Data Formatting
This section describes the format of data that can be read from a Data node.
The content of table below will be added to the header, data part, and footer. For a details of other data, see the RecordStart property in the following manual:
- "Epson RC+ Option Force Guide"
- "SPEL+ Language Reference"
| Data name | Description |
|---|---|
| OPC UA CommonTag | Used to identify headers, data parts, and footers. The meaning of each value is as follows: Value: Meaning 1: Header 2: Data part 4: Footer |
| OPCUACommonVer | Data format version 1: Controller firmware version prior to 8.0.0.xx 2: Controller firmware version 8.0.0.xx or later |
| OPCUACommonID | Incremented each time RecordStart is started. By looking at this ID, you can check the correspondence between the header, data part, and footer. |
| OPCUACommonRsv | Reserved |
| OPCUADataType | Value for data part. Value of DataType is entered. |
| OPCUADataRsv | Reserved |
Content of header
The content of the header varies depending on your Controller firmware version. Controller firmware versions and the data they are able to acquire are displayed on the chart below.
Controller firmware version prior to 8.0.0.xx
| Data category | Data item | Overview | Type | Size of 1 unit | Quantity | Total bytes | Index |
|---|---|---|---|---|---|---|---|
| OPC UA | OPCUACommonTag | OPC UA, common header, tag | BYTE | 1 | 1 | 1 | 0 |
| OPCUACommonVer | OPC UA, common header, version | BYTE | 1 | 1 | 1 | 1 | |
| OPCUACommonID | OPC UA, common header, dataID | ushort | 2 | 1 | 2 | 2 | |
| OPCUACommonRsv | OPC UA, common header, reserve | BYTE | 1 | 2 | 2 | 4 | |
| Common | PacketVersion | Packet version | BYTE | 1 | 1 | 1 | 6 |
| Common | PacketType | Packet type (not used) | BYTE | 1 | 1 | 1 | 7 |
| Channel | Channel | Data output channel | BYTE | 1 | 1 | 1 | 8 |
| Mode | Mode | Recording mode (not used) | BYTE | 1 | 1 | 1 | 9 |
| Start Time | Year | Year | short | 2 | 1 | 2 | 10 |
| Month | Month | BYTE | 1 | 1 | 1 | 12 | |
| Day | Day | BYTE | 1 | 1 | 1 | 13 | |
| Hour | Hour | BYTE | 1 | 1 | 1 | 14 | |
| Minutes | Minute | BYTE | 1 | 1 | 1 | 15 | |
| Second | Second | BYTE | 1 | 1 | 1 | 16 | |
| MilliSecond | Millisecond | short | 2 | 1 | 2 | 17 | |
| Duration | Duration | Measurement duration | float | 4 | 1 | 4 | 19 |
| Interval | Interval | Measurement interval | float | 4 | 1 | 4 | 23 |
| Robot No | RobotNo | Robot number | short | 2 | 1 | 2 | 27 |
| Robot Name | RobotNameLength | Characters in Robot name | BYTE | 1 | 1 | 1 | 29 |
| RobotName | Robot name | BYTE | 1 | 32 | 32 | 30 | |
| Sensor No | SensorNo | Sensor number | BYTE | 1 | 1 | 1 | 62 |
| Sensor Serial | SensorSerialLength | Number of characters in sensor serial | BYTE | 1 | 1 | 1 | 63 |
| SensorSerial | Force sensor serial number | BYTE | 1 | 10 | 10 | 64 | |
| Sensor Label | SensorLabelLength | Number of characters in sensor label | BYTE | 1 | 1 | 1 | 74 |
| SensorLabel | Force sensor label | BYTE | 1 | 32 | 32 | 75 | |
| FM No | FMNo | Force monitor object number | short | 2 | 1 | 2 | 107 |
| FM Label | FMLabelLength | Number of characters in FM label | BYTE | 1 | 1 | 1 | 109 |
| FMLabel | Force monitor object label | BYTE | 1 | 32 | 32 | 110 | |
| FCS No | FCSNo | Force coordinate system object number | short | 2 | 1 | 2 | 142 |
| FCS Label | FCSLabelLength | Number of characters in FCS label | BYTE | 1 | 1 | 1 | 144 |
| FCSLabel | Force coordinate system object label | BYTE | 1 | 32 | 32 | 145 | |
| Output FileName | FileNameLength | Number of characters in file name | BYTE | 1 | 1 | 1 | 177 |
| FileName | File name specified by RecordStart | BYTE | 1 | 64 | 64 | 178 | |
| Seq No | SeqNo | Sequence number | BYTE | 1 | 1 | 1 | 242 |
