Rainbow RoboticsData Structure (reqdata) v6.10
CAUTION
- This document is a structure description of status data that can be acquired through port 5001.
- The contents may be updated depending on the software version, and this document is based on version 4.3.1.
// --------------------------------------------------------------------
// Based on Software Version 4.3.1
// --------------------------------------------------------------------
#define MAX_SHARED_DATA 145
// --------------------------------------------------------------------
typedef union{
struct{
char header[4];
// Byte count ~: 4
float time;
float jnt_ref[6];
float jnt_ang[6];
float jnt_cur[6];
// Byte count ~: 80
float tcp_ref[6];
float tcp_pos[6];
// Byte count ~: 128
float analog_in[4];
float analog_out[4];
int digital_in[16];
int digital_out[16];
// Byte count ~: 288
float jnt_temperature[6];
// Byte count ~: 312
int task_pc;
int task_repeat;
int task_run_id;
int task_run_num;
int task_run_time;
int task_state;
// Byte count ~: 336
float default_speed;
int robot_state;
int information_chunk_1; // information bit combination
// Byte count ~: 348
float reserved_1[6];
int jnt_info[6];
// Byte count ~: 396
int collision_detect_onoff;
int is_freedrive_mode;
int real_vs_simulation_mode;
// Byte count ~: 408
int init_state_info;
int init_error;
// Byte count ~: 416
float tfb_analog_in[2];
int tfb_digital_in[2];
int tfb_digital_out[2];
float tfb_voltage_out;
// Byte count ~: 444
int op_stat_collision_occur;
int op_stat_sos_flag;
int op_stat_self_collision;
int op_stat_soft_estop_occur;
int op_stat_ems_flag;
// Byte count ~: 464
int information_chunk_2;
int information_chunk_3;
// Byte count ~: 472
int inbox_trap_flag[2];
int inbox_check_mode[2];
// Byte count ~: 488
float eft_fx;
float eft_fy;
float eft_fz;
float eft_mx;
float eft_my;
float eft_mz;
// Byte count ~: 512
int information_chunk_4;
// Byte count ~: 516
float extend_io1_analog_in[4];
float extend_io1_analog_out[4];
unsigned int extend_io1_digital_info;
// Byte count ~: 552
float aa_joint_ref[6];
// Byte count ~: 576
unsigned int safety_board_stat_info;
// Byte count ~: 580
}sdata;
float fdata[MAX_SHARED_DATA];
int idata[MAX_SHARED_DATA];
}systemSTAT;1. char header[4]
Header of this data structure
header[0] = 0x24
header[1] = size & 0xFF
header[2] = (size >> 8) & 0xFF
header[3] = 0x03; // Type of this data2. float time
Basic Timer (unit: second)
3. float jnt_ref[6]
Reference angle of each joint. (unit: degree)
0 = Base
1 = Shoulder
2 = Elbow
3 = Wrist 1
4 = Wrist 2
5 = Wrist 3
4. float jnt_ang[6]
Real-encoder (measured) angle of each joint. (unit: degree)
0 = Base
1 = Shoulder
2 = Elbow
3 = Wrist 1
4 = Wrist 2
5 = Wrist 3
5. float jnt_cur[6]
Measured current of each joint. (unit: Ampere)
0 = Base
1 = Shoulder
2 = Elbow
3 = Wrist 1
4 = Wrist 2
5 = Wrist 3
6. float tcp_ref[6]
TCP posture info based on reference-joint-angles (unit: mm & degree)
0 = X
1 = Y
2 = Z
3 = Rx
4 = Ry
5 = Rz
7. float tcp_pos[6]
TCP posture info based on encoder-joint-angles (unit: mm & degree)
0 = X
1 = Y
2 = Z
3 = Rx
4 = Ry
5 = Rz
- It is being transmitted overwritten based on the current reference.
8. float analog_in[4]
Control box analog input measurement information of each channel (unit: Voltage)
Channel number: 0 ~ 3
9. float analog_out[4]
Control box analog output information of each channel (unit: Voltage)
Channel number: 0 ~ 3
10. int digital_in[16]
Control box digital input measurement information of each channel (value: 0 or 1)
Channel number: 0 ~ 15
11. int digital_out[16]
Control box digital output information of each channel (value: 0 or 1)
Channel number: 0 ~ 15
12. float jnt_temperature[6]
Measured temperature of each joint. (unit: celsius)
0 = X
1 = Y
2 = Z
3 = Rx
4 = Ry
5 = Rz
13. int task_pc (Not for user)
Target program counter position during STEP function.
