2.2 Motion, Program, Register, and Trajectory Types

This page collects the business data structures directly exposed by the C++17 APIs. Field definitions and enum values follow the SDK package headers. The "Typical APIs" notes indicate where these types usually appear.

MotionPose / PostureInfo

Header file: include/motion_types.h

MotionPose is the shared pose structure used by motion-related APIs. It can represent either a joint pose or a Cartesian pose; poseType decides which data group is interpreted.

Typical APIs:

• Motion::GetCurrentPose()
• Motion::ConvertJointToCart() / Motion::ConvertCartToJoint()
• Motion::MoveJoint() / Motion::MoveLine() / Motion::MoveCircle()
• Program::PoseRead() / Program::PoseWrite()
• Registers::ReadPR() / Registers::WritePR()

Motion-Related Enums

These enums specify pose representation, motion mode, and teach-coordinate-system type.

Enum	Value	Description
PoseType::JOINT	0	MotionPose uses the joint field as a joint pose
PoseType::CART	1	MotionPose uses the cartesian field as a Cartesian pose
MoveType::MOVE_JOINT	1	Joint motion
MoveType::MOVE_LINE	2	Linear motion
MoveType::MOVE_CIRCLE	3	Circular motion
TCSType::JOINT	0	Teach coordinate system: joint
TCSType::BASE	1	Teach coordinate system: base frame
TCSType::WORLD	2	Teach coordinate system: world frame
TCSType::USER	3	Teach coordinate system: user frame
TCSType::TOOL	4	Teach coordinate system: tool frame
TCSType::RTCP_USER	5	Teach coordinate system: RTCP user frame
TCSType::RTCP_TOOL	6	Teach coordinate system: RTCP tool frame

PostureInfo

PostureInfo stores the posture metadata associated with a Cartesian pose. Joint poses usually do not require callers to fill it manually. Cartesian motion and Cartesian-to-joint conversion may need it to disambiguate multiple inverse-kinematics solutions.

Field	Type	Default	Description
turnCycle	std::array<int32_t, 9>	all 0	Turn-cycle count for 9 axes
wristFlip	int32_t	-1	Wrist-flip state
armUpDown	int32_t	-1	Arm up/down state
armBackFront	int32_t	-1	Arm back/front state
armLeftRight	int32_t	-1	Arm left/right state

MotionPose

The public cartesian field order is always X, Y, Z, A, B, C . Callers can fill values in that order; protocol adaptation is handled by the SDK.

Field	Type	Default	Description
poseType	PoseType	PoseType::JOINT	Determines whether the pose is interpreted as joint or Cartesian
joint	std::vector<Float64>	empty	Joint value list; motion APIs check at least the first 6 joint values
cartesian	std::vector<Float64>	empty	Cartesian pose in X, Y, Z, A, B, C order
posture	PostureInfo	default posture	Posture metadata for Cartesian poses
hasPosture	bool	false	Whether posture is valid

DHParam / SoftLimit / DragStatus / PayloadInfo

Header file: include/motion_types.h

These structures are used by MotionControl parameter, drag, and payload APIs.

DHParam

DHParam represents one set of DH parameters. Typical APIs are Motion::GetDHParam() / Motion::SetDHParam() .

Field	Type	Default	Description
id	int32_t	-1	DH parameter index
d	Float64	0.0	DH parameter d
a	Float64	0.0	DH parameter a
alpha	Float64	0.0	DH parameter alpha
offset	Float64	0.0	DH parameter offset

SoftLimit

SoftLimit represents a soft-limit interval. The typical API is Motion::GetUserSoftLimit() .

Field	Type	Default	Description
negative	Float64	0.0	Negative limit
positive	Float64	0.0	Positive limit

DragStatus

DragStatus represents drag-related switch states. Typical APIs are Motion::GetDragStatus() / Motion::SetDragStatus() .

Field	Type	Default	Description
cartStatus	std::array<int32_t, 6>	all 0	6D Cartesian drag status
jointStatus	std::array<int32_t, 9>	all 0	9-axis joint drag status
isContinuousDrag	bool	false	Whether continuous drag is enabled

PayloadInfo / PayloadSummary

PayloadInfo represents a complete payload configuration. PayloadSummary represents a compact item in payload lists. Typical APIs live under Motion::payload , such as GetById() , Add() , Update() , GetAll() , and Identify() .

