JSON protocol:

UDP Active Reporting Command Set

UDP active reporting

UDP robotic arm state active reporting interface

The Gen 3 robotic arm provides the UDP robotic arm state active reporting interface. When using the interface, it must be in the same LAN as the robotic arm. By setting the target IP address of the configured active reporting interface, or establishing TCP connection between the interface and the robotic arm, the robotic arm will actively report the robotic arm state data periodically. The default target port is 8089 (configurable), and the data can be received by listening to the 8089 port of the local computer through the UDP protocol. The data period is configurable, which is 5 ms by default.

• Input parameter

The size of the joint-related array is consistent with the number of joints. For example, if there are 7 axes, the array size of the joint information fields, such as joint_status, is 7. Its parameters are as follows:

Parameter	Type	Description
state	string	realtime_arm_joint_state real-time robotic arm state reporting.
arm_current_status	string	"idle": enabled but in idle "move_L": move L state "move_J": in move J state "move_C": move C state "move_S": move S state "move_through_joint": angle pass-through state "move_through_pose": pose pass-through state "move_through_force_pose": force control pass-through state "move_through_current": current loop pass-through state "stop": emergency stop state "slow_stop": slow stop state "pause": pause state "current_drag": current loop drag state "sensor_drag": 6-DoF force drag state "tech_demonstration": Teaching state
err	int	System error code.
joint_status	int	Current joint state.
joint_current	int	Current joint current, with an accuracy of 0.001 mA.
joint_en_flag	int	Current joint enabling state, 1: enable, 0: disable.
joint_err_code	int	Current joint error code.
joint_position	int	Current joint angle, with an accuracy of 0.001°.
joint_temperature	List[float]	Current joint temperature, with an accuracy of 0.001°C.
joint_voltage	int	Current joint voltage, with an accuracy of 0.001 V.
joint_speed	int	Current joint speed, with an accuracy of 0.02 rpm.
waypoint	object	Current waypoint information.
position	int	Current waypoint position, with an accuracy of 0.000001 M.
euler	object	Current waypoint Euler angle, with an accuracy of 0.001 rad.
quat	object	Current waypoint quaternion, with an accuracy of 0.000001.
six_force_sensor	object	6-DoF force data (available only in 6-DoF force version).
one_force_sensor	object	1-DoF force data (available only in 1-DoF force version).
force	object	Original data of current force sensor, 0.001 N or 0.001 Nm.
zero_force	object	External force data of current force sensor system, 0.001 N or 0.001 Nm.
coordinate	int	Frame for system external force data, 0: sensor frame, 1: current work frame, 2: current tool frame.
lift_state	int	Lifting joint data. Including: height: current lifting mechanism height, unit: mm, accuracy: 1 mm; pos: current angle, accuracy: 0.001°; current: current lifting driver current, unit: mA, accuracy: 1 mA; err_flag: lifting driver error code. For the error code type, refer to the joint error code; en_flag: current joint enabling state, 1: enable, 0: disable.
expand_state	int	Expansion joint-related data. Including: pos: current angle, accuracy: 0.001°; current: current lifting driver current, unit: mA, accuracy: 1 mA; err_flag: lifting driver error code. For the error code type, refer to the joint error code; en_flag: current joint enabling state, 1: enable, 0: disable. mode: current lifting state, 0: idle, 1: forward speed motion, 2: forward position motion, 3: backward speed motion, 4: backward position motion. joint_id: Expansion joint ID.
aloha_state	int	aloha master arm state. Including: io1_state: IO1 state (photoelectrically detected with handle), 0: not triggered after pressing the key, 1:triggered after pressing the key; io2_state: IO2 state (detected by pressing the handle key), 0: not triggered after pressing the key, 1:triggered after pressing the key.
hand	int	Dexterous hand state: hand_pos, indicating the position of dexterous hand; hand_angle, indicating the angle of dexterous hand; hand_force, indicating the DoF force of dexterous hand, expressed in mN; hand_state, indicating that DoF state of dexterous hand, with the state meanings defined by the dexterous hand manufacturer; hand_err, indicating a dexterous hand system error, with the error meanings defined by the dexterous hand manufacturer. The specific meanings are as defined in the following table.

• Definition of dexterous hand state

OYMotion:

Name of state	State code	Description
STATUS_OPENING	0	Be opening
STATUS_CLOSING	1	Be closing
STATUS_POS_REACHED	2	Position reached
STATUS_OVER_CURRENT	3	Overcurrent protection
STATUS_POS_REACHED	2	Force reached
STATUS_STUCK	5	Motor stuck

INSPIRE-ROBOTS

State code	Description
0	Be opening
1	Be closing
2	Position reached
3	Force reached
5	Overcurrent protection
6	Electric cylinder stuck
7	Electric cylinder fault

• Code demo

6-DoF UDP data reporting.

