6. Robot common settings

6.1. Set tool reference point - six point method

1/**
2* @brief Set tool reference point - six point method
3* @param [in] point_num Point number, range [1~6]
4* @return Error code
5*/
6int SetToolPoint(int point_num);

6.2. Calculate tool coordinate system - six point method

1/**
2* @brief Calculate tool coordinate system
3* @param [out] tcp_pose Tool coordinate system
4* @return Error code
5*/
6int ComputeTool(DescPose tcp_pose);

6.3. Set tool reference point - four point method

1/**
2* @brief Set tool reference point - four point method
3* @param [in] point_num Point number, range [1~4]
4* @return Error code
5*/
6int SetTcp4RefPoint(int point_num);

6.4. Calculate tool coordinate system - four point method

1/**
2* @brief Calculate tool coordinate system
3* @param [out] tcp_pose Tool coordinate system
4* @return Error code
5*/
6int ComputeTcp4(DescPose tcp_pose);

6.5. Calculate tool coordinate system based on point information

1/**
2* @brief Calculate tool coordinate system based on point information
3* @param [in] method Calculation method; 0-four point method; 1-six point method
4* @param [in] pos Joint position group, array length is 4 for four point method, 6 for six point method
5* @param [out] tool_pose Output tool coordinate system
6* @return Error code
7*/
8int ComputeToolCoordWithPoints(int method, JointPos[] pos, DescPose tool_pose);

6.6. Set tool coordinate system

 1/**
 2* @brief Set tool coordinate system
 3* @param [in] id Coordinate system number, range [0~14]
 4* @param [in] coord Tool center point pose relative to end flange center
 5* @param [in] type 0-tool coordinate system, 1-sensor coordinate system
 6* @param [in] install Installation position, 0-robot end, 1-external to robot
 7* @param [in] toolID Tool ID
 8* @param [in] loadNum Load number
 9* @return Error code
10*/
11int SetToolCoord(int id, DescPose coord, int type, int install, int toolID, int loadNum);

6.7. Set tool coordinate system list

 1/**
 2* @brief Set tool coordinate system list
 3* @param [in] id Coordinate system number, range [0~14]
 4* @param [in] coord Tool center point pose relative to end flange center
 5* @param [in] type 0-tool coordinate system, 1-sensor coordinate system
 6* @param [in] install Installation position, 0-robot end, 1-external to robot
 7* @param [in] loadNum Load number
 8* @return Error code
 9*/
10int SetToolList(int id, DescPose coord, int type, int install, int loadNum);

6.8. Get current tool coordinate system

1/**
2* @brief Get current tool coordinate system
3* @param [in] flag 0-blocking, 1-non-blocking
4* @param [out] desc_pos Tool coordinate system pose
5* @return Error code
6*/
7int GetTCPOffset(int flag, DescPose desc_pos);

6.9. Robot tool coordinate system operation code example

 1public static int TestTCPCompute(Robot robot)
 2{
 3    DescPose p1Desc=new DescPose(186.331, 487.913, 209.850, 149.030, 0.688, -114.347);
 4    JointPos p1Joint=new JointPos(-127.876, -75.341, 115.417, -122.741, -59.820, 74.300);
 5
 6    DescPose p2Desc=new DescPose(69.721, 535.073, 202.882, -144.406, -14.775, -89.012);
 7    JointPos p2Joint=new JointPos(-101.780, -69.828, 110.917, -125.740, -127.841, 74.300);
 8
 9    DescPose p3Desc=new DescPose(146.861, 578.426, 205.598, 175.997, -36.178, -93.437);
10    JointPos p3Joint=new JointPos(-112.851, -60.191, 86.566, -80.676, -97.463, 74.300);
11
12    DescPose p4Desc=new DescPose(136.284, 509.876, 225.613, 178.987, 1.372, -100.696);
13    JointPos p4Joint=new JointPos(-116.397, -76.281, 113.845, -128.611, -88.654, 74.299);
14
15    DescPose p5Desc=new DescPose(138.395, 505.972, 298.016, 179.134, 2.147, -101.110);
16    JointPos p5Joint=new JointPos(-116.814, -82.333, 109.162, -118.662, -88.585, 74.302);
17
18    DescPose p6Desc=new DescPose(105.553, 454.325, 232.017, -179.426, 0.444, -99.952);
19    JointPos p6Joint=new JointPos(-115.649, -84.367, 122.447, -128.663, -90.432, 74.303);
20
21    ExaxisPos exaxisPos=new ExaxisPos(0, 0, 0, 0);
22    DescPose offdese=new DescPose(0, 0, 0, 0, 0, 0);
23
24    JointPos[] posJ = { p1Joint , p2Joint , p3Joint , p4Joint , p5Joint , p6Joint };
25    DescPose coordRtn =new DescPose() {};
26    int rtn = robot.ComputeToolCoordWithPoints(1, posJ, coordRtn);
27
28    robot.MoveJ(p1Joint, p1Desc, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
29    robot.SetToolPoint(1);
30    robot.MoveJ(p2Joint, p2Desc, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
31    robot.SetToolPoint(2);
32    robot.MoveJ(p3Joint, p3Desc, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
33    robot.SetToolPoint(3);
34    robot.MoveJ(p4Joint, p4Desc, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
35    robot.SetToolPoint(4);
36    robot.MoveJ(p5Joint, p5Desc, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
37    robot.SetToolPoint(5);
38    robot.MoveJ(p6Joint, p6Desc, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
39    robot.SetToolPoint(6);
40    rtn = robot.ComputeTool(coordRtn);
41    robot.SetToolList(3, coordRtn, 0, 0, 0);
42
43    robot.MoveJ(p1Joint, p1Desc, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
44    robot.SetTcp4RefPoint(1);
45    robot.MoveJ(p2Joint, p2Desc, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
46    robot.SetTcp4RefPoint(2);
47    robot.MoveJ(p3Joint, p3Desc, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
48    robot.SetTcp4RefPoint(3);
49    robot.MoveJ(p4Joint, p4Desc, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
50    robot.SetTcp4RefPoint(4);
51    rtn = robot.ComputeTcp4(coordRtn);
52
53    robot.SetToolCoord(4, coordRtn, 0, 0, 1, 0);
54
55    DescPose getCoord = new DescPose(){};
56    rtn = robot.GetTCPOffset(0, getCoord);
57    return 0;
58}

