Primary/Secondary Client Interface

The information contained herein is the property of Universal Robots A/S and shall not be
reproduced in whole or in part without prior written approval of Universal Robots A/S. The
information herein is subject to change without notice and should not be construed as a
commitment by Universal Robots A/S. This document is periodically reviewed and revised.
Universal Robots A/S assumes no responsibility for any errors or omissions in this document.
Copyright © 2009–2021 by Universal Robots A/S.
The Universal Robots logo is a registered trademark of Universal Robots A/S.
 Contents
1. Introduction 1
2. Robot Software 5.9 2
2.1. Messages sent to primary and secondary clients 2
2.1.1. Robot State Message 2
2.1.2. Robot mode data (Sub Package of Robot State Message) 2
2.1.3. Joint data (Sub Package of Robot State Message) 3
2.1.4. Tool data (Sub Package of Robot State Message) 3
2.1.5. Masterboard data (Sub Package of Robot State Message) 4
2.1.6. Cartesian info (Sub Package of Robot State Message) 5
2.1.7. Kinematics info (Sub Package of Robot State Message) 5

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

2.1.8. Configuration data (Sub Package of Robot State Message) 6
2.1.9. Force mode data (Sub Package of Robot State Message) 7
2.1.10. Additional info (Sub Package of Robot State Message) 7
2.1.11. Calibration data (Sub Package of Robot State Message, Internally used only) 8
2.1.12. Safety Data (Sub Package of Robot State Message) 8
2.1.13. Tool Communication Info (Sub Package of Robot State Message) 8
2.1.14. Tool Mode Info (Sub Package of Robot State Message) 9
2.1.15. Singularity Info (Sub Package of Robot State Message) 9
2.1.16. Version Message (sent only once) 9

2.2. Messages sent to primary clients ONLY 10

2.2.1. Robot Message - Safety Mode Message 10
2.2.2. Robot Message - Robot Comm Message 10
2.2.3. Robot Message - Key Message 10
2.2.4. Robot Message - Program Threads Message 11
2.2.5. Robot Message - Popup Message 11
2.2.6. Robot Message - Request Value Message 12
2.2.7. Robot Message - Text Message 12
2.2.8. Robot Message - Runtime Exception Message 12
2.2.9. Global Variables Setup Message 13
2.2.10. Global Variables Update Message 13

3. Robot Software 5.10 14

3.1. Messages sent to primary and secondary clients 14
3.1.1. Robot State Message 14
3.1.2. Robot mode data (Sub Package of Robot State Message) 14
3.1.3. Joint data (Sub Package of Robot State Message) 15

Primary/Secondary Client Interface G3/G5

 3.1.4. Tool data (Sub Package of Robot State Message) 15
3.1.5. Masterboard data (Sub Package of Robot State Message) 16
3.1.6. Cartesian info (Sub Package of Robot State Message) 17
3.1.7. Kinematics info (Sub Package of Robot State Message) 17
3.1.8. Configuration data (Sub Package of Robot State Message) 18
3.1.9. Force mode data (Sub Package of Robot State Message) 19
3.1.10. Additional info (Sub Package of Robot State Message) 19
3.1.11. Calibration data (Sub Package of Robot State Message, Internally used only) 20
3.1.12. Safety Data (Sub Package of Robot State Message) 20
3.1.13. Tool Communication Info (Sub Package of Robot State Message) 20
3.1.14. Tool Mode Info (Sub Package of Robot State Message) 21
3.1.15. Singularity Info (Sub Package of Robot State Message) 21
3.1.16. Version Message (sent only once) 21
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

3.2. Messages sent to primary clients ONLY 22

3.2.1. Robot Message - Safety Mode Message 22
3.2.2. Robot Message - Robot Comm Message 22
3.2.3. Robot Message - Key Message 22
3.2.4. Robot Message - Program Threads Message 23
3.2.5. Robot Message - Popup Message 23
3.2.6. Robot Message - Request Value Message 24
3.2.7. Robot Message - Text Message 24
3.2.8. Robot Message - Runtime Exception Message 24
3.2.9. Global Variables Setup Message 25
3.2.10. Global Variables Update Message 25

4. Control Modes 26
5. Robot Modes 27
6. Joint Modes 28
7. Tool Modes 29
8. Message Sources 30
9. Safety Mode Types 32
10. Safety Status Types 33
11. Report Levels 34
12. Requested Types 35
13. Value Types 36

G3/G5 Primary/Secondary Client Interface

1. Introduction

1. Introduction
The Primary Client Interface (10 Hz)

The information on this section applies to UR software versions shown, below:

Primary client=port 30001 (Robot state and messages)

