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 |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
ABB |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
Denso |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
Epson |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
Fanuc |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
KEBA KemroX |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
KUKA IIWA |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
KUKA KRC4 |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
Mecademic |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
Nachi |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
Stäubli |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
Universal Robots |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
Yaskawa |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
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 |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
|
ABB |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
|
Denso |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
|
Epson |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
|
Fanuc |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
|
KEBA KemroX |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
Implemented with KemroX Variable Client |
KUKA IIWA |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
|
KUKA KRC4 |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
|
Mecademic |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
Controller has no digital ios |
Nachi |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
|
Stäubli |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
|
Universal Robots |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
|
Yaskawa |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
|
Differences in availability of Error Code Interface
Robot / Manufacturer |
Clear Error |
Get Error Code Information |
Robot Simulator |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
ABB |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
Denso |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
Epson |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
Fanuc |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
KEBA KemroX |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
KUKA IIWA |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
KUKA KRC4 |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
Mecademic |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
Nachi |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
Stäubli |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |
Universal Robots |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
Yaskawa |
![:white_check_mark: ✅](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/2705.svg) |
![:x: ❌](https://cdn.jsdelivr.net/gh/jdecked/twemoji@15.0.3/assets/svg/274c.svg) |