Datenstrukturbeschreibung
=========================

.. toctree::
    :maxdepth: 5

Controller-Statusrückmeldungs-Datenpaket
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. versionadded:: Python SDK-v2.1.7

.. csv-table::
    :header-rows: 1
    :name: Datenpaket der Controller-Statusrückmeldung
    :widths: 20 30

    "Variable", "Bedeutung"
    "program_state", "Programmausführungsstatus: 1 - gestoppt; 2 - läuft; 3 - pausiert"
    "robot_state", "Roboterbewegungsstatus: 1 - gestoppt; 2 - läuft; 3 - pausiert; 4 - Führung (Drag)"
    "main_code", "Hauptfehlercode"
    "sub_code", "Unterfehlercode"
    "robot_mode", "Robotermodus: 0 - Automatikmodus; 1 - Handmodus"
    "jt_cur_pos[i]", "Aktuelle Gelenkposition, Einheit [°], i:0~5"
    "tl_cur_pos[i]", "Aktuelle Werkzeugpose (TCP), Einheiten [° & mm], i:0~5"
    "flange_cur_pos[i]", "Aktuelle Pose des Endflansches, Einheiten [° & mm], i:0~5"
    "actual_qd[i]", "Aktuelle Gelenkgeschwindigkeit des Roboters, Einheit [°/s], i:0~5"
    "actual_qdd[i]", "Aktuelle Gelenkbeschleunigung des Roboters, Einheit [°/s²], i:0~5"
    "target_TCP_CmpSpeed[i]", "Befohlene TCP-Resultierende-Geschwindigkeit, Einheiten [mm/s & °/s], i:0~1"
    "target_TCP_Speed[i]", "Befohlene TCP-Geschwindigkeit (Komponenten), Einheiten [mm/s & °/s], i:0~5"
    "actual_TCP_CmpSpeed[i]", "Tatsächliche TCP-Resultierende-Geschwindigkeit, Einheiten [mm/s & °/s], i:0~1"
    "actual_TCP_Speed[i]", "Tatsächliche TCP-Geschwindigkeit (Komponenten), Einheiten [mm/s & °/s], i:0~5"
    "jt_cur_tor[i]", "Aktuelles Gelenkmoment, Einheit [Nm], i:0~5"
    "tool", "Nummer des verwendeten Werkzeugkoordinatensystems"
    "user", "Nummer des verwendeten Werkstückkoordinatensystems"
    "cl_dgt_output_h", "Digitalausgänge des Steuerkastens (Bits 15-8)"
    "cl_dgt_output_l", "Digitalausgänge des Steuerkastens (Bits 7-0)"
    "tl_dgt_output_l", "Digitalausgänge des Werkzeugs (Bits 7-0, nur Bit0-Bit1 gültig)"
    "dgt_input_h", "Digitaleingänge des Steuerkastens (Bits 15-8)"
    "cl_dgt_input_l", "Digitaleingänge des Steuerkastens (Bits 7-0)"
    "tl_dgt_input_l", "Digitaleingänge des Werkzeugs (Bits 7-0, nur Bit0-Bit1 gültig)"
    "cl_analog_input[i]", "Analogeingänge des Steuerkastens, i:0~2"
    "tl_anglog_input", "Analogeingang des Werkzeugs"
    "ft_sensor_raw_data", "Rohdaten des Kraft-/Momentensensors, Einheiten [N & Nm], i:0~5"
    "ft_sensor_data", "Verarbeitete Daten des Kraft-/Momentensensors, Einheiten [N & Nm], i:0~5"
    "ft_sensor_active", "Aktivierungsstatus des Kraft-/Momentensensors: 0 - zurückgesetzt, 1 - aktiviert"
    "EmergencyStop", "Not-Halt-Status: 0 - Not-Halt nicht betätigt, 1 - Not-Halt betätigt"
    "motion_done", "Bewegungsabschluss-Signal: 1 - abgeschlossen, 0 - nicht abgeschlossen"
    "gripper_motiondone", "Greiferbewegungsabschluss-Signal: 1 - abgeschlossen, 0 - nicht abgeschlossen"
    "mc_queue_len", "Länge der Bewegungsbefehlswarteschlange"
    "collisionState", "Kollisionserkennung: 1 - Kollision, 0 - keine Kollision"
    "trajectory_pnum", "Trajektorienpunktnummer"
    "safety_stop0_state", "Sicherheitsstopp-Signal SI0"