Secondary client=port 30002 (Only robot state and the Version messages)
Primary client read only=port 30011 (Robot state and messages)
Secondary client read only=port 30012 (Only robot state and the Version messages)

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

Primary/Secondary Client Interface 1 G3/G5

 2. Robot Software 5.9

2. Robot Software 5.9

Message formatting
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

2.1. Messages sent to primary and secondary clients

Messages not documented in this manual are only used internally by UR software and are not
backwards compatible

2.1.1. Robot State Message

int messageSize Length of overall package: total length of
package including this field
unsigned char messageType = MESSAGE_
TYPE_ROBOT_STATE = 16
Sub packages Each sub package that follows contains size,
type, and package specific data

2.1.2. Robot mode data (Sub Package of Robot State Message)

int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_ROBOT_MODE_DATA = 0

G3/G5 2 Primary/Secondary Client Interface

2. Robot Software 5.9

uint64_t timestamp
bool isRealRobotConnected
bool isRealRobotEnabled
bool isRobotPowerOn
bool isEmergencyStopped
bool isProtectiveStopped
bool isProgramRunning
bool isProgramPaused
unsigned char robotMode Robot Modes
unsigned char controlMode Control Modes
double targetSpeedFraction
double speedScaling

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

double targetSpeedFractionLimit
unsigned char reserved

2.1.3. Joint data (Sub Package of Robot State Message)

int packageSize
unsigned char packageType = ROBOT_STATE_PACKAGE_TYPE_JOINT_
DATA = 1
for each joint:
double q_actual
double q_target
double qd_actual
float I_actual
float V_actual
float T_motor
float T_micro Deprecated -
ignore
uint8_t jointMode Joint Modes
end

The "jointMode" field is a code for the joint status (shown on the initialisation screen):

2.1.4. Tool data (Sub Package of Robot State Message)

int packageSize Length of Sub Package: total length of
subpackage including this field

Primary/Secondary Client Interface 3 G3/G5

 2. Robot Software 5.9

unsigned char packageType = ROBOT_STATE_

PACKAGE_TYPE_TOOL_DATA = 2
unsigned char analogInputRange0
unsigned char analogInputRange1
double analogInput0
double analogInput1
float toolVoltage48V
unsigned char toolOutputVoltage
float toolCurrent
float toolTemperature
uint8_t toolMode Tool Modes

The "toolMode" field is a code for the joint status (shown on the initialisation screen):
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

2.1.5. Masterboard data (Sub Package of Robot State Message)

int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_MASTERBOARD_DATA = 3
int digitalInputBits
int digitalOutputBits
unsigned char analogInputRange0
unsigned char analogInputRange1
double analogInput0
double analogInput1
char analogOutputDomain0
char analogOutputDomain1
double analogOutput0
double analogOutput1
float masterBoardTemperature
float robotVoltage48V
float robotCurrent
float masterIOCurrent
unsigned char safetyMode Safety Modes
uint8_t InReducedMode
char euromap67InterfaceInstalled

G3/G5 4 Primary/Secondary Client Interface

2. Robot Software 5.9

if euromap67 interface is installed, also the

following:
uint32_t euromapInputBits
uint32_t euromapOutputBits
float euromapVoltage24V
float euromapCurrent
end
uint32_t (Used by Universal Robots software only)
uint8_t operationalModeSelectorInput
uint8_t threePositionEnablingDeviceInput
unsigned char (Used by Universal Robots software
only)

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

2.1.6. Cartesian info (Sub Package of Robot State Message)
int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_CARTESIAN_INFO = 4
double X
double Y
double Z
double Rx
double Ry
double Rz
double TCPOffsetX
double TCPOffsetY
double TCPOffsetZ
double TCPOffsetRx
double TCPOffsetRy
double TCPOffsetRz

2.1.7. Kinematics info (Sub Package of Robot State Message)

int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_KINEMATICS_INFO = 5

Primary/Secondary Client Interface 5 G3/G5

 2. Robot Software 5.9

for each joint:

uint32_t cheksum
for each joint:
double DHtheta
for each joint:
double DHa
for each joint:
double Dhd
for each joint:
double Dhalpha
uint32_t calibration_status

This information is sent when leaving initializing mode and/or if the kinematics configuration is
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

changed.

2.1.8. Configuration data (Sub Package of Robot State Message)

int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_CONFIGURATION_DATA = 6
for each joint:
double jointMinLimit
double jointMaxLimitt
end
for each joint:
double jointMaxSpeed
double jointMaxAcceleration
end
double vJointDefault
double aJointDefault
double vToolDefault
double aToolDefault
double eqRadius
for each joint:
double DHa
for each joint:
double Dhd

G3/G5 6 Primary/Secondary Client Interface

2. Robot Software 5.9

for each joint:

double DHalpha
for each joint:
double DHtheta
int32_t masterboardVersion
int32_t controllerBoxType
int32_t robotType
int32_t robotSubType

This information is sent when leaving initializing mode and/or if the kinematics configuration is
changed.

