Skip to content

Commit 28d8327

Browse files
Harrier-SAHarrier-SA
committed
Enhance RTDE configuration with throttling options, fixed robotMode Timestamp bug and updated documentation.
1 parent 75385d2 commit 28d8327

File tree

3 files changed

+422
-22
lines changed

3 files changed

+422
-22
lines changed

‎acs-service-setup/dumps/edge.yaml‎

Lines changed: 25 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -657,20 +657,41 @@ configs:
657657
minLength: 1
658658
options:
659659
order: 1
660-
title: "Hostname/IP"
660+
title: Hostname/IP
661661
type: string
662+
pollInt:
663+
default: 500
664+
description: Set throttle frequency.
665+
options:
666+
dependencies:
667+
throttleEnabled: true
668+
order: 4
669+
title: Throttle Frequency
670+
type: number
662671
port:
663672
default: 30001
664-
description: "RTDE interface port. Common ports: 30001 (RTDE configuration/setup), 30002 (Dashboard server), 30003 (Primary/Secondary interface), 30004 (RTDE data exchange - most common for real-time streaming)"
673+
description: "RTDE interface port. Common ports: 30001 (RTDE
674+
configuration/setup), 30002 (Dashboard server), 30003 (Primary/Secondary
675+
interface), 30004 (RTDE data exchange - most common for real-time
676+
streaming)"
665677
minLength: 1
666678
options:
667679
order: 2
668-
title: "Port"
680+
title: Port
669681
type: number
682+
throttleEnabled:
683+
default: false
684+
description: Enable throttle to limit frequency of data packets.
685+
format: checkbox
686+
options:
687+
order: 3
688+
title: Throttle
689+
type: boolean
670690
required:
671691
- host
672692
- port
673-
title: "RTDE Connection Details"
693+
- throttleEnabled
694+
title: RTDE Connection Details
674695
type: object
675696

676697
!u ACS.Driver.External:

