8. Status query

8.1. Get the current joint position (angle).

prototype	`GetActualJointPosDegree(flag=1)`
Description	Get the current position (angle) of the joint.
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking, default 1
Return Value	errorcode Success-0 Failure- errcode `joint_pos=[j1,j2,j3,j4,j5,j6]`: current joint position (angle)

8.2. Get the current joint position in radians.

Prototype	`GetActualJointPosRadian(flag=1)`
Description	Get the current position (in radians) of the joint.
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode `joint_pos=[j1,j2,j3,j4,j5,j6]`: current joint position (in radians)

8.3. Get joint feedback speed -deg/s

Prototype	`GetActualJointSpeedsDegree(flag=1)`
Description	Get joint feedback speed -deg/s
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode `speed=[j1,j2,j3,j4,j5,j6]`: joint feedback speed -deg/s

8.4. Obtain joint feedback acceleration-deg/s^2

Prototype	`GetActualJointAccDegree(flag=1)`
Description	Obtain joint feedback acceleration-deg/s^2
Mandatory parameters	NULL
Default parameters	`flag`： 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode `acc=[j1,j2,j3,j4,j5,j6]`：Joint feedback acceleration-deg/s^2

8.5. Get TCP command synthesis speed

Prototype	`GetTargetTCPCompositeSpeed(flag=1)`
Description	Get TCP command synthesis speed
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode `[tcp_speed,ori_speed]`: tcp_speed - linear closing speed ori_speed - attitude closing speed

8.6. Getting TCP Feedback Hopping Speed

Prototype	`GetActualTCPCompositeSpeed(flag=1)`
Description	Get TCP feedback closing speed
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode `[tcp_speed,ori_speed]`: tcp_speed - linear closing speed ori_speed - attitude closing speed

8.7. Get TCP command speed

Prototype	`GetTargetTCPSpeed(flag=1)`
Description	Get TCP command speed
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode `speed=[x,y,z,rx,ry,rz]`: TCP command speed, mm/s

8.8. Getting TCP feedback speed

Prototype	`GetActualTCPSpeed(flag=1)`
Description	Get TCP feedback on speed
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode `speed=[x,y,z,rx,ry,rz]`: TCP feedback speed

8.9. Get current tool position

Prototype	`GetActualTCPPose(flag=1)`
Description	Get current tool position
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode `tcp_pose=[x,y,z,rx,ry,rz]`: current tool pose

8.10. Get the current tool coordinate system number

prototype	`GetActualTCPNum(flag=1)`
Description	Get the current tool coordinate system number
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode `tool_id`: tool coordinate system number

8.11. Get the current workpiece coordinate system number

prototype	`GetActualWObjNum(flag=1)`
Description	Get the current workpiece coordinate system number
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode `wobj_id`: the workpiece coordinate system number

8.12. Get the current end flange position

Prototype	`GetActualToolFlangePose(flag=1)`
Description	Get current end flange position
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode `flange_pose=[x,y,z,rx,ry,rz]`: current end flange pose

8.13. Get current joint torque

Prototype	`GetJointTorques(flag=1)`
Description	Get the current joint torque
Mandatory parameters	NULL
Default parameters	`flag`: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode `torques=[j1,j2,j3,j4,j5,j6]`: joint torques.

8.14. Get system time

Prototype	`GetSystemClock()`
Description	Get system time
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `t_ms`: system time in [ms]

8.15. Queries whether robot motion is complete

Prototype	`GetRobotMotionDone()`
Description	Query if robot movement is complete
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `state`: state of robot motion, 0 - unfinished, 1 - finished

8.16. Query the cache length of the robot motion queue

Prototype	`GetMotionQueueLength()`
Description	Query the cache length of the robot motion queue
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `len`：Cache length

8.17. Obtain the emergency stop status of the robot

Prototype	`GetRobotEmergencyStopState()`
Description	Obtain the emergency stop status of the robot
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `state`：Emergency stop status: 0- non-emergency stop, 1- emergency stop

