2. Data structure specification

2.1. Interface call return value type

1typedef  int errno_t;

2.2. Joint position data type

1/**
2* @brief Joint position data type
3*/
4typedef  struct
5{
6    double jPos[6];   /* Six joint positions, unit: deg */
7}JointPos;

2.3. Cartesian spatial location data type

1/**
2* @brief Cartesian spatial location data type
3*/
4typedef struct
5{
6    double x;    /* X-axis coordinate, unit: mm  */
7    double y;    /* Y-axis coordinate, unit: mm  */
8    double z;    /* Z-axis coordinate, unit: mm  */
9} DescTran;

2.4. Euler Angle attitude data type

1/**
2* @brief Euler Angle attitude data type
3*/
4typedef struct
5{
6    double rx;   /* Rotation Angle about fixed axis X, unit: deg  */
7    double ry;   /* Rotation Angle about fixed axis y, unit: deg  */
8    double rz;   /* Rotation Angle about fixed axis Z, unit: deg  */
9} Rpy;

2.5. Cartesian space pose data type

1/**
2*@brief Cartesian space pose type
3*/
4typedef struct
5{
6    DescTran tran;      /* Cartesian position  */
7    Rpy rpy;            /* Cartesian space attitude  */
8} DescPose;

2.6. Extension axis position data type

1/**
2* @brief Extension axis position data type
3*/
4typedef  struct
5{
6    double ePos[4];   /* Position of four expansion shafts, unit: mm */
7}ExaxisPos;

2.7. Torque sensor data type

 1/**
 2* @brief The force component and torque component of the force sensor
 3*/
 4typedef struct
 5{
 6    double fx;  /* Component of force along the x axis, unit: N  */
 7    double fy;  /* Component of force along the y axis, unit: N  */
 8    double fz;  /* Component of force along the z axis, unit: N  */
 9    double tx;  /* Component of torque about the X-axis, unit: Nm */
10    double ty;  /* Component of torque about the Y-axis, unit: Nm */
11    double tz;  /* Component of torque about the Z-axis, unit: Nm */
12} ForceTorque;

2.8. Spiral parameter data type

 1/**
 2* @brief  Spiral parameter data type
 3*/
 4typedef  struct
 5{
 6    int    circle_num;           /* Coil number  */
 7    float  circle_angle;         /* Spiral Angle  */
 8    float  rad_init;             /* Initial radius of spiral, unit: mm  */
 9    float  rad_add;              /* Radius increment  */
10    float  rotaxis_add;          /* Increment in the direction of the axis of rotation  */
11    int rot_direction;  /* Rotation direction, 0- clockwise, 1- counterclockwise  */
12    int velAccMode;      /* Velocity acceleration parameter mode: 0-constant angular velocity; 1-constant linear velocity */
13}SpiralParam;

