9. Trajectory recurrence

9.1. Setting Track Recording Parameters

prototype	`SetTPDParam(name, period_ms, type=1,di_choose=0, do_choose=0)`
Description	Setting parameters for track logging
Mandatory parameters	`name`: track name; `period_ms`: sampling period, fixed value, 2ms or 4ms or 8ms;
Default parameters	`type`: data type, 1-joint position; `di_choose`: DI choose, bit0~bit7 corresponds to control box DI0~DI7, bit8~bit9 corresponds to end DI0~DI1, 0-no choose, 1-choose Default 0. `do_choose`: DO choose, bit0~bit7 corresponds to control box DO0~DO7, bit8~bit9 corresponds to end DO0~DO1, 0-no choose, 1-choose Default 0
Return Value	Error Code Success-0 Failure- errcode

9.2. Start Track Recording

Prototype	`SetTPDStart(name, period_ms, type=1,di_choose=0, do_choose=0)`
Description	Start Track Record
Mandatory parameters	`name`: track name; `period_ms`: sampling period, fixed value, 2ms or 4ms or 8ms;
Default parameters	`type`: number datatype, 1-joint position default 1; `di_choose`: DI choose, bit0~bit7 corresponds to control box DI0~DI7, bit8~bit9 corresponds to end DI0~DI1, 0-no choose, 1-choose Default 0. `do_choose`: DO choose, bit0~bit7 corresponds to control box DO0~DO7, bit8~bit9 corresponds to end DO0~DO1, 0-no choose, 1-choose Default 0
Return Value	Error Code Success-0 Failure- errcode

9.3. Stop Track Recording

prototype	`SetWebTPDStop()`
Description	Stop Track Record
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.4. Deleting track records

Prototype	`SetTPDDelete(name)`
Description	Delete Track Record
Mandatory parameters	`name`: track name
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.5. 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')
type = 1
name = "tpd2025"
period_ms = 4
di_choose = 0
do_choose = 0
robot.SetTPDParam(name, period_ms)
robot.Mode(1)
time.sleep(1)
robot.DragTeachSwitch(1)
robot.SetTPDStart(name, period_ms)
print("SetTPDStart")
time.sleep(10)
robot.SetWebTPDStop()
robot.DragTeachSwitch(0)
robot.CloseRPC()

9.6. Trajectory preloading

Prototype	`LoadTPD(name)`
Description	Trajectory Preloading
Mandatory parameters	`name`: track name
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.7. Trajectory Reproduction

Prototype	`MoveTPD(name,blend,ovl)`
Description	Trajectory Reproduction
Mandatory parameters	`name`: track name `blend`: smooth or not, 0 - not smooth, 1 - smooth `ovl`: velocity scaling factor, range [0 to 100]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.8. Get the starting position of the trajectory

Prototype	`GetTPDStartPose(name)`
Description	Get trajectory start position
Mandatory parameters	`name`: track name
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `desc_pose=[x,y,z,rx,ry,rz]`: trajectory start position

9.9. Example of robot TPD trajectory recording code

from fairino import Robot
import time
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
type = 1
name = "tpd2025"
period_ms = 4
di_choose = 0
do_choose = 0
ovl = 100.0
blend = 0
rtn = robot.LoadTPD(name)
print(f"LoadTPD rtn is: {rtn}")
error,start_pose = robot.GetTPDStartPose(name)
print(f"start pose, xyz is: {start_pose[0]},{start_pose[1]},{start_pose[2]}. "
      f"rpy is: {start_pose[3]},{start_pose[4]},{start_pose[5]}")
robot.MoveCart(start_pose, 0, 0, 100, 100)
time.sleep(1)
rtn = robot.MoveTPD(name, blend, ovl)
print(f"MoveTPD rtn is: {rtn}")
time.sleep(5)
robot.SetTPDDelete(name)
robot.CloseRPC()

9.10. Trajectory preprocessing

prototype	`LoadTrajectoryJ(name,ovl,opt=1)`
description	trajectory preprocessing
Mandatory parameters	`name`: track name, e.g., /fruser/traj/trajHelix_aima_1.txt. `ovl`: percentage of speed scaling, range [0~100];
Default parameter	`opt`: 1-control point, default 1
Return Value	Error Code Success-0 Failure- errcode