| Seq Name | SeqNameLength | Number of characters in sequence name | BYTE | 1 | 1 | 1 | 243 |
| SeqName | Sequence name | BYTE | 1 | 32 | 32 | 244 | |
| Force Name | ForceNameLength | Number of characters in force name | BYTE | 1 | 1 | 1 | 276 |
| ForceName | Force file name | BYTE | 1 | 32 | 32 | 277 | |
| RobotLocal | RobotLocal | Force monitor object RobotLocal | BYTE | 1 | 1 | 1 | 309 |
| Total | 310 | 310 | |||||
Controller firmware version 8.0.0.xx or later
| Data category | Data item | Overview | Type | Size of 1 unit | Quantity | Total bytes | Index |
|---|---|---|---|---|---|---|---|
| OPC UA | OPCUACommonTag | OPC UA, common header, tag | BYTE | 1 | 1 | 1 | 0 |
| OPCUACommonVer | OPC UA, common header, version | BYTE | 1 | 1 | 1 | 1 | |
| OPCUACommonID | OPC UA, common header, dataID | ushort | 2 | 1 | 2 | 2 | |
| OPCUACommonRsv | OPC UA, common header, reserve | BYTE | 1 | 2 | 2 | 4 | |
| Common | PacketVersion | Packet version | BYTE | 1 | 1 | 1 | 6 |
| Common | PacketType | Packet type (not used) | BYTE | 1 | 1 | 1 | 7 |
| Channel | Channel | Data output channel | BYTE | 1 | 1 | 1 | 8 |
| Mode | Mode | Recording mode (not used) | BYTE | 1 | 1 | 1 | 9 |
| Start Time | Year | Year | short | 2 | 1 | 2 | 10 |
| Month | Month | BYTE | 1 | 1 | 1 | 12 | |
| Day | Day | BYTE | 1 | 1 | 1 | 13 | |
| Hour | Hour | BYTE | 1 | 1 | 1 | 14 | |
| Minutes | Minute | BYTE | 1 | 1 | 1 | 15 | |
| Second | Second | BYTE | 1 | 1 | 1 | 16 | |
| MilliSecond | Millisecond | short | 2 | 1 | 2 | 17 | |
| Duration | Duration | Measurement duration | float | 4 | 1 | 4 | 19 |
| Interval | Interval | Measurement interval | float | 4 | 1 | 4 | 23 |
| Robot No | RobotNo | Robot number | short | 2 | 1 | 2 | 27 |
| Robot Name | RobotNameLength | Characters in Robot name | BYTE | 1 | 1 | 1 | 29 |
| RobotName | Robot name | BYTE | 1 | 32 | 32 | 30 | |
| Sensor No | SensorNo | Sensor number | BYTE | 1 | 1 | 1 | 62 |
| Sensor Serial | SensorSerialLength | Number of characters in sensor serial | BYTE | 1 | 1 | 1 | 63 |
| SensorSerial | Force sensor serial number | BYTE | 1 | 10 | 10 | 64 | |
| Sensor Label | SensorLabelLength | Number of characters in sensor label | BYTE | 1 | 1 | 1 | 74 |
| SensorLabel | Force sensor label | BYTE | 1 | 32 | 32 | 75 | |
| FM No | FMNo | Force monitor object number | short | 2 | 1 | 2 | 107 |
| FM Label | FMLabelLength | Number of characters in FM label | BYTE | 1 | 1 | 1 | 109 |
| FMLabel | Force monitor object label | BYTE | 1 | 32 | 32 | 110 | |
| FCS No | FCSNo | Force coordinate system object number | short | 2 | 1 | 2 | 142 |
| FCS Label | FCSLabelLength | Number of characters in FCS label | BYTE | 1 | 1 | 1 | 144 |
| FCSLabel | Force coordinate system object label | BYTE | 1 | 32 | 32 | 145 | |
| Output FileName | FileNameLength | Number of characters in file name | BYTE | 1 | 1 | 1 | 177 |
| FileName | File name specified by RecordStart | BYTE | 1 | 64 | 64 | 178 | |
| Seq No | SeqNo | Sequence number | BYTE | 1 | 1 | 1 | 242 |
| Seq Name | SeqNameLength | Number of characters in sequence name | BYTE | 1 | 1 | 1 | 243 |
| SeqName | Sequence name | BYTE | 1 | 32 | 32 | 244 | |
| Force Name | ForceNameLength | Number of characters in force name | BYTE | 1 | 1 | 1 | 276 |
| ForceName | Force file name | BYTE | 1 | 2 | 32 | 277 | |
| RobotLocal | RobotLocal | Force monitor object RobotLocal | BYTE | 1 | 1 | 1 | 309 |
| RecordStartTime | RecordStartTime | TimeStamp at the time of RecordStart. | UInt64 | 8 | 1 | 8 | 310 |
| For synchronizing with MotionLogSystemType data. | |||||||
| Total | 318 | 318 | |||||
Content of data part
The content of the data part depends on the DataType setting. The tables below show DataType values and their correspondence to data content that can be acquired.
