RTDE Menu
Input Menu is the data for publishing, that is, the menu to push data to the server from the client. Output Menu is the data for subscribing, that is, the menu to push data to the client from the server.
R1 represents interaction with robot1, R2 represents interaction with robot2, and so on. Currently, only R1 is supported.
Input Menu
| Name | Data Type | Description |
|---|---|---|
| set_recipe | RtdeRecipe | Set |
| input_bit_registers0_to_31 | int | General purpose bits This range of the boolean input registers is reserved forFieldBus/PLC interface usage. |
| input_bit_registers32_to_63 | int | General purpose bits This range of the boolean input registers is reserved forFieldBus/PLC interface usage. |
| input_bit_registers64_to_127 | int64_t | 64 general purpose bits X: [64..127] - The upper range of the boolean input registers canbe used by external RTDE clients (i.e AUBOCAPS). |
| input_int_registers_0 | int | 48 general purpose integer registers X: [0..23] - The lower range of the integer input registers isreserved for FieldBus/PLC interface usage. X: [24..47] - Theupper range of the integer input registers can be used byexternal RTDE clients (i.e AUBOCAPS). |
| input_float_registers_0 | float | 48 general purpose integer registers X: [0..23] - The lower range of the integer input registers isreserved for FieldBus/PLC interface usage. X: [24..47] - Theupper range of the integer input registers can be used byexternal RTDE clients (i.e AUBOCAPS). |
| input_double_registers_0 | double | 48 general purpose double registersX: [0..23] - The lower range of the double input registers is reserved for FieldBus/PLC interface usage.X: [24..47] - The upper range of the double input registers can be used by external RTDE clients (i.e AUBOCAPS). |
| input_int16_registers_0 | double | |
| input_int16_registers0_to_63 | std::vector<double> | |
| R1_speed_slider_mask | double | 0 = don't change speed slider with this input = use speed_slider_fraction to set speed slider value |
| R1_speed_slider_fraction | double | new speed slider value |
| R1_standard_digital_output_mask | uint32_t | Standard digital outputs |
| R1_configurable_digital_output_mask | uint32_t | Configurable digital outputs |
| R1_standard_digital_output | uint32_t | Standard digital outputs |
| R1_configurable_digital_output | uint32_t | Configurable digital outputs |
| R1_tool_digital_output | uint32_t | Tool digital outputs its 0-1: output state, remaining bits are reserved for future use |
| R1_standard_analog_output_type | std::vector<int> | Output domain {0=current[A], 1=voltage[V]} Bits 0-1: standard_analog_output_0 standard_analog_output_1 |
| R1_standard_analog_output_mask | uint32_t | Standard analog output 0 (ratio) [0..1] |
| R1_standard_analog_output | std::vector<double> | Standard analog output 1 (ratio) [0..1] |
| R1_debug | uint32_t | Debug for internal use |
| R1_tool_digital_output_mask | uint32_t | Tool digital outputs mask |
| R1_rtde_input_max | int | |
| R2_speed_slider_mask | double | 0 = don't change speed slider with this input = use speed_slider_fraction to set speed slider value |
| R2_speed_slider_fraction | double | new speed slider value |
| R2_standard_digital_output_mask | uint32_t | Standard digital outputs |
| R2_configurable_digital_output_mask | uint32_t | Configurable digital outputs |
| R2_standard_digital_output | uint32_t | Standard digital outputs |
| R2_configurable_digital_output | uint32_t | Configurable digital outputs |
| R2_tool_digital_output | uint32_t | Tool digital outputs its 0-1: output state, remaining bits are reserved for future use |
| R2_standard_analog_output_type | std::vector<int> | Output domain {0=current[A], 1=voltage[V]} Bits 0-1: standard_analog_output_0 standard_analog_output_1 |
| R2_standard_analog_output_mask | uint32_t | Standard analog output 0 (ratio) [0..1] |
| R2_standard_analog_output | std::vector<double> | Standard analog output 1 (ratio) [0..1] |
| R2_debug | uint32_t | Debug for internal use |