    "safety_stop1_state", "Sicherheitsstopp-Signal SI1"
    "gripper_fault_id", "Nummer des fehlerhaften Greifers"
    "gripper_fault", "Greiferfehler"
    "gripper_active", "Greifer-Aktivierungsstatus: 0 - nicht aktiviert, 1 - aktiviert"
    "gripper_position", "Greiferposition (Prozent)"
    "gripper_speed", "Greifergeschwindigkeit (Prozent)"
    "gripper_current", "Greiferstrom (Prozent)"
    "gripper_tmp", "Greifertemperatur, Einheit [°C]"
    "gripper_voltage", "Greiferspannung, Einheit [V]"
    "auxState.servoId", "485-Erweiterungsachse: Servoantriebs-ID, i:0~3"
    "auxState.servoErrCode", "485-Erweiterungsachse: Fehlercode des Servoantriebs, i:0~3"
    "auxState.servoState", "485-Erweiterungsachse: Status des Servoantriebs, i:0~3"
    "auxState.servoPos", "485-Erweiterungsachse: Aktuelle Servoposition, i:0~3"
    "auxState.servoVel", "485-Erweiterungsachse: Aktuelle Servogeschwindigkeit, i:0~3"
    "auxState.servoTorque", "485-Erweiterungsachse: Aktuelles Servodrehmoment, i:0~3"
    "extAxisStatus[i].pos", "UDP-Erweiterungsachse: Position, i:0~3"
    "extAxisStatus[i].vel", "UDP-Erweiterungsachse: Geschwindigkeit, i:0~3"
    "extAxisStatus[i].errorCode", "UDP-Erweiterungsachse: Fehlercode, i:0~3"
    "extAxisStatus[i].ready", "UDP-Erweiterungsachse: Servo bereit, i:0~3"
    "extAxisStatus[i].inPos", "UDP-Erweiterungsachse: Servo in Position, i:0~3"
    "extAxisStatus[i].alarm", "UDP-Erweiterungsachse: Servo-Alarm, i:0~3"
    "extAxisStatus[i].flerr", "UDP-Erweiterungsachse: Folgefhler, i:0~3"
    "extAxisStatus[i].nlimit", "UDP-Erweiterungsachse: Negativer Endschalter erreicht, i:0~3"
    "extAxisStatus[i].pLimit", "UDP-Erweiterungsachse: Positiver Endschalter erreicht, i:0~3"
    "extAxisStatus[i].mdbsOffLine", "UDP-Erweiterungsachse: Antriebs-485-Bus offline"
    "extAxisStatus[i].mdbsTimeout", "UDP-Erweiterungsachse: 485-Kommunikation zwischen Steuerkarte und Steuerkasten Zeitüberschreitung"
    "extAxisStatus[i].homingStatus", "UDP-Erweiterungsachse: Referenzfahrt-Status"
    "extDIState", "Erweiterter Digitaleingangsstatus"
    "extDOState", "Erweiterter Digitalausgangsstatus"
    "extAIState", "Erweiterter Analogeingangsstatus"
    "extAOState", "Erweiterter Analogausgangsstatus"
    "rbtEnableState", "Roboter-Aktivierungsstatus (Enable)"
    "jointDriverTorque", "Aktuelles Drehmoment der Gelenkantriebe"
    "jointDriverTemperature", "Aktuelle Temperatur der Gelenkantriebe"
    "year", "Jahr"
    "mouth", "Monat"
    "day", "Tag"
    "hour", "Stunde"
    "minute", "Minute"
    "second", "Sekunde"
    "millisecond", "Millisekunde"
    "softwareUpgradeState", "Status des Roboter-Software-Upgrades"
    "endLuaErrCode", "Ausführungsstatus des Endeffektor-LUA-Skripts"
    "cl_analog_output[i]", "Analogausgänge des Steuerkastens, i:0~1"
    "tl_analog_output", "Analogausgang des Werkzeugs"
    "gripperRotNum", "Aktuelle Rotationsanzahl des Rotationsgreifers"
    "gripperRotSpeed", "Aktuelle Rotationsgeschwindigkeit des Rotationsgreifers (Prozent)"
    "gripperRotTorque", "Aktuelles Rotationsdrehmoment des Rotationsgreifers (Prozent)"
