6. Common Robot Settings

6.1. Setting Tool Reference Points - Six-Point Method

Prototype	`SetToolPoint(point_num)`
Description	Setting Tool Reference Points - Six Point Method
Mandatory parameters	`point_num`: point number, range [1~6]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.2. Calculation tool coordinate system - six-point method

Prototype	`ComputeTool()`
Description	Calculate the tool coordinate system - six-point method (after setting the six tool reference points)
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `tcp_pose=[x,y,z,rx,ry,rz]`: tool coordinate system

6.3. Setting Tool Reference Points - Four Point Method

Prototype	`SetTcp4RefPoint(point_num)`
Description	Setting Tool Reference Points - Four Point Method
Mandatory parameter	`point_num`: point number, range [1~4]
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `tcp_pose=[x,y,z,rx,ry,rz]`: tool coordinate system

6.4. Calculation Tool Coordinate System - Four Point Method

prototype	`ComputeTcp4()`
Description	Calculate tool coordinate system - four-point method (after setting the four tool reference points)
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `tcp_pose=[x,y,z,rx,ry,rz]`: tool coordinate system

6.5. Calculate the tool coordinate system based on the point information

New in version python: SDK-v2.0.8

Prototype	`ComputeToolCoordWithPoints(method, pos)`
Description	Calculate the tool coordinate system based on the point information
Mandatory parameters	`method`:Calculation method; 0-four point method; One - six point method `pos`:The array length of the joint position group is 4 in the four-point method and 6 in the six-point method
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode `tcp_offset=[x,y,z,rx,ry,rz]`:Tool coordinate system calculated from point information, unit [mm][°]

6.6. Setting the tool coordinate system

Prototype	`SetToolCoord(id,t_coord,type,install,toolID,loadNum)`
Description	Setting the tool coordinate system
Mandatory parameters	`id`: coordinate system number, range [1~15]; `t_coord`: Position of the tool center point relative to the center of the end flange in [mm][°]; `type`: 0 - tool coordinate system, 1 - sensor coordinate system; `install`: installation position, 0 - robot end, 1 - robot exterior `toolID`: tool ID `loadNum`: load number
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.7. Setting the tool coordinate system list

Prototype	`SetToolList(id,t_coord ,type, install, loadNum)`
Description	Set up a list of tool coordinate systems
Mandatory parameters	`id`: coordinate system number, range [1~15]; `t_coord`: [x,y,z,rx,ry,rz] Tool center point relative to end flange center position in [mm][°]; `type`: 0 - tool coordinate system, 1 - sensor coordinate system; `install`: installation position, 0 - robot end, 1 - robot exterior `loadNum`: load number
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.8. Get the current tool coordinate system

Prototype	`GetTCPOffset(flag=1)`
Description	Get current tool coordinate system
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode `tcp_offset=[x,y,z,rx,ry,rz]`: Relative position of the current tool coordinate system in [mm][°]

6.9. Robot tool coordinate system manipulation 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')
p1Desc = [186.331, 487.913, 209.850, 149.030, 0.688, -114.347]
p2Desc = [69.721, 535.073, 202.882, -144.406, -14.775, -89.012]
p3Desc = [146.861, 578.426, 205.598, 175.997, -36.178, -93.437]
p4Desc = [136.284, 509.876, 225.613, 178.987, 1.372, -100.696]
p5Desc = [138.395, 505.972, 298.016, 179.134, 2.147, -101.110]
p6Desc = [105.553, 454.325, 232.017, -179.426, 0.444, -99.952]
p1Joint = [-127.876, -75.341, 115.417, -122.741, -59.820, 74.300]
p2Joint = [-101.780, -69.828, 110.917, -125.740, -127.841, 74.300]
p3Joint = [-112.851, -60.191, 86.566, -80.676, -97.463, 74.300]
p4Joint = [-116.397, -76.281, 113.845, -128.611, -88.654, 74.299]
p5Joint = [-116.814, -82.333, 109.162, -118.662, -88.585, 74.302]
p6Joint = [-115.649, -84.367, 122.447, -128.663, -90.432, 74.303]
exaxisPos = [0, 0, 0, 0]
offdese = [0, 0, 0, 0, 0, 0]
posJ = [p1Joint, p2Joint, p3Joint, p4Joint, p5Joint, p6Joint]
rtn,coordRtn = robot.ComputeToolCoordWithPoints(1, posJ)
print(f"ComputeToolCoordWithPoints    {rtn}  coord is {coordRtn[0]} {coordRtn[1]} {coordRtn[2]} {coordRtn[3]} {coordRtn[4]} {coordRtn[5]}")
robot.MoveJ(joint_pos=p1Joint,tool=0, user=0, vel=100)
robot.SetToolPoint(1)
robot.MoveJ(joint_pos=p2Joint,tool=0, user=0, vel=100)
robot.SetToolPoint(2)
robot.MoveJ(joint_pos=p3Joint,tool=0, user=0, vel=100)
robot.SetToolPoint(3)
robot.MoveJ(joint_pos=p4Joint,tool=0, user=0, vel=100)
robot.SetToolPoint(4)
robot.MoveJ(joint_pos=p5Joint,tool=0, user=0, vel=100)
robot.SetToolPoint(5)
robot.MoveJ(joint_pos=p6Joint,tool=0, user=0, vel=100)
robot.SetToolPoint(6)
rtn,coordRtn = robot.ComputeTool()
print(f"6 Point ComputeTool        {rtn}  coord is {coordRtn[0]} {coordRtn[1]} {coordRtn[2]} {coordRtn[3]} {coordRtn[4]} {coordRtn[5]}")
robot.SetToolList(1, coordRtn, 0, 0, 0)
robot.MoveJ(joint_pos=p1Joint,tool=0, user=0, vel=100)
robot.SetTcp4RefPoint(1)
robot.MoveJ(joint_pos=p2Joint,tool=0, user=0, vel=100)
robot.SetTcp4RefPoint(2)
robot.MoveJ(joint_pos=p3Joint,tool=0, user=0, vel=100)
robot.SetTcp4RefPoint(3)
robot.MoveJ(joint_pos=p4Joint,tool=0, user=0, vel=100)
robot.SetTcp4RefPoint(4)
rtn,coordRtn = robot.ComputeTcp4()
print(f"4 Point ComputeTool        {rtn}  coord is {coordRtn[0]} {coordRtn[1]} {coordRtn[2]} {coordRtn[3]} {coordRtn[4]} {coordRtn[5]}")
robot.SetToolCoord(2, coordRtn, 0, 0, 1, 0)
rtn,getCoord = robot.GetTCPOffset(0)
print(f"GetTCPOffset    {rtn}  coord is {getCoord[0]} {getCoord[1]} {getCoord[2]} {getCoord[3]} {getCoord[4]} {getCoord[5]}")
robot.CloseRPC()

