11. Peripherals

11.1. Configuration of jaws

Prototype	SetGripperConfig(company,device,softversion=0,bus=0)
Description	Configuration jaws
Required Parameters	company: gripper claw manufacturer, 1-Robotiq, 2-Huiling, 3-Tianji, 4-Dahuan, 5-Knowledge; device: device number, Robotiq (0-2F-85 series), Huiling (0-NK series, 1-Z-EFG-100), Tianji (0-TEG-110), Dahuan (0-PGI-140), Zhixing (0-CTPM2F20)
Default parameters	softversion: software version number, not used for now, default is 0; bus: device mount end bus location, not used yet, default is 0;
Return Value	Error Code Success-0 Failure- errcode

11.2. Get Jaw Configuration

Prototype	GetGripperConfig()
Description	Get Jaw Configuration
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode [number,company,device,softversion]: number, jaw number; company, jaw manufacturer, 1-Robotiq, 2-Huiling, 3-Tianji, 4-Dahuan, 5-Zhixing ;device, device number, Robotiq (0-2F-85 series), Huiling (0 -NK series,1-Z-EFG-100), Tianji(0-TEG-110), Dahuan(0-PGI-140), Zhixing(0-CTPM2F20) ;softvesion, software version number, not in use for the time being, default is 0.

11.3. Activate jaws

Prototype	ActGripper(index,action)
Description	Activate the jaws.
Mandatory parameter	index: jaw number; action: 0-reset, 1-activate
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.4. Control jaws

Prototype	MoveGripper(index,pos,vel,force,maxtime,block,type,rotNum,rotVel,rotTorque)
Description	Control jaws
Mandatory parameter	index: jaw number; pos: percentage of position, range [0~100]; vel: percentage of speed, in the range [0 to 100]; vel: percentage of speed, in the range [0 to 100]. force: percentage of torque, range [0 to 100]; maxtime: maximum wait time, range [0~30000], unit [ms]; block: 0-blocking, 1-non-blocking; type: type of jaws, 0-parallel jaws; 1-rotary jaws; rotNum:rotNum The number of rotations; rotVel: Percentage of rotational velocity [0-100]; rotTorque: percentage of rotational torque [0-100].
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.5. Getting the jaw movement status

Prototype	GetGripperMotionDone()
Description	Get the state of the jaw motion
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode [fault,status]: status of gripper movement, fault:0-no error, 1-with error; status:0-movement not completed, 1-movement completed

11.6. Obtain the activated status of the gripper

New in version python: SDK-v2.1.2

Prototype	GetGripperActivateStatus()
Description	Obtain the activated status of the gripper
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error gripper_active：bit0 to bit15 correspond to the claw numbers 0 to 15. bit=0 indicates not activated, and bit=1 indicates activated

11.7. Obtain the position of the gripper

New in version python: SDK-v2.1.2

Prototype	GetGripperCurPosition()
Description	Obtain the position of the gripper
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error position：Position percentage, ranging from 0 to 100%

11.8. Obtain the gripper speed

New in version python: SDK-v2.1.2

Prototype	GetGripperCurSpeed()
Description	Obtain the gripper speed
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error speed：Speed percentage, range 0 to 100%

11.9. Obtain the gripper current

New in version python: SDK-v2.1.2

Prototype	GetGripperCurCurrent()
Description	Obtain the gripper current
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error current：Current percentage, range 0 to 100%

11.10. Obtain the gripper voltage

New in version python: SDK-v2.1.2

Prototype	GetGripperVoltage()
Description	Obtain the gripper voltage
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error voltage：Voltage, unit: 0.1V

11.11. Obtain the temperature of the gripper

New in version python: SDK-v2.1.2

Prototype	GetGripperTemp()
Description	Obtain the temperature of the gripper
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error temp：Temperature, unit: 0.1V

11.12. Calculate pre-capture point-visual

Prototype	ComputePrePick(desc_pos, zlength, zangle)
Description	Calculate pre-capture point-visual
Mandatory parameter	desc_pos: clip grab point Cartesian position. zlength: z-axis offset. zangle: rotational offset around the z-axis
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode pre_pos: pre-grip point Cartesian position

11.13. Calculate retreat point-visual

Prototype	ComputePostPick(desc_pos, zlength, zangle)
Description	Computing Retreat Point-Vision
Mandatory parameters	desc_pos: grab point Cartesian position; zlength: z-axis offset. zangle: rotational offset around the z-axis
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode post_pos: retreat point Cartesian poses

11.14. Robot claw operation 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')
company = 4
device = 0
softversion = 0
bus = 2
index = 2
act = 0
max_time = 30000
block = 0
status = 0
fault = 0
active_status = 0
current_pos = 0
current = 0
voltage = 0
temp = 0
speed = 0
robot.SetGripperConfig(company, device, softversion, bus)
time.sleep(1)
error,[company, device, softversion, bus] = robot.GetGripperConfig()
print(f"gripper config:{company},{device},{softversion},{bus}")
robot.ActGripper(index, act)
time.sleep(1)
act = 1
robot.ActGripper(index, act)
time.sleep(1)
error = robot.MoveGripper(index, 90, 50, 50, max_time, block, 0, 0, 0, 0)
print(f"MoveGripper retval is:{error}")
time.sleep(1)
error = robot.MoveGripper(index, 30, 50, 0, max_time, block, 0, 0, 0, 0)
print(f"MoveGripper retval is:{error}")
error, [fault, status] = robot.GetGripperMotionDone()
print(f"motion status:{fault},{status}")
error, [fault, active_status] = robot.GetGripperActivateStatus()
print(f"gripper active fault is:{fault},status is:{active_status}")
error, [fault, current_pos] = robot.GetGripperCurPosition()
print(f"fault is:{fault},current position is:{current_pos}")
error, [fault, current] = robot.GetGripperCurCurrent()
print(f"fault is:{fault},current current is:{current}")
error, [fault, voltage] = robot.GetGripperVoltage()
print(f"fault is:{fault},current voltage is:{voltage}")
error, [fault, temp] = robot.GetGripperTemp()
print(f"fault is:{fault},current temperature is:{temp}")
error, [fault, speed] = robot.GetGripperCurSpeed()
print(f"fault is:{fault},current speed is:{speed}")
retval = 0
prepick_pose = [0.0]*6
postpick_pose = [0.0]*6
p1Desc = [-419.524, -13.000, 351.569, -178.118, 0.314, 3.833]
p2Desc = [-321.222, 185.189, 335.520, -179.030, -1.284, -29.869]
retval, prepick_pose = robot.ComputePrePick(p1Desc, 10, 0)
print(f"ComputePrePick retval is:{retval}")
print(f"xyz is:{prepick_pose[0]},{prepick_pose[1]},{prepick_pose[2]};rpy is:{prepick_pose[3]},{prepick_pose[4]},{prepick_pose[5]}")
retval, postpick_pose = robot.ComputePostPick(p2Desc, -10, 0)
print(f"ComputePostPick retval is:{retval}")
print(f"xyz is:{postpick_pose[0]},{postpick_pose[1]},{postpick_pose[2]};rpy is:{postpick_pose[3]},{postpick_pose[4]},{postpick_pose[5]}")
robot.CloseRPC()