8.18. Obtain the communication status between the SDK and the robot

Prototype	`GetSDKComState()`
Description	Obtain the communication status between the SDK and the robot
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `state`：Communication status: 0- Normal communication, 1- Abnormal communication

8.19. Obtain the safety stop signal

Prototype	`GetSafetyStopState()`
Description	Obtain the safety stop signal
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `[si0_state,si1_state]`：si0_state safety stop signal SI0, 0- invalid, 1- valid si1_state safety stop signal SI1, 0- invalid, 1- valid

8.20. Obtain the current temperature of the joint drive(℃)

Prototype	`GetJointDriverTemperature()`
Description	Obtain the current temperature of the joint drive(℃)
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `data=[t1,t2,t3,t4,t5,t6]`：The current temperatures of each joint

8.21. Obtain the current torque of the joint drive(Nm)

Prototype	`GetJointDriverTorque()`
Description	Obtain the current torque of the joint drive(Nm)
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `data=[j1,j2,j3,j4,j5,j6]`：Joint torque [fx,fy,fz,tx,ty,tz]

8.22. Obtain the status of the robot

Prototype	`GetRobotRealTimeState()`
Description	Obtain the status of the robot
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `robot_state_pkg`：Robot state structure

8.23. Robot status query 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')
error,[yangle, zangle] = robot.GetRobotInstallAngle()
print(f"yangle:{yangle},zangle:{zangle}")
error,j_deg = robot.GetActualJointPosDegree(0)
print(f"joint pos deg:{j_deg[0]},{j_deg[1]},{j_deg[2]},{j_deg[3]},{j_deg[4]},{j_deg[5]}")
error,jointSpeed = robot.GetActualJointSpeedsDegree(0)
print(f"joint speeds deg:{jointSpeed[0]},{jointSpeed[1]},{jointSpeed[2]},{jointSpeed[3]},{jointSpeed[4]},{jointSpeed[5]}")
error,jointAcc = robot.GetActualJointAccDegree(0)
print(f"joint acc deg:{jointAcc[0]},{jointAcc[1]},{jointAcc[2]},{jointAcc[3]},{jointAcc[4]},{jointAcc[5]}")
error,[tcp_speed, ori_speed] = robot.GetTargetTCPCompositeSpeed(0)
print(f"GetTargetTCPCompositeSpeed tcp {tcp_speed}; ori {ori_speed}")
error,[tcp_speed, ori_speed] = robot.GetActualTCPCompositeSpeed(0)
print(f"GetActualTCPCompositeSpeed tcp {tcp_speed}; ori {ori_speed}")
error,targetSpeed = robot.GetTargetTCPSpeed(0)
print(f"GetTargetTCPSpeed {targetSpeed[0]},{targetSpeed[1]},{targetSpeed[2]},{targetSpeed[3]},{targetSpeed[4]},{targetSpeed[5]}")
error,actualSpeed = robot.GetActualTCPSpeed(0)
print(f"GetActualTCPSpeed {actualSpeed[0]},{actualSpeed[1]},{actualSpeed[2]},{actualSpeed[3]},{actualSpeed[4]},{actualSpeed[5]}")
error,tcp = robot.GetActualTCPPose(0)
print(f"tcp pose:{tcp[0]},{tcp[1]},{tcp[2]},{tcp[3]},{tcp[4]},{tcp[5]}")
error,flange = robot.GetActualToolFlangePose(0)
print(f"flange pose:{flange[0]},{flange[1]},{flange[2]},{flange[3]},{flange[4]},{flange[5]}")
error,id = robot.GetActualTCPNum(0)
print(f"tcp num:{id}")
error,id = robot.GetActualWObjNum(0)
print(f"wobj num:{id}")
error,jtorque = robot.GetJointTorques(0)
print(f"torques:{jtorque[0]},{jtorque[1]},{jtorque[2]},{jtorque[3]},{jtorque[4]},{jtorque[5]}")
error,t_ms = robot.GetSystemClock()
print(f"system clock:{t_ms}")
error,config = robot.GetRobotCurJointsConfig()
print(f"joint config:{config}")
error,motionDone = robot.GetRobotMotionDone()
print(f"GetRobotMotionDone:{motionDone}")
error,len = robot.GetMotionQueueLength()
print(f"GetMotionQueueLength:{len}")
error,emergState = robot.GetRobotEmergencyStopState()
print(f"GetRobotEmergencyStopState:{emergState}")
error,comstate = robot.GetSDKComState()
print(f"GetSDKComState:{comstate}")
error,[si0_state, si1_state] = robot.GetSafetyStopState()
print(f"GetSafetyStopState:{si0_state} {si1_state}")
error,temp = robot.GetJointDriverTemperature()
print(f"Temperature:{temp[0]},{temp[1]},{temp[2]},{temp[3]},{temp[4]},{temp[5]}")
error,torque = robot.GetJointDriverTorque()
print(f"torque:{torque[0]},{torque[1]},{torque[2]},{torque[3]},{torque[4]},{torque[5]}")
error,pkg = robot.GetRobotRealTimeState()
robot.CloseRPC()