14. int task_repeat (Not for user)
Target program execution number in PLAY page.
15. int task_run_id (Not for user)
Running program counter position.
16. int task_run_num (Not for user)
Current program execution number in PLAY page.
17. int task_run_time (Not for user)
Time since the program started (unit: second)
18. int task_state
Basic state of ‘Program Execution’
1 = Program not run / Idle
3 = Program is running
2 = Program is running + but ‘Paused’ state
19. float default_speed
Default speed multiplier value of robot motion (=speed bar in UI) (value: 0 ~ 1)
20. int robot_state
Move (motion) state
if (robot_state == 1) {
// no motion command, idle
} else {
// robot motion command is executing
}
1 = No motion command / Idle
3 = Executing motion command(s)
5 = No motion (Move) command + but executing Conveyor or Force control mode
60 + index = Under Move PB/ITPL/Pro command / index is passing waypoint number
560 + index = Under MoveXB command / index is passing waypoint number21. int information_chunk_1
Information chunk to deliver various state information (power and others)
It consists of a combination of bits.
(information_chunk_1 >> 0) & 0b01 = Control Box’s 48V input state
(information_chunk_1 >> 1) & 0b01 = Control Box’s 48V output state
(information_chunk_1 >> 2) & 0b01 = Control Box’s 24V input state
(information_chunk_1 >> 3) & 0b01 = Control Box’s E-Stop state 1
(information_chunk_1 >> 4) & 0b01 = Control Box’s User Switch state
(information_chunk_1 >> 5) & 0b01 = Control Box’s E-Stop state 2
(information_chunk_1 >> 6) & 0b01 = Whether DC power is applied to the robot arm
(information_chunk_1 >> 7) & 0b01 = TFB’s Direct teaching button is pressed
(information_chunk_1 >> 8) & 0b01 = Hand Controller Button A
(information_chunk_1 >> 9) & 0b01 = Hand Controller Button B
(information_chunk_1 >> 10) & 0b01 = Hand Controller Button C
(information_chunk_1 >> 11) & 0b01 = Hand Controller Button D
(information_chunk_1 >> 12) & 0b01 = Is SOS State
(information_chunk_1 >> 13) & 0b01 = Is Lan2Can Connected
(information_chunk_1 >> 14) & 0b01 = GP A Port
(information_chunk_1 >> 15) & 0b01 = GP B Port
(information_chunk_1 >> 16) & 0b111111 = Control Box CPU temperature x 0.5
(information_chunk_1 >> 22) & 0b111111 = Control Box MotherBoard temperature x 0.5
(information_chunk_1 >> 28) & 0b01 = Is ProfiNet Talking
(information_chunk_1 >> 29) & 0b01 = Is EtherNet/IP Talking
(information_chunk_1 >> 30) & 0b01 = Program Load state
(Whenever the Program load process is successful, 1 and 0 are continuously converted.)
(information_chunk_1 >> 31) & 0b01 = Program Transmit state (via TCP/IP Tablet UI, not for user)22. float reserved_1[6]
Reserved / Not used
23. int jnt_info[6]
Basic state of each joint.
0 = Base
1 = Shoulder
2 = Elbow
3 = Wrist 1
4 = Wrist 2
5 = Wrist 3
Each int (4byte) consists of a combination of bits.