If DataType=0
| Data to be acquired | Data category | Data item | Overview | Type | Size of 1 unit | Quantity | Total bytes | Index |
|---|---|---|---|---|---|---|---|---|
| ✓ | OPC UA | OPCUACommonTag | OPC UA, common header, tag | BYTE | 1 | 1 | 1 | 0 |
| OPCUACommonVer | OPC UA, common header, version | BYTE | 1 | 1 | 1 | 1 | ||
| OPCUACommonID | OPC UA, common header, dataID | ushort | 2 | 1 | 2 | 2 | ||
| OPCUACommonRsv | OPC UA, common header, reserve | BYTE | 1 | 2 | 2 | 4 | ||
| OPCUADataType | OPC UA, data header, data type | ushort | 2 | 1 | 2 | 6 | ||
| OPCUADataRsv | OPC UA, data header, reserve | BYTE | 1 | 2 | 2 | 8 | ||
| ✓ | Common | PacketVersion | Packet version | BYTE | 1 | 1 | 1 | 10 |
| ✓ | Common | PacketType | Packet type (not used) | BYTE | 1 | 1 | 1 | 11 |
| ✓ | Channel | Channel | Data output channel | BYTE | 1 | 1 | 1 | 12 |
| ✓ | Mode | Mode | Recording mode (not used) | BYTE | 1 | 1 | 1 | 13 |
| ✓ | Count | Count | Data serial number | DWORD | 4 | 1 | 4 | 14 |
| ✓ | ElapsedTime | ElapsedTime | Elapsed time from start of measurement | DWORD | 4 | 1 | 4 | 18 |
| ✓ | Force | Fx | Sensor value, resultant force, and resultant torque for each axis in force coordinate system | float | 4 | 1 | 4 | 22 |
| Fy | 4 | 1 | 4 | 26 | ||||
| Fz | 4 | 1 | 4 | 30 | ||||
| Tx | 4 | 1 | 4 | 34 | ||||
| Ty | 4 | 1 | 4 | 38 | ||||
| Tz | 4 | 1 | 4 | 42 | ||||
| Fmag | 4 | 1 | 4 | 46 | ||||
| Tmag | 4 | 1 | 4 | 50 | ||||
| ✓ | CurPos | CurPos(X) | Command position, including Robot position control and force control | float | 4 | 1 | 4 | 54 |
| CurPos(Y) | 4 | 1 | 4 | 58 | ||||
| CurPos(Z) | 4 | 1 | 4 | 62 | ||||
| CurPos(U) | 4 | 1 | 4 | 66 | ||||
| CurPos(V) | 4 | 1 | 4 | 70 | ||||
| CurPos(W) | 4 | 1 | 4 | 74 | ||||
| ✓ | RefPos | RefPos(X) | Command position for Robot position control only | float | 4 | 1 | 4 | 78 |
| RefPos(Y) | 4 | 1 | 4 | 82 | ||||
| RefPos(Z) | 4 | 1 | 4 | 86 | ||||
| RefPos(U) | 4 | 1 | 4 | 90 | ||||
| RefPos(V) | 4 | 1 | 4 | 94 | ||||
| RefPos(W) | 4 | 1 | 4 | 98 | ||||
| ✓ | Diff | Diff(X) | Amount of correction by force control function | float | 4 | 1 | 4 | 102 |
| Diff(Y) | 4 | 1 | 4 | 106 | ||||
| Diff(Z) | 4 | 1 | 4 | 110 | ||||
| ✓ | TCPSpeed | TCPSpeed | Tool tip speed in base coordinate system | float | 4 | 1 | 4 | 114 |
| TCPSpeed(X) | Components of tool tip speed in each axis direction in base coordinate system | float | 4 | 1 | 4 | 118 | ||
| TCPSpeed(Y) | 4 | 1 | 4 | 122 | ||||
| TCPSpeed(Z) | 4 | 1 | 4 | 126 | ||||
| ✓ | Joint | Joint(J1) | Angle of each joint of Robot | float | 4 | 1 | 4 | 130 |
| Joint(J2) | 4 | 1 | 4 | 134 | ||||
| Joint(J3) | 4 | 1 | 4 | 138 | ||||
| Joint(J4) | 4 | 1 | 4 | 142 | ||||
| Joint(J5) | 4 | 1 | 4 | 146 | ||||
| Joint(J6) | 4 | 1 | 4 | 150 | ||||
| ✓ | OLRate | OLRate(J1) | Overload rate of each joint of Robot Overload rate ranges from 0 to 200. To match the units with the OLRate command in SPEL+, divide this value by 100. | BYTE | 1 | 1 | 1 | 154 |
| OLRate(J2) | 1 | 1 | 1 | 155 | ||||