    "weldingBreakOffState", "Schweißunterbrechungsstatus"
    "jt_tgt_tor", "Befehls-Gelenkmoment"
    "smartToolState", "SmartTool-Griff Tastenstatus"
    "wideVoltageCtrlBoxTemp", "Temperatur des Weitspannungs-Steuerkastens"
    "wideVoltageCtrlBoxFanCurrent", "Lüfterstrom des Weitspannungs-Steuerkastens (mA)"
    "toolCoord[i]", "Werkzeugkoordinatensystem, i:0~5"
    "wobjCoord[i]", "Werkstückkoordinatensystem, i:0~5"
    "extoolCoord[i]", "Externes Werkzeugkoordinatensystem, i:0~5"
    "exAxisCoord[i]", "Erweiterungsachsen-Koordinatensystem, i:0~5"
    "load", "Lastmasse"
    "loadCog[i]", "Lastschwerpunkt, i:0~2"
    "lastServoTarget[i]", "Letzte ServoJ-Zielposition in der Warteschlange, i:0~5"
    "servoJCmdNum", "ServoJ-Befehlszähler"

Servocontroller-Status
~~~~~~~~~~~~~~~~~~~~~~
.. versionadded:: Python SDK-v2.1.3

.. csv-table::
    :header-rows: 1
    :name: Servocontroller-Status
    :widths: 20 30

    "Variable", "Bedeutung"
    "servoId", "Servoantriebs-ID-Nummer"
    "servoErrCode", "Fehlercode des Servoantriebs"
    "servoState", "Status des Servoantriebs"
    "servoPos", "Aktuelle Servoposition"
    "servoVel", "Aktuelle Servogeschwindigkeit"
    "servoTorque", "Aktuelles Servodrehmoment"

Erweiterungsachsen-Status
~~~~~~~~~~~~~~~~~~~~~~~~~
.. versionadded:: Python SDK-v2.1.3

.. csv-table::
    :header-rows: 1
    :name: Erweiterungsachsen-Status
    :widths: 20 30

    "Variable", "Bedeutung"
    "pos", "Position der Erweiterungsachse"
    "vel", "Geschwindigkeit der Erweiterungsachse"
    "errorCode", "Fehlercode der Erweiterungsachse"
    "ready", "Servo bereit"
    "inPos", "Servo in Position"
    "alarm", "Servo-Alarm"
    "flerr", "Folgefehler"
    "nlimit", "Negativer Endschalter erreicht"
    "pLimit", "Positiver Endschalter erreicht"
    "mdbsOffLine", "Antriebs-485-Bus offline"
    "mdbsTimeout", "485-Kommunikation zwischen Steuerkarte und Steuerkasten Zeitüberschreitung"
    "homingStatus", "Status der Referenzfahrt der Erweiterungsachse"

Schweißunterbrechungsstatus
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. versionadded:: Python SDK-v2.1.3

.. csv-table::
    :header-rows: 1
    :name: Schweißunterbrechungsstatus
    :widths: 20 30

    "Variable", "Bedeutung"
    "breakOffState", "Schweißunterbrechungsstatus"
    "weldArcState", "Lichtbogenunterbrechungsstatus beim Schweißen"

Codebeispiel
~~~~~~~~~~~~
.. code-block:: python
    :linenos:

    from fairino import Robot
    # Verbindung zur Robotersteuerung herstellen, bei Erfolg wird ein Roboterobjekt zurückgegeben
    robot = Robot.RPC('192.168.58.2')
    print("program_state:", robot.robot_state_pkg.program_state)
    print("robot_state:", robot.robot_state_pkg.robot_state)
    print("main_code:", robot.robot_state_pkg.main_code)
    print("sub_code:", robot.robot_state_pkg.sub_code)
    print("robot_mode:", robot.robot_state_pkg.robot_mode)
    print("jt_cur_pos0:", robot.robot_state_pkg.jt_cur_pos[0])
    print("jt_cur_pos1:", robot.robot_state_pkg.jt_cur_pos[1])
    print("jt_cur_pos2:", robot.robot_state_pkg.jt_cur_pos[2])
    print("jt_cur_pos3:", robot.robot_state_pkg.jt_cur_pos[3])
