Data Structures
1 Robot Basic Information rokae::Info
std::string id Robot uid, used to distinguish connected robots
std::string mac; Mac address
std::string version Controller version
std::string type Robot model name
int joint_num Number of axes
2 Robot State List rokae::StateList
std::vector<double> joint_pos Joint angles
CartesianPosition cart_pos Cartesian pose
std::vector<std::pair<std::string, bool>>digital_signals Digital IO signals
std::vector<std::pair<std::string, double>> analog_signals Analog IO signals
OperateMode operation_mode Operation mode
double speed_override Speed override ratio
3 Coordinate System rokae::Frame
std::array< double, 3 > trans Translation amount, [X, Y, Z], Unit: meters
std::array< double, 3 > rpy XYZ Euler angles, [A, B, C], Unit: radians
std::array< double, 16 > pos Row-major transformation matrix. Only used for Cartesian position/impedance control in real-time mode.
4 Cartesian Position rokae::CartesianPosition
std::array< double, 3 > trans Translation amount, [x, y, z], Unit: meters
std::array< double, 3 > rpy XYZ Euler angles, [A, B, C], Unit: radians
double elbow Elbow angle, applicable to 7-axis robots, Unit: radians
bool hasElbow Whether there is an elbow angle
std::vector< int > confData Axis configuration data, the number of elements should be consistent with the number of robot axes
std::vector< double > external External joint values, Unit: radians | meters. Linear guide unit is meters
5 Cartesian Position Offset rokae::CartesianPosition::Offset
Type type Type: Offs/RelTool
Frame frame Offset coordinate system
6 Joint Position rokae::JointPosition
std::vector< double > joints Joint angle values, Unit: radians
std::vector< double > external External joint values, Unit: radians | meters. Linear guide unit is meters
7 Joint Torque (excluding gravity and friction) rokae::Torque
std::vector< double > tau Desired joint torque, Unit: Nm
8 Load Information rokae::Load
double mass Load mass, Unit: kilograms
std::array< double, 3 > cog Center of gravity [x, y, z], Unit: meters
std::array< double, 3 > inertia Inertia [ix, iy, iz], Unit: kilogram·square meters
9 Tool-Workpiece Set Information rokae::Toolset
Calculated based on the coordinates, load, and robot hand-held settings of a pair of tool and workpiece.
Load load Load held by the robot end-effector
Frame end Transformation from the robot end coordinate system to the flange coordinate system
Frame ref Transformation from the robot reference coordinate system to the world coordinate system
10 Frame Calibration Result rokae::FrameCalibrationResult
Frame frame Calibration result
std::array<double, 3> errors Deviation between sample points and TCP calibration values, in order of minimum, average, maximum, Unit: m
11 RL Project Information rokae::RLProjectInfo
std::string name Project name
std::vector< std::string > taskList Task name list
12 Tool/Workpiece Information rokae::WorkToolInfo
std::string name Name
std::string alias Alias, not used temporarily
bool robotHeld Whether held by the robot
Frame pos Pose. The workpiece coordinate system has been transformed relative to its user coordinate system
Load load Load
13 Motion Command MoveAbsJ rokae::MoveAbsJCommand
JointPosition target Target joint position
int speed End-effector linear speed, Unit: mm/s. Joint speed is divided into several intervals according to the end-effector linear speed, see setDefaultSpeed() for details
double jointSpeed Joint speed percentage
int zone Blending zone size, Unit: mm
std::string customInfo Custom information, which can be returned in the motion information feedback
14 Motion Command MoveJ rokae::MoveJCommand
CartesianPosition target Target Cartesian position
int speed End-effector linear speed, Unit: mm/s. Joint speed is divided into several intervals according to the end-effector linear speed, see setDefaultSpeed() for details
double jointSpeed Joint speed percentage
int zone Blending zone size, Unit: mm
CartesianPosition::Offset offset Offset amount
std::string customInfo Custom information, which can be returned in the motion information feedback
15 Motion Command MoveL rokae::MoveLCommand
CartesianPosition target Target Cartesian position
int speed End-effector linear speed, Unit: mm/s
double rotSpeed Spatial rotation speed
int zone Blending zone size, Unit: mm
CartesianPosition::Offset offset Offset amount
std::string customInfo Custom information, which can be returned in the motion information feedback
16 Motion Command MoveC rokae::MoveCCommand
CartesianPosition target Target Cartesian position
CartesianPosition aux Auxiliary position
int speed End-effector linear speed, Unit: mm/s
double rotSpeed Spatial rotation speed
int zone Blending zone size, Unit: mm
CartesianPosition::Offset targetOffset Target point offset
CartesianPosition::Offset auxOffset Auxiliary point offset
std::string customInfo Custom information, which can be returned in the motion information feedback
17 Motion Command MoveCF rokae::MoveCFCommand
CartesianPosition target Auxiliary position 1
CartesianPosition aux Auxiliary position 2
int speed End-effector linear speed, Unit: mm/s
double rotSpeed Spatial rotation speed
int zone Blending zone size, Unit: mm
double angle Full-circle execution angle, Unit: radians
CartesianPosition::Offset targetOffset Target point offset
CartesianPosition::Offset auxOffset Auxiliary point offset
RotType rotType Full-circle attitude rotation mode
std::string customInfo Custom information, which can be returned in the motion information feedback
18 Motion Command MoveSP rokae::MoveSPCommand
CartesianPosition target End Cartesian position
CartesianPosition::Offset targetOffset Offset option
double radius Initial radius, Unit: meters
double radius_step Radius change per unit rotation angle, Unit: meters/radian
double angle Total rotation angle, Unit: radians
bool direction Rotation direction, true - clockwise | false - counterclockwise
std::string customInfo Custom information, which can be returned in the motion information feedback
19 Motion Wait Command rokae::MoveWaitCommand
std::chrono::steady_clock::duration duration_ Dwell time, minimum effective duration is 1ms
20 Controller Log Information rokae::LogInfo
const int id Log ID number
const std::string timestamp Date and time
const std::string content Log content
const std::string repair Repair method
21 End-effector Key State rokae::KeyPadState
bool key1_state CR1 key status
bool key2_state CR2 key status
bool key3_state CR3 key status
bool key4_state CR4 key status
bool key5_state CR5 key status
bool key6_state CR6 key status
bool key7_state CR7 key status