| R2_tool_digital_output_mask | uint32_t | Tool digital outputs mask |
| R2_rtde_input_max | int | |
| R3_speed_slider_mask | double | 0 = don't change speed slider with this input = use speed_slider_fraction to set speed slider value |
| R3_speed_slider_fraction | double | new speed slider value |
| R3_standard_digital_output_mask | uint32_t | Standard digital outputs |
| R3_configurable_digital_output_mask | uint32_t | Configurable digital outputs |
| R3_standard_digital_output | uint32_t | Standard digital outputs |
| R3_configurable_digital_output | uint32_t | Configurable digital outputs |
| R3_tool_digital_output | uint32_t | Tool digital outputs its 0-1: output state, remaining bits are reserved for future use |
| R3_standard_analog_output_type | std::vector<int> | Output domain {0=current[A], 1=voltage[V]} Bits 0-1: standard_analog_output_0 standard_analog_output_1 |
| R3_standard_analog_output_mask | uint32_t | Standard analog output 0 (ratio) [0..1] |
| R3_standard_analog_output | std::vector<double> | Standard analog output 1 (ratio) [0..1] |
| R3_debug | uint32_t | Debug for internal use |
| R3_tool_digital_output_mask | uint32_t | Tool digital outputs mask |
| R3_rtde_input_max | int | |
| R4_speed_slider_mask | double | 0 = don't change speed slider with this input = use speed_slider_fraction to set speed slider value |
| R4_speed_slider_fraction | double | new speed slider value |
| R4_standard_digital_output_mask | uint32_t | Standard digital outputs |
| R4_configurable_digital_output_mask | uint32_t | Configurable digital outputs |
| R4_standard_digital_output | uint32_t | Standard digital outputs |
| R4_configurable_digital_output | uint32_t | Configurable digital outputs |
| R4_tool_digital_output | uint32_t | Tool digital outputs its 0-1: output state, remaining bits are reserved for future use |
| R4_standard_analog_output_type | std::vector<int> | Output domain {0=current[A], 1=voltage[V]} Bits 0-1: standard_analog_output_0 standard_analog_output_1 |
| R4_standard_analog_output_mask | uint32_t | Standard analog output 0 (ratio) [0..1] |
| R4_standard_analog_output | std::vector<double> | Standard analog output 1 (ratio) [0..1] |
| R4_debug | uint32_t | Debug for internal use |
| R4_tool_digital_output_mask | uint32_t | Tool digital outputs mask |
| R4_rtde_input_max | int |
Output Menu
| Name | Data Type | Description |
|---|---|---|
| timestamp | double | Time elapsed since the controller was started [s] |
| line_number | int | line number set by setPlanContext |
| runtime_state | RuntimeState | Program state |
| output_bit_registers_0_to_63 | int64_t | 64 [000..063] General purpose bits |
| output_bit_registers_64_to_127 | int64_t | 64 [064..127] general purpose bits |
| output_int_registers_0 | int | 48 general purpose integer registersX: [0..23] - The lower range of the integer output registers isreserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the integer output registers can be used by external RTDE clients (i.e AUBOCAPS). |
| output_float_registers_0 | int | 48 general purpose integer registersX: [0..23] - The lower range of the integer output registers isreserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the integer output registers can be used by external RTDE clients (i.e AUBOCAPS). |
| output_double_registers_0 | double | 48 general purpose double registersX: [0..23] - The lower range of the double output registers isreserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the double output registers can be used by external RTDE clients (i.e AUBOCAPS). |
| input_bit_registers_r0_to_63 | int64_t | [0..63] General purpose bits This range of the boolean outputregisters is reserved for FieldBus/PLC interface usage. |
| input_bit_registers_r64_to_127 | int64_t | 64 [64..127] general purpose bits |
| input_int_registers_r0 | int | ([0 .. 48]) 48 general purpose integer registersX: [0..23] - The lower range of the integer input registers isreserved for FieldBus/PLC interface usage. X: [24..47] - Theupper range of the integer input registers can be used byexternal RTDE clients (i.e AUBOCAPS). |
