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{
"machine_id": 0,
"machine_model": "UR3e",
"manufacturer": "Universal Robots",
"series": "E-series",
"machine_type": "Collaborative robot (cobot)",
"weight_kg": 11,
"payload_kg": 3,
"degrees_of_freedom": 6,
"joint_rotation": {
"wrist_joints": "360_degree_rotation",
"end_joint": "infinite_rotation"
},
"typical_applications": [
"light assembly tasks",
"automated workbench scenarios"
],
"control_interfaces": [
"UR PolyScope (teach pendant)",
"UrScript",
"TCP/IP socket connection",
"RTDE (Real-Time Data Exchange)"
],
"joint_speed_limits": [
3.14,
3.14,
3.14,
6.28,
6.28,
6.28
],
"rated_current_per_joint": [
2.0,
2.0,
2.0,
1.2,
1.2,
1.2
],
"minimum_polyscope_version_for_screwdriver": "5.4",
"used_in_paper_for": "Automated screwdriving anomaly detection dataset collection (AURSAD)",
"safety_modes": {
"variable": "safety_mode",
"description": "Safety state of the Universal Robots controller as reported via RTDE.",
"enum": [
{
"name": "NORMAL",
"value": 1,
"description": "Robot is operating normally within configured safety limits."
},
{
"name": "REDUCED",
"value": 2,
"description": "Robot is operating in reduced mode with limited speed and/or force due to safety configuration or zone activation."
},
{
"name": "PROTECTIVE_STOP",
"value": 3,
"description": "Protective stop triggered due to collision detection, excessive force, or safety threshold violation. Requires operator reset."
},
{
"name": "RECOVERY",
"value": 4,
"description": "Robot is in recovery mode following a safety event and requires manual intervention."
},
{
"name": "SAFEGUARD_STOP",
"value": 5,
"description": "External safeguard device (e.g., light curtain, safety door, interlock) has triggered a stop."
},
{
"name": "SYSTEM_EMERGENCY_STOP",
"value": 6,
"description": "Emergency stop activated from the robot control box."
},
{
"name": "ROBOT_EMERGENCY_STOP",
"value": 7,
"description": "Emergency stop activated from the teach pendant or robot-mounted E-stop button."
},
{
"name": "VIOLATION",
"value": 8,
"description": "Configured safety limits (speed, position, joint limits, etc.) have been violated."
},
{
"name": "FAULT",
"value": 9,
"description": "Internal safety system fault detected. System requires troubleshooting before operation can resume."
},
{
"name": "AUTOMATIC_MODE_SAFEGUARD_STOP",
"value": 12,
"description": "Safeguard stop triggered while the robot is operating in automatic mode."
},
{
"name": "SYSTEM_THREE_POSITION_ENABLING_STOP",
"value": 13,
"description": "Stop triggered due to incorrect activation of the system three-position enabling device."
},
{
"name": "TP_THREE_POSITION_ENABLING_STOP",
"value": 14,
"description": "Stop triggered due to incorrect activation of the teach pendant three-position enabling device."
},
{
"name": "IMMI_EMERGENCY_STOP",
"value": 15,
"description": "Emergency stop triggered through an IMMI (external machinery interface) safety connection."
},
{
"name": "IMMI_SAFEGUARD_STOP",
"value": 16,
"description": "Safeguard stop triggered through an IMMI (external machinery interface) safety connection."
},
{
"name": "PROFISAFE_WAITING_FOR_PARAMETERS",
"value": 17,
"description": "Robot is waiting for safety parameters via PROFIsafe communication before operation can proceed."
},
{
"name": "PROFISAFE_AUTOMATIC_MODE_SAFEGUARD_STOP",
"value": 18,
"description": "Safeguard stop triggered via PROFIsafe while in automatic mode."
},
{
"name": "PROFISAFE_SAFEGUARD_STOP",
"value": 19,
"description": "Safeguard stop triggered through PROFIsafe safety communication."
},
{
"name": "PROFISAFE_EMERGENCY_STOP",
"value": 20,
"description": "Emergency stop triggered through PROFIsafe safety communication."
},
{
"name": "SAFETY_API_SAFEGUARD_STOP",
"value": 22,
"description": "Safeguard stop triggered via the Safety API interface."
