[ { "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." } ] } } ]