Robot data from the body shop

Each robot has 6 axes with one motor each. For each robot axis / motor, two files are recorded:

KASTIR313755R01_NextGenDrive#1.DAT

Where:

  • KASTIR313755R01: Robot Name (example)
  • #1: Robot Axis Number (example)

This .DAT file is a text file that just specifies the file structure of the robot raw data included in the .R64 file described next.

KASTIR313755R01_NextGenDrive#1.R64

This .R64 file is a Real64 file that contains the robot raw data according to the file structure defined by the .DAT file already described. A 15-attributes sample consisting of an hexadecimal register for each of following 15 attributes is included in the file every 4 ms:

  • Programmed Axis Velocity [°/s]: The variable contains the programmed axis velocity in °/s.
  • Real Axis Velocity [°/s]: The variable contains the real axis velocity in °/s.
  • Difference Axis Velocity [°/s]: The variable contains the velocity difference between programmed and real axis velocity in °/s.
  • Programmed Axis Acceleration [°/ss]: The variable contains the programmed axis acceleration in °/ss.
  • Real Axis Acceleration [°/ss]: The variable contains the real axis acceleration in °/ss.
  • Difference Axis Acceleration [°/ss]: The variable contains the acceleration difference between programmed and real axis acceleration in °/ss.
  • Calculated Axis Moment [Nm]: The variable contains the calculated axis moment in Newton Meter.
  • Real Axis Moment [Nm]: The variable contains the real axis moment in Newton Meter.
  • Difference Axis Moment [Nm]: The variable contains the moment difference between calculated and real axis moment in Newton Meter.
  • Motor Temperature [K]: The variable contains the motor temperature in Kelvin.
  • Motor Controller Temperature [K]: The variable contains the motor controller temperature in Kelvin.
  • Axis Current [A]: The variable contains the motor current in Ampere.
  • Programmed Axis Position [°]: The variable contains the programmed axis position in °.
  • Real Axis Position [°]: The variable contains the real axis position in °.
  • Difference Axis Position [°]: The variable contains the position difference between programmed and real axis position in °.

In order to be able to read and properly interpret this .R64 file, special software such as Atom or Sublime has to be used, since the row data are stored in an inverted hexadecimal format.

Conversion example of a register for one attribute within a 15-attributes sample: Inverted hexadecimal: 00 00 00 60 61 db 66 c1 à Hexadecimal: c1 66 db 61 60 00 00 00 à Decimal: -1.1983627E7.

The sample dataset will consist of 36 files (data from 3 robots, i.e. 18 robot axes / motors and therefore 36 files). For each robot axis / motor, a complete robot cycle of 90 seconds (with one 15-attributes sample every 4 ms i.e. 22500 15-attributes samples) will be provided.

Data and Resources

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Additional Info

Field Value
Last Updated March 27, 2018, 15:03 (UTC)
Created March 21, 2018, 14:09 (UTC)