The account information which is logged in.
Token to identify the log in.
Structure for options to use when connecting.
Whether reconnection is enabled or not. Default value: true
The number of reconnection attempts before giving up. Default value: Infinity
The maximum delay between two reconnection attempts. Default value: 1000
The timeout in milliseconds for each connection attempt. Default value: 20000
A listener to send callbacks to the module when new event has been arrived from AI process.
Arguments consists of key value pair for the event.
Overall information about file transmitted through the AI process. This corresponds to all the information collected through AiProcessFileTransferListener.onFileTransferred.
MIME type of the file data.
Name of the file.
Overall information about the AI model. This corresponds to all the information collected through IAiProcessMessenger.getTrainedModelsFromServer.
The model's owner account.
Model id.
Metadata for the trained model.
Model name.
Optional data.
Project id.
Status of model.
Structure for metadata for a trained model.
List of items that can be inferred from a trained model.
Additional information for a trained model (e.g. gripper pos, gripper force and so on).
Overall information about the AI model. This corresponds to all the information collected through IAiProcessMessenger.getProjects.
Model id.
Model name.
Properties for button on Dialog.
Enabled state. Default is true.
Element placed after the text.
Element placed before the text.
Text to be displayed.
Calculate Coordinate
Input Count 1: Point, 2: Line, 3: Plane, 4: Plane + Origin Offset
Input Mode Used only when the number of {@link CalculateCoordinate.inputCount} is 2 0: using TCP Z axis, 1: using Point 1 Z axis
Target Pose 1
Target Pose 2
Target Pose 3
Target Pose 4
Reference Coordinate base: 0, world: 2
Campaign change note.
List of compatible SDK version on new Dart-Platform.
SDK version of new Dart-Platform.
List of compatible SDK version on new DRAS.
Changes of the package.
OTA Campaign Information (packet = 283, 348)
Application package version.
Campaign name.
End Time. (ex. YYYY-MM-DD_hh:mm)
OS package version.
Network state for communication with OTA server.
Start Time. (ex. YYYY-MM-DD_hh:mm)
Campaign state.
System package version.
Type of target package of the campaign.
Cockpit setting in robot parameters
Functon information mapped to the button Direct Teach: 0, The robot series that does not have JTS and FTS is the only one where it can be used. TCP-Z: 1 TCP-XY: 2 Orientation Only: 3 Positon Only: 4
Whether to use. disalbe: 0, enable: 1
recovery teach mode activation disalbe: 0, enable: 1
cockpit button state
5-button cockpit 'back' button state
cockpit 'direct-teach' button state
cockpit 'get-Pose' button state
cockpit 'left' button state
cockpit 'right' button state
6-button cockpit 'row-down' button state
6-button cockpit 'row-up' button state
Collision Detection Stop Mode
Robot Install Posture Information
Robot slope on ground [°]
Robot rotation angle [°]
Information on the IO mapping function in the remote mode
Digital signal active level
Port index.
Input parameter of the setRemoteControl API. Array of io mapping function trigger information of size 10.
Robot joint brake control for non-motorized control
Target joint to control brake (0~5: specific joint, 6: All joint)
Brake active state control 0:off 1:on
Controller Analog I/O Alias
An array of strings of size 2.
An array of strings of size 2.
Controller Digital I/O Alias
An array of strings of size 20.
An array of strings of size 16.
Information on the conveyor coordinate and pulse calculation.
Conveyor Coordinate
Count per distance (mm/pulse or deg/pulse)
Information on the conveyor distance
Maximum distance (mm or degree)
Minimum distance (mm or degree)
Conveyor speed (mm/s or deg/s)
Sync out distance (mm or degree)
Watch window distance (mm or degree)
When the conveyor and the robot are interworked through digital output, it is used to set information about it.
Channel number. -1:not use. 0~15:use
Channel state.
Dart-Bridge Migrate Data structure.
Manifest object.
Migrate data.
An array of numbers of size 8.
Emergency Stop Mode
Information on the ethernet ip.
data
General purpose register address
General purpose register type. 0 : bit, 1 : int, 2 : float
Whether it is an input or an output.
