RT_OUTPUT_DATA_LIST

This structure provides real-time robot state data transmitted from the controller to the external PC during Realtime External Control. It contains comprehensive motion, torque, and I/O information of the robot.

BYTE#	Field Name	Data Type	Value	Remarks
0	time_stamp	double		Timestamp at data acquisition (s)
8	actual_joint_position	float[NUMBER_OF_JOINT]	[deg]	Joint position (motor-side incremental encoder)
32	actual_joint_position_abs	float[NUMBER_OF_JOINT]	[deg]	Joint position (link-side absolute encoder)
56	actual_joint_velocity	float[NUMBER_OF_JOINT]	[deg/s]	Joint velocity (motor-side)
80	actual_joint_velocity_abs	float[NUMBER_OF_JOINT]	[deg/s]	Joint velocity (link-side)
104	actual_tcp_position	float[NUM_TASK]	[mm, deg]	TCP position (x, y, z, a, b, c)
128	actual_tcp_velocity	float[NUM_TASK]	[mm/s, deg/s]	TCP velocity (in base coordinates)
152	actual_flange_position	float[NUM_TASK]	[mm, deg]	Flange position (in base coordinates)
176	actual_flange_velocity	float[NUM_TASK]	[mm/s, deg/s]	Flange velocity (in base coordinates)
200	actual_motor_torque	float[NUMBER_OF_JOINT]	[Nm]	Motor torque (applied with gear ratio)
224	actual_joint_torque	float[NUMBER_OF_JOINT]	[Nm]	Estimated joint torque
248	raw_joint_torque	float[NUMBER_OF_JOINT]	[Nm]	Raw torque sensor values (calibrated)
272	raw_force_torque	float[NUMBER_OF_JOINT]	[N, Nm]	Force/Torque sensor data (flange coordinates)
296	external_joint_torque	float[NUMBER_OF_JOINT]	[Nm]	Estimated external torque per joint
320	external_tcp_force	float[NUM_TASK]	[N, Nm]	External TCP force (in base coordinates)
344	target_joint_position	float[NUMBER_OF_JOINT]	[deg]	Target joint position
368	target_joint_velocity	float[NUMBER_OF_JOINT]	[deg/s]	Target joint velocity
392	target_joint_acceleration	float[NUMBER_OF_JOINT]	[deg/s²]	Target joint acceleration
416	target_motor_torque	float[NUMBER_OF_JOINT]	[Nm]	Target motor torque
440	target_tcp_position	float[NUM_TASK]	[mm, deg]	Target TCP position
464	target_tcp_velocity	float[NUM_TASK]	[mm/s, deg/s]	Target TCP velocity
488	jacobian_matrix	float[NUMBER_OF_JOINT][NUMBER_OF_JOINT]		Jacobian matrix J(q)
632	gravity_torque	float[NUMBER_OF_JOINT]	[Nm]	Gravity torque g(q)
656	coriolis_matrix	float[NUMBER_OF_JOINT][NUMBER_OF_JOINT]		Coriolis matrix C(q, q̇)
800	mass_matrix	float[NUMBER_OF_JOINT][NUMBER_OF_JOINT]		Mass matrix M(q)
944	solution_space	unsigned short		Robot configuration (solution space)
946	singularity	float		Minimum singular value
950	operation_speed_rate	float	[%]	Current speed ratio
954	joint_temperature	float[NUMBER_OF_JOINT]	[°C]	Joint temperature
978	controller_digital_input	unsigned short		Controller DI (16-channel)
980	controller_digital_output	unsigned short		Controller DO (16-channel)
982	controller_analog_input_type	unsigned char[2]		Controller AI type (0: voltage, 1: current)
984	controller_analog_input	float[2]	[V/mA]	Controller analog inputs
992	controller_analog_output_type	unsigned char[2]		Controller AO type (0: voltage, 1: current)
994	controller_analog_output	float[2]	[V/mA]	Controller analog outputs
1002	flange_digital_input	unsigned char		Flange DI (A-series: 2ch, M/H-series: 6ch)
1003	flange_digital_output	unsigned char		Flange DO (A-series: 2ch, M/H-series: 6ch)
1004	flange_analog_input	float[4]	[V/mA]	Flange analog input channels
1020	external_encoder_strobe_count	unsigned char[2]		Encoder strobe event count
1022	external_encoder_count	unsigned int[2]		External encoder pulse counts
1030	goal_joint_position	float[NUMBER_OF_JOINT]	[deg]	Reserved for final goal joint
1054	goal_tcp_position	float[NUM_TASK]	[mm, deg]	Reserved for final goal TCP
1078	robot_mode	unsigned char	0~2	Robot mode (0: Manual, 1: Auto, 2: Recovery)
1079	robot_state	unsigned char	0~9	Operation state (Standby, Moving, etc.)
1080	control_mode	unsigned short		Servo mode (Position, Torque)
1082	reserved	unsigned char[256]		Reserved bytes for future expansion