| OLRate(J3) | 1 | 1 | 1 | 156 | ||||
| OLRate(J4) | 1 | 1 | 1 | 157 | ||||
| OLRate(J5) | 1 | 1 | 1 | 158 | ||||
| OLRate(J6) | 1 | 1 | 1 | 159 | ||||
| ✓ | FCOn | FCOn | Status of force control function execution | BYTE | 1 | 1 | 1 | 160 |
| ✓ | StepID | StepID | Value set by StepID property | DWORD | 4 | 1 | 4 | 161 |
| ✓ | Time | Year | Year | short | 2 | 1 | 2 | 165 |
| Month | Month | BYTE | 1 | 1 | 1 | 167 | ||
| Day | Day | BYTE | 1 | 1 | 1 | 168 | ||
| Hour | Hour | BYTE | 1 | 1 | 1 | 169 | ||
| Minutes | Minute | BYTE | 1 | 1 | 1 | 170 | ||
| Second | Second | BYTE | 1 | 1 | 1 | 171 | ||
| MiliSecond | Millisecond | short | 2 | 1 | 2 | 172 | ||
| ✓ | Seq No | SeqNo | Sequence number When not in progress, fixed to 0 | BYTE | 1 | 1 | 1 | 174 |
| ✓ | Object No | ObjectNo | Object number | BYTE | 1 | 1 | 1 | 175 |
| ✓ | FM No | FMNo | Force monitor object number | short | 2 | 1 | 2 | 176 |
| Total | 178 | 178 | ||||||
If DataType=1
| Data to be acquired | Data category | Data item | Overview | Type | Size of 1 unit | Quantity | Total bytes | Index |
|---|---|---|---|---|---|---|---|---|
| ✓ | OPC UA | OPCUACommonTag | OPC UA, common header, tag | BYTE | 1 | 1 | 1 | 0 |
| OPCUACommonVer | OPC UA, common header, version | BYTE | 1 | 1 | 1 | 1 | ||
| OPCUACommonID | OPC UA, common header, dataID | ushort | 2 | 1 | 2 | 2 | ||
| OPCUACommonRsv | OPC UA, common header, reserve | BYTE | 1 | 2 | 2 | 4 | ||
| OPCUADataType | OPC UA, data header, data type | ushort | 2 | 1 | 2 | 6 | ||
| OPCUADataRsv | OPC UA, data header, reserve | BYTE | 1 | 2 | 2 | 8 | ||
| ✓ | Common | PacketVersion | Packet version | BYTE | 1 | 1 | 1 | 10 |
| ✓ | Common | PacketType | Packet type (not used) | BYTE | 1 | 1 | 1 | 11 |
| ✓ | Channel | Channel | Data output channel | BYTE | 1 | 1 | 1 | 12 |
| ✓ | Mode | Mode | Recording mode (not used) | BYTE | 1 | 1 | 1 | 13 |
| ✓ | Count | Count | Data serial number | DWORD | 4 | 1 | 4 | 14 |
| ✓ | ElapsedTime | ElapsedTime | Elapsed time from start of measurement | DWORD | 4 | 1 | 4 | 18 |
| Force | Fx | Sensor value, resultant force, and resultant torque for each axis in force coordinate system | float | 4 | 0 | 0 | ||
| Fy | 4 | 0 | 0 | |||||
| Fz | 4 | 0 | 0 | |||||
| Tx | 4 | 0 | 0 | |||||
| Ty | 4 | 0 | 0 | |||||
| Tz | 4 | 0 | 0 | |||||
| Fmag | 4 | 0 | 0 | |||||
| Tmag | 4 | 0 | 0 | |||||
| ✓ | CurPos | CurPos(X) | Command position, including Robot position control and force control | float | 4 | 1 | 4 | 22 |
| CurPos(Y) | 4 | 1 | 4 | 26 | ||||
| CurPos(Z) | 4 | 1 | 4 | 30 | ||||
| CurPos(U) | 4 | 1 | 4 | 34 | ||||
| CurPos(V) | 4 | 1 | 4 | 38 | ||||
| CurPos(W) | 4 | 1 | 4 | 42 | ||||
| RefPos | RefPos(X) | Command position for Robot position control only | float | 4 | 0 | 0 | ||
| RefPos(Y) | 4 | 0 | 0 | |||||
| RefPos(Z) | 4 | 0 | 0 | |||||
| RefPos(U) | 4 | 0 | 0 | |||||
| RefPos(V) | 4 | 0 | 0 | |||||
| RefPos(W) | 4 | 0 | 0 | |||||
| Diff | Diff(X) | Amount of correction by force control function | float | 4 | 0 | 0 | ||