6.10. Set external tool reference point - six point method

1/**
2* @brief Set external tool reference point - three point method
3* @param [in] point_num Point number, range [1~3]
4* @return Error code
5*/
6int SetExTCPPoint(int point_num);

6.11. Calculate external tool coordinate system - six point method

1/**
2* @brief Calculate external tool coordinate system - three point method
3* @param [out] tcp_pose External tool coordinate system
4* @return Error code
5*/
6int ComputeExTCF(DescPose tcp_pose);

6.12. Set external tool coordinate system

1/**
2* @brief Set external tool coordinate system
3* @param [in] id Coordinate system number, range [0~14]
4* @param [in] etcp Tool center point pose relative to end flange center
5* @param [in] etool To be determined
6* @return Error code
7*/
8int SetExToolCoord(int id, DescPose etcp, DescPose etool);

6.13. Set external tool coordinate system list

1/**
2* @brief Set external tool coordinate system list
3* @param [in] id Coordinate system number, range [0~14]
4* @param [in] etcp Tool center point pose relative to end flange center
5* @param [in] etool To be determined
6* @return Error code
7*/
8int SetExToolList(int id, DescPose etcp, DescPose etool);

6.14. Robot external tool coordinate system operation code example

 1public static int TestExtCoord(Robot robot)
 2{
 3    DescPose p1Desc=new DescPose(-89.606, 779.517, 193.516, 178.000, 0.476, -92.484);
 4    JointPos p1Joint=new JointPos(-108.145, -50.137, 85.818, -125.599, -87.946, 74.329);
 5
 6    DescPose p2Desc=new DescPose(-24.656, 850.384, 191.361, 177.079, -2.058, -95.355);
 7    JointPos p2Joint=new JointPos(-111.024, -41.538, 69.222, -114.913, -87.743, 74.329);
 8
 9    DescPose p3Desc=new DescPose(-99.813, 766.661, 241.878, -176.817, 1.917, -91.604);
10    JointPos p3Joint=new JointPos(-107.266, -56.116, 85.971, -122.560, -92.548, 74.331);
11
12    robot.GetForwardKin(p1Joint,p1Desc);
13    robot.GetForwardKin(p2Joint,p2Desc);
14    robot.GetForwardKin(p3Joint,p3Desc);
15
16    ExaxisPos exaxisPos=new ExaxisPos(0, 0, 0, 0);
17    DescPose offdese=new DescPose(0, 0, 0, 0, 0, 0);
18
19    DescPose[] posTCP = { p1Desc , p2Desc , p3Desc };
20    DescPose coordRtn = new DescPose();
21
22    robot.MoveJ(p1Joint, p1Desc, 1, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
23    robot.SetExTCPPoint(1);
24    robot.MoveJ(p2Joint, p2Desc, 1, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
25    robot.SetExTCPPoint(2);
26    robot.MoveJ(p3Joint, p3Desc, 1, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
27    robot.SetExTCPPoint(3);
28    int rtn = robot.ComputeExTCF(coordRtn);
29
30    robot.SetExToolCoord(1, coordRtn, offdese);
31    robot.SetExToolList(1, coordRtn, offdese);
32    return 0;
33}

6.15. Set workpiece reference point - three point method

1/**
2* @brief Set workpiece reference point - three point method
3* @param [in] point_num Point number, range [1~3]
4* @return Error code
5*/
6int SetWObjCoordPoint(int point_num);

6.16. Calculate workpiece coordinate system

1/**
2* @brief Calculate workpiece coordinate system
3* @param [in] method Calculation method 0: origin-x axis-z axis 1: origin-x axis-xy plane
4* @param [in] refFrame Reference coordinate system
5* @param [out] wobj_pose Workpiece coordinate system
6* @return Error code
7*/
8int ComputeWObjCoord(int method, int refFrame, DescPose wobj_pose);

6.17. Set workpiece coordinate system

1/**
2* @brief Set workpiece coordinate system
3* @param [in] id Coordinate system number, range [1~15]
4* @param [in] coord Workpiece coordinate system pose relative to end flange center
5* @param [in] refFrame Reference coordinate system
6* @return Error code
7*/
8int SetWObjCoord(int id, DescPose coord, int refFrame);

6.18. Set workpiece coordinate system list

1/**
2* @brief Set workpiece coordinate system list
3* @param [in] id Coordinate system number, range [1~15]
4* @param [in] coord Workpiece coordinate system pose relative to end flange center
5* @param [in] refFrame Reference coordinate system
6* @return Error code
7*/
8int SetWObjList(int id, DescPose coord, int refFrame);

6.19. Calculate workpiece coordinate system based on point information

1/**
2* @brief Calculate workpiece coordinate system based on point information
3* @param [in] method Calculation method; 0: origin-x axis-z axis 1: origin-x axis-xy plane
4* @param [in] pos Three TCP position groups
5* @param [in] refFrame Reference coordinate system
6* @param [in] tcp_pose Output workpiece coordinate system
7* @return Error code
8*/
9int ComputeWObjCoordWithPoints(int method, DescPose[] pos, int refFrame,DescPose tcp_pose);

6.20. Get current workpiece coordinate system

1/**
2* @brief Get current workpiece coordinate system
3* @param [in] flag 0-blocking, 1-non-blocking
4* @param [out] desc_pos Workpiece coordinate system pose
5* @return Error code
6*/
7int GetWObjOffset(int flag, DescPose desc_pos);

