Security Settings =================================================== .. toctree:: :maxdepth: 5 Setting the collision level +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetAnticollision (mode,level,config)``" "Description", "Setting the collision level" "Mandatory parameters", "- ``mode``: 0 - level, 1 - percentage; - ``level=[j1,j2,j3,j4,j5,j6]``: collision threshold; - ``config``: 0 - do not update configuration file, 1 - update configuration file" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Setting the post-collision strategy ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetCollisionStrategy(strategy,safeTime,safeDistance,safeVel,safetyMargin)``" "Description", "Set post-crash strategy" "Mandatory parameters", "- ``strategy``: 0 - report error and pause, 1 - keep running, 2 - error stop, 3 - heavy moment mode, 4 - shock response mode, 5 - impact rebound mode" "Default parameters", "- ``safeTime``: safe stop time [1000-2000] ms, default: 1000 - ``safeDistance``: safe stopping distance [1-150] mm, default: 100 - ``safeVel``: safe stopping speed[50-250]mm/s, default: 250 - ``safetyMargin[6]``: safety margin [1-10], default: [10,10,10,10,10,10,10]" "Return Value", "Error Code Success-0 Failure- errcode" The Custom collision detection threshold function starts to set the collision detection thresholds of the joint end and TCP end ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.0 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``CustomCollisionDetectionStart(flag, jointDetectionThreshould, tcpDetectionThreshould, block)``" "Description", "The Custom collision detection threshold function starts to set the collision detection thresholds of the joint end and TCP end" "Mandatory parameters", "- ``flag``: 1- Only joint detection is turned on; 2- Only TCP detection is enabled. 3- Joint and TCP detection are enabled simultaneously - ``jointDetectionThreshould``: Joint collision detection threshold j1-j6 - ``tcpDetectionThreshould``: indicates TCP collision detection threshold, xyzabc - ``block``: 0- non-blocking; 1- block" "Default parameters", "NULL" "Return Value", "- errcode Success-0 Failure- errcode" The custom collision detection threshold function is disabled ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.0 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``CustomCollisionDetectionEnd()``" "Description", "The custom collision detection threshold function is disabled" "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "- errcode Success-0 Failure- errcode" Robot collision level setting 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') mode = 0 config = 1 level1 = [1.0, 2.0, 3.0, 4.0, 5.0, 6.0] level2 = [50.0, 20.0, 30.0, 40.0, 50.0, 60.0] rtn = robot.SetAnticollision(mode, level1, config) print(f"SetAnticollision mode 0 rtn is {rtn}") mode = 1 rtn = robot.SetAnticollision(mode, level2, config) print(f"SetAnticollision mode 1 rtn is {rtn}") p1Joint = [-11.904, -99.669, 117.473, -108.616, -91.726, 74.256] p2Joint = [-45.615, -106.172, 124.296, -107.151, -91.282, 74.255] 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] exaxisPos = [0.0, 0.0, 0.0, 0.0] offdese = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] robot.MoveL(desc_pos=p2Desc, tool=0, user=0, vel=100, blendR=2) robot.ResetAllError() safety = [5, 5, 5, 5, 5, 5] rtn = robot.SetCollisionStrategy(3, 1000, 150, 250, safety) print(f"SetCollisionStrategy rtn is {rtn}") jointDetectionThreshould = [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] tcpDetectionThreshould = [60, 60, 60, 60, 60, 60] rtn = robot.CustomCollisionDetectionStart(3, jointDetectionThreshould, tcpDetectionThreshould, 0) print(f"CustomCollisionDetectionStart rtn is {rtn}") robot.MoveL(desc_pos=p1Desc, tool=0, user=0, vel=100) robot.MoveL(desc_pos=p2Desc, tool=0, user=0, vel=100) rtn = robot.CustomCollisionDetectionEnd() print(f"CustomCollisionDetectionEnd rtn is {rtn}") robot.CloseRPC() Setting the positive limit +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetLimitPositive(p_limit)``" "Description", "Setting positive limits" "Mandatory parameters", "- ``p_limit=[j1,j2,j3,j4,j5,j6]``: six joint positions" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Setting the negative limit +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetLimitNegative(n_limit)``" "Description", "Setting negative limits" "Mandatory parameters", "- ``n_limit=[j1,j2,j3,j4,j5,j6]``: six joint positions" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Obtaining the soft limiting angle of a joint +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``GetJointSoftLimitDeg(flag=1)``" "Description", "Acquisition of joint soft limiting angle" "Mandatory parameters", "NULL" "Default parameters", "``flag``: 0-blocking, 1-non-blocking Default 1" "Return Value", "- errorcode Success-0 Failure- errcode - ``[j1min,j1max,j2min,j2max,j3min,j3max, j4min,j4max,j5min, j5max, j6min,j6max]``: Axis 1 to Axis 6, joints with negative and positive limits, in [mm]" Robot limit setting 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') plimit = [170.0, 80.0, 150.0, 80.0, 170.0, 