11.15. Get the number of rotation turns of the rotary gripper

New in version python: SDK-v2.0.7

Prototype	GetGripperRotNum()
Description	Get the number of rotation turns of the rotary gripper
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error num：Number of turns

11.16. Gets the percentage of rotation speed of the rotating gripper

New in version python: SDK-v2.0.7

Prototype	GetGripperRotSpeed()
Description	Gets the percentage of rotation speed of the rotating gripper
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error speed：Percent rotation speed

11.17. Obtains the percentage of rotating torque of the rotating gripper

New in version python: SDK-v2.0.7

Prototype	GetGripperRotTorque()
Description	Obtains the percentage of rotating torque of the rotating gripper
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error torque：Percent torque of rotation

11.18. Get the rotary gripper status 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')
fault = 0
rotNum = 0.0
rotSpeed = 0
rotTorque = 0
error,fault, rotNum = robot.GetGripperRotNum()
error,fault, rotSpeed = robot.GetGripperRotSpeed()
error,fault, rotTorque = robot.GetGripperRotTorque()
print(f"gripper rot num:{rotNum},gripper rotSpeed:{rotSpeed},gripper rotTorque:{rotTorque}")
robot.CloseRPC()

11.19. Drive belt start and stop

Prototype	ConveyorStartEnd(status)
Description	Drive belt start, stop
Mandatory parameters	status: status of the drive belt, 1-start, 0-stop
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.20. Record IO detection points

Prototype	ConveyorPointIORecord()
Description	Record IO detection points
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.21. Record point A

Prototype	ConveyorPointARecord()
Description	Record point A.
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.22. Recording reference points

Prototype	ConveyorRefPointRecord()
Description	Record reference point
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.23. Record point B

Prototype	ConveyorPointBRecord()
Description	Record point B.
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.24. Conveyorized workpiece IO inspection

Prototype	ConveyorIODetect(max_t)
Description	Conveyorized workpiece IO detection
Mandatory parameter	max_t: Maximum detection time in ms
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.25. Get the current position of the object

Prototype	ConveyorGetTrackData(mode)
Description	Get the current position of the object.
Mandatory Parameters	mode: 1-Tracking Capture 2-Tracking Motion 3-TPD Tracking
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.26. Drive belt tracking started

Prototype	ConveyorTrackStart(status)
Description	Drive belt tracking started
Mandatory parameters	status: status, 1-start, 0-stop
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.27. Belt tracking stop

Prototype	ConveyorTrackEnd()
Description	Drive belt tracking stop
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.28. Drive Belt Parameter Configuration

Prototype	ConveyorSetParam(param, followType, startDis, endDis)
Description	Configuration of drive belt parameters
Mandatory parameters	param= [encChannel,resolution,lead,wpAxis,vision,speedRadio]: encChannel: encoder channels 1-2 resolution: encoder resolution Number of pulses per encoder revolution lead: Mechanical transmission ratio Distance traveled by the conveyor belt in one revolution of the encoder wpAxis: Workpiece coordinate system number Select the coordinate system number of the workpiece for the tracking motion function, and set the tracking gripping and TPD tracking to 0. vision: whether or not to match vision 0 - no 1 - match, speedRadio: speed ratio For conveyor tracking gripping speed range (1-100) Tracking motion, TPD tracking set to 1 followType: Track movement type, 0- track movement; 1- Follow-up campaign
Default parameters	startDis: Tracking grasp needs to be set, tracking start distance, -1: automatic calculation (automatic tracking after the workpiece reaches the robot), the unit is mm, the default value is 0 endDis: The tracking capture needs to be set. The tracking termination distance, in mm, is 100 by default
Return Value	Error Code Success-0 Failure- errcode

11.29. Belt Grip Point Compensation

Prototype	ConveyorCatchPointComp(cmp)
Description	Drive belt grip point compensation
Mandatory parameters	cmp: Compensate for position [x,y,z]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.30. linear motion

prototype	ConveyorTrackMoveL(name,tool,wobj,vel=20,acc=100,ovl=100,blendR=-1.0)
Description	Linear motion
Mandatory parameters	name: cvrCatchPoint or cvrRaisePoint tool: tool number wobj: workpiece number
Default Parameters	vel: speed default 20 acc: acceleration default 100 ovl: velocity scaling factor default 100 blendR: [-1.0]-motion in place (blocking), [0~1000]-smoothing radius (non-blocking) in [mm] default -1.0
Return Value	Error Code Success-0 Failure- errcode

11.31. Conveyor communication input detection

New in version python: SDK-v2.1.1

Prototype	ConveyorComDetect(timeout)
Description	Conveyor communication input detection
Mandatory parameters	timeout: Wait timeout duration ms
Default Parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.32. Conveyor communication input detection triggered