| input_float_registers_r0 | int | ([0 .. 48]) 48 general purpose integer registersX: [0..23] - The lower range of the integer input registers isreserved for FieldBus/PLC interface usage. X: [24..47] - Theupper range of the integer input registers can be used byexternal RTDE clients (i.e AUBOCAPS). |
| input_double_registers_r0 | double | ([0 .. 48]) 48 general purpose double registersX: [0..23] - The lower range of the double input registers isreserved for FieldBus/PLC interface usage. X: [24..47] - Theupper range of the double input registers can be used byexternal RTDE clients (i.e AUBOCAPS). |
| modbus_signals | std::vector<int> | Modbus signals from connected modbus slaves |
| modbus_signals_errors | std::vector<int> | Modbus signals request status from connected modbus slaves |
| input_int16_registers_r0 | int16_t | input_int16_registers_r0 |
| input_int16_registers_0_to_63 | std::vector<int16_t> | |
| runtime_context | std::vector<int> | |
| R1_message | RobotMsg | Robot message from controller |
| R1_target_q | std::vector<double> | Target joint positions |
| R1_target_qd | std::vector<double> | Target joint velocities |
| R1_target_qdd | std::vector<double> | Target joint accelerations |
| R1_target_current | std::vector<double> | Target joint currents |
| R1_target_moment | std::vector<double> | Target joint moments (torques) |
| R1_actual_q | std::vector<double> | Actual joint positions |
| R1_actual_qd | std::vector<double> | Actual joint velocities |
| R1_actual_current | std::vector<double> | Actual joint currents |
| R1_joint_control_output | std::vector<double> | Joint control currents |
| R1_joint_temperatures | std::vector<double> | Temperature of each joint in degrees Celsius |
| R1_actual_joint_voltage | std::vector<double> | Actual joint voltages |
| R1_joint_mode | std::vector<JointStateType> | Joint control modes Please see Remote Control Via TCP/IP - 16496 |
| R1_actual_execution_time | double | Controller real-time thread execution time |
| R1_robot_mode | RobotModeType | Robot mode Please see Remote Control Via TCP/IP - 16496 |
| R1_safety_mode | SafetyModeType | Safety mode Please see Remote Control Via TCP/IP - 16496 |
| R1_safety_status | unknown | Safety ststus |
| R1_robot_status_bits | unknown | Bits 0-3 0: Is power on 1: Is program running 2: Isteach button pressed 3: Is power button pressed |
| R1_safety_status_bits | unknown | Bits 0-10 0: Is normal mode 1: Is reduced mode 2: Is protectivestopped 3: Is recovery mode 4: Is safeguard stopped 5: Is systememergency stopped 6: Is robot emergency stopped 7: Is emergencystopped 8: Is violation 9: Is fault 10: Is stopped due to safety |
| R1_speed_scaling | double | Speed scaling of the trajectory limiter |
| R1_target_speed_fraction | double | Target speed fraction |
| R1_actual_TCP_pose | std::vector<double> | Actual Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R1_actual_TCP_speed | std::vector<double> | Actual speed of the tool given in Cartesian coordinates |
| R1_actual_TCP_force | std::vector<double> | Generalized forces in the TCP |
| R1_target_TCP_pose | std::vector<double> | Target Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R1_target_TCP_speed | std::vector<double> | Target speed of the tool given in Cartesian coordinates |
| R1_elbow_position | std::vector<double> | Position of robot elbow in Cartesian Base Coordinates |
| R1_elbow_velocity | std::vector<double> | Velocity of robot elbow in Cartesian Base Coordinates |
| R1_actual_momentum | std::vector<double> | Norm of Cartesian linear momentum |
| R1_tcp_force_scalar | std::vector<double> | TCP force scalar [N] |
| R1_future_path_points | std::vector<std::vector<double>> | Get future path points joint |
| R1_actual_main_voltage | unknown | Safety Control Board: Main voltage |
| R1_actual_robot_voltage | unknown | Safety Control Board: Robot voltage (48V) |
| R1_actual_robot_current | unknown | Safety Control Board: Robot current |
