13. Extended Axis

13.1. Setting the 485 Extended Axis Parameters

New in version python: SDK-v2.0.3

Prototype	`AuxServoSetParam(servoId,servoCompany,servoModel,servoSoftVersion, servoResolution,axisMechTransRatio)`
Description	Setting the 485 extended axis parameters
Mandatory parameters	`servoId`: servo drive ID, range [1-15], corresponds to slave ID; `servoCompany`: servo drive manufacturer, 1 - Dynatec; `servoModel`: Servo drive model, 1-FD100-750C; `servoSoftVersion`: servo drive software version, 1-V1.0; `servoResolution`: encoder resolution; `axisMechTransRatio`: mechanical transmission ratio;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.2. Getting 485 Expansion Axis Configuration Parameters

New in version python: SDK-v2.0.3

Prototype	`AuxServoGetParam(servoId)`
Description	Get 485 extended axis configuration parameters
Mandatory parameters	`servoId`: servo drive ID, range [1-15], corresponding to slave ID;
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode. `servoCompany`: servo drive manufacturer, 1 - Dynatec; `servoModel`: servo drive model, 1-FD100-750C; `servoSoftVersion`: servo drive software version, 1-V1.0; `servoResolution`: encoder resolution; `axisMechTransRatio`: mechanical transmission ratio;

13.3. Setting the 485 expansion axis enable/disable

New in version python: SDK-v2.0.3

Prototype	`AuxServoEnable(servoId,status)`
Description	Setting the 485 extension axis to enable/de-enable
Mandatory parameters	`servoId`: servo drive ID, range [1-15], corresponds to slave ID; `status`: enabling status, 0-de-enabling, 1-enabling;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.4. Setting the 485 Extended Axis Control Mode

New in version python: SDK-v2.0.3

Prototype	`AuxServoSetControlMode(servoId,mode)`
Description	Setting the 485 Extended Axis Control Mode
Mandatory parameters	`servoId`: servo drive ID, range [1-15], corresponds to slave ID; `mode`: control mode, 0-position mode, 1-velocity mode;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.5. Setting the 485 extended axis target position (position mode)

New in version python: SDK-v2.0.3

Prototype	`AuxServoSetTargetPos(servoId,pos,speed)`
Description	Setting the 485 extended axis target position (position mode)
Mandatory parameters	`servoId`: servo drive ID, range [1-15], corresponds to slave ID; `pos`: target position, mm or °; `speed`: target speed, mm/s or °/s;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.6. Setting the 485 extended axis target torque (torque mode)-not yet available

New in version python: SDK-v2.0.3

prototype	`AuxServoSetTargetTorque(servoId,torque)`
Description	Setting the 485 extended axis target torque (torque mode)
Mandatory parameters	`servoId`: servo drive ID, range [1-15], corresponds to slave ID; `torque`: target moment, Nm;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.7. Setting the 485 extended axis back to zero

New in version python: SDK-v2.0.3

Prototype	`AuxServoHoming(servoId,mode,searchVel,latchVel)`
Description	Setting the 485 extension axis back to zero
Mandatory parameters	`servoId`: servo drive ID, range [1-15], corresponds to slave ID; `mode`: return to zero mode, 1 - return to zero at current position; 2 - return to zero at negative limit; 3 - return to zero at positive limit. `searchVel`: return-to-zero velocity, mm/s or °/s. `latchVel`: hoop speed, mm/s or °/s;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.8. Clearing 485 Expansion Axis Error Messages

New in version python: SDK-v2.0.3

Prototype	`AuxServoClearError(servoId)`
Description	Clearing 485 Extended Axis Error Message
Mandatory parameters	`servoId`: servo drive ID, range [1-15], corresponding to slave ID;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.9. Get 485 extended axis servo status

New in version python: SDK-v2.0.3

prototype	`AuxServoGetStatus(servoId)`
Description	Get 485 extended axis servo status
Mandatory parameters	`servoId`: servo drive ID, range [1-15], corresponding to slave ID;
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode. `servoErrCode`: servo drive error code `servoState`: servo drive state bit0:0-not enabled; 1-enabled; bit1:0-not in motion; 1-being in motion; bit2 0-positive limit not triggered; 1-positive limit triggered; bit3 0-negative limit not triggered; 1-negative limit triggered; bit4 0-positioning not completed; 1-positioning complete; bit5: 0-not zero return; 1 -zero return complete; `servoPos`: servo current position mm or °; `servoSpeed`: servo current speed mm/s or °/s; `servoTorque`: servo current torque Nm;

13.10. Setting the 485 extended axis target speed (velocity mode)

New in version python: SDK-v2.0.3

Prototype	`AuxServoSetTargetSpeed(servoId,speed)`
Description	Setting the 485 extended axis target speed (velocity mode)
Mandatory parameters	`servoId`: servo drive ID, range [1-15], corresponds to slave ID; `speed`: target speed, mm/s or °/s;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.11. Setting the 485 extended axis data axis number in the status feedback

New in version python: SDK-v2.0.3

Prototype	`AuxServosetStatusID(servoId)`
Description	Sets the 485 extended axis data axis number in status feedback
Mandatory parameters	`servoId`: servo drive ID, range [1-15], corresponding to slave ID;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.12. Setting the 485 Extended Axis Motion Acceleration and Deceleration Speed

New in version python: SDK-v2.0.5

Prototype	`AuxServoSetAcc(acc, dec)`
Description	Sets the 485 extended axis motion acceleration and deceleration speeds.
Mandatory parameters	`acc`: 485 extended axis motion acceleration `dec`: 485 extended axis motion deceleration
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.13. Setting the 485 extended axis emergency stop acceleration and deceleration speeds

New in version python: SDK-v2.0.5

Prototype	`AuxServoSetEmergencyStopAcc(acc, dec)`
Description	Setting the 485 extended axis emergency stop acceleration and deceleration speed
Mandatory parameters	`acc`: 485 extended axis emergency stop acceleration `dec`: 485 extended axis emergency stop deceleration
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.14. Get 485 Extended Axis Motion Acceleration and Deceleration

New in version python: SDK-v2.0.5

Prototype	`AuxServoGetAcc()`
Description	Get 485 extended axis motion plus or minus velocity
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `acc`: 485 extended axis motion acceleration `dec`: 485 extended axis motion deceleration

13.15. Get 485 extended axis emergency stop acceleration and deceleration speeds

New in version python: SDK-v2.0.5

Prototype	`AuxServoGetEmergencyStopAcc()`
Description	Get 485 extended axis emergency stop acceleration and deceleration speed
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `acc`: 485 extended axis emergency stop acceleration `dec`: 485 extended axis emergency stop deceleration