New in version python: SDK-v2.1.1

Prototype	ConveyorComDetectTrigger()
Description	Conveyor communication input detection triggered
Mandatory parameters	NULL
Default Parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.33. Robot conveyor operation 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')
retval = robot.ConveyorStartEnd(1)
print(f"ConveyorStartEnd retval is:{retval}")
retval = robot.ConveyorPointIORecord()
print(f"ConveyorPointIORecord retval is:{retval}")
retval = robot.ConveyorPointARecord()
print(f"ConveyorPointARecord retval is:{retval}")
retval = robot.ConveyorRefPointRecord()
print(f"ConveyorRefPointRecord retval is:{retval}")
retval = robot.ConveyorPointBRecord()
print(f"ConveyorPointBRecord retval is:{retval}")
retval = robot.ConveyorStartEnd(0)
print(f"ConveyorStartEnd retval is:{retval}")
param = [1.0, 10000.0, 200.0, 0.0, 0.0, 20.0]
retval = robot.ConveyorSetParam(param,0)
print(f"ConveyorSetParam retval is:{retval}")
cmp = [0.0, 0.0, 0.0]
retval = robot.ConveyorCatchPointComp(cmp)
print(f"ConveyorCatchPointComp retval is:{retval}")
index = 1
max_time = 30000
block = 0
retval = 0
p1Desc = [-419.524, -13.000, 351.569, -178.118, 0.314, 3.833]
p2Desc = [-321.222, 185.189, 335.520, -179.030, -1.284, -29.869]
retval = robot.MoveCart(p1Desc, 1, 0, 100.0)
print(f"MoveCart retval is:{retval}")
retval = robot.WaitMs(1)
print(f"WaitMs retval is:{retval}")
retval = robot.ConveyorIODetect(10000)
print(f"ConveyorIODetect retval is:{retval}")
retval = robot.ConveyorGetTrackData(1)
print(f"ConveyorGetTrackData retval is:{retval}")
retval = robot.ConveyorTrackStart(1)
print(f"ConveyorTrackStart retval is:{retval}")
retval = robot.ConveyorTrackMoveL("cvrCatchPoint", 1, 0, 100)
print(f"TrackMoveL retval is:{retval}")
retval = robot.MoveGripper(index, 51, 40, 30, max_time, block, 0, 0, 0, 0)
print(f"MoveGripper retval is:{retval}")
retval = robot.ConveyorTrackMoveL("cvrRaisePoint", 1, 0, 100)
print(f"TrackMoveL retval is:{retval}")
retval = robot.ConveyorTrackEnd()
print(f"ConveyorTrackEnd retval is:{retval}")
robot.MoveCart(p2Desc, 1, 0, 100.0, 100.0)
retval = robot.MoveGripper(index, 100, 40, 10, max_time, block, 0, 0, 0, 0)
print(f"MoveGripper retval is:{retval}")
robot.CloseRPC()

11.34. End Sensor Configuration

New in version python: SDK-v2.0.5

Prototype	AxleSensorConfig(idCompany, idDevice, idSoftware, idBus)
Description	End Sensor Configuration
Mandatory parameters	idCompany: manufacturer, 18-Junkong; 25-Huide idDevice: type, 0-JUNKONG/RYR6T.V1.0 idSoftware: software version, 0-J1.0/HuiDe1.0 (not yet available) idBus: mount location, 1-end port 1; 2-end port 2… ..8-end port 8 (not open yet)
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.35. Get End Sensor Configuration

New in version python: SDK-v2.0.5

Prototype	AxleSensorConfigGet()
Description	Get end sensor configuration
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode idCompany: manufacturer, 18-Junkong; 25-Huide idDevice: type, 0-JUNKONG/RYR6T.V1.0

11.36. End sensor activation

New in version python: SDK-v2.0.5

Prototype	AxleSensorActivate(actFlag)
Description	End sensor activation
Mandatory parameters	actFlag: 0-reset; 1-activate
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode coord: coordinate system values [x,y,z,rx,ry,rz]

11.37. End Sensor Register Write

New in version python: SDK-v2.0.5

Prototype	AxleSensorRegWrite(devAddr, regHAddr, regLAddr, regNum, data1, data2, isNoBlock)
Description	End Sensor Register Write
Mandatory parameters	devAddr: device address number 0-255 regHAddr: register address high 8 bits regLAddr: register address lower 8 bits regNum: number of registers 0-255 data1: write to register value 1 data2: write register value 2 isNoBlock: whether blocking 0 - blocking; 1 - non-blocking
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.38. End sensor 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')
robot.AxleSensorConfig(18, 0, 0, 1)
error, company, type = robot.AxleSensorConfigGet()
print(f"company is:{company},type is:{type}")
rtn = robot.AxleSensorActivate(1)
print(f"AxleSensorActivate rtn is:{rtn}")
time.sleep(1)
rtn = robot.AxleSensorRegWrite(1, 4, 6, 1, 0, 0, 0)
print(f"AxleSensorRegWrite rtn is:{rtn}")
robot.CloseRPC()

11.39. Obtaining Robot Peripheral Protocols

New in version python: SDK-v2.0.3

Prototype	GetExDevProtocol()
Description	Get robot peripheral protocol
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode. protocol: Robot peripheral protocol number 4096-Extended Axis Control Card; 4097-ModbusSlave; 4098-ModbusMaster

11.40. Setting up robot peripheral protocols

New in version python: SDK-v2.0.3

Prototype	SetExDevProtocol(protocol)
Description	Setting the robot peripheral protocol
Mandatory parameters	protocol: robot peripheral protocol number 4096 - Extended Axis Control Card; 4097 - ModbusSlave; 4098 - ModbusMaster
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.41. Example of setup robot peripheral protocol 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')
protocol = 4096
rtn = robot.SetExDevProtocol(protocol)
print(f"SetExDevProtocol rtn:{rtn}")
rtn, protocol = robot.GetExDevProtocol()
print(f"GetExDevProtocol rtn:{rtn},protocol is:{protocol}")
robot.CloseRPC()

11.42. Getting end communication parameters

New in version python: SDK-v2.0.5

Prototype	GetAxleCommunicationParam()
Description	Get end communication parameters
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode baudRate: baud rate: support 1-9600, 2-14400, 3-19200, 4-38400, 5-56000, 6-67600, 7-115200, 8-128000 dataBit: data bit: data bit support (8,9), currently commonly used 8 stopBit: stop bit: 1-1, 2-0.5, 3-2, 4-1.5, currently 1 is commonly used. verify: check digit: 0-None, 1-Odd, 2-Even, currently 0. timeout: timeout time: 1~1000ms, this value needs to be combined with the peripheral with the setting of reasonable time parameters timeoutTimes: timeout times: 1~10, mainly for timeout retransmission, reduce occasional exceptions to improve user experience period: periodic instruction time interval:1~1000ms, mainly used for the time interval between each issuance of periodic instructions

11.43. Setting the end communication parameters

New in version python: SDK-v2.0.5

Prototype	SetAxleCommunicationParam(baudRate, dataBit, stopBit, verify, timeout, timeoutTimes, period)
description	set end communication parameters
Required Parameters	baudRate: baud rate: supports 1-9600, 2-14400, 3-19200, 4-38400, 5-56000, 6-67600, 7-115200, 8-128000 dataBit: data bit: data bit support (8,9), currently commonly used 8 stopBit: stop bit: 1-1, 2-0.5, 3-2, 4-1.5, currently 1 is commonly used. verify: check digit: 0-None, 1-Odd, 2-Even, currently 0. timeout: timeout time: 1~1000ms, this value needs to be combined with the peripheral with the setting of reasonable time parameters timeoutTimes: timeout times: 1~10, mainly for timeout retransmission, reduce occasional exceptions to improve user experience period: periodic instruction time interval:1~1000ms, mainly used for the time interval between each issuance of periodic instructions
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.44. Setting the end file transfer type

New in version python: SDK-v2.0.5

Prototype	SetAxleFileType(type)
Description	Set the end file transfer type
Mandatory parameters	type: 1-MCU upgrade file, 2-LUA file
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.45. Setting Enable End LUA Execution