6.21. Workpiece coordinate system operation code example

 1public static int TestWobjCoord(Robot robot)
 2{
 3    DescPose p1Desc=new DescPose(-89.606, 779.517, 193.516, 178.000, 0.476, -92.484);
 4    JointPos p1Joint=new JointPos(-108.145, -50.137, 85.818, -125.599, -87.946, 74.329);
 5
 6    DescPose p2Desc=new DescPose(-24.656, 850.384, 191.361, 177.079, -2.058, -95.355);
 7    JointPos p2Joint=new JointPos(-111.024, -41.538, 69.222, -114.913, -87.743, 74.329);
 8
 9    DescPose p3Desc=new DescPose(-99.813, 766.661, 241.878, -176.817, 1.917, -91.604);
10    JointPos p3Joint=new JointPos(-107.266, -56.116, 85.971, -122.560, -92.548, 74.331);
11
12    robot.GetForwardKin(p1Joint,p1Desc);
13    robot.GetForwardKin(p2Joint,p2Desc);
14    robot.GetForwardKin(p3Joint,p3Desc);
15
16    ExaxisPos exaxisPos=new ExaxisPos(0, 0, 0, 0);
17    DescPose offdese=new DescPose(0, 0, 0, 0, 0, 0);
18
19    DescPose[] posTCP =new DescPose[]{p1Desc , p2Desc , p3Desc };
20    DescPose coordRtn =new DescPose();
21    int rtn = robot.ComputeWObjCoordWithPoints(1, posTCP, 0, coordRtn);
22
23    robot.MoveJ(p1Joint, p1Desc, 1, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
24    robot.SetWObjCoordPoint(1);
25    robot.MoveJ(p2Joint, p2Desc, 1, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
26    robot.SetWObjCoordPoint(2);
27    robot.MoveJ(p3Joint, p3Desc, 1, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
28    robot.SetWObjCoordPoint(3);
29    rtn = robot.ComputeWObjCoord(1, 0, coordRtn);
30
31    robot.SetWObjCoord(1, coordRtn, 0);
32    robot.SetWObjList(1, coordRtn, 0);
33
34    DescPose getWobjDesc = new DescPose();
35    rtn = robot.GetWObjOffset(0, getWobjDesc);
36    return 0;
37}

6.22. Set global speed

1/**
2* @brief Set global speed
3* @param [in] vel Speed percentage, range [0~100]
4* @return Error code
5*/
6int SetSpeed(int vel);

6.23. Set robot acceleration

1/**
2* @brief Set robot acceleration
3* @param [in] acc Robot acceleration percentage
4* @return Error code
5*/
6int SetOaccScale(double acc);

6.24. Get robot default speed

1/**
2* @brief Get robot default speed
3* @return List[0]:int Error code; List[1]: double vel Speed, unit mm/s
4*/
5List<Number> GetDefaultTransVel();

6.25. Set end load weight

1/**
2* @brief Set end load weight
3* @param [in] loadNum Load number
4* @param [in] weight Load weight, unit kg
5* @return Error code
6*/
7int SetLoadWeight(int loadNum,double weight);

6.26. Set end load center of mass coordinates

1/**
2* @brief Set end load center of mass coordinates
3* @param [in] coord Center of mass coordinates, unit mm
4* @return Error code
5*/
6int SetLoadCoord(DescTran coord);

6.27. Set End Effector Load Center of Mass Coordinates

1/**
2 * @brief  Set end effector load center of mass coordinates
3 * @param  [in] loadNum Load number
4 * @param  [in] coord Center of mass coordinates, unit: mm
5 * @return  Error code
6 */
7public int SetLoadCoord(int loadNum, DescTran coord)

6.28. Get current load weight

1/**
2* @brief Get current load weight
3* @param [in] flag 0-blocking, 1-non-blocking
4* @return List[0]:int Error code; List[1]: double weight Load weight, unit kg
5*/
6List<Number> GetTargetPayload(int flag);

6.29. Get current load center of mass

1/**
2* @brief Get current load center of mass
3* @param [in] flag 0-blocking, 1-non-blocking
4* @param [out] cog Load center of mass, unit mm
5* @return Error code
6*/
7int GetTargetPayloadCog(int flag, DescTran cog);

6.30. Set robot installation method

1/**
2* @brief Set robot installation method
3* @param [in] install Installation method, 0-standard, 1-side, 2-inverted
4* @return Error code
5*/
6int SetRobotInstallPos(int install);

6.31. Set robot installation angle

1/**
2* @brief Set robot installation angle, free installation
3* @param [in] yangle Tilt angle
4* @param [in] zangle Rotation angle
5* @return Error code
6*/
7int SetRobotInstallAngle(double yangle, double zangle);

6.32. Get robot installation angle

1/**
2* @brief Get robot installation angle
3* @return List[0]:Error code; List[1]:double yangle Tilt angle; List[2]:double zangle Rotation angle
4*/
5public List<Number> GetRobotInstallAngle()

6.33. Set system variable value

1/**
2* @brief Set system variable value
3* @param [in] id Variable number, range [1~20]
4* @param [in] value Variable value
5* @return Error code
6*/
7int SetSysVarValue(int id, double value);

6.34. Get system variable value

1/**
2* @brief Get system variable value
3* @param [in] id System variable number, range [1~20]
4* @return List[0]:Error code; List[1]:double value System variable value
5*/
6List<Number> GetSysVarValue(int id);

6.35. Robot common settings code example

 1public static int TestLoadInstall(Robot robot)
 2{
 3    for (int i = 1; i < 100; i++)
 4    {
 5        robot.SetSpeed(i);
 6        robot.SetOaccScale(i);
 7        robot.Sleep(30);
 8    }
 9
10    List<Number> defaultVel=new ArrayList<>();
11
12    defaultVel=robot.GetDefaultTransVel();
13    System.out.println("GetDefaultTransVel is:"+ defaultVel.get(1));
14
15    for (int i = 1; i < 21; i++)
16    {
17        robot.SetSysVarValue(i, i + 0.5);
18        robot.Sleep(100);
19    }
20
21    for (int i = 1; i < 21; i++)
22    {
23        float value = 0;
24        defaultVel=robot.GetSysVarValue(i);
25        System.out.println("sys value :"+i+", is :"+defaultVel.get(1));
26        robot.Sleep(100);
27    }
28
29    robot.SetLoadWeight(0, 2.5);
30
31    DescTran loadCoord = new DescTran();
32    loadCoord.x = 3.0;
33    loadCoord.y = 4.0;
34    loadCoord.z = 5.0;
35    robot.SetLoadCoord(loadCoord);
36
37    robot.Sleep(1000);
38
39    List<Number> getLoad = new ArrayList<>();
40
41    getLoad=robot.GetTargetPayload(0);
42
43    DescTran getLoadTran =new DescTran();
44    robot.GetTargetPayloadCog(0, getLoadTran);
45    System.out.println("get load is:"+getLoad.get(1)+", get load cog is: "+getLoadTran.x+","+getLoadTran.y+","+getLoadTran.z);
46
47    robot.SetRobotInstallPos(0);
48    robot.SetRobotInstallAngle(15.0, 25.0);
49
50    List<Number> angle=new ArrayList<>();
51    angle=robot.GetRobotInstallAngle();
52    System.out.println("GetRobotInstallAngle x:"+angle.get(1)+";  y:"+angle.get(2));
53
54    robot.CloseRPC();
55    return 0;
56}