8.24. Inverse kinematics solution

prototype	`GetInverseKin(type,desc_pos,config=-1)`
Description	Inverse kinematics, Cartesian position solving for joint positions
Mandatory parameters	`type`: 0-absolute position (base coordinate system), 1-relative position (base coordinate system), 2-relative position (tool coordinate system) `desc_pose`:[x,y,z,rx,ry,rz], tool position in [mm][°]
Default parameters	`config`: joint configuration, [-1] - solved with reference to current joint position, [0~7] - solved based on joint configuration Default -1
Return Value	errorcode Success-0 Failure- errcode `joint_pos=[j1,j2,j3,j4,j5,j6]`: inverse kinematics solution, Cartesian positional solution for joint positions

8.25. Inverse Kinematics Solution - Specifying Reference Positions

prototype	`GetInverseKinRef(type,desc_pos,joint_pos_ref)`
Description	Inverse kinematics, tool position solving for joint positions, solving with reference to specified joint positions
Mandatory parameters	`type`: 0-absolute position (base coordinate system), 1-relative position (base coordinate system), 2-relative position (tool coordinate system) `desc_pos`: [x,y,z,rx,ry,rz] tool position in [mm][°] `joint_pos_ref`: [j1,j2,j3,j4,j5,j6], joint reference position in [°]
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `joint_pos=[j1,j2,j3,j4,j5,j6]`: inverse kinematics solution, tool position solving for joint position

8.26. Inverse Kinematics Solution, Cartesian Space Includes Extended Axis Position

Prototype	`GetInverseKinExaxis(type, desc_pos, exaxis, tool, workPiece)`
Description	Inverse kinematics solution, Cartesian space includes extended axis position
Required Parameters	`type`: 0-Absolute pose (base coordinate system), 1-Incremental pose (base coordinate system), 2-Incremental pose (tool coordinate system) `desc_pos`: Cartesian pose `exaxis`: Extended axis position `tool`: Tool number `workPiece`: Workpiece number
Default Parameters	None
Return Value	Error code Success-0 Failure- errcode `joint_pos`: Joint position

8.27. Inverse Kinematics Solution Including Extended Axis Position Code Example

from fairino import Robot
import time
robot = Robot.RPC('192.168.58.2')
desc = [99.957, -0.002, 29.994, -176.569, -6.757, -167.462]
exaxis = [100.0, 0.0, 0.0, 0.0]
jointPos = [0.0] * 6
offsetPos = [0.0] * 6
rtn,pkg = robot.GetRobotRealTimeState()
toolnum = pkg.tool
workPcsNum = pkg.user
rtn, jointPos = robot.GetInverseKinExaxis(0, desc, exaxis, toolnum, workPcsNum)
print(f"GetInverseKinExaxis joint is {jointPos[0]},{jointPos[1]},{jointPos[2]},{jointPos[3]},{jointPos[4]},{jointPos[5]}")
robot.ExtAxisMove(exaxis, 100, -1)
robot.MoveJ(joint_pos=jointPos, desc_pos=desc, tool=toolnum, user=workPcsNum, vel=100.0, acc=100.0, ovl=100.0, exaxis_pos=exaxis, blendT=-1, offset_flag=0, offset_pos=offsetPos)
robot.CloseRPC()
return 0

