Data Formatting
This section describes the content and format of the data that can be read from a Data node. A Data node contains multiple data chunks. Each data chunk is composed of multiple items of the data shown below.
Contents of Data Chunks
The table below shows the content of the data that can be acquired. Each large data item is described in detail below.
| Data category | Large Data item | Overview | of 1 Size | Quantity | Total bytes | Index |
|---|---|---|---|---|---|---|
| ENC | ENC_1 | Encoder (Axis 1) | 24 | 8 | 192 | 0 |
| ENC_2 | Encoder (Axis 2) | 24 | 8 | 192 | 192 | |
| ENC_3 | Encoder (Axis 3) | 24 | 8 | 192 | 384 | |
| ENC_4 | Encoder (Axis 4) | 24 | 8 | 192 | 576 | |
| ENC_5 | Encoder (Axis 5) | 24 | 8 | 192 | 768 | |
| ENC_6 | Encoder (Axis 6) | 24 | 8 | 192 | 960 | |
| DRVCMD | DRVCMD_1 | Current Command (Axis 1) | 20 | 8 | 160 | 1152 |
| DRVCMD_2 | Current Command (Axis 2) | 20 | 8 | 160 | 1312 | |
| DRVCMD_3 | Current Command (Axis 3) | 20 | 8 | 160 | 1472 | |
| DRVCMD_4 | Current Command (Axis 4) | 20 | 8 | 160 | 1632 | |
| DRVCMD_5 | Current Command (Axis 5) | 20 | 8 | 160 | 1792 | |
| DRVCMD_6 | Current Command (Axis 6) | 20 | 8 | 160 | 1952 | |
| RT-I/O | RT-I/O | RealTime I/O | 16 | 8 | 128 | 2112 |
| STD-I/O | STD-I/O | Standard I/O | 24 | 8 | 192 | 2240 |
| FSENS | FSENS | Force Sensor data | 72 | 1 | 72 | 2432 |
| PLSCNT | PLSCNT | Pulse Counter | 24 | 1 | 24 | 2504 |
| TCP | TCP | Tip of the robot arm | 80 | 1 | 80 | 2528 |
| Total | 2608 | 2608 | ||||
KEY POINTS
If no data exists, the TIMESTAMP will become “0”. See the table below.
Content of ENC
For each of the robot’s axes, 8 items of ENC data are included. The data in these 8 items are arranged chronologically. This section describes the format of each of the ENC data.
| Large data item | Small data item | Overview | of 1 Size | Data type | Quantity | Total bytes | Index |
|---|---|---|---|---|---|---|---|
| ENC_n | TIMESTAMP | TIMESTAMP 1 sec per 80,000,000. When converting to seconds, divide by 80,000,000. Do the same for the following TIMESTAMPs as well. The starting point is when the Controller is turned on or is rebooted. The same is true for the following TIMESTAMPs as well. | 8 | UInt64 | 1 | 8 | 0 |
| ENC_POS | Encoder position information (pulse value) | 8 | Int64 | 1 | 8 | 8 | |
| ENC_TMR | Timer value (Number of internal clocks in the encoder) | 4 | UInt32 | 1 | 4 | 16 | |
| ENC_TEMP | Temperature (℃) | 1 | SByte | 1 | 1 | 20 |
Content of DRVCMD
For each of the robot’s axes, 8 items of DRVCMD data are included. The data in these 8 items are arranged chronologically. This section describes the format of each of the DRVCMD data.
| Large data item | Small data item | Overview | of 1 Size | Data type | Quantity | Total bytes | Index |
|---|---|---|---|---|---|---|---|
| DRVCMD_n | TIMESTAMP | TIMESTAMP | 8 | UInt64 | 1 | 8 | 0 |
| RESERVE | Reserved | 2 | Byte | 1 | 2 | 8 | |
| IDREF | D-Axis Current Command Value | 2 | Int16 | 1 | 2 | 10 | |
| IQREF | Q-Axis Current Command Value | 2 | Int16 | 1 | 2 | 12 | |
| EANGLE | Electrical angle * This is the angle if 360 degrees is expressed as 65,536. | 2 | Uint16 | 1 | 2 | 14 | |
| VEL | Velocity | 2 | Int16 | 1 | 2 | 16 | |
| RESERVE | Reserved | 2 | Int16 | 2 | 2 | 18 |
Content of RT-I/O
For each item of data, 8 pieces of RT-I/O data are included. The data in these 8 items are arranged chronologically. This section describes the format of each of the RT-I/O data.