6.36. Joint friction compensation switch

1/**
2* @brief Joint friction compensation switch
3* @param [in] state 0-off, 1-on
4* @return Error code
5*/
6int FrictionCompensationOnOff(int state);

6.37. Set joint friction compensation coefficient - standard installation

1/**
2* @brief Set joint friction compensation coefficient - standard installation
3* @param [in] coeff Six joint compensation coefficients, range [0~1]
4* @return Error code
5*/
6int SetFrictionValue_level(Object[] coeff);

6.38. Set joint friction compensation coefficient - side installation

1/**
2* @brief Set joint friction compensation coefficient - side installation
3* @param [in] coeff Six joint compensation coefficients, range [0~1]
4* @return Error code
5*/
6int SetFrictionValue_wall(Object[] coeff);

6.39. Set joint friction compensation coefficient - inverted installation

1/**
2* @brief Set joint friction compensation coefficient - inverted installation
3* @param [in] coeff Six joint compensation coefficients, range [0~1]
4* @return Error code
5*/
6int SetFrictionValue_ceiling(Object[] coeff);

6.40. Set joint friction compensation coefficient - free installation

1/**
2* @brief Set joint friction compensation coefficient - free installation
3* @param [in] coeff Six joint compensation coefficients, range [0~1]
4* @return Error code
5*/
6int SetFrictionValue_freedom(Object[] coeff);

6.41. Robot set joint friction compensation code example

 1public static int TestFriction(Robot robot)
 2{
 3
 4    Object[] lcoeff = { 0.9,0.9,0.9,0.9,0.9,0.9 };
 5    Object[] wcoeff = { 0.4,0.4,0.4,0.4,0.4,0.4 };
 6    Object[] ccoeff = { 0.6,0.6,0.6,0.6,0.6,0.6 };
 7    Object[] fcoeff = { 0.5,0.5,0.5,0.5,0.5,0.5 };
 8
 9    int rtn = robot.FrictionCompensationOnOff(1);
10    System.out.println("FrictionCompensationOnOff rtn is:"+ rtn);
11
12    rtn = robot.SetFrictionValue_level(lcoeff);
13    System.out.println("SetFrictionValue_level rtn is:"+ rtn);
14
15    rtn = robot.SetFrictionValue_wall(wcoeff);
16    System.out.println("SetFrictionValue_wall rtn is:"+ rtn);
17
18    rtn = robot.SetFrictionValue_ceiling(ccoeff);
19    System.out.println("SetFrictionValue_ceiling rtn is:"+ rtn);
20
21    rtn = robot.SetFrictionValue_freedom(fcoeff);
22    System.out.println("SetFrictionValue_freedom rtn is:"+ rtn);
23
24    robot.CloseRPC();
25    return 0;
26}

6.42. Query robot error code

1/**
2 * @brief Query robot error code
3 * @param [out] maincode Main error code
4 * @param [out] subcode Sub error code
5 * @return Error code
6 */
7int GetRobotErrorCode(int[] maincode, int[] subcode);

6.43. Error state clear

1/**
2* @brief Error state clear
3* @return Error code
4*/
5int ResetAllError();

6.44. Robot fault state get and clear error code example

 1public static int TestGetError(Robot robot)
 2{
 3    int[] maincode={0}, subcode={0};
 4    robot.GetRobotErrorCode(maincode, subcode);
 5
 6    robot.ResetAllError();
 7
 8    robot.Sleep(1000);
 9
10    robot.GetRobotErrorCode(maincode, subcode);
11    return 0;
12}

6.45. Set wide voltage control box temperature and fan speed monitoring parameters

New in version Java: SDK-v1.0.6-3.8.3

1/**
2* @brief Set wide voltage control box temperature and fan speed monitoring parameters
3* @param [in] enable 0-disable monitoring; 1-enable monitoring
4* @param [in] period Monitoring period(s), range 1-100
5* @return Error code
6*/
7int SetWideBoxTempFanMonitorParam(int enable, int period);

6.46. Get wide voltage control box temperature and fan speed monitoring parameters

New in version Java: SDK-v1.0.6-3.8.3

1/**
2* @brief Get wide voltage control box temperature and fan speed monitoring parameters
3* @return List[0]-Error code,List[1]-enable 0-disable monitoring; 1-enable monitoring,List[2]-period Monitoring period(s), range 1-100
4*/
5List<Number> GetWideBoxTempFanMonitorParam()

6.47. Wide voltage control box temperature and fan current state get code example

 1public static void TestWideVoltageCtrlBoxtemp(Robot robot)
 2{
 3    robot.SetWideBoxTempFanMonitorParam(1, 2);
 4    List<Number> list=robot.GetWideBoxTempFanMonitorParam();
 5    System.out.println("GetWideBoxTempFanMonitorParam enable is:"+list.get(1)+", period is:"+list.get(2));
 6    ROBOT_STATE_PKG pkg=new ROBOT_STATE_PKG();
 7    for (int i = 0; i < 100; i++)
 8    {
 9        pkg=robot.GetRobotRealTimeState();
10        System.out.println("robot ctrl box temp is:"+pkg.wideVoltageCtrlBoxTemp+",fan current is:"+pkg.wideVoltageCtrlBoxFanCurrent);
11        robot.Sleep(100);
12    }
13
14    int rtn = robot.SetWideBoxTempFanMonitorParam(0, 2);
15
16    list=robot.GetWideBoxTempFanMonitorParam();
17    for (int i = 0; i < 100; i++)
18    {
19        pkg=robot.GetRobotRealTimeState();
20        System.out.println("robot ctrl box temp is:"+pkg.wideVoltageCtrlBoxTemp+" ,fan current is:"+pkg.wideVoltageCtrlBoxFanCurrent);
21        robot.Sleep(100);
22    }
23
24    robot.CloseRPC();
25    robot.Sleep(2000);
26    return 0;
27}