9.11. Trajectory Reproduction

Prototype	`MoveTrajectoryJ()`
Description	Trajectory Reproduction
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.12. Getting the starting position of the trajectory

Prototype	`GetTrajectoryStartPose(name)`
Description	Get trajectory starting position
Mandatory parameters	`name`: track name
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `desc_pose=[x,y,z,rx,ry,rz]`: trajectory start position

9.13. Get track point number

prototype	`GetTrajectoryPointNum()`
Description	Get track point number
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `pnum`: track point number

9.14. Set Speed During Trajectory Execution

Prototype	`SetTrajectoryJSpeed(ovl, mode)`
Description	Set the speed during trajectory execution
Required Parameters	`ovl`: Speed scaling percentage, range [0~100] `mode`: 0-speed reduction mode; 1-direct switching
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

9.15. Code Example for Setting Speed During Trajectory Executionfrom time import sleep
import time
from fairino import Robot

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


def TestSetTrajectoryJSpeed(self):
    # Upload trajectory file
    rtn = robot.TrajectoryJUpLoad("C://Users/lenovo/Desktop/trajHelix_aima_1.txt")
    print(f"Upload TrajectoryJ A {rtn}")

    traj_file_name = "/fruser/traj/trajHelix_aima_1.txt"
    # Load trajectory file, parameters: file name, speed percentage, loop (1: loop)
    rtn = robot.LoadTrajectoryJ(name=traj_file_name, ovl=100, opt=1)
    print(f"LoadTrajectoryJ {traj_file_name}, rtn is: {rtn}")

    # Get trajectory start pose
    rtn, traj_start_pose = robot.GetTrajectoryStartPose(name=traj_file_name)
    print(f"GetTrajectoryStartPose is: {rtn}")
    print(
        f"desc_pos:{traj_start_pose[0]},{traj_start_pose[1]},{traj_start_pose[2]},{traj_start_pose[3]},{traj_start_pose[4]},{traj_start_pose[5]}")

    time.sleep(1)

    # Set base speed and move to trajectory start point
    robot.SetSpeed(50)
    robot.MoveCart(desc_pos=traj_start_pose, tool=0, user=0, vel=100, acc=100, ovl=100, blendT=-1, config=-1)

    # Get trajectory point count
    rtn, traj_num = robot.GetTrajectoryPointNum()
    print(f"GetTrajectoryStartPose rtn is: {rtn}, traj num is: {traj_num}")

    # Start trajectory motion
    rtn = robot.MoveTrajectoryJ()
    print(f"MoveTrajectoryJ rtn is: {rtn}")

    time.sleep(1)

    # Get robot real-time status
    trajspeedMode = 0
    while True:
        rtn, pkg = robot.GetRobotRealTimeState()
        if pkg.motion_done != 0:
            break

        # Set trajectory speed to 10%
        rtn = robot.SetTrajectoryJSpeed(ovl=10.0, mode=trajspeedMode)
        print(f"SetTrajectoryJSpeed is: {rtn}")

        time.sleep(1)

        # Set trajectory speed to 80%
        rtn = robot.SetTrajectoryJSpeed(ovl=80.0, mode=trajspeedMode)
        print(f"SetTrajectoryJSpeed is: {rtn}")

        time.sleep(1)

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


# Call test function
TestSetTrajectoryJSpeed(robot)

9.16. Setting the force and torque during trajectory operation

Prototype	`SetTrajectoryJForceTorque(ft)`
Description	Setting the force and torque in the trajectory run
Mandatory parameters	`ft=[fx,fy,fz,tx,ty,tz]`: units N and Nm
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.17. Setting the force along the x-direction in the trajectory run

Prototype	`SetTrajectoryJForceFx(fx)`
Description	Set the force along the x-direction in the trajectory run
Mandatory parameter	`ft`: force in x direction, in N
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.18. Setting the force along the y-direction in the trajectory run

Prototype	`SetTrajectoryJForceFx(fy)`
Description	Set the force along the y-direction in the trajectory run
Mandatory parameter	`fy`: force along y direction in N
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.19. Setting the force along the z-direction in a trajectory run