2.9. feedback packet of robot controller state

Changed in version C++: SDK-v2.1.4.0

  1/**
  2 * @brief  feedback packet of robot controller state
  3 */
  4typedef struct _ROBOT_STATE_PKG
  5{
  6  uint16_t frame_head;   // Frame header, preset to 0x5A5A
  7  uint8_t frame_cnt;    // Frame count, cyclic count 0-255
  8  uint16_t data_len;    // Length of data content
  9  uint8_t program_state;  // Program running status, 1-stopped; 2-running; 3-paused;
 10  uint8_t robot_state;   // Robot motion status, 1-stopped; 2-running; 3-paused; 4-dragging
 11  int   main_code;    // Main fault code
 12  int   sub_code;    // Sub fault code
 13  uint8_t robot_mode;   // Robot mode, 1-manual mode; 0-automatic mode;
 14  double  jt_cur_pos[6];  // Current joint positions of 6 axes, unit deg
 15  double  tl_cur_pos[6];  // Current tool position
 16        // tl_cur_pos[0], position along x-axis, unit mm,
 17        // tl_cur_pos[1], position along y-axis, unit mm,
 18        // tl_cur_pos[2], position along z-axis, unit mm,
 19        // tl_cur_pos[3], rotation angle around fixed X-axis, unit deg
 20        // tl_cur_pos[4], rotation angle around fixed Y-axis, unit deg
 21        // tl_cur_pos[5], rotation angle around fixed Z-axis, unit deg
 22  double  flange_cur_pos[6]; // Current end flange position
 23        // flange_cur_pos[0], position along x-axis, unit mm,
 24        // flange_cur_pos[1], position along y-axis, unit mm,
 25        // flange_cur_pos[2], position along z-axis, unit mm,
 26        // flange_cur_pos[3], rotation angle around fixed X-axis, unit deg
 27        // flange_cur_pos[4], rotation angle around fixed Y-axis, unit deg
 28        // flange_cur_pos[5], rotation angle around fixed Z-axis, unit deg
 29  double  actual_qd[6];   // Current velocities of 6 joints, unit deg/s
 30  double  actual_qdd[6];   // Current accelerations of 6 joints, unit deg/s^2
 31  double  target_TCP_CmpSpeed[2];
 32        // target_TCP_CmpSpeed[0], TCP composite command speed (position), unit mm/s
 33        // target_TCP_CmpSpeed[1], TCP composite command speed (orientation), unit deg/s */
 34  double  target_TCP_Speed[6];  // TCP command speed
 35          // target_TCP_Speed[0], speed along x-axis, unit mm/s,
 36          // target_TCP_Speed[1], speed along y-axis, unit mm/s,
 37          // target_TCP_Speed[2], speed along z-axis, unit mm/s,
 38          // target_TCP_Speed[3], angular velocity around fixed X-axis, unit deg/s
 39          // target_TCP_Speed[4], angular velocity around fixed Y-axis, unit deg/s
 40          // target_TCP_Speed[5], angular velocity around fixed Z-axis, unit deg/s */
 41  double  actual_TCP_CmpSpeed[2];
 42          // actual_TCP_CmpSpeed[0], TCP composite actual speed (position), unit mm/s
 43          // actual_TCP_CmpSpeed[1], TCP composite actual speed (orientation), unit deg/s
 44  double  actual_TCP_Speed[6];  // TCP actual speed
 45          // actual_TCP_Speed[0], speed along x-axis, unit mm/s,
 46          // actual_TCP_Speed[1], speed along y-axis, unit mm/s,
 47          // actual_TCP_Speed[2], speed along z-axis, unit mm/s,
 48          // actual_TCP_Speed[3], angular velocity around fixed X-axis, unit deg/s
 49          // actual_TCP_Speed[4], angular velocity around fixed Y-axis, unit deg/s
 50          // actual_TCP_Speed[5], angular velocity around fixed Z-axis, unit deg/s
 51  double  jt_cur_tor[6];   // Current torques of 6 axes, unit N·m
 52  int   tool;        // Applied tool coordinate system number
 53  int   user;        // Applied workpiece coordinate system number
 54  uint8_t cl_dgt_output_h;  // Control box digital IO output 15-8
 55  uint8_t cl_dgt_output_l;  // Control box digital IO output 7-0
 56  uint8_t tl_dgt_output_l;  // Tool digital IO output 7-0, only bit0-bit1 valid
 57  uint8_t cl_dgt_input_h;   // Control box digital IO input 15-8
 58  uint8_t cl_dgt_input_l;   // Control box digital IO input 7-0
 59  uint8_t tl_dgt_input_l;   // Tool digital IO input 7-0, only bit0-bit1 valid
 60  uint16_t cl_analog_input[2]; // cl_analog_input[0], control box analog input 0
 61                //cl_analog_input[1], control box analog input 1
 62  uint16_t tl_anglog_input;  // Tool analog input
 63  double  ft_sensor_raw_data[6]; // Force/torque sensor raw data