6.48. Set Focus Calibration Point

New in version Java: SDK-v1.0.7-3.8.4

1/**
2* @brief Set focus calibration point
3* @param [in] pointNum Focus calibration point number (1-8)
4* @param [in] point    Calibration point coordinates
5* @return Error code
6*/
7int SetFocusCalibPoint(int pointNum, DescPose point)

6.49. Compute Focus Calibration Result

New in version Java: SDK-v1.0.7-3.8.4

1/**
2* @brief Compute focus calibration result
3* @param [in] pointNum  Number of calibration points
4* @param [in] resultPos Calibration result XYZ
5* @param [out] accuracy  Calibration accuracy error
6* @return Error code
7*/
8int ComputeFocusCalib(int pointNum, DescTran resultPos, double[] accuracy)

6.50. Start focus following

New in version Java: SDK-v1.0.7-3.8.4

 1/**
 2* @brief Start focus following
 3* @param [in] kp       Proportional parameter (default: 50.0)
 4* @param [in] kpredict Feedforward parameter (default: 19.0)
 5* @param [in] aMax     Maximum angular acceleration limit (default: 1440°/s²)
 6* @param [in] vMax     Maximum angular velocity limit (default: 180°/s)
 7* @param [in] type     Lock X-axis direction (0-Reference input vector; 1-Horizontal; 2-Vertical)
 8* @return Error code
 9*/
10int FocusStart(double kp, double kpredict, double aMax, double vMax, int type)

6.51. Stop Focus Following

New in version Java: SDK-v1.0.7-3.8.4

1/**
2* @brief Stop focus following
3* @return Error code
4*/
5int FocusEnd()

6.52. Set Focus Position

New in version Java: SDK-v1.0.7-3.8.4

1/**
2* @brief Set focus position
3* @param pos Focus position XYZ
4* @return Error code
5*/
6public int SetFocusPosition(DescTran pos)

6.53. Focus Following Code Example

 1public static void TestFocus(Robot robot){
 2    DescPose p1Desc=new DescPose(186.331, 487.913, 209.850, 149.030, 0.688, -114.347);
 3    JointPos p1Joint = new JointPos(-127.876, -75.341, 115.417, -122.741, -59.820, 74.300);
 4
 5    DescPose p2Desc = new DescPose(69.721, 535.073, 202.882, -144.406, -14.775, -89.012);
 6    JointPos p2Joint = new JointPos(-101.780, -69.828, 110.917, -125.740, -127.841, 74.300);
 7
 8    DescPose p3Desc = new DescPose(146.861, 578.426, 205.598, 175.997, -36.178, -93.437);
 9    JointPos p3Joint = new JointPos(-112.851, -60.191, 86.566, -80.676, -97.463, 74.300);
10
11    DescPose p4Desc = new DescPose(136.284, 509.876, 225.613, 178.987, 1.372, -100.696);
12    JointPos p4Joint = new JointPos(-116.397, -76.281, 113.845, -128.611, -88.654, 74.299);
13
14    DescPose p5Desc = new DescPose(138.395, 505.972, 298.016, 179.134, 2.147, -101.110);
15    JointPos p5Joint = new JointPos(-116.814, -82.333, 109.162, -118.662, -88.585, 74.302);
16
17    DescPose p6Desc = new DescPose(105.553, 454.325, 232.017, -179.426, 0.444, -99.952);
18    JointPos p6Joint = new JointPos(-115.649, -84.367, 122.447, -128.663, -90.432, 74.303);
19
20    ExaxisPos exaxisPos = new ExaxisPos(0, 0, 0, 0);
21    DescPose offdese = new DescPose(0, 0, 100, 0, 0, 0);
22
23    robot.GetForwardKin(p1Joint, p1Desc);
24    robot.GetForwardKin(p2Joint,  p2Desc);
25    robot.GetForwardKin(p3Joint,  p3Desc);
26    robot.GetForwardKin(p4Joint,  p4Desc);
27    robot.GetForwardKin(p5Joint,  p5Desc);
28    robot.GetForwardKin(p6Joint,  p6Desc);
29
30    robot.MoveJ(p1Joint, p1Desc, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
31    robot.SetTcp4RefPoint(1);
32    robot.MoveJ(p2Joint, p2Desc, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
33    robot.SetTcp4RefPoint(2);
34    robot.MoveJ(p3Joint, p3Desc, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
35    robot.SetTcp4RefPoint(3);
36    robot.MoveJ(p4Joint, p4Desc, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
37    robot.SetTcp4RefPoint(4);
38
39    DescPose coordRtn = new DescPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
40    int rtn = robot.ComputeTcp4( coordRtn);
41
42    robot.SetToolCoord(1, coordRtn, 0, 0, 1, 0);
43
44    robot.GetForwardKin(p1Joint, p1Desc);
45    robot.GetForwardKin(p2Joint, p2Desc);
46    robot.GetForwardKin(p3Joint, p3Desc);
47
48    robot.SetFocusCalibPoint(1, p1Desc);
49    robot.SetFocusCalibPoint(2, p2Desc);
50    robot.SetFocusCalibPoint(3, p3Desc);
51
52    DescTran resultPos = new DescTran(0.0, 0.0, 0.0);
53    double[] accuracy = {0.0};
54    rtn = robot.ComputeFocusCalib(3,  resultPos,  accuracy);
55    rtn = robot.SetFocusPosition(resultPos);
56
57    robot.GetForwardKin(p5Joint,  p5Desc);
58    robot.GetForwardKin(p6Joint,  p6Desc);
59
60    robot.MoveL(p5Joint, p5Desc, 1, 0, 10, 100, 100, -1, 0, exaxisPos, 0, 1, offdese,0,100);
61    robot.MoveL(p6Joint, p6Desc, 1, 0, 10, 100, 100, -1, 0, exaxisPos, 0, 1, offdese,0,100);
62
63    robot.FocusStart(50, 19, 710, 90, 0);
64    robot.MoveL(p5Joint, p5Desc, 1, 0, 10, 100, 100, -1, 0, exaxisPos, 0, 1, offdese,0,100);
65    robot.MoveL(p6Joint, p6Desc, 1, 0, 10, 100, 100, -1, 0, exaxisPos, 0, 1, offdese,0,100);
66    robot.FocusEnd();
67}