13.16. Extended axis control code example

from fairino import Robot
import time
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
retval = robot.AuxServoSetParam(1, 1, 1, 1, 131072, 15.45)
print(f"AuxServoSetParam is: {retval}")
servoCompany = 0
servoModel = 0
servoSoftVersion = 0
servoResolution = 0
axisMechTransRatio = 0.0
retval, servoCompany, servoModel, servoSoftVersion, servoResolution, axisMechTransRatio = robot.AuxServoGetParam(1)
print(f"servoCompany {servoCompany}\n"
      f"servoModel {servoModel}\n"
      f"servoSoftVersion {servoSoftVersion}\n"
      f"servoResolution {servoResolution}\n"
      f"axisMechTransRatio {axisMechTransRatio}\n")
retval = robot.AuxServoSetParam(1, 10, 11, 12, 13, 14)
print(f"AuxServoSetParam is: {retval}")
retval, servoCompany, servoModel, servoSoftVersion, servoResolution, axisMechTransRatio = robot.AuxServoGetParam(1)
print(f"servoCompany {servoCompany}\n"
      f"servoModel {servoModel}\n"
      f"servoSoftVersion {servoSoftVersion}\n"
      f"servoResolution {servoResolution}\n"
      f"axisMechTransRatio {axisMechTransRatio}\n")
retval = robot.AuxServoSetParam(1, 1, 1, 1, 131072, 36)
print(f"AuxServoSetParam is: {retval}")
time.sleep(3)
robot.AuxServoSetAcc(3000, 3000)
robot.AuxServoSetEmergencyStopAcc(5000, 5000)
time.sleep(1)
emagacc = 0.0
emagdec = 0.0
acc = 0.0
dec = 0.0
error,emagacc, emagdec = robot.AuxServoGetEmergencyStopAcc()
print(f"emergency acc is {emagacc}  dec is {emagdec}")
error,acc, dec = robot.AuxServoGetAcc()
print(f"acc is {acc}  dec is {dec}")
robot.AuxServoSetControlMode(1, 0)
time.sleep(2)
retval = robot.AuxServoEnable(1, 0)
print(f"AuxServoEnable disenable {retval}")
time.sleep(1)
servoErrCode = 0
servoState = 0
servoPos = 0.0
servoSpeed = 0.0
servoTorque = 0.0
retval, servoErrCode, servoState, servoPos, servoSpeed, servoTorque = robot.AuxServoGetStatus(1)
print(f"AuxServoGetStatus servoState {servoState}")
time.sleep(1)
retval = robot.AuxServoEnable(1, 1)
print(f"AuxServoEnable enable {retval}")
time.sleep(1)
retval, servoErrCode, servoState, servoPos, servoSpeed, servoTorque = robot.AuxServoGetStatus(1)
print(f"AuxServoGetStatus servoState {servoState}")
time.sleep(1)
retval = robot.AuxServoHoming(1, 1, 5, 1,100)
print(f"AuxServoHoming {retval}")
time.sleep(3)
retval = robot.AuxServoSetTargetPos(1, 200, 30,100)
print(f"AuxServoSetTargetPos {retval}")
time.sleep(1)
retval, servoErrCode, servoState, servoPos, servoSpeed, servoTorque = robot.AuxServoGetStatus(1)
print(f"AuxServoGetStatus servoSpeed {servoSpeed}")
time.sleep(8)
robot.AuxServoSetControlMode(1, 1)
time.sleep(2)
robot.AuxServoEnable(1, 0)
time.sleep(1)
robot.AuxServoEnable(1, 1)
time.sleep(1)
robot.AuxServoSetTargetSpeed(1, 100, 80)
time.sleep(5)
robot.AuxServoSetTargetSpeed(1, 0, 80)
robot.CloseRPC()

13.17. Parameter configuration for UDP extended axis communication

New in version python: SDK-v2.1.2

prototype	`ExtDevSetUDPComParam(ip, port, period, lossPkgTime, lossPkgNum, disconnectTime, reconnectEnable, reconnectPeriod, reconnectNum, selfConnect)`
Description	UDP Extended Axis Communication Parameter Configuration
Mandatory parameters	`ip`: PLC IP address; `port`: port number; `period`: communication period (ms, not open yet); `lossPkgTime`: packet loss detection time (ms); `lossPkgNum`: number of packets lost; `disconnectTime`: the length of the communication disconnect confirmation; `reconnectEnable`: communication disconnection auto reconnect enable 0-not enable 1-enable; `reconnectPeriod`: reconnect period interval (ms); `reconnectNum`: number of reconnections `selfConnect`: Whether the connection is automatically established upon power-off and restart; 0- No connection established; 1- Establish a connection
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.18. Get UDP extended axis communication parameters

New in version python: SDK-v2.0.4

Prototype	`ExtDevGetUDPComParam()`
Description	Get UDP extended axis communication parameters
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode; `ip`: PLC IP address; `port`: port number; `period`: communication period (ms, not open yet); `lossPkgTime`: packet loss detection time (ms); `lossPkgNum`: number of packets lost; `disconnectTime`: the length of the communication disconnect confirmation; `reconnectEnable`: communication disconnection auto reconnect enable 0-not enable 1-enable; `reconnectPeriod`: reconnect period interval (ms); `reconnectNum`: number of reconnections `reconnectNum`: Number of reconnection attempts `selfConnect`: Whether to automatically reconnect after control box restart; 0-no reconnection; 1-reconnect

13.19. Load UDP communication

New in version python: SDK-v2.0.4

Prototype	`ExtDevLoadUDPDriver()`
Description	Load UDP communication
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.20. Offloading UDP communication

New in version python: SDK-v2.0.4

Prototype	`ExtDevUnloadUDPDriver()`
Description	Offloading UDP communication
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.21. UDP Extended Axis Communication Recovery after Abnormal Disconnection

New in version python: SDK-v2.0.4

prototype	`ExtDevUDPClientComReset()`
Description	UDP Extended Axis Communication Abnormally Disconnected After Restoring Connection
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.22. UDP extension axis communication is closed after abnormal disconnection.

