2.3 Structure

This section introduces the core data structures referenced across the DRFL. Each structure organizes related robot information such as poses, configuration parameters, monitoring data, and system states into well-defined formats used by multiple functions and modules.

• 2.3.1 System / Package / License
• 2.3.2 Monitoring & Status
• 2.3.3 Operation & Feedback (Program / Message / Logs)
• 2.3.4 Coordinates / Tools / TCP / Payload
• 2.3.5 Kinematics & Robot Model (Pose / Wrenches / Positions / Link Info)
• 2.3.6 Motion Primitives
• 2.3.7 Measurement & Calibration
• 2.3.8 Encoders / IO & Burst
• 2.3.9 Industrial Communication (Modbus / Ethernet / Serial)
• 2.3.10 Industrial Applications (Conveyor / Welding / Machine Tending)
• 2.3.11 Safety Configuration & Objects
• 2.3.12 Safety Local Rules & Zones
• 2.3.13 Access & Remote Control
• 2.3.14 Real-time Streams