode run RL project
RtCommand	Real-time mode control

7 Controller Real-time Control Mode rokae::RtControllerMode

Mode	Description
jointPosition	Real-time joint space position control
cartesianPosition	Real-time Cartesian space position control
jointImpedance	Real-time joint space impedance control
cartesianImpedance	Real-time Cartesian space impedance control
torque	Real-time torque control

8 Robot Stop Level rokae::StopLevel

Level	Description
stop0	Quick stop robot motion then power off
stop1	Planned stop robot motion then power off, stop on original path
stop2	Planned stop robot motion without power off, stop on original path
suppleStop	Compliant stop, only applicable to collaborative models

9 Robot Drag Mode Parameter rokae::DragParameter

Parameter	Description
Space::jointSpace	Joint space drag
Space::cartesianSpace	Cartesian space drag
Type::translationOnly	Translation only
Type::rotationOnly	Rotation only
Type::freely	Free drag

10 Coordinate Frame Type rokae::FrameType

Type	Description
world	World coordinate system
base	Base coordinate system
flange	Flange coordinate system
tool	Tool coordinate system
wobj	Workpiece coordinate system
path	Path coordinate system, force control task coordinate system needs to track trajectory changes
rail	Rail base coordinate system

11 Jog Option - Coordinate System rokae::JogOpt::Space

Type	Description
world	World coordinate system
flange	Flange coordinate system
baseFrame	Base coordinate system
toolFrame	Tool coordinate system
wobjFrame	Workpiece coordinate system
jointSpace	Joint space
singularityAvoidMode	Singularity avoidance mode, applicable to industrial 6-axis, xMateCR and xMateSR 6-axis models
baseParallelMode	Base parallel mode, applicable to industrial 6-axis, xMateCR and xMateSR 6-axis models

12 Singularity Avoidance Method rokae::AvoidSingularityMethod

Method	Description
lockAxis4	Lock axis 4
wrist	Sacrifice posture
jointWay	Joint space short trajectory interpolation

13 MoveCF Full Circle Posture Rotation Type rokae::MoveCFCommand::RotType

Type	Description
constPose	Constant posture
rotAxis	Rotating axis rotation
fixedAxis	Fixed axis rotation

14 xPanel Configuration: External Power Supply Mode rokae::xPanelOpt::Vout

Mode	Description
off	No output
reserve	Reserved
supply12v	Output 12V
supply24v	Output 24V

15 Torque Type rokae::TorqueType

Type	Description
full	Joint torque, calculated by dynamic model
inertia	Inertia force
coriolis	Coriolis force
friction	Friction force
gravity	Gravity

16 Event Type rokae::Event

Type	Description
moveExecution	Non-real-time motion command execution info
safety	Safety (collision detection)
rlExecution	RL execution status
logReporter	Controller log reporting