New in version python: SDK-v2.0.4

Prototype	`ExtDevUDPClientComClose()`
Description	UDP Extended Axis Communication Abnormal Disconnect Closes Communication
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.23. UDP Extended Axis Parameter Configuration

New in version python: SDK-v2.0.4

Prototype	`ExtAxisParamConfig(axisId, axisType, axisDirection, axisMax, axisMin, axisVel, axisAcc,axisLead, encResolution, axisOffect. axisCompany, axisModel, axisEncType)`
Description	UDP Extended Axis Parameter Configuration
Mandatory parameters	`axisId`: axis number [1-4]; `axisType`: extended axis type 0 - translation; 1 - rotation; `axisDirection`: extended axis direction 0 - forward; 1 - reverse; `axisMax`: Maximum position of the extended axis in mm; `axisMin`: Extended axis minimum position in mm; `axisVel`: speed mm/s; `axisAcc`: acceleration mm/s2; `axisLead`: lead in mm; `encResolution`: encoder resolution; `axisOffect`: Extended axis offset from the start of the weld; `axisCompany`: drive manufacturers 1-Hochuan; 2-HuiChuan; 3-Panasonic; `axisModel`: Drive Model 1-Hochuan-SV-XD3EA040L-E, 2-Hochuan-SV-X2EA150A-A, 1-HuiChuan-SV620PT5R4I, 1-Panasonic-MADLN15SG, 2-Panasonic-MSDLN25SG, 3-Panasonic-MCDLN35SG; `axisEncType`: encoder type 0-incremental; 1-absolute;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.24. Setting the extended robot position relative to the extended axis

New in version python: SDK-v2.0.4

Prototype	`SetRobotPosToAxis(installType)`
Description	Set the position of the extended robot relative to the extended axis
Mandatory parameters	`installType`: 0 - robot mounted on external axis, 1 - robot mounted outside external axis;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.25. Setting the extended axis system DH parameter configuration

New in version python: SDK-v2.0.4

Prototype	`SetAxisDHParaConfig(axisConfig,axisDHd1,axisDHd2,axisDHd3,axisDHd4,axisDHa1,axisDHa2,axisDHa3,axisDHa4)`
Description	Sets the extended axis system DH parameter configuration
Mandatory parameters	`axisConfig`: external axis configuration, 0 - single degree of freedom linear slide, 1 - two degree of freedom L-type indexer, 2 - three degree of freedom, 3 - four degree of freedom, 4 - single degree of freedom indexer; `axisDHd1`: external axis DH parameter d1 mm; `axisDHd2`: external axis DH parameter d2 mm; `axisDHd3`: external axis DH parameter d3 mm; `axisDHd4`: external axis DH parameter d4 mm; `axisDHa1`: external axis DH parameter a1 mm; `axisDHa2`: external axis DH parameter a2 mm; `axisDHa3`: external axis DH parameter a3 mm; `axisDHa4`: external axis DH parameter a4 mm;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.26. UDP Extended Axis Enable

New in version python: SDK-v2.0.4

Prototype	`ExtAxisServoOn(axisID, status)`
description	UDP Extended Axis Enable
Mandatory parameters	`axisID`: axis number [1-4]; `status`: 0-de-enable; 1-enable;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.27. UDP Extended Axis Zero Return

New in version python: SDK-v2.0.4

Prototype	`ExtAxisSetHoming(axisID, mode, searchVel, latchVel)`
Description	UDP extended axis back to zero
Mandatory parameters	`axisID`: axis number [1-4]; `mode`: return to zero mode 0 current position return to zero, 1 negative limit return to zero, 2 - positive limit return to zero; `searchVel`: search velocity (mm/s); `latchVel`: zeroing hoop speed (mm/s);
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.28. UDP Extended Axis Tap Start

New in version python: SDK-v2.0.4

Prototype	`ExtAxisStartJog( axisID, direction, vel, acc, maxDistance)`
Description	UDP Extended Axis Tap Start
Mandatory parameters	`axisID`: axis number [1-4]; `direction`: direction of rotation 0 - reverse; 1 - forward; `vel`: velocity (mm/s); `acc`: acceleration (mm/s); `maxDistance`: maximum pointing distance;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.29. UDP Extended Axis Tap Stop

New in version python: SDK-v2.0.4

Prototype	`ExtAxisStopJog(axisID)`
Description	UDP Extended Axis Tap Stop
Mandatory parameters	`axisID`: axis number [1-4];
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.30. Example of UDP extension axis configuration and tapping code

from fairino import Robot
import time
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
rtn = robot.ExtDevSetUDPComParam("192.168.58.88", 2021, 2, 100, 3, 200, 1, 100, 5, 1)
print(f"ExtDevSetUDPComParam rtn is {rtn}")
ip = ""
port = 0
period = 0
lossPkgTime = 0
lossPkgNum = 0
disconnectTime = 0
reconnectEnable = 0
reconnectPeriod = 0
reconnectNum = 0
rtn,[ip, port, period, lossPkgTime, lossPkgNum,disconnectTime, reconnectEnable, reconnectPeriod, reconnectNum] = robot.ExtDevGetUDPComParam()
param_str = (f"\nip {ip}\nport {port}\nperiod {period}\nlossPkgTime {lossPkgTime}"
             f"\nlossPkgNum {lossPkgNum}\ndisConntime {disconnectTime}"
             f"\nreconnecable {reconnectEnable}\nreconnperiod {reconnectPeriod}"
             f"\nreconnnun {reconnectNum}")
print(f"ExtDevGetUDPComParam rtn is {rtn}{param_str}")
robot.ExtDevLoadUDPDriver()
rtn = robot.ExtAxisServoOn(1, 1)
print(f"ExtAxisServoOn axis id 1 rtn is {rtn}")
rtn = robot.ExtAxisServoOn(2, 1)
print(f"ExtAxisServoOn axis id 2 rtn is {rtn}")
time.sleep(2)
robot.ExtAxisSetHoming(1, 0, 10, 2)
time.sleep(2)
rtn = robot.ExtAxisSetHoming(2, 0, 10, 2)
print(f"ExtAxisSetHoming rtn is {rtn}")
time.sleep(4)
rtn = robot.SetRobotPosToAxis(1)
print(f"SetRobotPosToAxis rtn is {rtn}")
rtn = robot.SetAxisDHParaConfig(10, 20, 0, 0, 0, 0, 0, 0, 0)
print(f"SetAxisDHParaConfig rtn is {rtn}")
rtn = robot.ExtAxisParamConfig(1, 1, 1, 1000, -1000, 1000, 1000, 1.905, 262144, 200, 1, 0, 0)
print(f"ExtAxisParamConfig axis 1 rtn is {rtn}")
rtn = robot.ExtAxisParamConfig(2, 1, 1, 1000, -1000, 1000, 1000, 4.444, 262144, 200, 1, 0, 0)
print(f"ExtAxisParamConfig axis 2 rtn is {rtn}")
time.sleep(3)
robot.ExtAxisStartJog(1, 0, 10, 10, 30)
time.sleep(1)
robot.ExtAxisStopJog(1)
time.sleep(3)
robot.ExtAxisServoOn(1, 0)
time.sleep(3)
robot.ExtAxisStartJog(2, 0, 10, 10, 30)
time.sleep(1)
robot.ExtAxisStopJog(2)
time.sleep(3)
robot.ExtAxisServoOn(2, 0)
robot.ExtDevUnloadUDPDriver()
robot.CloseRPC()