Monitoring data for Modbus, Industrial Ethernet Slave
General purpose register data
Modbus coil data
Modbus register data
General purpose register data
General purpose register data
Modbus slave coil information
Controlbox digital input 1~20 (coil 0 ~ 19) read only
Controlbox digital output 1~16 (coil 16 ~ 31) read/write
Direct teach button pressed (col 263) read only
Emergency Stopped (col 261) read only
Power button pressed (col 264) read only
Safety Stopped (col 262) read only
Safety stopped requireing recovery mode (col 265) read only
Servo on robot (col 260) read only
Tool digital input 1~6 (coil 32 ~ 37) read only
Tool digital output 1~6 (coil 38 ~ 43) read/write
Modbus slave register information
Controlbox analog input 1 (H Reg 4) read only
Controlbox analog input 1 type (H Reg 5) read/write
Controlbox analog input 2 (H Reg 6) read only
Controlbox analog input 2 type (H Reg 7) read/write
Controlbox analog output 1 (H Reg 16) read only
Controlbox analog output 1 type (H Reg 17) read/write
Controlbox analog output 2 (H Reg 18) read only
Controlbox analog output 2 type (H Reg 19) read/write
Controlbox digital input 1~20 (H Reg 0) read only
Controlbox digital output 1~16 (H Reg 1) read/write
Controller major version (H Reg 256) read only
Controller minor version (H Reg 257) read only
Controller patch version (H Reg 258) read only
Direct teach button pressed (H Reg 263) read only
Emergency Stopped (H Reg 261) read only
General pupose 16bit register (size 128) (H Reg 128~255) read/write
Joint Motor Current (H Reg 290~295) read only
Joint Motor Temperature (H Reg 300~305) read only
Joint position (H Reg 270~275) read only
Joint Torque (H Reg 310~315) read only
Joint velocity (H Reg 280~285) read only
Servo on robot (H Reg 264) read only
Robot state (H Reg 259) read only
Safty Stopped (H Reg 262) read only
Servo on robot (H Reg 260) read only
Task external force (H Reg 430~435) read only
Task Position (H Reg 400~405) read only
Task Velocity (H Reg 410~415) read only
Tool analog intput 1 (H Reg 23) read only
Tool analog intput 2 (H Reg 25) read only
The type of tool analog intput 3 (H Reg 27) read only
The type of tool analog intput 4 (H Reg 29) read only
The type of tool analog intput 1 (H Reg 24) read only
The type of tool analog intput 2 (H Reg 26) read only
The type of tool analog intput 3 (H Reg 28) read only
The type of tool analog intput 4 (H Reg 30) read only
Tool digital input 1~6 (H Reg 21) read only
Tool digital output 1~6 (H Reg 22) write only
Tool offset length (H Reg 420~425) read only
Tool voltage output level (H Reg 31) read only
Overall information about the external AI process. This corresponds to all the information collected through IAiExternalProcessMessenger.search.
The IP address of AI process's Websocket server.
The name of AI process.
The port number of AI process's Websocket server.
The version of the AI process.
data type of targetExternalForceMonitoring monitorable variable
RX element of external force
RY element of external force
RZ element of external force
target 0:Base coordinate, 1:Tool coordinate, 2:World coordinate, 3:Active user coordinate, 101~200:User coordinate
X element of external force
Y element of external force
Z element of external force
An array of numbers of size 5.
Flange Analog I/O Alias
An array of strings of size 4.
Flange Digital I/O Alias
An array of strings of size 4.
An array of strings of size 4.
Flange I/O in Robot Parameters
Digital Output Type
Flange Analog X1
Flange Analog X2
Interrupted
Servo Off
Supply Voltage
Flange Serial Communication Information
Baudrate.
Byte Size. FlangeByteSize
Parity check. ParityCheck
Stop bits StopBit
The information on the flange version.
Flange hardware version. (0xFF: old, Mseries: 0xBE, Aseries: 0xDE) FlangeHardwareVersion
focas cnc Information
Axis Number
data Length
Handle number
Parameter Number
focas connect request& response commnon struct
Remarks
Error Code
Handle number Control handle value-handle of FOCAS Library
IP Address 16 byte of fixed string
Port Port Number - Default port is 8193
TimeOut Timeout Value-infinite waiting in case of 0. [unit:sec]
focas information
Handle number
ip adress
port number
focas disconnect request& response commnon struct
Remarks
Error Code
Handle number
focas error string information
Error Code
Error Message (256 byte fixed string)
Handle number
focas connection state information
Handle number
response number 0: disconnect, 1: connect
focas pmc Information
Remarks
Address Type one string(Case insensitive), exam : "g", "d"...
Bit Offset
Count Number of data to be read- Maximum: 5
PMC data
data Type 0:char, 1:short, 2:int, 4:float, 5:double, 6:bit
Error Code
Handle number of FOCAS Library
data starting address- Range: 0 ~ 9999
focas pmc data
PMC data (bool type)
PMC data (char type)
PMC data (double type)
PMC data (float type)
PMC data (long type)
PMC data (shout type)
focas program number Information
Error Code
Handle number
Main Program Number
Running Program Number
result of focas query information
The number of data in the list.
list of focas informations
An array of numbers of size 4.
