Skip to main content

Data Structures

1 Robot Basic Info Info​

str id         # Robot uid, can be used to distinguish connected robots
str mac        # MAC address
str version    # Controller version
str type       # Robot model name
int joint_num  # Number of axes

3 Frame Frame​

list[float] trans       # Translation, [X, Y, Z], unit: meter
list[float] rpy         # XYZ Euler angles, [A, B, C], unit: radian
list[float] pos         # Row-major transformation matrix. Only used for real-time mode Cartesian position/impedance control.

4 Cartesian Position CartesianPosition​

list[float] trans         # Translation, [x, y, z], unit: meter
list[float] rpy           # XYZ Euler angles, [A, B, C], unit: radian
float elbow               # Elbow angle, applicable to 7-axis robots, unit: radian
bool hasElbow             # Whether has elbow angle
list[float] confData      # Axis configuration data, number of elements should match robot axes
list[float] external      # External joint values, unit: radian|meter. Rail unit is meter

5 Cartesian Position Offset CartesianPositionOffset​

CartesianPositionOffsetType type    # Type: Offs/RelTool
Frame frame                         # Frame offset (should be Frame type object)

6 Joint Position JointPosition​

list[float] joints        # Joint angle values, unit: radian
list[float] external      # External joint values, unit: radian|meter. Rail unit is meter

7 Joint Torque, Excluding Gravity and Friction Torque​

list[float] tau           # Desired joint torque, unit: Nm

8 Load Info Load​

float mass                # Load mass, unit: kilogram
list[float] cog           # Center of gravity [x, y, z], unit: meter
list[float] inertia       # Inertia [ix, iy, iz], unit: kilogram·square meter

9 Tool Workpiece Set Info Toolset​

Calculated based on a pair of tool workpiece coordinates, load, and robot handheld settings.

Load load                 # Robot end handheld load
Frame end                 # Robot end frame relative to flange frame transformation
Frame ref                 # Robot reference frame relative to world frame transformation

10 Frame Calibration Result FrameCalibrationResult​

Frame frame                # Calibration result (Frame type object)
list[float] errors        # Deviation between sample points and TCP calibration value,依次为 minimum, average, maximum, unit m

11 RL Project Info RLProjectInfo​

str name                  # Project name
list[str] taskList        # Task name list

12 Tool/Workpiece Info WorkToollnfo​

str name                  # Name
str alias                 # Alias, not used yet
bool robotHeld            # Whether robot handheld
Frame pos                 # Pose. Workpiece frame has been transformed relative to its user frame (Frame type object)
Load load                 # Load (Load type object)

13 Motion Command MoveAbsJ MoveAbsJCommand​

JointPosition target      # Target joint position (JointPosition type object)
int speed                 # End linear velocity, unit mm/s, joint velocity is divided into several intervals based on end linear velocity size, see setDefaultSpeed() for details
float jointSpeed          # Joint velocity percentage
int zone                  # Zone size, unit mm
str customInfo            # Custom info, can be returned in motion info feedback

14 Motion Command MoveJ MoveJCommand​

CartesianPosition target        # Target Cartesian position (CartesianPosition type object)
int speed                       # End linear velocity, unit mm/s, joint velocity is divided into several intervals based on end linear velocity size, see setDefaultSpeed() for details
float jointSpeed                # Joint velocity percentage
int zone                        # Zone size, unit mm
CartesianPositionOffset offset  # Offset (CartesianPositionOffset type object)
str customInfo                  # Custom info, can be returned in motion info feedback

15 Motion Command MoveL MoveLCommand​

CartesianPosition target            # Target Cartesian position (CartesianPosition type object)
int speed                           # End linear velocity, unit mm/s
float rotSpeed                      # Spatial rotation speed
int zone                            # Zone size, unit mm
CartesianPositionOffset offset      # Offset (CartesianPositionOffset type object)
str customInfo                      # Custom info, can be returned in motion info feedback

16 Motion Command MoveC MoveCCommand​

CartesianPosition target                    # Target Cartesian position (CartesianPosition type object)
CartesianPosition aux                       # Auxiliary position (CartesianPosition type object)
int speed                                   # End linear velocity, unit mm/s
float rotSpeed                              # Spatial rotation speed
int zone                                    # Zone size, unit mm
CartesianPositionOffset targetOffset        # Target point offset (CartesianPositionOffset type object)
CartesianPositionOffset auxOffset           # Auxiliary point offset (CartesianPositionOffset type object)
str customInfo                              # Custom info, can be returned in motion info feedback

17 Motion Command MoveCF MoveCFCommand​

CartesianPosition target                    # Auxiliary position 1 (CartesianPosition type object)
CartesianPosition aux                       # Auxiliary position 2 (CartesianPosition type object)
int speed                                   # End linear velocity, unit mm/s
float rotSpeed                              # Spatial rotation speed
int zone                                    # Zone size, unit mm
float angle                                 # Full circle execution angle, unit: radian
CartesianPositionOffset targetOffset        # Target point offset (CartesianPositionOffset type object)
CartesianPositionOffset auxOffset           # Auxiliary point offset (CartesianPositionOffset type object)
MoveCFCommandRotType rotType                # Full circle orientation rotation mode
str customInfo                              # Custom info, can be returned in motion info feedback

18 Motion Command MoveSP MoveSPCommand​

CartesianPosition target                    # End Cartesian position (CartesianPosition type object)
CartesianPositionOffset targetOffset        # Offset option (CartesianPositionOffset type object)
float radius                                # Initial radius, unit: meter
float radius_step                           # Radius change per unit angle, unit: meter/radian
float angle                                 # Total rotation angle, unit: radian
bool direction                              # Rotation direction, true - clockwise | false - anticlockwise
str customInfo                              # Custom info, can be returned in motion info feedback

19 Motion Wait Command MoveWaitCommand​

float duration_           # Wait duration, minimum effective duration 1ms

20 Controller Log Info Loglnfo​

int id                    # Log ID number
str timestamp             # Date and time
str content               # Log content
str repair                # Repair method

21 End Keypad State KeyPadState​

bool key1_state           # CR1 number
bool key2_state           # CR2 number
bool key3_state           # CR3 number
bool key4_state           # CR4 number
bool key5_state           # CR5 number
bool key6_state           # CR6 number
bool key7_state           # CR7 number
Last updated on