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)
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
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
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
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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