}
]
},
"joint_modes": {
"variable": "joint_mode",
"description": "Per-joint servo control state of each UR robot joint as reported via RTDE. One value is provided for each joint (0–5 on UR3e).",
"enum": [
{
"name": "RESET",
"value": 235,
"description": "Joint is in reset state following a fault or shutdown event."
},
{
"name": "SHUTTING_DOWN",
"value": 236,
"description": "Joint controller is in the process of shutting down."
},
{
"name": "BACKDRIVE",
"value": 238,
"description": "Backdrive mode active; joint can be manually moved with reduced resistance."
},
{
"name": "POWER_OFF",
"value": 239,
"description": "Joint motor power is disabled."
},
{
"name": "READY_FOR_POWER_OFF",
"value": 240,
"description": "Joint is prepared for power-off but not yet fully powered down."
},
{
"name": "NOT_RESPONDING",
"value": 245,
"description": "Joint controller is not responding; communication failure or internal issue."
},
{
"name": "MOTOR_INITIALISATION",
"value": 246,
"description": "Joint motor is undergoing initialization sequence."
},
{
"name": "BOOTING",
"value": 247,
"description": "Joint controller is booting."
},
{
"name": "BOOTLOADER",
"value": 249,
"description": "Joint is in bootloader mode (firmware loading state)."
},
{
"name": "VIOLATION",
"value": 251,
"description": "Joint safety or operational limits have been violated."
},
{
"name": "FAULT",
"value": 252,
"description": "Joint has encountered a fault condition and requires intervention."
},
{
"name": "RUNNING",
"value": 253,
"description": "Joint is operating normally under active control."
},
{
"name": "IDLE",
"value": 255,
"description": "Joint is powered and ready but not actively moving."
}
]
},
"robot_modes": {
"variable": "robot_mode",
"description": "Overall operational state of the Universal Robots controller as reported via RTDE. This reflects the high-level lifecycle state of the robot arm and safety control system.",
"enum": [
{
"name": "DISCONNECTED",
"value": 0,
"description": "Connection with the safety control board is not established."
},
{
"name": "CONFIRM_SAFETY",
"value": 1,
"description": "Robot is validating and updating safety settings before enabling operation."
},
{
"name": "BOOTING",
"value": 2,
"description": "Safety control board is booting and communication with other components is being verified."
},
{
"name": "POWER_OFF",
"value": 3,
"description": "Robot is powered but joints are not energized. Ready to boot up the joints."
},
{
"name": "POWER_ON",
"value": 4,
"description": "Robot joints are in the process of booting up and being energized."
},
{
"name": "IDLE",
"value": 5,
"description": "Robot joints are powered and ready, but not executing motion. Can transition to RUNNING or BACKDRIVE."
},
{
"name": "BACKDRIVE",
"value": 6,
"description": "Robot is in backdrive mode. Brakes are selectively released to allow restricted manual movement."
},
{
"name": "RUNNING",
"value": 7,
"description": "Brakes are fully released and robot is ready to execute or currently executing a program. Safety mode is active and displayed in PolyScope."
},
{
"name": "UPDATING",
"value": 8,
"description": "Controller firmware is being updated."
},
{
"name": "POWERING_OFF",
"value": 9,
"description": "Robot arm is in the process of powering down."
},
{
"name": "ARM_BOOTING",
"value": 10,
"description": "Robot arm hardware is booting up."
},
{
"name": "ARM_UPDATING",
"value": 11,
"description": "Robot arm firmware is being updated."