13.31. Setting the reference point of the extended axis coordinate system - four-point method

New in version python: SDK-v2.0.4

Prototype	`ExtAxisSetRefPoint(pointNum)`
Description	Setting the reference point of the extended axis coordinate system - four-point method
Mandatory parameters	`pointNum`: point number [1-4];
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.32. Calculating the Extended Axis Coordinate System - Four Point Method

New in version python: SDK-v2.0.4

Prototype	`ExtAxisComputeECoordSys()`
Description	Calculating Extended Axis Coordinate Systems - Four Point Method
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode. `coord`: extended axis coordinate system values [x,y,z,rx,ry,rz];

13.33. Reference Point Setting for the Shifter Coordinate System - Four-Point Method

New in version python: SDK-v2.0.4

Prototype	`PositionorSetRefPoint(pointNum)`
Description	Reference Point Setting for the Variable Position Machine Coordinate System - Four Point Method
Mandatory parameters	`pointNum`: point number [1-4];
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.34. Shifter Coordinate System Calculation - Four Point Method

New in version python: SDK-v2.0.4

Prototype	`PositionorComputeECoordSys()`
Description	Translator Coordinate System Calculation - Four Point Method
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode. `coord`: the value of the coordinate system of the translocator [x,y,z,rx,ry,rz];

13.35. Setting of the calibration reference point in the position in the coordinate system of the end of the translator

New in version python: SDK-v2.0.4

prototype	`SetRefPointInExAxisEnd(pos)`
Description	Set the calibration reference point to be positioned in the coordinate system of the end of the variator
Mandatory parameters	`pos`: bit position values [x,y,z,rx,ry,rz];
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.36. Applying the Extended Axis Coordinate System

New in version python: SDK-v2.0.4

Prototype	`ExtAxisActiveECoordSys(applyAxisId,axisCoordNum,coord,calibFlag)`
Description	Apply extended axis coordinate system
Mandatory parameters	`applyAxisId`:Extended Axis Numbering bit0-bit3 corresponds to extended axis numbering 1-4, e.g., if you apply extended axes 1 and 3, it would be 0b 0000 0101, or 5; `axisCoordNum`: extended axis coordinate system number; `coord`: coordinate system value [x,y,z,rx,ry,rz]; `calibFlag`: calibration flag 0 - no, 1 - yes;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.37. Obtain the extended axis coordinate system

New in version python: SDK-v2.1.2

Prototype	`ExtAxisGetCoord()`
Description	Obtain the extended axis coordinate system
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode `coord`：Extended axis coordinate system

13.38. Extended axis coordinate system calibration code example

from fairino import Robot
import time
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
rtn = robot.ExtDevSetUDPComParam("192.168.58.88", 2021, 2, 100, 3, 200, 1, 100, 5, 1)
print(f"ExtDevSetUDPComParam rtn is {rtn}")
rtn,udp_params = robot.ExtDevGetUDPComParam()
ip, port, period, lossPkgTime, lossPkgNum, disconnectTime, reconnectEnable, reconnectPeriod, reconnectNum = udp_params
patam = (
    f"\nip {ip}\nport {port}\nperiod {period}\nlossPkgTime {lossPkgTime}\n"
    f"lossPkgNum {lossPkgNum}\ndisConntime {disconnectTime}\nreconnecable {reconnectEnable}\n"
    f"reconnperiod {reconnectPeriod}\nreconnnun {reconnectNum}"
)
print(f"ExtDevGetUDPComParam rtn is {rtn}{patam}")
robot.ExtDevLoadUDPDriver()
rtn = robot.ExtAxisServoOn(1, 1)
print(f"ExtAxisServoOn axis id 1 rtn is {rtn}")
rtn = robot.ExtAxisServoOn(2, 1)
print(f"ExtAxisServoOn axis id 2 rtn is {rtn}")
time.sleep(2)
robot.ExtAxisSetHoming(1, 0, 10, 2)
time.sleep(2)
rtn = robot.ExtAxisSetHoming(2, 0, 10, 2)
print(f"ExtAxisSetHoming rtn is {rtn}")
time.sleep(4)
rtn = robot.SetRobotPosToAxis(1)
print(f"SetRobotPosToAxis rtn is {rtn}")
rtn = robot.SetAxisDHParaConfig(1, 128.5, 206.4, 0, 0, 0, 0, 0, 0)
print(f"SetAxisDHParaConfig rtn is {rtn}")
rtn = robot.ExtAxisParamConfig(1, 1, 1, 1000, -1000, 1000, 1000, 1.905, 262144, 200, 1, 0, 0)
print(f"ExtAxisParamConfig axis 1 rtn is {rtn}")
rtn = robot.ExtAxisParamConfig(2, 1, 1, 1000, -1000, 1000, 1000, 4.444, 262144, 200, 1, 0, 0)
print(f"ExtAxisParamConfig axis 2 rtn is {rtn}")
toolCoord = [0, 0, 210, 0, 0, 0]
robot.SetToolCoord(1, toolCoord, 0, 0, 1, 0)
jSafe = [115.193, -96.149, 92.489, -87.068, -89.15, -83.488]
j1 = [117.559, -92.624, 100.329, -96.909, -94.057, -83.488]
j2 = [112.239, -90.096, 99.282, -95.909, -89.824, -83.488]
j3 = [110.839, -83.473, 93.166, -89.22, -90.499, -83.487]
j4 = [107.935, -83.572, 95.424, -92.873, -87.933, -83.488]
descSafe = [0.0,0.0,0.0,0.0,0.0,0.0]
desc1 = [0.0,0.0,0.0,0.0,0.0,0.0]
desc2 = [0.0,0.0,0.0,0.0,0.0,0.0]
desc3 = [0.0,0.0,0.0,0.0,0.0,0.0]
desc4 = [0.0,0.0,0.0,0.0,0.0,0.0]
exaxisPos = [0.0,0.0,0.0,0.0]
offdese = [0.0,0.0,0.0,0.0,0.0,0.0]
error, descSafe = robot.GetForwardKin(jSafe)
robot.MoveJ(joint_pos=jSafe,tool= 1,user= 0,vel= 100)
time.sleep(2)
error, desc1 = robot.GetForwardKin(j1)
robot.MoveJ(joint_pos=j1,tool= 1,user= 0,vel= 100)
time.sleep(2)
actualTCPPos = [0.0,0.0,0.0,0.0,0.0,0.0]
error, actualTCPPos = robot.GetActualTCPPose(0)
robot.SetRefPointInExAxisEnd(actualTCPPos)
rtn = robot.PositionorSetRefPoint(1)
print(f"PositionorSetRefPoint 1 rtn is {rtn}")
time.sleep(2)
robot.MoveJ(joint_pos=jSafe,tool= 1,user= 0,vel= 100)
robot.ExtAxisStartJog(1, 0, 50, 50, 10)
time.sleep(1)
robot.ExtAxisStartJog(2, 0, 50, 50, 10)
time.sleep(1)
error, desc2 = robot.GetForwardKin(j2)
rtn = robot.MoveJ(joint_pos=j2,tool= 1,user= 0,vel= 100)
rtn = robot.PositionorSetRefPoint(2)
print(f"PositionorSetRefPoint 2 rtn is {rtn}")
time.sleep(2)
robot.MoveJ(joint_pos=jSafe,tool= 1,user= 0,vel= 100)
robot.ExtAxisStartJog(1, 0, 50, 50, 10)
time.sleep(1)
robot.ExtAxisStartJog(2, 0, 50, 50, 10)
time.sleep(1)
error, desc3 = robot.GetForwardKin(j3)
robot.MoveJ(joint_pos=j3,tool= 1,user= 0,vel= 100)
rtn = robot.PositionorSetRefPoint(3)
print(f"PositionorSetRefPoint 3 rtn is {rtn}")
time.sleep(2)
robot.MoveJ(joint_pos=jSafe,tool= 1,user= 0,vel= 100)
robot.ExtAxisStartJog(1, 0, 50, 50, 10)
time.sleep(1)
robot.ExtAxisStartJog(2, 0, 50, 50, 10)
time.sleep(1)
error, desc4 = robot.GetForwardKin(j4)
robot.MoveJ(joint_pos=j4,tool= 1,user= 0,vel= 100)
rtn = robot.PositionorSetRefPoint(4)
print(f"PositionorSetRefPoint 4 rtn is {rtn}")
time.sleep(2)
axisCoord = [0.0,0.0,0.0,0.0,0.0,0.0]
error,axisCoord = robot.PositionorComputeECoordSys()
robot.MoveJ(joint_pos=jSafe,tool= 1,user= 0,vel= 100)
print(f"PositionorComputeECoordSys rtn is {axisCoord[0]} {axisCoord[1]} {axisCoord[2]} {axisCoord[3]} {axisCoord[4]} {axisCoord[5]}")
rtn = robot.ExtAxisActiveECoordSys(3, 1, axisCoord, 1)
print(f"ExtAxisActiveECoordSys rtn is {rtn}")
robot.CloseRPC()