New in version python: SDK-v2.0.5

Prototype	SetAxleLuaEnable(enable)
Description	Set Enable End LUA Enforcement
Mandatory parameters	enable: 0 - not enabled; 1 - enabled
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.46. End LUA file exception error recovery

New in version python: SDK-v2.0.5

Prototype	SetRecoverAxleLuaErr(enable)
Description	End LUA File Exception Error Recovery
Mandatory parameters	status: 0 - no recovery; 1 - recovery
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.47. Get end LUA execution enable status

New in version python: SDK-v2.0.5

Prototype	GetAxleLuaEnableStatus()
description	Get end LUA execution enable state
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode enable: 0-don’t enable; 1-enable

11.48. Setting the end LUA end device enable type

New in version python: SDK-v2.0.5

prototype	SetAxleLuaEnableDeviceType(forceSensorEnable, gripperEnable, IOEnable)
Description	Set end LUA end device enable type
Mandatory parameters	forceSensorEnable: force sensor enable status, 0 - not enabled; 1 - enabled gripperEnable: gripper enable status, 0 - not enabled; 1 - enabled IOEnable: IO device enable status, 0-not enabled; 1-enabled
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.49. Get End LUA End Device Enablement Type

New in version python: SDK-v2.0.5

Prototype	GetAxleLuaEnableDeviceType()
Description	Get End LUA End Device Enablement Type
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode forceSensorEnable: force sensor enable status, 0 - not enabled; 1 - enabled gripperEnable: gripper enable status, 0 - not enabled; 1 - enabled IOEnable: IO device enable status, 0-not enabled; 1-enabled

11.50. Get the currently configured end device

New in version python: SDK-v2.0.5

Prototype	GetAxleLuaEnableDevice()
Description	Get the currently configured end device
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode forceSensorEnable[8]: force sensor enable state, 0 - not enabled; 1 - enabled gripperEnable[8]: gripper enable status, 0 - not enabled; 1 - enabled IOEnable[8]: IO device enable status, 0-not enabled; 1-enabled

11.51. Setting to enable the jaw movement control function

New in version python: SDK-v2.0.5

Prototype	SetAxleLuaGripperFunc(id, func)
Description	Set to enable the jaw motion control function
Mandatory parameters	id: gripper device number func: 0-jaw enable; 1-jaw initialization; 2-position setting; 3-speed setting; 4-torque setting; 6-reading the jaw status; 7-reading the initialization status; 8-reading the fault code; 9-reading the position; 10-reading the speed; 11-reading the torque,12-15 reserved
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.52. Getting to Enable Jaw Motion Control

New in version python: SDK-v2.0.5

Prototype	GetAxleLuaGripperFunc(id)
Description	Get the Enable Jaw Motion Control function
Mandatory parameter	id: gripper device number
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode func: 0-jaw enable; 1-jaw initialization; 2-position setting; 3-speed setting; 4-torque setting; 6-reading the jaw status; 7-reading the initialization status; 8-reading the fault code; 9-reading the position; 10-reading the speed; 11-reading the torque,12-15 reserved

11.53. The Ethercat slave file is written by the robot

New in version python: SDK-v2.0.5

Prototype	SlaveFileWrite(type,slaveID,fileName)
Description	The Ethercat slave file is written by the robot
Mandatory parameter	type：Slave file type, 1- Upgrade slave file; 2- Upgrade the slave station configuration file slaveID：From the station number fileName：Upload the file name
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode

11.54. Upload the end Lua open protocol file

New in version python: SDK-v2.0.5

Prototype	AxleLuaUpload(filePath)
Description	Upload the end Lua open protocol file
Mandatory parameter	filePath：Local lua file path name …/AXLE_LUA_End_DaHuan.lua
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode

11.55. The robot Ethercat enters boot mode from the station

New in version python: SDK-v2.0.5

Prototype	SetSysServoBootMode(filePath)
Description	The robot Ethercat enters boot mode from the station
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode

11.56. Example of LUA file manipulation code at the end of the robot

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.AxleLuaUpload("D://zUP/AXLE_LUA_End_DaHuan.lua")
param = [7, 8, 1, 0, 5, 3, 1]  # 对应AxleComParam参数
robot.SetAxleCommunicationParam(7, 8, 1, 0, 5, 3, 1)
error,getParam0,getParam1,getParam2,getParam3,getParam4,getParam5,getParam6 = robot.GetAxleCommunicationParam()
print(f"GetAxleCommunicationParam param is:{getParam0} {getParam1} {getParam2} {getParam3} {getParam4} {getParam5} {getParam6}")
robot.SetAxleLuaEnable(1)
error,luaEnableStatus = robot.GetAxleLuaEnableStatus()
robot.SetAxleLuaEnableDeviceType(0, 1, 0)
error,forceEnable, gripperEnable, ioEnable = robot.GetAxleLuaEnableDeviceType()
print(f"GetAxleLuaEnableDeviceType param is:{forceEnable} {gripperEnable} {ioEnable}")
func = [1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1]
robot.SetAxleLuaGripperFunc(1, func)
error,getFunc = robot.GetAxleLuaGripperFunc(1)
error,getforceEnable, getgripperEnable, getioEnable = robot.GetAxleLuaEnableDevice()
print("\ngetforceEnable status:", end=" ")
for i in range(8):
    print(f"{getforceEnable[i]},", end="")
print("\ngetgripperEnable status:", end=" ")
for i in range(8):
    print(f"{getgripperEnable[i]},", end="")
print("\ngetioEnable status:", end=" ")
for i in range(8):
    print(f"{getioEnable[i]},", end="")
print()
robot.ActGripper(1, 0)
time.sleep(2)
robot.ActGripper(1, 1)
time.sleep(2)
robot.MoveGripper(1, 90, 10, 100, 50000, 0, 0, 0, 0, 0)
while True:
    error,pkg = robot.GetRobotRealTimeState()
    print(f"gripper pos is:{pkg.gripper_position}")
    time.sleep(0.1)
robot.CloseRPC()

11.57. Obtain the status of the SmartTool button

New in version python: SDK-v2.1.2

Prototype	GetSmarttoolBtnState()
Description	Obtain the status of the SmartTool button
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode state: SmartTool handle button status (bit0:0- Communication is normal; 1- Communication disconnection; bit1- Undo operation bit2- Clear the program; bit3-A key bit4-B key bit5-C key bit6-D key bit7-E key bit8-IO key bit9- Manual automatic Starting from bit10

11.58. SmartTool button 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')
while True:
    error,state = robot.GetSmarttoolBtnState()
    print(f"{state:016b}")
    time.sleep(0.1)

