7. Robot Safety Settings
7.1. Set collision level
1/**
2* @brief Set collision level
3* @param [in] mode 0-level, 1-percentage
4* @param [in] level Collision threshold, level corresponds to range [], percentage corresponds to range [0~1]
5* @param [in] config 0-do not update configuration file, 1-update configuration file
6* @return Error code
7*/
8int SetAnticollision(int mode, double[] level, int config);
7.2. Set collision post-strategy
1/**
2* @brief Set collision post-strategy
3* @param [in] strategy 0 - Pause on error; 1 - Continue running; 2 - Stop on error; 3 - Torque mode; 4 - Oscillation response mode; 5 - Collision rebound mode
4* @param [in] safeTime safe stop time [1000 - 2000]ms
5* @param [in] safeDistance Safe stop distance [1-150] mm
6* @param [in] safeVel TCP safe stop speed [50-250] mm/s
7* @param [in] safetyMargin j1-j6 safety factor [1-10]
8* @return Error code
9*/
10int SetCollisionStrategy(int strategy, int safeTime, int safeDistance, int safeVel,int[] safetyMargin);
7.3. Custom collision detection threshold function start
1/**
2* @brief Custom collision detection threshold function starts, sets the collision detection threshold for the joint end and TCP end
3* @param [in] flag 1-only joint detection enabled; 2-only TCP detection enabled; 3-joint and TCP detection enabled simultaneously
4* @param [in] jointDetectionThreshould Joint collision detection threshold j1-j6
5* @param [in] tcpDetectionThreshould TCP collision detection threshold, xyzabc
6* @param [in] block 0-non-blocking; 1-blocking
7* @return Error code
8*/
9int CustomCollisionDetectionStart(int flag, double[] jointDetectionThreshould, double[] tcpDetectionThreshould, int block);
7.4. Custom collision detection threshold function disabled
1/**
2* @brief Custom collision detection threshold function disabled
3* @return Error code
4*/
5int CustomCollisionDetectionEnd();
7.5. Robot collision level settings code example
1private void button24_Click(object sender, EventArgs e)
2{
3 int mode = 0;
4 int config = 1;
5 double[] level1 = { 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f };
6 double[] level2 = { 50.0f, 20.0f, 30.0f, 40.0f, 50.0f, 60.0f };
7
8 int rtn = robot.SetAnticollision(mode, level1, config);
9 Console.WriteLine($"SetAnticollision mode 0 rtn is {rtn}");
10 mode = 1;
11 rtn = robot.SetAnticollision(mode, level2, config);
12 Console.WriteLine($"SetAnticollision mode 1 rtn is {rtn}");
13
14 JointPos p1Joint = new JointPos(-11.904f, -99.669f, 117.473f, -108.616f, -91.726f, 74.256f);
15 JointPos p2Joint = new JointPos(-45.615f, -106.172f, 124.296f, -107.151f, -91.282f, 74.255f);
16
17 DescPose p1Desc = new DescPose(-419.524f, -13.000f, 351.569f, -178.118f, 0.314f, 3.833f);
18 DescPose p2Desc = new DescPose(-321.222f, 185.189f, 335.520f, -179.030f, -1.284f, -29.869f);
19
20 ExaxisPos exaxisPos = new ExaxisPos(0.0f, 0.0f, 0.0f, 0.0f);
21 DescPose offdese = new DescPose(0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f);
22 robot.MoveL( p2Joint, p2Desc, 0, 0, 100, 100, 100, 2, exaxisPos, 0, 0, offdese);
23 robot.ResetAllError();
24 int[] safety = { 5, 5, 5, 5, 5, 5 };
25 rtn = robot.SetCollisionStrategy(3, 1000, 150, 250, safety);
26 Console.WriteLine($"SetCollisionStrategy rtn is {rtn}");
27
28 double[] jointDetectionThreshould = { 0.1, 0.1, 0.1, 0.1, 0.1, 0.1 };
29 double[] tcpDetectionThreshould = { 60, 60, 60, 60, 60, 60 };
30 rtn = robot.CustomCollisionDetectionStart(3, jointDetectionThreshould, tcpDetectionThreshould, 0);
31 Console.WriteLine($"CustomCollisionDetectionStart rtn is {rtn}");
32
33 robot.MoveL( p1Joint, p1Desc, 0, 0, 100, 100, 100, -1, exaxisPos, 0, 0, offdese);
34 robot.MoveL( p2Joint, p2Desc, 0, 0, 100, 100, 100, -1, exaxisPos, 0, 0, offdese);
35 rtn = robot.CustomCollisionDetectionEnd();
36 Console.WriteLine($"CustomCollisionDetectionEnd rtn is {rtn}");
37}
7.6. Set positive limit
1/**
2* @brief Set positive limit
3* @param [in] limit Six joint positions, units in deg
4* @return Error code
5*/
6int SetLimitPositive(double[] limit);
7.7. Set negative limit
1/**
2* @brief Set negative limit
3* @param [in] limit Six joint positions, units in deg
4* @return Error code
5*/
6int SetLimitNegative(double[] limit);
7.8. Get joint soft limit angles
1/**
2* @brief Get joint soft limit angles
3* @param [in] flag 0-block, 1-non-block
4* @param [out] negative Negative limit angle, in degrees
5* @param [out] positive Positive limit angle, in degrees
6* @return Error code
7*/
8int GetJointSoftLimitDeg(byte flag, ref double[] negative, ref double[] positive);
7.9. Robot limit setting code example
1private void btnRobotSafetySet_Click(object sender, EventArgs e)
2{
3 double[] plimit = { 170.0f, 80.0f, 150.0f, 80.0f, 170.0f, 160.0f };
