3. Robot Basics

3.1. Instantiating the Robot

1/**
2* @brief  Robot interface class constructor
3*/
4Robot();

3.2. Establishing Communication with the Controller

1/**
2* @brief  Establish communication with the robot controller
3* @param  [in] ip  Controller IP address, default is 192.168.58.2
4* @return Error code
5*/
6int RPC(string ip);

3.3. Disconnect from the robot

1/**
2* @brief Disconnect from the robot controller
3* @return Error code
4*/
5int CloseRPC();

3.4. Query the SDK version number

1/**
2* @brief Query the SDK version number
3* @param [out] version SDK version number
4* @return Error code
5*/
6int GetSDKVersion(ref string version);

3.5. Get the controller IP address

1/**
2* @brief  Get the controller IP
3* @param  [out] ip  Controller IP
4* @return  Error code
5*/
6int GetControllerIP(ref string ip);

3.6. Control the robot to enter or exit drag teaching mode

1/**
2* @brief  Control the robot to enter or exit drag teaching mode
3* @param  [in] state 0-exit drag teaching mode, 1-enter drag teaching mode
4* @return  Error code
5*/
6int DragTeachSwitch(byte state);

3.7. Check if the robot is in drag mode

1/**
2* @brief  Check if the robot is in drag teach mode
3* @param  [out] state 0-not in drag teach mode, 1-in drag teach mode
4* @return Error code
5*/
6int IsInDragTeach(ref byte state);

3.8. Control robot enable or disable

1/**
2* @brief Control robot enable or disable; robot is automatically enabled by default after power-on
3* @param  [in] state  0-disable, 1-enable
4* @return  Error code
5*/
6int RobotEnable(byte state);

3.9. Control robot manual/automatic mode switching

1/**
2* @brief Control robot manual/automatic mode switching
3* @param [in] mode 0-automatic mode, 1-manual mode
4* @return Error code
5*/
6int Mode(int mode);

3.10. Shut down the robot operating system

1/**
2* @brief Shut down the robot operating system
3* @return Error code
4*/
5int ShutDownRobotOS();

3.11. Code example

1private void button6_Click(object sender, EventArgse)
2{
3    int rtn = robot.ShutDownRobotOS();
4    Console.WriteLine($"ShutDownRobotOS rtn is {rtn}");
5}

3.12. Set robot communication reconnection parameters

1/**
2* @brief Set robot communication reconnection parameters
3* @param [in] enable Whether to enable true-enable, false-disable
4* @param [in] times Reconnect times
5* @param [in] period Reconnect time interval (milliseconds)
6*/
7void SetReconnectParam(bool enable, int times, int period);

3.13. Code example

 1private void btnStandard_Click(object sender, EventArgs e)
 2{
 3    Robot robot = new Robot();
 4    robot.SetReconnectParam(true, 100, 20000);//Disconnection reconnection parameters
 5    robot.RPC("192.168.58.2");
 6
 7    string ip = "";
 8    string version = "";
 9    byte state = 0;
10
11    robot.GetSDKVersion(ref version);
12    Console.WriteLine($"SDK version : {version}");
13    robot.GetControllerIP(ref ip);
14    Console.WriteLine($"controller ip : {ip}");
15
16    robot.Mode(1);
17    Thread.Sleep(1000);
18    robot.DragTeachSwitch(1);
19    int rtn = robot.IsInDragTeach(ref state);
20    Console.WriteLine($"drag state : {state}");
21    Thread.Sleep(3000);
22    robot.DragTeachSwitch(0);
23    Thread.Sleep(1000);
24    robot.IsInDragTeach(ref state);
25    Console.WriteLine($"drag state: {state}");
26    Thread.Sleep(3000);
27    robot.RobotEnable(0);
28    Thread.Sleep(3000);
29    robot.RobotEnable(1);
30
31    robot.Mode(0);
32    Thread.Sleep(1000);
33    robot.Mode(1);
34}

3.14. Initialize log parameters

 1/**
 2* @brief Initialize log parameters
 3* @param [in] logType: Output mode, DIRECT-direct output; BUFFER-buffered output; ASYNC-asynchronous output
 4* @param [in] logLevel: Log filtering level, ERROR-error; WARNING-warning; INFO-information; DEBUG-debug
 5* @param [in] filePath: File save path, e.g., "D://Log/"
 6* @param [in] saveFileNum: Number of files to save; files exceeding both the number of files to save and the number of days to save will be deleted
 7* @param [in] saveDays: Number of days to save; files exceeding both the number of files to save and the number of days to save will be deleted
 8* @return Error code
 9*/
10int LoggerInit(FrLogType logType = FrLogType.DIRECT, FrLogLevel logLevel = FrLogLevel.INFO, string filePath = "", int saveFileNum = 10, int saveDays = 10);