13.39. UDP Extended Axis Motion

New in version python: SDK-v2.1.4

Prototype	`ExtAxisMove(pos,ovl,blend=-1)`
Description	UDP Extended Axis Motion
Mandatory parameters	`pos=[exaxis[0],exaxis[1],exaxis[2],exaxis[3]]`: target position Axis 1 position to Axis 4 position; `ovl`: percentage of speed
Default parameters	`blend`：Smoothing parameter (mm or ms), -1, waiting for the motion to complete, Default -1
Return Value	Error Code Success-0 Failure- errcode

13.40. UDP Extended axis motion code example

from fairino import Robot
import time
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
axisPos = [20,0,0,0]
robot.ExtAxisMove(axisPos, 50, -1)
robot.CloseRPC()
return 0

13.41. UDP extension axes synchronized with robot joint motion

New in version python: SDK-v2.0.4

Prototype	`ExtAxisSyncMoveJ(joint_pos,tool,user,exaxis_pos, desc_pos=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], vel=20.0, acc=0.0, ovl= 100.0, blendT=-1.0, offset_flag=0, offset_pos=[ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])`
Description	UDP extension axis synchronized motion with robot joint motion
Mandatory parameters	`joint_pos`: target joint position in [°]; `desc_pos`: Cartesian position of the target in [mm][°]; `tool`: tool number, [0 to 14] `user`: artifact number, [0~14] `exaxis_pos`: external axis 1 position ~ external axis 4 positions
Default Parameters	`desc_pos`: target Cartesian position in [mm][°] Default initial value [0.0,0.0,0.0,0.0,0.0,0.0,0.0], default value calls positive kinematics to solve for the return value. `vel`: percentage of speed, [0~100] default 20.0; `acc`: percentage of acceleration, [0~100] not open yet, default 0.0; `ovl`: velocity scaling factor, [0~100] default 100.0 ; `blendT`: [-1.0]-motion in place (blocking), [0~500.0]-smoothing time (non-blocking) in [ms] default -1.0; `offset_flag`: [0] - no offset, [1] - offset in workpiece/base coordinate system, [2] - offset in tool coordinate system Default 0; `offset_pos`: position offset in [mm][°] default [0.0,0.0,0.0,0.0,0.0,0.0] ;
Return Value	Error Code Success-0 Failure- errcode;

13.42. UDP extension axes synchronized with robot joint motion code example

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
# Set the UDP communication parameters and load
robot.ExtDevSetUDPComParam("192.168.58.88", 2021, 2, 100, 3, 100, 1, 100, 10)
robot.ExtDevLoadUDPDriver()
# Set the parameters of the extended axis
robot.SetAxisDHParaConfig(4, 200, 200, 0, 0, 0, 0, 0, 0)
robot.SetRobotPosToAxis(1)
robot.ExtAxisParamConfig(1, 0, 1, 100, -100, 10, 10, 12, 131072, 0, 1, 0, 0)
# Expand the axis to enable and return to zero
robot.ExtAxisServoOn(1, 0)
robot.ExtAxisSetHoming(1, 0, 20, 3)
# Extended axis coordinate system calibration
pos = []  # Please fill in the specific coordinates
robot.SetRefPointInExAxisEnd(pos)
robot.PositionorSetRefPoint(1)  # This operation should be repeated 4 times (using 4 dots)
error,coord = robot.PositionorComputeECoordSys()
robot.ExtAxisActiveECoordSys(1, 1, coord, 1)
# Synchronize the starting and ending points of the movement
startdescPose = []  # Please fill in the specific coordinates
startjointPos = []  # Please fill in the specific coordinates
startexaxisPos = []  # Please fill in the specific coordinates
enddescPose = []  # Please fill in the specific coordinates
endjointPos = []  # Please fill in the specific coordinates
endexaxisPos = []  # Please fill in the specific coordinates
# Move to the starting point
robot.ExtAxisMove(startexaxisPos, 20, -1)
offdese = [0, 0, 0, 0, 0, 0]
robot.MoveJ(joint_pos=startjointPos,tool= 1,user= 1,vel= 100,acc= 100,ovl= 100,exaxis_pos= startexaxisPos,blendT= 0,offset_flag= 0,offset_pos= offdese)
robot.ExtAxisSyncMoveJ(endjointPos, enddescPose, 1, 1, endexaxisPos, 100, 100, 100, -1, 0, offdese)
robot.CloseRPC()

