Types

1 Robot Operation State OperationState

State	Description
idle	Robot idle
jog	Jog state (not moving)
rtControlling	Real-time mode controlling
drag	Drag enabled
rlProgram	RL project running
demo	Demo demonstration
dynamicIdentify	Dynamics identification
frictionIdentify	Friction identification
loadIdentify	Load identification
moving	Robot moving
jogging	Jog moving
unknown	Unknown

2 Robot Type WorkType

Type	Description
industrial	Industrial robot
collaborative	Collaborative robot

3 Robot Operation Mode OperateMode

Mode	Description
manual	Manual
automatic	Automatic
unknown	Unknown (exception occurred)

4 Robot Power On/Off and E-Stop State PowerState

State	Description
on	Power on
off	Power off
estop	Emergency stop pressed
gstop	Safety door open
unknown	Unknown (exception occurred)

5 Pose Coordinate Type CoordinateType

Type	Description
flangeInBase	Flange relative to base frame
endInRef	End relative to external frame

6 Motion Control Mode MotionControlMode

Mode	Description
Idle	Idle
NrtCommand	Non-real-time mode executing motion commands
NrtRLTask	Non-real-time mode running RL project
RtCommand	Real-time mode control

7 Controller Real-time Control Mode RtControllerMode

Mode	Description
jointPosition	Real-time joint space position control
cartesianPosition	Real-time Cartesian space position control
jointImpedance	Real-time joint space impedance control
cartesianImpedance	Real-time Cartesian space impedance control
torque	Real-time torque control

8 Robot Stop Motion Level StopLevel

Level	Description
stop0	Quick stop robot motion then power off
stop1	Planned stop robot motion then power off, stop on original path
stop2	Enum retained; for collision detection, former "trigger pause" semantics became compliant stop — prefer suppleStop
suppleStop	Compliant stop, only applicable to collaborative models

9 Robot Drag Mode Parameter DragParameter

Parameter	Description
DragParameterSpace::jointSpace	Joint space drag
SpaDragParameterSpacece::cartesianSpace	Cartesian space drag
DragParameterType::translationOnly	Translation only
DragParameterType::rotationOnly	Rotation only
DragParameterType::freely	Free drag

10 Frame Type FrameType

Type	Description
world	World frame
base	Base frame
flange	Flange frame
tool	Tool frame
wobj	Workpiece frame
path	Path frame, force control task frame needs to track trajectory changes
rail	Rail base frame

11 Jog Option - Coordinate System JogOptSpace

Type	Description
world	World frame
flange	Flange frame
baseFrame	Base frame
toolFrame	Tool frame
wobjFrame	Workpiece frame
jointSpace	Joint space
singularityAvoidMode	Singularity avoidance mode, applicable to industrial 6-axis, xMateCR and xMateSR 6-axis models
baseParallelMode	Base parallel mode, applicable to industrial 6-axis, xMateCR and xMateSR 6-axis models

12 Singularity Avoidance Method AvoidSingularityMethod

Method	Description
lockAxis4	Lock 4th axis
wrist	Sacrifice orientation
jointWay	Joint space short trajectory interpolation

13 MoveCF Full Circle Orientation Rotation Type MoveCFCommandRotType

Type	Description
constPose	Constant pose
rotAxis	Moving axis rotation
fixedAxis	Fixed axis rotation

14 xPanel Configuration: External Power Supply Mode xPanelOptVout

Mode	Description
off	No output
reserve	Reserved
supply12v	Output 12V
supply24v	Output 24V

15 Torque Type TorqueType

Type	Description
full	Joint torque, calculated by dynamics model
inertia	Inertia force
coriolis	Coriolis force
friction	Friction force
gravity	Gravity

16 Event Type Event

Type	Description
moveExecution	Non-real-time motion command execution info
safety	Safety (collision or not)
rlExecution	RL execution status
logReporter	Controller log reporter

17 xPanel Communication Option Enums

Python binds flat enum classes (corresponding to C++ xPanelCommOpt), used by xPanelRS485Init / xPanelCANInit:

Enum class	Description
xPanelCommOptRs485Baud	RS485 baud. AR models: 4800/9600/19200/38400/57600/115200/2500000; other models: 9600/19200/38400/57600/115200/230400/460800/1000000/2000000
xPanelCommOptCheckBit	none / odd / even
xPanelCommOptStopBit	stopbit1 / stopbit2
xPanelCommOptCanArbitrationBaud	b1M(1 Mbps) / b500k / b250k / b125k
xPanelCommOptCanDataBaud	b5M(5 Mbps) / b4M / b2M / b1M

18 CAN Frame Format CANFormat

Used by CANFrame.frame_format.

Type	Description
CANFormat.STANDARD	Standard frame
CANFormat.EXTENDED	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

20 Controller Backup Item BackupItem

(In upgrade module xCoreSDK_Upgrade_py)

Value	Description
customConfig	Custom configuration
robotConfig	Robot configuration
robotConfigWithoutBodyParams	Robot configuration without body parameters
controllerLog	Controller log
systemLog	System log
rlProgram	RL program
backupRlProgram	Backup RL project
sdkRecordPath	Drag teaching path recorded via SDK

21 Diagnosis Option DiagnosisOpt

In xCoreSDK_python.diagnosis. Used by setDiagnosisOption / getDiagnosisOptionStatus.

Type	Description
diagnosisEnable	Master switch for diagnosis
delayMotion	Delayed motion
realtimeThreadTimeout	Real-time thread timeout warning
reportTurnRegionWarning	Report zone (blend) warning

22 Diagnosis Data Type DiagnosisDataType

In xCoreSDK_python.diagnosis. Used by getDiagnosisDataStatus / setDiagnosisDataStatus. Controls whether diagnosis data is recorded when the corresponding event occurs.

Type	Description
collisionDetection	Collision detection
fcError	Force-control error
jntJump	Joint jump
rciError	RCI error
safetyControlRscSlaveComError	Safety-control RSC slave communication error
safetyMonitorCollaboration	Collaborative safety monitor
safetyMonitorNormal	Normal safety monitor