2.1.9. Force mode data (Sub Package of Robot State Message)

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_FORCE_MODE_DATA = 7
double Fx
double Fy
double Fz
double Frx
double Fry
double Frz
double robotDexterity

2.1.10. Additional info (Sub Package of Robot State Message)

int packageSize
unsigned char packageType = ROBOT_STATE_PACKAGE_TYPE_ADDITIONAL_INFO = 8
unsigned char tpButtonState
bool freedriveButtonEnabled
bool IOEnabledFreedrive
unsigned char reserved

Primary/Secondary Client Interface 7 G3/G5

 2. Robot Software 5.9

2.1.11. Calibration data (Sub Package of Robot State Message,

Internally used only)
int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_NEEDED_FOR_CALIB_DATA = 9
double Fx
double Fy
double Fz
double Frx
double Fry
double Frz
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

This package is used internally by Universal Robots software only and should be skipped.

2.1.12. Safety Data (Sub Package of Robot State Message)

int packageSize
unsigned char packageType = 10
safety data

It is used internally by Universal Robots software only and should be skipped.

2.1.13. Tool Communication Info (Sub Package of Robot State

Message)
int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_TOOL_COMM_INFO = 11
bool toolCommunicationIsEnabled
int32_t baudRate
int32_t parity
int32_t stopBits
float RxIdleChars
float TxIdleChars

G3/G5 8 Primary/Secondary Client Interface

2. Robot Software 5.9

2.1.14. Tool Mode Info (Sub Package of Robot State Message)

int packageSize
unsigned char packageType = ROBOT_STATE_PACKAGE_TYPE_TOOL_MODE_INFO = 12
uint8_t output mode
uint8_t digtal output mode output 0
uint8_t digtal output mode output 1

2.1.15. Singularity Info (Sub Package of Robot State Message)

int packageSize
unsigned char packageType = ROBOT_STATE_PACKAGE_TYPE_SINGULARITY_INFO = 13
uint8_t singularitySeverity

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

uint8_t singularityType
It is used internally by Universal Robots software only and should be skipped.

2.1.16. Version Message (sent only once)

This is the first package sent on both the primary and secondary client interfaces. This package
it is not part of the robot state message.

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE = 20
uint64_t timestamp
char source Message Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_VERSION = 3
char projectNameSize
charArray projectName
unsigned char majorVersion
unsigned char minorVersion
int bugfixVersion
int buildNumber
charArray buildDate

Primary/Secondary Client Interface 9 G3/G5

 2. Robot Software 5.9

2.2. Messages sent to primary clients ONLY

2.2.1. Robot Message - Safety Mode Message
int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE =
20
uint64_t timestamp
char source Message Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_SAFETY_MODE = 5
int robotMessageCode
int robotMessageArgument
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

unsigned char safetyModeType Safety Mode

Types
uint32_t reportDataType
uint32_t reportData

2.2.2. Robot Message - Robot Comm Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE = 20
uint64_t timestamp
char source Message Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_ERROR_CODE = 6
int robotMessageCode
int robotMessageArgument
int robotMessageReportLevel Report Levels
uint32_t robotMessageDataType
uint32_t robotMessageData
charArray robotCommTextMessage

2.2.3. Robot Message - Key Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE = 20
uint64_t timestamp
char source Message Sources

G3/G5 10 Primary/Secondary Client Interface

2. Robot Software 5.9

char robotMessageType = ROBOT_MESSAGE_TYPE_KEY = 7

int robotMessageCode
int robotMessageArgument
uint8_t robotMessageTitleSize
charArray robotMessageTitle
charArray keyTextMessage

2.2.4. Robot Message - Program Threads Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE = 20
uint64_t timestamp
char source Message

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_PROGRAM_LABEL_
THREADS = 14
following structure repeats for each running program thread
int labelId (line number)
int labelNameLength
charArray labelName
int threadNameLength
charArray threadName

2.2.5. Robot Message - Popup Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE = 20
uint64_t timestamp
char source Message Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_POPUP = 2
unsigned int requestId
unsigned int requestedType Requested Types
bool warning
bool error
bool blocking
uint8_t popupMessageTitleSize
charArray popupMessageTitle