6.10. Setting External Tool Reference Points-Six-Point Method

Prototype	`SetExTCPPoint(point_num)`
Description	Setting the external tool reference point - three-point method
Mandatory parameters	`point_num`: point number, range [1~3]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.11. Calculation of the external tool coordinate system - Six-point method

Prototype	`ComputeExTCF(point_num)`
Description	Calculate external tool coordinate system - three-point method (after setting three reference points)
Mandatory parameter	`point_num`: point number, range [1~3]
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `etcp=[x,y,z,rx,ry,rz]`: external tool coordinate system

6.12. Setting the external tool coordinate system

Prototype	`SetExToolCoord(id,etcp,etool)`
Description	Setting the external tool coordinate system
Mandatory parameters	`id`: coordinate system number, range [0~14]; `etcp`: External tool coordinate system in [mm][°]; `etool`: end-tool coordinate system in [mm] [°];
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.13. Setting up a list of external tool coordinate systems

Prototype	`SetExToolList(id,etcp ,etool)`
Description	Set the list of external tool coordinate systems
Mandatory parameters	`id`: coordinate system number, range [0~14]; `etcp`: External tool coordinate system in [mm][°]; `etool`: end-tool coordinate system in [mm] [°];
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.14. Example code for robot external tool coordinate system operation

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')
p1Desc = [-89.606, 779.517, 193.516, 178.000, 0.476, -92.484]
p1Joint = [-108.145, -50.137, 85.818, -125.599, -87.946, 74.329]
p2Desc = [-24.656, 850.384, 191.361, 177.079, -2.058, -95.355]
p2Joint = [-111.024, -41.538, 69.222, -114.913, -87.743, 74.329]
p3Desc = [-99.813, 766.661, 241.878, -176.817, 1.917, -91.604]
p3Joint = [-107.266, -56.116, 85.971, -122.560, -92.548, 74.331]
exaxisPos = [0, 0, 0, 0]
offdese = [0, 0, 0, 0, 0, 0]
posTCP = [p1Desc, p2Desc, p3Desc]
robot.MoveJ(joint_pos=p1Joint,tool=1, user=0, vel=50)
robot.SetExTCPPoint(1)
robot.MoveJ(joint_pos=p2Joint,tool=1, user=0, vel=50)
robot.SetExTCPPoint(2)
robot.MoveJ(joint_pos=p3Joint,tool=1, user=0, vel=50)
robot.SetExTCPPoint(3)
rtn,coordRtn = robot.ComputeExTCF()
print(f"ComputeExTCF {rtn}  coord is {coordRtn[0]} {coordRtn[1]} {coordRtn[2]} {coordRtn[3]} {coordRtn[4]} {coordRtn[5]}")
robot.SetExToolCoord(1, coordRtn, offdese)
robot.SetExToolList(1, coordRtn, offdese)
robot.CloseRPC()

6.15. Setting the workpiece reference point - three-point method

Prototype	`SetWObjCoordPoint(point_num)`
Description	Setting the workpiece reference point - 3-point method
Mandatory parameter	`point_num`: point number, range [1~3]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.16. Calculation of the workpiece coordinate system - three-point method

Prototype	`ComputeWObjCoord(method, refFrame)`
Description	Calculate the workpiece coordinate system - three-point method (three reference points are set and then calculated);
Mandatory parameters	`method`: calculation method 0: origin-x-axis-z-axis, 1: origin-x-axis-xy-plane `refFrame`: reference coordinate system
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `wobj_pose=[x,y,z,rx,ry,rz]`: workpiece coordinate system

6.17. Setting the workpiece coordinate system

prototype	`SetWObjCoord(id, coord, refFrame)`
Description	Setting the workpiece coordinate system
Mandatory parameters	`id`: coordinate system number, range [0~14]; `COORD`: Position of the workpiece in the coordinate system relative to the center of the end flange in [mm][°]. `refFrame`: reference coordinate system
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.18. Setting the list of workpiece coordinate systems

prototype	`SetWObjList(id, coord, refFrame)`
Description	Set the list of workpiece coordinate systems
Mandatory parameters	`id`: coordinate system number, range [0~14]; `COORD`: Position of the workpiece in the coordinate system relative to the center of the end flange in [mm][°]. `refFrame`: reference coordinate system
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.19. Calculate the workpiece coordinate system based on the point information

