2. Data Structure Description

2.1. Joint Position Data Type

/**
* @brief Joint position data type
*/
public class JointPos
{
  double J1;
  double J2;
  double J3;
  double J4;
  double J5;
  double J6;

  public JointPos(double j1, double j2, double j3, double j4, double j5, double j6)
  {
    J1 = j1;
    J2 = j2;
    J3 = j3;
    J4 = j4;
    J5 = j5;
    J6 = j6;
  }

  public JointPos()
  {

  }
}

2.2. Cartesian Space Position Data Type

/**
* @brief Cartesian space position data type
*/
public class DescTran
{
  public double x = 0.0;    /* X-axis coordinate, unit: mm */
  public double y = 0.0;    /* Y-axis coordinate, unit: mm */
  public double z = 0.0;    /* Z-axis coordinate, unit: mm */
  public DescTran(double posX, double posY, double posZ)
  {
    x = posX;
    y = posY;
    z = posZ;
  }

  public DescTran()
  {

  }

}

2.3. Euler Angle Attitude Data Type

/**
* @brief Euler angle attitude data type
*/
public class Rpy
{
  public double rx = 0.0;   /* Rotation angle around fixed X-axis, unit: deg */
  public double ry = 0.0;   /* Rotation angle around fixed Y-axis, unit: deg */
  public double rz = 0.0;   /* Rotation angle around fixed Z-axis, unit: deg */
  public Rpy(double rotateX, double rotateY, double rotateZ)
  {
    rx = rotateX;
    ry = rotateY;
    rz = rotateZ;
  }
}

2.4. Cartesian Space Pose Data Type

/**
*@brief Cartesian space pose type
*/
public class DescPose
{
  public DescTran tran = new DescTran(0.0, 0.0, 0.0);      /* Cartesian space position */
  public Rpy rpy = new Rpy(0.0, 0.0, 0.0);                         /* Cartesian space attitude */

  public DescPose()
  {

  }

  public DescPose(DescTran descTran, Rpy rotateRpy)
  {
    tran = descTran;
    rpy = rotateRpy;
  }

  public DescPose(double tranX, double tranY, double tranZ, double rX, double ry, double rz)
  {
    tran.x = tranX;
    tran.y = tranY;
    tran.z = tranZ;
    rpy.rx = rX;
    rpy.ry = ry;
    rpy.rz = rz;
  }

  public String toString()
  {
    return String.valueOf(tran.x) + "," + String.valueOf(tran.y) + "," + String.valueOf(tran.z) + "," + String.valueOf(rpy.rx) + "," + String.valueOf(rpy.ry) + "," + String.valueOf(rpy.rz);
  }
}

2.5. Extended Axis Position Data Type

/**
* @brief Extended axis position data type
*/
public class ExaxisPos
{
  public double axis1 = 0.0;
  public double axis2 = 0.0;
  public double axis3 = 0.0;
  public double axis4 = 0.0;

  public ExaxisPos()
  {

  }
  public ExaxisPos(double[] exaxisPos)
  {
    axis1 = exaxisPos[0];
    axis2 = exaxisPos[1];
    axis3 = exaxisPos[2];
    axis4 = exaxisPos[3];
  }

  public ExaxisPos(double pos1, double pos2, double pos3, double pos4)
  {
    axis1 = pos1;
    axis2 = pos2;
    axis3 = pos3;
    axis4 = pos4;
  }
}

2.6. Force Torque Sensor Data Type

/**
* @brief Force component and torque component of force sensor
*/
public class ForceTorque
{
  public double fx;  /* Force component along X-axis, unit: N */
  public double fy;  /* Force component along Y-axis, unit: N */
  public double fz;  /* Force component along Z-axis, unit: N */
  public double tx;  /* Torque component around X-axis, unit: Nm */
  public double ty;  /* Torque component around Y-axis, unit: Nm */
  public double tz;  /* Torque component around Z-axis, unit: Nm */
  public ForceTorque(double fX, double fY, double fZ, double tX, double tY, double tZ)
  {
    fx = fX;
    fy = fY;
    fz = fZ;
    tx = tX;
    ty = tY;
    tz = tZ;
  }
}