| Diff(Y) | 4 | 0 | 0 | |||||
| Diff(Z) | 4 | 0 | 0 | |||||
| ✓ | TCPSpeed | TCPSpeed | Tool tip speed in base coordinate system | float | 4 | 1 | 4 | 46 |
| TCPSpeed(X) | Components of tool tip speed in each axis direction in base coordinate system | float | 4 | 1 | 4 | 50 | ||
| TCPSpeed(Y) | 4 | 1 | 4 | 54 | ||||
| TCPSpeed(Z) | 4 | 1 | 4 | 58 | ||||
| ✓ | Joint | Joint(J1) | Angle of each joint of Robot | float | 4 | 1 | 4 | 62 |
| Joint(J2) | 4 | 1 | 4 | 66 | ||||
| Joint(J3) | 4 | 1 | 4 | 70 | ||||
| Joint(J4) | 4 | 1 | 4 | 74 | ||||
| Joint(J5) | 4 | 1 | 4 | 78 | ||||
| Joint(J6) | 4 | 1 | 4 | 82 | ||||
| ✓ | OLRate | OLRate(J1) | Overload rate of each joint of Robot Overload rate ranges from 0 to 200. To match the units with the OLRate command in SPEL+, divide this value by 100. | BYTE | 1 | 1 | 1 | 86 |
| OLRate(J2) | 1 | 1 | 1 | 87 | ||||
| OLRate(J3) | 1 | 1 | 1 | 88 | ||||
| OLRate(J4) | 1 | 1 | 1 | 89 | ||||
| OLRate(J5) | 1 | 1 | 1 | 90 | ||||
| OLRate(J6) | 1 | 1 | 1 | 91 | ||||
| FCOn | FCOn | Status of force control function execution | BYTE | 1 | 0 | 0 | ||
| ✓ | StepID | StepID | Value set by StepID property | DWORD | 4 | 1 | 4 | 92 |
| ✓ | Time | Year | Year | short | 2 | 1 | 2 | 96 |
| Month | Month | BYTE | 1 | 1 | 1 | 98 | ||
| Day | Day | BYTE | 1 | 1 | 1 | 99 | ||
| Hour | Hour | BYTE | 1 | 1 | 1 | 100 | ||
| Minutes | Minute | BYTE | 1 | 1 | 1 | 101 | ||
| Second | Second | BYTE | 1 | 1 | 1 | 102 | ||
| MilliSecond | Millisecond | short | 2 | 1 | 2 | 103 | ||
| ✓ | Seq No | SeqNo | Sequence number When not in progress, fixed to 0 | BYTE | 1 | 1 | 1 | 105 |
| ✓ | Object No | ObjectNo | Object number | BYTE | 1 | 1 | 1 | 106 |
| ✓ | FM No | FMNo | Force monitor object number | short | 2 | 1 | 2 | 107 |
| Total | 109 | 109 | ||||||
If DataType=2
| Data to be acquired | Data category | Data item | Overview | Type | Size of 1 unit | Quantity | Total bytes | Index |
|---|---|---|---|---|---|---|---|---|
| ✓ | OPC UA | OPCUACommonTag | OPC UA, common header, tag | BYTE | 1 | 1 | 1 | 0 |
| OPCUACommonVer | OPC UA, common header, version | BYTE | 1 | 1 | 1 | 1 | ||
| OPCUACommonID | OPC UA, common header, dataID | ushort | 2 | 1 | 2 | 2 | ||
| OPCUACommonRsv | OPC UA, common header, reserve | BYTE | 1 | 2 | 2 | 4 | ||
| OPCUADataType | OPC UA, data header, data type | ushort | 2 | 1 | 2 | 6 | ||
| OPCUADataRsv | OPC UA, data header, reserve | BYTE | 1 | 2 | 2 | 8 | ||
| ✓ | Common | PacketVersion | Packet version | BYTE | 1 | 1 | 1 | 10 |
| ✓ | Common | PacketType | Packet type (not used) | BYTE | 1 | 1 | 1 | 11 |
| ✓ | Channel | Channel | Data output channel | BYTE | 1 | 1 | 1 | 12 |
| ✓ | Mode | Mode | Recording mode (not used) | BYTE | 1 | 1 | 1 | 13 |
| ✓ | Count | Count | Data serial number | DWORD | 4 | 1 | 4 | 14 |
| ✓ | ElapsedTime | ElapsedTime | Elapsed time from start of measurement | DWORD | 4 | 1 | 4 | 18 |
| ✓ | Force | Fx | Sensor value, resultant force, and resultant torque for each axis in force coordinate system | float | 4 | 1 | 4 | 22 |
