After establishing the WebSocket connection, the background will report the real-time status of the robot continually, the data format please check as below:
Copy {
"type" : "report" ,
"cmd" : "devices_status_keys_report" ,
"data" : [
0 . "xarm_connected" ,
1 . "xarm_version" ,
2 . "xarm_port_name" ,
3 . "xarm_printed" ,
4 . "xarm_state" ,
5 . "xarm_version_number" ,
6 . "xarm_mode" ,
7 . "xarm_collision_sensitivity" ,
8 . "xarm_teach_sensitivity" ,
9 . "xarm_tcp_load" ,
10 . "xarm_tcp_offset" ,
11 . "xarm_world_offset" ,
12 . "xarm_gravity_direction" ,
13 . "xarm_paused" ,
14 . "xarm_type" ,
15 . "xarm_error_code" ,
16 . "xarm_warn_code" ,
17 . "xarm_tcp_pose" ,
18 . "xarm_joint_pose" ,
19 . "xarm_axis_angle" ,
20 . "xarm_limit_acc" ,
21 . "xarm_limit_velo" ,
22 . "xarm_current_velo" ,
23 . "xarm_current_acc" ,
24 . "xarm_limit_angle_acc" ,
25 . "xarm_limit_angle_velo" ,
26 . "xarm_current_angle_velo" ,
27 . "xarm_current_angle_acc" ,
28 . "xarm_tcp_jerk" ,
29 . "xarm_joint_jerk" ,
30 . "xarm_mtbrake" ,
31 . "xarm_warn" ,
32 . "xarm_error" ,
33 . "xarm_servo_error" ,
34 . "xarm_is_ready" ,
35 . "xarm_is_verified" ,
36 . "xarm_axis" ,
37 . "config" ,
38 . "xarm_python" ,
39 . "xarm_speed_percent" ,
40 . "xarm_acc_percent" ,
41 . "xarm_initial_point" ,
42 . "xarm_position_step" ,
43 . "xarm_attitude_step" ,
44 . "xarm_joint_step" ,
45 . "xarm_end_tool_type" ,
46 . "xarm_gripper_is_enable" ,
47 . "gripper_error_code" ,
48 . "bio_gripper_error_code" ,
49 . "robotiq_error_code" ,
50 . "xarm_device_type" ,
51 . "xarm_mount_degrees" ,
52 . "current_clients_count" ,
53 . "xarm_is_connecting" ,
54 . "core_updated" ,
55 . "firmware_updated" ,
56 . "channel" ,
57 . "xarm_counter_val" ,
58 . "xarm_quick_access_switch" ,
59 . "xarm_quick_access" ,
60 . "xarm_gpio_reset_config" ,
61 . "xarm_default_tcp_acc" ,
62 . "xarm_default_joint_acc" ,
63 . "xarm_cgpio_states" ,
64 . "xarm_voltages" ,
65 . "xarm_currents" ,
66 . "xarm_self_collision_params" ,
67 . "xarm_quick_copy_switch" ,
68 . "xarm_run_package_blockly_switch" ,
69 . "xarm_is_simulation_robot" ,
70 . "bio_gripper_is_enabled" ,
71 . "robotiq_is_activated" ,
72 . "xarm_is_velocity" ,
73 . "xarm_is_axis_angle" ,
74 . "xarm_is_robot_arm" ,
75 . "line_track_error_code" ,
76 . "xarm_other_tool_type" ,
77 . "ft_sensor" ,
78 . "lite6_record_mode" ,
79 . "lite6_ti2_status" ,
80 . "reduced_states" ,
81 . "safe_border_states" ,
82 . "xarm_end_otherCuboid_param" ,
83 . "xarm_end_otherCylinder_param" ,
84 . "joint_exceed_axis" ,
85 . "xarm_is_show_axis_angle"
86 . "xarm_joint_torque"
87 . "xarm_joint_radian"
88 . "xarm_joint_speed_axis"
89 . "xarm_servoj_speed_axis"
90 . "xarm_motion_is_callback"
]
}
The response code please refer to api_code.