Rainbow Robotics RB Series, Руководство пользователя

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RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
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When the command “reqdata” is sent to the data port, robot status information is sent to the
data port in response. The format of the data is shown below.
Header (4 Byte) Data (n Byte)
0x24 Size&0xFF (Size>>8)&0xFF 0x03 Data
The format of the data is shown below. Depending on the system version, the size of the
data may be different. However, the order is consistent, please refer to the table below.
Offset Type Description
0 Float Task Time elapsed in second (reset at the beginning of
the task)
1 Float Reference angle of base joint in degree.
2 Float Reference angle of shoulder joint in degree.
3 Float Reference angle of elbow joint in degree.
4 Float Reference angle of wrist1 joint in degree.
5 Float Reference angle of wrist2 joint in degree.
6 Float Reference angle of wrist3 joint in degree.
7 Float Encoder angle of base joint in degree.
8 Float Encoder angle of shoulder joint in degree.
9 Float Encoder angle of elbow joint in degree.
10 Float Encoder angle of wrist1 joint in degree.
11 Float Encoder angle of wrist2 joint in degree.
12 Float Encoder angle of wrist3 joint in degree.
13 Float Current value of base joint in ampere
14 Float Current value of shoulder joint in ampere.
15 Float Current value of elbow joint in ampere.
16 Float Current value of wrist1 joint in ampere.
17 Float Current value of wrist2 joint in ampere.
18 Float Current value of wrist3 joint in ampere.
19 Float Reference position of TCP in X direction in mm.
20 Float Reference position of TCP in Y direction in mm.
21 Float Reference position of TCP in Z direction in mm.
22 Float Reference orientation of TCP in Roll (RX) in degree.
23 Float Reference orientation of TCP in Pitch (RY) in degree.