Type	Field	Type	Default	Description
PayloadInfo	id	int32_t	0	Payload ID
PayloadInfo	comment	std::string	empty	Payload comment
PayloadInfo	weight	Float64	0.0	Payload weight
PayloadInfo	massCenter	std::array<Float64, 3>	all 0.0	Center of mass
PayloadInfo	inertiaMoment	std::array<Float64, 3>	all 0.0	Inertia parameters
PayloadSummary	id	int32_t	0	Payload ID
PayloadSummary	comment	std::string	empty	Payload comment

PayloadIdentifyState

PayloadIdentifyState is the state of the payload check/identification workflow. The typical API is Motion::payload.GetIdentifyState() .

Enum	Value	Description
PayloadIdentifyState::WRONG_DATA	-1	State data is invalid or failed to parse
PayloadIdentifyState::PAYLOAD_CHECK_INIT	0	Payload check initialized
PayloadIdentifyState::PAYLOAD_CHECK_RUNNING	1	Payload check running
PayloadIdentifyState::PAYLOAD_CHECK_SUCCESS	2	Payload check succeeded
PayloadIdentifyState::PAYLOAD_CHECK_FAILED	3	Payload check failed
PayloadIdentifyState::PAYLOAD_IDENTIFY_INIT	4	Payload identification initialized
PayloadIdentifyState::PAYLOAD_IDENTIFY_RUNNING	5	Payload identification running
PayloadIdentifyState::PAYLOAD_IDENTIFY_SUCCESS	6	Payload identification succeeded
PayloadIdentifyState::PAYLOAD_IDENTIFY_FAILED	7	Payload identification failed

ProgramPose / RunningProgramInfo

Header file: include/program_types.h

ProgramPose is the data structure for program points. RunningProgramInfo is one item in the current running-program list.

ProgramType

ProgramType distinguishes whether a program-point API operates on a user program or a block program.

Enum Value	Value	Description
ProgramType::USER	0	User program
ProgramType::BLOCK	1	Block program

RunningProgramInfo

RunningProgramInfo represents one currently running program instance.

Typical API: Program::AllRunningPrograms() .

Field	Type	Default	Description
threadId	int32_t	0	Thread ID of the running program
programName	std::string	empty	Program name
xpath	std::string	empty	Program path
programStatus	int32_t	0	Program status code returned by the controller
programType	std::string	empty	Program type string returned by the controller

ProgramPose

ProgramPose represents one point record in a program file.

Typical APIs: Program::PoseRead() , PoseWrite() , PoseAdd() , PoseReadAll() , PoseWriteBatch() , and PoseConvert() .

Field	Type	Default	Description
id	int32_t	-1	Point index
name	std::string	empty	Point name
comment	std::string	empty	Point comment
pose	MotionPose	default pose	Motion pose associated with this point
uf	int32_t	0	User frame ID
tf	int32_t	0	Tool frame ID

PoseRegister / PoseRegisterData

Header file: include/register_types.h

PoseRegister is the PR pose-register structure. Typical APIs are Registers::ReadPR() / Registers::WritePR() .

PoseRegisterData

PoseRegisterData represents the pose data stored in a PR pose register.

Field	Type	Default	Description
cart	std::array<Float64, 6>	all 0	Cartesian pose
joint	std::array<Float64, 9>	all 0	9-axis joint values
pt	PoseType	PoseType::JOINT	Whether the PR is interpreted as joint or Cartesian
posture	PostureInfo	default posture	PR posture metadata

PoseRegister

PoseRegister represents one complete PR pose-register item.

Field	Type	Default	Description
id	int32_t	0	PR register ID
poseRegisterData	PoseRegisterData	default data	PR pose data
name	std::string	empty	PR name
comment	std::string	empty	PR comment

Register / MotionRegister / StringRegister

Header file: include/register_types.h

These three structures define common register data shapes. The current C++17 RegisterBank module mostly returns direct values: ReadR() returns Float64 , ReadMR() / ReadMH() / ReadMI() return int32_t , ReadSR() returns std::string , and ReadPR() returns PoseRegister .