A two-dimensional array of numbers with 4 rows and 6 columns.
Installed framework module package info.
List of modules in the package
Package name
package version
List of measureFrictionValue Result
Friction error
negative Speed Factor
positive Speed Factor
target Friction
temperature
General Range in Robot Parameters
Robot parameter range in normal mode.
Robot parameter range in reduced mode.
GPIO digital port setting information.
I/O Port index Control box digital input(20 ports), digital output (16 ports), Robot Arm Digital Output (6 ports) 0~5
Output setting - If it is a digital port, only 0 and 1 are possible
Homing option setting in robot parameters
Custom home target pose.
Whether to use custom home.
Information on the Industrial Ethernet.
IndustrialEthernet monitoring data
General purpose register data
Modbus coil
Modbus register
General purpose register data
Modbus slave coil information
Modbus slave register information
Information you can retrieve about a particular framework module. This corresponds to information collected from the framework module's manifest.json.
The name of the framework module. Comes from 'ModuleName' of the manifest.json.
The subtype of the framework module. Comes from 'ModuleSubCategory' of the manifest.json.
The type of the framework module. Comes from 'ModuleCategory' of the manifest.json.
auto servo off in Robot Parameters
elapse time (1 ~ 1440 minutes)
disalbe: 0, enable: 1
Parameters for BaseModule.onModulePackageInstalledWith
Installed package's context. With this context, only call Context.DART_DATABASE with Context.getSystemLibrary methods are possible. This context will be destroyed after end BaseModule.onModulePackageInstalledWith
Installed package's version.
Install Pose in Robot Parameters
Robot slope on ground [°]
Robot rotation angle [°]
Joint Angle Limit Violation Stop Mode
Joint Range in Robot Parameters
Joint parameter range in normal mode.
Joint parameter range in reduced mode.
Joint Speed Limit Violation Stop Mode
Joint Torque Limit Violation Stop Mode
Calibration information for JTS sensors.
Offset of the six axis
Scale of the six axis
The line in the 2-dimensions
Local Campaign Information
Change note.
Campaign file name.
Campaign file path.
Progress of uploading a local campaign.
Campaign state.
Information on overriding collision safety violation stop mode.
Whether to override.
Collision sensitivity.
Information on overriding collision safety violation stop mode.
Whether to override.
Collision safety violation stop mode. STO: 0, SBC: 1, SS1: 2, SS2: 3, RS1:4
Information on overriding joint limit values per each joint.
Maximum joint angle of each axis.
Minimum joint angle of each axis.
Whether to override each axis.
Information on overriding joint speed values per each joint.
Whether to override.
Joint Speed (deg/sec)
Information on overriding speed rate.
Whether to override.
Speed rate.
Information on overriding TCP force limit.
TCP force limit.
Whether to override.
Information on overriding TCP momentum limit.
TCP momentum limit.
Whether to override.
TCP power limit.
Whether to override.
TCP power limit.
Information on overriding force safety violation stop mode.
Whether to override.
Force safety violation stop mode. STO: 0, SBC: 1, SS1: 2, SS2: 3, RS1:4
Information on overriding TCP speed limit.
Whether to override.
TCP speed limit.
Information on overriding tool orienation limit.
limit angle.
The direction by which the tool direction limit is based.
Whether to override.
system alarm log data
Category of alarm log.
Error Code of alarm log.
Level of alarm log.
first Parameter of alarm log.
second Parameter of alarm log.
third Parameter of alarm log.
Manipulator pose
Orientation Type
pose variables
solution space that determines robot pose
turn no that determines robot pose if set 255. robot will move to the nearest target position.
Information on the calculated tool data.
Center of gravity.
Weight
Mechanical Power Limit Violation Stop Mode
Information on the modbus data.
Baud rate. used for RTU.
Byte size. used for RTU
IP address. Used for TCP
Parity bit. One of N, O, E. used for RTU
TCP port. Used for TCP
Register address.
I/O Type
Register value for writable modbus type.
Serial port name. Used for RTU
Slave id. used for RTU
Stop bit. used for RTU
The unique symbol of the modbus
Modbus datat type. 0:TCP, 1:RTU
The list of modbus data.
The number of data in the list.
data list.
Information on modbus. It is used to set values for Modbus communication.
Value
A unique symbol of Modbus communication for which you want to set a value.
A listener to know when a running component's state has been changed.
