Trajectory recurrence ==================================================================== .. toctree:: :maxdepth: 5 Setting Track Recording Parameters ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "prototype", "``SetTPDParam(name, period_ms, type=1,di_choose=0, do_choose=0)``" "Description", "Setting parameters for track logging" "Mandatory parameters", "- ``name``: track name; - ``period_ms``: sampling period, fixed value, 2ms or 4ms or 8ms;" "Default parameters", "- ``type``: data type, 1-joint position; - ``di_choose``: DI choose, bit0~bit7 corresponds to control box DI0~DI7, bit8~bit9 corresponds to end DI0~DI1, 0-no choose, 1-choose Default 0. - ``do_choose``: DO choose, bit0~bit7 corresponds to control box DO0~DO7, bit8~bit9 corresponds to end DO0~DO1, 0-no choose, 1-choose Default 0" "Return Value", "Error Code Success-0 Failure- errcode" Start Track Recording ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetTPDStart(name, period_ms, type=1,di_choose=0, do_choose=0)``" "Description", "Start Track Record" "Mandatory parameters", "- ``name``: track name; - ``period_ms``: sampling period, fixed value, 2ms or 4ms or 8ms;" "Default parameters", "- ``type``: number datatype, 1-joint position default 1; - ``di_choose``: DI choose, bit0~bit7 corresponds to control box DI0~DI7, bit8~bit9 corresponds to end DI0~DI1, 0-no choose, 1-choose Default 0. - ``do_choose``: DO choose, bit0~bit7 corresponds to control box DO0~DO7, bit8~bit9 corresponds to end DO0~DO1, 0-no choose, 1-choose Default 0" "Return Value", "Error Code Success-0 Failure- errcode" Stop Track Recording ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "prototype", "``SetWebTPDStop()``" "Description", "Stop Track Record" "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Deleting track records +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetTPDDelete(name)``" "Description", "Delete Track Record" "Mandatory parameters", "- ``name``: track name" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" 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') type = 1 name = "tpd2025" period_ms = 4 di_choose = 0 do_choose = 0 robot.SetTPDParam(name, period_ms) robot.Mode(1) time.sleep(1) robot.DragTeachSwitch(1) robot.SetTPDStart(name, period_ms) print("SetTPDStart") time.sleep(10) robot.SetWebTPDStop() robot.DragTeachSwitch(0) robot.CloseRPC() Trajectory preloading +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``LoadTPD(name)``" "Description", "Trajectory Preloading" "Mandatory parameters", "- ``name``: track name" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Trajectory Reproduction ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``MoveTPD(name,blend,ovl)``" "Description", "Trajectory Reproduction" "Mandatory parameters", "- ``name``: track name - ``blend``: smooth or not, 0 - not smooth, 1 - smooth - ``ovl``: velocity scaling factor, range [0 to 100]" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Get the starting position of the trajectory +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``GetTPDStartPose(name)``" "Description", "Get trajectory start position" "Mandatory parameters", "- ``name``: track name" "Default parameters", "NULL" "Return Value", "- errorcode Success-0 Failure- errcode - ``desc_pose=[x,y,z,rx,ry,rz]``: trajectory start position" Example of robot TPD trajectory recording code ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. 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') type = 1 name = "tpd2025" period_ms = 4 di_choose = 0 do_choose = 0 ovl = 100.0 blend = 0 rtn = robot.LoadTPD(name) print(f"LoadTPD rtn is: {rtn}") error,start_pose = robot.GetTPDStartPose(name) print(f"start pose, xyz is: {start_pose[0]},{start_pose[1]},{start_pose[2]}. " f"rpy is: {start_pose[3]},{start_pose[4]},{start_pose[5]}") robot.MoveCart(start_pose, 0, 0, 100, 100) time.sleep(1) rtn = robot.MoveTPD(name, blend, ovl) print(f"MoveTPD rtn is: {rtn}") time.sleep(5) robot.SetTPDDelete(name) robot.CloseRPC() Trajectory preprocessing ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "prototype", "``LoadTrajectoryJ(name,ovl,opt=1)``" "description", "trajectory preprocessing" "Mandatory parameters", "- ``name``: track name, e.g., /fruser/traj/trajHelix_aima_1.txt. - ``ovl``: percentage of speed scaling, range [0~100];" "Default parameter", "- ``opt``: 1-control point, default 1" "Return Value", "Error Code Success-0 Failure- errcode" Trajectory Reproduction ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``MoveTrajectoryJ()``" "Description", "Trajectory Reproduction" "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Getting the starting position of the trajectory ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``GetTrajectoryStartPose(name)``" "Description", "Get trajectory starting position" "Mandatory parameters", "``name``: track name" "Default parameters", "NULL" "Return Value", "- errorcode Success-0 Failure- errcode - ``desc_pose=[x,y,z,rx,ry,rz]``: trajectory start position" Get track point number ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "prototype", "``GetTrajectoryPointNum()``" "Description", "Get track point number" "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "- errorcode Success-0 Failure- errcode - ``pnum``: track point number" Set Speed During Trajectory Execution ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetTrajectoryJSpeed(ovl, mode)``" "Description", "Set the speed during trajectory execution" "Required Parameters", " - ``ovl``: Speed scaling percentage, range [0~100] - ``mode``: 0-speed reduction mode; 1-direct switching" "Default Parameters", "None" "Return Value", "Error code Success-0 Failure-errcode" Code Example for Setting Speed During Trajectory Execution ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. 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 TestSetTrajectoryJSpeed(self): # Upload trajectory file rtn = robot.TrajectoryJUpLoad("C://Users/lenovo/Desktop/trajHelix_aima_1.txt") print(f"Upload TrajectoryJ A {rtn}") traj_file_name = "/fruser/traj/trajHelix_aima_1.txt" # Load trajectory file, parameters: file name, speed percentage, loop (1: loop) rtn = robot.LoadTrajectoryJ(name=traj_file_name, ovl=100, opt=1) print(f"LoadTrajectoryJ {traj_file_name}, rtn is: {rtn}") # Get trajectory start pose rtn, traj_start_pose = robot.GetTrajectoryStartPose(name=traj_file_name) print(f"GetTrajectoryStartPose is: {rtn}") print( f"desc_pos:{traj_start_pose[0]},{traj_start_pose[1]},{traj_start_pose[2]},{traj_start_pose[3]},{traj_start_pose[4]},{traj_start_pose[5]}") time.sleep(1) # Set base speed and move to trajectory start point robot.SetSpeed(50) robot.MoveCart(desc_pos=traj_start_pose, tool=0, user=0, vel=100, acc=100, ovl=100, blendT=-1, config=-1) # Get trajectory point count rtn, traj_num = robot.GetTrajectoryPointNum() print(f"GetTrajectoryStartPose rtn is: {rtn}, traj num is: {traj_num}") # Start trajectory motion rtn = robot.MoveTrajectoryJ() print(f"MoveTrajectoryJ rtn is: {rtn}") time.sleep(1) # Get robot real-time status trajspeedMode = 0 while True: rtn, pkg = robot.GetRobotRealTimeState() if pkg.motion_done != 0: break # Set trajectory speed to 10% rtn = robot.SetTrajectoryJSpeed(ovl=10.0, mode=trajspeedMode) print(f"SetTrajectoryJSpeed is: {rtn}") time.sleep(1) # Set trajectory speed to 80% rtn = robot.SetTrajectoryJSpeed(ovl=80.0, mode=trajspeedMode) print(f"SetTrajectoryJSpeed is: {rtn}") time.sleep(1) # Close connection robot.CloseRPC() time.sleep(1) # Call test function TestSetTrajectoryJSpeed(robot) Setting the force and torque during trajectory operation +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetTrajectoryJForceTorque(ft)``" "Description", "Setting the force and torque in the trajectory run" "Mandatory parameters", "``ft=[fx,fy,fz,tx,ty,tz]``: units N and Nm" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Setting the force along the x-direction in the trajectory run +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetTrajectoryJForceFx(fx)``" "Description", "Set the force along the x-direction in the