| Fy | 4 | 1 | 4 | 26 | ||||
| Fz | 4 | 1 | 4 | 30 | ||||
| Tx | 4 | 1 | 4 | 34 | ||||
| Ty | 4 | 1 | 4 | 38 | ||||
| Tz | 4 | 1 | 4 | 42 | ||||
| Fmag | 4 | 1 | 4 | 46 | ||||
| Tmag | 4 | 1 | 4 | 50 | ||||
| ✓ | CurPos | CurPos(X) | Command position, including Robot position control and force control | float | 4 | 1 | 4 | 54 |
| CurPos(Y) | 4 | 1 | 4 | 58 | ||||
| CurPos(Z) | 4 | 1 | 4 | 62 | ||||
| CurPos(U) | 4 | 1 | 4 | 66 | ||||
| CurPos(V) | 4 | 1 | 4 | 70 | ||||
| CurPos(W) | 4 | 1 | 4 | 74 | ||||
| RefPos | RefPos(X) | Command position for Robot position control only | float | 4 | 0 | 0 | ||
| RefPos(Y) | 4 | 0 | 0 | |||||
| RefPos(Z) | 4 | 0 | 0 | |||||
| RefPos(U) | 4 | 0 | 0 | |||||
| RefPos(V) | 4 | 0 | 0 | |||||
| RefPos(W) | 4 | 0 | 0 | |||||
| Diff | Diff(X) | Amount of correction by force control function | float | 4 | 0 | 0 | ||
| Diff(Y) | 4 | 0 | 0 | |||||
| Diff(Z) | 4 | 0 | 0 | |||||
| TCPSpeed | TCPSpeed | Tool tip speed in base coordinate system | float | 4 | 0 | 0 | ||
| TCPSpeed(X) | Components of tool tip speed in each axis direction in base coordinate system | float | 4 | 0 | 0 | |||
| TCPSpeed(Y) | 4 | 0 | 0 | |||||
| TCPSpeed(Z) | 4 | 0 | 0 | |||||
| Joint | Joint(J1) | Angle of each joint of Robot | float | 4 | 0 | 0 | ||
| Joint(J2) | 4 | 0 | 0 | |||||
| Joint(J3) | 4 | 0 | 0 | |||||
| Joint(J4) | 4 | 0 | 0 | |||||
| Joint(J5) | 4 | 0 | 0 | |||||
| Joint(J6) | 4 | 0 | 0 | |||||
| OLRate | OLRate(J1) | Overload rate of each joint of Robot Overload rate ranges from 0 to 200. To match the units with the OLRate command in SPEL+, divide this value by 100. | BYTE | 1 | 0 | 0 | ||
| OLRate(J2) | 1 | 0 | 0 | |||||
| OLRate(J3) | 1 | 0 | 0 | |||||
| OLRate(J4) | 1 | 0 | 0 | |||||
| OLRate(J5) | 1 | 0 | 0 | |||||
| OLRate(J6) | 1 | 0 | 0 | |||||
| FCOn | FCOn | Status of force control function execution | BYTE | 1 | 0 | 0 | ||
| ✓ | StepID | StepID | Value set by StepID property | DWORD | 4 | 1 | 4 | 78 |
| Time | Year | Year | short | 2 | 0 | 0 | ||
| Month | Month | BYTE | 1 | 0 | 0 | |||
| Day | Day | BYTE | 1 | 0 | 0 | |||
| Hour | Hour | BYTE | 1 | 0 | 0 | |||
| Minutes | Minute | BYTE | 1 | 0 | 0 | |||
| Second | Second | BYTE | 1 | 0 | 0 | |||
| MilliSecond | Millisecond | short | 2 | 0 | 0 | |||
| ✓ | Seq No | SeqNo | Sequence number When not in progress, fixed to 0 | BYTE | 1 | 1 | 1 | 82 |
| ✓ | Object No | ObjectNo | Object number | BYTE | 1 | 1 | 1 | 83 |
| ✓ | FM No | FMNo | Force monitor object number | short | 2 | 1 | 2 | 84 |
| Total | 86 | 86 | ||||||
If DataType=3
| Data to be acquired | Data category | Data item | Overview | Type | Size of 1 unit | Quantity | Total bytes | Index |
|---|---|---|---|---|---|---|---|---|
| ✓ | OPC UA | OPCUACommonTag | OPC UA, common header, tag | BYTE | 1 | 1 | 1 | 0 |
| OPCUACommonVer | OPC UA, common header, version | BYTE | 1 | 1 | 1 | 1 | ||
| OPCUACommonID | OPC UA, common header, dataID | ushort | 2 | 1 | 2 | 2 | ||