11.59. Set the load detection before drag is started

New in version python: SDK-v2.1.6

Prototype	SetTorqueDetectionSwitch(flag)
Description	Set the load detection before drag is started
Mandatory parameters	flag：0- closed; 1- On
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.60. Laser peripheral open and close function

New in version python: SDK-v2.1.6

Prototype	LaserTrackingLaserOnOff(OnOff, weldId)
Description	Laser peripheral open and close function
Mandatory parameters	OnOff：0- closed; 1- On
Default parameters	weldId：The default weld ID is 0
Return Value	Error Code Success-0 Failure- errcode

11.61. Laser tracking start-end function

New in version python: SDK-v2.1.6

Prototype	LaserTrackingTrackOnOff(OnOff, coordId)
Description	Laser tracking start-end function
Mandatory parameters	OnOff：0- closed; 1- On coordId：Laser peripheral tool coordinate system No
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.62. Laser positioning - Fixed direction

New in version python: SDK-v2.1.6

Prototype	LaserTrackingSearchStart_xyz(direction, vel, distance, timeout, posSensorNum)
Description	Laser positioning - Fixed direction
Mandatory parameters	direction：0-x+ 1-x- 2-y+ 3-y- 4-z+ 5-z- vel：Unit of speed % distance：The maximum positioning distance unit is mm timeout：The unit of seek timeout time is ms posSensorNum：The coordinate number of the tool calibrated by laser
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.63. Laser positioning - in any direction

New in version python: SDK-v2.1.6

Prototype	LaserTrackingSearchStart_point(directionPoint, vel, distance, timeout, posSensorNum)
Description	Laser positioning - in any direction
Mandatory parameters	directionPoint：To the left of the xyz of the input point for positioning,[x,y,z] vel：Unit of speed % distance：The maximum positioning distance unit is mm timeout：The unit of seek timeout time is ms posSensorNum：The coordinate number of the tool calibrated by laser
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.64. Laser IP configuration

New in version python: SDK-v2.1.6

Prototype	LaserTrackingSensorConfig(ip, port)
Description	Laser IP configuration
Mandatory parameters	ip：The ip address of the laser peripheral port：The port number of the laser peripheral
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.65. Configuration of sampling period for laser peripherals

New in version python: SDK-v2.1.6

Prototype	LaserTrackingSensorSamplePeriod(period)
Description	Configuration of sampling period for laser peripherals
Mandatory parameters	period：The unit of sampling period for laser peripherals is ms
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.66. Laser peripheral driver loading

New in version python: SDK-v2.1.6

Prototype	LoadPosSensorDriver(type)
Description	Laser peripheral driver loading
Mandatory parameters	type：Protocol type of the laser device driver: 101-Ruineng 102-Chuangxiang 103-Quanshi 104-Tongzhou 105-Aotai
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.67. Laser peripheral driver unloading

New in version python: SDK-v2.1.6

Prototype	UnLoadPosSensorDriver()
Description	Laser peripheral driver unloading
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.68. Laser weld seam trajectory recording

New in version python: SDK-v2.1.6

Prototype	LaserSensorRecord1(status, delayTime)
Description	Laser weld seam trajectory recording
Mandatory parameters	status：0- Stop recording 1- Real-time tracking 2- Start recording delayTime：The delay time unit is ms
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.69. Laser weld seam trajectory reproduction

New in version python: SDK-v2.1.6

Prototype	LaserSensorReplay(delayTime, speed)
Description	Laser weld seam trajectory reproduction
Mandatory parameters	delayTime：The delay time unit is ms speed：Unit of speed %
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.70. Laser tracking reproduction

New in version python: SDK-v2.1.6

Prototype	MoveLTR()
Description	Laser tracking reproduction
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.71. Laser weld seam trajectory reproduction

New in version python: SDK-v2.1.6

Prototype	LaserSensorRecordandReplay(delayMode, delayTime, delayDisExAxisNum, delayDis, sensitivePara, int trackMode, int triggerMode, double runTime, speed)
Description	Laser Weld Seam Trajectory Replay
Required Parameters	delayMode: Mode 0-Delay Time 1-Delay Distance delayTime: Delay time in milliseconds (ms) delayDisExAxisNum: Extended Axis Number delayDis: Delay distance in millimeters (mm) sensitivePara: Compensation Sensitivity Coefficient trackMode: Fixed-point Tracking Type. 0-Extended Axis Asynchronous Motion; 1-Robot triggerMode: Fixed-point Tracking Trigger Method. 0-Tracking Duration; 1-IO runTime: Robot Fixed-point Tracking Duration in seconds (s) speed: Speed in percentage (%)
Default Parameters	None
Return Value	Error Code. Success - 0, Failure - errcode

11.72. Movement to the starting point of weld record

New in version python: SDK-v2.1.6

Prototype	MoveToLaserRecordStart(moveType, ovl)
Description	Movement to the starting point of weld record
Mandatory parameters	moveType：0-PTP 1-LIN ovl：Speed unit %
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.73. Movement to the end of the weld record

New in version python: SDK-v2.1.6

Prototype	MoveToLaserRecordEnd(moveType, ovl)
Description	Movement to the end of the weld record
Mandatory parameters	moveType：0-PTP 1-LIN ovl：Speed unit %
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.74. Move to the laser sensor to find the site

New in version python: SDK-v2.1.6

Prototype	MoveToLaserSeamPos(moveFlag, ovl, dataFlag, plateType, trackOffectType, offset)
Description	Move to the laser sensor to find the site
Mandatory parameters	moveFlag：Motion type: 0-PTP; 1-LIN ovl：Speed scaling factor, 0-100 dataFlag：Weld cache data selection: 0-execution planning data; 1- Perform logging data plateType：Plate type: 0-corrugated plate; 1- Corrugated board; 2- Fence board; 3- oil barrel; 4- Corrugated shell steel trackOffectType：Laser sensor offset type: 0-no offset; 1-base coordinate shift; 2- Tool coordinate offset; 3-Laser sensor raw data offset offset：Offset value
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.75. Obtain the coordinate information of the laser sensor location

New in version python: SDK-v2.1.6

Prototype	GetLaserSeamPos(trackOffectType, offset)
Description	Obtain the coordinate information of the laser sensor location
Mandatory parameters	trackOffectType：Laser sensor offset type: 0-no offset; 1-base coordinate shift; 2- Tool coordinate offset; 3-Laser sensor raw data offset offset：Offset value
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode jPos：Joint position[°] descPos：Cartesian position[mm] tool：Tool coordinate system user：Workpiece coordinate system exaxis：Extension axis position[mm]