 64          // ft_sensor_raw_data[0], force along x-axis, unit N
 65          // ft_sensor_raw_data[1], force along y-axis, unit N
 66          // ft_sensor_raw_data[2], force along z-axis, unit N
 67          // ft_sensor_raw_data[3], torque around x-axis, unit Nm
 68          // ft_sensor_raw_data[4], torque around y-axis, unit Nm
 69          // ft_sensor_raw_data[5], torque around z-axis, unit Nm
 70  double  ft_sensor_data[6];   // Force/torque sensor data,
 71          // ft_sensor_data[0], force along x-axis, unit N
 72          // ft_sensor_data[1], force along y-axis, unit N
 73          // ft_sensor_data[2], force along z-axis, unit N
 74          // ft_sensor_data[3], torque around x-axis, unit Nm
 75          // ft_sensor_data[4], torque around y-axis, unit Nm
 76          // ft_sensor_data[5], torque around z-axis, unit Nm
 77  uint8_t ft_sensor_active;  // Force/torque sensor activation status, 0-reset, 1-activated
 78  uint8_t EmergencyStop;   // Emergency stop flag, 0-emergency stop not pressed, 1-emergency stop pressed
 79  int   motion_done;    // Motion completion signal, 1-completed, 0-not completed
 80  uint8_t gripper_motiondone; // Gripper motion completion signal, 1-completed, 0-not completed
 81  int   mc_queue_len;    // Motion command queue length
 82  uint8_t collisionState;   // Collision detection, 1-collision, 0-no collision
 83  int   trajectory_pnum;  // Trajectory point number
 84  uint8_t safety_stop0_state; // Safety stop signal SI0
 85  uint8_t safety_stop1_state; // Safety stop signal SI1
 86  uint8_t gripper_fault_id;  // Faulty gripper number
 87  uint16_t gripper_fault;   // Gripper fault
 88  uint16_t gripper_active;   // Gripper activation status
 89  uint8_t gripper_position;  // Gripper position
 90  int8_t  gripper_speed;   // Gripper speed
 91  int8_t  gripper_current;  // Gripper current
 92  int   gripper_temp;    // Gripper temperature
 93  int   gripper_voltage;  // Gripper voltage
 94  robot_aux_state aux_state;  // 485 extension axis status
 95  EXT_AXIS_STATUS extAxisStatus[4]; // UDP extension axis status
 96  uint16_t extDIState[8];    // Extension DI input
 97  uint16_t extDOState[8];    // Extension DO output
 98  uint16_t extAIState[4];    // Extension AI input
 99  uint16_t extAOState[4];    // Extension AO output
100  int rbtEnableState;      // Robot enable status
101  double  jointDriverTorque[6];    // Robot joint driver torque
102  double  jointDriverTemperature[6];  // Robot joint driver temperature
103  RobotTime robotTime;      // Robot system time
104  int softwareUpgradeState;   // Robot software upgrade status
105  uint16_t endLuaErrCode;    // End Lua running status
106  uint16_t cl_analog_output[2]; // Control box analog output
107  uint16_t tl_analog_output;   // Tool analog output
108  float gripperRotNum;      // Current rotation count of rotating gripper
109  uint8_t gripperRotSpeed;    // Current rotation speed percentage of rotating gripper
110  uint8_t gripperRotTorque;   // Current rotation torque percentage of rotating gripper
111  WELDING_BREAKOFF_STATE weldingBreakOffState; // Welding interruption status
112  double jt_tgt_tor[6];         // Joint command torque
113  int smartToolState;          // SmartTool handle button status
114  float wideVoltageCtrlBoxTemp;     // Wide voltage control box temperature
115  uint16_t wideVoltageCtrlBoxFanCurrent;// Wide voltage control box fan current (mA)
116  double toolCoord[6];    // Current tool coordinate system values; x,y,z,rx,ry,rz
117  double wobjCoord[6];    // Current workpiece coordinate system values; x,y,z,rx,ry,rz
118  double extoolCoord[6];   // Current external tool coordinate system values; x,y,z,rx,ry,rz
119  double exAxisCoord[6];   // Current extension axis coordinate system values; x,y,z,rx,ry,rz
120  double load;        // Load mass
121  double loadCog[3];     // Load center of gravity
122  double lastServoTarget[6]; // Last ServoJ target position in the queue
123  int servoJCmdNum;      // ServoJ command count
124  double targetJointPos[6];  // 6 joints command position, unit °
125  double targetJointVel[6];  // 6 joints command velocity, unit °/s
126  double targetJointAcc[6];  // 6 joints command acceleration, unit °/s2
127  double targetJointCurrent[6]; // 6 joints command current, unit A