‎edge-rtde/docs/RTDE-DATA-REFERENCE.md‎

Lines changed: 305 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,305 @@
1+
# Universal Robots RTDE Data Reference
2+
3+
This document lists all data available from the RTDE driver and how to access it using JSONPath expressions in the Edge Agent ConfigDB.
4+
5+
## Driver Addresses
6+
7+
The driver publishes data to the following addresses:
8+
9+
| Address | Description |
10+
|---------|-------------|
11+
| `json/state` | Complete robot state (all sections combined) |
12+
| `json/jointData` | Joint-specific data for all 6 joints |
13+
| `json/cartesianInfo` | Tool Center Point (TCP) position and orientation |
14+
| `json/robotModeData` | Robot operational mode and status |
15+
| `json/toolData` | Tool flange I/O and power data |
16+
| `json/masterboardData` | Master board I/O and safety information |
17+
| `json/forceModeFrame` | Force mode configuration |
18+
| `json/additionalInfo` | Additional robot information |
19+
| `json/toolCommunicationInfo` | Tool communication settings |
20+
21+
---
22+
23+
## Joint Data (`json/jointData`)
24+
25+
Array of 6 objects (one per joint: Base, Shoulder, Elbow, Wrist1, Wrist2, Wrist3)
26+
27+
| JSONPath | Data Type | Unit | Description |
28+
|----------|-----------|------|-------------|
29+
| `$[0].positionActual` | Float | radians | Base joint actual position |
30+
| `$[0].positionTarget` | Float | radians | Base joint target position |
31+
| `$[0].velocityActual` | Float | rad/s | Base joint actual velocity |
32+
| `$[0].currentActual` | Float | A | Base joint actual current |
33+
| `$[0].voltageActual` | Float | V | Base joint actual voltage |
34+
| `$[0].motorTemperature` | Float | °C | Base joint motor temperature |
35+
| `$[0].controlCurrent` | Float | A | Base joint control current |
36+
| `$[0].mode` | Integer | - | Base joint control mode (see modes below) |
37+
38+
**Note:** Replace `[0]` with `[1]` through `[5]` for Shoulder, Elbow, Wrist1, Wrist2, and Wrist3 joints respectively.
39+
40+
### Joint Control Modes
41+
- `236`: Position control
42+
- `237`: Velocity control
43+
- `238`: Force control
44+
- `239`: Torque control
45+
46+
---
47+
48+
## Cartesian Information (`json/cartesianInfo`)
49+
50+
Tool Center Point (TCP) position and orientation
51+
52+
| JSONPath | Data Type | Unit | Description |
53+
|----------|-----------|------|-------------|
54+
| `$.toolVectorX` | Float | m | TCP X position in base coordinate system |
55+
| `$.toolVectorY` | Float | m | TCP Y position in base coordinate system |
56+
| `$.toolVectorZ` | Float | m | TCP Z position in base coordinate system |
57+
| `$.toolVectorRX` | Float | radians | TCP rotation around X axis |
58+
| `$.toolVectorRY` | Float | radians | TCP rotation around Y axis |
59+
| `$.toolVectorRZ` | Float | radians | TCP rotation around Z axis |
60+
| `$.tcpSpeedActual` | Float | m/s | Actual TCP speed |
61+
| `$.tcpForce` | Float | N | TCP force magnitude |
62+
63+
---
64+
65+
## Robot Mode Data (`json/robotModeData`)
66+
67+
Robot operational state and status flags
68+
69+
| JSONPath | Data Type | Unit | Description |
70+
|----------|-----------|------|-------------|
71+
| `$.timestamp` | Integer | µs | Robot timestamp (microseconds) - **DO NOT USE** |
72+
| `$.isRobotConnected` | Boolean | - | Robot connected to controller |
73+
| `$.isRealRobotEnabled` | Boolean | - | Real robot mode enabled (not simulation) |
74+
| `$.isPowerOnRobot` | Boolean | - | Power supply to robot is on |
75+
| `$.isEmergencyStopPressed` | Boolean | - | Emergency stop button pressed |
76+
| `$.isProtectiveStopActive` | Boolean | - | Protective stop active |
77+
| `$.isProgramRunning` | Boolean | - | UR program currently running |
78+
| `$.isProgramPaused` | Boolean | - | UR program paused |
79+
| `$.robotMode` | Integer | - | Robot operational mode (see modes below) |
80+
| `$.controlMode` | Integer | - | Control interface in use (see control modes below) |
