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 (℃)