128  double actualJointCurrent[6]; // 6 joints current current, unit A
129  double actualTCPForce[6];  // Robot end-effector torque Nm; x,y,z,rx,ry,rz
130  double targetTCPPos[6];   // Robot TCP command position mm; x,y,z,rx,ry,rz
131  uint8_t collisionLevel[6]; // Robot collision level
132  double speedScaleManual;  // Manual mode global speed percentage
133  double speedScaleAuto;   // Automatic mode global speed percentage
134  int luaLineNum;       // Current Lua program running line number
135  uint8_t abnomalStop;    // 0-no abnormality; 1-abnormality present
136  char currentLuaFileName[256]; // Name of currently running Lua program
137  uint8_t programTotalLine;  // Total lines of Lua program
138  uint8_t safetyBoxSingal[6]; // Robot button box button status
139  double weldVoltage;     // Welding voltage V
140  double weldCurrent;     // Welding current
141  double weldTrackVel;    // Seam tracking speed mm/s
142  uint8_t tpdException;    // TPD trajectory load count exceeded, 0-not exceeded, 1-exceeded
143  uint8_t alarmRebootRobot;  // Warning, 1-release emergency stop button and power cycle the control box, 2-joint communication abnormality, power cycle the control box
144  uint8_t modbusMasterConnect; // bit0-bit7 correspond to ModbusTCP master 0-7 connection status 0-not connected 1-connected
145  uint8_t modbusSlaveConnect;  // ModbusTCP slave connection status 0-not connected; 1-connected
146  uint8_t btnBoxStopSignal;   // Button box emergency stop signal, 0-emergency stop released; 1-emergency stop pressed
147  uint8_t dragAlarm;      // Drag warning, currently in automatic mode, 0-no alarm, 1-alarm, 2-position feedback abnormality, no switching
148  uint8_t safetyDoorAlarm;   // Safety door warning; 0-safety door closed; 1-safety door open
149  uint8_t safetyPlaneAlarm;   // Entering safety wall warning; 0-not entering safety wall; 1-entered safety wall
150  uint8_t motonAlarm;      // Motion warning
151  uint8_t interfaceAlarm;    // Entering interference area warning
152  int udpCmdState;       // Port 20007 UDP communication connection status
153  uint8_t weldReadyState;    // Welder ready status
154  uint8_t alarmCheckEmergStopBtn; // 0-normal; 1-communication abnormality, check if emergency stop button is released
155  uint8_t tsTmCmdComError;   // 0-normal; 1-torque command communication failure
156  uint8_t tsTmStateComError;  // 0-normal; 1-torque status communication failure
157  int ctrlBoxError;       // Control box error
158  uint8_t safetyDataState;   // Safety data status flag, 0-normal, 1-abnormal
159  uint8_t forceSensorErrState; // Force sensor connection timeout fault; bit0-bit1 correspond to force sensor ID1-ID2
160  uint8_t ctrlOpenLuaErrCode[4]; // 4 controller peripheral protocol error codes (500 error code)
161  uint8_t strangePosFlag; // Currently in singular posture flag; 0-normal; 1-singular posture
162  uint8_t alarm;      // Warning
163  uint8_t driverAlarm;   // Driver alarm axis number
164  uint8_t aliveSlaveNumError; // Active slave count error, 0: normal; 1: count error
165  uint8_t slaveComError[8];  // Slave error, 0: normal; 1: slave offline; 2: slave status inconsistent with set value; 3: slave not configured; 4: slave configuration error; 5: slave initialization error; 6: slave mailbox communication initialization error
166  uint8_t cmdPointError;   // Command point error
167  uint8_t IOError;      // IO error
168  uint8_t gripperError;    // Gripper error
169  uint8_t fileError;     // File error
170  uint8_t paraError;     // Parameter error
171  uint8_t exaxisOutLimitError;  // External axis soft limit exceeded error
172  uint8_t driverComError[6];   // Driver communication fault
173  uint8_t driverError;      // Driver communication fault axis number
174  uint8_t outSoftLimitError;   // Soft limit exceeded fault
175  char axleGenComData[130];   // Robot end-effector transparent transmission feedback data
176  uint8_t socketConnTimeout;   // Socket connection timeout, bit0-bit4: socketID 1-4
177  uint8_t socketReadTimeout;   // Socket read timeout, bit0-bit4: socketID 1-4
178  uint8_t tsWebStateComErr;   // Web-torque communication failure; 0-normal; 1-failed
179  uint16_t check_sum;     // Checksum
180}ROBOT_STATE_PKG;