Total size: 1,024 bytes

Defined in: DRFS.h

typedef struct _RT_OUTPUT_DATA_LIST
{
/* timestamp at the data of data acquisition */
double                      time_stamp;
/* actual joint position from incremental encoder at motor side(used for control) [deg] */
float                       actual_joint_position[NUMBER_OF_JOINT];
/* actual joint position from absolute encoder at link side (used for exact link position) [deg] */
float                       actual_joint_position_abs[NUMBER_OF_JOINT];
/* actual joint velocity from incremental encoder at motor side [deg/s] */
float                       actual_joint_velocity[NUMBER_OF_JOINT];
/* actual joint velocity from absolute encoder at link side [deg/s] */
float                       actual_joint_velocity_abs[NUMBER_OF_JOINT];
/* actual robot tcp position w.r.t. base coordinates: (x, y, z, a, b, c), where (a, b, c) follows Euler ZYZ notation [mm, deg] */
float                       actual_tcp_position[NUM_TASK];
/* actual robot tcp velocity w.r.t. base coordinates [mm, deg/s] */
float                       actual_tcp_velocity[NUMBER_OF_TASK];
/* actual robot flange position w.r.t. base coordinates: (x, y, z, a, b, c), where (a, b, c) follows Euler ZYZ notation [mm, deg] */
float                       actual_flange_position[NUMBER_OF_TASK];
/* robot flange velocity w.r.t. base coordinates [mm, deg/s] */
float                       actual_flange_velocity[NUMBER_OF_TASK];
/* actual motor torque applying gear ratio = gear_ratio * current2torque_constant * motor current [Nm] */
float                       actual_motor_torque[NUMBER_OF_JOINT];
/* estimated joint torque by robot controller [Nm] */
float                       actual_joint_torque[NUMBER_OF_JOINT];
/* calibrated joint torque sensor data [Nm] */
float                       raw_joint_torque[NUMBER_OF_JOINT];
/* calibrated force torque sensor data w.r.t. flange coordinates [N, Nm] */
float                       raw_force_torque[NUMBER_OF_JOINT];
/* estimated external joint torque [Nm] */
float                       external_joint_torque[NUMBER_OF_JOINT];
/* estimated tcp force w.r.t. base coordinates [N, Nm] */
float                       external_tcp_force[NUMBER_OF_TASK];
/* target joint position [deg] */
float                       target_joint_position[NUMBER_OF_JOINT];
/* target joint velocity [deg/s] */
float                       target_joint_velocity[NUMBER_OF_JOINT];
/* target joint acceleration [deg/s^2] */
float                       target_joint_acceleration[NUMBER_OF_JOINT];
/* target motor torque [Nm] */
float                       target_motor_torque[NUMBER_OF_JOINT];
/* target tcp position w.r.t. base coordinates: (x, y, z, a, b, c), where (a, b, c) follows Euler ZYZ notation [mm, deg] */
float                       target_tcp_position[NUMBER_OF_TASK];
/* target tcp velocity w.r.t. base coordinates [mm, deg/s] */
float                       target_tcp_velocity[NUMBER_OF_TASK];
/* jacobian matrix=J(q) w.r.t. base coordinates */
float                       jacobian_matrix[NUMBER_OF_JOINT][NUMBER_OF_JOINT];
/* gravity torque=g(q) [Nm] */
float                       gravity_torque[NUMBER_OF_JOINT];
/* coriolis matrix=C(q,q_dot)  */
float                       coriolis_matrix[NUMBER_OF_JOINT][NUMBER_OF_JOINT];
/* mass matrix=M(q) */
float                       mass_matrix[NUMBER_OF_JOINT][NUMBER_OF_JOINT];
/* robot configuration */
unsigned short              solution_space;
/* minimum singular value */
float                       singularity;
/* current operation speed rate(1~100 %) */
float                       operation_speed_rate;
/* joint temperature(celsius) */
float                       joint_temperature[NUMBER_OF_JOINT];
/* controller digital input(16 channel) */
unsigned short              controller_digital_input;
/* controller digital output(16 channel) */
unsigned short              controller_digital_output;
/* controller analog input type(2 channel) */
unsigned char               controller_analog_input_type[2];
/* controller analog input(2 channel) */
float                       controller_analog_input[2];
/* controller analog output type(2 channel) */
unsigned char               controller_analog_output_type[2];
/* controller analog output(2 channel) */
float                       controller_analog_output[2];
/* flange digital input(A-Series: 2 channel, M/H-Series: 6 channel) */
unsigned char               flange_digital_input;
/* flange digital output(A-Series: 2 channel, M/H-Series: 6 channel) */
unsigned char               flange_digital_output;
/* flange analog input(A-Series: 2 channel, M/H-Series: 4 channel) */
float                       flange_analog_input[4];
/* strobe count(increased by 1 when detecting setting edge) */
unsigned char               external_encoder_strobe_count[2];
/* external encoder count */
unsigned int                external_encoder_count[2];
/* final goal joint position (reserved) */
float                       goal_joint_position[NUMBER_OF_JOINT];
/* final goal tcp position (reserved) */
float                       goal_tcp_position[NUMBER_OF_TASK];
/* ROBOT_MODE_MANUAL(0), ROBOT_MODE_AUTONOMOUS(1), SAFETY_MODE_RECOVERY(2)*/
/* Refer to 'SAFETY_MODE' struct*/
unsigned char               robot_mode;
/* STATE_INITIALIZING(0), STATE_STANDBY(1), STATE_MOVING(2), STATE_SAFE_OFF(3), STATE_TEACHING(4), STATE_SAFE_STOP(5), STATE_EMERGENCY_STOP, STATE_HOMMING, STATE_RECOVERY, STATE_SAFE_STOP2, STATE_SAFE_OFF2, */
/* Refer to 'OPERATION_STATE' struct in DRCF 'ROBOT_STATE' struct in DRFL.*/
unsigned char               robot_state;
/* position control mode, torque mode */
/* Refer to 'SERVO_MODE' struct*/
unsigned short              control_mode;
/* Reserved */
unsigned char               reserved[256];

} RT_OUTPUT_DATA_LIST, *LPRT_OUTPUT_DATA_LIST;

Note

• Provides all robot dynamic and sensor data in real-time.

• Used for external torque control, compliance, and RT logging.

• Transmitted at high frequency (default: 1 kHz) via UDP during Realtime Control.

• All positions and torques follow SI units (mm, deg, N, Nm).