13.43. UDP extension axes synchronized with robot linear motion

New in version python: SDK-v2.1.5

Prototype	`ExtAxisSyncMoveL(desc_pos, tool, user, exaxis_pos, joint_pos = [0.0,0.0,0.0,0.0,0.0,0.0,0.0], vel=20.0, acc=0.0, ovl=100.0, blendR=-1.0, search=0, offset_flag= 0, offset_pos=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],config=-1)`
Description	UDP extension axis synchronized motion with robot linear motion
Mandatory parameters	`desc_pos`: target Cartesian position in [mm][°]; `tool`: tool number, [0 to 14]; `user`: artifact number, [0 to 14]; `exaxis_pos`: external axis 1 position ~ external axis 4 positions;
Default Parameters	`joint_pos`: target joint position in [°] Default initial value is [0.0,0.0,0.0,0.0,0.0,0.0,0.0], default value calls inverse kinematics to solve for the return value. `vel`: percentage of speed, [0~100] default 20.0; `acc`: percentage of acceleration, [0~100] not open yet, default 0.0; `ovl`: velocity scaling factor, [0~100] default 100.0; `blendR`: [-1.0]-motion in place (blocking), [0~500.0]-smoothing time (non-blocking) in [ms] default -1.0; `search`: [0] - no wire search, [1] - wire search; `offset_flag`: [0] - no offset, [1] - offset in workpiece/base coordinate system, [2] - offset in tool coordinate system Default 0; `offset_pos`: position offset in [mm][°] default [0.0,0.0,0.0,0.0,0.0,0.0] ; `config`: Reverse the joint space configuration, [-1]- calculate based on the current joint position, [0~7]- solve based on the specific joint space configuration, default -1
Return Value	Error Code Success-0 Failure- errcode;

13.44. UDP extension axes synchronized with robot linear motion code example

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
# Set the UDP communication parameters and load
robot.ExtDevSetUDPComParam("192.168.58.88", 2021, 2, 100, 3, 100, 1, 100, 10)
robot.ExtDevLoadUDPDriver()
# Set the parameters of the extended axis
robot.SetAxisDHParaConfig(4, 200, 200, 0, 0, 0, 0, 0, 0)
robot.SetRobotPosToAxis(1)
robot.ExtAxisParamConfig(1, 0, 1, 100, -100, 10, 10, 12, 131072, 0, 1, 0, 0)
# Expand the axis to enable and return to zero
robot.ExtAxisServoOn(1, 0)
robot.ExtAxisSetHoming(1, 0, 20, 3)
# Extended axis coordinate system calibration
pos = []  # Please fill in the coordinates of the marking points
robot.SetRefPointInExAxisEnd(pos)
robot.PositionorSetRefPoint(1)  # It needs to be called four times for calibration
error,coord = robot.PositionorComputeECoordSys()
robot.ExtAxisActiveECoordSys(1, 1, coord, 1)
# Synchronize the starting and ending points of the movement
startdescPose = []  # Please fill in the coordinates of the marking points
startjointPos = []  # Please fill in the coordinates of the marking points
startexaxisPos = []  # Please fill in the coordinates of the marking points
enddescPose = []  # Please fill in the coordinates of the marking points
endjointPos = []  # Please fill in the coordinates of the marking points
endexaxisPos = []  # Please fill in the coordinates of the marking points
# Move to the starting point
robot.ExtAxisMove(startexaxisPos, 20, -1)
offdese = [0, 0, 0, 0, 0, 0]
robot.MoveJ(joint_pos=startjointPos, tool= 1,user= 1,vel= 100,acc= 100,ovl= 100,exaxis_pos= startexaxisPos,blendT= 0)
# Perform synchronous linear motion
robot.ExtAxisSyncMoveL(endjointPos, enddescPose, 1, 1, endexaxisPos, 100, 100, 100, 0, 0, offdese)
robot.CloseRPC()

13.45. UDP extension axes synchronized with robot circular motion

New in version python: SDK-v2.1.5

Prototype	`ExtAxisSyncMoveC(desc_pos_p, tool_p, user_p,exaxis_pos_p, desc_pos_t, tool_t, user_t,exaxis_pos_t,joint_pos_p=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], joint_pos_t=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],vel_p =20.0, acc_p=100.0, offset_flag_p=0, offset_pos_p =[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], vel_t=20.0, acc_t=100.0, offset_flag_t=0, offset_pos_t=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], ovl=100.0, blendR=-1.0, config=-1)`
Description	UDP extension axis synchronized with robot circular motion
Mandatory parameters	`desc_pos_p`: path point Cartesian position in [mm][°]; `tool_p`: pathpoint tool number, [0~14]; `user_p`: pathpoint artifact number, [0~14]; `exaxis_pos_p`: path point external axis 1 position ~ external axis 4 position Default [0.0,0.0,0.0,0.0]; `desc_pos_t`: Cartesian position of the target point in [mm][°]; `tool_t`: tool number, [0~14]; `user_t`: artifact number, [0~14]; `exaxis_pos_t`: target point external axis 1 position ~ external axis 4 position default [0.0,0.0,0.0,0.0];
Default Parameters	`joint_pos_p`: target joint position in [°] Default initial value is [0.0,0.0,0.0,0.0,0.0,0.0,0.0], default value calls inverse kinematics to solve for the return value. `joint_pos_t`: target joint position in [°] Default initial value is [0.0,0.0,0.0,0.0,0.0,0.0,0.0], default value calls inverse kinematics to solve for the return value. `vel_p`: path point velocity percentage, [0~100] default 20.0; `acc_p`: path point acceleration percentage, [0~100] not open yet, default 0.0; `offset_flag_p`: whether the path point is offset [0]-no offset, [1]-offset in workpiece/base coordinate system, [2]-offset in tool coordinate system Default 0; `offset_pos_p`: path point position offset in [mm][°] Default [0.0,0.0,0.0,0.0,0.0,0.0]; `vel_t`: Target point velocity percentage, [0~100] default 20.0; `acc_t`: target point acceleration percentage, [0~100] Not open yet Default 0.0; `offset_flag_t`: whether the target point is offset or not [0]-no offset, [1]-offset in workpiece/base coordinate system, [2]-offset in tool coordinate system Default 0; `offset_pos_t`: target point attitude offset in [mm][°] Default [0.0,0.0,0.0,0.0,0.0,0.0]; `ovl`: velocity scaling factor, [0~100] default 100.0; `blendR`: [-1.0] - motion in place (blocking), [0~1000] - smoothing radius (non-blocking) in [mm] default -1.0; `config`: Reverse the joint space configuration, [-1]- calculate based on the current joint position, [0~7]- solve based on the specific joint space configuration, default -1
Return Value	Error Code Success-0 Failure- errcode;