}
]
},
"runtime_states": {
"variable": "runtime_state",
"enum": [
{
"name": "STOPPING",
"value": 0
},
{
"name": "STOPPED",
"value": 1
},
{
"name": "PLAYING",
"value": 2
},
{
"name": "PAUSING",
"value": 3
},
{
"name": "PAUSED",
"value": 4
},
{
"name": "RESUMING",
"value": 5
}
]
}
},
{
"machine_id": 1,
"machine_type": "CNC milling machine",
"manufacturer": null,
"model": null,
"origin": "University of Michigan Smart Lab experiments",
"machine_category": "Computer Numerical Control (CNC) milling machine",
"axes": [
{
"name": "X-axis",
"sensor_data": "position, velocity, acceleration"
},
{
"name": "Y-axis",
"sensor_data": "position, velocity, acceleration"
},
{
"name": "Z-axis",
"sensor_data": "position, velocity, acceleration"
}
],
"spindle": {
"sensor_data": "motor readings"
},
"workpiece_material": "wax",
"experiment_count": 18,
"purpose": "Tool wear detection data collection for machine learning",
"data_source": "Kaggle dataset (tool-wear-detection-in-cnc-mill)",
"notes": "Exact CNC machine make/model not specified in dataset documentation",
"safety_modes": {},
"joint_modes": {},
"robot_modes": {},
"runtime_states": {}
},
{
"machine_id": 2,
"machine_model": "UR5",
"manufacturer": "Universal Robots",
"series": "CB-series",
"machine_type": "Collaborative robot (cobot)",
"weight_kg": 18.4,
"payload_kg": 5,
"degrees_of_freedom": 6,
"joint_rotation": {
"wrist_joints": "360_degree_rotation",
"end_joint": "infinite_rotation"
},
"typical_applications": [
"machine tending",
"assembly operations",
"pick-and-place tasks",
"quality inspection"
],
"control_interfaces": [
"UR PolyScope (teach pendant)",
"UrScript",
"TCP/IP socket connection",
"RTDE (Real-Time Data Exchange)"
],
"joint_speed_limits": [
3.14,
3.14,
3.14,
3.14,
3.14,
3.14
],
"rated_current_per_joint": [
2.5,
2.5,
2.5,
1.5,
1.5,
1.5
],
"minimum_polyscope_version_for_screwdriver": "3.x",
"used_in_paper_for": "Multivariate time-series anomaly detection dataset collection (voraus-AD)",
"safety_modes": {
"variable": "safety_mode",
"description": "Safety state of the Universal Robots controller as reported via RTDE.",
"enum": [
{
"name": "NORMAL",
"value": 1,
"description": "Robot is operating normally within configured safety limits."
},
{
"name": "REDUCED",
"value": 2,
"description": "Robot is operating in reduced mode with limited speed and/or force due to safety configuration or zone activation."
},
{
"name": "PROTECTIVE_STOP",
"value": 3,
"description": "Protective stop triggered due to collision detection, excessive force, or safety threshold violation. Requires operator reset."
},
{
"name": "RECOVERY",
"value": 4,
"description": "Robot is in recovery mode following a safety event and requires manual intervention."
},
{
"name": "SAFEGUARD_STOP",
"value": 5,
"description": "External safeguard device (e.g., light curtain, safety door, interlock) has triggered a stop."
},
{
"name": "SYSTEM_EMERGENCY_STOP",
"value": 6,
"description": "Emergency stop activated from the robot control box."
},
{
"name": "ROBOT_EMERGENCY_STOP",
"value": 7,
"description": "Emergency stop activated from the teach pendant or robot-mounted E-stop button."
},
{
"name": "VIOLATION",
"value": 8,
"description": "Configured safety limits (speed, position, joint limits, etc.) have been violated."
},
{
"name": "FAULT",
"value": 9,
"description": "Internal safety system fault detected. System requires troubleshooting before operation can resume."
},
{
"name": "AUTOMATIC_MODE_SAFEGUARD_STOP",
"value": 12,
"description": "Safeguard stop triggered while the robot is operating in automatic mode."
},
{
"name": "SYSTEM_THREE_POSITION_ENABLING_STOP",
"value": 13,
"description": "Stop triggered due to incorrect activation of the system three-position enabling device."
},
{
"name": "TP_THREE_POSITION_ENABLING_STOP",
"value": 14,
"description": "Stop triggered due to incorrect activation of the teach pendant three-position enabling device."
},
{
"name": "IMMI_EMERGENCY_STOP",
"value": 15,
"description": "Emergency stop triggered through an IMMI (external machinery interface) safety connection."
},
{
"name": "IMMI_SAFEGUARD_STOP",
"value": 16,
"description": "Safeguard stop triggered through an IMMI (external machinery interface) safety connection."
},
{
"name": "PROFISAFE_WAITING_FOR_PARAMETERS",
"value": 17,
"description": "Robot is waiting for safety parameters via PROFIsafe communication before operation can proceed."