| Large Data Item | Small Data item | Overview | of 1 Size | Data type | Quantity | Total bytes | Index |
|---|---|---|---|---|---|---|---|
| RT-I/O | TIMESTAMP | TIMESTAMP | 8 | UInt64 | 1 | 8 | 0 |
| RTIO_IN | RealTime Input The following 4 bits are Standard R-I/O Input. | 1 | Byte | 1 | 1 | 8 | |
| RESERVE | Reserved | 3 | - | 1 | 3 | 9 | |
| RTIO_OUT | RealTime Output The following 4 bits are Standard R-I/O Output. | 1 | Byte | 1 | 1 | 12 | |
| RESERVE | Reserved | 3 | - | 1 | 3 | 13 |
Content of STD-I/O
For each item of data, 8 pieces of STD-I/O data are included. The data in these 8 items are arranged chronologically. This section describes the format of each of the STD-I/O data.
| Large data item | Small data item | Overview | of 1 Size | Data type | Quantity | Total bytes | Index |
|---|---|---|---|---|---|---|---|
| STD-I/O | TIMESTAMP | TIMESTAMP | 8 | UInt64 | 1 | 8 | 0 |
| RESERVE | Reserved | 8 | UInt32 | 1 | 8 | 8 | |
| STDIO_IN | Standard Input The following 3 bits are Standard Input. | 4 | UInt32 | 1 | 4 | 16 | |
| STDIO_OUT | Standard Output The following 2 bits are Standard Output. | 4 | Uint32 | 1 | 4 | 20 |
Content of FSENS
For each item of data, 1 piece of FSENS data is included. This section describes the format of each of the FSENS data.
| Data Large data item | Data Small data item | Overview | of 1 Size | Data type | Quantity | Total bytes | Index |
|---|---|---|---|---|---|---|---|
| FSENS | TIMESTAMP | TIMESTAMP | 8 | UInt64 | 1 | 8 | 0 |
| RESERVE | Reserved Area | 4 | - | 1 | 4 | 8 | |
| FSENS_RESP_6D_DATA | Force Sensor data For detailed information, see the table below. | 18 | - | 1 | 18 | 12 | |
| RESERVE | Reserved Area | 2 | - | 1 | 2 | 30 | |
| FSENS_RESP_16D_DATA | Force Sensor data For detailed information, see the table below. | 40 | - | 1 | 40 | 32 |
Describes details of the data from FSENS_RESP_6D_DATA in the table above. Be aware that the unit for Index is “bit”.
| Data Small data item | Data item | Overview | Size (bit) | Index (bit) |
|---|---|---|---|---|
| FSENS_RESP_6D_DATA | Fx_2_17 | of each axis in the Force coordinate system Within the Sensor data (g), data from bit 2 to bit 17 | 16 | 0 |
| Fy_2_17 | 16 | 16 | ||
| Fz_2_17 | 16 | 32 | ||
| Mx_2_17 | 16 | 48 | ||
| My_2_17 | 16 | 64 | ||
| Mz_2_17 | 16 | 80 | ||
| Fx_0_1 | of each axis in the Force coordinate system Within the Sensor data (g), the data from bit 0 to bit 1 | 2 | 96 | |
| Fy_0_1 | 2 | 98 | ||
| Fz_0_1 | 2 | 100 | ||
| RESERVE | Reserved | 2 | 102 | |
| Mx_0_1 | of each axis in the Force coordinate system Within the Sensor data (g), the data from bit 0 to bit 1 | 2 | 104 | |
| My_0_1 | 2 | 106 | ||
| Mz_0_1 | 2 | 108 | ||
| RESERVE | Reserved | 2 | 110 | |
| Temperature_0_15 | Temperature (℃) | 16 | 112 | |
| RESERVE | Reserved | 16 | 128 |
Describes details of the data from FSENS_RESP_16D_DATA in the table above. Be aware that the unit for Index is “bit”.
