ur-state-receiver/urStateDef.js at master · ABC-iRobotics/ur-state-receiver · GitHub

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module.exports = {
  time: { start: 4, length: 8, description: 'Time elapsed since the controller was started' },
  tarJ1pos: { start: 12, length: 8, description: 'Target joint 1 position' },
  tarJ2pos: { start: 20, length: 8, description: 'Target joint 2 position' },
  tarJ3pos: { start: 28, length: 8, description: 'Target joint 3 position' },
  tarJ4pos: { start: 36, length: 8, description: 'Target joint 4 position' },
  tarJ5pos: { start: 44, length: 8, description: 'Target joint 5 position' },
  tarJ6pos: { start: 52, length: 8, description: 'Target joint 6 position' },
  tarJ1vel: { start: 60, length: 8, description: 'Target joint 1 velocity' },
  tarJ2vel: { start: 68, length: 8, description: 'Target joint 2 velocity' },
  tarJ3vel: { start: 76, length: 8, description: 'Target joint 3 velocity' },
  tarJ4vel: { start: 84, length: 8, description: 'Target joint 4 velocity' },
  tarJ5vel: { start: 92, length: 8, description: 'Target joint 5 velocity' },
  tarJ6vel: { start: 100, length: 8, description: 'Target joint 6 velocity' },
  tarJ1acc: { start: 108, length: 8, description: 'Target joint 1 acceleration' },
  tarJ2acc: { start: 116, length: 8, description: 'Target joint 2 acceleration' },
  tarJ3acc: { start: 124, length: 8, description: 'Target joint 3 acceleration' },
  tarJ4acc: { start: 132, length: 8, description: 'Target joint 4 acceleration' },
  tarJ5acc: { start: 140, length: 8, description: 'Target joint 5 acceleration' },
  tarJ6acc: { start: 148, length: 8, description: 'Target joint 6 acceleration' },
  tarJ1cur: { start: 156, length: 8, description: 'Target joint 1 current' },
  tarJ2cur: { start: 164, length: 8, description: 'Target joint 2 current' },
  tarJ3cur: { start: 172, length: 8, description: 'Target joint 3 current' },
  tarJ4cur: { start: 180, length: 8, description: 'Target joint 4 current' },
  tarJ5cur: { start: 188, length: 8, description: 'Target joint 5 current' },
  tarJ6cur: { start: 196, length: 8, description: 'Target joint 6 current' },
  tarJ1mom: { start: 204, length: 8, description: 'Target joint 1 moment (torque)' },
  tarJ2mom: { start: 212, length: 8, description: 'Target joint 2 moment (torque)' },
  tarJ3mom: { start: 220, length: 8, description: 'Target joint 3 moment (torque)' },
  tarJ4mom: { start: 228, length: 8, description: 'Target joint 4 moment (torque)' },
  tarJ5mom: { start: 236, length: 8, description: 'Target joint 5 moment (torque)' },
  tarJ6mom: { start: 244, length: 8, description: 'Target joint 6 moment (torque)' },
  actJ1pos: { start: 252, length: 8, description: 'Actual joint 1 position' },
  actJ2pos: { start: 260, length: 8, description: 'Actual joint 2 position' },
  actJ3pos: { start: 268, length: 8, description: 'Actual joint 3 position' },
  actJ4pos: { start: 276, length: 8, description: 'Actual joint 4 position' },
  actJ5pos: { start: 284, length: 8, description: 'Actual joint 5 position' },
  actJ6pos: { start: 292, length: 8, description: 'Actual joint 6 position' },
  actJ1vel: { start: 300, length: 8, description: 'Actual joint 1 velocity' },
  actJ2vel: { start: 308, length: 8, description: 'Actual joint 2 velocity' },
  actJ3vel: { start: 316, length: 8, description: 'Actual joint 3 velocity' },
  actJ4vel: { start: 324, length: 8, description: 'Actual joint 4 velocity' },
  actJ5vel: { start: 332, length: 8, description: 'Actual joint 5 velocity' },
  actJ6vel: { start: 340, length: 8, description: 'Actual joint 6 velocity' },
  actJ1cur: { start: 348, length: 8, description: 'Actual joint 1 current' },