| R1_joint_torque_sensor | std::vector<double> | Joint torque sensor |
| R1_operationalModeSelectorInput | OperationalModeType | Current state of the operational mode selector input |
| R1_threePositionEnablingDeviceInput | unknown | |
| R1_masterboard_temperature | unknown | |
| R1_standard_digital_input_bits | uint64_t | Current state of the standard digital inputs. |
| R1_tool_digital_input_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R1_configurable_digital_input_bits | uint64_t | Current state of the safety inputs. |
| R1_link_digital_input_bits | uint64_t | Current state of the link digital inputs. |
| R1_standard_digital_output_bits | uint64_t | Current state of the standard digital outputs. |
| R1_tool_digital_output_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R1_configurable_digital_output_bits | uint64_t | Current state of the safety outputs. |
| R1_link_digital_output_bits | uint64_t | Current state of the link digital outputs. |
| R1_standard_analog_input_values | std::vector<double> | Current values of the standard analog inputs. |
| R1_tool_analog_input_values | std::vector<double> | Current values of the tool analog inputs. |
| R1_standard_analog_output_values | std::vector<double> | Current values of the standard analog outputs. |
| R1_tool_analog_output_values | std::vector<double> | Current values of the tool analog outputs. |
| R1_is_simulation_enabled | bool | |
| R1_collision_level | int | |
| R1_master_io_current | unknown | I/O current [A] |
| R1_euromap67_input_bits | unknown | Euromap67 input bits |
| R1_euromap67_output_bits | unknown | Euromap67 output bits |
| R1_euromap67_24V_voltage | unknown | Euromap 24V voltage [V] |
| R1_euromap67_24V_current | unknown | Euromap 24V current [A] |
| R1_tool_mode | unknown | Tool mode Please see Remote Control Via TCP/IP - 16496 |
| R1_tool_output_mode | unknown | The current output mode |
| R1_tool_output_voltage | unknown | Tool output voltage [V] |
| R1_tool_output_current | unknown | Tool current [A] |
| R1_tool_voltage_48V | unknown | |
| R1_tool_current | unknown | |
| R1_tool_temperature | unknown | Tool temperature in degrees Celsius |
| R1_actual_tool_accelerometer | unknown | Tool x, y and z accelerometer values |
| R1_motion_progress | unknown | Trajectory running progress |
| R1_actual_qdd | unknown | Actual joint accelerations |
| R1_controlbox_humidity | double | Controbox humidity |
| R1_actual_tool_pose | std::vector<double> | Actual Cartesian coordinates of the tool(without TCP) |
| R1_rtde_output_max | int | |
| R1_actual_TCP_force_sensor | std::vector<double> | TCP force sensor |
| R1_fc_cond_fullfiled | bool | |
| R1_actual_payload | Payload | Actual payload |
| R1_tool_button_status | bool | Tool button status |
| R2_message | RobotMsg | Robot message from controller |
| R2_target_q | std::vector<double> | Target joint positions |
| R2_target_qd | std::vector<double> | Target joint velocities |
| R2_target_qdd | std::vector<double> | Target joint accelerations |
| R2_target_current | std::vector<double> | Target joint currents |
| R2_target_moment | std::vector<double> | Target joint moments (torques) |
| R2_actual_q | std::vector<double> | Actual joint positions |
| R2_actual_qd | std::vector<double> | Actual joint velocities |
| R2_actual_current | std::vector<double> | Actual joint currents |
| R2_joint_control_output | std::vector<double> | Joint control currents |
| R2_joint_temperatures | std::vector<double> | Temperature of each joint in degrees Celsius |
| R2_actual_joint_voltage | std::vector<double> | Actual joint voltages |
| R2_joint_mode | std::vector<JointStateType> | Joint control modes Please see Remote Control Via TCP/IP - 16496 |
| R2_actual_execution_time | double | Controller real-time thread execution time |
| R2_robot_mode | RobotModeType | Robot mode Please see Remote Control Via TCP/IP - 16496 |
| R2_safety_mode | SafetyModeType | Safety mode Please see Remote Control Via TCP/IP - 16496 |