81+
| `$.targetSpeedFraction` | Float | 0-1 | Target speed as fraction of maximum |
82+
| `$.speedScaling` | Float | 0-1 | Current speed scaling factor |
83+
| `$.targetSpeedFractionLimit` | Float | 0-1 | Maximum allowed target speed fraction |
84+
85+
### Robot Modes
86+
- `-1`: ROBOT_MODE_DISCONNECTED
87+
- `0`: ROBOT_MODE_CONFIRM_SAFETY
88+
- `1`: ROBOT_MODE_BOOTING
89+
- `2`: ROBOT_MODE_POWER_OFF
90+
- `3`: ROBOT_MODE_POWER_ON
91+
- `4`: ROBOT_MODE_IDLE
92+
- `5`: ROBOT_MODE_BACKDRIVE
93+
- `6`: ROBOT_MODE_RUNNING
94+
- `7`: ROBOT_MODE_UPDATING_FIRMWARE
95+
96+
### Control Modes
97+
- `0`: CONTROL_MODE_TEACH
98+
- `1`: CONTROL_MODE_FREEDRIVE
99+
- `2`: CONTROL_MODE_REMOTE (RTDE/URScript control)
100+
101+
---
102+
103+
## Tool Data (`json/toolData`)
104+
105+
Tool flange digital I/O and power supply
106+
107+
| JSONPath | Data Type | Unit | Description |
108+
|----------|-----------|------|-------------|
109+
| `$.analogInputRange0` | Integer | - | Analog input 0 range setting |
110+
| `$.analogInputRange1` | Integer | - | Analog input 1 range setting |
111+
| `$.analogInput0` | Float | V or A | Analog input 0 value |
112+
| `$.analogInput1` | Float | V or A | Analog input 1 value |
113+
| `$.toolVoltage48V` | Float | V | 48V tool supply voltage |
114+
| `$.toolOutputVoltage` | Integer | V | Tool output voltage setting |
115+
| `$.toolCurrent` | Float | A | Tool current consumption |
116+
| `$.toolTemperature` | Float | °C | Tool temperature |
117+
| `$.toolOutputCurrent` | Float | A | Tool output current |
118+
119+
---
120+
121+
## Master Board Data (`json/masterboardData`)
122+
123+
Controller board I/O and safety information
124+
125+
| JSONPath | Data Type | Unit | Description |
126+
|----------|-----------|------|-------------|
127+
| `$.digitalInputBits` | Integer | bitmask | Digital inputs state (bits 0-17) |
128+
| `$.digitalOutputBits` | Integer | bitmask | Digital outputs state (bits 0-17) |
129+
| `$.analogInputRange0` | Integer | - | Analog input 0 range |
130+
| `$.analogInputRange1` | Integer | - | Analog input 1 range |
131+
| `$.analogInput0` | Float | V or A | Analog input 0 value |
132+
| `$.analogInput1` | Float | V or A | Analog input 1 value |
133+
| `$.analogOutputDomain0` | Integer | - | Analog output 0 domain |
134+
| `$.analogOutputDomain1` | Integer | - | Analog output 1 domain |
135+
| `$.analogOutput0` | Float | V or A | Analog output 0 value |
136+
| `$.analogOutput1` | Float | V or A | Analog output 1 value |
137+
| `$.masterBoardTemperature` | Float | °C | Controller board temperature |
138+
| `$.robotVoltage48V` | Float | V | 48V robot supply voltage |
139+
| `$.robotCurrent` | Float | A | Total robot current consumption |
140+
| `$.masterIOCurrent` | Float | A | Master board I/O current |
141+
| `$.safetyMode` | Integer | - | Safety system mode (see safety modes below) |
142+
| `$.inReducedMode` | Integer | - | Robot in reduced mode (0=normal, 1=reduced) |
143+
144+
### Safety Modes
145+
- `1`: NORMAL
146+
- `2`: REDUCED
147+
- `3`: PROTECTIVE_STOP
148+
- `4`: RECOVERY
149+
- `5`: SAFEGUARD_STOP
150+
- `6`: SYSTEM_EMERGENCY_STOP
151+
- `7`: ROBOT_EMERGENCY_STOP
152+
- `8`: VIOLATION
153+
- `9`: FAULT
154+
155+
### Digital I/O Bit Positions
156+
- Bits 0-7: Configurable digital inputs
157+
- Bits 8-9: Tool digital inputs
158+
- Bits 10-17: Configurable digital outputs
159+
160+
---
161+
162+
## Force Mode Frame (`json/forceModeFrame`)
163+
164+
Active force mode configuration
165+
166+
| JSONPath | Data Type | Unit | Description |
167+
|----------|-----------|------|-------------|
168+
| `$.x` | Float | m | Force frame X position |
169+
| `$.y` | Float | m | Force frame Y position |
170+
| `$.z` | Float | m | Force frame Z position |
171+
| `$.rx` | Float | radians | Force frame rotation X |
172+
| `$.ry` | Float | radians | Force frame rotation Y |
173+
| `$.rz` | Float | radians | Force frame rotation Z |