Type	Field	Type	Default	Description
Register	id	int32_t	-1	R register ID
Register	value	Float64	0.0	R register value
Register	name	std::string	empty	R register name
Register	comment	std::string	empty	R register comment
MotionRegister	id	int32_t	-1	MR register ID
MotionRegister	value	int32_t	0	MR register value
MotionRegister	name	std::string	empty	MR register name
MotionRegister	comment	std::string	empty	MR register comment
StringRegister	id	int32_t	-1	SR register ID
StringRegister	value	std::string	empty	SR register value
StringRegister	name	std::string	empty	SR register name
StringRegister	comment	std::string	empty	SR register comment

FileType / FileInfo

Header file: include/file_manager_types.h

FileType provides file-type string constants used by FileManager::Upload() , Download() , Delete() , and related APIs. FileInfo is the return item of FileManager::Search() .

FileType

FileType is the file-category constant set used by file-management APIs.

Constant	Value	Description
FileType::TRAJECTORY	"Trajectory"	Trajectory file
FileType::USER_PROGRAM	"UserProgram"	User program file
FileType::BLOCK_PROGRAM	"BlockProgram"	Block program file
FileType::TRAJECTORY_CSV	"TrajectoryCsv"	CSV trajectory file
FileType::ROBOT_TMP	"RobotTmp"	Controller temporary file
FileType::FLY_SHOT	"FlyShot"	Fly-shot related file

FileInfo

FileInfo represents one file item in search results.

Field	Type	Default	Description
name	std::string	empty	File name
created_at	std::string	empty	Creation time string

TransformStatusEnum / CartesianPosition / TrajectorySegment

Header file: include/trajectory_types.h

These types are used by offline trajectory, path trajectory, and real-time trajectory APIs.

TransformStatusEnum

TransformStatusEnum represents the current state of an offline-trajectory transform task.

Typical API: Trajectory::CheckTransformStatus() .

Enum Value	Value	Description
TransformStatusEnum::IDLE	0	Idle
TransformStatusEnum::RUNNING	1	Transform running
TransformStatusEnum::SUCCESS	2	Transform succeeded
TransformStatusEnum::FAILED	3	Transform failed
TransformStatusEnum::NOT_FOUND	4	Task not found
TransformStatusEnum::UNKNOWN	5	Unknown state

CartesianPosition

CartesianPosition represents one Cartesian position. The public field order is X, Y, Z, A, B, C ; callers can fill values in that order and let the SDK handle protocol adaptation.

Field	Type	Default	Description
x	Float64	0.0	X coordinate
y	Float64	0.0	Y coordinate
z	Float64	0.0	Z coordinate
a	Float64	0.0	RX rotation
b	Float64	0.0	RY rotation
c	Float64	0.0	RZ rotation

TrajectorySegment

TrajectorySegment is the trajectory-segment wrapper used for real-time trajectory sending. It provides APIs for trajectory points, sequence number, timestamp, and serialization.

SetPointList() / GetPointList()
SetTotalPoints() / GetTotalPoints()
SetSeq() / GetSeq()
SetLastFragment() / GetLastFragment()
SetTimestamp() / GetTimestampSec() / GetTimestampNsec()
Serialize() / Deserialize()

Method	Description
SetPointList	Set or read the trajectory point list
SetTotalPoints	Set or read the total point count
SetSeq	Set or read the segment sequence number
SetLastFragment	Set or read whether this is the final segment
SetTimestamp	Set or read the timestamp
Serialize	Protobuf serialization and deserialization

ROBOT_TOPIC_TYPE

ROBOT_TOPIC_TYPE is an alias of std::string . The RobotTopicType namespace provides subscription-topic constants. The typical API is SubPub::SubscribeStatus() .

