Types
1 Robot Operation State 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 demonstration |
| dynamicIdentify | Dynamics identification |
| frictionIdentify | Friction identification |
| loadIdentify | Load identification |
| moving | Robot moving |
| jogging | Jog moving |
| unknown | Unknown |
2 Robot Type WorkType
| Type | Description |
|---|---|
| industrial | Industrial robot |
| collaborative | Collaborative robot |
3 Robot Operation Mode OperateMode
| Mode | Description |
|---|---|
| manual | Manual |
| automatic | Automatic |
| unknown | Unknown (exception occurred) |
4 Robot Power On/Off and E-Stop State 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 CoordinateType
| Type | Description |
|---|---|
| flangeInBase | Flange relative to base frame |
| endInRef | End relative to external frame |
6 Motion Control Mode MotionControlMode
| Mode | Description |
|---|---|
| Idle | Idle |
| NrtCommand | Non-real-time mode executing motion commands |
| NrtRLTask | Non-real-time mode running RL project |
| RtCommand | Real-time mode control |
7 Controller Real-time Control Mode 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 Motion Level 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 DragParameter
| Parameter | Description |
|---|---|
| DragParameterSpace::jointSpace | Joint space drag |
| SpaDragParameterSpacece::cartesianSpace | Cartesian space drag |
| DragParameterType::translationOnly | Translation only |
| DragParameterType::rotationOnly | Rotation only |
| DragParameterType::freely | Free drag |
10 Frame Type FrameType
| Type | Description |
|---|---|
| world | World frame |
| base | Base frame |
| flange | Flange frame |
| tool | Tool frame |
| wobj | Workpiece frame |
| path | Path frame, force control task frame needs to track trajectory changes |
| rail | Rail base frame |
11 Jog Option - Coordinate System JogOptSpace
| Type | Description |
|---|---|
| world | World frame |
| flange | Flange frame |
| baseFrame | Base frame |
| toolFrame | Tool frame |
| wobjFrame | Workpiece frame |
| 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 AvoidSingularityMethod
| Method | Description |
|---|---|
| lockAxis4 | Lock 4th axis |
| wrist | Sacrifice orientation |
| jointWay | Joint space short trajectory interpolation |
13 MoveCF Full Circle Orientation Rotation Type MoveCFCommandRotType
| Type | Description |
|---|---|
| constPose | Constant pose |
| rotAxis | Moving axis rotation |
| fixedAxis | Fixed axis rotation |
14 xPanel Configuration: External Power Supply Mode xPanelOptVout
| Mode | Description |
|---|---|
| off | No output |
| reserve | Reserved |
| supply12v | Output 12V |
| supply24v | Output 24V |
15 Torque Type TorqueType
| Type | Description |
|---|---|
| full | Joint torque, calculated by dynamics model |
| inertia | Inertia force |
| coriolis | Coriolis force |
| friction | Friction force |
| gravity | Gravity |
16 Event Type Event
| Type | Description |
|---|---|
| moveExecution | Non-real-time motion command execution info |
| safety | Safety (collision or not) |
| rlExecution | RL execution status |