New in version python: SDK-v2.0.8

Prototype	`ComputeWObjCoordWithPoints(method, pos, refFrame)`
Description	Calculate the workpiece coordinate system based on the point information
Mandatory parameters	`method`:Calculation method; 0: origin - X-axis - Z-axis 1: origin - X-axis -xy plane `pos`:Three TCP location groups `refFrame`: reference coordinate system
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode `wobj_offset=[x,y,z,rx,ry,rz]`:Workpiece coordinate system calculated from point information, unit [mm][°]

6.20. Get the current workpiece coordinate system

prototype	`GetWObjOffset(flag=1)`
Description	Get current workpiece coordinate system
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking, default 1
Return Value	errorcode Success-0 Failure- errcode `wobj_offset=[x,y,z,rx,ry,rz]`: Relative position of the current workpiece coordinate system in [mm][°]

6.21. Example of robot workpiece coordinate system manipulation code

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')
p1Desc = [-89.606, 779.517, 193.516, 178.000, 0.476, -92.484]
p2Desc = [-24.656, 850.384, 191.361, 177.079, -2.058, -95.355]
p3Desc = [-99.813, 766.661, 241.878, -176.817, 1.917, -91.604]
p1Joint = [-108.145, -50.137, 85.818, -125.599, -87.946, 74.329]
p2Joint = [-111.024, -41.538, 69.222, -114.913, -87.743, 74.329]
p3Joint = [-107.266, -56.116, 85.971, -122.560, -92.548, 74.331]
exaxisPos = [0, 0, 0, 0]
offdese = [0, 0, 0, 0, 0, 0]
posTCP = [p1Desc, p2Desc, p3Desc]
rtn,coordRtn = robot.ComputeWObjCoordWithPoints(1, posTCP, 0)
print(f"ComputeWObjCoordWithPoints    {rtn}  coord is {coordRtn[0]} {coordRtn[1]} {coordRtn[2]} {coordRtn[3]} {coordRtn[4]} {coordRtn[5]}")
robot.MoveJ(joint_pos=p1Joint,tool=1, user=0, vel=100)
robot.SetWObjCoordPoint(1)
robot.MoveJ(joint_pos=p2Joint,tool=1, user=0, vel=100)
robot.SetWObjCoordPoint(2)
robot.MoveJ(joint_pos=p3Joint,tool=1, user=0, vel=100)
robot.SetWObjCoordPoint(3)
rtn,coordRtn = robot.ComputeWObjCoord(1, 0)
print(f"ComputeWObjCoord   {rtn}  coord is {coordRtn[0]} {coordRtn[1]} {coordRtn[2]} {coordRtn[3]} {coordRtn[4]} {coordRtn[5]}")
robot.SetWObjCoord(1, coordRtn, 0)
robot.SetWObjList(1, coordRtn, 0)
rtn,getWobjDesc = robot.GetWObjOffset(0)
print(f"GetWObjOffset    {rtn}  coord is {getWobjDesc[0]} {getWobjDesc[1]} {getWobjDesc[2]} {getWobjDesc[3]} {getWobjDesc[4]} {getWobjDesc[5]}")
robot.CloseRPC()

6.22. Setting the global speed

Prototype	`SetSpeed(vel)`
Description	Set global speed
Mandatory parameter	`vel`: percentage of speed, range [0~100]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.23. Setting robot acceleration

New in version python: SDK-v2.0.4

Prototype	`SetOaccScale(acc)`
Description	Setting the robot acceleration
Mandatory parameter	`acc`: percentage of robot acceleration
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.24. Getting the default speed

Prototype	`GetDefaultTransVel()`
Description	Get Default Speed
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `vel`: default speed in [mm/s]

6.25. Setting the end load weight

Prototype	`SetLoadWeight(loadNum, weight)`
Description	Set the end load weight, incorrect load weight setting may cause the robot to go out of control in drag mode
Mandatory parameters	`loadNum`:load number `weight`: unit [kg]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.26. Setting the end load center of mass coordinates

Prototype	`SetLoadCoord(x,y,z,loadNum = 0)`
Description	Set end-load center of mass coordinates, incorrect load center of mass setting may cause robot to go out of control in drag mode
Mandatory parameter	`x`: center of mass coordinates in [mm]. `y`: coordinates of the center of mass in [mm]. `z`: coordinates of the center of mass in [mm]
Default parameters	`loadNum`: Payload number, 0 by default
Return Value	Error Code Success-0 Failure- errcode

6.27. Get the weight of the current load

Prototype	`GetTargetPayload(flag=1)`
Description	Get the quality of the current load
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode `weight`: current load weight in [kg]

6.28. Get the center of mass of the current load

Prototype	`GetTargetPayloadCog(flag=1)`
Description	Get the center of mass of the current load
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode `cog=[x,y,z]`: coordinates of the current center of mass in [mm]

6.29. Setting the robot mounting method - fixed mounting

Prototype	`SetRobotInstallPos(method)`
description	set robot mounting method - fixed mounting, wrong mounting method setting can cause robot to lose control in drag mode
Mandatory parameters	`method`: 0-flat loading, 1-side loading, 2-hanging loading
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.30. Setting the robot mounting angle - free mounting

Prototype	`SetRobotInstallAngle(yangle,zangle)`
Description	Setting the robot mounting angle - free mounting, wrong mounting angle setting can cause the robot to go out of control in drag mode
Mandatory parameters	`yangle`: angle of inclination; `zangle`: angle of rotation
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.31. Getting the robot mounting angle

Prototype	`GetRobotInstallAngle()`
Description	Get robot mounting angle
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `[yangle,zangle]`: yangle - angle of inclination, zangle - angle of rotation.

