Data Description of TCP port

We use 30000, 30001, 30002, 30003 for TCP data reporting.

1. Port 30000

Firmware: V2.1.0 or later

Frequency: 250HZ (200HZ with FT sensor)

Items
Type
Bytes
Length
Description

Number of bytes

U32

1-4

4

Timestamp

U64

5-12

8

μs

Motion Status and Mode

U8

13

1

Number of Cached Commands

U16

14-15

2

Reserved for System Information

U16

16-32

17

Target Joint Positions

FP32

33-60

28

rad

Target Joint Velocities

FP32

61-88

28

rad/s

Target Joint Accelerations

FP32

89-116

28

rad/s²

Actual Joint Positions

FP32

117-144

28

rad

Actual Joint Velocities

FP32

145-172

28

rad/s

Actual Joint Accelerations

FP32

173-200

28

rad/s²

Actual Joint Currents

FP32

201-228

28

A

Estimated Joint Torques

FP32

229-256

28

N·m

Reserved for Joints

FP32

257-424

168

Target TCP Pose

FP32

425-448

24

mm & rad

Target TCP Speed

FP32

449-472

24

mm/s & rad/s

Actual TCP Pose

FP32

473-496

24

mm &rad

[x,y,z,rx,ry,rz]

Actual TCP Speed

FP32

497-520

24

mm/s & rad/s

Estimated TCP Torques

FP32

521-544

24

N & N·m

Reserved for Cartesian

FP32

545-688

144

Raw Data of 6-Axis Torque Sensor

FP32

689-712

24

N & N·m

[Fx,Fy,Fz,Tx,Ty,Tz]

Filtered Data of 6-Axis Torque Sensor

FP32

713-736

24

N & N·m

[Fx,Fy,Fz,Tx,Ty,Tz]

Reserved for External Devices

FP32

737-784

48

2. Port 30001

Firmware: V1.8.0+

Frequency: 5HZ

Items
Type
Bytes
Length
Description

Same as port 30003

-

1-87

-

Brake status

U8

88

1

Enable status

U8

89

1

0:disable 1:enable

Error code

U8

90

1

Warning code

U8

91

1

Tcp offset

FP32

92-115

24

Tcp payload

FP32

116-131

16

Collision detection sensitivity

U8

132

1

Teaching sensitivity

U8

133

1

Mounting way

FP32

134-145

12

Gravity direction(x,y,z)

3. Port 30002

Firmware: V1.8.0+

Frequency: 5HZ

Items
Type
Bytes
Length
Description

Same as port 30002

-

1-145

-

Robot type

U8

146

1

5/6/7

The number of Joint

U8

147

1

5/6/7

Master ID

U8

148

1

0xAA fixed

Slaver ID

U8

149

1

0x55 fixed

-

-

150

1

Reserved

-

-

151

1

Reserved

Firmware Version

152-181

30

Tcp Jerk

FP32

182-201

20

current tcp jerk,

min tcp acc, max tcp acc,min tcp speed,

max tcp speed

Joint Jerk

FP32

202-221

20

current joint jerk,

min joint acc, max joint acc,min joint speed,max joint speed

Acceleration and Jerk for orientation change

FP32

222-229

8

Unconfigurable

Joint servo error code

U8

230-243

14

End IO error code

U8

244-245

2

Joint Temperature

int8

246-252

7

Target Tcp Speed

FP32

253-256

4

mm/s

Target Joint Speed

FP32

257-284

28

rad/s

Counter

U32

285-288

4

Usr Coordinates

FP32

289-312

24

mm & rad

[x,y,z,roll,pitch,yaw]

Configurable Controller

Output

U8

313

1

Clear the controller ouput when robot is stopped

Configurable Tool Output

U8

314

1

Clear the tool ouput when robot is stopped

Simulation Robot

U8

315

1

Self-collision Detection

U8

316

1

Self-collision tool type

U8

317

1

Self-collision model parameters

FP32

318-341

24

mm [x,y,z]

Joint Voltage

U16

342-355

14

Value has been *100

Joint Current

FP32

356-383

28

Ampere

GPIO module status

U8

384

1

0: normal 3: error 6:communication failed

Error code of GPIO module

U8

385

1

Digital input function IO status

U16

386-387

2

Digital input configuration IO status

U16

388-389

2

Digital output function IO status

U16

390-391

2

Digital output configuration IO status

U16

392-393

2

Analog input 1

U16

394-395

2

Analog input 2

U16

396-397

2

Analog output 1

U16

398-399

2

Analog output 2

U16

400-401

2

Digital input IO config information(CI0-7)

U8

402-409

8

Digital output IO config information(CO0-7)

U8

410-417

8

Digital input IO config information(DI0-7)

U8

418-425

8

Digital output IO config information(DO0-7)

U8

426-433

8

Filtered Data of FT sensor

FP32

434-457

24

N & N·m

[Fx,Fy,Fz,Tx,Ty,Tz]

Raw Data of FT sensor

FP32

458-481

24

N & N·m

[Fx,Fy,Fz,Tx,Ty,Tz]

Tcp identification progress

U8

482

1

percentage

Current Axis angle

FP32

483-494

12

Rx,Ry,Rz

Settings config

U8

495

1

bit0: Reduced Mode bit1: Safety Boundary bit2: report current/torque bit3:approximate solution

bit4: cartesian motion velocity continuous

Reduced Mode

U8

496

1

0:disable 1:enable

Safety Boundary

Int16

497-508

12

mm

[x_max,x_min,y_max,

y_min,z_max,z_min]

Max TCP Speed

FP32

509-512

4

mm/s

Max Joint Speed

FP32

513-516

4

rad/s

4. Port 30003

Firmware: V1.8.0+

Frequency: 100HZ

Items
Type
Bytes
Length
Description

Number of Bytes

U32

1-4

4

Motion status and Mode

U8

5

Number of Cached Commands

U16

6-7

2

Actual Joint Angle

FP32

8-35

28

Actual TCP Pose

FP32

36-59

24

Joint Torque

FP32

60-87

28

Filtered Data of FT sensor

FP32

88-111

24

N & N·m

[Fx,Fy,Fz,Tx,Ty,Tz]

Raw Data of FT sensor

FP32

112-135

24

N & N·m

[Fx,Fy,Fz,Tx,Ty,Tz]

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