2.7. Spiral Parameter Data Type

/**
* @brief Spiral parameter data type
*/
public class SpiralParam
{
    public int circle_num;           /* Number of spiral turns  */
    public double circle_angle;         /* Spiral pitch angle  */
    public double rad_init;             /* Initial spiral radius, in mm  */
    public double rad_add;              /* Radius increment  */
    public double rotaxis_add;          /* Rotation axis increment  */
    public int rot_direction;  /* Rotation direction: 0-clockwise, 1-counterclockwise  */
    public int velAccMode;     /* Velocity acceleration parameter mode: 0-constant angular velocity; 1- Constant linear velocity */
    public SpiralParam(int circleNum, double circleAngle, double radInit, double radAdd, double rotaxisAdd, int rotDirection, int vel_AccMode)
    {
        circle_num = circleNum;
        circle_angle = circleAngle;
        rad_init = radInit;
        rad_add = radAdd;
        rotaxis_add = rotaxisAdd;
        rot_direction = rotDirection;
        velAccMode=vel_AccMode;
    }
}

2.8. Extended Axis Status Type

/**
* @brief Extended axis status type
*/
public class EXT_AXIS_STATUS
{
 public double pos = 0;        // Extended axis position
 public double vel = 0;        // Extended axis velocity
 public int errorCode = 0;     // Extended axis error code
 public int ready = 0;        // Servo ready
 public int inPos = 0;        // Servo in position
 public int alarm = 0;        // Servo alarm
 public int flerr = 0;        // Following error
 public int nlimit = 0;       // Negative limit reached
 public int pLimit = 0;       // Positive limit reached
 public int mdbsOffLine = 0;  // Driver 485 bus offline
 public int mdbsTimeout = 0;  // Communication timeout between control card and control box via 485
 public int homingStatus = 0; // Extended axis homing status
}

2.9. Sensor Type

/**
* @brief Sensor type
*/
public class DeviceConfig
{
  int company = 0;          // Manufacturer
  int device = 0;           // Type/device number
  int softwareVersion = 0;  // Software version
  int bus = 0;              // Mounting location

  public DeviceConfig()
  {

  }

  public DeviceConfig(int company, int device, int softwareVersion, int bus)
  {
    this.company = company;
    this.device = device;
    this.softwareVersion = softwareVersion;
    this.bus = bus;
  }
}

2.10. 485 Extended Axis Configuration

/**
* @brief 485 extended axis configuration
*/
public class Axis485Param
{
  int servoCompany;           // Servo driver manufacturer, 1-DynaTech
  int servoModel;             // Servo driver model, 1-FD100-750C
  int servoSoftVersion;       // Servo driver software version, 1-V1.0
  int servoResolution;        // Encoder resolution
  double axisMechTransRatio;  // Mechanical transmission ratio

  public Axis485Param(int company, int model, int softVersion, int resolution, double mechTransRatio)
  {
    servoCompany = company;
    servoModel = model;
    servoSoftVersion = softVersion;
    servoResolution = resolution;
    axisMechTransRatio = mechTransRatio;
  }

  public Axis485Param()
  {

  }
}

2.11. Servo Controller Status

/**
* @brief Servo controller status
*/
public class ROBOT_AUX_STATE
{
  public int servoId = 0;           // Servo driver ID
  public int servoErrCode = 0;       // Servo driver error code
  public int servoState = 0;         // Servo driver status
  public double servoPos = 0;        // Current servo position
  public float servoVel = 0;         // Current servo velocity
  public float servoTorque = 0;      // Current servo torque
}

2.12. Welding Breakoff Status

/**
* @brief Welding breakoff status
*/
public class WELDING_BREAKOFF_STATE
{
  public int breakOffState = 0;  // Welding breakoff status
  public int weldArcState = 0;   // Welding arc breakoff status
}