6.32. Setting system variable values

Prototype	`SetSysVarValue(id,value)`
Description	Setting System Variables
Mandatory parameters	`id`: variable number, in the range [1~20]. `value`: variable value
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.33. Getting system variable values

Prototype	`GetSysVarValue(id)`
Description	Get system variable values
Mandatory parameters	`id`: system variable number, range [1~20]
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `var_value`: system variable value

6.34. Robot common setup code examples

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')
for i in range(1, 100):
    robot.SetSpeed(i)
    robot.SetOaccScale(i)
    time.sleep(0.03)
error,defaultVel = robot.GetDefaultTransVel()
print(f"GetDefaultTransVel is {defaultVel}")
for i in range(1, 21):
    robot.SetSysVarValue(i, i + 0.5)
    time.sleep(0.1)
for i in range(1, 21):
    value = robot.GetSysVarValue(i)
    print(f"sys value {i} is: {value}")
    time.sleep(0.1)
robot.SetLoadWeight(0, 2.5)
robot.SetLoadCoord(3.0,4.0,5.0)
time.sleep(1)
error,getLoad = robot.GetTargetPayload(0)
error,getLoadTran = robot.GetTargetPayloadCog(0)
print(f"get load is {getLoad}; get load cog is {getLoadTran[0]} {getLoadTran[1]} {getLoadTran[2]}")
robot.SetRobotInstallPos(0)
robot.SetRobotInstallAngle(15.0, 25.0)
error,[anglex, angley] = robot.GetRobotInstallAngle()
print(f"GetRobotInstallAngle x: {anglex}; y: {angley}")
robot.CloseRPC()

6.35. Joint Friction Compensation Switch

Prototype	`FrictionCompensationOnOff(state)`
Description	Joint Friction Compensation Switch
Mandatory parameters	`state`: 0-off, 1-on
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.36. Setting the joint friction compensation coefficients - positive loading

Prototype	`SetFrictionValue_level(coeff)`
Description	Setting the joint friction compensation coefficient - Fixed mounting - Positive mounting
Mandatory parameters	`coeff=[j1,j2,j3,j4,j5,j6]`: six joint compensation coefficients
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.37. Setting the joint friction compensation coefficient - side mounting

Prototype	`SetFrictionValue_wall(coeff)`
Description	Setting the joint friction compensation coefficient - fixed mounting - side mounting
Mandatory parameters	`coeff=[j1,j2,j3,j4,j5,j6]`: six joint compensation coefficients
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.38. Setting the Joint Friction Compensation Factor - Inverted

Prototype	`SetFrictionValue_ceiling(coeff)`
Description	Setting the joint friction compensation coefficient - fixed mounting - inverted mounting
Mandatory parameters	`coeff=[j1,j2,j3,j4,j5,j6]`: six joint compensation coefficients
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.39. Setting the joint friction compensation factor - free mounting

Prototype	`SetFrictionValue_freedom(coeff)`
Description	Setting the joint friction compensation factor - free mounting
Mandatory parameters	`coeff=[j1,j2,j3,j4,j5,j6]`: six joint compensation coefficients
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.40. Robot setup joint friction compensation 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')
lcoeff = [0.9, 0.9, 0.9, 0.9, 0.9, 0.9]
wcoeff = [0.4, 0.4, 0.4, 0.4, 0.4, 0.4]
ccoeff = [0.6, 0.6, 0.6, 0.6, 0.6, 0.6]
fcoeff = [0.5, 0.5, 0.5, 0.5, 0.5, 0.5]
rtn = robot.FrictionCompensationOnOff(1)
print(f"FrictionCompensationOnOff rtn is {rtn}")
rtn = robot.SetFrictionValue_level(lcoeff)
print(f"SetFrictionValue_level rtn is {rtn}")
rtn = robot.SetFrictionValue_wall(wcoeff)
print(f"SetFrictionValue_wall rtn is {rtn}")
rtn = robot.SetFrictionValue_ceiling(ccoeff)
print(f"SetFrictionValue_ceiling rtn is {rtn}")
rtn = robot.SetFrictionValue_freedom(fcoeff)
print(f"SetFrictionValue_freedom rtn is {rtn}")
robot.CloseRPC()

6.41. Query Robot Error Code

Prototype	`GetRobotErrorCode()`
Description	Query Robot Error Code
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `[maincode subcode]`: robot error code, maincode - main error code, subcode - suberror code

6.42. Error state clearing

Prototype	`ResetAllError()`
Description	Error state clearing, only resettable errors can be cleared
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.43. Robot fault state acquisition and clearing error 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')
p1Joint = [-108.145, -50.137, 85.818, -125.599, -87.946, 74.329]
robot.MoveJ(joint_pos=p1Joint, tool=5, user=2, vel=50)
time.sleep(1)
error,[maincode, subcode] = robot.GetRobotErrorCode()
print(f"robot maincode is {maincode}; subcode is {subcode}")
time.sleep(1)
robot.ResetAllError()
time.sleep(1)
error,[maincode, subcode] = robot.GetRobotErrorCode()
print(f"robot maincode is {maincode}; subcode is {subcode}")
robot.CloseRPC()

6.44. Set the monitoring parameters for the temperature and fan speed of the wide-voltage control box

New in version python: SDK-v2.1.3

Prototype	`SetWideBoxTempFanMonitorParam(enable, period)`
Description	Set the monitoring parameters for the temperature and fan speed of the wide-voltage control box
Mandatory parameters	`enable`: 0- Monitoring is not enabled; 1- Enable monitoring `period`: Monitoring period (s), ranging from 1 to 100
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.45. Obtain the monitoring parameters of the temperature and fan speed of the wide-voltage control box