| R2_safety_status | unknown | Safety ststus |
| R2_robot_status_bits | unknown | Bits 0-3 0: Is power on 1: Is program running 2: Isteach button pressed 3: Is power button pressed |
| R2_safety_status_bits | unknown | Bits 0-10 0: Is normal mode 1: Is reduced mode 2: Is protectivestopped 3: Is recovery mode 4: Is safeguard stopped 5: Is systememergency stopped 6: Is robot emergency stopped 7: Is emergencystopped 8: Is violation 9: Is fault 10: Is stopped due to safety |
| R2_speed_scaling | double | Speed scaling of the trajectory limiter |
| R2_target_speed_fraction | double | Target speed fraction |
| R2_actual_TCP_pose | std::vector<double> | Actual Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R2_actual_TCP_speed | std::vector<double> | Actual speed of the tool given in Cartesian coordinates |
| R2_actual_TCP_force | std::vector<double> | Generalized forces in the TCP |
| R2_target_TCP_pose | std::vector<double> | Target Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R2_target_TCP_speed | std::vector<double> | Target speed of the tool given in Cartesian coordinates |
| R2_elbow_position | std::vector<double> | Position of robot elbow in Cartesian Base Coordinates |
| R2_elbow_velocity | std::vector<double> | Velocity of robot elbow in Cartesian Base Coordinates |
| R2_actual_momentum | std::vector<double> | Norm of Cartesian linear momentum |
| R2_tcp_force_scalar | std::vector<double> | TCP force scalar [N] |
| R2_future_path_points | std::vector<std::vector<double>> | Get future path points joint |
| R2_actual_main_voltage | unknown | Safety Control Board: Main voltage |
| R2_actual_robot_voltage | unknown | Safety Control Board: Robot voltage (48V) |
| R2_actual_robot_current | unknown | Safety Control Board: Robot current |
| R2_joint_torque_sensor | std::vector<double> | Joint torque sensor |
| R2_operationalModeSelectorInput | OperationalModeType | Current state of the operational mode selector input |
| R2_threePositionEnablingDeviceInput | unknown | |
| R2_masterboard_temperature | unknown | |
| R2_standard_digital_input_bits | uint64_t | Current state of the standard digital inputs. |
| R2_tool_digital_input_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R2_configurable_digital_input_bits | uint64_t | Current state of the safety inputs. |
| R2_link_digital_input_bits | uint64_t | Current state of the link digital inputs. |
| R2_standard_digital_output_bits | uint64_t | Current state of the standard digital outputs. |
| R2_tool_digital_output_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R2_configurable_digital_output_bits | uint64_t | Current state of the safety outputs. |
| R2_link_digital_output_bits | uint64_t | Current state of the link digital outputs. |
| R2_standard_analog_input_values | std::vector<double> | Current values of the standard analog inputs. |
| R2_tool_analog_input_values | std::vector<double> | Current values of the tool analog inputs. |
| R2_standard_analog_output_values | std::vector<double> | Current values of the standard analog outputs. |
| R2_tool_analog_output_values | std::vector<double> | Current values of the tool analog outputs. |
| R2_is_simulation_enabled | bool | |
| R2_collision_level | int | |
| R2_master_io_current | unknown | I/O current [A] |
| R2_euromap67_input_bits | unknown | Euromap67 input bits |
| R2_euromap67_output_bits | unknown | Euromap67 output bits |
| R2_euromap67_24V_voltage | unknown | Euromap 24V voltage [V] |
| R2_euromap67_24V_current | unknown | Euromap 24V current [A] |
| R2_tool_mode | unknown | Tool mode Please see Remote Control Via TCP/IP - 16496 |
| R2_tool_output_mode | unknown | The current output mode |
| R2_tool_output_voltage | unknown | Tool output voltage [V] |
| R2_tool_output_current | unknown | Tool current [A] |
| R2_tool_voltage_48V | unknown | |
| R2_tool_current | unknown | |
| R2_tool_temperature | unknown | Tool temperature in degrees Celsius |
| R2_actual_tool_accelerometer | unknown | Tool x, y and z accelerometer values |