Primary/Secondary Client Interface 11 G3/G5

 2. Robot Software 5.9

charArray popupTextMessage

2.2.6. Robot Message - Request Value Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE = 20
uint64_t timestamp
char source Message
Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_REQUEST_VALUE =
9
unsigned int requestId
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

unsigned int requestedType Requested Types

char array requestTextMessage

2.2.7. Robot Message - Text Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE = 20
uint64_t timestamp
char source Message Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_TEXT = 0
charArray textTextMessage

2.2.8. Robot Message - Runtime Exception Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE = 20
uint64_t timestamp
char source Message
Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_RUNTIME_
EXCEPTION = 10
int scriptLineNumber
int scriptColumnNumber

G3/G5 12 Primary/Secondary Client Interface

2. Robot Software 5.9

charArray runtimeExceptionTextMessage

2.2.9. Global Variables Setup Message

int messageSize
unsigned char messageType = MESSAGE_
TYPE_PROGRAM_STATE_MESSAGE = 25
uint64_t timestamp
char robotMessageType = PROGRAM_STATE_
MESSAGE_TYPE_GLOBAL_VARIABLES_SETUP
=0
uint16_t startIndex
charArray variableNames List of names separated by new line
character ('\n' character). Example: var_

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

1\nvar_2\n

2.2.10. Global Variables Update Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_PROGRAM_STATE_MESSAGE =
25
uint64_t timestamp
char robotMessageType = PROGRAM_STATE_MESSAGE_TYPE_GLOBAL_
VARIABLES_UPDATE = 1
uint16_t startIndex
unsigned char variableValues Value
Types

Each variable value contains type byte, data, and terminating new line character (\n character).
Example - two variables of type BOOL(True), and STRING("aaaa"): 0c 01 0a03 00 04 61 61 61 61
0a

Primary/Secondary Client Interface 13 G3/G5

 3. Robot Software 5.10

3. Robot Software 5.10

Message formatting
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

3.1. Messages sent to primary and secondary clients

Messages not documented in this manual are only used internally by UR software and are not
backwards compatible

3.1.1. Robot State Message

int messageSize Length of overall package: total length of
package including this field
unsigned char messageType = MESSAGE_
TYPE_ROBOT_STATE = 16
Sub packages Each sub package that follows contains size,
type, and package specific data

3.1.2. Robot mode data (Sub Package of Robot State Message)

int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_ROBOT_MODE_DATA = 0

G3/G5 14 Primary/Secondary Client Interface

3. Robot Software 5.10

uint64_t timestamp
bool isRealRobotConnected
bool isRealRobotEnabled
bool isRobotPowerOn
bool isEmergencyStopped
bool isProtectiveStopped
bool isProgramRunning
bool isProgramPaused
unsigned char robotMode Robot Modes
unsigned char controlMode Control Modes
double targetSpeedFraction
double speedScaling

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

double targetSpeedFractionLimit
unsigned char reserved

3.1.3. Joint data (Sub Package of Robot State Message)

int packageSize
unsigned char packageType = ROBOT_STATE_PACKAGE_TYPE_JOINT_
DATA = 1
for each joint:
double q_actual
double q_target
double qd_actual
float I_actual
float V_actual
float T_motor
float T_micro Deprecated -
ignore
uint8_t jointMode Joint Modes
end

The "jointMode" field is a code for the joint status (shown on the initialisation screen):

3.1.4. Tool data (Sub Package of Robot State Message)

int packageSize Length of Sub Package: total length of
subpackage including this field

Primary/Secondary Client Interface 15 G3/G5

 3. Robot Software 5.10

unsigned char packageType = ROBOT_STATE_

PACKAGE_TYPE_TOOL_DATA = 2
unsigned char analogInputRange0
unsigned char analogInputRange1
double analogInput0
double analogInput1
float toolVoltage48V
unsigned char toolOutputVoltage
float toolCurrent
float toolTemperature
uint8_t toolMode Tool Modes

The "toolMode" field is a code for the joint status (shown on the initialisation screen):
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

3.1.5. Masterboard data (Sub Package of Robot State Message)

int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_MASTERBOARD_DATA = 3
int digitalInputBits
int digitalOutputBits
unsigned char analogInputRange0
unsigned char analogInputRange1
double analogInput0
double analogInput1
char analogOutputDomain0
char analogOutputDomain1
double analogOutput0
double analogOutput1
float masterBoardTemperature
float robotVoltage48V
float robotCurrent
float masterIOCurrent
unsigned char safetyMode Safety Modes
uint8_t InReducedMode
char euromap67InterfaceInstalled

G3/G5 16 Primary/Secondary Client Interface

3. Robot Software 5.10

if euromap67 interface is installed, also the

following:
uint32_t euromapInputBits
uint32_t euromapOutputBits
float euromapVoltage24V
float euromapCurrent
end
uint32_t (Used by Universal Robots software only)
uint8_t operationalModeSelectorInput
uint8_t threePositionEnablingDeviceInput
unsigned char (Used by Universal Robots software
only)