4 robot.SetLimitPositive(plimit);
5 double[] nlimit = { -170.0f, -260.0f, -150.0f, -260.0f, -170.0f, -160.0f };
6 robot.SetLimitNegative(nlimit);
7
8 double[] neg_deg = new double[6] {0,0,0,0,0,0 };
9 double[] pos_deg = new double[6] { 0, 0, 0, 0, 0, 0 };
10 robot.GetJointSoftLimitDeg(0, ref neg_deg,ref pos_deg);
11 Console.WriteLine($"neg limit deg:{neg_deg[0]},{neg_deg[1]},{neg_deg[2]},{neg_deg[3]},{neg_deg[4]},{neg_deg[5]}");
12 Console.WriteLine($"pos limit deg:{pos_deg[0]},{pos_deg[1]},{pos_deg[2]},{pos_deg[3]},{pos_deg[4]},{pos_deg[5]}");
13}
7.10. Set robot collision detection method
1/**
2* @brief Set robot collision detection method
3* @param [in] method Collision detection method: 0-current mode; 1-dual encoder; 2-current and dual encoder enabled simultaneously
4* @param [in] thresholdMode Collision level threshold mode; 0 - fixed collision level threshold mode; 1 - custom collision detection threshold
5* @return Error code
6*/
7int SetCollisionDetectionMethod(int method, int thresholdMode=0);
7.11. Set collision detection start/stop in static mode
1/**
2* @brief Set collision detection start/stop in static mode
3* @param [in] status 0-disabled; 1-enabled
4* @return Error code
5*/
6int SetStaticCollisionOnOff(int status);
7.12. Code example for setting the robot collision detection method
1private void button26_Click(object sender, EventArgs e)
2{
3 int rtn = robot.SetCollisionDetectionMethod(0, 0);
4
5 rtn = robot.SetStaticCollisionOnOff(1);
6 Console.WriteLine($"SetStaticCollisionOnOff On rtn is {rtn}");
7 Thread.Sleep(5000);
8 rtn = robot.SetStaticCollisionOnOff(0);
9 Console.WriteLine($"SetStaticCollisionOnOff Off rtn is {rtn}");
10}
7.13. Joint Torque Power Detection
1/**
2* @brief Joint Torque Power Detection
3* @param [in] status 0-off; 1-on
4* @param [in] power Set maximum power (W)
5* @return Error code
6*/
7int SetPowerLimit(int status, double power);
7.14. Joint torque power detection code example
1private void button26_Click(object sender, EventArgs e)
2{
3 robot.DragTeachSwitch(1);
4 robot.SetPowerLimit(1, 200);
5 double[] torques = { 0, 0, 0, 0, 0, 0 };
6 robot.GetJointTorques(1, torques);
7
8 int count = 100;
9 robot.ServoJTStart();
10 int error = 0;
11 while (count > 0)
12 {
13 error = robot.ServoJT(torques, 0.001f);
14 count--;
15 Thread.Sleep(1);
16 }
17 error = robot.ServoJTEnd();
18 robot.DragTeachSwitch(0);
19}
7.15. Set Safety Speed Parameters
1/**
2* @brief Set safety speed parameters
3* @param [in] enable 0-off; 1-enabled in manual mode; 2-enabled in all modes (automatic speed limiting not supported)
4* @param [in] maxTCPVel Maximum TCP speed limit; [0-1000] mm/s
5* @param [in] strategy Strategy after overspeed; 0-stop with alarm; 1-automatic speed limiting; 2-stop with alarm and disable
6* @return Error code
7*/
8public int SetVelReducePara(int enable, double maxTCPVel, int strategy)
7.16. SDK Code Example for Setting Safety Speed Parameters
1public int TestSetVelReducePara()
2{
3 int rtn = 0;
4 JointPos j1 = new JointPos(0, -90, 90, 0, 0, 0);
5 JointPos j2 = new JointPos(90, -90, 90, 0, 0, 0);
6 ExaxisPos epos = new ExaxisPos(0, 0, 0, 0);
7 DescPose offset_pos = new DescPose(0, 0, 0, 0, 0, 0);
8
9 robot.SetSpeed(80);
10
11 // Test parameter error
12 rtn = robot.SetVelReducePara(2, 30, 1);
13 Console.WriteLine($"SetVelReducePara param error rtn is {rtn}");
14
15 // Disable speed reduction
16 rtn = robot.SetVelReducePara(0, 30, 1);
17 Console.WriteLine($"SetVelReducePara disable reduce vel rtn is {rtn}");
18 robot.MoveJ(j1, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
19 robot.MoveJ(j2, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
20
21 // Enable speed reduction (manual mode)
22 rtn = robot.SetVelReducePara(1, 30, 1);
23 Console.WriteLine($"SetVelReducePara reduce vel rtn is {rtn}");
24 robot.MoveJ(j1, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
25 robot.MoveJ(j2, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
26
27 // Enabled in all modes, strategy: stop with alarm and disable
28 rtn = robot.SetVelReducePara(2, 30, 2);
29 Console.WriteLine($"SetVelReducePara disable robot rtn is {rtn}");
30 robot.MoveJ(j1, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
31 robot.MoveJ(j2, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
32
33 Thread.Sleep(2000);
34 robot.ResetAllError();
35 robot.RobotEnable(1);
36 Thread.Sleep(1000);
37
38 // Enabled in all modes, strategy: stop with alarm (normal parameters)
39 rtn = robot.SetVelReducePara(2, 30, 0);
40 Console.WriteLine($"SetVelReducePara report error rtn is {rtn}");
41 robot.MoveJ(j1, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
42 robot.MoveJ(j2, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
43
44 Thread.Sleep(1000);
45 return 0;
46}