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- package at.acdp.urweb.rtde;
- public class OutParams {
- public static final String timestamp ="timestamp"; // DOUBLE Time elapsed since the controller was started [s]
- public static final String target_q ="target_q"; // VECTOR6D Target joint positions
- public static final String target_qd ="target_qd"; // VECTOR6D Target joint velocities
- public static final String target_qdd ="target_qdd"; // VECTOR6D Target joint accelerations
- public static final String target_current ="target_current"; // VECTOR6D Target joint currents
- public static final String target_moment ="target_moment"; // VECTOR6D Target joint moments (torques)
- public static final String actual_q ="actual_q"; // VECTOR6D Actual joint positions
- public static final String actual_qd ="actual_qd"; // VECTOR6D Actual joint velocities
- public static final String actual_current ="actual_current"; // VECTOR6D Actual joint currents
- public static final String joint_control_output ="joint_control_output"; // VECTOR6D Joint control currents
- public static final String actual_TCP_pose ="actual_TCP_pose"; // VECTOR6D Actual Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation
- public static final String actual_TCP_speed ="actual_TCP_speed"; // VECTOR6D Actual speed of the tool given in Cartesian coordinates
- public static final String actual_TCP_force ="actual_TCP_force"; // VECTOR6D Generalized forces in the TCP
- public static final String target_TCP_pose ="target_TCP_pose"; // VECTOR6D Target Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation
- public static final String target_TCP_speed ="target_TCP_speed"; // VECTOR6D Target speed of the tool given in Cartesian coordinates
- public static final String actual_digital_input_bits ="actual_digital_input_bits"; // UINT64 Current state of the digital inputs. 0-7: Standard, 8-15: Configurable, 16-17: Tool
- public static final String joint_temperatures ="joint_temperatures"; // VECTOR6D Temperature of each joint in degrees Celsius
- public static final String actual_execution_time ="actual_execution_time"; // DOUBLE Controller real-time thread execution time
- public static final String robot_mode ="robot_mode"; // INT32 Robot mode
- public static final String joint_mode ="joint_mode"; // VECTOR6INT32 Joint control modes
- public static final String safety_mode ="safety_mode"; // INT32 Safety mode
- public static final String safety_status ="safety_status"; // INT32 Safety ststus
- public static final String actual_tool_accelerometer ="actual_tool_accelerometer"; // VECTOR3D Tool x, y and z accelerometer values
- public static final String speed_scaling ="speed_scaling"; // DOUBLE Speed scaling of the trajectory limiter
- public static final String target_speed_fraction ="target_speed_fraction"; // DOUBLE Target speed fraction
- public static final String actual_momentum ="actual_momentum"; // DOUBLE Norm of Cartesian linear momentum
- public static final String actual_main_voltage ="actual_main_voltage"; // DOUBLE Safety Control Board: Main voltage
- public static final String actual_robot_voltage ="actual_robot_voltage"; // DOUBLE Safety Control Board: Robot voltage (48V)
- public static final String actual_robot_current ="actual_robot_current"; // DOUBLE Safety Control Board: Robot current
- public static final String actual_joint_voltage ="actual_joint_voltage"; // VECTOR6D Actual joint voltages
- public static final String actual_digital_output_bits ="actual_digital_output_bits"; // UINT64 Current state of the digital outputs. 0-7: Standard, 8-15: Configurable, 16-17: Tool
- public static final String runtime_state ="runtime_state"; // UINT32 Program state
- public static final String elbow_position ="elbow_position"; // VECTOR3D Position of robot elbow in Cartesian Base Coordinates
- public static final String elbow_velocity ="elbow_velocity"; // VECTOR3D Velocity of robot elbow in Cartesian Base Coordinates
- public static final String robot_status_bits ="robot_status_bits"; // UINT32 Bits 0-3: Is power on | Is program running | Is teach button pressed | Is power button pressed
- public static final String safety_status_bits ="safety_status_bits"; // UINT32 Bits 0-10: Is normal mode | Is reduced mode | | Is protective stopped | Is recovery mode | Is safeguard stopped | Is system emergency stopped | Is robot emergency stopped | Is emergency stopped | Is violation | Is fault | Is stopped due to safety
- public static final String analog_io_types ="analog_io_types"; // UINT32
- }
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