160.0] robot.SetLimitPositive(plimit) nlimit = [-170.0, -260.0, -150.0, -260.0, -170.0, -160.0] robot.SetLimitNegative(nlimit) error,neg_deg = robot.GetJointSoftLimitDeg(0) print(f"pos limit deg: {neg_deg[1]}, {neg_deg[3]}, {neg_deg[5]}, {neg_deg[7]}, {neg_deg[9]}, {neg_deg[11]}") print(f"neg limit deg: {neg_deg[0]}, {neg_deg[2]}, {neg_deg[4]}, {neg_deg[6]}, {neg_deg[8]}, {neg_deg[10]}") robot.CloseRPC() Setting up a robot collision detection method +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.2 .. csv-table:: :stub-columns: 1 :widths: 10 30 "prototype", "``SetCollisionDetectionMethod(method, thresholdMode)``" "Description", "Sets the robot collision detection method." "Mandatory parameters", " - ``method``: collision detection method: 0 - current mode; 1 - dual encoder; 2 - current and dual encoder on at the same time - ``thresholdMode``: Collision level threshold method 0-Collision level fixed threshold mode 1- Customize collision detection thresholds " "Default parameters", "NULL" "Return Value", "- errcode Success-0 Failure- errcode" Set static undercollision detection to start off +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetStaticCollisionOnOff(status)``" "Description", "Set static undercollision detection to start off" "Mandatory parameters", " - ``status``: 0 - off; 1 - on " "Default parameters", "NULL" "Return Value", "- errcode Success-0 Failure- errcode" Set up the robot collision detection method 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') rtn = robot.SetCollisionDetectionMethod(0,0) rtn = robot.SetStaticCollisionOnOff(1) print(f"SetStaticCollisionOnOff On rtn is {rtn}") time.sleep(5) rtn = robot.SetStaticCollisionOnOff(0) print(f"SetStaticCollisionOnOff Off rtn is {rtn}") robot.CloseRPC() Joint torque and power detection +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.5 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetPowerLimit(status, power)``" "Description", "Joint torque and power detection" "Mandatory parameters", " - ``status``: 0 - off; 1 - on - ``power``：Set the maximum power (W) " "Default parameters", "NULL" "Return Value", "- errcode Success-0 Failure- errcode" Sample code for joint torque power detection +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. 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') robot.DragTeachSwitch(1) robot.SetPowerLimit(1, 200) error,torques = robot.GetJointTorques(1) count = 100 robot.ServoJTStart() while count > 0: error = robot.ServoJT(torques, 0.001) count -= 1 time.sleep(0.001) # 1ms delay error = robot.ServoJTEnd() robot.DragTeachSwitch(0) robot.CloseRPC() Set Safety Speed Parameters +++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetVelReducePara(enable, maxTCPVel, strategy)``" "Description", "Set safety speed parameters" "Required Parameters", " - ``enable``: 0-off; 1-enabled in manual mode; 2-enabled in all modes (automatic speed limiting not supported) - ``maxTCPVel``: Maximum TCP speed limit; [0-1000] mm/s - ``strategy``: Strategy after overspeed; 0-stop with alarm; 1-automatic speed limiting; 2-stop with alarm and disable " "Default Parameters", "None" "Return Value", "- Error code Success-0 Failure-errcode" SDK Code Example for Setting Safety Speed Parameters ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. 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 TestSetVelReducePara(self): # Initialize joint position, external axis and offset j1 = [0, -90, 90, 0, 0, 0] j2 = [90, -90, 90, 0, 0, 0] epos = [0, 0, 0, 0] offset_pos = [0, 0, 0, 0, 0, 0] # Set base speed robot.SetSpeed(80) # Test parameter error case (mode=2 invalid?) rtn = robot.SetVelReducePara(2, 30, 1) print(f"SetVelReducePara param error rtn is {rtn}") # Disable speed reduction function (mode=0, action=1 indicates disable) rtn = robot.SetVelReducePara(0, 30, 1) print(f"SetVelReducePara disable reduce vel rtn is {rtn}") robot.MoveJ(joint_pos=j1, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos) robot.MoveJ(joint_pos=j2, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos) # Enable speed reduction function (mode=1, action=1) rtn = robot.SetVelReducePara(1, 30, 1) print(f"SetVelReducePara reduce vel rtn is {rtn}") robot.MoveJ(joint_pos=j1, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos) robot.MoveJ(joint_pos=j2, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos) # Test action=2 (may indicate emergency stop or disable robot) rtn = robot.SetVelReducePara(2, 30, 2) print(f"SetVelReducePara disable robot rtn is {rtn}") robot.MoveJ(joint_pos=j1, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos) robot.MoveJ(joint_pos=j2, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos) # Wait, reset errors and re-enable robot time.sleep(2) robot.ResetAllError() robot.RobotEnable(1) time.sleep(1) # Test action=0 (may indicate only report error, no action) rtn = robot.SetVelReducePara(2, 30, 0) print(f"SetVelReducePara report error rtn is {rtn}") robot.MoveJ(joint_pos=j1, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos) robot.MoveJ(joint_pos=j2, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos) # Close connection robot.CloseRPC() TestSetVelReducePara(robot)