We provide TCP port 30000 to get the robot data in real-time, the frequency is 200HZ. The following briefly describes how to use data reporting with the 30000 port.
Firmware version: V2.1.0 or later
| Items | Type | First byte | Last byte | Length | Unit | Description |
|---|---|---|---|---|---|---|
| Number of bytes | U32 | 1 | 4 | 4 | ||
| Timestamp | U64 | 5 | 12 | 8 | μs | |
| Motion Status and Mode | U8 | 13 | 13 | 1 | ||
| Number of Cached Commands | U16 | 14 | 15 | 2 | ||
| Reserved for System Information | U16 | 16 | 32 | 17 | ||
| Target Joint Positions | FP32 | 33 | 60 | 28 | rad | |
| Target Joint Velocities | FP32 | 61 | 88 | 28 | rad/s | |
| Target Joint Accelerations | FP32 | 89 | 116 | 28 | rad/s² | |
| Actual Joint Positions | FP32 | 117 | 144 | 28 | rad | |
| Actual Joint Velocities | FP32 | 145 | 172 | 28 | rad/s | |
| Actual Joint Accelerations | FP32 | 173 | 200 | 28 | rad/s² | |
| Actual Joint Currents | FP32 | 201 | 228 | 28 | A | |
| Estimated Joint Torques | FP32 | 229 | 256 | 28 | N | |
| Reserved for Joints | FP32 | 257 | 424 | 168 | ||
| Target TCP Pose | FP32 | 425 | 448 | 24 | mm & rad | [x,y,z,rx,ry,rz] |
| Target TCP Speed | FP32 | 449 | 472 | 24 | mm/s & rad/s | |
| Actual TCP Pose | FP32 | 473 | 496 | 24 | mm &rad | [x,y,z,rx,ry,rz] |
| Actual TCP Speed | FP32 | 497 | 520 | 24 | mm/s & rad/s | |
| Estimated TCP Torques | FP32 | 521 | 544 | 24 | N & N·m | |
| Reserved for Cartesian | FP32 | 545 | 688 | 144 | ||
| Raw Data of 6-Axis Torque Sensor | FP32 | 689 | 712 | 24 | N & N·m | [Fx,Fy,Fz,Tx,Ty,Tz] |
| Filtered Data of 6-Axis Torque Sensor | FP32 | 713 | 736 | 24 | N & N·m | [Fx,Fy,Fz,Tx,Ty,Tz] |
| Reserved for External Devices | FP32 | 737 | 784 | 48 |