11.76. Example of laser peripheral sensor parameter configuration and debugging 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')
robot.LaserTrackingSensorConfig("192.168.58.20", 5020)
robot.LaserTrackingSensorSamplePeriod(20)
robot.LoadPosSensorDriver(101)
robot.LaserTrackingLaserOnOff(0, 0)
time.sleep(3)
robot.LaserTrackingLaserOnOff(1, 0)
robot.CloseRPC()

11.77. Code example of laser trajectory scanning and trajectory reproduction

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.OpenLuaUpload("D://zUP/CtrlDev_laser_ruiniu-0117.lua")
time.sleep(2)
robot.SetCtrlOpenLUAName(0, "CtrlDev_laser_ruiniu-0117.lua")
robot.UnloadCtrlOpenLUA(0)
robot.LoadCtrlOpenLUA(0)
time.sleep(8)
i = 0
while i<10:
    startjointPos = [56.205, -117.951, 141.872, -118.149, -94.217, -122.176]
    startdescPose = [-97.552, -282.855, 26.675, 174.182, -1.338, -91.707]
    exaxisPos = [0.0] * 4
    offdese = [0.0] * 6
    robot.MoveL(desc_pos=startdescPose,tool= 1,user= 0,vel= 100,acc= 100,ovl= 100,blendR= -1,exaxis_pos= exaxisPos,search= 0,offset_flag= 0, offset_pos= offdese,overSpeedStrategy= 1,speedPercent= 1)
    robot.LaserSensorRecord1(2, 10)
    endjointPos = [68.809, -87.100, 121.120, -127.233, -95.038, -109.555]
    enddescPose = [-103.555, -464.234, 13.076, 174.179, -1.344, -91.709]
    robot.MoveL(desc_pos=enddescPose,tool= 1,user= 0,vel= 50,acc= 100,ovl= 100,blendR= -1,exaxis_pos= exaxisPos,search= 0,offset_flag= 0, offset_pos= offdese,overSpeedStrategy= 1,speedPercent= 1)
    robot.LaserSensorRecord1(0, 10)
    robot.MoveToLaserRecordStart(1, 30)
    robot.LaserSensorReplay(10, 100)
    robot.MoveLTR()
    robot.LaserSensorRecord1(0, 10)
    i = i+1
robot.CloseRPC()

11.78. Code examples for laser locating and real-time tracking

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.OpenLuaUpload("D://zUP/CtrlDev_laser_ruiniu-0117.lua")
time.sleep(2)
robot.SetCtrlOpenLUAName(0, "CtrlDev_laser_ruiniu-0117.lua")
robot.UnloadCtrlOpenLUA(0)
robot.LoadCtrlOpenLUA(0)
time.sleep(8)
time.sleep(8)
i = 0
while i < 10:
    startjointPos = [56.205, -117.951, 141.872, -118.149, -94.217, -122.176]
    startdescPose = [-97.552, -282.855, 26.675, 174.182, -1.338, -91.707]
    exaxisPos = [0.0] * 4
    offdese = [0.0] * 6
    directionPoint = [0.0] * 3
    robot.MoveL(desc_pos=startdescPose,tool= 1,user= 0,vel= 100,acc= 100,ovl= 100,blendR= -1,exaxis_pos= exaxisPos,search= 0,offset_flag= 0, offset_pos= offdese,overSpeedStrategy= 1,speedPercent= 1)
    robot.LaserTrackingSearchStart_xyz(3, 100, 300, 1000, 3)
    robot.LaserTrackingSearchStop()
    robot.MoveToLaserSeamPos(1, 30, 0, 0, 0, offdese)
    robot.LaserTrackingTrackOnOff(1, 3)
    endjointPos = [68.809, -87.100, 121.120, -127.233, -95.038, -109.555]
    enddescPose = [-103.555, -464.234, 13.076, 174.179, -1.344, -91.709]
    robot.MoveL(desc_pos=enddescPose,tool= 1,user= 0,vel= 20,acc= 100,ovl= 100,blendR= -1,exaxis_pos= exaxisPos,search= 0,offset_flag= 0, offset_pos= offdese,overSpeedStrategy= 1,speedPercent= 1)
    robot.LaserTrackingTrackOnOff(0, 3)
    i = i + 1
    print(i)
robot.CloseRPC()

11.79. Code example of the extended axis synchronized with the robot for laser tracking

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')
startexaxisPos = [0.0, 0.0, 0.0, 0.0]
seamexaxisPos = [-10.0, 0.0, 0.0, 0.0]
endexaxisPos = [-30.0, 0.0, 0.0, 0.0]
offdese = [0.0] * 6
seamjointPos = [0.0] * 6
seamdescPose = [0.0] * 6
i=0
while i < 10:
    startjointPos = [58.337, -119.628, 146.037, -116.358, -92.224, -117.654]
    startdescPose = [-53.375, -255.363, 0.919, 178.054, 1.077, -94.026]
    robot.ExtAxisSyncMoveJ(joint_pos=startjointPos, tool=1,user= 0,vel= 100,acc= 100, ovl=100,exaxis_pos= startexaxisPos,blendT= -1,offset_flag= 0,offset_pos= offdese)
    ret = robot.LaserTrackingSearchStart_xyz(3, 100, 300, 1000, 2)
    robot.LaserTrackingSearchStop()
    tool = 0
    user = 0
    rnte, seamjointPos, seamdescPose, tool, user, startexaxisPos = robot.GetLaserSeamPos(0, offdese)
    print(f"{seamjointPos[0]},{seamjointPos[1]},{seamjointPos[2]},{seamjointPos[3]},{seamjointPos[4]},{seamjointPos[5]},{seamdescPose[0]},{seamdescPose[1]},{seamdescPose[2]},{seamdescPose[3]},{seamdescPose[4]},{seamdescPose[5]}")
    if ret == 0:
        robot.ExtAxisSyncMoveJ(joint_pos=seamjointPos, tool=1,user= 0,vel= 100,acc= 100, ovl=100,exaxis_pos= seamexaxisPos,blendT= -1,offset_flag= 0,offset_pos= offdese)
        robot.LaserTrackingTrackOnOff(1, 2)
        endjointPos = [70.580, -90.918, 126.593, -125.154, -92.162, -105.403]
        enddescPose = [-53.375, -419.020, 0.920, 178.054, 1.076, -94.026]
        robot.ExtAxisSyncMoveL(desc_pos=enddescPose, tool=1,user= 0,vel= 20,acc= 100, ovl=100,blendR= -1,exaxis_pos= endexaxisPos,offset_pos= offdese)
        robot.LaserTrackingTrackOnOff(0, 2)
    i = i+1
    print(i)
robot.CloseRPC()

