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End-Effector Real-Time Information (Supported by End-Effector Ecosystem Protocol) rm_plus_state_info_t ​

Class member variable description ​

  • System State sys_state ​

    0: Normal, 1: Device Fault.

    C++
    int rm_plus_state_info_t::sys_state

  • Current State of Each Degree of Freedom dof_state ​

    0: Releasing, 1: Closing, 2: Position Reached and Stopped, 3: Force Control Reached and Stopped, 4: Tactile Reached and Stopped, 5: Current Protection Stop, 6: Fault Occurred.

    C++
    int rm_plus_state_info_t::dof_state[12]

  • Error Information of Each Degree of Freedom dof_err ​

    0: Normal, 1: FOC Error, 2: Overvoltage, 3: Undervoltage, 4: Overtemperature, 5: Startup Error, 6: Encoder Error, 7: Overcurrent, 8: Software Error, 9: Sensor Error, 10: Position Exceeds Limit, 11: DRV8320 Error, 12: Position Tracking Error, 13: Current Detection Error, 14: Self-Check Error, 15: Position Command Exceeds Limit, 16: Multi-turn Data Loss.

    C++
    int rm_plus_state_info_t::dof_err[12]

  • Current Position of Each Degree of Freedom pos ​

    Unit: Dimensionless.

    C++
    int rm_plus_state_info_t::pos[12]

  • Current Speed of Each Degree of Freedom speed ​

    Positive for closing, negative for releasing. Unit: Dimensionless.

    C++
    int rm_plus_state_info_t::speed[12]

  • Current Angle of Each Degree of Freedom angle ​

    Unit: 0.01 degrees.

    C++
    int rm_plus_state_info_t::angle[12]

  • Current Current of Each Degree of Freedom current ​

    Unit: mA.

    C++
    int rm_plus_state_info_t::current[12]

  • Normal Force of Tactile Three-Dimensional Force of Each Degree of Freedom normal_force ​

    C++
    int rm_plus_state_info_t::normal_force[18]

  • Tangential Force of Tactile Three-Dimensional Force of Each Degree of Freedom tangential_force ​

    C++
    int rm_plus_state_info_t::tangential_force[18]

  • Direction of Tangential Force of Tactile Three-Dimensional Force of Each Degree of Freedom tangential_force_dir ​

    C++
    int rm_plus_state_info_t::tangential_force_dir[18]

  • Tactile Self-Approach of Each Degree of Freedom tsa ​

    C++
    uint32_t rm_plus_state_info_t::tsa[12]

  • Tactile Mutual Approach of Each Degree of Freedom tma ​

    C++
    uint32_t rm_plus_state_info_t::tma[12]

  • Raw Data of Tactile Sensors touch_data ​

    C++
    int rm_plus_state_info_t::touch_data[18]

  • Torque of Each Degree of Freedom force ​

    Positive for closing, negative for releasing. Unit: 0.001N.

    C++
    int rm_plus_state_info_t::force[12]