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The Xentara Elite CS Driver v1.0
User Manual
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The Xentara Elite CS Driver v1.0
User Manual
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The Robot allows to select a set of variables to read from the Elite CS Robot. There are two types of variables, the Scalar and the Vector. Scalar provides a single value and Vector provides a set 3 or 6 of values. On both types Scalar and Vector the data type of the values depends on the value describes it. For the Vector type the data type is the same with all the values contained.
Each variable of the provided from the Elite CS Robot described by the following data types.
An element value of a variable vector can be accessed by it’s name. Each vector variable has different element names depends on it’s map type. The table below indicates the vector element names by it’s index order according to the map type the vector variable belongs to.
| Map Type | index 0 | index 1 | index 2 | index 3 | index 4 | index 5 |
|---|---|---|---|---|---|---|
| Point | X | Y | Z | - | - | - |
| Pose | X | Y | Z | Roll | Pitch | Yaw |
| Joint | Base | Elbow | Shoulder | Wrist1 | Wrist2 | Wrist3 |
The list below shows the variables provided from the Elite CS Robot with it’s data type and description for the units used and for map type for the vector variables.
| Name | Data Type | Description |
|---|---|---|
| PayloadMass | DOUBLE | Terminal payload, unit: kg |
| PayloadCog | VECTOR3D | Barycenter of terminal payload, unit: m, map type: point |
| ScriptVontrolLine | UINT32 | The line number of the running scripts |
| Timestamp | DOUBLE | Time from the robot startup to present, unit: s |
| TargetJointPositions | VECTOR6D | Target joint position, unit: radian, map type: joint |
| TargetJointSpeeds | VECTOR6D | Target joint speed, unit: rad/s, mapping: joint |
| ActualJointTorques | VECTOR6D | Actual joint torque, unit: N·m, map type: joint |
| ActualJointPositions | VECTOR6D | Actual joint position, unit: radian, map type: joint |
| ActualJointSpeeds | VECTOR6D | Actual joint speed, unit: rad/s, map type: joint |
| ActualJointCurrent | VECTOR6D | Actual joint current, unit: A, map type: joint |
| ActualTCPPose | VECTOR6D | Actual TCP pose, unit of position: m, unit of pose: radian, map type: pose |
| ActualTCPSpeed | VECTOR6D | Actual TCP speed, unit of the linear speed: m/s, unit of the angular speed: rad/s, map type: joint |
| TargetTCPPose | VECTOR6D | Target TCP pose, unit of position: m, unit of pose: radian, map type: pose |
| TargetTCPSpeed | VECTOR6D | Target TCP speed, unit of the linear speed: m/s, unit of the angular speed: rad/s, map type: joint |
| JointTemperatures | VECTOR6D | Joint temperature, unit: °C, map type: joint |
| RobotMode | INT32 | Robot mode, map type: joint |
| JointMode | VECTOR6INT32 | Robot joint mode, map type: joint |
| SafetyMode | INT32 | Mainboard security mode |
| SafetyStatus | INT32 | Safety status |
| SpeedScaling | DOUBLE | Proportional limit on the actual speed of the running program, range: [0.02-1.0] |
| TargetSpeedFraction | DOUBLE | Proportional limit on the target speed of the running program, range: [0.001-1.0] |
| ActualRobotVoltage | DOUBLE | Robot voltage, unit: V |
| ActualRobotCurrent | DOUBLE | Robot current, unit: A |
| RuntimeState | UINT32 | Program state. 0: unknown; 1: run; 2: pause; 3: stop |
| ElbowPosition | VECTOR3D | Robot elbow real-time position, unit: m, map type: point |
| RobotStatusBits | UINT32 | Bits 0-3: powered on or off (bit 0), whether the program runs or not (bit 1), whether the free-drive button is pressed or not (bit 2) |
| SafetyStatusBits | UINT32 | Bits 0-7: normal mode (bit 0), reduced mode (bit 1), protective stop (bit 2), recovery mode (bit 3), safeguard stop (bit 4), system emergency stop (bit 5) , robot emergency stop (bit 6), emergency stop (bit 7) |
| AnalogIoTypes | UINT32 | Analog IO type. Bits 0-3: analog input 0 (bit 0), analog input 1 (bit 1), analog output 0 (bit 2), analog output 1 (bit 3). 0: current mode; 1: voltage mode |
| StandardAnalogInput0 | DOUBLE | Analog input 0 in the standard analog input IO of the mainboard, unit: A or V |
| StandardAnalogInput1 | DOUBLE | Analog input 1 in the standard analog input IO of the mainboard, unit: A or V |
| StandardAnalogOutput0 | DOUBLE | Analog output 0 in the standard analog output IO of the manboard, unit: A or V |
| StandardAnalogOutput1 | DOUBLE | Analog output 1 in the standard analog output IO of the mainboard, unit: A or V |
| IoCurrent | DOUBLE | Mainboard IO current, unit: A |
| ToolMode | UINT32 | Tool mode |