Constant	Value	Description
RobotTopicType::JOINT_POSITION	"/publish/motion_control/axis_group/feedback/joints"	Joint-position feedback
RobotTopicType::CARTESIAN_POSITION	"/publish/motion_control/axis_group/feedback/tcp_current_cartesian"	Current TCP Cartesian feedback
RobotTopicType::TCP_WORLD_CARTESIAN	"/publish/motion_control/axis_group/feedback/tcp_world_cartesian"	TCP Cartesian feedback in the world frame
RobotTopicType::TCP_BASE_CARTESIAN	"/publish/motion_control/axis_group/feedback/tcp_base_cartesian"	TCP Cartesian feedback in the base frame
RobotTopicType::USER_FRAME	"/publish/motion_control/axis_group/current_coordinate"	Current user frame ID
RobotTopicType::TOOL_FRAME	"/publish/motion_control/axis_group/current_tool"	Current tool frame ID
RobotTopicType::VELOCITY_RATIO	"/publish/motion_control/global_vel_ratio"	Global velocity ratio
RobotTopicType::GLOBAL_ACC_RATIO	"/publish/motion_control/global_acc_ratio"	Global acceleration ratio
RobotTopicType::CALIBRATE_STATUS	"/publish/motion_control/calibrate_status"	Axis-group calibration status
RobotTopicType::TRAJECTORY_RECORD	"/publish/motion_control/rc_traj_records_status"	Trajectory-record status
RobotTopicType::RUNNING_STATUS	"/publish/controller/RunningStatus"	Controller running status
RobotTopicType::INTERPRETER_STATUS	"/publish/controller/InterpreterStatus"	Interpreter status
RobotTopicType::ROBOT_STATUS	"/publish/controller/RobotStatus"	Overall robot status
RobotTopicType::CTRL_STATUS	"/publish/controller/CtrlStatus"	Controller status
RobotTopicType::SERVO_STATUS	"/publish/controller/ServoStatus"	Servo status
RobotTopicType::USER_OP_MODE	"/publish/controller/UserOpMode"	User operation mode
RobotTopicType::SOFT_OP_MODE	"/publish/controller/SoftOpMode"	Soft operation mode
RobotTopicType::OPERATION_STATUS	"/publish/controller/OperationStatus"	Operation status
RobotTopicType::PERFORMANCE_GEAR	"/publish/controller/PerformanceGear"	Performance gear
RobotTopicType::POWER_STATUS	"/publish/controller/PowerStatus"	Power status
RobotTopicType::POWER_ON_STATUS	"/publish/controller/power_on_status"	Power-on status
RobotTopicType::SAFETY_ALARM	"/publish/controller/SafetyAlarm"	Safety alarm
RobotTopicType::SAFETY_PLANE_STATUS	"/publish/controller/safetyPlaneStatus"	Safety-plane status
RobotTopicType::TOOL_POSTURE_LIMIT_STATUS	"/publish/controller/tool_posture_limit_status"	Tool-posture-limit status
RobotTopicType::JOINTS_RECORD	"/publish/controller/joints_record"	Joint record
RobotTopicType::TP_PROGRAM_STATUS	"/publish/interpreter/tp_program_status"	TP program running status

REG_TOPIC_TYPE

REG_TOPIC_TYPE is an alias of std::string . The RegTopicType namespace provides register subscription types. The typical API is SubPub::SubscribeRegister() .

Constant	Value	Description
RegTopicType::R	"R"	Numeric register
RegTopicType::MR	"MR"	Motion register
RegTopicType::SR	"SR"	String register
RegTopicType::PR	"PR"	Pose register

IO_TOPIC_TYPE

IO_TOPIC_TYPE is an alias of std::string . The IOTopicType namespace provides IO subscription types. The typical API is SubPub::SubscribeIo() , where each subscription item is {IO type, port number} .

Constant	Value	Description
IOTopicType::DI	"DI"	Digital input
IOTopicType::DO	"DO"	Digital output
IOTopicType::GI	"GI"	Group input
IOTopicType::GO	"GO"	Group output
IOTopicType::RI	"RI"	Remote-control input
IOTopicType::RO	"RO"	Remote-control output
IOTopicType::UI	"UI"	Dedicated input
IOTopicType::UO	"UO"	Dedicated output
IOTopicType::TDI	"TDI"	Wrist digital input
IOTopicType::TDO	"TDO"	Wrist digital output
IOTopicType::TAI	"TAI"	Wrist analog input
IOTopicType::AI	"AI"	Analog input
IOTopicType::AO	"AO"	Analog output