Breadcrumbs

Supported Data Types

The supported data types are as in the following table.

Joint Space

  • Actual/Target angle [degree], Velocity [degree/sec]

  • Actual Angle(ABS) [degree]

Task Space

(Base)

  • Actual/Target TCP [mm], Velocity [mm/sec]

  • Actual Flange Pose [mm]

  • Actual/Target TCP Speed [mm/sec]

  • Solution Space

Task Space

 (World/User)

  • Actual/Target TCP [mm], Velocity [mm/sec]

  • Actual Flange Pose [mm]

Force

  • Joint Torque(Sensor) [Nm]

  • Motor Torque [Nm]

  • Force Torque Sensor [N], Acceleration Sensor [m/s2]

  • Joint Torque (Gravity/Model), Joint External Torque [Nm]

  • Task External Force (Base/World/User/Tool) [N]

IO

  • Flange digital Input (6), digital output (6)

ETC

  • Motor Current (A)

  • Inverter Temperature (℃)