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]