This is the type of props object for the screen component constructor ModuleScreen.constructor.
An object that is requested to execute the component. It is initialized in constructor through props.
An instance of IModuleMessenger for communication between components rendered on the same screen. It is initialized in constructor through props.
An object that is described about a module component environment. It is initialized in constructor through props.
An callback function. It is called after created ModuleScreen component.
An interface to interact with screen.
Momentum Limit Violation Stop Mode
Variable type for monitoring
Default value "True" / "1" / "1.2" / "text" / posj(1,2,3,4,5,6) / posx(1,2,3,4,5,6) / [1,2,3]
system:0, global: 1
Variable name
bool: 0, int: 1, flaot: 2, string: 3, posj: 4, posx: 5, list: 6, unknonwn: 7
An array of numbers of size 9.
Normal I/O in Robot Parameters
Function information mapped to Normal io. Normal Input(0): NormalInputValues Normal Output(1): NormalOutputValues
Nudge function setting in robot parameters
Delay time from receiving a signal to starting the operation. Range(0 ~ 30 sec)
Whether to use the nudge function. disalbe: 0, enable: 1
The input force that will trigger the nudge. M, A, E-Series Range(10 ~ 50) , H-Series Range(15 ~ 50)
Options for installing module package.
Set true to hide feedback UI (e.g. Toast, Dialog, etc.)
Options for uninstalling module package.
Set true to hide feedback UI (e.g. Toast, Dialog, etc.)
Options for uninstalling module package.
Set true to hide feedback UI (e.g. Toast, Dialog, etc.)
Options for updating module package.
Set true to hide feedback UI (e.g. Toast, Dialog, etc.)
The point in the 2-dimensions
X-value
Y-value
The point in the 3-dimensions.
X-value.
Y-value
Z-value
Metadata for a popup screen component. Popup screen provides a feature of switching between single screen and dual screen.
The [x, y] position at which the popup screen will be displayed. Default value is center. Comes from 'screens - data - defaultPosition' of the manifest.json.
The x position at which the popup screen will be displayed. Default value is center. Comes from 'screens - data - defaultPosition - x' of the manifest.json.
The y position at which the popup screen will be displayed. Default value is center. Comes from 'screens - data - defaultPosition - y' of the manifest.json.
Set a default screen mode. Default value is PopupScreenMode.SINGLE. Available types are:
Comes from 'screens - data - defaultScreenMode' of the manifest.json.
Information of Popup screen components for dual screen. It is used to initialize dual screen's left and right screen. Comes from 'screens - data - dualScreen' of the manifest.json.
Left screen component information of dual screen. Comes from 'screens - data - dualScreen - leftScreen' of the manifest.json.
A component id to distinguish components which are implemented in the module package. Comes from 'screens - data - dualScreen - leftScreen - id' of the manifest.json.
A title of dual screen. Comes from 'screens - data - dualScreen - name' of the manifest.json.
Right screen component information of dual screen. Comes from 'screens - data - dualScreen - rightScreen' of the manifest.json.
A component id to distinguish components which are implemented in the module package. Comes from 'screens - data - dualScreen - rightScreen - id' of the manifest.json.
Whether to pop up to the previous position (x, y) when the popup screen is executed again. Default value is false. Comes from 'screens - data - keepLastPosition' of the manifest.json.
Whether to pop up to the previous screen mode (PopupScreenMode) when the popup screen is executed again. Default value is false. Comes from 'screens - data - keepLastScreenMode' of the manifest.json.
Whether to set the separator bar to previous ratio. Default value is false. Comes from 'screens - data - keepLastSeparatorBarRatio' of the manifest.json.
Whether to pop up to the previous size (width, height) when the popup screen is executed again. Default value is false. Comes from 'screens - data - keepLastSize' of the manifest.json.
Default single or dual screen size. It is used to set a popup screen size when the popup screen is rendered.
Default height size. Comes from 'screens - data - size - default - height' of the manifest.json.
Default width size. Comes from 'screens - data - size - default - width' of the manifest.json.
Left screen's minimum width in dual screen mode. The sum of the minimum widths of the left and right screens must be less than {@link PopupScreenData.size.dual.maxWidth}. Comes from 'screens - data - size - dual - leftMinWidth' of the manifest.json.
Dual screen's maximum height size. It cannot be larger than 706px. Comes from 'screens - data - size - dual - maxHeight' of the manifest.json.
Dual screen's maximum width size. It cannot be larger than 1264px. Comes from 'screens - data - size - dual - maxWidth' of the manifest.json.
