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[NUMBER_OF_TASK]	[mm/s, deg/s]	TCP velocity (in base coordinates)
152	actual_flange_position	float[NUMBER_OF_TASK]	[mm, deg]	Flange position (in base coordinates)
176	actual_flange_velocity	float[NUMBER_OF_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). Six task-space values: Fx, Fy, Fz, Tx, Ty, Tz. A-series only, the models fitted with a force/torque sensor. On other models this field is zero. The two fields are mutually exclusive: where this one is populated raw_joint_torque is zero, and where it is zero raw_joint_torque carries the joint torque sensor readings.
296	external_joint_torque	float[NUMBER_OF_JOINT]	[Nm]	Estimated external torque per joint
320	external_tcp_force	float[NUMBER_OF_TASK]	[N, Nm]	External TCP force (in base coordinates). On robots without a force/torque sensor this is estimated from joint torque rather than measured, and its validity depends on singularity. See Force estimate validity below.
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[NUMBER_OF_TASK]	[mm, deg]	Target TCP position
464	target_tcp_velocity	float[NUMBER_OF_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 of the Jacobian. Lower values mean the configuration is closer to singular. This is the same value the controller uses to decide whether external_tcp_force is still valid. See Force estimate validity below.
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 (A-series: 2ch, M/H-series: 4ch)
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[NUMBER_OF_TASK]	[mm, deg]	Reserved for final goal TCP
1078	robot_mode	unsigned char	0~5	Robot mode (0: Manual, 1: Auto, 2: Recovery, 3: Backdrive, 4: Measure, 5: Initialize)
1079	robot_state	unsigned char	0~15	Operation state (Standby, Moving, etc.) 0 to 10 are defined states, 11 to 14 are reserved, and 15 is Not Ready.
1080	control_mode	unsigned short		Servo mode (Position, Torque)
1082	reserved	unsigned char[256]		Reserved bytes for future expansion

Total size: 1,338 bytes

Force estimate validity

On robots without a force/torque sensor, external_tcp_force is estimated from joint torque. singularity tells you whether that estimate can be trusted. It is valid at or above the threshold for the robot model:

Model	Threshold
A0509 / E0509 / M0609 / M1509	0.138
M1013 / A0912	0.200
H2515	0.231
M0617 / H2017 / P3020	0.262

Below the threshold the estimate is degraded. Values are still produced, but they must not be treated as a measurement. Log singularity alongside external_tcp_force and treat the model threshold as the working limit.

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), ROBOT_MODE_RECOVERY(2),
   ROBOT_MODE_BACKDRIVE(3), ROBOT_MODE_MEASURE(4), ROBOT_MODE_INITIALIZE(5) */
/* 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 over UDP during Realtime Control at the period given to set_rt_control_output. There is no default: until a period is set, no data is sent.

• Units are mm, deg, N and Nm. Note that lengths are millimetres and angles degrees, not the SI metre and radian.