| OPCUACommonRsv | OPC UA, common header, reserve | BYTE | 1 | 2 | 2 | 4 | ||
| OPCUADataType | OPC UA, data header, data type | ushort | 2 | 1 | 2 | 6 | ||
| OPCUADataRsv | OPC UA, data header, reserve | BYTE | 1 | 2 | 2 | 8 | ||
| ✓ | Common | PacketVersion | Packet version | BYTE | 1 | 1 | 1 | 10 |
| ✓ | Common | PacketType | Packet type (not used) | BYTE | 1 | 1 | 1 | 11 |
| ✓ | Channel | Channel | Data output channel | BYTE | 1 | 1 | 1 | 12 |
| ✓ | Mode | Mode | Recording mode (not used) | BYTE | 1 | 1 | 1 | 13 |
| ✓ | Count | Count | Data serial number | DWORD | 4 | 1 | 4 | 14 |
| ✓ | ElapsedTime | ElapsedTime | Elapsed time from start of measurement | DWORD | 4 | 1 | 4 | 18 |
| Force | Fx | Sensor value, resultant force, and resultant torque for each axis in force coordinate system | float | 4 | 0 | 0 | ||
| Fy | 4 | 0 | 0 | |||||
| Fz | 4 | 0 | 0 | |||||
| Tx | 4 | 0 | 0 | |||||
| Ty | 4 | 0 | 0 | |||||
| Tz | 4 | 0 | 0 | |||||
| Fmag | 4 | 0 | 0 | |||||
| Tmag | 4 | 0 | 0 | |||||
| ✓ | CurPos | CurPos(X) | Command position, including Robot position control and force control | float | 4 | 1 | 4 | 22 |
| CurPos(Y) | 4 | 1 | 4 | 26 | ||||
| CurPos(Z) | 4 | 1 | 4 | 30 | ||||
| CurPos(U) | 4 | 1 | 4 | 34 | ||||
| CurPos(V) | 4 | 1 | 4 | 38 | ||||
| CurPos(W) | 4 | 1 | 4 | 42 | ||||
| RefPos | RefPos(X) | Command position for Robot position control only | float | 4 | 0 | 0 | ||
| RefPos(Y) | 4 | 0 | 0 | |||||
| RefPos(Z) | 4 | 0 | 0 | |||||
| RefPos(U) | 4 | 0 | 0 | |||||
| RefPos(V) | 4 | 0 | 0 | |||||
| RefPos(W) | 4 | 0 | 0 | |||||
| Diff | Diff(X) | Amount of correction by force control function | float | 4 | 0 | 0 | ||
| Diff(Y) | 4 | 0 | 0 | |||||
| Diff(Z) | 4 | 0 | 0 | |||||
| TCPSpeed | TCPSpeed | Tool tip speed in base coordinate system | float | 4 | 0 | 0 | ||
| TCPSpeed(X) | Components of tool tip speed in each axis direction in base coordinate system | float | 4 | 0 | 0 | |||
| TCPSpeed(Y) | 4 | 0 | 0 | |||||
| TCPSpeed(Z) | 4 | 0 | 0 | |||||
| Joint | Joint(J1) | Angle of each joint of Robot | float | 4 | 0 | 0 | ||
| Joint(J2) | 4 | 0 | 0 | |||||
| Joint(J3) | 4 | 0 | 0 | |||||
| Joint(J4) | 4 | 0 | 0 | |||||
| Joint(J5) | 4 | 0 | 0 | |||||
| Joint(J6) | 4 | 0 | 0 | |||||
| OLRate | OLRate(J1) | Overload rate of each joint of Robot Overload rate ranges from 0 to 200. To match the units with the OLRate command in SPEL+, divide this value by 100. | BYTE | 1 | 0 | 0 | ||
| OLRate(J2) | 1 | 0 | 0 | |||||
| OLRate(J3) | 1 | 0 | 0 | |||||
| OLRate(J4) | 1 | 0 | 0 | |||||
| OLRate(J5) | 1 | 0 | 0 | |||||
| OLRate(J6) | 1 | 0 | 0 | |||||
| FCOn | FCOn | Status of force control function execution | BYTE | 1 | 0 | 0 | ||
| ✓ | StepID | StepID | Value set by StepID property | DWORD | 4 | 1 | 4 | 46 |
| Time | Year | Year | short | 2 | 0 | 0 | ||
| Month | Month | BYTE | 1 | 0 | 0 | |||
| Day | Day | BYTE | 1 | 0 | 0 | |||
| Hour | Hour | BYTE | 1 | 0 | 0 | |||
| Minutes | Minute | BYTE | 1 | 0 | 0 | |||
| Second | Second | BYTE | 1 | 0 | 0 | |||