11.80. Control Array Suction Cup

New in version python: SDK-v2.1.5

Prototype	SetSuckerCtrl(slaveID, len, ctrlValue)
Description	Control array suction cup
Required Parameters	slaveID: Slave station number len: Length ctrlValue: Control value 1-Suction at maximum vacuum 2-Suction at set vacuum 3-Stop suction
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

11.81. Get Array Suction Cup Status

New in version python: SDK-v2.1.5

Prototype	GetSuckerState(slaveID)
Description	Get array suction cup status
Required Parameters	slaveID: Slave station number
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode state: Suction status 0-Object released 1-Workpiece suction successful 2-No object suctioned 3-Object detached pressValue: Current vacuum pressure unit kPa error: Current error code of the suction cup

11.82. Wait for Suction Cup Status

New in version python: SDK-v2.1.5

Prototype	WaitSuckerState(slaveID, state, ms)
Description	Wait for suction cup status
Required Parameters	slaveID: Slave station number state: Suction status 0-Object released 1-Workpiece suction successful 2-No object suctioned 3-Object detached ms: Maximum waiting time
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

11.83. Array Suction Cup Control Command Code Example

New in version python: SDK-v2.1.5

from fairino import Robot
# Establish connection with robot controller, returns a robot object upon successful connection
robot = Robot.RPC('192.168.58.2')
robot.OpenLuaUpload("C://Project/PeripheralSDK/CtrlDev_sucker.lua")
time.sleep(2)
robot.UnloadCtrlOpenLUA(1)
robot.LoadCtrlOpenLUA(1)
time.sleep(1)
ctrl = bytearray(20)
ctrl[0] = 1
robot.SetSuckerCtrl(0, 1, ctrl)
for i in range(100):
    rtn, state, press_value, error = robot.GetSuckerState(1)
    print(f"sucker1 state is {state}, pressValue is {press_value}, error num is {error}")
    rtn, state, press_value, error = robot.GetSuckerState(12)
    print(f"sucker12 state is {state}, pressValue is {press_value}, error num is {error}")
    time.sleep(0.1)
ret = robot.WaitSuckerState(1, 1, 100)
print(f"WaitSuckerState result is {ret}")
ctrl[0] = 3
robot.SetSuckerCtrl(1, 1, ctrl)
robot.SetSuckerCtrl(12, 1, ctrl)
robot.CloseRPC()

11.84. Upload Open Protocol Lua File

New in version python: SDK-v2.1.5

Prototype	OpenLuaUpload(filePath)
Description	Upload open protocol Lua file
Required Parameters	filePath: Local open protocol Lua file path name
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

11.85. Get Slave Station Board Parameters

New in version python: SDK-v2.1.5

Prototype	GetFieldBusConfig()
Description	Get slave station board parameters
Required Parameters	None
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode type: 0-Ethercat, 1-CClink, 3-Ethercat, 4-EIP version: Protocol version connState: 0-Not connected 1-Connected

11.86. Write Slave Station DO

New in version python: SDK-v2.1.5

Prototype	FieldBusSlaveWriteDO(DOIndex, writeNum, status)
Description	Write slave station DO
Required Parameters	DOIndex: DO number writeNum: Number to write status: Value to write, maximum 8
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

11.87. Write Slave Station AO

New in version python: SDK-v2.1.5

Prototype	FieldBusSlaveWriteAO(AOIndex, writeNum, status)
Description	Write slave station AO
Required Parameters	AOIndex: AO number writeNum: Number to write status: Value to write, maximum 8
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

11.88. Read Slave Station DI

New in version python: SDK-v2.1.5

Prototype	FieldBusSlaveReadDI(DIIndex, readNum)
Description	Read slave station DI
Required Parameters	DIIndex: DI number readNum: Number to read
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode status[8]: Read values, maximum 8

11.89. Read Slave Station AI

New in version python: SDK-v2.1.5

Prototype	FieldBusSlaveReadAI(AIIndex, readNum)
Description	Read slave station AI
Required Parameters	AIIndex: AI number readNum: Number to read
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode status[8]: Read values, maximum 8

11.90. Wait for Extended DI Input

New in version python: SDK-v2.1.5

Prototype	FieldBusSlaveWaitDI(DIIndex, status, waitMs)
Description	Wait for extended DI input
Required Parameters	DIIndex: DI number status: 0-Low level; 1-High level waitMs: Maximum waiting time (ms)
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

11.91. Wait for Extended AI Input

New in version python: SDK-v2.1.5

Prototype	FieldBusSlaveWaitAI(AIIndex, waitType, value, waitMs)
Description	Wait for extended AI input
Required Parameters	AIIndex: AI number waitType: 0-Greater than; 1-Less than value: AI value waitMs: Maximum waiting time (ms)
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

11.92. Slave Station Mode Related Interface Command Code Example

New in version python: SDK-v2.1.5

from fairino import Robot
# Establish connection with robot controller, returns a robot object upon successful connection
robot = Robot.RPC('192.168.58.2')
robot.OpenLuaUpload("D://zUP/Peripheral/CtrlDev_field.lua")
time.sleep(2)
robot.SetCtrlOpenLUAName(3,"CtrlDev_field.lua")
robot.UnloadCtrlOpenLUA(3)
robot.LoadCtrlOpenLUA(3)
time.sleep(8)
rtn,type, version, conn_state = robot.GetFieldBusConfig()
print(f"type is {type}, version is {version}, connState is {conn_state}")
# Write digital outputs
ctrl = [1, 0, 1]  # DO0=1, DO1=0, DO2=1
robot.FieldBusSlaveWriteDO(0, 3, ctrl)
# Write analog output
ctrl_ao = [0x1000]  # AO2 = 0x1000
robot.FieldBusSlaveWriteAO(2, 1, ctrl_ao)
for i in range(100):
    rtn,di = robot.FieldBusSlaveReadDI(0, 4)
    print(f"DI0 is {di[0]}, DI1 is {di[1]}, DI2 is {di[2]}, DI3 is {di[3]}")
    rtn, ai = robot.FieldBusSlaveReadAI(0, 3)
    print(f"AI0 is {ai[0]}, AI1 is {ai[1]}, AI2 is {ai[2]}")
    time.sleep(0.01)
ret = robot.FieldBusSlaveWaitDI(0, 1, 100)
print(f"FieldBusSlaveWaitDI result is {ret}")
ret = robot.FieldBusSlaveWaitAI(0, 0, 400.00, 100)
print(f"FieldBusSlaveWaitAI result is {ret}")
robot.CloseRPC()

11.93. End-Effector Transparent Transmission Function Enable/Disable SDK Interface

Prototype	SetAxleGenComEnable(mode)
Description	Enable end-effector general transparent transmission function
Required Parameters	mode: Enable, 0-disable, 1-enable
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