    print("jt_cur_pos4:", robot.robot_state_pkg.jt_cur_pos[4])
    print("jt_cur_pos5:", robot.robot_state_pkg.jt_cur_pos[5])
    print("tl_cur_pos0:", robot.robot_state_pkg.tl_cur_pos[0])
    print("tl_cur_pos1:", robot.robot_state_pkg.tl_cur_pos[1])
    print("tl_cur_pos2:", robot.robot_state_pkg.tl_cur_pos[2])
    print("tl_cur_pos3:", robot.robot_state_pkg.tl_cur_pos[3])
    print("tl_cur_pos4:", robot.robot_state_pkg.tl_cur_pos[4])
    print("tl_cur_pos5:", robot.robot_state_pkg.tl_cur_pos[5])
    print("flange_cur_pos0:", robot.robot_state_pkg.flange_cur_pos[0])
    print("flange_cur_pos1:", robot.robot_state_pkg.flange_cur_pos[1])
    print("flange_cur_pos2:", robot.robot_state_pkg.flange_cur_pos[2])
    print("flange_cur_pos3:", robot.robot_state_pkg.flange_cur_pos[3])
    print("flange_cur_pos4:", robot.robot_state_pkg.flange_cur_pos[4])
    print("flange_cur_pos5:", robot.robot_state_pkg.flange_cur_pos[5])
    print("actual_qd0:", robot.robot_state_pkg.actual_qd[0])
    print("actual_qd1:", robot.robot_state_pkg.actual_qd[1])
    print("actual_qd2:", robot.robot_state_pkg.actual_qd[2])
    print("actual_qd3:", robot.robot_state_pkg.actual_qd[3])
    print("actual_qd4:", robot.robot_state_pkg.actual_qd[4])
    print("actual_qd5:", robot.robot_state_pkg.actual_qd[5])
    print("actual_qdd0:", robot.robot_state_pkg.actual_qdd[0])
    print("actual_qdd1:", robot.robot_state_pkg.actual_qdd[1])
    print("actual_qdd2:", robot.robot_state_pkg.actual_qdd[2])
    print("actual_qdd3:", robot.robot_state_pkg.actual_qdd[3])
    print("actual_qdd4:", robot.robot_state_pkg.actual_qdd[4])
    print("actual_qdd5:", robot.robot_state_pkg.actual_qdd[5])
    print("target_TCP_CmpSpeed0:", robot.robot_state_pkg.target_TCP_CmpSpeed[0])
    print("target_TCP_CmpSpeed1:", robot.robot_state_pkg.target_TCP_CmpSpeed[1])
    print("target_TCP_Speed0:", robot.robot_state_pkg.target_TCP_Speed[0])
    print("target_TCP_Speed1:", robot.robot_state_pkg.target_TCP_Speed[1])
    print("target_TCP_Speed2:", robot.robot_state_pkg.target_TCP_Speed[2])
    print("target_TCP_Speed3:", robot.robot_state_pkg.target_TCP_Speed[3])
    print("target_TCP_Speed4:", robot.robot_state_pkg.target_TCP_Speed[4])
    print("target_TCP_Speed5:", robot.robot_state_pkg.target_TCP_Speed[5])
    print("actual_TCP_CmpSpeed0:", robot.robot_state_pkg.actual_TCP_CmpSpeed[0])
    print("actual_TCP_CmpSpeed1:", robot.robot_state_pkg.actual_TCP_CmpSpeed[1])
    print("actual_TCP_Speed0:", robot.robot_state_pkg.actual_TCP_Speed[0])
    print("actual_TCP_Speed1:", robot.robot_state_pkg.actual_TCP_Speed[1])
    print("actual_TCP_Speed2:", robot.robot_state_pkg.actual_TCP_Speed[2])
    print("actual_TCP_Speed3:", robot.robot_state_pkg.actual_TCP_Speed[3])
    print("actual_TCP_Speed4:", robot.robot_state_pkg.actual_TCP_Speed[4])
    print("actual_TCP_Speed5:", robot.robot_state_pkg.actual_TCP_Speed[5])
    print("jt_cur_tor0:", robot.robot_state_pkg.jt_cur_tor[0])
    print("jt_cur_tor1:", robot.robot_state_pkg.jt_cur_tor[1])
    print("jt_cur_tor2:", robot.robot_state_pkg.jt_cur_tor[2])