2.13. UDP Extended Axis Communication Parameters

/**
* @brief UDP extended axis communication parameters
*/
public class UDP_EXT_AXIS_PARAM
{
  public String ip = "192.168.58.88"; // IP address
  public int port = 2021;            // Port number
  public int period = 2;             // Communication period (ms, default is 2, do not modify this parameter)
  public int lossPkgTime = 50;       // Packet loss detection time (ms)
  public int lossPkgNum = 2;         // Number of packet losses
  public int disconnectTime = 100;   // Communication disconnection confirmation duration
  public int reconnectEnable = 0;    // Communication disconnection auto-reconnect enable 0-disable 1-enable
  public int reconnectPeriod = 100;  // Reconnection interval (ms)
  public int reconnectNum = 3;       // Number of reconnection attempts
  public int selfConnect = 0;       // Whether to automatically establish connection after power restart; 0-do not establish connection; 1-establish connection
}

2.14. Robot State Feedback Structure Type

/**
* @brief  Robot status feedback structure type
*/
public class ROBOT_STATE_PKG {
    public int frame_head;                      // Frame header
    public int frame_cnt;                       // Frame count
    public int data_len;                        // Data length
    public int program_state;                   // Program status - 1-stopped; 2-running; 3-paused
    public int robot_state;                     // Robot motion status - 1-stopped; 2-running; 3-paused; 4-dragging
    public int main_code;                       // Main fault code
    public int sub_code;                        // Sub fault code
    public int robot_mode;                      // Robot mode - 1-manual mode; 0-automatic mode
    public double[] jt_cur_pos = new double[6]; // Current joint positions of 6 axes, unit deg
    public double[] tl_cur_pos = new double[6]; // Current tool position - [x,y,z,rx,ry,rz]
    public double[] flange_cur_pos = new double[6]; // Current end flange position - [x,y,z,rx,ry,rz]
    public double[] actual_qd = new double[6];  // Current velocities of 6 joints, unit deg/s
    public double[] actual_qdd = new double[6]; // Current accelerations of 6 joints, unit deg/s^2
    public double[] target_TCP_CmpSpeed = new double[2]; // TCP composite command speed - [position mm/s, orientation deg/s]
    public double[] target_TCP_Speed = new double[6]; // TCP command speed - [vx,vy,vz,wx,wy,wz]
    public double[] actual_TCP_CmpSpeed = new double[2]; // TCP composite actual speed - [position mm/s, orientation deg/s]
    public double[] actual_TCP_Speed = new double[6]; // TCP actual speed - [vx,vy,vz,wx,wy,wz]
    public double[] jt_cur_tor = new double[6]; // Current joint torque
    public int tool;                            // Tool ID
    public int user;                            // Workpiece ID
    public int cl_dgt_output_h;                 // Control cabinet digital output high byte
    public int cl_dgt_output_l;                 // Control cabinet digital output low byte
    public int tl_dgt_output_l;                 // Tool digital output low byte
    public int cl_dgt_input_h;                  // Control cabinet digital input high byte
    public int cl_dgt_input_l;                  // Control cabinet digital input low byte
    public int tl_dgt_input_l;                  // Tool digital input low byte
    public int[] cl_analog_input = new int[2];  // Control cabinet analog input
    public int tl_anglog_input;                 // Tool analog input
    public double[] ft_sensor_raw_data = new double[6]; // Force sensor raw data
    public double[] ft_sensor_data = new double[6]; // Force sensor data
    public int ft_sensor_active;                // Force sensor activation status
    public int EmergencyStop;                   // Emergency stop status
    public int motion_done;                     // Motion completed
    public int gripper_motiondone;              // Gripper motion complete signal, 0-not complete, 1-complete (no object detected), 2-motion complete (object detected)
    public int mc_queue_len;                    // Motion queue length
    public int collisionState;                  // Collision status
    public int trajectory_pnum;                 // Trajectory point sequence number
    public int safety_stop0_state;              // Safety stop 0 status
    public int safety_stop1_state;              // Safety stop 1 status
    public int gripper_fault_id;                // Gripper fault ID
    public int gripper_fault;                   // Gripper fault 0-no fault 1-485 timeout 2-command error 3-workpiece dropped Other-gripper fault code
    public int gripper_active;                  // Gripper activation
    public int gripper_position;                // Gripper position
    public int gripper_speed;                   // Gripper speed
    public int gripper_current;                 // Gripper current
    public int gripper_temp;                    // Gripper temperature
    public int gripper_voltage;                 // Gripper voltage
    public AuxState aux_state = new AuxState(); // Internal auxiliary axis status
    public EXT_AXIS_STATUS[] extAxisStatus = new EXT_AXIS_STATUS[4]; // Extension axis status array
    public short[] extDIState = new short[8];   // Extended I/O
    public short[] extDOState = new short[8];   // Extended I/O
    public short[] extAIState = new short[4];   // Extended I/O
    public short[] extAOState = new short[4];   // Extended I/O
    public int rbtEnableState;                  // Robot enable status
    public double[] jointDriverTorque = new double[6]; // Joint driver torque
    public double[] jointDriverTemperature = new double[6]; // Joint driver temperature
