8. Robot Status Check

8.1. Get current joint position (angle).

/**
* @brief Get current joint position (angle).
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] jPos Six joint positions in deg.
* @return Error code.
*/
int GetActualJointPosDegree(byte flag, ref JointPos jPos);

8.2. Get current joint position in degrees of arc.

/**
* @brief Get current joint position in radians.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] jPos six joint positions in rad
* @return Error code
*/
int GetActualJointPosRadian(byte flag, ref JointPos jPos);

8.3. Get the joint feedback velocity

/**
* @brief Get joint feedback speed -deg/s
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] speed Six joint speeds.
* @return Error code.
*/
int GetActualJointSpeedsDegree(byte flag, ref double[] speed);

8.4. Get joint feedback acceleration

/**
* @brief Get the joint feedback acceleration -deg/s^2
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] acc Six joint accelerations.
* @return Error code.
*/
int GetActualJointAccDegree(byte flag, ref double[] acc);

8.5. Get TCP command velocity - joint velocity

/**
* @brief Get TCP command speed-combining speed.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] tcp_speed linear_speed
* @param [out] ori_speed Attitude Speed
* @return error code
*/
int GetTargetTCPCompositeSpeed(byte flag, ref double tcp_speed, ref double ori_speed);

8.6. Get TCP feedback speed-composite speed

/**
* @brief Get TCP feedback speed-combination speed.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] tcp_speed linear_speed
* @param [out] ori_speed Attitude Speed
* @return error code
*/
int GetActualTCPCompositeSpeed(byte flag, ref double tcp_speed, ref double ori_speed);

8.7. Get TCP command speed-composite speed

/**
* @brief Get TCP command speed-split.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] speed [x,y,z,rx,ry,rz] speed
* @return error code
*/
int GetTargetTCPSpeed(byte flag, ref double[] speed);

8.8. Get TCP feedback speed-split speed

/**
* @brief Get TCP feedback speed-cents.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] speed [x,y,z,rx,ry,rz] speed
* @return error code
*/
int GetActualTCPSpeed(byte flag, ref double[] speed);

8.9. Get current tool position

/**
* @brief Get current tool position
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] desc_pos Tool position.
* @return Error code.
*/
int GetActualTCPPose(byte flag, ref DescPose desc_pos);

8.10. Get the current tool coordinate system number

/**
* @brief Get the current tool coordinate system number.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] id tool coordinate system number
* @return Error code.
*/
int GetActualTCPNum(byte flag, ref int id).

8.11. Get the current tool coordinate system number

/**
* @brief Get the current workpiece coordinate system number.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] id The workpiece coordinate system number.
* @return Error code.
*/
int GetActualWObjNum(byte flag, ref int id);

8.12. Get the current end flange position

/**
* @brief Get the current end flange position.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] desc_pos Flange position.
* @return Error code.
*/
int GetActualToolFlangePose(byte flag, ref DescPose desc_pos);

8.13. Get the current joint torque

/**
* @brief Get current joint torque.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] torques Joint torques.
* @return Error code.
*/
int GetJointTorques(byte flag, float[] torques).

8.14. Get system time

/**
* @brief Get the system time.
* @param [out] t_ms unit ms
* @return Error code.
*/
int GetSystemClock(ref double t_ms).

8.15. Queries if the robot movement is complete

/**
* @brief Query if robot motion is complete.
* @param [out] state 0-not completed, 1-completed
* @return Error code.
*/
int GetRobotMotionDone(ref byte state).

8.16. Queries the length of the robot motion queue cache

/**
* @brief Query the robot motion queue cache length.
* @param [out] len Cache length.
* @return Error code.
*/
int GetMotionQueueLength(ref int len).

8.17. Get the robot emergency stop state

/**
* @brief Get the state of the robot's emergency stop.
* @param [out] state Emergency stop state, 0-non-emergency stop, 1-emergency stop.
* @return Error code.
*/
int GetRobotEmergencyStopState(ref byte state).

8.18. Get the state of the communication between the SDK and the robot

/**
* @brief Get the communication state of the SDK and the robot.
* @param [out] state communication state, 0-normal communication, 1-abnormal communication.
*/
int GetSDKComState(ref int state).

8.19. Get safety stop signal

/**
* @brief Get the safe stop signal.
* @param [out] si0_state Safe stop signal SI0, 0-invalid, 1-valid
* @param [out] si1_state safe stop signal SI1, 0-invalid, 1-valid
*/
int GetSafetyStopState(ref byte si0_state, ref byte si1_state);

8.20. Get robot joint actuator temperature (℃)

/**
* @brief Get the robot's articulated actuator temperature (℃).
* @return Error code
*/
int GetJointDriverTemperature(double[] temperature).

8.21. Get robot joint driver torque(Nm).

/**
* @brief Get robot joint actuator torque (Nm).
* @return Error code
*/
int GetJointDriverTorque(double torque[]).

8.22. Get robot real-time status structure

/**
* @brief Get the robot realtime state structure.
* @param [out] pkg Robot real-time status structure.
* @return Error code
*/
int GetRobotRealTimeState(ref ROBOT_STATE_PKG pkg);