1 Robot Power and E-Stop Status PowerState
| Type | Description |
|---|
| on | Power on |
| off | Power off |
| estop | Emergency stop pressed |
| gstop | Safety door open |
| unknown | Unknown (exception occurred) |
2 Robot Operation Mode OperateMode
| Type | Description |
|---|
| manual | Manual |
| automatic | Automatic |
| unknown | Unknown (exception occurred) |
3 Robot Working Status OperationState
| Type | Description |
|---|
| idle | Robot stationary |
| jog | Jog state (not moving) |
| rtControlling | Real-time mode controlling |
| drag | Drag enabled |
| rlProgram | RL project running |
| demo | Demo running |
| dynamicIdentify | Dynamic identification in progress |
| frictionIdentify | Friction identification in progress |
| loadIdentify | Load identification in progress |
| moving | Robot moving |
| jogging | Jogging in progress |
| unknown | Unknown (exception case) |
4 Pose Coordinate System Type CoordinateType
| Type | Description |
|---|
| flangeInBase | Flange relative to base coordinate system |
| endInRef | End relative to external coordinate system |
5 Robot Stop Level StopLevel
| Type | Description |
|---|
| stop0 | Quick stop robot motion then power off |
| stop1 | Planned stop robot motion then power off, stop on original path |
| stop2 | Planned stop robot motion without power off, stop on original path |
| suppleStop | Compliant stop, only applicable to collaborative models |
6 SDK Motion Control Mode MotionControlMode
| Type | Description |
|---|
| Idle | Idle |
| NrtCommand | Non-real-time mode execute motion commands |
| NrtRLTask | Non-real-time mode run RL project |
| RtCommand | Real-time mode control |
7 Jog Option: Coordinate System JogSpace
| Type | Description |
|---|
| world | World coordinate system |
| flange | Flange coordinate system |
| baseFrame | Base coordinate system |
| toolFrame | Tool coordinate system |
| wobjFrame | Workpiece coordinate system |
| jointSpace | Joint space |
| singularityAvoidMode | Singularity avoidance mode, applicable to industrial six-axis, xMateCR and xMateSR models, avoidance method is locking 4th axis |
| baseParallelMode | Parallel base mode, only applicable to xMateCR and xMateSR models |
8 Cartesian Space Coordinate System Type FrameType
| Type | Description |
|---|
| world | World coordinate system |
| baseFrame | Base coordinate system |
| flange | Flange coordinate system |
| tool | Tool coordinate system |
| wobj | Workpiece coordinate system |
| path | Path coordinate system |
| rail | Rail base coordinate system |
9 Drag Space DragOpt.Space
| Type | Description |
|---|
| jointSpace | Joint space |
| cartesianSpace | Cartesian space |
10 Drag Type DragOpt.Type
| Type | Description |
|---|
| translationOnly | Translation only |
| rotationOnly | Rotation only |
| freely | Free drag |
11 xPanel External Power Supply Mode xPanelOpt.Vout
| Type | Description |
|---|
| off | No output |
| reserve | Reserved |
| supply12v | Output 12V |
| supply24v | Output 24V |
12 Singularity Avoidance Method AvoidSingularityMethod
| Type | Description |
|---|
| lockAxis4 | 4-axis lock |
| wrist | Sacrifice posture |
| jointWay | Joint space short trajectory interpolation |
13 Event Type Event
| Type | Description |
|---|
| moveExecution | Non-real-time motion command execution information |
| safety | Safety (whether collision) |
| rlExecution | RL execution information |
| logReporter | Controller log report |
14 Offset Type Offset.Type
| Type | Description |
|---|
| none | No offset |
| offs | Offset relative to workpiece coordinate system |
| relTool | Offset relative to tool coordinate system |
15 Command Type MoveCommand.Type
| Type | Description |
|---|
| MoveL | End linear trajectory, target point is cartTarget |
| MoveJ | Joint motion, target point is cartTarget |
| MoveAbsJ | Joint motion, target point is jointTarget |
| MoveC | Arc trajectory MoveC, target point is cartTarget, passing through auxiliary point auxPoint |
| MoveCF | Full circle trajectory MoveCF, target point is cartTarget, passing through auxiliary point auxPoint |
| MoveSP | Spiral trajectory MoveSP, target point is cartTarget |
| MoveWait | Motion wait command |
16 Log Level LogInfo.Level
| Type | Description |
|---|
| info | Information |
| warning | Warning |
| error | Error |
17 xPanel Communication Options xPanelCommOpt
Used by xPanelRS485Init / xPanelCANInit.
| Enum | Values / Description |
|---|
Rs485Baud | AR models: 4800/9600/19200/38400/57600/115200/2500000;
other models: 9600/19200/38400/57600/115200/230400/460800/1000000/2000000 |
CheckBit | none / odd / even |
StopBit | stopbit1 / stopbit2 |
CanArbitrationBaud | b1M(1 Mbps) / b500k / b250k / b125k |
CanDataBaud | b5M(5 Mbps) / b4M / b2M / b1M |
Used by CANFrame.frame_format.
| Type | Description |
|---|
CANFormat::STANDARD (=0) | Standard frame |
CANFormat::EXTENDED (=1) | Extended frame |
19 CAN Frame Type CANType
Used by CANFrame.frame_type.
| Type | Description |
|---|
CANType::CANFD_ACCELERATED | CANFD accelerated |
CANType::CANFD | CANFD |
CANType::CAN | Classic CAN |