2.10. Robot Status Feedback Configuration Enumeration Type

  1enum class RobotState
  2{
  3    ProgramState = 3,           // Program running status, 1-stopped; 2-running; 3-paused
  4    RobotState = 4,             // Robot motion status, 1-stopped; 2-running; 3-paused; 4-dragging
  5    MainCode = 5,               // Main fault code
  6    SubCode = 6,                // Sub fault code
  7    RobotMode = 7,              // Robot mode, 1-manual mode; 0-automatic mode
  8    JointCurPos = 8,            // Current joint positions of 6 axes, unit deg
  9    ToolCurPos = 9,             // Current tool position: [0] along x-axis (mm), [1] along y-axis (mm), [2] along z-axis (mm), [3] rotation around fixed X-axis (deg), [4] around fixed Y-axis (deg), [5] around fixed Z-axis (deg)
 10    FlangeCurPos = 10,          // Current end flange position: [0] along x-axis (mm), [1] along y-axis (mm), [2] along z-axis (mm), [3] rotation around fixed X-axis (deg), [4] around fixed Y-axis (deg), [5] around fixed Z-axis (deg)
 11    ActualJointVel = 11,        // Current velocities of 6 joints, unit deg/s
 12    ActualJointAcc = 12,        // Current accelerations of 6 joints, unit deg/s^2
 13    TargetTCPCmpSpeed = 13,     // TCP composite command speed: [0] position (mm/s), [1] orientation (deg/s)
 14    TargetTCPSpeed = 14,        // TCP command speed: [0] along x-axis (mm/s), [1] along y-axis (mm/s), [2] along z-axis (mm/s), [3] angular velocity around X-axis (deg/s), [4] around Y-axis (deg/s), [5] around Z-axis (deg/s)
 15    ActualTCPCmpSpeed = 15,     // TCP composite actual speed: [0] position (mm/s), [1] orientation (deg/s)
 16    ActualTCPSpeed = 16,        // TCP actual speed: [0] along x-axis (mm/s), [1] along y-axis (mm/s), [2] along z-axis (mm/s), [3] angular velocity around X-axis (deg/s), [4] around Y-axis (deg/s), [5] around Z-axis (deg/s)
 17    ActualJointTorque = 17,     // Current torques of 6 axes, unit N·m
 18    Tool = 18,                  // Applied tool coordinate system number
 19    User = 19,                  // Applied workpiece coordinate system number
 20    ClDgtOutputH = 20,          // Control box digital IO output 15-8
 21    ClDgtOutputL = 21,          // Control box digital IO output 7-0
 22    TlDgtOutputL = 22,          // Tool digital IO output 7-0, only bit0-bit1 valid
 23    ClDgtInputH = 23,           // Control box digital IO input 15-8
 24    ClDgtInputL = 24,           // Control box digital IO input 7-0
 25    TlDgtInputL = 25,           // Tool digital IO input 7-0, only bit0-bit1 valid
 26    ClAnalogInput = 26,         // Control box analog input: [0] channel 0, [1] channel 1
 27    TlAnalogInput = 27,         // Tool analog input
 28    FtSensorRawData = 28,       // Force/torque sensor raw data: [0] force along x-axis (N), [1] along y-axis (N), [2] along z-axis (N), [3] torque around x-axis (Nm), [4] around y-axis (Nm), [5] around z-axis (Nm)
 29    FtSensorData = 29,          // Force/torque sensor data (processed): [0] force along x-axis (N), [1] along y-axis (N), [2] along z-axis (N), [3] torque around x-axis (Nm), [4] around y-axis (Nm), [5] around z-axis (Nm)
 30    FtSensorActive = 30,        // Force/torque sensor activation status, 0-reset, 1-activated
 31    EmergencyStop = 31,         // Emergency stop flag, 0-emergency stop not pressed, 1-emergency stop pressed
 32    MotionDone = 32,            // Motion completion signal, 1-completed, 0-not completed
 33    GripperMotiondone = 33,     // Gripper motion completion signal, 1-completed, 0-not completed
 34    McQueueLen = 34,            // Motion command queue length
 35    CollisionState = 35,        // Collision detection, 1-collision, 0-no collision