  actJ2cur: { start: 356, length: 8, description: 'Actual joint 2 current' },
  actJ3cur: { start: 364, length: 8, description: 'Actual joint 3 current' },
  actJ4cur: { start: 372, length: 8, description: 'Actual joint 4 current' },
  actJ5cur: { start: 380, length: 8, description: 'Actual joint 5 current' },
  actJ6cur: { start: 388, length: 8, description: 'Actual joint 6 current' },
  conJ1cur: { start: 396, length: 8, description: 'Joint 1 control current' },
  conJ2cur: { start: 404, length: 8, description: 'Joint 2 control current' },
  conJ3cur: { start: 412, length: 8, description: 'Joint 3 control current' },
  conJ4cur: { start: 420, length: 8, description: 'Joint 4 control current' },
  conJ5cur: { start: 428, length: 8, description: 'Joint 5 control current' },
  conJ6cur: { start: 436, length: 8, description: 'Joint 6 control current' },
  actXXpos: { start: 444, length: 8, description: 'Actual Cartesian coordinate of the tool: x' },
  actYYpos: { start: 452, length: 8, description: 'Actual Cartesian coordinate of the tool: y' },
  actZZpos: { start: 460, length: 8, description: 'Actual Cartesian coordinate of the tool: z' },
  actRXpos: { start: 468, length: 8, description: 'Actual Cartesian coordinate of the tool: rx' },
  actRYpos: { start: 476, length: 8, description: 'Actual Cartesian coordinate of the tool: ry' },
  actRZpos: { start: 484, length: 8, description: 'Actual Cartesian coordinate of the tool: rz' },
  actXXvel: { start: 492, length: 8, description: 'Actual speed of the tool given in Cartesian coordinate: x' },
  actYYvel: { start: 500, length: 8, description: 'Actual speed of the tool given in Cartesian coordinate: y' },
  actZZvel: { start: 508, length: 8, description: 'Actual speed of the tool given in Cartesian coordinate: z' },
  actRXvel: { start: 516, length: 8, description: 'Actual speed of the tool given in Cartesian coordinate: rx' },
  actRYvel: { start: 524, length: 8, description: 'Actual speed of the tool given in Cartesian coordinate: ry' },
  actRZvel: { start: 532, length: 8, description: 'Actual speed of the tool given in Cartesian coordinate: rz' },
  genXXfor: { start: 540, length: 8, description: 'Generalised force in the TCP: x' },
  genYYfor: { start: 548, length: 8, description: 'Generalised force in the TCP: y' },
  genZZfor: { start: 556, length: 8, description: 'Generalised force in the TCP: z' },
  genRXfor: { start: 564, length: 8, description: 'Generalised force in the TCP: rx' },
  genRYfor: { start: 572, length: 8, description: 'Generalised force in the TCP: ry' },
  genRZfor: { start: 580, length: 8, description: 'Generalised force in the TCP: rz' },
  tarXXpos: { start: 588, length: 8, description: 'Target Cartesian coordinate of the tool: x' },
  tarYYpos: { start: 596, length: 8, description: 'Target Cartesian coordinate of the tool: y' },
  tarZZpos: { start: 604, length: 8, description: 'Target Cartesian coordinate of the tool: z' },
  tarRXpos: { start: 612, length: 8, description: 'Target Cartesian coordinate of the tool: rx' },
  tarRYpos: { start: 620, length: 8, description: 'Target Cartesian coordinate of the tool: ry' },
  tarRZpos: { start: 628, length: 8, description: 'Target Cartesian coordinate of the tool: rz' },
  tarXXvel: { start: 636, length: 8, description: 'Target speed of the tool given in Cartesian coordinate: x' },
  tarYYvel: { start: 644, length: 8, description: 'Target speed of the tool given in Cartesian coordinate: y' },
  tarZZvel: { start: 652, length: 8, description: 'Target speed of the tool given in Cartesian coordinate: z' },