Prototype	`SetTrajectoryJForceFx(fz)`
Description	Set the force along the z-direction in the trajectory run
Mandatory parameter	`fz`: force along the z-direction, in N
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.20. Setting the torque around the x-axis in a trajectory run

Prototype	`SetTrajectoryJTorqueTx(tx)`
Description	Set the torque around the x-axis for the trajectory run
Mandatory parameter	`tx`: torque around x-axis in Nm
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.21. Setting the torque around the y-axis in trajectory operation

prototype	`SetTrajectoryJTorqueTx(ty)`
Description	Set the torque around the y-axis for the trajectory run
Mandatory parameter	`ty`: torque around y-axis in Nm
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.22. Setting the torque around the z-axis in trajectory operation

Prototype	`SetTrajectoryJTorqueTx(tz)`
Description	Sets the torque around the z-axis for the trajectory run
Mandatory parameter	`tz`: torque around z-axis in Nm
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.23. Upload trace J file

New in version python: SDK-v2.0.7

Prototype	`TrajectoryJUpLoad(filePath)`
Description	Upload trace J file
Mandatory parameter	`filePath`:Full path name of the uploaded trajectory file，C://test/testJ.txt
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.24. Delete the track J file

New in version python: SDK-v2.0.7

Prototype	`TrajectoryJDelete(filePath)`
Description	Delete the track J file
Mandatory parameter	`filePath`:Removes the full pathname of the trace file,C://test/testJ.txt
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.25. Robot trajectory J file reproduction code example

from fairino import Robot
import time
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
rtn = robot.TrajectoryJUpLoad("D://zUP/traj.txt")
print(f"Upload TrajectoryJ A {rtn}")
traj_file_name = "/fruser/traj/traj.txt"
rtn = robot.LoadTrajectoryJ(traj_file_name, 100, 1)
print(f"LoadTrajectoryJ {traj_file_name}, rtn is: {rtn}")
rtn,traj_start_pose = robot.GetTrajectoryStartPose(traj_file_name)
print(f"GetTrajectoryStartPose is: {rtn}")
print(f"desc_pos:{traj_start_pose[0]},{traj_start_pose[1]},{traj_start_pose[2]},"
      f"{traj_start_pose[3]},{traj_start_pose[4]},{traj_start_pose[5]}")
time.sleep(1)
robot.SetSpeed(50)
robot.MoveCart(traj_start_pose, 0, 0, 50, 100, 100)
rtn,traj_num = robot.GetTrajectoryPointNum()
print(f"GetTrajectoryStartPose rtn is: {rtn}, traj num is: {traj_num}")
rtn = robot.SetTrajectoryJSpeed(50.0)
print(f"SetTrajectoryJSpeed is: {rtn}")
traj_force = [0.0,0.0,0.0,0.0,0.0,0.0]
traj_force[0] = 10  # fx = 10
rtn = robot.SetTrajectoryJForceTorque(traj_force)
print(f"SetTrajectoryJForceTorque rtn is: {rtn}")
rtn = robot.SetTrajectoryJForceFx(10.0)
print(f"SetTrajectoryJForceFx rtn is: {rtn}")
rtn = robot.SetTrajectoryJForceFy(0.0)
print(f"SetTrajectoryJForceFy rtn is: {rtn}")
rtn = robot.SetTrajectoryJForceFz(0.0)
print(f"SetTrajectoryJForceFz rtn is: {rtn}")
rtn = robot.SetTrajectoryJTorqueTx(10.0)
print(f"SetTrajectoryJTorqueTx rtn is: {rtn}")
rtn = robot.SetTrajectoryJTorqueTy(10.0)
print(f"SetTrajectoryJTorqueTy rtn is: {rtn}")
rtn = robot.SetTrajectoryJTorqueTz(10.0)
print(f"SetTrajectoryJTorqueTz rtn is: {rtn}")
rtn = robot.MoveTrajectoryJ()
print(f"MoveTrajectoryJ rtn is: {rtn}")
robot.CloseRPC()