    public ROBOT_TIME robotTime = new ROBOT_TIME(); // Robot time object
    public int softwareUpgradeState;            // Software upgrade status
    public int endLuaErrCode;                   // End Lua error code
    public int[] cl_analog_output = new int[2]; // Control cabinet analog output
    public int tl_analog_output;                // Tool analog output
    public float gripperRotNum;                 // Rotating gripper rotation count
    public int gripperRotSpeed;                 // Rotating gripper speed
    public int gripperRotTorque;                // Rotating gripper torque
    public WELDING_BREAKOFF_STATE weldingBreakOffState = new WELDING_BREAKOFF_STATE(); // Welding interruption status
    public double[] jt_tgt_tor = new double[6]; // Target joint torque
    public int smartToolState;                  // Smart tool status
    public float wideVoltageCtrlBoxTemp;        // Wide voltage control box temperature
    public int wideVoltageCtrlBoxFanCurrent;    // Wide voltage control box fan current
    public double[] toolCoord = new double[6];  // Tool coordinate system
    public double[] wobjCoord = new double[6];  // Workpiece coordinate system
    public double[] extoolCoord = new double[6]; // External tool coordinate system
    public double[] exAxisCoord = new double[6]; // Extension axis coordinate system
    public double load;                         // Payload
    public double[] loadCog = new double[3];    // Load center of gravity
    public double[] lastServoTarget = new double[6]; // Last servo J target position
    public int servoJCmdNum;                    // Servo J command count
    public double[] targetJointPos = new double[6]; // Target joint position
    public double[] targetJointVel = new double[6]; // Target joint velocity
    public double[] targetJointAcc = new double[6]; // Target joint acceleration
    public double[] targetJointCurrent = new double[6]; // Target joint current
    public double[] actualJointCurrent = new double[6]; // Actual joint current
    public double[] actualTCPForce = new double[6]; // Actual TCP force
    public double[] targetTCPPos = new double[6]; // Target TCP position
    public int[] collisionLevel = new int[6];   // Collision level
    public double speedScaleManual;              // Manual speed scale
    public double speedScaleAuto;                // Automatic speed scale
    public int luaLineNum;                       // Lua line number
    public int abnomalStop;                      // Abnormal stop
    public String currentLuaFileName;            // Current Lua file name
    public int programTotalLine;                 // Total program lines
    public int[] safetyBoxSingal = new int[6];   // Safety box signal
    public double weldVoltage;                   // Welding voltage
    public double weldCurrent;                   // Welding current
    public double weldTrackVel;                  // Welding tracking speed
    public int tpdException;                     // TPD exception
    public int alarmRebootRobot;                 // Alarm reboot robot
    public int modbusMasterConnect;              // Modbus master connection
    public int modbusSlaveConnect;               // Modbus slave connection
    public int btnBoxStopSignal;                 // Button box stop signal
    public int dragAlarm;                        // Drag alarm
    public int safetyDoorAlarm;                  // Safety door alarm
    public int safetyPlaneAlarm;                 // Safety plane alarm
    public int motonAlarm;                       // Motion alarm
    public int interfaceAlarm;                   // Interference alarm
    public int udpCmdState;                      // UDP command status
    public int weldReadyState;                   // Welding ready status
    public int alarmCheckEmergStopBtn;           // Alarm check emergency stop button
    public int tsTmCmdComError;                  // Command communication error
    public int tsTmStateComError;                // Status communication error
    public int ctrlBoxError;                     // Control box error
    public int safetyDataState;                  // Safety data status
    public int forceSensorErrState;              // Force sensor error status
    public int[] ctrlOpenLuaErrCode = new int[4]; // Control open Lua error code
    public int strangePosFlag;                   // Singular position flag
    public int alarm;                            // Alarm
    public int driverAlarm;                      // Driver alarm
    public int aliveSlaveNumError;               // Alive slave count error
    public int[] slaveComError = new int[8];     // Slave communication error
    public int cmdPointError;                    // Command point error
    public int IOError;                          // IO error
    public int gripperError;                     // Gripper error
    public int fileError;                        // File error
    public int paraError;                        // Parameter error
    public int exaxisOutLimitError;              // Extension axis soft limit exceeded error
    public int[] driverComError = new int[6];    // Driver communication error
    public int driverError;                      // Driver error
    public int outSoftLimitError;                // Soft limit exceeded error
    public byte[] axleGenComData = new byte[130]; // General axis communication data
    public int check_sum;                        // Checksum
    public int socketConnTimeout;                // Socket connection timeout
    public int socketReadTimeout;                // Socket read timeout
    public int tsWebStateComErr;                 // TS Web state communication error
    public int exaxisCoordID;                  //Extended axis coordinate system ID
}