6.54. Joint Torque Sensor Sensitivity Calibration Function Enabled

1/**
2* @brief Joint torque sensor sensitivity calibration function enabled
3* @param status 0-Disabled; 1-Enabled
4* @return Error code
5*/
6public int JointSensitivityEnable(int status)

6.55. Joint Torque Sensor Sensitivity Data Acquisition

1/**
2* @brief Joint Torque Sensor Sensitivity Data Collection
3* @return Error code
4*/
5public int JointSensitivityCollect()

6.56. Get Joint Torque Sensor Sensitivity Calibration Results

1/**
2* @brief Get joint torque sensor sensitivity calibration results
3* @param calibResult j1~j6 joint sensitivity [0-1]
4* @param linearity j1~j6 joint linearity [0-1]
5* @return Error code
6*/
7public int JointSensitivityCalibration(double[] calibResult, double[] linearity)

6.57. Get Joint Torque Sensor Hysteresis Error

1/**
2* @brief Get joint torque sensor hysteresis error
3* @param hysteresisError j1~j6 joint hysteresis error
4* @return Error code
5*/
6public int JointHysteresisError(double[] hysteresisError);

6.58. Get Joint Torque Sensor Repeatability

1/**
2* @brief Get joint torque sensor repeatability
3* @param repeatability j1~j6 joint torque sensor repeatability
4* @return Error code
5*/
6public int JointRepeatability(double[] repeatability);

6.59. Set Joint Force Sensor Parameters

 1/**
 2* @brief Set joint force sensor parameters
 3* @param required M J1-J6 mass coefficient []
 4* @param required B J1-J6 damping coefficient []
 5* @param required K J1-J6 stiffness coefficient []
 6* @param default threshold Force control threshold, Nm
 7* @param default sensitivity Sensitivity, Nm/V, []
 8* @param default setZeroFlag Function enable flag; 0-Off; 1-On; 2-Record zero point at position 1; 3-Record zero point at position 2
 9* @return Error code
10*/
11public int SetAdmittanceParams(double[] M, double[] B, double[] K, double[] threshold, double[] sensitivity, int setZeroFlag);