New in version python: SDK-v2.1.3

Prototype	`GetWideBoxTempFanMonitorParam()`
Description	Obtain the monitoring parameters of the temperature and fan speed of the wide-voltage control box
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode `enable`: 0- Monitoring is not enabled; 1- Enable monitoring `period`: Monitoring period (s), ranging from 1 to 100

6.46. Sample code for obtaining wide voltage control box temperature and fan current status

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')
robot.SetWideBoxTempFanMonitorParam(1, 2)
error, enable, period = robot.GetWideBoxTempFanMonitorParam()
print(f"GetWideBoxTempFanMonitorParam enable is:{enable},period is:{period}")
for i in range(100):
    error, pkg = robot.GetRobotRealTimeState()
    print(f"robot ctrl box temp is:{pkg.wideVoltageCtrlBoxTemp},fan current is:{pkg.wideVoltageCtrlBoxFanCurrent}")
    time.sleep(0.1)
rtn = robot.SetWideBoxTempFanMonitorParam(0, 2)
print(f"SetWideBoxTempFanMonitorParam rtn is:{rtn}")
error, enable, period = robot.GetWideBoxTempFanMonitorParam()
print(f"GetWideBoxTempFanMonitorParam enable is:{enable},period is:{period}")
for i in range(100):
    error, pkg = robot.GetRobotRealTimeState()
    print(f"robot ctrl box temp is:{pkg.wideVoltageCtrlBoxTemp},fan current is:{pkg.wideVoltageCtrlBoxFanCurrent}")
    time.sleep(0.1)
robot.CloseRPC()

6.47. Sets the focus point

New in version python: SDK-v2.1.4

Prototype	`SetFocusCalibPoint(pointNum, point)`
Description	Sets the focus point
Mandatory parameters	`pointNum`：The number of the focus calibration point 1-8 `point`：Coordinate the points
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.48. Calculate the focus calibration result

New in version python: SDK-v2.1.4

Prototype	`ComputeFocusCalib(pointNum)`
Description	Calculate the focus calibration result
Mandatory parameters	`pointNum`：Number of calibration points
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode `resultPos`：Calibration result XYZ `accuracy`：Calibration accuracy error

6.49. Enable focus following

New in version python: SDK-v2.1.4

Prototype	`FocusStart(kp=50.0, kpredic=19.0, aMax=1440, vMax=180, type=0)`
Description	Enable focus following
Mandatory parameters	NULL
Default parameters	`kp`：Scale parameter. Default is 50.0 `kpredic`：Feedforward parameter, default 19.0 `aMax`：Maximum angular acceleration limit, default 1440°/s^2 `vMax`：Maximum angular speed limit, default 180°/s `type`：Lock X-axis pointing (0-reference input vector; 1-level; 2- vertical), 0 by default
Return Value	Error Code Success-0 Failure- errcode

6.50. Stop focusing following

New in version python: SDK-v2.1.4

Prototype	`FocusEnd()`
Description	Stop focusing following
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.51. Set the focus coordinates

New in version python: SDK-v2.1.4

Prototype	`SetFocusPosition(pos)`
Description	Set the focus coordinates
Mandatory parameters	`pos`：Focus coordinate XYZ
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.52. Robot focus following 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')
p1Desc = [186.331, 487.913, 209.850, 149.030, 0.688, -114.347]
p1Joint = [-127.876, -75.341, 115.417, -122.741, -59.820, 74.300]
p2Desc = [69.721, 535.073, 202.882, -144.406, -14.775, -89.012]
p2Joint = [-101.780, -69.828, 110.917, -125.740, -127.841, 74.300]
p3Desc = [146.861, 578.426, 205.598, 175.997, -36.178, -93.437]
p3Joint = [-112.851, -60.191, 86.566, -80.676, -97.463, 74.300]
p4Desc = [136.284, 509.876, 225.613, 178.987, 1.372, -100.696]
p4Joint = [-116.397, -76.281, 113.845, -128.611, -88.654, 74.299]
p5Desc = [138.395, 505.972, 298.016, 179.134, 2.147, -101.110]
p5Joint = [-116.814, -82.333, 109.162, -118.662, -88.585, 74.302]
p6Desc = [105.553, 454.325, 232.017, -179.426, 0.444, -99.952]
p6Joint = [-115.649, -84.367, 122.447, -128.663, -90.432, 74.303]
exaxisPos = [0, 0, 0, 0]
offdese = [0, 0, 100, 0, 0, 0]
robot.MoveJ(joint_pos=p1Joint,tool=0,user=0,vel=100,acc=100,ovl=100,exaxis_pos=exaxisPos,blendT=-1,offset_flag=0,offset_pos=offdese)
robot.SetTcp4RefPoint(1)
robot.MoveJ(joint_pos=p2Joint,tool=0,user=0,vel=100,acc=100,ovl=100,exaxis_pos=exaxisPos,blendT=-1,offset_flag=0,offset_pos=offdese)
robot.SetTcp4RefPoint(2)
robot.MoveJ(joint_pos=p3Joint,tool=0,user=0,vel=100,acc=100,ovl=100,exaxis_pos=exaxisPos,blendT=-1,offset_flag=0,offset_pos=offdese)
robot.SetTcp4RefPoint(3)
robot.MoveJ(joint_pos=p4Joint,tool=0,user=0,vel=100,acc=100,ovl=100,exaxis_pos=exaxisPos,blendT=-1,offset_flag=0,offset_pos=offdese)
robot.SetTcp4RefPoint(4)
rtn,coordRtn = robot.ComputeTcp4()
print(f"4 Point ComputeTool {rtn} coord is {coordRtn[0]} {coordRtn[1]} {coordRtn[2]} "
      f"{coordRtn[3]} {coordRtn[4]} {coordRtn[5]}")
robot.SetToolCoord(1, coordRtn, 0, 0, 1, 0)
error, p1Desc = robot.GetForwardKin(p1Joint)
error, p2Desc = robot.GetForwardKin(p2Joint)
error, p3Desc = robot.GetForwardKin(p3Joint)
robot.SetFocusCalibPoint(1, p1Desc)
robot.SetFocusCalibPoint(2, p2Desc)
robot.SetFocusCalibPoint(3, p3Desc)
rtn, resultPos, accuracy = robot.ComputeFocusCalib(pointNum=3)
print(f"ComputeFocusCalib coord is {rtn} {resultPos[0]} {resultPos[1]} {resultPos[2]} accuracy is {accuracy}")
rtn = robot.SetFocusPosition(resultPos)
error, p5Desc = robot.GetForwardKin(p5Joint)
error, p6Desc = robot.GetForwardKin(p6Joint)
robot.MoveL(desc_pos=p5Desc,tool=1,user=0,vel=10,acc=100,ovl=100,blendR=-1,blendMode=0,exaxis_pos=exaxisPos,search=0,offset_flag=1,offset_pos=offdese)
robot.MoveL(desc_pos=p6Desc,tool=1,user=0,vel=10,acc=100,ovl=100,blendR=-1,blendMode=0,exaxis_pos=exaxisPos,search=0,offset_flag=1,offset_pos=offdese)
robot.FocusStart(50, 19, 710, 90, 0)
robot.MoveL(desc_pos=p5Desc,tool=1,user=0,vel=10,acc=100,ovl=100,blendR=-1,blendMode=0,exaxis_pos=exaxisPos,search=0,offset_flag=1,offset_pos=offdese)
robot.MoveL(desc_pos=p6Desc,tool=1,user=0,vel=10,acc=100,ovl=100,blendR=-1,blendMode=0,exaxis_pos=exaxisPos,search=0,offset_flag=1,offset_pos=offdese)
robot.FocusEnd()
robot.CloseRPC()