    print("jt_cur_tor3:", robot.robot_state_pkg.jt_cur_tor[3])
    print("jt_cur_tor4:", robot.robot_state_pkg.jt_cur_tor[4])
    print("jt_cur_tor5:", robot.robot_state_pkg.jt_cur_tor[5])
    print("tool:", robot.robot_state_pkg.tool)
    print("user:", robot.robot_state_pkg.user)
    print("cl_dgt_output_h:", robot.robot_state_pkg.cl_dgt_output_h)
    print("cl_dgt_output_l:", robot.robot_state_pkg.cl_dgt_output_l)
    print("tl_dgt_output_l:", robot.robot_state_pkg.tl_dgt_output_l)
    print("cl_dgt_input_h:", robot.robot_state_pkg.cl_dgt_input_h)
    print("cl_dgt_input_l:", robot.robot_state_pkg.cl_dgt_input_l)
    print("tl_dgt_input_l:", robot.robot_state_pkg.tl_dgt_input_l)
    print("cl_analog_input0:", robot.robot_state_pkg.cl_analog_input[0])
    print("cl_analog_input1:", robot.robot_state_pkg.cl_analog_input[1])
    print("tl_anglog_input:", robot.robot_state_pkg.tl_anglog_input)
    print("ft_sensor_raw_data0:", robot.robot_state_pkg.ft_sensor_raw_data[0])
    print("ft_sensor_raw_data1:", robot.robot_state_pkg.ft_sensor_raw_data[1])
    print("ft_sensor_raw_data2:", robot.robot_state_pkg.ft_sensor_raw_data[2])
    print("ft_sensor_raw_data3:", robot.robot_state_pkg.ft_sensor_raw_data[3])
    print("ft_sensor_raw_data4:", robot.robot_state_pkg.ft_sensor_raw_data[4])
    print("ft_sensor_raw_data5:", robot.robot_state_pkg.ft_sensor_raw_data[5])
    print("ft_sensor_data0:", robot.robot_state_pkg.ft_sensor_data[0])
    print("ft_sensor_data1:", robot.robot_state_pkg.ft_sensor_data[1])
    print("ft_sensor_data2:", robot.robot_state_pkg.ft_sensor_data[2])
    print("ft_sensor_data3:", robot.robot_state_pkg.ft_sensor_data[3])
    print("ft_sensor_data4:", robot.robot_state_pkg.ft_sensor_data[4])
    print("ft_sensor_data5:", robot.robot_state_pkg.ft_sensor_data[5])
    print("ft_sensor_active:", robot.robot_state_pkg.ft_sensor_active)
    print("EmergencyStop:", robot.robot_state_pkg.EmergencyStop)
    print("motion_done:", robot.robot_state_pkg.motion_done)
    print("gripper_motiondone:", robot.robot_state_pkg.gripper_motiondone)
    print("mc_queue_len:", robot.robot_state_pkg.mc_queue_len)
    print("collisionState:", robot.robot_state_pkg.collisionState)
    print("trajectory_pnum:", robot.robot_state_pkg.trajectory_pnum)
    print("safety_stop0_state:", robot.robot_state_pkg.safety_stop0_state)
    print("safety_stop1_state:", robot.robot_state_pkg.safety_stop1_state)
    print("gripper_fault_id:", robot.robot_state_pkg.gripper_fault_id)
    print("gripper_fault:", robot.robot_state_pkg.gripper_fault)
    print("gripper_active:", robot.robot_state_pkg.gripper_active)
    print("gripper_position:", robot.robot_state_pkg.gripper_position)
    print("gripper_speed:", robot.robot_state_pkg.gripper_speed)
    print("gripper_current:", robot.robot_state_pkg.gripper_current)
    print("gripper_tmp:", robot.robot_state_pkg.gripper_tmp)
    print("gripper_voltage:", robot.robot_state_pkg.gripper_voltage)
    print("auxState.servoId:", robot.robot_state_pkg.auxState.servoId)
    print("auxState.servoErrCode:", robot.robot_state_pkg.auxState.servoErrCode)