Dual screen's minimum height size. It cannot be smaller than 300px. Comes from 'screens - data - size - dual - minHeight' of the manifest.json.
Dual screen's minimum width size. It cannot be smaller than 600px. The minimum width of a dual screen must be twice as large as the width of {@link PopupScreenData.size.single.minWidth}. Comes from 'screens - data - size - dual - minWidth' of the manifest.json.
Right screen's minimum width in dual screen mode. The sum of the minimum widths of the left and right screens must be less than {@link PopupScreenData.size.dual.maxWidth}. Comes from 'screens - data - size - dual - rightMinWidth' of the manifest.json.
Single screen's minimum and maximum size.
Single screen's maximum height size. It cannot be larger than 706px. Comes from 'screens - data - size - single - maxHeight' of the manifest.json.
Single screen's maximum width size. It cannot be larger than 1264px. Comes from 'screens - data - size - single - maxWidth' of the manifest.json.
Single screen's minimum height size. It cannot be smaller than 300px Comes from 'screens - data - size - single - minHeight' of the manifest.json.
Single screen's minimum width size. It cannot be smaller than 300px Comes from 'screens - data - size - single - minWidth' of the manifest.json.
Sub popup screen components information for single screen. If you define sub screens in here, then user can select a single screen in single screen. Comes from 'screens - data - subScreens' of the manifest.json.
Whether to use separator bar on dual screen. If it is set, then user can adjust width of dual screen with the separator bar. Default value is false. Comes from 'screens - data - useSeparatorBar' of the manifest.json.
The interface represents events that occur due to the user interacting with a popup screen component.
The event's screen left coordinate.
The event's screen top coordinate.
Information of 3PE Switch Setting.
Whether to use 3 Position Eanble switch.
3PE Switch state. deactivate(0), activate(1)
This is a type that refers to the program execution line information.
Elapse time (second) This value is the time information for the execution of the line starting from the start of the program.
DRL file name
If main program is running, then this value is set as '
Line number
Protective Stop Mode
Reflex Stop 1 충돌이 감지되면 플로팅 리액션(Floating Reaction: 충돌 감지이후 잠시 외력에 순응하는 기능)을 이용하여 외력에 반응한 후 로봇을 멈추고 SOS(Safe Operating Stop)로 전환됩니다.
focas cnc Response Information
data (number array type)
data Number
data Type
Error Code
Handle number
Restore Version Data (packet = 267)
Saved date
Availability of data
Saved name
Supported functions are different for each robot model. A list of robot functions and whether they are supported.
Whether cockpit is supported
Whether collision detection is possible.
Whether compliance control is available
Whether the constraints motion type direct teaching is available
Whether the FTS sensor is present.
Whether force control is available
Whether the force monitoring is supported.
Whether the free motion type direct teaching is available
Whether to support gravity compensation function.
Whether home mastering is needed
Whether the JTS sensor is present.
Whether the friction coefficient measurement function is supported.
Whether or not the installation posture measurement function is supported.
Whether or not the tool weight measurement function is supported.
Whether nudge is supported
Whether it supports various installation postures.
Hardware specification
Hardware limitations related to joint space.
Maximum joint range (degree)
Maximum joint velocity (degree/s)
Minimum joint range (degree)
Maximum reach. (mm)
Maximum payload. (kg)
Maximum payload when acceleration is limited (kg)
Robot Limits
joint angle Limit
max range
min range
tolerance
joint speed Limit
max velocity
tolerance
TCP/Robot Limit
max collision
max force
max momentum
max power
max speed
Robot Parameters
Actived TCP
Actived Tool Weight
Actived Tool Shape
CockPit
Collision Sensitivity (1 ~ 100%)
Nudge
TCP items
Tool Weight items
Tool Shape items
Normal I/O
Delete Safety Zone items
Delete TCP items
Delete Tool Shape items
Delete Tool Weight items
Delete User Coordinate items
Flange I/O
General Range
Auto Servo Off
Install Pose
Io Speed Ratio (1 ~ 100%)
Joint Range
Safety Stop Modes
Safety I/O
Safety Zone items
Updated Date
User Coordinate items
World Coordinate
Robot software version information.
Version of Application package. (e.g. GV03030000)
Version of DRCF. (e.g. GF03030000)
Version of Inverter. (e.g. GA33020000)
Version of Safety board. (e.g. GD33030000)
This is a type that refers to the running program information.
A number of program cycles.
Whether to run in debug mode.
A package name of module who is requester of the running program.
A screen's id who is requester of the running program.
A timer to retrieve total and cycle time.
