RealTime 5.9
(The RealTime interface has been deprecated since version 3.5. It is recommended to use the RTDE Interface, instead)
| Meaning | Type | Number of values | Size in bytes | Gnuplot col. | Notes | |||||||||||||
| Message Size | integer | 1 | 4 | Total message length in bytes | ||||||||||||||
| Time | double | 1 | 8 | 1 | Time elapsed since the controller was started | |||||||||||||
| q target | double | 6 | 48 | 2 - 7 | Target joint positions | |||||||||||||
| qd target | double | 6 | 48 | 8 - 13 | Target joint velocities | |||||||||||||
| qdd target | double | 6 | 48 | 14 - 19 | Target joint accelerations | |||||||||||||
| I target | double | 6 | 48 | 20 - 25 | Target joint currents | |||||||||||||
| M target | double | 6 | 48 | 26 - 31 | Target joint moments (torques) | |||||||||||||
| q actual | double | 6 | 48 | 32 - 37 | Actual joint positions | |||||||||||||
| qd actual | double | 6 | 48 | 38 - 43 | Actual joint velocities | |||||||||||||
| I actual | double | 6 | 48 | 44 - 49 | Actual joint currents | |||||||||||||
| I control | double | 6 | 48 | 50 - 55 | Joint control currents | |||||||||||||
| Tool vector actual | double | 6 | 48 | 56 - 61 | Actual Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation | |||||||||||||
| TCP speed actual | double | 6 | 48 | 62 - 67 | Actual speed of the tool given in Cartesian coordinates | |||||||||||||
| TCP force | double | 6 | 48 | 68 - 73 | Generalised forces in the TCP | |||||||||||||
| Tool vector target | double | 6 | 48 | 74 - 79 | Target Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation | |||||||||||||
| TCP speed target | double | 6 | 48 | 80 - 85 | Target speed of the tool given in Cartesian coordinates | |||||||||||||
| Digital input bits | double | 1 | 8 | 86 | Current state of the digital inputs. NOTE: these are bits encoded as int64_t, e.g. a value of 5 corresponds to bit 0 and bit 2 set high | |||||||||||||
| Motor temperatures | double | 6 | 48 | 87 - 92 | Temperature of each joint in degrees celsius | |||||||||||||
| Controller Timer | double | 1 | 8 | 93 | Controller realtime thread execution time | |||||||||||||
| Test value | double | 1 | 8 | 94 | A value used by Universal Robots software only | |||||||||||||
| Robot Mode | double | 1 | 8 | 95 | Robot mode | |||||||||||||
| Joint Modes | double | 6 | 48 | 96-101 | Joint control modes | |||||||||||||
| Safety Mode | double | 1 | 8 | 102 | Safety mode | |||||||||||||
| double | 6 | 48 | 103 - 108 | Used by Universal Robots software only | ||||||||||||||
| Tool Accelerometer values | double | 3 | 24 | 109 - 111 | Tool x,y and z accelerometer values (software version 1.7) | |||||||||||||
| double | 6 | 48 | 112 - 117 | Used by Universal Robots software only | ||||||||||||||
| Speed scaling | double | 1 | 8 | 118 | Speed scaling of the trajectory limiter | |||||||||||||
| Linear momentum norm | double | 1 | 8 | 119 | Norm of Cartesian linear momentum | |||||||||||||
| double | 1 | 8 | 120 | Used by Universal Robots software only | ||||||||||||||
| double | 1 | 8 | 121 | Used by Universal Robots software only | ||||||||||||||
| V main | double | 1 | 8 | 122 | Masterboard: Main voltage | |||||||||||||
| V robot | double | 1 | 8 | 123 | Masterboard: Robot voltage (48V) | |||||||||||||
| I robot | double | 1 | 8 | 124 | Masterboard: Robot current | |||||||||||||
| V actual | double | 6 | 48 | 125 - 130 | Actual joint voltages | |||||||||||||
| Digital outputs | double | 1 | 8 | 131 | Digital outputs | |||||||||||||
| Program state | double | 1 | 8 | 132 | Program state | |||||||||||||
| Elbow position | double | 3 | 24 | 133 - 135 | Elbow position | |||||||||||||
| Elbow velocity | double | 3 | 24 | 136 -138 | Elbow velocity | |||||||||||||
| Safety Status | double | 1 | 8 | 139 | Safety status | |||||||||||||
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|
double | 1 | 8 | 140 | Used by Universal Robots software only | |||||||||||||
|
|
double | 1 | 8 | 141 | Used by Universal Robots software only | |||||||||||||
|
|
double | 1 | 8 | 142 | Used by Universal Robots software only | |||||||||||||
| TOTAL | 143 | 1140 | ||||||||||||||||
If it is experienced that less than 1140 bytes are received, the protocol for the actual received bytes also follows the structure listed above, only not containing the entries at leading up the 1140th byte.