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Data Structures

1 xCoreSDK Error Code ErrorCode​

int value_                              # Error code value
String^ message_                        # Error message

2 Robot Basic Information, Loaded After Establishing Robot Connection Info​

String^ id                              # Robot uid, can be used to distinguish connected robots
String^ mac                             # Mac address
String^ version                         # Controller version
String^ type                            # Robot model name
Int32 joint_num                         # Number of axes

3 Coordinate System Frame​

array<double>^ trans                    # Translation [X, Y, Z], unit: meters
array<double>^ rpy                      # Euler angles [Rx, Ry, Rz], unit: radians
array<double>^ quat                     # Quaternion [x, y, z, w], read-only

4 Cartesian Point CartesianPosition​

Type type                               # Offset type
Frame^ frame                            # Offset relative to specified tool/workpiece coordinate system
double elbow                            # Elbow angle, applicable to 7-axis robots, unit: radians
List<int>^ confData                     # Axis configuration data, [cf1, cf2, cf3, cf4, cf5, cf6, cf7, cfx]
List<double>^ external                  # External joint values, unit: radians|meters. Rail unit is meters

5 Joint Point JointPosition​

List<double>^ joints                    # Joint angle values, unit: radians
List<double>^ external                  # External joint values, unit: radians|meters. Rail unit is meters

6 Non-real-time Motion Command MoveCommand​

CartesianPosition^ cartTarget           # Target Cartesian point
JointPosition^ jointTarget              # Target joint point
CartesianPosition^ auxPoint             # Auxiliary point
double speed                            # Robot end maximum linear speed, unit mm/s. See setDefaultSpeed
double jointSpeed                       # Effective when >=0; when <0, still use joint speed percentage calculated from speed, used for joint type commands, range [0, 1].
double rotSpeed                         # Effective when >=0; when <0, rotation speed defaults to 200°/s spatial rotation speed, used for end type commands, unit rad/s.
double zone                             # Turn zone radius size, unit mm. See setDefaultZone
String^ customInfo                      # Custom information, can be returned in motion information feedback
List<double>^ args                      # Other motion command parameters

7 Load Information Load​

double mass                             # Load mass, unit: kilograms
array<double>^ cog                      # Center of mass [x, y, z], unit: meters
array<double>^ inertia                  # Inertia [ix, iy, iz, ixy, ixz, iyz], unit: kg·m²

8 State List StateList​

JointPosition^ jointPos                 # Joint position
CartesianPosition^ cartPos              # Cartesian position
List<bool>^ di                          # Digital input signals
List<bool>^ do                          # Digital output signals
List<double>^ ai                        # Analog input signals
List<double>^ ao                        # Analog output signals
OperateMode opMode                      # Operation mode
PowerState pwrState                     # Power state
OperationState opState                  # Operation state
StopLevel stopLevel                     # Stop level
float speedRatio                        # Speed ratio
float curJntSpeed                       # Current joint speed
array<double>^ jointVel                 # Joint velocities
array<double>^ jointTorque              # Joint torques
array<double>^ extJoints                # External joint positions
array<double>^ extJointsVel             # External joint velocities
array<double>^ extJointsTorque          # External joint torques

9 Tool/Workpiece Set Toolset​

WorkToolInfo^ tool                      # Tool information
WorkToolInfo^ wobj                      # Workpiece information

10 Coordinate System Calibration Result FrameCalibrationResult​

Frame^ frame                            # Calibration result
array<double>^ error                    # Calibration error

11 Log Information LogInfo​

initonly int id                         # Log ID
String^ timestamp                       # Date and time
String^ logText                         # Log content
String^ repairHint                      # Repair hint

12 RL Project Information RLProjectInfo​

String^ name                            # Project name
List<String^>^ taskList                 # Task name list

13 Tool/Workpiece Information WorkToolInfo​

String^ name                            # Name
String^ alias                           # Description
bool robotHeld                          # Whether held by robot
Frame^ pos                              # Pose
Load^ load                              # Load

14 Keypad State KeyPadState​

bool key1_state ~ key7_state            # End keypad keys 1~7

15 CAN Frame CANFrame​

int frame_id                            # Frame ID
int frame_format                        # Frame format
int frame_type                          # Frame type
array<UInt16>^ data                     # Payload (interpreted as uint8/uint16 by data_type)
int frame_valid_length                  # Valid length

16 EtherCAT Slave Info SlaveInfo​

UInt32 vendorId
UInt32 productCode
UInt32 reversionNumber
UInt16 slaveAddr
UInt32 slaveId
UInt16 alStatus
String^ slaveName

17 SDO Data SDOData​

int index
int sub_index
int length
int over_time
int wait_time                           # ms, default 0
int print_data                          # 1 to print on controller, default 0
array<Byte>^ data                       # Payload up to 50 bytes