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For information on the latest version, please have a look at GL013301.

2.1.2 Robot Configuration Constants

Name	Value	Description
NUM_JOINT	6	Number of joints of the robot. Used for joint-space arrays.
NUMBER_OF_JOINT	6	Alias of NUM_JOINT. Provided for backward compatibility.
NUM_TASK	6	Number of task-space components (X, Y, Z, Rx, Ry, Rz).
NUMBER_OF_TASK	6	Alias of NUM_TASK. Provided for backward compatibility.
NUMBER_OF_TASK_EX	NUMBER_OF_TASK + 1	Extended task size including additional orientation type support.
NUMBER_OF_ITER_THRESHOULD	2	Number of iteration-threshold parameters used in extended inverse kinematics.
NUM_AXIS	NUMBER_OF_JOINT	Alias for the number of axes, equal to the number of joints.
NUM_FLANGE_IO	6	Number of I/O channels available on the flange.
NUM_BUTTON	5	Number of standard buttons defined on the device.
NUM_BUTTON_EX	6	Extended number of buttons for newer hardware.
NUMBER_OF_BUTTON	6	Alias representing the total number of buttons.