(jnt_info[#] >> 0) & 0b01 = Joint #’s FET state
(jnt_info[#] >> 1) & 0b01 = Joint #’s RUN state
(jnt_info[#] >> 2) & 0b01 = Joint #’s INIT state
(jnt_info[#] >> 3) & 0b01 = Joint #’s MODE state
(jnt_info[#] >> 4) & 0b01 = Joint #’s encoder state (Nonius err)
(jnt_info[#] >> 5) & 0b01 = Joint #’s encoder state (LowBatt err)
(jnt_info[#] >> 6) & 0b01 = Joint #’s encoder state (Calibration mode)
(jnt_info[#] >> 7) & 0b01 = Joint #’s encoder state (Multi-turn err)
(jnt_info[#] >> 8) & 0b01 = Joint #’s Error state (JAM err)
(jnt_info[#] >> 9) & 0b01 = Joint #’s Error state (CUR err)
(jnt_info[#] >> 10) & 0b01 = Joint #’s Error state (BIG err)
(jnt_info[#] >> 11) & 0b01 = Joint #’s Error state (INP err)
(jnt_info[#] >> 12) & 0b01 = Joint #’s Error state (FLT err)
(jnt_info[#] >> 13) & 0b01 = Joint #’s Error state (TMP err)
(jnt_info[#] >> 14) & 0b01 = Joint #’s Error state (PS1 err)
(jnt_info[#] >> 15) & 0b01 = Joint #’s Error state (PS2 err)bits 16 ~ 31 are reserved.
Example :
In position control mode: RUN = 1 / MODE = 0
In direct teaching (current control mode): RUN = 0 / MODE = 124. int collision_detect_onoff
Out collision detection On/Off State
0 = Off
1 = On
25. int is_free_drive_mode
Free-drive (Gravity-compensation) On/Off State
It consists of a combination of bits.
(is_free_drive_mode & 0b11) = Free Drive (Direct Teaching) On/Off 1 or 026. int real_vs_simulation_mode
Mode of operation: Simulation mode=1 / Real Robot mode=0
It consists of a combination of bits.
(real_vs_simulation_mode & 0b1111) = Real vs Simulation : Simulation = 1, Real Robot = 027. int init_state_info
It consists of a combination of bits.
(First 6 bits: init_state_info & 0b111111)
Robot arm activation (Initialization) stage info (0 -> 6)
0: default
1: Power check
2: Device check
3: Servo Initialization check
4: Parameter check
5: Payload check
6: Activation done
28. int init_error (Not for user)
Error code during the arm activation (return value for UI)
It consists of a combination of bits.
(First 12 bits: init_error & 0b111111111111)
29. float tfb_analog_in[2]
Robot-Tool-Flange analog input measurement information of each channel (unit: Voltage)
Channel number: 0 ~ 1
30. int tfb_digital_in[2]
Robot-Tool-Flange digital input measurement information of each channel (value: 0 or 1)
Channel number: 0~1
It consists of a combination of bits.
(tfb_digital_in[#] & 0b11) = Tool Flange Digital Input # Information31. int tfb_digital_out[2]
Robot-Tool-Flange digital output information of each channel (value: 0 or 1)
Channel number: 0~1
It consists of a combination of bits.
(tfb_digital_out[#] & 0b11) = Tool Flange Digital Output # Information32. float tfb_voltage_out
Robot-Tool-Flage output voltage level (unit: Voltage)
33. int op_stat_collisioin_occur
Whether out-collision is detected (0 or 1)
※ lower 2bits are valid
34. int op_stat_sos_flag
Robot Arm device error code during operation.
0 = None
1 = Encoder err (PVL)
2 = CPU err
3 = Big err
4 = Input err
5 = JAM err
6 = Over current err
7 = Position bound err
8 = Mode err
9 = Match err
10 = Over current/Low voltage err
11 = Temperature err
12 = Speed over err
※ lower 6bits are valid
35. int op_stat_self_collision
Whether self-collision is detected (0 or 1)
It consists of a combination of bits.
(op_stat_self_collsion & 0b11) = Whether self-collision is detected (0 or 1)
(op_stat_self_collsion>>2 & 0b11) = Last Out-collision State
1 : Out-Collision caused by motor torque
2 : Out-Collision caused by Accelerometer
3 : Out-Collision caused by Gyro sensor**other 28 bits: control box time zone info
36. int op_stat_soft_estop_occur
Pause state flag (0 or 1)
37. int op_stat_ems_flag
Software (kinematics) emergency stop situation
0 = None
1 = Arm Stretch
2 = Cartesian Limit
3 = Joint Limit
4 = Un-solvable
※ lower 6bits are valid
38. int information_chunk_2
Information chunk to deliver various state information.
It consists of a combination of bits.