  tarRXvel: { start: 660, length: 8, description: 'Target speed of the tool given in Cartesian coordinate: rx' },
  tarRYvel: { start: 668, length: 8, description: 'Target speed of the tool given in Cartesian coordinate: ry' },
  tarRZvel: { start: 676, length: 8, description: 'Target speed of the tool given in Cartesian coordinate: rz' },
  digInput: { start: 684, length: 8, description: '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' },
  actJ1cel: { start: 692, length: 8, description: 'Temperature of joint 1 in degree celsius' },
  actJ2cel: { start: 700, length: 8, description: 'Temperature of joint 2 in degree celsius' },
  actJ3cel: { start: 708, length: 8, description: 'Temperature of joint 3 in degree celsius' },
  actJ4cel: { start: 716, length: 8, description: 'Temperature of joint 4 in degree celsius' },
  actJ5cel: { start: 724, length: 8, description: 'Temperature of joint 5 in degree celsius' },
  actJ6cel: { start: 732, length: 8, description: 'Temperature of joint 6 in degree celsius' },
  contimer: { start: 740, length: 8, description: 'Controller realtime thread execution time' },
  testVal: { start: 748, length: 8, description: 'A value used by Universal Robots software only' },
  robotMode: { start: 756, length: 8, description: 'Robot mode' },
  j1Mode: { start: 764, length: 8, description: 'Joint 1 control mode' },
  j2Mode: { start: 772, length: 8, description: 'Joint 2 control mode' },
  j3Mode: { start: 780, length: 8, description: 'Joint 3 control mode' },
  j4Mode: { start: 788, length: 8, description: 'Joint 4 control mode' },
  j5Mode: { start: 796, length: 8, description: 'Joint 5 control mode' },
  j6Mode: { start: 804, length: 8, description: 'Joint 6 control mode' },
  safetyMode: { start: 812, length: 8, description: 'Safety mode' },
  toolXacc: { start: 868, length: 8, description: 'Tool x accelerometer value (software version 1.7)' },
  toolYacc: { start: 876, length: 8, description: 'Tool y accelerometer value (software version 1.7)' },
  toolZacc: { start: 884, length: 8, description: 'Tool z accelerometer value (software version 1.7)' },
  speedScaling: { start: 940, length: 8, description: 'Speed scaling of the trajectory limiter' },
  linMomNorm: { start: 948, length: 8, description: 'Norm of Cartesian linear momentum' },
  mainV: { start: 972, length: 8, description: 'Masterboard: Main voltage' },
  robotV: { start: 980, length: 8, description: 'Masterboard: Robot voltage (48V)' },
  robotI: { start: 988, length: 8, description: 'Masterboard: Robot current' },
  actJ1V: { start: 996, length: 8, description: 'Actual joint 1 voltage' },
  actJ2V: { start: 1004, length: 8, description: 'Actual joint 2 voltage' },
  actJ3V: { start: 1012, length: 8, description: 'Actual joint 3 voltage' },
  actJ4V: { start: 1020, length: 8, description: 'Actual joint 4 voltage' },
  actJ5V: { start: 1028, length: 8, description: 'Actual joint 5 voltage' },
  actJ6V: { start: 1036, length: 8, description: 'Actual joint 6 voltage' },
  digOutput: { start: 1044, length: 8, description: 'Digital outputs' },
  progState: { start: 1052, length: 8, description: 'Program state' },
  elbowPositionX: { start: 1060, length: 8, description: 'Elbow position: x' },
  elbowPositionY: { start: 1068, length: 8, description: 'Elbow position: y' },
  elbowPositionZ: { start: 1076, length: 8, description: 'Elbow position: z' },
  elbowVelocityX: { start: 1084, length: 8, description: 'Elbow velocity: x' },
  elbowVelocityY: { start: 1092, length: 8, description: 'Elbow velocity: y' },
  elbowVelocityZ: { start: 1100, length: 8, description: 'Elbow velocity: z' },
  safetyStatus: { start: 1108, length: 8, description: 'Safety Status' }
}