| R2_motion_progress | unknown | Trajectory running progress |
| R2_actual_qdd | unknown | Actual joint accelerations |
| R2_controlbox_humidity | double | Controbox humidity |
| R2_actual_tool_pose | std::vector<double> | Actual Cartesian coordinates of the tool(without TCP) |
| R2_rtde_output_max | int | |
| R2_actual_TCP_force_sensor | std::vector<double> | TCP force sensor |
| R2_fc_cond_fullfiled | bool | |
| R2_actual_payload | Payload | Actual payload |
| R2_tool_button_status | bool | Tool button status |
| R3_message | RobotMsg | Robot message from controller |
| R3_target_q | std::vector<double> | Target joint positions |
| R3_target_qd | std::vector<double> | Target joint velocities |
| R3_target_qdd | std::vector<double> | Target joint accelerations |
| R3_target_current | std::vector<double> | Target joint currents |
| R3_target_moment | std::vector<double> | Target joint moments (torques) |
| R3_actual_q | std::vector<double> | Actual joint positions |
| R3_actual_qd | std::vector<double> | Actual joint velocities |
| R3_actual_current | std::vector<double> | Actual joint currents |
| R3_joint_control_output | std::vector<double> | Joint control currents |
| R3_joint_temperatures | std::vector<double> | Temperature of each joint in degrees Celsius |
| R3_actual_joint_voltage | std::vector<double> | Actual joint voltages |
| R3_joint_mode | std::vector<JointStateType> | Joint control modes Please see Remote Control Via TCP/IP - 16496 |
| R3_actual_execution_time | double | Controller real-time thread execution time |
| R3_robot_mode | RobotModeType | Robot mode Please see Remote Control Via TCP/IP - 16496 |
| R3_safety_mode | SafetyModeType | Safety mode Please see Remote Control Via TCP/IP - 16496 |
| R3_safety_status | unknown | Safety ststus |
| R3_robot_status_bits | unknown | Bits 0-3 0: Is power on 1: Is program running 2: Isteach button pressed 3: Is power button pressed |
| R3_safety_status_bits | unknown | Bits 0-10 0: Is normal mode 1: Is reduced mode 2: Is protectivestopped 3: Is recovery mode 4: Is safeguard stopped 5: Is systememergency stopped 6: Is robot emergency stopped 7: Is emergencystopped 8: Is violation 9: Is fault 10: Is stopped due to safety |
| R3_speed_scaling | double | Speed scaling of the trajectory limiter |
| R3_target_speed_fraction | double | Target speed fraction |
| R3_actual_TCP_pose | std::vector<double> | Actual Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R3_actual_TCP_speed | std::vector<double> | Actual speed of the tool given in Cartesian coordinates |
| R3_actual_TCP_force | std::vector<double> | Generalized forces in the TCP |
| R3_target_TCP_pose | std::vector<double> | Target Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R3_target_TCP_speed | std::vector<double> | Target speed of the tool given in Cartesian coordinates |
| R3_elbow_position | std::vector<double> | Position of robot elbow in Cartesian Base Coordinates |
| R3_elbow_velocity | std::vector<double> | Velocity of robot elbow in Cartesian Base Coordinates |
| R3_actual_momentum | std::vector<double> | Norm of Cartesian linear momentum |
| R3_tcp_force_scalar | std::vector<double> | TCP force scalar [N] |
| R3_future_path_points | std::vector<std::vector<double>> | Get future path points joint |
| R3_actual_main_voltage | unknown | Safety Control Board: Main voltage |
| R3_actual_robot_voltage | unknown | Safety Control Board: Robot voltage (48V) |
| R3_actual_robot_current | unknown | Safety Control Board: Robot current |
| R3_joint_torque_sensor | std::vector<double> | Joint torque sensor |
| R3_operationalModeSelectorInput | OperationalModeType | Current state of the operational mode selector input |
| R3_threePositionEnablingDeviceInput | unknown | |
| R3_masterboard_temperature | unknown | |
| R3_standard_digital_input_bits | uint64_t | Current state of the standard digital inputs. |
| R3_tool_digital_input_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R3_configurable_digital_input_bits | uint64_t | Current state of the safety inputs. |