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

3.1.6. Cartesian info (Sub Package of Robot State Message)
int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_CARTESIAN_INFO = 4
double X
double Y
double Z
double Rx
double Ry
double Rz
double TCPOffsetX
double TCPOffsetY
double TCPOffsetZ
double TCPOffsetRx
double TCPOffsetRy
double TCPOffsetRz

3.1.7. Kinematics info (Sub Package of Robot State Message)

int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_KINEMATICS_INFO = 5

Primary/Secondary Client Interface 17 G3/G5

 3. Robot Software 5.10

for each joint:

uint32_t cheksum
for each joint:
double DHtheta
for each joint:
double DHa
for each joint:
double Dhd
for each joint:
double Dhalpha
uint32_t calibration_status

This information is sent when leaving initializing mode and/or if the kinematics configuration is
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

changed.

3.1.8. Configuration data (Sub Package of Robot State Message)

int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_CONFIGURATION_DATA = 6
for each joint:
double jointMinLimit
double jointMaxLimitt
end
for each joint:
double jointMaxSpeed
double jointMaxAcceleration
end
double vJointDefault
double aJointDefault
double vToolDefault
double aToolDefault
double eqRadius
for each joint:
double DHa
for each joint:
double Dhd

G3/G5 18 Primary/Secondary Client Interface

3. Robot Software 5.10

for each joint:

double DHalpha
for each joint:
double DHtheta
int32_t masterboardVersion
int32_t controllerBoxType
int32_t robotType
int32_t robotSubType

This information is sent when leaving initializing mode and/or if the kinematics configuration is
changed.

3.1.9. Force mode data (Sub Package of Robot State Message)

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_FORCE_MODE_DATA = 7
double Fx
double Fy
double Fz
double Frx
double Fry
double Frz
double robotDexterity

3.1.10. Additional info (Sub Package of Robot State Message)

int packageSize
unsigned char packageType = ROBOT_STATE_PACKAGE_TYPE_ADDITIONAL_INFO = 8
unsigned char tpButtonState
bool freedriveButtonEnabled
bool IOEnabledFreedrive
unsigned char reserved

Primary/Secondary Client Interface 19 G3/G5

 3. Robot Software 5.10

3.1.11. Calibration data (Sub Package of Robot State Message,

Internally used only)
int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_NEEDED_FOR_CALIB_DATA = 9
double Fx
double Fy
double Fz
double Frx
double Fry
double Frz
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

This package is used internally by Universal Robots software only and should be skipped.

3.1.12. Safety Data (Sub Package of Robot State Message)

int packageSize
unsigned char packageType = 10
safety data

It is used internally by Universal Robots software only and should be skipped.

3.1.13. Tool Communication Info (Sub Package of Robot State

Message)
int packageSize Length of Sub Package: total length of
subpackage including this field
unsigned char packageType = ROBOT_STATE_
PACKAGE_TYPE_TOOL_COMM_INFO = 11
bool toolCommunicationIsEnabled
int32_t baudRate
int32_t parity
int32_t stopBits
float RxIdleChars
float TxIdleChars

G3/G5 20 Primary/Secondary Client Interface

3. Robot Software 5.10

3.1.14. Tool Mode Info (Sub Package of Robot State Message)

int packageSize
unsigned char packageType = ROBOT_STATE_PACKAGE_TYPE_TOOL_MODE_INFO = 12
uint8_t output mode
uint8_t digtal output mode output 0
uint8_t digtal output mode output 1

3.1.15. Singularity Info (Sub Package of Robot State Message)

int packageSize
unsigned char packageType = ROBOT_STATE_PACKAGE_TYPE_SINGULARITY_INFO = 13
uint8_t singularitySeverity

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

uint8_t singularityType
It is used internally by Universal Robots software only and should be skipped.

3.1.16. Version Message (sent only once)

This is the first package sent on both the primary and secondary client interfaces. This package
it is not part of the robot state message.