6.53. Joint torque sensor sensitivity calibration function is enabled

New in version python: SDK-v2.1.7

Prototype	`JointSensitivityEnable(status)`
Description	Joint torque sensor sensitivity calibration function is enabled
Mandatory parameters	`status`：0- closed; 1- On
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.54. Joint torque sensor sensitivity data acquisition

New in version python: SDK-v2.1.7

Prototype	`JointSensitivityCollect()`
Description	Joint torque sensor sensitivity data acquisition
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.55. The sensitivity calibration results of the joint torque sensor were obtained

New in version python: SDK-v2.1.7

Prototype	`JointSensitivityCalibration()`
Description	The sensitivity calibration results of the joint torque sensor were obtained
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode `calibResult`：j1~j6 Joint sensitivity [0-1] `linearityn`：j1~j6 joint linearity[0-1]

6.56. Get Joint Torque Sensor Hysteresis Error

Prototype	`JointHysteresisError()`
Description	Get joint torque sensor hysteresis error
Required Parameters	None
Default Parameters	None
Return Value	Error code Success-0 Failure- errcode `hysteresisError`：j1~j6 joint hysteresis error

6.57. Get Joint Torque Sensor Repeatability

Prototype	`JointRepeatability()`
Description	Get joint torque sensor repeatability
Required Parameters	None
Default Parameters	None
Return Value	Error code Success-0 Failure- errcode `repeatability`：j1~j6 joint repeatability

6.58. Set Joint Force Sensor Parameters

Prototype	`SetAdmittanceParams(M, B, K, threshold, sensitivity, setZeroFlag)`
Description	Set joint force sensor parameters
Required Parameters	`M`：J1-J6 mass coefficient [0.001 ~ 10] `B`：J1-J6 damping coefficient [0.001 ~ 10] `K`：J1-J6 stiffness coefficient [0.001 ~ 10] `threshold`：Force control threshold, Nm `sensitivity`：Sensitivity, Nm/V, [0 ~ 10] `setZeroFlag`：Function enable flag; 0-Off; 1-On; 2-Record zero point at position 1; 3-Record zero point at position 2
Default Parameters	None
Return Value	Error code Success-0 Failure- errcode