| R3_link_digital_input_bits | uint64_t | Current state of the link digital inputs. |
| R3_standard_digital_output_bits | uint64_t | Current state of the standard digital outputs. |
| R3_tool_digital_output_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R3_configurable_digital_output_bits | uint64_t | Current state of the safety outputs. |
| R3_link_digital_output_bits | uint64_t | Current state of the link digital outputs. |
| R3_standard_analog_input_values | std::vector<double> | Current values of the standard analog inputs. |
| R3_tool_analog_input_values | std::vector<double> | Current values of the tool analog inputs. |
| R3_standard_analog_output_values | std::vector<double> | Current values of the standard analog outputs. |
| R3_tool_analog_output_values | std::vector<double> | Current values of the tool analog outputs. |
| R3_is_simulation_enabled | bool | |
| R3_collision_level | int | |
| R3_master_io_current | unknown | I/O current [A] |
| R3_euromap67_input_bits | unknown | Euromap67 input bits |
| R3_euromap67_output_bits | unknown | Euromap67 output bits |
| R3_euromap67_24V_voltage | unknown | Euromap 24V voltage [V] |
| R3_euromap67_24V_current | unknown | Euromap 24V current [A] |
| R3_tool_mode | unknown | Tool mode Please see Remote Control Via TCP/IP - 16496 |
| R3_tool_output_mode | unknown | The current output mode |
| R3_tool_output_voltage | unknown | Tool output voltage [V] |
| R3_tool_output_current | unknown | Tool current [A] |
| R3_tool_voltage_48V | unknown | |
| R3_tool_current | unknown | |
| R3_tool_temperature | unknown | Tool temperature in degrees Celsius |
| R3_actual_tool_accelerometer | unknown | Tool x, y and z accelerometer values |
| R3_motion_progress | unknown | Trajectory running progress |
| R3_actual_qdd | unknown | Actual joint accelerations |
| R3_controlbox_humidity | double | Controbox humidity |
| R3_actual_tool_pose | std::vector<double> | Actual Cartesian coordinates of the tool(without TCP) |
| R3_rtde_output_max | int | |
| R3_actual_TCP_force_sensor | std::vector<double> | TCP force sensor |
| R3_fc_cond_fullfiled | bool | |
| R3_actual_payload | Payload | Actual payload |
| R3_tool_button_status | bool | Tool button status |
| R4_message | RobotMsg | Robot message from controller |
| R4_target_q | std::vector<double> | Target joint positions |
| R4_target_qd | std::vector<double> | Target joint velocities |
| R4_target_qdd | std::vector<double> | Target joint accelerations |
| R4_target_current | std::vector<double> | Target joint currents |
| R4_target_moment | std::vector<double> | Target joint moments (torques) |
| R4_actual_q | std::vector<double> | Actual joint positions |
| R4_actual_qd | std::vector<double> | Actual joint velocities |
| R4_actual_current | std::vector<double> | Actual joint currents |
| R4_joint_control_output | std::vector<double> | Joint control currents |
| R4_joint_temperatures | std::vector<double> | Temperature of each joint in degrees Celsius |
| R4_actual_joint_voltage | std::vector<double> | Actual joint voltages |
| R4_joint_mode | std::vector<JointStateType> | Joint control modes Please see Remote Control Via TCP/IP - 16496 |
| R4_actual_execution_time | double | Controller real-time thread execution time |
| R4_robot_mode | RobotModeType | Robot mode Please see Remote Control Via TCP/IP - 16496 |
| R4_safety_mode | SafetyModeType | Safety mode Please see Remote Control Via TCP/IP - 16496 |
| R4_safety_status | unknown | Safety ststus |
| R4_robot_status_bits | unknown | Bits 0-3 0: Is power on 1: Is program running 2: Isteach button pressed 3: Is power button pressed |
| R4_safety_status_bits | unknown | Bits 0-10 0: Is normal mode 1: Is reduced mode 2: Is protectivestopped 3: Is recovery mode 4: Is safeguard stopped 5: Is systememergency stopped 6: Is robot emergency stopped 7: Is emergencystopped 8: Is violation 9: Is fault 10: Is stopped due to safety |
| R4_speed_scaling | double | Speed scaling of the trajectory limiter |