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE = 20
uint64_t timestamp
char source Message Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_VERSION = 3
char projectNameSize
charArray projectName
unsigned char majorVersion
unsigned char minorVersion
int bugfixVersion
int buildNumber
charArray buildDate

Primary/Secondary Client Interface 21 G3/G5

 3. Robot Software 5.10

3.2. Messages sent to primary clients ONLY

3.2.1. Robot Message - Safety Mode Message
int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE =
20
uint64_t timestamp
char source Message Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_SAFETY_MODE = 5
int robotMessageCode
int robotMessageArgument
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

unsigned char safetyModeType Safety Mode

Types
uint32_t reportDataType
uint32_t reportData

3.2.2. Robot Message - Robot Comm Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE = 20
uint64_t timestamp
char source Message Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_ERROR_CODE = 6
int robotMessageCode
int robotMessageArgument
int robotMessageReportLevel Report Levels
uint32_t robotMessageDataType
uint32_t robotMessageData
charArray robotCommTextMessage

3.2.3. Robot Message - Key Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE = 20
uint64_t timestamp
char source Message Sources

G3/G5 22 Primary/Secondary Client Interface

3. Robot Software 5.10

char robotMessageType = ROBOT_MESSAGE_TYPE_KEY = 7

int robotMessageCode
int robotMessageArgument
uint8_t robotMessageTitleSize
charArray robotMessageTitle
charArray keyTextMessage

3.2.4. Robot Message - Program Threads Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE = 20
uint64_t timestamp
char source Message

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_PROGRAM_LABEL_
THREADS = 14
following structure repeats for each running program thread
int labelId (line number)
int labelNameLength
charArray labelName
int threadNameLength
charArray threadName

3.2.5. Robot Message - Popup Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE = 20
uint64_t timestamp
char source Message Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_POPUP = 2
unsigned int requestId
unsigned int requestedType Requested Types
bool warning
bool error
bool blocking
uint8_t popupMessageTitleSize
charArray popupMessageTitle

Primary/Secondary Client Interface 23 G3/G5

 3. Robot Software 5.10

charArray popupTextMessage

3.2.6. Robot Message - Request Value Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE =
20
uint64_t timestamp
char source Message Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_REQUEST_VALUE =
9
unsigned int requestId
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

unsigned int requestedType Requested Types

char array requestTextMessage

3.2.7. Robot Message - Text Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE = 20
uint64_t timestamp
char source Message Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_TEXT = 0
charArray textTextMessage

3.2.8. Robot Message - Runtime Exception Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_ROBOT_MESSAGE = 20
uint64_t timestamp
char source Message
Sources
char robotMessageType = ROBOT_MESSAGE_TYPE_RUNTIME_
EXCEPTION = 10
int scriptLineNumber
int scriptColumnNumber

G3/G5 24 Primary/Secondary Client Interface

3. Robot Software 5.10

charArray runtimeExceptionTextMessage

3.2.9. Global Variables Setup Message

int messageSize
unsigned char messageType = MESSAGE_
TYPE_PROGRAM_STATE_MESSAGE = 25
uint64_t timestamp
char robotMessageType = PROGRAM_STATE_
MESSAGE_TYPE_GLOBAL_VARIABLES_SETUP
=0
uint16_t startIndex
charArray variableNames List of names separated by new line
character ('\n' character). Example: var_

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

1\nvar_2\n

3.2.10. Global Variables Update Message

int messageSize
unsigned char messageType = MESSAGE_TYPE_PROGRAM_STATE_MESSAGE =
25
uint64_t timestamp
char robotMessageType = PROGRAM_STATE_MESSAGE_TYPE_GLOBAL_
VARIABLES_UPDATE = 1
uint16_t startIndex
unsigned char variableValues Value
Types

Each variable value contains type byte, data, and terminating new line character (\n character).
Example - two variables of type BOOL(True), and STRING("aaaa"): 0c 01 0a03 00 04 61 61 61 61
0a

Primary/Secondary Client Interface 25 G3/G5

 4. Control Modes

4. Control Modes
Control Modes
Mode Description
0 CONTROL_MODE_POSITION
1 CONTROL_MODE_TEACH
2 CONTROL_MODE_FORCE
3 CONTROL_MODE_TORQUE
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

G3/G5 26 Primary/Secondary Client Interface

5. Robot Modes

5. Robot Modes
Robot Modes
Mode Description
-1 ROBOT_MODE_NO_CONTROLLER
0 ROBOT_MODE_DISCONNECTED
1 ROBOT_MODE_CONFIRM_SAFETY
2 ROBOT_MODE_BOOTING
3 ROBOT_MODE_POWER_OFF
4 ROBOT_MODE_POWER_ON
5 ROBOT_MODE_IDLE
6 ROBOT_MODE_BACKDRIVE

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

7 ROBOT_MODE_RUNNING
8 ROBOT_MODE_UPDATING_FIRMWARE

Primary/Secondary Client Interface 27 G3/G5

 6. Joint Modes

6. Joint Modes
Value
JOINT_MODE_RESET 235
JOINT_MODE_SHUTTING_DOWN 236
JOINT_MODE_BACKDRIVE 238
JOINT_MODE_POWER_OFF 239
JOINT_MODE_READY_FOR_POWER_OFF (FROM VERSION 5.1) 240
JOINT_MODE_NOT_RESPONDING 245
JOINT_MODE_MOTOR_INITIALISATION 246
JOINT_MODE_BOOTING 247
JOINT_MODE_VIOLATION 251
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