2.15. Robot Status Feedback Configuration Result Class

/**
* Robot status feedback configuration result class, containing status list and period
*/
public static class StateConfigResult {
  public final List<RobotState> stateList;
  public final int period;
}

2.16. Robot Status Feedback Configuration Enumeration Type

/**
* Robot status enumeration type
* Used for real-time status feedback configuration
*/
enum class RobotState
{
    ProgramState,           // Program running status, 1-stopped; 2-running; 3-paused
    RobotState,             // Robot motion status, 1-stopped; 2-running; 3-paused; 4-dragging
    MainCode,               // Main fault code
    SubCode,                // Sub fault code
    RobotMode,              // Robot mode, 1-manual mode; 0-automatic mode
    JointCurPos,            // Current joint positions of 6 axes, unit deg
    ToolCurPos,             // Current tool position: [0]position along x-axis(mm), [1]along y-axis(mm), [2]along z-axis(mm), [3]rotation around fixed X(deg), [4]around fixed Y(deg), [5]around fixed Z(deg)
    FlangeCurPos,           // Current end flange position: [0]along x-axis(mm), [1]along y-axis(mm), [2]along z-axis(mm), [3]rotation around fixed X(deg), [4]around fixed Y(deg), [5]around fixed Z(deg)
    ActualJointVel,         // Current 6 joint velocities, unit deg/s
    ActualJointAcc,         // Current 6 joint accelerations, unit deg/s²
    TargetTCPCmpSpeed,      // TCP composite command speed: [0]position(mm/s), [1]orientation(deg/s)
    TargetTCPSpeed,         // 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(deg/s), [4]around Y(deg/s), [5]around Z(deg/s)
    ActualTCPCmpSpeed,      // TCP composite actual speed: [0]position(mm/s), [1]orientation(deg/s)
    ActualTCPSpeed,         // 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(deg/s), [4]around Y(deg/s), [5]around Z(deg/s)
    ActualJointTorque,      // Current 6 joint torques, unit N·m
    Tool,                   // Applied tool coordinate system number
    User,                   // Applied workpiece coordinate system number
    ClDgtOutputH,           // Control box digital IO output 15-8
    ClDgtOutputL,           // Control box digital IO output 7-0
    TlDgtOutputL,           // Tool digital IO output 7-0, only bit0-bit1 valid
    ClDgtInputH,            // Control box digital IO input 15-8
    ClDgtInputL,            // Control box digital IO input 7-0
    TlDgtInputL,            // Tool digital IO input 7-0, only bit0-bit1 valid
    ClAnalogInput,          // Control box analog input: [0]channel 0, [1]channel 1
    TlAnalogInput,          // Tool analog input
    FtSensorRawData,        // 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)
    FtSensorData,           // 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)
    FtSensorActive,         // Force torque sensor activation status, 0-reset, 1-active
    EmergencyStop,          // Emergency stop flag, 0-emergency stop not pressed, 1-emergency stop pressed
    MotionDone,             // Motion done signal, 1-done, 0-not done
    GripperMotiondone,      // Gripper motion complete signal, 0-not complete, 1-complete (no object detected), 2-motion complete (object detected)
    McQueueLen,             // Motion command queue length
    CollisionState,         // Collision detection, 1-collision, 0-no collision