| R4_target_speed_fraction | double | Target speed fraction |
| R4_actual_TCP_pose | std::vector<double> | Actual Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R4_actual_TCP_speed | std::vector<double> | Actual speed of the tool given in Cartesian coordinates |
| R4_actual_TCP_force | std::vector<double> | Generalized forces in the TCP |
| R4_target_TCP_pose | std::vector<double> | Target Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation |
| R4_target_TCP_speed | std::vector<double> | Target speed of the tool given in Cartesian coordinates |
| R4_elbow_position | std::vector<double> | Position of robot elbow in Cartesian Base Coordinates |
| R4_elbow_velocity | std::vector<double> | Velocity of robot elbow in Cartesian Base Coordinates |
| R4_actual_momentum | std::vector<double> | Norm of Cartesian linear momentum |
| R4_tcp_force_scalar | std::vector<double> | TCP force scalar [N] |
| R4_future_path_points | std::vector<std::vector<double>> | Get future path points joint |
| R4_actual_main_voltage | unknown | Safety Control Board: Main voltage |
| R4_actual_robot_voltage | unknown | Safety Control Board: Robot voltage (48V) |
| R4_actual_robot_current | unknown | Safety Control Board: Robot current |
| R4_joint_torque_sensor | std::vector<double> | Joint torque sensor |
| R4_operationalModeSelectorInput | OperationalModeType | Current state of the operational mode selector input |
| R4_threePositionEnablingDeviceInput | unknown | |
| R4_masterboard_temperature | unknown | |
| R4_standard_digital_input_bits | uint64_t | Current state of the standard digital inputs. |
| R4_tool_digital_input_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R4_configurable_digital_input_bits | uint64_t | Current state of the safety inputs. |
| R4_link_digital_input_bits | uint64_t | Current state of the link digital inputs. |
| R4_standard_digital_output_bits | uint64_t | Current state of the standard digital outputs. |
| R4_tool_digital_output_bits | uint64_t | Current state of the tool digital inputs and outputs. |
| R4_configurable_digital_output_bits | uint64_t | Current state of the safety outputs. |
| R4_link_digital_output_bits | uint64_t | Current state of the link digital outputs. |
| R4_standard_analog_input_values | std::vector<double> | Current values of the standard analog inputs. |
| R4_tool_analog_input_values | std::vector<double> | Current values of the tool analog inputs. |
| R4_standard_analog_output_values | std::vector<double> | Current values of the standard analog outputs. |
| R4_tool_analog_output_values | std::vector<double> | Current values of the tool analog outputs. |
| R4_is_simulation_enabled | bool | |
| R4_collision_level | int | |
| R4_master_io_current | unknown | I/O current [A] |
| R4_euromap67_input_bits | unknown | Euromap67 input bits |
| R4_euromap67_output_bits | unknown | Euromap67 output bits |
| R4_euromap67_24V_voltage | unknown | Euromap 24V voltage [V] |
| R4_euromap67_24V_current | unknown | Euromap 24V current [A] |
| R4_tool_mode | unknown | Tool mode Please see Remote Control Via TCP/IP - 16496 |
| R4_tool_output_mode | unknown | The current output mode |
| R4_tool_output_voltage | unknown | Tool output voltage [V] |
| R4_tool_output_current | unknown | Tool current [A] |
| R4_tool_voltage_48V | unknown | |
| R4_tool_current | unknown | |
| R4_tool_temperature | unknown | Tool temperature in degrees Celsius |
| R4_actual_tool_accelerometer | unknown | Tool x, y and z accelerometer values |
| R4_motion_progress | unknown | Trajectory running progress |
| R4_actual_qdd | unknown | Actual joint accelerations |
| R4_controlbox_humidity | double | Controbox humidity |
| R4_actual_tool_pose | std::vector<double> | Actual Cartesian coordinates of the tool(without TCP) |
| R4_rtde_output_max | int | |
| R4_actual_TCP_force_sensor | std::vector<double> | TCP force sensor |
| R4_fc_cond_fullfiled | bool | |
| R4_actual_payload | Payload | Actual payload |
| R4_tool_button_status | bool | Tool button status |