174+
175+
---
176+
177+
## Additional Info (`json/additionalInfo`)
178+
179+
| JSONPath | Data Type | Unit | Description |
180+
|----------|-----------|------|-------------|
181+
| `$.freedriveButtonPressed` | Boolean | - | Freedrive button currently pressed |
182+
| `$.freedriveButtonEnabled` | Boolean | - | Freedrive button enabled in safety config |
183+
184+
---
185+
186+
## Tool Communication Info (`json/toolCommunicationInfo`)
187+
188+
| JSONPath | Data Type | Unit | Description |
189+
|----------|-----------|------|-------------|
190+
| `$.toolCommunicationIsEnabled` | Boolean | - | Tool communication enabled |
191+
| `$.baudRate` | Integer | baud | Tool communication baud rate |
192+
| `$.parity` | Integer | - | Parity setting (0=none, 1=odd, 2=even) |
193+
| `$.stopBits` | Integer | - | Stop bits (1 or 2) |
194+
| `$.rxIdleChars` | Float | - | RX idle characters |
195+
| `$.txIdleChars` | Float | - | TX idle characters |
196+
197+
---
198+
199+
## Complete State (`json/state`)
200+
201+
All the above data combined in a single object. Use the same JSONPaths but without the address prefix.
202+
203+
Example: To get base joint position from complete state:
204+
- Address: `json/state`
205+
- Path: `$.jointData[0].positionActual`
206+
207+
---
208+
209+
## Usage Examples
210+
211+
### Example 1: Base Joint Position
212+
```json
213+
{
214+
"Address": "json/jointData",
215+
"Path": "$[0].positionActual",
216+
"Sparkplug_Type": "Float",
217+
"Eng_Unit": "rad",
218+
"Eng_Low": -6.2832,
219+
"Eng_High": 6.2832
220+
}
221+
```
222+
223+
### Example 2: TCP X Position
224+
```json
225+
{
226+
"Address": "json/cartesianInfo",
227+
"Path": "$.toolVectorX",
228+
"Sparkplug_Type": "Float",
229+
"Eng_Unit": "m"
230+
}
231+
```
232+
233+
### Example 3: Emergency Stop Status
234+
```json
235+
{
236+
"Address": "json/robotModeData",
237+
"Path": "$.isEmergencyStopPressed",
238+
"Sparkplug_Type": "Boolean"
239+
}
240+
```
241+
242+
### Example 4: Robot Mode
243+
```json
244+
{
245+
"Address": "json/robotModeData",
246+
"Path": "$.robotMode",
247+
"Sparkplug_Type": "Int32"
248+
}
249+
```
250+
251+
### Example 5: Tool Temperature
252+
```json
253+
{
254+
"Address": "json/toolData",
255+
"Path": "$.toolTemperature",
256+
"Sparkplug_Type": "Float",
257+
"Eng_Unit": "°C"
258+
}
259+
```
260+
261+
---
262+
263+
## Important Notes
264+
265+
### ⚠️ DO NOT Use Timestamps
266+
The `$.timestamp` field in `robotModeData` is in **microseconds** (16 digits) which causes overflow errors in InfluxDB. The Edge Agent automatically adds timestamps using the current system time. **Never extract timestamp fields from RTDE data.**
267+
268+
### 📊 Recommended Data Types
269+
- **Positions/Distances**: Float (radians or meters)
270+
- **Velocities**: Float (rad/s or m/s)
271+
- **Currents**: Float (A)
272+
- **Voltages**: Float (V)
273+
- **Temperatures**: Float (°C)
274+
- **Booleans**: Boolean
275+
- **Modes/Enums**: Int32 or UInt32
276+
- **Bitmasks**: UInt32
277+
278+
### 🔢 Unit Conversions
279+
If you need degrees instead of radians, use a conversion factor in your visualization:
280+
- **Radians to Degrees**: multiply by `57.2958` (180/π)
281+
- **Meters to Millimeters**: multiply by `1000`
282+
283+
### 🎯 Throttling Configuration
284+
The driver supports throttling to prevent overwhelming the historian:
285+
286+
```json
287+
{
288+
"DriverDetails": {
289+
"host": "192.168.1.103",
290+
"port": 30001,
291+
"throttle": true,
292+
"pollInt": 500
293+
}
294+
}
295+
```
296+
297+
- `throttle`: `true` to enable throttling, `false` for full rate (~125Hz)
298+
- `pollInt`: Publish interval in milliseconds (default 500ms = 2Hz)
299+
300+
---
301+
302+
## Reference Links
303+
304+
- [Universal Robots RTDE Guide](https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/)
305+
- [ur-rtde Library](https://gitlab.com/sdurobotics/ur_rtde)

0 commit comments

Comments
 (0)