JOINT_MODE_FAULT 252
JOINT_MODE_RUNNING 253
JOINT_MODE_IDLE 255

G3/G5 28 Primary/Secondary Client Interface

7. Tool Modes

7. Tool Modes
Value
JOINT_MODE_RESET 235
JOINT_MODE_SHUTTING_DOWN 236

JOINT_MODE_POWER_OFF 239
JOINT_MODE_NOT_RESPONDING 245

JOINT_MODE_BOOTING 247
JOINT_MODE_BOOTLOADER 249
JOINT_MODE_FAULT 252
JOINT_MODE_RUNNING 253

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

JOINT_MODE_IDLE 255

Primary/Secondary Client Interface 29 G3/G5

 8. Message Sources

8. Message Sources
Each message sent has a "source" code for the sender of the message.

Value
MESSAGE_SOURCE_JOINT_0_FPGA 100
MESSAGE_SOURCE_JOINT_0_A 110
MESSAGE_SOURCE_JOINT_0_B 120
MESSAGE_SOURCE_JOINT_1_FPGA 101
MESSAGE_SOURCE_JOINT_1_A 111
MESSAGE_SOURCE_JOINT_1_B 121
MESSAGE_SOURCE_JOINT_2_FPGA 102
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

MESSAGE_SOURCE_JOINT_2_A 112
MESSAGE_SOURCE_JOINT_2_B 122
MESSAGE_SOURCE_JOINT_3_FPGA 103
MESSAGE_SOURCE_JOINT_3_A 113
MESSAGE_SOURCE_JOINT_3_B 123
MESSAGE_SOURCE_JOINT_4_FPGA 104
MESSAGE_SOURCE_JOINT_4_A 114
MESSAGE_SOURCE_JOINT_4_B 124
MESSAGE_SOURCE_JOINT_5_FPGA 105
MESSAGE_SOURCE_JOINT_5_A 115
MESSAGE_SOURCE_JOINT_5_B 125
MESSAGE_SOURCE_TOOL_FPGA 106
MESSAGE_SOURCE_TOOL_A 116
MESSAGE_SOURCE_TOOL_B 126
MESSAGE_SOURCE_EUROMAP_FPGA 107
MESSAGE_SOURCE_EUROMAP_A 117
MESSAGE_SOURCE_EUROMAP_B 127
MESSAGE_SOURCE_TEACH_PENDANT_A 108
MESSAGE_SOURCE_TEACH_PENDANT_B 118
MESSAGE_SOURCE_SCB_FPGA 40
MESSAGE_SAFETY_PROCESSOR_UA 20
MESSAGE_SAFETY_PROCESSOR_UB 30
MESSAGE_SOURCE_ROBOTINTERFACE -2
MESSAGE_SOURCE_RTMACHINE -3

G3/G5 30 Primary/Secondary Client Interface

8. Message Sources

MESSAGE_SOURCE_SIMULATED_ROBOT -4
MESSAGE_SOURCE_GUI -5
MESSAGE_SOURCE_CONTROLLER 7
MESSAGE_SOURCE_RTDE 8

The message types are:

MESSAGE_TYPE_DISCONNECT -1
MESSAGE_TYPE_ROBOT_STATE 16
MESSAGE_TYPE_ROBOT_MESSAGE 20
MESSAGE_TYPE_HMC_MESSAGE 22
MESSAGE_TYPE_MODBUS_INFO_MESSAGE 5

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

MESSAGE_TYPE_SAFETY_SETUP_BROADCAST_MESSAGE 23
MESSAGE_TYPE_SAFETY_COMPLIANCE_TOLERANCES_MESSAGE 24
MESSAGE_TYPE_PROGRAM_STATE_MESSAGE 25

Primary/Secondary Client Interface 31 G3/G5

 9. Safety Mode Types

9. Safety Mode Types

Value Comment
SAFETY_MODE_UNDEFINED_ 11
SAFETY_MODE
SAFETY_MODE_VALIDATE_ 10
JOINT_ID
SAFETY_MODE_FAULT 9
SAFETY_MODE_VIOLATION 8
SAFETY_MODE_ROBOT_ 7 (EA + EB + SBUS->Euromap67) Physical e-stop
EMERGENCY_STOP interface input activated
SAFETY_MODE_SYSTEM_ 6 (EA + EB + SBUS->Screen) Physical e-stop
EMERGENCY_STOP interface input activated
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

