| [ | |
| { | |
| "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." | |
| } | |
| ] | |
| } | |
| } | |
| ] | |