Data Collection

Description

When recording data from the robot, the preferred interface is the Real-Time Data Exchange (port number 30004), and the most valuable fields to capture are:

  • Joint angles/deviations

    • Target joint positions (target_q)

    • Actual joint positions (actual_q)

  • Joint currents/torques

    • Target joint currents (target_current)

    • Actual joint currents (actual_current)

    • Joint current windows (current_window)

    • Target joint moments (target_moment)

  • TCP pose

    • Target Cartesian coordinates of the tool (target_TCP_pose)

    • Actual Cartesian coordinates of the tool (actual_TCP_pose)

  • TCP force

    • Generalized forces in the TCP (actual_TCP_force)

    • Raw force and torque measurement (ft_raw_wrench) – e-Series only, SW > 5.9.0

  • Robot status

    • Safety mode (safety_mode)

    • Program state (runtime_state)