13.46. UDP extension axes synchronized with robot circular motion code example

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
# Set the UDP communication parameters and load
robot.ExtDevSetUDPComParam("192.168.58.88", 2021, 2, 100, 3, 100, 1, 100, 10)
robot.ExtDevLoadUDPDriver()
# Set the parameters of the extended axis
robot.SetAxisDHParaConfig(4, 200, 200, 0, 0, 0, 0, 0, 0)
robot.SetRobotPosToAxis(1)
robot.ExtAxisParamConfig(1, 0, 1, 100, -100, 10, 10, 12, 131072, 0, 1, 0, 0)
# Expand the axis to enable and return to zero
robot.ExtAxisServoOn(1, 0)
robot.ExtAxisSetHoming(1, 0, 20, 3)
# Extended axis coordinate system calibration
pos = []  # Enter the coordinates of the reference point
robot.SetRefPointInExAxisEnd(pos)
robot.PositionorSetRefPoint(1)  # Call four times to complete the calibration
coord = []
error,coord = robot.PositionorComputeECoordSys()
robot.ExtAxisActiveECoordSys(1, 1, coord, 1)
# Synchronous arc starting point, middle point and end point
startdescPose = []# Input coordinates
startjointPos = []# Input coordinates
startexaxisPos =[]  # Enter the coordinates of the extended axis
middescPose = []# Input the midpoint
midjointPos = []
midexaxisPos =[]
enddescPose = []
endjointPos = []
endexaxisPos =[]
# Move to the starting point
robot.ExtAxisMove(startexaxisPos, 20, -1)
offdese = [0, 0, 0, 0, 0, 0]
robot.MoveJ(joint_pos=startjointPos,tool= 1,user= 1,vel= 100,acc= 100,ovl= 100,exaxis_pos= startexaxisPos,blendT= 0,offset_flag= 0,offset_pos= offdese)
# Start synchronous circular arc movement
robot.ExtAxisSyncMoveC(midjointPos,middescPose,1,1,midexaxisPos,
                       endjointPos,enddescPose,1,1,endexaxisPos,
                       100,100,0,offdese,
                       100,100,0,offdese,
                       100,0)
robot.CloseRPC()

13.47. Setting the Extended DO

New in version python: SDK-v2.0.4

Prototype	`SetAuxDO(DONum,bOpen,smooth,block)`
Description	Setting the Extended DO
Mandatory parameters	`DONum`: DO number; `bOpen`: switch True-Open, False-Off; `smooth`: smooth or not True - yes, False - no; `block`: whether to block True - Yes, False - No;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.48. Setting up Extended AO

New in version python: SDK-v2.0.4

Prototype	`SetAuxAO(AONum,value,block)`
Description	Setting the Extended AO
Mandatory parameters	`AONum`: AO number; `value`: analog value [0-4095]; `block`: whether to block True - Yes, False - No;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.49. Setting the Extended DI Input Filter Time

New in version python: SDK-v2.0.4

Prototype	`SetAuxDIFilterTime(filterTime)`
Description	Setting the Extended DI Input Filter Time
Mandatory parameters	`filterTime`: filter time (ms);
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.50. Setting the Extended AI Input Filter Time

New in version python: SDK-v2.0.4

Prototype	`SetAuxAIFilterTime(AINum,filterTime)`
Description	Set the extended AI input filter time
Mandatory parameters	`AINum`: AI number; `filterTime`: filter time (ms);
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.51. Waiting for extended DI input

New in version python: SDK-v2.0.4

Prototype	`WaitAuxDI(DINum,bOpen,time,errorAlarm)`
Description	Waiting for extended DI input
Mandatory parameters	`DINum`: DI number; `bOpen`: switch True-Open, False-Off; `time`: maximum waiting time (ms); `errorAlarm`: whether to continue the campaign True-Yes,False-No
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.52. Waiting for extended AI input

New in version python: SDK-v2.0.4

Prototype	`WaitAuxAI(,AINum,sign,value,time,errorAlarm)`
Description	Waiting for extended AI input
Mandatory parameters	`AINum`: AI number; `sign`: 0 - greater than; 1 - less than; `value`: AI value; `time`: maximum waiting time (ms); `errorAlarm`: whether to continue the campaign True-Yes,False-No
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.53. Get Extended DI Value

New in version python: SDK-v2.0.4

Prototype	`GetAuxDI(DINum,isNoBlock)`
Description	Get Extended DI Value
Mandatory parameters	`DINum`: DI number; `isNoBlock`: whether to block True-blocking false-non-blocking;
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode; `isOpen`: 0 - off; 1 - on;

13.54. Get Extended AI Value

New in version python: SDK-v2.0.4

Prototype	`GetAuxAI(AINum,isNoBlock)`
Description	Get Extended AI Value
Mandatory parameters	`AINum`: AI number; `isNoBlock`: whether to block True-blocking False-non-blocking
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode; `value`: input value;

13.55. Extended IO code examples

from fairino import Robot
import time
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
for i in range(128):
    robot.SetAuxDO(i, True, False, True)
    time.sleep(0.1)
for i in range(128):
    robot.SetAuxDO(i, False, False, True)
    time.sleep(0.1)
for i in range(409):
    value1 = i * 10
    value2 = 4095 - i * 10
    robot.SetAuxAO(0, value1, True)
    robot.SetAuxAO(1, value2, True)
    robot.SetAuxAO(2, value1, True)
    robot.SetAuxAO(3, value2, True)
    time.sleep(0.01)
robot.SetAuxDIFilterTime(10)
robot.SetAuxAIFilterTime(0, 10)
for i in range(20):
    curValue = False
    error, curValue = robot.GetAuxDI(i, False)  # 注意：如库内部需引用方式，这里需修改
    print(f"DI{i}   {curValue}")
curValue = -1
for i in range(4):
    error, curValue = robot.GetAuxAI(i, True)  # 同样注意引用传参问题
    print(f"AI{i}   {curValue}")
robot.WaitAuxDI(1, False, 1000, False)
robot.WaitAuxAI(1, 1, 132, 1000, False)
robot.CloseRPC()

