2.3. Data Files

Note

All data files and folders are optional! The files and/or folders will automatically be created when needed.

Warning

On Docker-based systems, data files can be persisted only if the data directory is mounted into the container, for example as a bind mount or a Docker volume. Otherwise, changes to data files are lost when the container is removed.

As mentioned in Writing JSON Files, data files can only be written in a non-real-time state.

Therefore, even with non-real-time systems, the STANDBY state should be entered before shutting down so that all settings can be saved.

Table 44 Data Folder

Name	File/Folder	Description	Section
robotData.json	File	Main data file with basic parameters	Robot Data
tools/	Folder	User defined or edited tools	Tool Data
userLimitSets/	Folder	User defined limit sets	User Limit Sets
workspace/	Folder	Workspace limitations	Workspace Data
compliantBehaviour/	Folder	Impedance control parameter	Compliant Behaviour Data

2.3.1. Robot Data

The robotData.json file contains robot settings, as defined in the following table.

An example for the data file is given in Example for robotData.json.

Table 45 Main Data File

Parameter	Type	Description	Required/Optional
directionOfGravity	Vector of doubles	Direction of gravity defined in Robot CS Vector of 3 elements {x,y,z} Length must be 1.0	optional, default value: {0.0, 0.0, -1.0}
collisionReactionStrategy	string	This parameter can currently only be used by Yu Industrial robot. Valid parameters are NONE or TORQUECONTROL.	optional, default value: NONE
timeOverride	double	Time override in \([\mathrm{\%}]\)	optional, default value: 25%
timeStampLastSuccessfulBrakeTorqueTestUS	long long int	This parameter can currently only be used by Yu Industrial robot. Timestamp of last brake torque test in \([\mathrm{µs}]\).	optional, default value: 0
tool	string	Selected tool	optional, default value: NoTool
robotStops	struct	Robot stop configuration	optional, default value: Rapid Stop

Robot Stops

Note

For a detailed description of the different stop sources, stop methods, and their configuration, see Overview of the Configurable Robot Stops.

Table 46 robotStops

Parameter	Type	Description	Required/Optional
ss1	struct	SS1 (Safe Stop 1 ref. IEC 60204-1) stop definition	required
errorStop	struct	Error stop definition	required
userStop	struct	User stop definition	required

Table 47 Parameters for robotStops

Parameter	Type	Description	Required/Optional
stopMethod	string	Valid parameter: AXESSTOPRAPID AXESSTOPTIMEBASED PATHSTOPTIMEBASED	required
timeBasedStopDuration	double	Stop duration for time based stops in \([\mathrm{s}]\)	required

Example for Robot Data File

Listing 7 Example for robotData.json

{
  "collisionReactionStrategy": "NONE",
  "directionOfGravity": [0.0, 0.0, -1.0],
  "robotStops": {
      "errorStop": {
          "stopMethod": "PATHSTOPTIMEBASED",
          "timeBasedStopDuration": 2.0
      },
      "ss1": {
          "stopMethod": "AXESSTOPTIMEBASED",
          "timeBasedStopDuration": 0.5
      },
      "userStop": {
          "stopMethod": "PATHSTOPTIMEBASED",
          "timeBasedStopDuration": 0.5
      }
  },
  "timeOverride": 100.0,
  "timeStampLastSuccessfulBrakeTorqueTestUS": 0,
  "tool": "NoTool"
}

2.3.2. Tool Data

As mentioned before, tool files are stored in both the config and data directories. Please refer to the section Tool Configs.

2.3.3. User Limit Sets

The userLimitSets data can include multiple user-defined JSON files, allowing for customized limit settings to be applied.

Further information about limits in voraus Robot Control can be found at Overview of the Configurable Limitations and User defined limits.

2.3.4. Workspace Data

The file workspace/cartesianConstraints.json is optional. If the file is missing, the feature is deactivated.

The cartesian Constraints is a cubuidal workspace defined in the Robot CS. The robot is not allowed to leave this workspace. It will be monitored against the Collision Model of the Robot and Collision Model of the Tool and TCP.

An example for the config file is given in Example for cartesianConstraints.json.

Table 48 Cartesian Constraints

Parameter	Type	Description	Required/Optional
xMin	double	Minimal x-value in the Robot CS in \([\mathrm{m}]\)	required
xMax	double	Maximal x-value in the Robot CS in \([\mathrm{m}]\)	required
yMin	double	Minimal y-value in the Robot CS in \([\mathrm{m}]\)	required
yMax	double	Maximal y-value in the Robot CS in \([\mathrm{m}]\)	required
zMin	double	Minimal z-value in the Robot CS in \([\mathrm{m}]\)	required
zMax	double	Maximal z-value in the Robot CS in \([\mathrm{m}]\)	required
slowDownDistance	double	Slow down distance range \([\mathrm{m}]\) to the cartesian constraints, in which the robot can be slowed down during jogging	optional, default value: 0.15
slowDownFactor	double	Time override factor to slow the robot down during jogging, within the tolerance range to the constraints (0.1…1.0)	optional, default value: 0.5

Example for Cartesian Constraints File

Listing 8 Example for cartesianConstraints.json

{
  "slowDownDistance": 0.25,
  "slowDownFactor": 0.5,
  "xMax": 2.0,
  "xMin": -2.0,
  "yMax": 2.0,
  "yMin": -2.0,
  "zMax": 2.0,
  "zMin": -2.0
}

2.3.5. Compliant Behaviour Data

compliantBehaviour/ exists in the config and data directory. In section Compliant Behaviour Configs the config files are defined. From the defined compliantBehaviour configs only compliantBehaviourNearAxisLimits can be changed by compliantBehaviour data files.

Please refer tp the section Compliant Behaviour Near Axis Limits.