6.59. Sample code for automatic calibration of joint torque sensor sensitivity

from fairino import Robot
import time
robot = Robot.RPC('192.168.58.2')
rtn = robot.JointSensitivityEnable(0)
rtn = robot.JointSensitivityEnable(1)
print(f"JointSensitivityEnable rtn is {rtn}")
curJPos = [0.0] * 6
rtn, curJPos = robot.GetActualJointPosDegree(0)
epos = [0.0] * 4
offset_pos = [0.0] * 6
jointPos1 = [curJPos[0], 0.0, 0.0, -90.0, 0.02, curJPos[5]]
descPos1 = [0.0] * 6
rtn, descPos1 = robot.GetForwardKin(jointPos1)
robot.MoveJ(joint_pos=jointPos1, desc_pos=descPos1, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.2)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 1 rtn is {rtn}")
time.sleep(0.1)
jointPos2 = [curJPos[0], -30.0, 0.0, -90.0, 0.02, curJPos[5]]
descPos2 = [0.0] * 6
rtn, descPos2 = robot.GetForwardKin(jointPos2)
robot.MoveJ(joint_pos=jointPos2, desc_pos=descPos2, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 2 rtn is {rtn}")
time.sleep(0.1)
jointPos3 = [curJPos[0], -60.0, 0.0, -90.0, 0.02, curJPos[5]]
descPos3 = [0.0] * 6
rtn, descPos3 = robot.GetForwardKin(jointPos3)
robot.MoveJ(joint_pos=jointPos3, desc_pos=descPos3, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 3 rtn is {rtn}")
time.sleep(0.1)
jointPos4 = [curJPos[0], -90.0, 0.0, -90.0, 0.02, curJPos[5]]
descPos4 = [0.0] * 6
rtn, descPos4 = robot.GetForwardKin(jointPos4)
robot.MoveJ(joint_pos=jointPos4, desc_pos=descPos4, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 4 rtn is {rtn}")
time.sleep(0.1)
jointPos5 = [curJPos[0], -120.0, 0.0, -90.0, 0.02, curJPos[5]]
descPos5 = [0.0] * 6
rtn, descPos5 = robot.GetForwardKin(jointPos5)
robot.MoveJ(joint_pos=jointPos5, desc_pos=descPos5, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 5 rtn is {rtn}")
time.sleep(0.1)
jointPos6 = [curJPos[0], -150.0, 0.0, -90.0, 0.02, curJPos[5]]
descPos6 = [0.0] * 6
rtn, descPos6 = robot.GetForwardKin(jointPos6)
robot.MoveJ(joint_pos=jointPos6, desc_pos=descPos6, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 6 rtn is {rtn}")
time.sleep(0.1)
jointPos7 = [curJPos[0], -180.0, 0.0, -90.0, 0.02, curJPos[5]]
descPos7 = [0.0] * 6
rtn, descPos7 = robot.GetForwardKin(jointPos7)
robot.MoveJ(joint_pos=jointPos7, desc_pos=descPos7, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 7 rtn is {rtn}")
time.sleep(0.1)
robot.MoveJ(joint_pos=jointPos6, desc_pos=descPos6, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 8 rtn is {rtn}")
time.sleep(0.1)
robot.MoveJ(joint_pos=jointPos5, desc_pos=descPos5, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 9 rtn is {rtn}")
time.sleep(0.1)
robot.MoveJ(joint_pos=jointPos4, desc_pos=descPos4, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 10 rtn is {rtn}")
time.sleep(0.1)
robot.MoveJ(joint_pos=jointPos3, desc_pos=descPos3, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 11 rtn is {rtn}")
time.sleep(0.1)
robot.MoveJ(joint_pos=jointPos2, desc_pos=descPos2, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 12 rtn is {rtn}")
time.sleep(0.1)
robot.MoveJ(joint_pos=jointPos1, desc_pos=descPos1, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.2)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 13 rtn is {rtn}")
time.sleep(0.1)
calibResult = [0.0] * 6
linearity = [0.0] * 6
rtn,calibResult, linearity = robot.JointSensitivityCalibration()
print(f"JointSensitivityCalibration rtn is {rtn}")
rtn = robot.JointSensitivityEnable(0)
print(f"JointSensitivityEnable rtn is {rtn}")
print(f"jointSensor Calib result is {calibResult[0]},{calibResult[1]},{calibResult[2]},{calibResult[3]},{calibResult[4]},{calibResult[5]}")
print( f"jointSensor linearity is {linearity[0]},{linearity[1]},{linearity[2]},{linearity[3]},{linearity[4]},{linearity[5]}")
hysteresisError = [0.0] * 6
rtn,hysteresisError = robot.JointHysteresisError()
print(f"JointHysteresisError result is {hysteresisError[0]},{hysteresisError[1]},{hysteresisError[2]},{hysteresisError[3]},{hysteresisError[4]},{hysteresisError[5]}")
repeatability = [0.0] * 6
rtn,repeatability = robot.JointRepeatability()
print(f"JointRepeatability result is {repeatability[0]},{repeatability[1]},{repeatability[2]},{repeatability[3]},{repeatability[4]},{repeatability[5]}")
M = [1.0] * 6
B = [1.0] * 6
K = [0.0] * 6
threshold = [1.0] * 6
setZeroFlag = 1
rtn = robot.SetAdmittanceParams(M, B, K, threshold, calibResult, setZeroFlag)
print(f"SetAdmittanceParams rtn is {rtn}")
robot.CloseRPC()

6.60. The number of error frames at eight slave ports of the robot is obtained

New in version python: SDK-v2.1.7

Prototype	`GetSlavePortErrCounter()`
Description	The number of error frames at eight slave ports of the robot is obtained
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode `inRecvErr`：Input the number of error frames received `inCRCErr`：Input the number of CRC error frames `inTransmitErr`：Input the number of forwarding error frames `inLinkErr`：Enter the number of link error frames `outRecvErr`：Outputs the number of frames received incorrectly `outCRCErr`：The number of CRC error frames is output `outTransmitErr`：Outputs the number of forwarding error frames `outLinkErr`：Output link error frames

6.61. Slave port error frame reset

New in version python: SDK-v2.1.7

Prototype	`JointSensitivityEnable(slaveID)`
Description	Slave port error frame reset
Mandatory parameters	`slaveID`：Slave station numbers 0 to 7
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.62. Get sample slave port error frame code