Safe Stop 1
After monitoring the deceleration of all joint module motors throughout the
Safe Stop 2
After monitoring the deceleration of all the joint module motors throughout the
Safe Torque Off The power is immediately removed from all joint module motors, on demand.
Safety I/O in Robot Parameters
Function information mapped to Safety input & output Safety input SafetyInputValues Safety output SafetyOutputValues
Tool shape object It has tool shape information and location information.
data of tool shape
Type of tool shape object. 0(Sphere), 1(Capsule), 2(Cube)
Reference Coordinate base: 0, world: 2
Capsule type
Information on the cube(AABB)
Sphere type
Safety Stop Mode in Robot Parameters
Safety stop modes.
Safety Zone in Robot Parameters
Name of safety zone item
data of safety zone shape
data of zone property
Type of safety zone
Property data of safety zone. Depending on the Zone Type, it is either SafetyZonePropertySpaceLimit or SafetyZonePropertyLocalZone.
Input parameter of add API. It is used when adding a local zone.
Local zone information.
Whether to allow less-safe(dangerous) work.
Whether it is a collaborative workspace.
Information on overriding collision sensitivity.
Information on overriding collision safety violation stop mode.
Whether to set up dynamic zone.
Information on overriding force safety violation stop mode.
Whether to check the inner area(0) or the outer area(1).#321
Information on overriding joint limit values per each joint.
Information on overriding joint speed values per each joint.
Information on overriding led light.
Whether to use the nudge function.
Whether to override the reducer mode.
Information on overriding speed rate.
Information on overriding TCP force limit.
Information on overriding TCP momentum limit.
Information on overriding TCP power limit.
Information on overriding TCP speed limit.
Information on overriding tool orienation limit.
Input parameter of add Safety Zone API. It is used when adding a space-limited zone.
Space limit zone information.
Whether to set up dynamic zone.
Whether to check the inner area(0) or the outer area(1).
Inspection type. 0:Body, 1:TCP
Information on overriding joint limit values per each joint.
Information on the shape of safety zone.
Nearmiss distance
The reference coordinate of the shape. base: 0, world: 2
Information on the shape.
Shape type.
Whether to use the inside or outside of the geometry. 0:inside, 1:outside
Information on the capsule shape.
Information on the cuboid shape Each axis of the cuboid is the same as the axis of the reference coordinate system (AABB)
Cuboid information.
The x-value of the box lowest point.
The y-value of the box lowest point.
The z-value of the box lowest point.
The x-value of the box highest point.
The y-value of the box highest point.
The z-value of the box highest point.
Information on the cylinder shape
Cylinder Information. The axial direction of the cylinder is the Z-axis of the reference coordinate system.
The center of cylinder.
Height of the base of the cylinder.
The radius of cylinder.
Height of the top of the cylinder
Information on the Spation space surrounded by multiple planes. The normal direction of each plane is perpendicular to the Z axis of the reference coordinate.
Multiple plane information
The z-value of the plane lowest point.
Information of the planes. Up to 6 The plane is defined by a straight line parallel to the XY-plane of the reference coordinate system.
A point in a valid space. Used to determine where a valid space is.
The z-value of the plane heighest point.
Whether each plane is used (validity). Up to 6.
Information on the sphere shape.
Information on the titled cuboid shape.(OBB)
The tilted cuboid information.
A point on the edge of the box.
The edge point in the width direction relative to the origin.
The edge point in the length direction relative to the origin.
The edge point in the height direction relative to the origin.
Serial Communication Information
Baudrate.
Byte size.
Parity check.
Serial port
Stop bits
Timeout
Serial Comm Result
return value
unique id
Serial port list and connected device information.
Device name
Port name
Information on the serial port of the controller.
The number of data in the list.
Serial port data. up to 100.
An array of numbers of size 6.
An array of numbers of size 16.
authentication for paid app
Sub DRL program data
File Name
DRL program as string.
System ip address.
Default gateway address
Host ip address
Current IP address setting status dhcp:0, static:1
Primary dns address
Secondary dns address
Subnet mask address
Current IP address usage status Internal:0, External:1
System Variable
name of system variable
type of system variable
value of system variable
System Version Information
FTS Enable
Controller Version Information
Flange Board Number
FTS Enable
Interpreter Version Information
Inverter Version Information
JTS Board Number
OS Information
Package Version Information
Process Button Enable
Robot Model Name
Robot Serial Number
SafetyBoard Version Information
Smart TP Version Information
SVM Board Number
System information
TCP pose w.r.t Base, World, and Active User coordinate systems
TCP pose w.r.t Base
TCP pose w.r.t Active User
TCP pose w.r.t World
A data interface result of query.