 36    TrajectoryPnum = 36,        // Trajectory point number
 37    SafetyStop0State = 37,      // Safety stop signal SI0
 38    SafetyStop1State = 38,      // Safety stop signal SI1
 39    GripperFaultId = 39,        // Faulty gripper number
 40    GripperFault = 40,          // Gripper fault
 41    GripperActive = 41,         // Gripper activation status
 42    GripperPosition = 42,       // Gripper position
 43    GripperSpeed = 43,          // Gripper speed
 44    GripperCurrent = 44,        // Gripper current
 45    GripperTemp = 45,           // Gripper temperature
 46    GripperVoltage = 46,        // Gripper voltage
 47    AuxState = 47,              // 485 extension axis status
 48    ExtAxisStatus = 48,         // UDP extension axis status (4 axes)
 49    ExtDIState = 49,            // Extension DI input (8)
 50    ExtDOState = 50,            // Extension DO output (8)
 51    ExtAIState = 51,            // Extension AI input (4)
 52    ExtAOState = 52,            // Extension AO output (4)
 53    RbtEnableState = 53,        // Robot enable status
 54    JointDriverTorque = 54,     // Robot joint driver torque (6 joints)
 55    JointDriverTemperature = 55,// Robot joint driver temperature (6 joints)
 56    RobotTime = 56,             // Robot system time
 57    SoftwareUpgradeState = 57,  // Robot software upgrade status
 58    EndLuaErrCode = 58,         // End Lua running status
 59    ClAnalogOutput = 59,        // Control box analog output (2)
 60    TlAnalogOutput = 60,        // Tool analog output
 61    GripperRotNum = 61,         // Current rotation count of rotating gripper
 62    GripperRotSpeed = 62,       // Current rotation speed percentage of rotating gripper
 63    GripperRotTorque = 63,      // Current rotation torque percentage of rotating gripper
 64    WeldingBreakOffState = 64,  // Welding interruption status
 65    TargetJointTorque = 65,     // Joint command torque (6 joints)
 66    SmartToolState = 66,        // SmartTool handle button status
 67    WideVoltageCtrlBoxTemp = 67,// Wide voltage control box temperature
 68    WideVoltageCtrlBoxFanCurrent = 68, // Wide voltage control box fan current (mA)
 69    ToolCoord = 69,             // Current tool coordinate system values: x,y,z,rx,ry,rz
 70    WobjCoord = 70,             // Current workpiece coordinate system values: x,y,z,rx,ry,rz
 71    ExtoolCoord = 71,           // Current external tool coordinate system values: x,y,z,rx,ry,rz
 72    ExAxisCoord = 72,           // Current extension axis coordinate system values: x,y,z,rx,ry,rz
 73    Load = 73,                  // Load mass
 74    LoadCog = 74,               // Load center of gravity: x,y,z
 75    LastServoTarget = 75,       // Last ServoJ target position in the queue (6 joints)
 76    ServoJCmdNum = 76,          // ServoJ command count
 77    TargetJointPos = 77,        // 6 joints command position, unit °
 78    TargetJointVel = 78,        // 6 joints command velocity, unit °/s
 79    TargetJointAcc = 79,        // 6 joints command acceleration, unit °/s²
 80    TargetJointCurrent = 80,    // 6 joints command current, unit A
 81    ActualJointCurrent = 81,    // 6 joints current current, unit A
 82    ActualTCPForce = 82,        // Robot end-effector torque: x,y,z,rx,ry,rz, unit Nm
 83    TargetTCPPos = 83,          // Robot TCP command position: x,y,z,rx,ry,rz, unit mm
 84    CollisionLevel = 84,        // Robot collision level (6)
 85    SpeedScaleManual = 85,      // Manual mode global speed percentage
 86    SpeedScaleAuto = 86,        // Automatic mode global speed percentage
 87    LuaLineNum = 87,            // Current Lua program running line number