9.26. Trajectory preprocessing(Trajectory foresight)

New in version python: SDK-v2.1.4

Prototype	`LoadTrajectoryLA(name, mode, errorLim, type, precision, vamx, amax, jmax, flag)`
Description	Trajectory preprocessing(Trajectory foresight)
Mandatory parameter	`name`:track file name `mode`: sampling mode, 0- No sampling; 1- equal data interval sampling; 2- Equal error limit sampling `errorLim`: error limitation, effective using straight line fitting `type`: smooth mode, 0-Bessel smooth `precision`: smoothing accuracy, effective when using Bessel smoothing `vamx`: set maximum speed, mm/s `amax`: set maximum acceleration, mm/s2 `jmax`: maximum acceleration, mm/s3 `flag`: Uniform speed forward opening switch 0- No opening; 1- Start
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.27. Trajectory reproduction(Trajectory foresight)

New in version python: SDK-v2.1.0

Prototype	`MoveTrajectoryLA()`
Description	Trajectory reproduction(Trajectory foresight)
Mandatory parameter	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.28. Code example for trajectory reproductionfrom fairino import Robot
import time
# A connection is established with the robot controller and a robot object is returned if the connection is successful
robot = Robot.RPC('192.168.58.2')
rtn = robot.TrajectoryJUpLoad("D://zUP/traj.txt")
print(f"Upload TrajectoryJ A {rtn}")
traj_file_name = "/fruser/traj/traj.txt"
rtn = robot.LoadTrajectoryLA(traj_file_name, 1, 2, 0, 2, 50, 200, 1000, 0)
print(f"LoadTrajectoryLA {traj_file_name}, rtn is: {rtn}")
rtn, traj_start_pose = robot.GetTrajectoryStartPose(traj_file_name)
print(f"GetTrajectoryStartPose is: {rtn}")
print(f"desc_pos: {traj_start_pose[0]},{traj_start_pose[1]},{traj_start_pose[2]},{traj_start_pose[3]},{traj_start_pose[4]},{traj_start_pose[5]}")
time.sleep(1)
robot.SetSpeed(50)
robot.MoveCart(traj_start_pose, 0, 0, 100, 100, 100)
rtn = robot.MoveTrajectoryLA()
print(f"MoveTrajectoryLA rtn is: {rtn}")
robot.CloseRPC()

9.29. Move to TPD Trajectory Recording Start Point

Prototype	`MoveToTPDStart(name, moveType, ovl)`
Description	Move to TPD trajectory recording start point
Required Parameters	`name`: Trajectory file name `moveType`: Motion type; 0-PTP; 1-LIN `ovl`: Speed scaling percentage, range [0~100]
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

9.30. SDK Code Example for Moving to TPD Trajectory Recording Start Point

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 TestTPD(self):
    type = 1
    name = "tpd2025"
    period_ms = 4
    di_choose = 0
    do_choose = 0

    robot.SetTPDParam(type=type, name=name, period_ms=period_ms, di_choose=di_choose, do_choose=do_choose)

    robot.Mode(1)
    time.sleep(1)
    robot.DragTeachSwitch(1)
    robot.SetTPDStart(type=type, name=name, period_ms=period_ms, di_choose=di_choose, do_choose=do_choose)
    time.sleep(3)
    robot.SetWebTPDStop()
    robot.DragTeachSwitch(0)

    time.sleep(1)
    ovl = 100.0
    blend = 0
    start_pose = [0.0] * 6
    rtn = robot.LoadTPD(name)
    print(f"LoadTPD rtn is: {rtn}")

    rtn, start_pose = robot.GetTPDStartPose(name)
    print(f"start pose, xyz is: {start_pose[0]},{start_pose[1]},{start_pose[2]}. rpy is: {start_pose[3]},{start_pose[4]},{start_pose[5]}")
    # robot.MoveCart(desc_pos=start_pose, tool=0, user=0, vel=100, acc=100, ovl=ovl, blendT=-1, config=-1)
    #time.sleep(1)

    rtn = robot.MoveToTPDStart(name, 0, 100)
    print(f"MoveToTPDStart rtn is: {rtn}")

    rtn = robot.MoveTPD(name, blend, ovl)
    print(f"MoveTPD rtn is: {rtn}")
    time.sleep(5)

    robot.SetTPDDelete(name)

    robot.CloseRPC()
    return 0

TestTPD(robot)