6.60. Joint Torque Sensor Sensitivity Auto-Calibration Code Example

  1public static void TestSensitivityCalib(Robot robot)
  2{
  3    int rtn = robot.JointSensitivityEnable(0);
  4    rtn = robot.JointSensitivityEnable(1);
  5    System.out.printf("JointSensitivityEnable rtn is %d\n", rtn);
  6    JointPos curJPos = new JointPos();
  7    robot.GetActualJointPosDegree(curJPos);
  8    ExaxisPos epos = new ExaxisPos(0,0,0,0);
  9    DescPose offset_pos =new DescPose(0,0,0,0,0,0 );
 10    JointPos jointPos1 = new JointPos(curJPos.J1, 0, 0, -90, 0.02, curJPos.J6);
 11    DescPose descPos1 = new DescPose();
 12    robot.GetForwardKin(jointPos1, descPos1);
 13    robot.MoveJ(jointPos1, descPos1, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
 14    robot.Sleep(200);
 15    rtn = robot.JointSensitivityCollect();
 16    System.out.printf("JointSensitivityCollect 1 rtn is %d\n", rtn);
 17    robot.Sleep(100);
 18    JointPos jointPos2 =new JointPos( curJPos.J1, -30, 0, -90, 0.02, curJPos.J6 );
 19    DescPose descPos2 =new DescPose();
 20    robot.GetForwardKin(jointPos2, descPos2);
 21    robot.MoveJ(jointPos2, descPos2, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
 22    robot.Sleep(100);
 23    rtn = robot.JointSensitivityCollect();
 24    System.out.printf("JointSensitivityCollect 2 rtn is %d\n", rtn);
 25    robot.Sleep(100);
 26    JointPos jointPos3 = new JointPos( curJPos.J1, -60, 0, -90, 0.02, curJPos.J6 );
 27    DescPose descPos3 =new DescPose();
 28    robot.GetForwardKin(jointPos3, descPos3);
 29    robot.MoveJ(jointPos3, descPos3, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
 30    robot.Sleep(100);
 31    rtn = robot.JointSensitivityCollect();
 32    System.out.printf("JointSensitivityCollect 3 rtn is %d\n", rtn);
 33    robot.Sleep(100);
 34    JointPos jointPos4 = new JointPos(curJPos.J1, -90, 0, -90, 0.02, curJPos.J6);
 35    DescPose descPos4 = new DescPose();
 36    robot.GetForwardKin(jointPos4, descPos4);
 37    robot.MoveJ(jointPos4, descPos4, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
 38    robot.Sleep(100);
 39    rtn = robot.JointSensitivityCollect();
 40    System.out.printf("JointSensitivityCollect 4 rtn is %d\n", rtn);
 41    robot.Sleep(100);
 42    JointPos jointPos5 = new JointPos(curJPos.J1, -120, 0, -90, 0.02, curJPos.J6);
 43    DescPose descPos5 = new DescPose();
 44    robot.GetForwardKin(jointPos5, descPos5);
 45    robot.MoveJ(jointPos5, descPos5, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
 46    robot.Sleep(100);
 47    rtn = robot.JointSensitivityCollect();
 48    System.out.printf("JointSensitivityCollect 5 rtn is %d\n", rtn);
 49    robot.Sleep(100);
 50    JointPos jointPos6 = new JointPos(curJPos.J1, -150, 0, -90, 0.02, curJPos.J6);
 51    DescPose descPos6 = new DescPose();
 52    robot.GetForwardKin(jointPos6, descPos6);
 53    robot.MoveJ(jointPos6, descPos6, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
 54    robot.Sleep(100);
 55    rtn = robot.JointSensitivityCollect();
 56    System.out.printf("JointSensitivityCollect 6 rtn is %d\n", rtn);
 57    robot.Sleep(100);
 58    JointPos jointPos7 = new JointPos(curJPos.J1, -180, 0, -90, 0.02, curJPos.J6);
 59    DescPose descPos7 = new DescPose();
 60    robot.GetForwardKin(jointPos7, descPos7);
 61    robot.MoveJ(jointPos7, descPos7, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
 62    robot.Sleep(100);
 63    rtn = robot.JointSensitivityCollect();
 64    System.out.printf("JointSensitivityCollect 7 rtn is %d\n", rtn);
 65    robot.Sleep(100);
 66    // Reverse stroke
 67    robot.MoveJ(jointPos6, descPos6, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
 68    robot.Sleep(100);
 69    rtn = robot.JointSensitivityCollect();
 70    System.out.printf("JointSensitivityCollect 8 rtn is %d\n", rtn);
 71    robot.Sleep(100);
 72    robot.MoveJ(jointPos5, descPos5, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
 73    robot.Sleep(100);
 74    rtn = robot.JointSensitivityCollect();
 75    System.out.printf("JointSensitivityCollect 9 rtn is %d\n", rtn);
 76    robot.Sleep(100);
 77    robot.MoveJ(jointPos4, descPos4, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
 78    robot.Sleep(100);
 79    rtn = robot.JointSensitivityCollect();
 80    System.out.printf("JointSensitivityCollect 10 rtn is %d\n", rtn);
 81    robot.Sleep(100);
 82    robot.MoveJ(jointPos3, descPos3, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
 83    robot.Sleep(100);
 84    rtn = robot.JointSensitivityCollect();
 85    System.out.printf("JointSensitivityCollect 11 rtn is %d\n", rtn);
 86    robot.Sleep(100);
 87    robot.MoveJ(jointPos2, descPos2, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
 88    robot.Sleep(100);
 89    rtn = robot.JointSensitivityCollect();
 90    System.out.printf("JointSensitivityCollect 12 rtn is %d\n", rtn);
 91    robot.Sleep(100);
 92    robot.MoveJ(jointPos1, descPos1, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
 93    robot.Sleep(200);
 94    rtn = robot.JointSensitivityCollect();
 95    System.out.printf("JointSensitivityCollect 13 rtn is %d\n", rtn);
 96    robot.Sleep(100);
 97    double[] calibResult =new double[6];
 98    double[] linearity = new double[6];
 99    rtn = robot.JointSensitivityCalibration(calibResult, linearity);
100    System.out.printf("JointSensitivityCalibration rtn is %d\n", rtn);
101    rtn = robot.JointSensitivityEnable(0);
102    System.out.printf("JointSensitivityEnable rtn is %d\n", rtn);
103    System.out.printf("jointSensor Calib result is %f %f %f %f %f %f\njointSensor linearity is %f %f %f %f %f %f\n",
104            calibResult[0], calibResult[1], calibResult[2],
105            calibResult[3], calibResult[4], calibResult[5],
106            linearity[0], linearity[1], linearity[2],
107            linearity[3], linearity[4], linearity[5]);
108    double[] hysteresisError = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
109    rtn = robot.JointHysteresisError(hysteresisError);
110    System.out.printf("JointHysteresisError result is %f %f %f %f %f %f\n",
111            hysteresisError[0], hysteresisError[1], hysteresisError[2],
112            hysteresisError[3], hysteresisError[4], hysteresisError[5]);
113    double[] repeatability = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
114    rtn = robot.JointRepeatability(repeatability);
115    System.out.printf("JointRepeatability result is %f %f %f %f %f %f\n",
116            repeatability[0], repeatability[1], repeatability[2],
117            repeatability[3], repeatability[4], repeatability[5]);
118    double[] M = {1.0, 1.0, 1.0, 1.0, 1.0, 1.0};
119    double[] B = {1.0, 1.0, 1.0, 1.0, 1.0, 1.0};
120    double[] K = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
121    double[] threshold = {1.0, 1.0, 1.0, 1.0, 1.0, 1.0};
122    int setZeroFlag = 1;
123    rtn = robot.SetAdmittanceParams(M, B, K, threshold, calibResult, setZeroFlag);
124    System.out.printf("SetAdmittanceParams rtn is %d\n", rtn);
125}

6.61. Retrieve the number of error frames for the robot’s 8 slave ports

 1/**
 2* @brief Retrieve error frame counts for the robot's 8 slave ports
 3* @param  inRecvErr Input received error frame count
 4* @param  inCRCErr Input CRC error frame count
 5* @param  inTransmitErr Input transmitted error frame count
 6* @param  inLinkErr Input link error frame count
 7* @param  outRecvErr Output received error frame count
 8* @param  outCRCErr Output CRC error frame count
 9* @param  outTransmitErr Output transmitted error frame count
10* @param  outLinkErr Output link error frame count
11* @return Error code
12*/
13public int GetSlavePortErrCounter(int[] inRecvErr, int[] inCRCErr, int[] inTransmitErr, int[] inLinkErr, int[] outRecvErr, int[] outCRCErr, int[] outTransmitErr, int[] outLinkErr)

6.62. Reset slave port error frames

1/**
2* @brief Clears error frames for slave port
3* @param slaveID Slave ID (0~7)
4* @return Error code
5*/
6public int SlavePortErrCounterClear(int slaveID)