| MilliSecond | Millisecond | short | 2 | 0 | 0 | |||
| ✓ | Seq No | SeqNo | Sequence number When not in progress, fixed to 0 | BYTE | 1 | 1 | 1 | 50 |
| ✓ | Object No | ObjectNo | Object number | BYTE | 1 | 1 | 1 | 51 |
| ✓ | FM No | FMNo | Force monitor object number | short | 2 | 1 | 2 | 52 |
| Total | 54 | 54 | ||||||
Content of footer
| Data category | Data item | Overview | Type | Size of 1 unit | Quantity | Total bytes | Index |
|---|---|---|---|---|---|---|---|
| OPC UA | OPCUACommonTag | OPC UA, common header, tag | BYTE | 1 | 1 | 1 | 0 |
| OPCUACommonVer | OPC UA, common header, version | BYTE | 1 | 1 | 1 | 1 | |
| OPCUACommonRsv | OPC UA, common header, dataID | ushort | 2 | 1 | 2 | 2 | |
| OPCUACommonRsv | OPC UA, common header, reserve | BYTE | 1 | 2 | 2 | 4 | |
| Common | PacketVersion | Packet version | BYTE | 1 | 1 | 1 | 6 |
| Common | PacketType | Packet type (not used) | BYTE | 1 | 1 | 1 | 7 |
| Channel | Channel | Data output channel | BYTE | 1 | 1 | 1 | 8 |
| Mode | Mode | Recording mode (not used) | BYTE | 1 | 1 | 1 | 9 |
| End Time | Year | Year | short | 2 | 1 | 2 | 10 |
| Month | Month | BYTE | 1 | 1 | 1 | 12 | |
| Day | Day | BYTE | 1 | 1 | 1 | 13 | |
| Hour | Hour | BYTE | 1 | 1 | 1 | 14 | |
| Minutes | Minute | BYTE | 1 | 1 | 1 | 15 | |
| Second | Second | BYTE | 1 | 1 | 1 | 16 | |
| MilliSecond | Millisecond | short | 2 | 1 | 2 | 17 | |
| Duration | Duration | Measurement duration | float | 4 | 1 | 4 | 19 |
| Interval | Interval | Measurement interval | float | 4 | 1 | 4 | 23 |
| Robot No | RobotNo | Robot number | short | 2 | 1 | 2 | 27 |
| Robot Name | RobotNameLength | Characters in Robot name | BYTE | 1 | 1 | 1 | 29 |
| RobotName | Robot name | BYTE | 1 | 32 | 32 | 30 | |
| Sensor No | SensorNo | Sensor number | BYTE | 1 | 1 | 1 | 62 |
| Sensor Serial | SensorSerialLength | Number of characters in sensor serial | BYTE | 1 | 1 | 1 | 63 |
| SensorSerial | Force sensor serial number | BYTE | 1 | 10 | 10 | 64 | |
| Sensor Label | SensorLabelLength | Number of characters in sensor label | BYTE | 1 | 1 | 1 | 74 |
| SensorLabel | Force sensor label | BYTE | 1 | 32 | 32 | 75 | |
| FM No | FMNo | Force monitor object number | short | 2 | 1 | 2 | 107 |
| FM Label | FMLabelLength | Number of characters in FM label | BYTE | 1 | 1 | 1 | 109 |
| FMLabel | Force monitor object label | BYTE | 1 | 32 | 32 | 110 | |
| FCS No | FCSNo | Force coordinate system object number | short | 2 | 1 | 2 | 142 |
| FCS Label | FCSLabelLength | Number of characters in FCS label | BYTE | 1 | 1 | 1 | 144 |
| FCSLabel | Force coordinate system object label | BYTE | 1 | 32 | 32 | 145 | |
| End Condition | EndCondition | End condition 0: Duration elapsed 1: End executed property 2: Stop requested 4: Build executed 7: Task ended -1: Error occurred | BYTE | 1 | 1 | 1 | 177 |
| Error No | ErrorNo | Error number | short | 2 | 1 | 2 | 178 |
| Seq No | SeqNo | Sequence number | BYTE | 1 | 1 | 1 | 180 |
| Reserve | Reserved | BYTE | 1 | 1 | 1 | 181 | |
| Total | 182 | 182 | |||||