11.94. End-Effector Transparent Transmission Function Non-Periodic Data Transmission and Reception SDK Interface

Prototype	SndRcvAxleGenComCmdData(len_snd, sndBuff, len_rcv)
Description	End-effector sends non-periodic data and waits for response
Required Parameters	len_snd: Length of data to send; sndBuff[]: Data to send; len_rcv: Length of data to receive; rcvBuff[]: Response data;
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

11.95. Code Example for Non-Periodic Data Communication of DIO Health Care Moxibustion Head Based on End-Effector Transparent Transmission Function

from time import sleep
from fairino import Robot
from ctypes import sizeof
# Establish connection with robot controller, returns a robot object upon successful connection
robot = Robot.RPC('192.168.58.2')

import time


def testAxleGenCom(self):

    led_on = [0xAB, 0xBA, 0x12, 0x01, 0x01, 0x79]
    led_off = [0xAB, 0xBA, 0x12, 0x01, 0x00, 0x78]
    version = [0xAB, 0xBA, 0x11, 0x00, 0x76]
    state = [0xAB, 0xBA, 0x1B, 0x01, 0xAA, 0x2B]
    cycleState = [0xAB, 0xBA, 0x12, 0x01, 0x00, 0x78]
    cnt = 1

    p1Joint = [88.708, -86.178, 140.989, -141.825, -89.162, -49.879]
    p1Desc = [188.007, -377.850, 260.207, 178.715, 2.823, -131.466]
    p2Joint = [112.131, -75.554, 126.989, -139.027, -88.044, -26.477]
    p2Desc = [368.003, -377.848, 260.211, 178.715, 2.823, -131.465]

    exaxisPos = [0, 0, 0, 0]
    offdese = [0, 0, 0, 0, 0, 0]

    # Enable end-effector transparent transmission function
    robot.SetAxleGenComEnable(1)
    robot.SetAxleLuaEnable(1)

    while cnt <= 10000:
        # Read version number
        ret,rcvdata = robot.SndRcvAxleGenComCmdData(len_snd=5, sndBuff=version, len_rcv=10)
        print(ret)
        print(rcvdata)
        print(f"hard version : {rcvdata[4]},hard code:{rcvdata[5]}, soft version:{rcvdata[6]} {rcvdata[7]}, soft code:{rcvdata[8]}")
        if ret != 0:
            break
        time.sleep(1)
        # Read moxibustion head presence status
        ret,rcvdata = robot.SndRcvAxleGenComCmdData(6, state, 6)
        print(f"state : {rcvdata[4]} ")
        time.sleep(1)
        # Turn on moxibustion head laser
        ret,rcvdata = robot.SndRcvAxleGenComCmdData(6, led_on, 6)
        print(f"led on rcv data is: {rcvdata[0]}, {rcvdata[1]}, {rcvdata[2]}, {rcvdata[3]}, {rcvdata[4]}, {rcvdata[5]}")
        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)
        time.sleep(4)
        # Turn off moxibustion head laser
        ret, rcvdata = robot.SndRcvAxleGenComCmdData(6, led_off, 6)
        print(f"led off rcv data is: {rcvdata[0]}, {rcvdata[1]}, {rcvdata[2]}, {rcvdata[3]}, {rcvdata[4]}, {rcvdata[5]}")
        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)
        time.sleep(1)
        print(f"***********************complate No. {cnt} SDK test*****************************")
        cnt = cnt + 1

    robot.CloseRPC()
    return 0

testAxleGenCom(robot)

11.96. Download Open Protocol Lua File

Prototype	OpenLuaDownload(fileName, savePath)
Description	Download open protocol Lua file
Required Parameters	fileName: Open protocol file name CtrlDev_XXX.lua; savePath: Path to save the open protocol file;
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

11.97. Delete Specified Open Protocol Lua File

Prototype	OpenLuaDelete(fileName)
Description	Delete specified open protocol Lua file
Required Parameters	fileName: Name of the open protocol Lua file to delete CtrlDev_XXX.lua
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

11.98. Delete All Open Protocol Lua Files

Prototype	AllOpenLuaDelete()
Description	Delete all open protocol Lua files
Required Parameters	None
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

11.99. Open Protocol Lua File Operation SDK Code Example

from time import sleep
import time
from fairino import Robot

# Establish connection with robot controller
robot = Robot.RPC('192.168.58.2')


def TestCtrlOpenLuaOperate(self):
    # Upload Lua file to robot
    rtn = robot.OpenLuaUpload("D://zUP/openlua/CtrlDev_WELDING_A.lua")
    print(f"OpenLuaUpload rtn is {rtn}")

    rtn = robot.OpenLuaUpload("D://zUP/openlua/CtrlDev_SWDPOLISH.lua")
    print(f"OpenLuaUpload rtn is {rtn}")

    # Download Lua file from robot
    rtn = robot.OpenLuaDownload("CtrlDev_WELDING_A.lua", "D://zDOWN/")
    print(f"OpenLuaDownload rtn is {rtn}")

    rtn = robot.OpenLuaDownload("CtrlDev_SWDPOLISH.lua", "D://zDOWN/")
    print(f"OpenLuaDownload rtn is {rtn}")

    # Set control open protocol Lua name
    rtn = robot.SetCtrlOpenLUAName(0, "CtrlDev_WELDING_A.lua")
    print(f"SetCtrlOpenLUAName rtn is {rtn}")

    rtn = robot.SetCtrlOpenLUAName(1, "CtrlDev_SWDPOLISH.lua")
    print(f"SetCtrlOpenLUAName rtn is {rtn}")

    # Get control open protocol Lua name
    rtn, name = robot.GetCtrlOpenLUAName()
    print(f"ctrl open lua names : {name[0]}, {name[1]}, {name[2]}, {name[3]}")

    # Load control open protocol Lua
    rtn = robot.LoadCtrlOpenLUA(1)
    print(f"LoadCtrlOpenLUA rtn is {rtn}")
    time.sleep(2)

    # Unload control open protocol Lua
    rtn = robot.UnloadCtrlOpenLUA(1)
    print(f"UnloadCtrlOpenLUA rtn is {rtn}")

    # Delete specified Lua file
    rtn = robot.OpenLuaDelete("CtrlDev_WELDING_A.lua")
    print(f"OpenLuaDelete rtn is {rtn}")

    # Delete all Lua files
    rtn = robot.AllOpenLuaDelete()
    print(f"AllOpenLuaDelete rtn is {rtn}")

    # Close connection
    robot.CloseRPC()
    time.sleep(1)


# Call test function
TestCtrlOpenLuaOperate(robot)