6.63. Example for retrieving slave port error frame codes

 1public static void TestSlavePortErr(Robot robot)
 2{
 3    ROBOT_STATE_PKG pkg =new ROBOT_STATE_PKG();
 4    int[] inRecvErr =new int[8];
 5    int[] inCRCErr =new int[8];
 6    int[] inTransmitErr =new int[8];
 7    int[] inLinkErr =new int[8];
 8    int[] outRecvErr =new int[8];
 9    int[] outCRCErr =new int[8];
10    int[] outTransmitErr =new int[8];
11    int[] outLinkErr =new int[8];
12    robot.GetSlavePortErrCounter(inRecvErr,  inCRCErr, inTransmitErr, inLinkErr,outRecvErr, outCRCErr, outTransmitErr, outLinkErr);
13    for (int i = 0; i < 8; i++)
14    {
15        if (inRecvErr[i] != 0)
16        {
17            System.out.printf("inRecvErr %d is %d\n", i, inRecvErr[i]);
18        }
19        if (inCRCErr[i] != 0)
20        {
21            System.out.printf("inRecvErr %d is %d\n", i, inCRCErr[i]);
22        }
23        if (inTransmitErr[i] != 0)
24        {
25            System.out.printf("inRecvErr %d is %d\n", i, inTransmitErr[i]);
26        }
27        if (inLinkErr[i] != 0)
28        {
29            System.out.printf("inRecvErr %d is %d\n", i, inLinkErr[i]);
30        }
31        if (outRecvErr[i] != 0)
32        {
33            System.out.printf("outRecvErr %d is %d\n", i, outRecvErr[i]);
34        }
35        if (outCRCErr[i] != 0)
36        {
37            System.out.printf("outCRCErr %d is %d\n", i, outCRCErr[i]);
38        }
39        if (outTransmitErr[i] != 0)
40        {
41            System.out.printf("outTransmitErr %d is %d\n", i, outTransmitErr[i]);
42        }
43        if (outLinkErr[i] != 0)
44        {
45            System.out.printf("outLinkErr %d is %d\n", i, outLinkErr[i]);
46        }
47    }
48    System.out.printf("others has no err!\n");
49    for (int i = 0; i < 8; i++)
50    {
51        robot.SlavePortErrCounterClear(i);
52    }
53    robot.CloseRPC();
54}

6.64. Set speed feedforward coefficients for each axis

1/**
2* @brief Sets the feedforward ratio for each axis
3* @param  radio The feedforward ratio for each axis
4* @return Error code
5*/
6public int SetVelFeedForwardRatio(double[] radio)

6.65. Retrieve speed feedforward ratios for each axis

1/**
2* @brief Retrieve speed feedforward ratios for each axis
3* @param  radio Speed feedforward coefficients for each axis
4* @return Error code
5*/
6public int GetVelFeedForwardRatio(double[] radio)

6.66. Robot Speed Feedforward Coefficient Code Example

1public static void TestVelFeedForwardRatio(Robot robot)
2{
3    double[] setRadio =new double[] { 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 };
4    robot.SetVelFeedForwardRatio(setRadio);
5    double[] getRadio = new double[]{ 0.0 };
6    robot.GetVelFeedForwardRatio(getRadio);
7    System.out.printf(" %f %f %f %f %f %f\n", getRadio[0], getRadio[1], getRadio[2], getRadio[3], getRadio[4], getRadio[5]);
8    robot.CloseRPC();
9}

6.67. Photoelectric Sensor TCP Calibration - Compute Tool RPY

 1/**
 2* @brief Photoelectric sensor TCP calibration - compute tool RPY
 3* @param  Btool Robot Cartesian position
 4* @param  Etool Current tool coordinate coefficient value
 5* @param  sensor Current sensor coordinate coefficient value (not yet available)
 6* @param  radius Circular motion radius mm (not yet available)
 7* @param  dz Movement distance along the negative direction of the base coordinate system Z-axis; when dz = 10000, the function directly returns tool RPY
 8* @param  TCPRPY Tool RPY value
 9* @return Error code
10*/
11public int TCPComputeRPY(DescPose Btool, DescPose Etool, DescPose sensor, double radius, double dz, Rpy TCPRPY)

6.68. Photoelectric Sensor TCP Calibration - Compute Tool XYZ

 1/**
 2* @brief Photoelectric sensor TCP calibration - compute tool XYZ
 3* @param  select 0-Compute tool TCP; 1-Compute sensor origin; 2-Compute sensor orientation; 3-Directly return tool TCP; 4-Record current workpiece coordinate system and tool coordinate system
 4* @param  originDirection 0-X direction; 1-Y direction; 2-Z direction
 5* @param  pos1 Robot Cartesian position 1
 6* @param  pos2 Robot Cartesian position 2
 7* @param  pos3 Robot Cartesian position 3
 8* @param  pos4 Robot Cartesian position 4
 9* @param  TCP Tool XYZ value
10* @return Error code
11*/
12public int TCPComputeXYZ(int select, double originDirection, DescTran pos1, DescTran pos2, DescTran pos3, DescTran pos4, DescTran TCP)

6.69. Photoelectric Sensor TCP Calibration - Start Recording Flange Center Position

1/**
2* @brief Photoelectric sensor TCP calibration - start recording flange center position
3* @return Error code
4*/
5public int TCPRecordFlangePosStart()

6.70. Photoelectric Sensor TCP Calibration - Stop Recording Flange Center Position

1/**
2* @brief Photoelectric sensor TCP calibration - stop recording flange center position
3* @return Error code
4*/
5public int TCPRecordFlangePosEnd()

6.71. Photoelectric Sensor TCP Calibration - Get Tool Center Point Position

1/**
2* @brief Photoelectric sensor TCP calibration - get tool center point position
3* @param  TCP Tool center point position (x,y,z)
4* @return Error code
5*/
6public int TCPGetRecordFlangePos(DescTran TCP)

6.72. Photoelectric Sensor TCP Calibration

1/**
2* @brief Photoelectric sensor TCP calibration
3* @param luaPath Automatic calibration Lua program path: QX version robot - "/fruser/FR_CalibrateTheToolTcp.lua"; LA version robot - "/usr/local/etc/controller/lua/FR_CalibrateTheToolTcp.lua"
4* @param offset Teach point offset (x,y,z) mm
5* @param TCP Calibrated tool coordinate system (x,y,z,rx,ry,rz)
6* @return Error code
7*/
8public int PhotoelectricSensorTCPCalibration(String luaPath, DescTran offset, DescPose TCP)

6.73. Photoelectric Sensor TCP Calibration Code Example

1public static void TestPhotoelectricSensorTCPCalib(Robot robot)
2{
3    DescTran offset = new DescTran(10.0, 10.0, 3.0 );
4    DescPose TCP = new DescPose();
5    int rtn = robot.PhotoelectricSensorTCPCalibration("/fruser/FR_CalibrateTheToolTcp.lua", offset, TCP);
6    System.out.printf("PhotoelectricSensorTCPCalibration rtn is %d %f %f %f %f %f %f \n", rtn, TCP.tran.x, TCP.tran.y, TCP.tran.z, TCP.rpy.rx, TCP.rpy.ry, TCP.rpy.rz);
7    robot.CloseRPC();
8    robot.Sleep(9999999);
9}