},
{
"name": "PROFISAFE_AUTOMATIC_MODE_SAFEGUARD_STOP",
"value": 18,
"description": "Safeguard stop triggered via PROFIsafe while in automatic mode."
},
{
"name": "PROFISAFE_SAFEGUARD_STOP",
"value": 19,
"description": "Safeguard stop triggered through PROFIsafe safety communication."
},
{
"name": "PROFISAFE_EMERGENCY_STOP",
"value": 20,
"description": "Emergency stop triggered through PROFIsafe safety communication."
},
{
"name": "SAFETY_API_SAFEGUARD_STOP",
"value": 22,
"description": "Safeguard stop triggered via the Safety API interface."
}
]
},
"joint_modes": {
"variable": "joint_mode",
"description": "Per-joint servo control state of each UR robot joint as reported via RTDE. One value is provided for each joint (0–5 on UR3e).",
"enum": [
{
"name": "RESET",
"value": 235,
"description": "Joint is in reset state following a fault or shutdown event."
},
{
"name": "SHUTTING_DOWN",
"value": 236,
"description": "Joint controller is in the process of shutting down."
},
{
"name": "BACKDRIVE",
"value": 238,
"description": "Backdrive mode active; joint can be manually moved with reduced resistance."
},
{
"name": "POWER_OFF",
"value": 239,
"description": "Joint motor power is disabled."
},
{
"name": "READY_FOR_POWER_OFF",
"value": 240,
"description": "Joint is prepared for power-off but not yet fully powered down."
},
{
"name": "NOT_RESPONDING",
"value": 245,
"description": "Joint controller is not responding; communication failure or internal issue."
},
{
"name": "MOTOR_INITIALISATION",
"value": 246,
"description": "Joint motor is undergoing initialization sequence."
},
{
"name": "BOOTING",
"value": 247,
"description": "Joint controller is booting."
},
{
"name": "BOOTLOADER",
"value": 249,
"description": "Joint is in bootloader mode (firmware loading state)."
},
{
"name": "VIOLATION",
"value": 251,
"description": "Joint safety or operational limits have been violated."
},
{
"name": "FAULT",
"value": 252,
"description": "Joint has encountered a fault condition and requires intervention."
},
{
"name": "RUNNING",
"value": 253,
"description": "Joint is operating normally under active control."
},
{
"name": "IDLE",
"value": 255,
"description": "Joint is powered and ready but not actively moving."
}
]
},
"robot_modes": {
"variable": "robot_mode",
"description": "Overall operational state of the Universal Robots controller as reported via RTDE. This reflects the high-level lifecycle state of the robot arm and safety control system.",
"enum": [
{
"name": "DISCONNECTED",
"value": 0,
"description": "Connection with the safety control board is not established."
},
{
"name": "CONFIRM_SAFETY",
"value": 1,
"description": "Robot is validating and updating safety settings before enabling operation."
},
{
"name": "BOOTING",
"value": 2,
"description": "Safety control board is booting and communication with other components is being verified."
},
{
"name": "POWER_OFF",
"value": 3,
"description": "Robot is powered but joints are not energized. Ready to boot up the joints."
},
{
"name": "POWER_ON",
"value": 4,
"description": "Robot joints are in the process of booting up and being energized."
},
{
"name": "IDLE",
"value": 5,
"description": "Robot joints are powered and ready, but not executing motion. Can transition to RUNNING or BACKDRIVE."
},
{
"name": "BACKDRIVE",
"value": 6,
"description": "Robot is in backdrive mode. Brakes are selectively released to allow restricted manual movement."
},
{
"name": "RUNNING",
"value": 7,
"description": "Brakes are fully released and robot is ready to execute or currently executing a program. Safety mode is active and displayed in PolyScope."
},
{
"name": "UPDATING",
"value": 8,
"description": "Controller firmware is being updated."
},
{
"name": "POWERING_OFF",
"value": 9,
"description": "Robot arm is in the process of powering down."
},
{
"name": "ARM_BOOTING",
"value": 10,
"description": "Robot arm hardware is booting up."
},
{
"name": "ARM_UPDATING",
"value": 11,
"description": "Robot arm firmware is being updated."
}
]
}
}
]
|