A set of column and data pair.
Row's ID
Robot Task space pose.
Robot Task space pose. (X, Y, Z, RZ, RY, RX)
Solution space index.
Task data indicated by position and direction of each axis
Direction along X
Direction along Y
Direction along Z
pose. X,Y,Z,RZ,RY,RX
TCP Communication Client Information
Client ID
IP Address
Port id
The received data of tcp server.
ID of the client that sent the data
Current sequence no of data stream
The recieved data.
Last sequence no of data stream
Total data length
The uniqueId of server socket.
TCP Comm Result
return value
unique id
TCP Communication Server Information
Connected client count.
Client ID
IP Address
Communication Mode
Process id.
Port id
Time out
Unique ID
Information on the calculated tcp
Error (mm)
Flange to TCP. ₩
Tcp Force Limit Violation Stop Mode
Tcp Orientation Limit Violation Stop Mode
Tcp Position Limit Violation Stop Mode
Tcp Speed Limit Violation Stop Mode
An array of numbers of size 10.
An array of numbers of size 3.
A two-dimensional array of numbers with 3 rows and 6 columns.
Tool Center Point in Robot Parameters
The unique symbol of the TCP item.
data of tcp item
Tool Shape in Robot Parameters
The unique symbol of the tool shape.
data of tool shape item
list of shapes
list of shapes to use off: 0, on: 1
Tool weight in Robot Parameters
The unique symbol of the tool weight item
data of tool weight item
Information on the trigger signal of the conveyor It belongs to the basic environmental information for interworking the conveyor and the robot.
External trigger signal number.
Triggering edge type. Falling: 0, Rising: 1
The trigger signal latency. (second)
An array of numbers of size 20.
An array of numbers of size 2.
A two-dimensional array of numbers with 2 rows and 3 columns.
Parameters for BaseModule.onModulePackageUpdatedWith
Updated package's context. With this context, only call Context.DART_DATABASE with Context.getSystemLibrary methods are possible. This context will be destroyed after end BaseModule.onModulePackageUpdatedWith
The package's new version.
The package's old version.
User Coordinate in Robot Parameters
User ID (101 ~ 200)
Target Pose
Reference Coordinate base: 0, world: 2
World Coordinate in Robot Parameters
relation Pose
A class to handle a board dialog.
A class to build a board dialog.
If you enter this value in an option, it will be ignored or follow the global setting depending on the situation.
Types that can be used in {@link DeviceSettingsTableContracts.COLUMN_TYPE}
Analog input. {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.aio.input data structures.
Analog output {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.aio.output data structures.
Digital input. {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.dio.input data structures.
Digital output. {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.dio.output data structures.
Focas read {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.focas.read data structures.
Focas write {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.focas.write data structures.
Industrial Ethernet Get {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.industrialEthernet.get data structures.
Industrial Ethernet Set {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.industrialEthernet.set data structures.
Modbus RTU Get. {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.modbusRTU.get data structures.
Modbus RTU Set. {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.modbusRTU.set data structures.
Modbus TCP Get. {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.modbusTCP.get data structures.
Modbus TCP Set. {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.modbusTCP.set data structures.
Serial Read {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.serial.read data structures.
Serial Write {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.serial.write data structures.
TCP Client Read {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.tcpClient.read data structures.
TCP Client Wrtie {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.tcpClient.write data structures.
TCP Server Read {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.tcpServer.read data structures.
TCP Server Wrtie {@link DeviceSettingsTableContracts.COLUMN_DATA} must use DeviceSettingData.tcpServer.write data structures.
Contracts for {@link DeviceSettingsTableContracts.TABLE_NAME}.
Column name for alias name about the setting (i.e. Grasp, Release, etc)
Column name for data. The string data is converted from an object composed of key and value pairs via {@link JSON.stringify}. The object structure is different for each COLUMN_TYPE. Please refer to DeviceSettingData for available data structure.
Column name for device name (i.e. gripper's name).
Column name for setting type. Please refer to DeviceSettingDataType for available types.
Column name for uniqueId. uniqueId is generated automatically by system when you call IDartDatabase.insertDeviceSetting.
Table name.
A class to handle a dialog.
A class to build a dialog.
Provides system environment information.
error handling mode
Normal
Error
error handling error
Error
Normal
Framework module status
Failed to delete caused invalid package name
Failed to delete caused not installed
Failed to delete caused running
Failed caused by unknown error
Time error
Installed folder empty
Failed to install caused by download fail
Failed to install caused by invalid manifest file
Failed to install caused by package exist
Failed to install caused by package not found
Failed to install caused by invalid package path
Failed to install caused by wrong extension file
Invalid execute file
Invalid unique id
Failed to load caused already loaded
Failed to load
Failed to load caused by init fail
Failed to load caused by not found
Failed to load caused by not installed
Failed to load caused not installed
Not support framework module feature.