    TrajectoryPnum,         // Trajectory point number
    SafetyStop0State,       // Safety stop signal SI0
    SafetyStop1State,       // Safety stop signal SI1
    GripperFaultId,         // Fault gripper number
    GripperFault,           // Gripper fault 0-no fault 1-485 timeout 2-command error 3-workpiece dropped Other-gripper fault code
    GripperActive,          // Gripper activation status
    GripperPosition,        // Gripper position
    GripperSpeed,           // Gripper speed
    GripperCurrent,         // Gripper current
    GripperTemp,            // Gripper temperature
    GripperVoltage,         // Gripper voltage
    AuxState,               // 485 extended axis status
    ExtAxisStatus,          // UDP extended axis status (4 axes)
    ExtDIState,             // Extended DI input (8)
    ExtDOState,             // Extended DO output (8)
    ExtAIState,             // Extended AI input (4)
    ExtAOState,             // Extended AO output (4)
    RbtEnableState,         // Robot enable status
    JointDriverTorque,      // Robot joint driver torque (6 joints)
    JointDriverTemperature, // Robot joint driver temperature (6 joints)
    RobotTime,              // Robot system time
    SoftwareUpgradeState,   // Robot software upgrade status
    EndLuaErrCode,          // End LUA running status
    ClAnalogOutput,         // Control box analog output (2)
    TlAnalogOutput,         // Tool analog output
    GripperRotNum,          // Rotating gripper current rotation turns
    GripperRotSpeed,        // Rotating gripper current rotation speed percentage
    GripperRotTorque,       // Rotating gripper current rotation torque percentage
    WeldingBreakOffState,   // Welding interruption status
    TargetJointTorque,      // Joint command torque (6 joints)
    SmartToolState,         // SmartTool handle button status
    WideVoltageCtrlBoxTemp, // Wide voltage control box temperature
    WideVoltageCtrlBoxFanCurrent, // Wide voltage control box fan current (mA)
    ToolCoord,              // Current tool coordinate values: x,y,z,rx,ry,rz
    WobjCoord,              // Current workpiece coordinate values: x,y,z,rx,ry,rz
    ExtoolCoord,            // Current external tool coordinate values: x,y,z,rx,ry,rz
    ExAxisCoord,            // Current extended axis coordinate values: x,y,z,rx,ry,rz
    Load,                   // Load mass
    LoadCog,                // Load center of gravity: x,y,z
    LastServoTarget,        // Last ServoJ target position in queue (6 joints)
    ServoJCmdNum,           // servoJ command count
    TargetJointPos,         // 6 joint command positions, unit °
    TargetJointVel,         // 6 joint command velocities, unit °/s
    TargetJointAcc,         // 6 joint command accelerations, unit °/s²
    TargetJointCurrent,     // 6 joint command currents, unit A
    ActualJointCurrent,     // 6 joint current currents, unit A
    ActualTCPForce,         // Robot end torque: x,y,z,rx,ry,rz, unit Nm
    TargetTCPPos,           // Robot TCP command position: x,y,z,rx,ry,rz, unit mm
    CollisionLevel,         // Robot collision level (6)
    SpeedScaleManual,       // Manual mode global speed percentage
    SpeedScaleAuto,         // Automatic mode global speed percentage
    LuaLineNum,             // Current lua program running line number
    AbnomalStop,            // 0-no abnormality; 1-abnormality present