3.15. Set log filtering level

1/**
2* @brief Set log filtering level
3* @param [in] logLevel: Log filtering level, ERROR-error; WARNING-warning; INFO-information; DEBUG-debug
4* @return Error code
5*/
6int SetLoggerLevel(FrLogLevel logLevel);

3.16. Get robot software version

1/**
2* @brief Get robot software version information
3* @param [out] robotModel Robot model
4* @param [out] webVersion Web version
5* @param [out] controllerVersion Controller version
6* @return Error code
7*/
8int GetSoftwareVersion(ref string robotModel, ref string webVersion, ref string controllerVersion);

3.17. Get robot hardware version

 1/**
 2* @brief Get robot hardware version information
 3* @param [out] ctrlBoxBoardVersion Control box board hardware version
 4* @param [out] driver1Version Driver 1 hardware version
 5* @param [out] driver1Version Driver 2 hardware version
 6* @param [out] driver1Version Driver 3 hardware version
 7* @param [out] driver1Version Driver 4 hardware version
 8* @param [out] driver1Version Driver 5 hardware version
 9* @param [out] driver1Version Driver 6 hardware version
10* @param [out] endBoardVersion End board hardware version
11* @return Error code
12*/
13int GetHardwareVersion(ref string ctrlBoxBoardVersion, ref string driver1Version, ref string driver2Version, ref string driver3Version, ref string driver4Version, ref string driver5Version, ref string driver6Version, ref string endBoardVersion);

3.18. Get robot firmware version

 1/**
 2* @brief Get robot firmware version information
 3* @param [out] ctrlBoxBoardVersion Control box board firmware version
 4* @param [out] driver1Version Driver 1 firmware version
 5* @param [out] driver1Version Driver 2 firmware version
 6* @param [out] driver1Version Driver 3 firmware version
 7* @param [out] driver1Version Driver 4 firmware version
 8* @param [out] driver1Version Driver 5 firmware version
 9* @param [out] driver1Version Driver 6 firmware version
10* @param [out] endBoardVersion End board firmware version
11* @return Error code
12*/
13int GetFirmwareVersion(ref string ctrlBoxBoardVersion, ref string driver1Version, ref string driver2Version, ref string driver3Version, ref string driver4Version, ref string driver5Version, ref string driver6Version, ref string endBoardVersion);

3.19. Code example

 1private void btnGetVersions_Click(object sender, EventArgs e)
 2{
 3    string[] ver = new string[20];
 4    int rtn = 0;
 5    rtn = robot.GetSoftwareVersion(ref ver[0], ref ver[1], ref ver[2]);
 6    rtn = robot.GetHardwareVersion(ref ver[3], ref ver[4], ref ver[5], ref ver[6], ref ver[7], ref ver[8], ref ver[9], ref ver[10]);
 7    rtn = robot.GetFirmwareVersion(ref ver[11], ref ver[12], ref ver[13], ref ver[14], ref ver[15], ref ver[16], ref ver[17], ref ver[18]);
 8    Console.WriteLine($"robotmodel  is: {ver[0]}");
 9    Console.WriteLine($"webVersion  is: {ver[1]}");
10    Console.WriteLine($"controllerVersion  is: {ver[2]}");
11    Console.WriteLine($"Hard ctrlBox Version  is: {ver[3]}");
12    Console.WriteLine($"Hard driver1 Version  is: {ver[4]}");
13    Console.WriteLine($"Hard driver2 Version is: {ver[5]}");
14    Console.WriteLine($"Hard driver3 Version is: {ver[6]}");
15    Console.WriteLine($"Hard driver4 Version is: {ver[7]}");
16    Console.WriteLine($"Hard driver5 Version is: {ver[8]}");
17    Console.WriteLine($"Hard driver6 Version is: {ver[9]}");
18    Console.WriteLine($"Hard end Version is: {ver[10]}");
19    Console.WriteLine($"Firm ctrlBox Version is: {ver[11]}");
20    Console.WriteLine($"Firm driver1 Version is: {ver[12]}");
21    Console.WriteLine($"Firm driver2 Version is: {ver[13]}");
22    Console.WriteLine($"Firm driver3 Version is: {ver[14]}");
23    Console.WriteLine($"Firm driver4 Version is: {ver[15]}");
24    Console.WriteLine($"Firm driver5 Version is: {ver[16]}");
25    Console.WriteLine($"Firm driver6 Version is: {ver[17]}");
26    Console.WriteLine($"Firm end Version is: {ver[18]}");
27}