Peripherals ==================================== .. toctree:: :maxdepth: 5 Configuration of jaws ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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 " Get Jaw Configuration ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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." Activate jaws ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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 " Control jaws ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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 " Getting the jaw movement status ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Obtain the activated status of the gripper +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.2 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Obtain the position of the gripper +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.2 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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%" Obtain the gripper speed +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.2 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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%" Obtain the gripper current +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.2 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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%" Obtain the gripper voltage +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.2 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Obtain the temperature of the gripper +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.2 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Calculate pre-capture point-visual ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Calculate retreat point-visual ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Robot claw operation code example ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: 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() Get the number of rotation turns of the rotary gripper ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.7 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Gets the percentage of rotation speed of the rotating gripper +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.7 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Obtains the percentage of rotating torque of the rotating gripper +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.7 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Get the rotary gripper status code example ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: 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() Drive belt start and stop ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Record IO detection points ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``ConveyorPointIORecord()``" "Description", "Record IO detection points" "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Record point A ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``ConveyorPointARecord()``" "Description", "Record point A." "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Recording reference points ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``ConveyorRefPointRecord()``" "Description", "Record reference point" "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Record point B ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``ConveyorPointBRecord()``" "Description", "Record point B." "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Conveyorized workpiece IO inspection ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Get the current position of the object ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Drive belt tracking started ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Belt tracking stop ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``ConveyorTrackEnd()``" "Description", "Drive belt tracking stop" "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Drive Belt Parameter Configuration ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Belt Grip Point Compensation ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" linear motion ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Conveyor communication input detection ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.1 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Conveyor communication input detection triggered ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.1 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``ConveyorComDetectTrigger()``" "Description", "Conveyor communication input detection triggered" "Mandatory parameters", "NULL" "Default Parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Robot conveyor operation code example ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: 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() End Sensor Configuration +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Get End Sensor Configuration +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" End sensor activation +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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]" End Sensor Register Write +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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 " End sensor code example ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: 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() Obtaining Robot Peripheral Protocols +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.3 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Setting up robot peripheral protocols +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.3 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Example of setup robot peripheral protocol code +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: 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() Getting end communication parameters +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Setting the end communication parameters +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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 " Setting the end file transfer type +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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 " Setting Enable End LUA Execution +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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 " End LUA file exception error recovery +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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 " Get end LUA execution enable status +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Setting the end LUA end device enable type +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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 " Get End LUA End Device Enablement Type +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Get the currently configured end device +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Setting to enable the jaw movement control function +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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 " Getting to Enable Jaw Motion Control +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" The Ethercat slave file is written by the robot ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Upload the end Lua open protocol file ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" The robot Ethercat enters boot mode from the station ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Example of LUA file manipulation code at the end of the robot +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: 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() Obtain the status of the SmartTool button ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.2 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" SmartTool button code example ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: 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) Set the load detection before drag is started ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Laser peripheral open and close function +++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Laser tracking start-end function +++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Laser positioning - Fixed direction +++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Laser positioning - in any direction +++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Laser IP configuration +++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Configuration of sampling period for laser peripherals ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Laser peripheral driver loading +++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Laser peripheral driver unloading +++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``UnLoadPosSensorDriver()``" "Description", "Laser peripheral driver unloading" "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Laser weld seam trajectory recording +++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Laser weld seam trajectory reproduction +++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Laser tracking reproduction +++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``MoveLTR()``" "Description", "Laser tracking reproduction" "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Laser weld seam trajectory reproduction +++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Movement to the starting point of weld record ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Movement to the end of the weld record +++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Move to the laser sensor to find the site +++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Obtain the coordinate information of the laser sensor location ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.6 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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]" Example of laser peripheral sensor parameter configuration and debugging code +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: 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() Code example of laser trajectory scanning and trajectory reproduction +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: 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() Code examples for laser locating and real-time tracking +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: 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() Code example of the extended axis synchronized with the robot for laser tracking ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: 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() Control Array Suction Cup ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Get Array Suction Cup Status ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Wait for Suction Cup Status ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Array Suction Cup Control Command Code Example ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.5 .. code-block:: python :linenos: 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() Upload Open Protocol Lua File ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Get Slave Station Board Parameters ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Write Slave Station DO ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Write Slave Station AO ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Read Slave Station DI ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Read Slave Station AI ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Wait for Extended DI Input ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Wait for Extended AI Input ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Slave Station Mode Related Interface Command Code Example ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.5 .. code-block:: python :linenos: 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() End-Effector Transparent Transmission Function Enable/Disable SDK Interface ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" End-Effector Transparent Transmission Function Non-Periodic Data Transmission and Reception SDK Interface ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Code Example for Non-Periodic Data Communication of DIO Health Care Moxibustion Head Based on End-Effector Transparent Transmission Function ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: 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) Download Open Protocol Lua File +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Delete Specified Open Protocol Lua File +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "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" Delete All Open Protocol Lua Files +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``AllOpenLuaDelete()``" "Description", "Delete all open protocol Lua files" "Required Parameters", "None" "Default Parameters", "None" "Return Value", "Error code Success-0 Failure-errcode" Open Protocol Lua File Operation SDK Code Example ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: 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)