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uraxisdaemon
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uraxisdaemon
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src
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main
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java
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at
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acdp
/
urweb
/
rtde
/
OutParams.java

OutParams.java 4.6 KB
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  1. package at.acdp.urweb.rtde;
    2. 

  2. 

  3. public class OutParams {
    4. 

  4.     public static final String	timestamp	="timestamp"; //	DOUBLE	Time elapsed since the controller was started [s]
    5. 

  5.     public static final String	target_q	="target_q"; //	VECTOR6D	Target joint positions
    6. 

  6.     public static final String	target_qd	="target_qd"; //	VECTOR6D	Target joint velocities
    7. 

  7.     public static final String	target_qdd	="target_qdd"; //	VECTOR6D	Target joint accelerations
    8. 

  8.     public static final String	target_current	="target_current"; //	VECTOR6D	Target joint currents
    9. 

  9.     public static final String	target_moment	="target_moment"; //	VECTOR6D	Target joint moments (torques)
    10. 

  10.     public static final String	actual_q	="actual_q"; //	VECTOR6D	Actual joint positions
    11. 

  11.     public static final String	actual_qd	="actual_qd"; //	VECTOR6D	Actual joint velocities
    12. 

  12.     public static final String	actual_current	="actual_current"; //	VECTOR6D	Actual joint currents
    13. 

  13.     public static final String	joint_control_output	="joint_control_output"; //	VECTOR6D	Joint control currents
    14. 

  14.     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
    15. 

  15.     public static final String	actual_TCP_speed	="actual_TCP_speed"; //	VECTOR6D	Actual speed of the tool given in Cartesian coordinates
    16. 

  16.     public static final String	actual_TCP_force	="actual_TCP_force"; //	VECTOR6D	Generalized forces in the TCP
    17. 

  17.     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
    18. 

  18.     public static final String	target_TCP_speed	="target_TCP_speed"; //	VECTOR6D	Target speed of the tool given in Cartesian coordinates
    19. 

  19.     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
    20. 

  20.     public static final String	joint_temperatures	="joint_temperatures"; //	VECTOR6D	Temperature of each joint in degrees Celsius
    21. 

  21.     public static final String	actual_execution_time	="actual_execution_time"; //	DOUBLE	Controller real-time thread execution time
    22. 

  22.     public static final String	robot_mode	="robot_mode"; //	INT32	Robot mode
    23. 

  23.     public static final String	joint_mode	="joint_mode"; //	VECTOR6INT32	Joint control modes
    24. 

  24.     public static final String	safety_mode	="safety_mode"; //	INT32	Safety mode
    25. 

  25.     public static final String	safety_status	="safety_status"; //	INT32	Safety ststus
    26. 

  26.     public static final String	actual_tool_accelerometer	="actual_tool_accelerometer"; //	VECTOR3D	Tool x, y and z accelerometer values
    27. 

  27.     public static final String	speed_scaling	="speed_scaling"; //	DOUBLE	Speed scaling of the trajectory limiter
    28. 

  28.     public static final String	target_speed_fraction	="target_speed_fraction"; //	DOUBLE	Target speed fraction
    29. 

  29.     public static final String	actual_momentum	="actual_momentum"; //	DOUBLE	Norm of Cartesian linear momentum
    30. 

  30.     public static final String	actual_main_voltage	="actual_main_voltage"; //	DOUBLE	Safety Control Board: Main voltage
    31. 

  31.     public static final String	actual_robot_voltage	="actual_robot_voltage"; //	DOUBLE	Safety Control Board: Robot voltage (48V)
    32. 

  32.     public static final String	actual_robot_current	="actual_robot_current"; //	DOUBLE	Safety Control Board: Robot current
    33. 

  33.     public static final String	actual_joint_voltage	="actual_joint_voltage"; //	VECTOR6D	Actual joint voltages
    34. 

  34.     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
    35. 

  35.     public static final String	runtime_state	="runtime_state"; //	UINT32	Program state
    36. 

  36.     public static final String	elbow_position	="elbow_position"; //	VECTOR3D	Position of robot elbow in Cartesian Base Coordinates
    37. 

  37.     public static final String	elbow_velocity	="elbow_velocity"; //	VECTOR3D	Velocity of robot elbow in Cartesian Base Coordinates
    38. 

  38.     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
    39. 

  39.     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
    40. 

  40.     public static final String	analog_io_types	="analog_io_types"; //	UINT32
    41. 

  41. }
    42. 

  42.