 88    AbnomalStop = 88,           // 0-no abnormality; 1-abnormality present
 89    CurrentLuaFileName = 89,    // Name of currently running Lua program
 90    ProgramTotalLine = 90,      // Total lines of Lua program
 91    SafetyBoxSingal = 91,       // Robot button box button status (6)
 92    WeldVoltage = 92,           // Welding voltage V
 93    WeldCurrent = 93,           // Welding current
 94    WeldTrackVel = 94,          // Seam tracking speed mm/s
 95    TpdException = 95,          // TPD trajectory load count exceeded, 0-not exceeded, 1-exceeded
 96    AlarmRebootRobot = 96,      // Warning: 1-release emergency stop and power cycle, 2-joint communication abnormality, power cycle
 97    ModbusMasterConnect = 97,   // bit0-7 correspond to ModbusTCP master 0-7 connection status, 0-not connected, 1-connected
 98    ModbusSlaveConnect = 98,    // ModbusTCP slave connection status, 0-not connected, 1-connected
 99    BtnBoxStopSignal = 99,      // Button box emergency stop signal, 0-emergency stop released, 1-emergency stop pressed
100    DragAlarm = 100,            // Drag warning: 0-no alarm, 1-alarm, 2-position feedback abnormality, no switching
101    SafetyDoorAlarm = 101,      // Safety door warning: 0-closed, 1-open
102    SafetyPlaneAlarm = 102,     // Safety wall warning: 0-not entered, 1-entered
103    MotonAlarm = 103,           // Motion warning
104    InterfaceAlarm = 104,       // Entering interference area warning
105    UdpCmdState = 105,          // Port 20007 UDP communication connection status
106    WeldReadyState = 106,       // Welder ready status
107    AlarmCheckEmergStopBtn = 107, // 0-normal; 1-communication abnormality, check emergency stop button
108    TsTmCmdComError = 108,      // 0-normal; 1-torque command communication failure
109    TsTmStateComError = 109,    // 0-normal; 1-torque status communication failure
110    CtrlBoxError = 110,         // Control box error
111    SafetyDataState = 111,      // Safety data status, 0-normal, 1-abnormal
112    ForceSensorErrState = 112,  // Force sensor connection timeout, bit0-bit1 correspond to ID1-ID2
113    CtrlOpenLuaErrCode = 113,   // 4 controller peripheral protocol error codes (500 error code)
114    StrangePosFlag = 114,       // Singular posture flag: 0-normal, 1-singular posture
115    Alarm = 115,                // Warning
116    DriverAlarm = 116,          // Driver alarm axis number
117    AliveSlaveNumError = 117,   // Active slave count error: 0-normal, 1-count error
118    SlaveComError = 118,        // Slave error: 0-normal, 1-offline, 2-state inconsistent, 3-not configured, 4-configuration error, 5-initialization error, 6-mailbox communication initialization error
119    CmdPointError = 119,        // Command point error
120    IOError = 120,              // IO error
121    GripperError = 121,         // Gripper error
122    FileError = 122,            // File error
123    ParaError = 123,            // Parameter error
124    ExaxisOutLimitError = 124,  // External axis soft limit exceeded error
125    DriverComError = 125,       // Driver communication fault (6 axes)
126    DriverError = 126,          // Driver communication fault axis number
127    OutSoftLimitError = 127,    // Soft limit exceeded fault
128    AxleGenComData = 128,       // Robot end-effector transparent transmission feedback data
129    SocketConnTimeout = 129,    // Socket connection timeout, bit0-bit4 correspond to socketID 1-4
130    SocketReadTimeout = 130,    // Socket read timeout, bit0-bit4 correspond to socketID 1-4
131    TsWebStateComErr = 131      // Web-torque communication failure: 0-normal, 1-failed
132};