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General Interfaces Differences between Robots

Differences in availability of Robot Status Interfaces

Robot / Manufacturer Current Robot Joint States Current Robot Flange Pose (P+Q) Current Robot Flange Pose (P+EA) Current Robot Status
Robot Simulator ✅ ✅ ✅ ✅
ABB ✅ ✅ ✅ ✅
Denso ✅ ❌ ✅ ✅
Epson ✅ ✅ ✅ ✅
Fanuc ✅ ✅ ✅ ✅
KEBA KemroX ✅ ✅ ✅ ✅
KUKA IIWA ✅ ❌ ✅ ✅
KUKA KRC4 ✅ ✅ ✅ ✅
Mecademic ✅ ❌ ✅ ✅
Nachi ✅ ✅ ✅ ✅
Stäubli ✅ ✅ ✅ ✅
Universal Robots ✅ ✅ ✅ ✅
Yaskawa ✅ ✅ ✅ ✅

Differences in availability of IO Interfaces

The table below lists which io interface is currently available on which robot driver.

Robot / Manufacturer IO Interface v1 IO Interface v2 Notes
Robot Simulator ✅ ✅
ABB ✅ ✅
Denso ✅ ❌
Epson ✅ ✅
Fanuc ✅ ✅
KEBA KemroX ❌ ❌ Implemented with KemroX Variable Client
KUKA IIWA ✅ ❌
KUKA KRC4 ✅ ✅
Mecademic ❌ ❌ Controller has no digital ios
Nachi ❌ ✅
Stäubli ✅ ✅
Universal Robots ✅ ✅
Yaskawa ✅ ✅

Differences in availability of Error Code Interface

Robot / Manufacturer Clear Error Get Error Code Information
Robot Simulator ✅ ✅
ABB ✅ ✅
Denso ✅ ❌
Epson ❌ ❌
Fanuc ❌ ❌
KEBA KemroX ✅ ❌
KUKA IIWA ❌ ❌
KUKA KRC4 ❌ ❌
Mecademic ✅ ❌
Nachi ✅ ✅
Stäubli ❌ ❌
Universal Robots ✅ ✅
Yaskawa ✅ ❌