You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

get_rt_control_output_data_list

This function returns a list of output data fields supported by a specific Real-time (RT) output data version.
Each version defines which robot states or signals are periodically transmitted from the controller to the external PC during real-time streaming.

Definition
DRFLEx.h within class CDRFLEx, public section (line 585)

string get_rt_control_output_data_list(string strVersion) {
    return _get_rt_control_output_data_list(_rbtCtrlUDP, strVersion.c_str());
};

Parameter

Parameter Name

Data Type

Default Value

Description

strVersion

string

Target output data version (e.g., “v1.0”).

Return

Value

Description

string

Comma-separated list of available output data fields for the specified version.

Output Data List

Parameter Name

Data Type

Description

First Supported Controller Version

time_stamp

double

Timestamp at the moment of data acquisition [s].

v1.0

actual_joint_position

float[6]

Joint position from incremental encoder at motor side [deg].

v1.0

actual_joint_position_abs

float[6]

Joint position from absolute encoder at link side [deg].

v1.0

actual_joint_velocity

float[6]

Joint velocity from incremental encoder at motor side [deg/s].

v1.0

actual_joint_velocity_abs

float[6]

Joint velocity from absolute encoder at link side [deg/s].

v1.0

actual_tcp_position

float[6]

TCP position w.r.t. base coordinates (x, y, z, a, b, c).

v1.0

actual_tcp_velocity

float[6]

TCP velocity w.r.t. base coordinates [mm, deg/s].

v1.0

actual_flange_position

float[6]

Flange position w.r.t. base coordinates [mm, deg].

v1.0

actual_flange_velocity

float[6]

Flange velocity w.r.t. base coordinates [mm, deg/s].

v1.0

actual_motor_torque

float[6]

Motor torque (gear_ratio × torque_constant × current) [Nm].

v1.0

actual_joint_torque

float[6]

Joint torque by robot controller [Nm].

v1.0

raw_joint_torque

float[6]

Calibrated joint torque sensor data [Nm].

v1.0

raw_force_torque

float[6]

Calibrated force/torque sensor data in flange coordinates [N, Nm].

v1.0

external_joint_torque

float[6]

Estimated joint torque [Nm].

v1.0

external_tcp_force

float[6]

Estimated TCP force in base coordinates [N, Nm].

v1.0

target_joint_position

float[6]

Target joint position [deg].

v1.0

target_joint_velocity

float[6]

Target joint velocity [deg/s].

v1.0

target_joint_acceleration

float[6]

Target joint acceleration [deg/s²].

v1.0

target_joint_torque

float[6]

Target joint torque [Nm].

v1.0

target_tcp_position

float[6]

Target TCP position w.r.t. base coordinates [mm, deg].

v1.0

target_tcp_velocity

float[6]

Target TCP velocity w.r.t. base coordinates [mm/s, deg/s].

v1.0

jacobian_matrix

float[6][6]

Jacobian matrix J(q) w.r.t. base coordinates.

v1.0

gravity_torque

float[6]

Gravity torque g(q) [Nm].

v1.0

coriolis_matrix

float[6][6]

Coriolis matrix C(q, q̇) [Nm·s].

v1.0

mass_matrix

float[6][6]

Mass matrix M(q) [kg·m²].

v1.0

solution_space

uint8

Robot configuration/solution space.

v1.0

singularity

float

Minimum singular value.

v1.0

operation_speed_rate

float

Current operation speed rate (1~100%).

v1.0

joint_temperature

float[6]

Joint temperature (°C).

v1.0

controller_digital_input

uint16

Controller digital input (16 channels).

v1.0

controller_digital_output

uint16

Controller digital output (16 channels).

v1.0

controller_analog_input_type

uint8[2]

Analog input type (2 channels).

v1.0

controller_analog_input

float[2]

Controller analog input (2 channels).

v1.0

controller_analog_output_type

uint8[2]

Analog output type (2 channels).

v1.0

controller_analog_output

float[2]

Controller analog output (2 channels).

v1.0

flange_digital_input

uint8

Flange digital input (A-Series: 2ch, M/H-Series: 6ch).

v1.0

flange_digital_output

uint8

Flange digital output (A-Series: 2ch, M/H-Series: 6ch).

v1.0

flange_analog_input

float[4]

Flange analog input (A-Series: 2ch, M/H-Series: 4ch).

v1.0

external_encoder_strobe_count

uint32

Strobe count (incremented by 1 when detecting edge).

v1.0

external_encoder_count

uint32[2]

External encoder count.

v1.0

goal_joint_position

float[6]

Reserved: final goal joint position.

v1.0

goal_tcp_position

float[6]

Reserved: final goal TCP position.

v1.0

robot_mode

uint8

ROBOT_MODE_MANUAL(0), ROBOT_MODE_AUTONOMOUS(1), ROBOT_MODE_MEASURE(2)

v1.0

robot_state

uint8

State codes (INITIALIZING=0, STANDBY=1, MOVING=2, etc.).

v1.0

control_mode

uint16

Position control mode, torque mode.

v1.0

Example

#include "DRFLEx.h"
#include <iostream>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    drfl.connect_rt_control("192.168.137.100", 12347);

    // Retrieve output data fields for version v1.0
    std::string data_list = drfl.get_rt_control_output_data_list("v1.0");
    std::cout << "Output data fields: " << data_list << std::endl;

    drfl.disconnect_rt_control();
    return 0;
}

In this example, the function returns a comma-separated list of all RT output data fields for the specified version (“v1.0”), which can be used when configuring output streaming.

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