Failed to open semaphore
Failed to reload
Backup file for restore not found
Restore target package is not installed
Failed to delete SQL
Failed to insert SQL
Failed to query SQL
Success
Failed to unload caused force kill
Failed to unload caused not installed
Failed to unload caused not not running
Local Campaign (System package) Information
No available a local campaign file.
Updating a local campaign file.
Uploaded a local campaign file.
Uploading a local campaign file.
State of Mode Changed Callback
Enter backdrive mode
Enter recovery mode.
Mode off
Features available in normal input
Not used.
Power off (H)
Power on (H)
Features available in normal output
Auto Mode (L)
Collaborative Zone (L)
Deceleration (L)
Designated Zone (L)
High Priority Zone(L)
Robot in motion (L)
Manual Mode (L)
Robot in motion (L)
Normal Speed Status (L)
Not used.
Reduced Speed Status (L)
Robot in (L)
Robot in motion (L)
Safe Operating Stop (SOS)
Safe Torque Off (STO) (L)
Standalone Zone (L)
Task operating (L)
Tool Orientation Limited Zone (L)
Robot pose expression type.
(x,y,z,rx,ry,rz) RotXRotYRotZ
(x,y,z,rz,ry,rx) RotZRotYRotX
(x,y,z,rz1,ry,rz2) RotZRotYRotZ
(x,y,z,rx,ry,rz) RotZRotYRotX
using default orientation type. (EULER_ZYX)
(x,y,z,q0,q1,q2,q3)
(x,y,z,vx,vy,vz,theta)
enumulation of remote control command
power off
power on
program pause
program resume
program start
program stop
servo on
unknown state
SDK Version
Features available in safety input
Emergency Stop (L)
Emergency Stop (No Loopback) (L)
Hand-guiding Enable Switch (L to H & H)
Hand Guide Control End & Task Resume (L to H) : Auto Reset & Resume (Rising Edge)
Interlock Reset (L to H)
3-pos Enable Switch (L to H & H)
Protective Stop (L)
Protective Stop (Auto Reset & Resume) (L)
Protective Stop (SS1) (L)
Protective Stop (SS2) (L)
Protective Stop (STO) (L) : Safe Torque Off
Reduced Speed (L)
Remote Control Mode (H)
Safe Zone Dynamic Enable (H)
Safety Zone Dynamic Enabled (L)
Features available in safety output
Abnormal(L)
Auto Mode (L)
Collaborative Zone (L)
Designated Zone (L)
Emergency Stop (L)
Emergency Stop (excl. No Loopback Input) (L)
High Priority Zone(L)
Manual Mode (L)
Normal Speed Status (L)
Reduced Speed Status (L)
Remote Mode (L)
Safe Operating Stop (SOS)
Safe Torque Off (STO) (L)
Standalone Zone (L)
Tool Orientation Limited Zone (L)
Safety Zone Type
Collaborative Zone
Collision Sensitivity Reduction Zone
Crushing Prevention Zone
Custom Zone Custom zone includes all properties of Collaborative Zone, Crushing Prevention Zone, Collision Sensitivity Reduction Zone, and Tool Orientation Limit Zone.
Space Limit Zone
Tool Orientation Limit Zone
Servo state.
Turned off.
Turned on.
Turning off.
Turning on.
A class to display message as Snackbar.
A class to display message as Snackbar.
switch relay contract
Normally open
Normally close
TCP Communication Type
Client
Server
A class to display message as Toast. Only 5 Toasts can be displayed at the same time, each toast will be displayed for 3 seconds and then disappear automatically.
Results of request to manage tool settings.
Requested item has been added successfully.
Tool with the same name and value requested has already been added.
Tool with the same name and value requested has already been added.
Cancelled by user.
Requested item has been deleted successfully.
Failed to add a new tool because there is a tool with the same name but different values.
Failed to update/delete a tool because there is no tools with the same name.
Failed to manage tool setting caused by unknown error.
Requested item has been updated successfully.
select allowed zone for setWorkpiceWeight WorkpieceWeightMode
allow set workpiece weight mode on all zone
allow set workpiece weight mode on only collision sensitivity reduction zone
Logger to logging a message on console or local storage.
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Structure for account token which is created through IAiProcessMessenger.login.
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