    print("auxState.servoState:", robot.robot_state_pkg.auxState.servoState)
    print("auxState.servoPos:", robot.robot_state_pkg.auxState.servoPos)
    print("auxState.servoVel:", robot.robot_state_pkg.auxState.servoVel)
    print("auxState.servoTorque:", robot.robot_state_pkg.auxState.servoTorque)
    for i in range(4):
        print("extAxisStatus.pos:", i, robot.robot_state_pkg.extAxisStatus[i].pos)
        print("extAxisStatus.vel:", i, robot.robot_state_pkg.extAxisStatus[i].vel)
        print("extAxisStatus.errorCode:", i, robot.robot_state_pkg.extAxisStatus[i].errorCode)
        print("extAxisStatus.ready:", i, robot.robot_state_pkg.extAxisStatus[i].ready)
        print("extAxisStatus.inPos:", i, robot.robot_state_pkg.extAxisStatus[i].inPos)
        print("extAxisStatus.alarm:", i, robot.robot_state_pkg.extAxisStatus[i].alarm)
        print("extAxisStatus.flerr:", i, robot.robot_state_pkg.extAxisStatus[i].flerr)
        print("extAxisStatus.nlimit:", i, robot.robot_state_pkg.extAxisStatus[i].nlimit)
        print("extAxisStatus.pLimit:", i, robot.robot_state_pkg.extAxisStatus[i].pLimit)
        print("extAxisStatus.mdbsOffLine:", i, robot.robot_state_pkg.extAxisStatus[i].mdbsOffLine)
        print("extAxisStatus.mdbsTimeout:", i, robot.robot_state_pkg.extAxisStatus[i].mdbsTimeout)
        print("extAxisStatus.homingStatus:", i, robot.robot_state_pkg.extAxisStatus[i].homingStatus)
    for i in range(8):
        print("extDIState:", i, robot.robot_state_pkg.extDIState[i])
        print("extDOState:", i, robot.robot_state_pkg.extDOState[i])
    for i in range(4):
        print("extAIState:", i, robot.robot_state_pkg.extAIState[i])
        print("extAOState:", i, robot.robot_state_pkg.extAOState[i])
    print("rbtEnableState:", robot.robot_state_pkg.rbtEnableState)
    print("jointDriverTorque0:", robot.robot_state_pkg.jointDriverTorque[0])
    print("jointDriverTorque1:", robot.robot_state_pkg.jointDriverTorque[1])
    print("jointDriverTorque2:", robot.robot_state_pkg.jointDriverTorque[2])
    print("jointDriverTorque3:", robot.robot_state_pkg.jointDriverTorque[3])
    print("jointDriverTorque4:", robot.robot_state_pkg.jointDriverTorque[4])
    print("jointDriverTorque5:", robot.robot_state_pkg.jointDriverTorque[5])
    print("jointDriverTemperature:", robot.robot_state_pkg.jointDriverTemperature[0])
    print("jointDriverTemperature:", robot.robot_state_pkg.jointDriverTemperature[1])
    print("jointDriverTemperature:", robot.robot_state_pkg.jointDriverTemperature[2])
    print("jointDriverTemperature:", robot.robot_state_pkg.jointDriverTemperature[3])
    print("jointDriverTemperature:", robot.robot_state_pkg.jointDriverTemperature[4])
    print("jointDriverTemperature:", robot.robot_state_pkg.jointDriverTemperature[5])
    print("year:", robot.robot_state_pkg.year)
    print("mouth:", robot.robot_state_pkg.mouth)
    print("day:", robot.robot_state_pkg.day)
    print("hour:", robot.robot_state_pkg.hour)
    print("minute:", robot.robot_state_pkg.minute)
    print("second:", robot.robot_state_pkg.second)
    print("millisecond:", robot.robot_state_pkg.millisecond)