8.28. Inverse kinematics solving-whether there is a solution

prototype	`GetInverseKinHasSolution(type,desc_pos,joint_pos_ref)`
Description	Inverse kinematics, tool position solving for joint position Is there a solution
Mandatory parameters	`type`: 0-absolute position (base coordinate system), 1-relative position (base coordinate system), 2-relative position (tool coordinate system) `desc_pos`: [x,y,z,rx,ry,rz] tool position in [mm][°] `joint_pos_ref`: [j1,j2,j3,j4,j5,j6], joint reference position in [°]
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `result`: `True`-with solution, `False`-without solution

8.29. Positive kinematics solving

Prototype	`GetForwardKin(joint_pos)`
Description	Positive Kinematics, Joint Position Solving Tool Posture
Mandatory parameters	`joint_pos`:[j1,j2,j3,j4,j5,j6]: joint position in [°]
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `desc_pos=[x,y,z,rx,ry,rz]`: positive kinematics solution, joint position solver tool position

8.30. Example code for robot forward and inverse kinematics calculation

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')
j1 = [-11.904, -99.669, 117.473, -108.616, -91.726, 74.256]
desc_pos1 = [-419.524, -13.000, 351.569, -178.118, 0.314, 3.833]
error, inverseRtn = robot.GetInverseKin(0, desc_pos=desc_pos1, config=-1)
print(f"dcs1 GetInverseKin rtn is {inverseRtn[0]}, {inverseRtn[1]}, {inverseRtn[2]}, "
      f"{inverseRtn[3]}, {inverseRtn[4]}, {inverseRtn[5]}")
error, inverseRtn = robot.GetInverseKinRef(0, desc_pos=desc_pos1, joint_pos_ref=j1)
print(f"dcs1 GetInverseKinRef rtn is {inverseRtn[0]}, {inverseRtn[1]}, {inverseRtn[2]}, "
      f"{inverseRtn[3]}, {inverseRtn[4]}, {inverseRtn[5]}")
error, hasResult = robot.GetInverseKinHasSolution(0, desc_pos=desc_pos1, joint_pos_ref=j1)
print(f"dcs1 GetInverseKinRef result {hasResult}")
error, forwordResult = robot.GetForwardKin(j1)
print(f"jpos1 forwordResult rtn is {forwordResult[0]}, {forwordResult[1]}, {forwordResult[2]}, "
      f"{forwordResult[3]}, {forwordResult[4]}, {forwordResult[5]}")
robot.CloseRPC()

8.31. Query Robot Teaching Management Points Data

Prototype	`GetRobotTeachingPoint(name)`
Description	Query Robot Demonstration and Management point data
Mandatory parameters	`name`: name of point
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `[x,y,z,rx,ry,rz,j1,j2,j3,j4,j5,j6,TOOL,WOBJ,SPEED,ACC,E1,E2,E3,E4]`: point data

8.32. Get DH compensation parameters

New in version python: SDK-v2.0.1

Prototype	`GetDHCompensation()`
Description	Get DH compensation parameters
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `dhCompensation=[cmpstD1,cmpstA2,cmpstA3,cmpstD4,cmpstD5,cmpstD6]`: Robot DH Parameter Compensation Values (mm)

8.33. Obtain the SN code of the control box

New in version python: SDK-v2.1.1

Prototype	`GetRobotSN()`
Description	Obtain the SN code of the control box
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode `SNCode`: SN of the control box