| Data Small data item | Data item | Overview | Size (bit) | Index (bit) |
|---|---|---|---|---|
| FSENS_RESP_16D_DATA | Xa_2_17 | Within the Element Output data (g), the data from bit 2 to bit 17 Z and T have a constant value of “0” | 16 | 0 |
| Ya_2_17 | 16 | 16 | ||
| Za_2_17 | 16 | 32 | ||
| Ta_2_17 | 16 | 48 | ||
| Xa_0_1 | Within the Element Output data (g), the data from bit 0 to bit 1 Z and T have a constant value of “0” | 2 | 64 | |
| Ya_0_1 | 2 | 66 | ||
| Za_0_1 | 2 | 68 | ||
| Ta_0_1 | 2 | 70 | ||
| Xb_2_17 | Within the Element Output data (g), the data from bit 2 to bit 17 Z and T have a constant value of “0” | 16 | 72 | |
| Yb_2_17 | 16 | 88 | ||
| Zb_2_17 | 16 | 104 | ||
| Tb_2_17 | 16 | 120 | ||
| Xb_0_1 | Within the Element Output data (g), the data from bit 0 to bit 1 Z and T have a constant value of “0” | 2 | 136 | |
| Yb_0_1 | 2 | 138 | ||
| Zb_0_1 | 2 | 140 | ||
| Tb_0_1 | 2 | 142 | ||
| Xc_2_17 | Within the Element Output data (g), the data from bit 2 to bit 17 Z and T have a constant value of “0” | 16 | 144 | |
| Yc_2_17 | 16 | 160 | ||
| Zc_2_17 | 16 | 176 | ||
| Tc_2_17 | 16 | 192 | ||
| Xc_0_1 | Within the Element Output data (g), the data from bit 0 to bit 1 Z and T have a constant value of “0” | 2 | 208 | |
| Yc_0_1 | 2 | 210 | ||
| Zc_0_1 | 2 | 212 | ||
| Tc_0_1 | 2 | 214 | ||
| Xd_2_17 | Within the Element Output data (g), the data from bit 2 to bit 17 Z and T have a constant value of “0” | 16 | 216 | |
| Yd_2_17 | 16 | 232 | ||
| Zd_2_17 | 16 | 248 | ||
| Td_2_17 | 16 | 264 | ||
| Xd_0_1 | Within the Element Output data (g), the data from bit 0 to bit 1 Z and T have a constant value of “0” | 2 | 280 | |
| Yd_0_1 | 2 | 282 | ||
| Zd_0_1 | 2 | 284 | ||
| Td_0_1 | 2 | 286 | ||
| Temperature_0_15 | Temperature(℃) | 16 | 288 | |
| RESERVE | Reserved | 16 | 304 |
Content of PLSCNT
For each item of data, 1 piece of PLSCNT data is included. This section describes the format of each of the PLSCNT data.
| Data Large data item | Data Small data item | Overview | of 1 Size | Data type | Quantity | Total bytes | Index |
|---|---|---|---|---|---|---|---|
| PLSCNT | TIMESTAMP | TIMESTAMP | 8 | UInt64 | 1 | 8 | 0 |
| PLSCNT1_NOW | The present Pulse Counter value | 4 | Byte | 1 | 4 | 8 | |
| PLSCNT1_LATCH | The Latched Pulse Counter value | 4 | Byte | 1 | 4 | 12 | |
| PLSCNT2_NOW | The present Pulse Counter value | 4 | Byte | 1 | 4 | 16 | |
| PLSCNT2_LATCH | The latched Pulse Counter value | 4 | Byte | 1 | 4 | 20 |
Content of TCP
For each item of data, 1 piece of TCP data is included. This section describes the format of each of the TCP data.
| Data Large data item | Data Small data item | Overview | of 1 Size | Data type | Quantity | Total bytes | Index |
|---|---|---|---|---|---|---|---|
| TCP | TIMESTAMP | TIMESTAMP | 8 | UInt64 | 1 | 8 | 0 |
| X | X component of the position of the tip of the robot arm | 8 | Double | 1 | 8 | 8 | |
| Y | Y component of the position of the tip of the robot arm | 8 | Double | 1 | 8 | 16 | |
| Z | Z component of the position of the tip of the robot arm | 8 | Double | 1 | 8 | 24 | |
| U | U component of the position of the tip of the robot arm | 8 | Double | 1 | 8 | 32 | |
| V | V component of the position of the tip of the robot arm | 8 | Double | 1 | 8 | 40 | |
| W | W component of the position of the tip of the robot arm | 8 | Double | 1 | 8 | 48 | |
| R | R component of the position of the tip of the robot arm | 8 | Double | 1 | 8 | 56 | |
| S | S component of the position of the tip of the robot arm | 8 | Double | 1 | 8 | 64 | |
| T | T component of the position of the tip of the robot arm | 8 | Double | 1 | 8 | 72 |