{"aloha_state":{"io1_state":0,"io2_state":0},"arm_current_status":"idle","err":0,"joint_status":{"joint_current":[43000,2085000,1020000,1000,257000,-57000],"joint_en_flag":[1,1,1,1,1,1],"joint_err_code":[0,0,0,0,0,0],"joint_position":[13434,-69764,2926,-4742,-45721,-223],"joint_temperature":[33000,35000,37000,36000,37000,39000],"joint_voltage":[22000,22000,22000,22000,22000,22000]},"six_force_sensor":{"force":[-13000,3799,-22393,-216,-408,481],"zero_force":[17476,10415,30827,5,2,2],"coordinate":1},"state":"realtime_arm_joint_state","waypoint":{"euler":[2935,2935,2935],"position":[578568,127709,345856],"quat":[-23405,824245,106348,555663]}}

7-DoF UDP data reporting.

{"aloha_state":{"io1_state":0,"io2_state":0},"arm_current_status":"idle","err":0,"joint_status":{"joint_current":[43000,2085000,1020000,1000,257000,-57000,1000],"joint_en_flag":[1,1,1,1,1,1,1],"joint_err_code":[0,0,0,0,0,0,0],"joint_position":[13434,-69764,2926,-4742,-45721,-223,-223],"joint_temperature":[33000,35000,37000,36000,37000,39000,37000],"joint_voltage":[22000,22000,22000,22000,22000,22000,22000]},"six_force_sensor":{"force":[-13000,3799,-22393,-216,-408,481],"zero_force":[17476,10415,30827,5,2,2],"coordinate":1},"state":"realtime_arm_joint_state","waypoint":{"euler":[2935,2935,2935],"position":[578568,127709,345856],"quat":[-23405,824245,106348,555663]}}

Query the UDP robotic arm state active reporting configuration get_realtime_push

• Input parameter

Parameter	Type	Description
get_realtime_push	string	Query the UDP robotic arm state active reporting configuration

• Output parameter

Parameter	Type	Description
port	int	Set the port No. of broadcast.
cycle	int	Set the broadcast cycle, unit: 5 ms.
enable	bool	Set the enabling state.
force_coordinate	int	Frame for external force data: 0: sensor frame 1: current work frame 2: current tool frame (supported by the force sensor version).
ip	string	Self-defined reporting target IP address.
custom	int	Including joint_speed: joint speed; lift_state: information of lifting joint; expand_state: information of expansion joint; arm_current_status: current joint state aloha_state: aloha master arm state hand: dexterous hand state.

• Code demo

Input

Used to query the UDP robotic arm state active reporting configuration.

{"command":"get_realtime_push"}

Output

{
    "command": "get_realtime_push",
    "custom": {
        "aloha_state": false,
        "expand_state": true,
        "joint_speed": true,
        "lift_state": true,
        "arm_current_status": true
    },
    "cycle": 100,
    "enable": true,
    "force_coordinate": 2,
    "ip": "192.168.1.10",
    "port": 8099
}

Set the UDP robotic arm state active reporting configuration set_realtime_push

• Input parameter

Parameter	Type	Description
set_realtime_push	string	Set the UDP robotic arm state active reporting configuration.
port	int	Set the port No. of broadcast.
cycle	int	Set the broadcast cycle, unit: 5 ms. For example, 1 means 5 ms, 2 means 10 ms.
enable	bool	Set the enabling state.
force_coordinate	int	Frame for external force data, 0: sensor frame; 1: current work frame; 2: current tool frame (supported by the force sensor version).
ip	string	Self-defined reporting target IP address.
custom	int	Customized items, the following options are not mandatory, if not set, they will remain the state before setting. Including: joint_speed: joint speed; lift_state: information of lifting joint; expand_state: information of expansion joint (select one from lifting joint and expansion joint, with the lifting joint displayed first); arm_current_status: current robotic arm state; aloha_state: aloha master arm state; hand: dexterous hand state

WARNING

For the hand field, the following data have real meanings only when the hand_follow_angle and hand_follow_pos interfaces are called, with the sequence of bending of the thumb, and rotation of the index finger, middle finger, ring finger, little finger and thumb.

1. hand_pos, indicating the position of dexterous hand
2. hand_angle, indicating the angle of dexterous hand
3. hand_force, indicating the DoF force of dexterous hand, unit: mN
4. hand_state, indicating the DoF state of dexterous hand, with the state meanings defined by the dexterous hand manufacturer
5. hand_err, indicating the dexterous hand system error, with the error meanings defined by the dexterous hand manufacturer. For example, the INSPIRE-ROBOTS state codes are as follows: 1: error, 0: no error

• Output parameter

Parameter	Type	Description
set_realtime_push	bool	true: success, false: failure.

• Code demo

Input

Used to set the UDP robotic arm state active reporting configuration

{"command":"set_realtime_push","cycle":100,"enable":true,"port":8099,"force_coordinate":2,"ip":"192.168.1.223","custom":{"aloha_state":true,"joint_speed":true,"lift_state":true,"expand_state":true,"arm_current_status":true,"hand":true}}

Return demo:

{
    "command": "set_realtime_push",
    "state": true
}