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State Data

Get Robot State

Gets the current Robot State.

  • Function: get_robot_mode from the lua module
  • Parameters: none
  • Returns: [int] Current Robot State

Example

print(get_robot_mode())

Get Feedback Joint Position

This command gets the current robot feedback joint position, which is the actual feedback value obtained from joint encoders (converted to absolute value).

Due to spatiotemporal errors in robot control, the return value of this command will differ from Get Planned Joint Position, especially during acceleration or when running with heavy loads.

  • Function: get_actual_joint_positions from the lua module
  • Parameters: none
  • Returns: [JointPose] Each joint feedback position, unit rad

Example

print(get_actual_joint_positions())

Output:

{j5=0.971489,j4=3.09644,j6=-2.86212,j1=-2.18238,j2=-0.214086,j3=0.0813969}

Get Planned Joint Position

This command gets the joint position planned by the current robot control algorithm.

Due to spatiotemporal errors in robot control, the return value of this command will differ from Get Feedback Joint Position.

  • Function: get_target_joint_positions from the lua module
  • Parameters: none
  • Returns: [JointPose] Each joint planned position, unit rad

Example

print(get_target_joint_positions())

Get Feedback Joint Velocity

This command gets the current robot feedback joint angular velocity.

Due to spatiotemporal errors in robot control, the return value of this command will differ from Get Planned Joint Velocity.

  • Function: get_actual_joint_speeds from the lua module
  • Parameters: none
  • Returns: [list[float]] Each joint current angular velocity, unit rad/s

Example

print(get_actual_joint_speeds())

Get Planned Joint Velocity

This command gets each joint's target angular velocity planned by the robot algorithm.

Due to spatiotemporal errors in robot control, the return value of this command will differ from Get Feedback Joint Velocity.

  • Function: get_target_joint_speeds from the lua module
  • Parameters: none
  • Returns: [list[float]] Each joint planned angular velocity, unit rad/s

Example

print(get_target_joint_speeds())

Get Feedback Joint Acceleration

This command gets the current robot feedback joint angular acceleration.

  • Function: get_actual_joint_acc from the lua module
  • Parameters: none
  • Returns: [list[float]] Each joint current angular acceleration, unit rad/s²

Example

print(get_actual_joint_acc())

Get Planned Joint Acceleration

This command gets each joint's target angular acceleration planned by the robot algorithm.

  • Function: get_target_joint_acc from the lua module
  • Parameters: none
  • Returns: [list[float]] Each joint planned angular acceleration, unit rad/s²

Example

print(get_target_joint_acc())

Get Feedback Flange Position 3.1.14

Gets the actual pose of the current flange center point relative to the base coordinate system.

  • Function: get_actual_flange_pose from the lua module
  • Parameters: none
  • Returns: [CartesianPose] Flange center point pose, format {x, y, z, rz, ry, rx}

Example

print(get_actual_flange_pose())

Output:

{0.111003,0.466219,0.433249,1.89694,0.176494,1.42186}

Get Feedback Tool Position

Gets the actual pose of the current tool (TCP) relative to the base coordinate system.

  • Function: get_actual_tcp_pose from the lua module
  • Parameters: none
  • Returns: [CartesianPose] Tool pose, format {x, y, z, rz, ry, rx}

Example

print(get_actual_tcp_pose())

Output:

{0.111003,0.466219,0.433249,1.89694,0.176494,1.42186}

Get Planned Tool Position

Gets the target pose of the current tool (TCP) planned by the robot algorithm relative to the base coordinate system.

  • Function: get_target_tcp_pose from the lua module
  • Parameters: none
  • Returns: [CartesianPose] Tool target pose, format {x, y, z, rz, ry, rx}

Example

print(get_target_tcp_pose())

Get Joint Temperature

This method gets the internal feedback temperature of a specified joint.

  • Function: get_joint_temp from the lua module
  • Parameters:
    1. joint: [int] Joint number, starting from 1
  • Returns: [float] Internal feedback temperature of the specified joint, unit ℃

Example

print(get_joint_temp(1))

Output:

58.2

Get All Joint Temperatures

Gets the internal temperature of all joints.

  • Function: get_joint_temperatures from the lua module
  • Parameters: none
  • Returns: [list[float]] Temperature of each joint, unit ℃

Example

print(get_joint_temperatures())

Output:

{58.1,58.3,59,62.3,61.5,64.3}

Get Joint Feedback Torque

Gets each joint's feedback torque.

  • Function: get_actual_joint_torques from the lua module
  • Parameters: none
  • Returns: [list[float]] Each joint feedback torque value, unit N·m

Compatibility Note

get_joint_torques is an alias for this function.

Example

print(get_actual_joint_torques())

Output:

{0,-21.5756,-7.78209,0.256523,-0.00925853,0}

Get Joint Planned Torque

Gets each joint's planned torque.

  • Function: get_target_joint_torques from the lua module
  • Parameters: none
  • Returns: [list[float]] Each joint planned torque value, unit N·m

Example

print(get_target_joint_torques())