from fairino import Robot
import time
import threading
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
inRecvErr = [0] * 8
inCRCErr = [0] * 8
inTransmitErr = [0] * 8
inLinkErr = [0] * 8
outRecvErr = [0] * 8
outCRCErr = [0] * 8
outTransmitErr = [0] * 8
outLinkErr = [0] * 8
rtn,inRecvErr, inCRCErr, inTransmitErr, inLinkErr, outRecvErr, outCRCErr, outTransmitErr, outLinkErr = robot.GetSlavePortErrCounter()
for i in range(8):
    if inRecvErr[i] != 0:
        print(f"inRecvErr {i} is {inRecvErr[i]}")
    if inCRCErr[i] != 0:
        print(f"inCRCErr {i} is {inCRCErr[i]}")
    if inTransmitErr[i] != 0:
        print(f"inTransmitErr {i} is {inTransmitErr[i]}")
    if inLinkErr[i] != 0:
        print(f"inLinkErr {i} is {inLinkErr[i]}")
    if outRecvErr[i] != 0:
        print(f"outRecvErr {i} is {outRecvErr[i]}")
    if outCRCErr[i] != 0:
        print(f"outCRCErr {i} is {outCRCErr[i]}")
    if outTransmitErr[i] != 0:
        print(f"outTransmitErr {i} is {outTransmitErr[i]}")
    if outLinkErr[i] != 0:
        print(f"outLinkErr {i} is {outLinkErr[i]}")
print("others has no err!")
for i in range(8):
    robot.SlavePortErrCounterClear(i)
robot.CloseRPC()

6.63. Set the feed-forward coefficient of each axis speed

New in version python: SDK-v2.1.7

Prototype	`SetVelFeedForwardRatio(radio)`
Description	Set the feed-forward coefficient of each axis speed
Mandatory parameters	`radio`：Each axis velocity feedforward coefficient
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.64. The velocity feedforward coefficients of each axis are obtained

New in version python: SDK-v2.1.7

Prototype	`GetVelFeedForwardRatio()`
Description	The velocity feedforward coefficients of each axis are obtained
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode `radio`：Each axis velocity feedforward coefficient

6.65. Robot velocity feedforward coefficient code example

from fairino import Robot
import time
import threading
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
setRadio = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
robot.SetVelFeedForwardRatio(setRadio)
getRadio = [0.0] * 6
rtn,getRadio = robot.GetVelFeedForwardRatio()
print(f"{getRadio[0]},{getRadio[1]},{getRadio[2]},{getRadio[3]},{getRadio[4]},{getRadio[5]}")
robot.CloseRPC()

6.66. Photoelectric Sensor TCP Calibration - Compute Tool RPY

Prototype	`TCPComputeRPY(Btool, Etool, sensor, radius, dz)`
Description	Photoelectric Sensor TCP Calibration - Compute Tool RPY
Required Parameters	`Btool`: Robot Cartesian position `Etool`: Current tool coordinate values `sensor`: Current sensor coordinate values (not yet available) `radius`: Circular motion radius in mm (not yet available) `dz`: Movement distance along the negative Z-axis of the base coordinate system; when dz = 10000, the function directly returns tool RPY
Default Parameters	None
Return Value	Error code. Success - 0, Failure - errcode

6.67. Photoelectric Sensor TCP Calibration - Compute Tool XYZ

Prototype	`TCPComputeXYZ(select, originDirection, pos1, pos2, pos3, pos4)`
Description	Photoelectric Sensor TCP Calibration - Compute Tool XYZ
Required Parameters	`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 `originDirection`: 0-X direction; 1-Y direction; 2-Z direction `pos1`: Robot Cartesian position 1 `pos2`: Robot Cartesian position 2 `pos3`: Robot Cartesian position 3 `pos4`: Robot Cartesian position 4
Default Parameters	None
Return Value	Error code. Success - 0, Failure - errcode Return value (returned on successful call) TCP Tool XYZ values

6.68. Photoelectric Sensor TCP Calibration - Start Recording Flange Center Position

Prototype	`TCPRecordFlangePosStart()`
Description	Photoelectric Sensor TCP Calibration - Start Recording Flange Center Position
Required Parameters	None
Default Parameters	None
Return Value	Error code. Success - 0, Failure - errcode

6.69. Photoelectric Sensor TCP Calibration - Stop Recording Flange Center Position

Prototype	`TCPRecordFlangePosEnd()`
Description	Photoelectric Sensor TCP Calibration - Stop Recording Flange Center Position
Required Parameters	None
Default Parameters	None
Return Value	Error code. Success - 0, Failure - errcode

6.70. Photoelectric Sensor TCP Calibration - Get Tool Center Point Position

Prototype	`TCPGetRecordFlangePos()`
Description	Photoelectric Sensor TCP Calibration - Get Tool Center Point Position
Required Parameters	None
Default Parameters	None
Return Value	Error code. Success - 0, Failure - errcode Return value (returned on successful call) TCP Tool center point position (x, y, z)

6.71. Photoelectric Sensor TCP Calibration

Prototype	`PhotoelectricSensorTCPCalibration(luaPath, offsetX)`
Description	Photoelectric Sensor TCP Calibration
Required Parameters	`luaPath`: Automatic calibration Lua program path: For QX version robots - ‘/fruser/FR_CalibrateTheToolTcp.lua’; For LA version robots - ‘/usr/local/etc/controller/lua/FR_CalibrateTheToolTcp.lua’ `offsetX`: Teaching point offset (x, y, z) in mm
Default Parameters	None
Return Value	Error code. Success - 0, Failure - errcode Return value (returned on successful call) TCP Tool XYZ values

6.72. Photoelectric Sensor TCP Calibration Code Example

from fairino import Robot
import time
robot = Robot.RPC('192.168.58.2')
offset = [10.0, 10.0, 3.0]
TCP = [0.0] * 6
rtn, TCP = robot.PhotoelectricSensorTCPCalibration("/fruser/FR_CalibrateTheToolTcp.lua", offset)
print(f"PhotoelectricSensorTCPCalibration rtn is {rtn},{TCP[0]},{TCP[1]},{TCP[2]},{TCP[3]},{TCP[4]},{TCP[5]}")
robot.CloseRPC()
return 0