    print("softwareUpgradeState:", robot.robot_state_pkg.softwareUpgradeState)
    print("endLuaErrCode:", robot.robot_state_pkg.endLuaErrCode)
    print("cl_analog_output[0]:", robot.robot_state_pkg.cl_analog_output[0])
    print("cl_analog_output[1]:", robot.robot_state_pkg.cl_analog_output[1])
    print("tl_analog_output:", robot.robot_state_pkg.tl_analog_output)
    print("gripperRotNum:", robot.robot_state_pkg.gripperRotNum)
    print("gripperRotSpeed:", robot.robot_state_pkg.gripperRotSpeed)
    print("gripperRotTorque:", robot.robot_state_pkg.gripperRotTorque)
    print("jt_tgt_tor:", robot.robot_state_pkg.jt_tgt_tor)
    print("smartToolState:", robot.robot_state_pkg.smartToolState)
    print("wideVoltageCtrlBoxTemp:", robot.robot_state_pkg.wideVoltageCtrlBoxTemp)
    print("wideVoltageCtrlBoxFanCurrent:", robot.robot_state_pkg.wideVoltageCtrlBoxFanCurrent)
    print("toolCoord0:", robot.robot_state_pkg.toolCoord[0])
    print("toolCoord1:", robot.robot_state_pkg.toolCoord[1])
    print("toolCoord2:", robot.robot_state_pkg.toolCoord[2])
    print("toolCoord3:", robot.robot_state_pkg.toolCoord[3])
    print("toolCoord4:", robot.robot_state_pkg.toolCoord[4])
    print("toolCoord5:", robot.robot_state_pkg.toolCoord[5])
    print("wobjCoord0:", robot.robot_state_pkg.wobjCoord[0])
    print("wobjCoord1:", robot.robot_state_pkg.wobjCoord[1])
    print("wobjCoord2:", robot.robot_state_pkg.wobjCoord[2])
    print("wobjCoord3:", robot.robot_state_pkg.wobjCoord[3])
    print("wobjCoord4:", robot.robot_state_pkg.wobjCoord[4])
    print("wobjCoord5:", robot.robot_state_pkg.wobjCoord[5])
    print("extoolCoord0:", robot.robot_state_pkg.extoolCoord[0])
    print("extoolCoord1:", robot.robot_state_pkg.extoolCoord[1])
    print("extoolCoord2:", robot.robot_state_pkg.extoolCoord[2])
    print("extoolCoord3:", robot.robot_state_pkg.extoolCoord[3])
    print("extoolCoord4:", robot.robot_state_pkg.extoolCoord[4])
    print("extoolCoord5:", robot.robot_state_pkg.extoolCoord[5])
    print("exAxisCoord0:", robot.robot_state_pkg.exAxisCoord[0])
    print("exAxisCoord1:", robot.robot_state_pkg.exAxisCoord[1])
    print("exAxisCoord2:", robot.robot_state_pkg.exAxisCoord[2])
    print("exAxisCoord3:", robot.robot_state_pkg.exAxisCoord[3])
    print("exAxisCoord4:", robot.robot_state_pkg.exAxisCoord[4])
    print("exAxisCoord5:", robot.robot_state_pkg.exAxisCoord[5])
    print("load:", robot.robot_state_pkg.load)
    print("loadCog0:", robot.robot_state_pkg.loadCog[0])
    print("loadCog1:", robot.robot_state_pkg.loadCog[1])
    print("loadCog2:", robot.robot_state_pkg.loadCog[2])
    print("lastServoTarget0:", robot.robot_state_pkg.lastServoTarget[0])
    print("lastServoTarget1:", robot.robot_state_pkg.lastServoTarget[1])
    print("lastServoTarget2:", robot.robot_state_pkg.lastServoTarget[2])
    print("lastServoTarget3:", robot.robot_state_pkg.lastServoTarget[3])
    print("lastServoTarget4:", robot.robot_state_pkg.lastServoTarget[4])
    print("lastServoTarget5:", robot.robot_state_pkg.lastServoTarget[5])
    print("servoJCmdNum:", robot.robot_state_pkg.servoJCmdNum)