    CurrentLuaFileName,     // Current running lua program name
    ProgramTotalLine,       // lua program total lines
    SafetyBoxSingal,        // Robot button box button status (6)
    WeldVoltage,            // Welding voltage V
    WeldCurrent,            // Welding current
    WeldTrackVel,           // Seam tracking speed mm/s
    TpdException,           // TPD trajectory loading limit exceeded, 0-not exceeded, 1-exceeded
    AlarmRebootRobot,       // Warning: 1-power cycle required after releasing emergency stop, 2-joint communication abnormality requires power cycle
    ModbusMasterConnect,    // bit0-7 correspond to ModbusTCP master 0-7 connection status, 0-not connected, 1-connected
    ModbusSlaveConnect,     // ModbusTCP slave connection status, 0-not connected, 1-connected
    BtnBoxStopSignal,       // Button box emergency stop signal, 0-emergency stop released, 1-emergency stop pressed
    DragAlarm,              // Drag warning: 0-no alarm, 1-alarm, 2-position feedback abnormality no switch
    SafetyDoorAlarm,        // Safety door warning: 0-closed, 1-open
    SafetyPlaneAlarm,       // Safety wall warning: 0-not entered, 1-entered
    MotonAlarm,             // Motion warning
    InterfaceAlarm,         // Interference zone entry warning
    UdpCmdState,            // Port 20007 UDP communication connection status
    WeldReadyState,         // Welding machine ready status
    AlarmCheckEmergStopBtn, // 0-normal; 1-communication abnormality, check emergency stop button
    TsTmCmdComError,        // 0-normal; 1-torque command communication failure
    TsTmStateComError,      // 0-normal; 1-torque status communication failure
    CtrlBoxError,           // Control box error
    SafetyDataState,        // Safety data status, 0-normal, 1-abnormal
    ForceSensorErrState,    // Force sensor connection timeout, bit0-bit1 correspond to ID1-ID2
    CtrlOpenLuaErrCode,     // 4 controller peripheral protocol error codes (500 error code)
    StrangePosFlag,         // Singular pose flag: 0-normal, 1-singular pose
    Alarm,                  // Alarm
    DriverAlarm,            // Driver alarm axis number
    AliveSlaveNumError,     // Active slave count error: 0-normal, 1-count error
    SlaveComError,          // Slave error: 0-normal, 1-offline, 2-state inconsistency, 3-not configured, 4-configuration error, 5-initialization error, 6-mailbox communication initialization error
    CmdPointError,          // Command point error
    IOError,                // IO error
    GripperError,           // Gripper error
    FileError,              // File error
    ParaError,              // Parameter error
    ExaxisOutLimitError,    // External axis soft limit exceeded error
    DriverComError,         // Driver communication fault (6 axes)
    DriverError,            // Driver communication fault axis number
    OutSoftLimitError,      // Soft limit exceeded fault
    AxleGenComData,         // Robot end transparent transmission feedback data
    SocketConnTimeout,      // socket connection timeout, bit0-bit4 correspond to socketID 1-4
    SocketReadTimeout,      // socket read timeout, bit0-bit4 correspond to socketID 1-4
    TsWebStateComErr,       // web-torque communication failure: 0-normal, 1-failure
    ExaxisCoordID           // Extended axis coordinate system ID
};