(information_chunk_2 >> 0) & 0b11 = Config digital input 16 (0 or 1) (Not for user)
(information_chunk_2 >> 2) & 0b1111111111111111 = Target welding voltage * 100
(information_chunk_2 >> 18) & 0b11 = Is Under Robot Arm activating
(information_chunk_2 >> 20) & 0b11 = PFL Mode
(information_chunk_2 >> 22) & 0b11111111 = Robot Components Connection Ino39. int information_chunk_3
Information chunk to deliver various state information.
It consists of a combination of bits.
(information_chunk_3 >> 0) & 0b11 = Config digital input 17 (0 or 1) (Not for user)
(information_chunk_3 >> 2) & 0b1111111111111111 = TCP Speed(Velocity) * 10
(information_chunk_3 >> 18) & 0b11 = Task Load Flag
(information_chunk_3 >> 20) & 0b11 = LAN Cable Connection Info
(information_chunk_3 >> 22) & 0b01 = is Safety EMS2 Pressed
(information_chunk_3 >> 23) & 0b01 = is Safety PRS Pressed
(information_chunk_3 >> 24) & 0b01 = is Safety HSS Pressed
(information_chunk_3 >> 25) & 0b01 = is Safety SSS Pressed40. int inbox_trap_flag[2]
Whether or not detected by the Inbox # check-function. (# = In Box number: 0 or 1)
※ lower 4bits are valid
41. int inbox_check_mode[2]
Check-function mode of Inbox #. (# = In Box number: 0 or 1)
0 = None
1 = Check Tool Flange center
2 = Check TCP
3 = Check Tool Box
4 = Check all
※ lower 4bits are valid
42. float eft_fx, eft_fy, eft_fz, eft_mx, eft_my, eft_mz
External F/T (force/torque) sensor value
Fx, Fy, Fz (unit: N)
Mx, My, Mz (unit: Nm)
43. int information_chunk_4
Information chunk to deliver various state information.
It consists of a combination of bits.
(information_chunk_4 >> 0) & 0b11 = No-Arc Function On/Off (0 or 1)
(information_chunk_4 >> 2) & 0b111111 = Selected Tool List number
(information_chunk_4 >> 8) & 0b11 = External Joint (External axis) Jog On/Off (0 or 1)
(information_chunk_4 >> 10) & 0b01 = Tool Flange Digital Input 2
(information_chunk_4 >> 11) & 0b01 = Tool Flange Digital Input 3
(information_chunk_4 >> 12) & 0b01 = Tool Flange Digital Input 4
(information_chunk_4 >> 13) & 0b01 = Tool Flange Digital Input 5
(information_chunk_4 >> 14) & 0b01 = Arc Light On state (Not for user)
(information_chunk_4 >> 15) & 0b1111111111111 = Target welding current * 10
(information_chunk_4 >> 28) & 0b11 = Target welding voltage option (0 or 1)
(information_chunk_4 >> 30) & 0b01 = Is Program intended stop
(information_chunk_4 >> 31) & 0b01 = Is Home Posture44. float extend_io1_analog_in[4]
Extended I/O board analog input measurement information of each channel (unit: Voltage)
Channel number: 0 ~ 3
45. float extend_io1_analog_out[4]
Extended I/O board analog output information of each channel (unit: Voltage)
Channel number: 0 ~ 3
46. unsigned int extend_io1_digital_info
Extended I/O board digital input/output information
It consists of a combination of bits.
(extend_io1_digital_info >> 0) & 0b01 = Extend I/O digital input # 0
(extend_io1_digital_info >> 1) & 0b01 = Extend I/O digital input # 1
.
.
(extend_io1_digital_info >> 15) & 0b01 = Extend I/O digital input # 15
(extend_io1_digital_info >> 16) & 0b01 = Extend I/O digital output # 0
(extend_io1_digital_info >> 17) & 0b01 = Extend I/O digital output # 1
.
.
(extend_io1_digital_info >> 31) & 0b01 = Extend I/O digital input # 1547. float aa_joint_ref[6]
Reference angle of each external-joint (auxiliary joint). (unit: degree)
Channel number: 0 ~ 5
48. unsigned int safety_board_stat_info (Not for user)
Data chunk about the control box safety board