13.56. Removable Device Enable

New in version python: SDK-v2.0.5

Prototype	`TractorEnable(enable)`
description	removable device enable
Mandatory parameters	`enable`: enable state, 0-de-enable, 1-enable
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.57. Zeroing of removable units

New in version python: SDK-v2.0.5

Prototype	`TractorHoming()`
Description	Removable unit back to zero
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.58. Movable unit linear motion

New in version python: SDK-v2.0.5

Prototype	`TractorMoveL(distance, vel)`
Description	Movable device linear motion
Mandatory parameters	`distance`: distance of linear movement (mm) `vel`: percentage of linear motion speed (0-100)
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.59. Movable unit circular motion

New in version python: SDK-v2.0.5

prototype	`TractorMoveC(radio, angle, vel)`
Description	Movable device circular motion
Mandatory parameters	`radio`: radius of circular motion (mm) `angle`: angle of circular motion (°) `vel`: Percentage of speed of circular motion (0-100)
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.60. Stopping motion of movable devices

New in version python: SDK-v2.0.5

Prototype	`ProgramStop()`
Description	Movable unit stops moving
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.61. Portable device code example

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
robot.ExtDevSetUDPComParam("192.168.58.2", 2021, 2, 50, 5, 50, 1, 50, 10, 1)
robot.ExtDevLoadUDPDriver()
rtn = robot.ExtAxisServoOn(1, 1)
rtn = robot.ExtAxisServoOn(2, 1)
time.sleep(2)
robot.ExtAxisSetHoming(1, 0, 10, 2)
time.sleep(2)
rtn = robot.ExtAxisSetHoming(2, 0, 10, 2)
time.sleep(4)
robot.ExtAxisParamConfig(1, 0, 0, 50000, -50000, 1000, 1000, 6.280, 16384, 200, 0, 0, 0)
robot.ExtAxisParamConfig(2, 0, 0, 50000, -50000, 1000, 1000, 6.280, 16384, 200, 0, 0, 0)
robot.SetAxisDHParaConfig(5, 0, 0, 0, 0, 0, 0, 0, 0)
robot.TractorEnable(False)
time.sleep(2)
robot.TractorEnable(True)
time.sleep(2)
robot.TractorHoming()
time.sleep(2)
robot.TractorMoveL(100, 2)
time.sleep(5)
robot.TractorStop()
robot.TractorMoveL(-100, 20)
time.sleep(5)
robot.TractorMoveC(300, 90, 20)
time.sleep(10)
robot.TractorMoveC(300, -90, 20)
time.sleep(1)
robot.CloseRPC()

13.62. Laser sensor recording points

New in version python: SDK-v2.1.4

Prototype	`LaserRecordPoint(coordID)`
Description	Laser sensor recording points
Mandatory par	`coordID`：Laser sensor coordinate system
Default param	NULL
Return Value	Error Code Success-0 Failure- errcode `joint`：The laser sensor identifies the position of the point joint `desc`：The laser sensor identifies the Cartesian position of the point `exaxis`：The laser sensor identifies the extended axis position of the point

13.63. Sample code for laser sensor recording points

New in version python: SDK-v2.1.4

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
direction_point = [0, 0, 0]
rtn = robot.LaserTrackingSearchStart(2, direction_point, 10, 100, 10000, 2)
print(f"LaserTrackingSearchStart rtn is {rtn}")
robot.LaserTrackingSearchStop()
coord_id = 2
rtn, joint, desc, exaxis = robot.LaserRecordPoint(coord_id)
print(f"rtn is {rtn}")
print(f"desc_pos:{desc[0]},{desc[1]},{desc[2]},"
      f"{desc[3]},{desc[4]},{desc[5]}")
print(f"joint_pos:{joint[0]},{joint[1]},{joint[2]},{joint[3]},{joint[4]},{joint[5]}")
print(f"exaxis pos is {exaxis[0]} {exaxis[1]} {exaxis[2]} {exaxis[3]}")
off = [0] * 6
robot.MoveJ(joint,tool=1,user=0,vel=100,acc=100,ovl=50,exaxis_pos=exaxis,blendT=-1,offset_flag=0,offset_pos=off)
robot.CloseRPC()

13.64. Set the synchronous movement strategy of the extended axis and the robot

New in version python: SDK-v2.1.5

Prototype	`SetExAxisRobotPlan(strategy)`
Description	Set the synchronous movement strategy of the extended axis and the robot
Mandatory par	`strategy`：Strategy; 0- Mainly robots; 1- The extended axis is synchronized with the robot
Default param	NULL
Return Value	Error Code Success-0 Failure- errcode

13.65. Code example for setting the synchronous motion strategy of the extended axis and the robot

New in version python: SDK-v2.1.5

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
joint_pos1 = [-22.016, -49.217, 124.714, -161.100, -85.108, -0.333]
joint_pos2 = [-21.083, -46.613, 110.079, -147.796, -80.757, -0.330]
joint_pos3 = [-25.572, -60.090, 135.397, -163.889, -82.489, -0.345]
desc_pos1 = [2.637, -0.001, 30.673, 178.786, -4.134, 68.326]
desc_pos2 = [213.812, -1.440, 47.311, 177.410, 0.166, 68.946]
desc_pos3 = [444.342, -12.723, 82.470, -177.701, -1.325, 65.151]
epos1 = [0.001, 0.000, 0.000, 0.000]
epos2 = [299.977, 0.000, 0.000, 0.000]
epos3 = [399.969, 0.000, 0.000, 0.000]
offset_pos = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
rtn = robot.SetExAxisRobotPlan(0)
print(f"SetExAxisRobotPlan rtn is {rtn}")
time.sleep(1)
rtn = robot.ExtAxisSyncMoveL(desc_pos=desc_pos1,tool=1,user=0,vel=100,acc=100,ovl=100,blendR=-1,exaxis_pos=epos1,offset_flag=0,offset_pos=offset_pos)
print(f"ExtAxisSyncMoveL 1 rtn is {rtn}")
rtn = robot.ExtAxisSyncMoveL(desc_pos=desc_pos2,tool=1,user=0,vel=100,acc=100,ovl=100,blendR=-1,exaxis_pos=epos2,offset_flag=0,offset_pos=offset_pos)
print(f"ExtAxisSyncMoveL 2 rtn is {rtn}")
rtn = robot.ExtAxisSyncMoveL(desc_pos=desc_pos3,tool=1,user=0,vel=100,acc=100,ovl=100,blendR=-1,exaxis_pos=epos3,offset_flag=0,offset_pos=offset_pos)
print(f"ExtAxisSyncMoveL 3 rtn is {rtn}")
time.sleep(8)
robot.CloseRPC()