| ToolAnalogInputTypes | UINT32 | Tool analog input IO mode, 0: current mode, 1: voltage mode |
| ToolAnalogOutputTypes | UINT32 | Tool analog output IO mode, 0: current mode, 1: voltage mode |
| ToolAnalogInput | DOUBLE | Tool analog input value, range: current mode[0.004-0.02]A, voltage mode[0-10]V |
| ToolAnalogOutput | DOUBLE | *1Tool analog output level, range: [0-1] |
| ToolOutputVoltage | DOUBLE | Tool 48V voltage value, unit: V |
| ToolOutputCurrent | DOUBLE | Tool output current, unit: A |
| ToolTemperature | DOUBLE | Tool temperature, unit: °C |
| ToolDigitalMode | UINT8 | Current tool output mode. 0：single-needle mode; 1: double-needle mode 1, 0 and 1 are both available; 2: double-needle mode 2, 2 and 3 are both available; 3: triple-needle mode |
| ToolDigital0Mode | UINT8 | Mode of the tool digital IO 0. bit 0: enabled or not; bit 1: 0 is input, 1 is output; bit 2~3: 00 is push/pull mode, 01 is PNP, 10 is NPN |
| ToolDigital1Mode | UINT8 | Mode of the tool digital IO 1. bit 0: enabled or not; bit 1: 0 is input, 1 is output; bit 2~3: 00 is push/pull mode, 01 is PNP, 10 is NPN |
| ToolDigital2Mode | UINT8 | Mode of the tool digital IO 2. bit 0: enabled or not; bit 1: 0 is input, 1 is output; bit 2~3: 00 is push/pull mode, 01 is PNP, 10 is NPN |
| ToolDigital3Mode | UINT8 | Mode of the tool digital IO 3. bit 0: enabled or not; bit 1: 0 is input, 1 is output; bit 2~3: 00 is push/pull mode, 01 is PNP, 10 is NPN |
| Joint Mode | Value |
|---|---|
| Reset | 235 |
| Shutting Down | 236 |
| Back Drive | 238 |
| Power Off | 239 |
| Not Responding | 245 |
| Motor Initialization | 246 |
| Booting | 247 |
| Boot Loader | 249 |
| Violation | 251 |
| Fault | 252 |
| Running | 253 |
| Idle | 255 |
| Robot mode | Value |
|---|---|
| Disconnect | 0 |
| Confirm Safety | 1 |
| Booting | 2 |
| Power Off | 3 |
| Power On | 4 |
| Idle | 5 |
| Back Drive | 6 |
| Running | 7 |
| Updating Firmware | 8 |
| Waiting Calibration | 9 |
| Safety Mode | Value |
|---|---|
| Normal | 1 |
| Reduced | 2 |
| Protective Stop | 3 |
| Recovery | 4 |
| Safeguard Stop | 5 |
| System Emergency Stop | 6 |
| Robot Emergency Stop | 7 |
| Violation | 8 |
| Fault | 9 |
| Validate Joint ID | 10 |
| Undefined Safety Mode | 11 |
| Automatic Mode Safeguard Stop | 12 |
| System Three Position Enabling Stop | 13 |
| Tool Mode | Value |
|---|---|
| Reset | 235 |
| Shutting Down | 236 |
| Power Off | 239 |
| Not Responding | 245 |
| Booting | 247 |
| Boot | 249 |
| Fault | 252 |
| Running | 253 |
| Idle | 255 |
have the following attributes:
| value | The current value of the output. |
| quality | The quality of the outputs’s value. See xentara_io_points_quality in the Xentara user manual for an explanation of an I/O point's quality. |
| updateTime | The last time the outputs’s value updated. |
| changeTime | The last time the outputs’s value changed. |
| error | The error that occurred the last time the output’s value was updated. The attribute contains one of the error string value describing the error state. |
| address | A string value containing the address of the robot |
| variableName | A string value containing the variable name as described on the Robot |
| units | A string value containing the variable units |
have the following attributes:
| elementName | The "elementName" is a string value describing the variable elements contained in the vector Variable. Each Variable vector described by map type |
| quality | The quality of the outputs’s value. See xentara_io_points_quality in the Xentara user manual for an explanation of an I/O point's quality. |
| updateTime | The last time the outputs’s value updated. |
| error | The error that occurred the last time the output’s value was updated. The attribute contains one of the error string value describing the error state. |
| address | A string value containing the address of the robot |
| variableName | A string value containing the variable name as described on the Robot |
have the following attributes:
| value | The current value of the output. |
| quality | The quality of the outputs’s value. See xentara_io_points_quality in the Xentara user manual for an explanation of an I/O point's quality. |
| updateTime | The last time the outputs’s value updated. |
| changeTime | The last time the outputs’s value changed. |
| error | The error that occurred the last time the output’s value was updated. The attribute contains one of the error string value describing the error state. |
| address | A string value containing the address of the robot |
| variableName | A string value containing the variable name as described on the Robot |
| units | A string value containing the variable units |
| index | An integer value containing the index in the vector value |