SAFETY_MODE_SAFEGUARD_ 5 (SI0 + SI1 + SBUS) Physical s-stop interface input

STOP
SAFETY_MODE_RECOVERY 4
SAFETY_MODE_PROTECTIVE_ 3
STOP
SAFETY_MODE_REDUCED 2
SAFETY_MODE_NORMAL 1

G3/G5 32 Primary/Secondary Client Interface

10. Safety Status Types

10. Safety Status Types

Value Comment
SAFETY_STATUS_SYSTEM_THREE_ 13
POSITION_ENABLING_STOP
SAFETY_STATUS_AUTOMATIC_MODE_ 12
SAFEGUARD_STOP
SAFETY_STATUS_UNDEFINED_ 11
SAFETY_MODE
SAFETY_STATUS_VALIDATE_JOINT_ID 10
SAFETY_STATUS_FAULT 9
SAFETY_STATUS_VIOLATION 8

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

SAFETY_STATUS_ROBOT_ 7 (EA + EB + SBUS->Euromap67) Physical e-
EMERGENCY_STOP stop interface input activated
SAFETY_STATUS_SYSTEM_ 6 (EA + EB + SBUS->Screen) Physical e-stop
EMERGENCY_STOP interface input activated
SAFETY_STATUS_SAFEGUARD_STOP 5 (SI0 + SI1 + SBUS) Physical s-stop
interface input
SAFETY_STATUS_RECOVERY 4
SAFETY_STATUS_PROTECTIVE_STOP 3
SAFETY_STATUS_REDUCED 2
SAFETY_STATUS_NORMAL 1

Primary/Secondary Client Interface 33 G3/G5

 11. Report Levels

11. Report Levels
Value

REPORT_LEVEL_DEBUG (INTERNAL USE ONLY) 0

REPORT_LEVEL_INFO 1
REPORT_LEVEL_WARNING 2
REPORT_LEVEL_VIOLATION 3
REPORT_LEVEL_FAULT 4
REPORT_LEVEL_DEVL_DEBUG (INTERNAL USE ONLY) 128

REPORT_LEVEL_DEVL_INFO 129
REPORT_LEVEL_DEVL_WARNING 130
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

REPORT_LEVEL_DEVL_VIOLATION 131
REPORT_LEVEL_DEVL_FAULT 132

G3/G5 34 Primary/Secondary Client Interface

12. Requested Types

12. Requested Types
Value
REQUEST_VALUE_TYPE_BOOLEAN 0
REQUEST_VALUE_TYPE_INTEGER 1
REQUEST_VALUE_TYPE_FLOAT 2
REQUEST_VALUE_TYPE_STRING 3
REQUEST_VALUE_TYPE_POSE 4
REQUEST_VALUE_TYPE_JOINTVECTOR 5
REQUEST_VALUE_TYPE_WAYPOINT (UNUSED) 6
REQUEST_VALUE_TYPE_EXPRESSION (UNUSED) 7
REQUEST_VALUE_TYPE_NONE (*) 8

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

(*) If the 'requestedType' is set to the value 8, then it is a 'PopupMessage' type.

Primary/Secondary Client Interface 35 G3/G5

 13. Value Types

13. Value Types
NONE
// No content -> has not been initialized yet

CONST_VAR_STRING
int16_t valueLength
charArray value

VAR_STRING
int16_t valueLength
charArray value
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

LIST
int16_ listLength
For each item:
uint8_t valueType
DataValueType
end

POSE
float X
float Y
float Z
float Rx
float Ry
float Rz

BOOL
bool value

NUM
float value

INT

G3/G5 36 Primary/Secondary Client Interface

13. Value Types

int32_t value

FLOAT
float value

MATRIX
int16_t nRows
int16_t nColumns
For each value in each row:
uint8_t valueType
DataValueType
end

Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

Data sizes
int16_t 2 bytes
int32_t 4 bytes
float 4 bytes
double 8 bytes
bool 1 byte
uint8_t 1 byte

Up to software 3.2
NONE = 0
STRING = 3
LIST = 4
POSE = 9
BOOL = 11
NUM = 12
INT = 13
FLOAT = 14

From software 3.3/5.0

NONE = 0
CONST_STRING = 3

Primary/Secondary Client Interface 37 G3/G5

 13. Value Types

VAR_STRING = 4
LIST = 5
POSE = 10
BOOL = 12
NUM = 13
INT = 14
FLOAT = 15

Starting with software 5.9

NONE = 0
CONST_STRING = 3
VAR_STRING = 4
Copyright © 2009–2021 by Universal Robots A/S. All rights reserved.

POSE = 12
BOOL = 13
NUM = 14
INT = 15
FLOAT = 16
LIST = 17
MATRIX = 18

G3/G5 38 Primary/Secondary Client Interface