trajectory run" "Mandatory parameter", "``ft``: force in x direction, in N" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Setting the force along the y-direction in the trajectory run +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetTrajectoryJForceFx(fy)``" "Description", "Set the force along the y-direction in the trajectory run" "Mandatory parameter", "``fy``: force along y direction in N" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Setting the force along the z-direction in a trajectory run +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetTrajectoryJForceFx(fz)``" "Description", "Set the force along the z-direction in the trajectory run" "Mandatory parameter", "``fz``: force along the z-direction, in N" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Setting the torque around the x-axis in a trajectory run +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetTrajectoryJTorqueTx(tx)``" "Description", "Set the torque around the x-axis for the trajectory run" "Mandatory parameter", "``tx``: torque around x-axis in Nm" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Setting the torque around the y-axis in trajectory operation +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "prototype", "``SetTrajectoryJTorqueTx(ty)``" "Description", "Set the torque around the y-axis for the trajectory run" "Mandatory parameter", "``ty``: torque around y-axis in Nm" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Setting the torque around the z-axis in trajectory operation +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetTrajectoryJTorqueTx(tz)``" "Description", "Sets the torque around the z-axis for the trajectory run" "Mandatory parameter", "``tz``: torque around z-axis in Nm" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Upload trace J file ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.7 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``TrajectoryJUpLoad(filePath)``" "Description", "Upload trace J file" "Mandatory parameter", "- ``filePath``:Full path name of the uploaded trajectory fileļ¼ŒC://test/testJ.txt" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Delete the track J file ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.7 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``TrajectoryJDelete(filePath)``" "Description", "Delete the track J file" "Mandatory parameter", "- ``filePath``:Removes the full pathname of the trace file,C://test/testJ.txt" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Robot trajectory J file reproduction 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.TrajectoryJUpLoad("D://zUP/traj.txt") print(f"Upload TrajectoryJ A {rtn}") traj_file_name = "/fruser/traj/traj.txt" rtn = robot.LoadTrajectoryJ(traj_file_name, 100, 1) print(f"LoadTrajectoryJ {traj_file_name}, rtn is: {rtn}") rtn,traj_start_pose = robot.GetTrajectoryStartPose(traj_file_name) print(f"GetTrajectoryStartPose is: {rtn}") print(f"desc_pos:{traj_start_pose[0]},{traj_start_pose[1]},{traj_start_pose[2]}," f"{traj_start_pose[3]},{traj_start_pose[4]},{traj_start_pose[5]}") time.sleep(1) robot.SetSpeed(50) robot.MoveCart(traj_start_pose, 0, 0, 50, 100, 100) rtn,traj_num = robot.GetTrajectoryPointNum() print(f"GetTrajectoryStartPose rtn is: {rtn}, traj num is: {traj_num}") rtn = robot.SetTrajectoryJSpeed(50.0) print(f"SetTrajectoryJSpeed is: {rtn}") traj_force = [0.0,0.0,0.0,0.0,0.0,0.0] traj_force[0] = 10 # fx = 10 rtn = robot.SetTrajectoryJForceTorque(traj_force) print(f"SetTrajectoryJForceTorque rtn is: {rtn}") rtn = robot.SetTrajectoryJForceFx(10.0) print(f"SetTrajectoryJForceFx rtn is: {rtn}") rtn = robot.SetTrajectoryJForceFy(0.0) print(f"SetTrajectoryJForceFy rtn is: {rtn}") rtn = robot.SetTrajectoryJForceFz(0.0) print(f"SetTrajectoryJForceFz rtn is: {rtn}") rtn = robot.SetTrajectoryJTorqueTx(10.0) print(f"SetTrajectoryJTorqueTx rtn is: {rtn}") rtn = robot.SetTrajectoryJTorqueTy(10.0) print(f"SetTrajectoryJTorqueTy rtn is: {rtn}") rtn = robot.SetTrajectoryJTorqueTz(10.0) print(f"SetTrajectoryJTorqueTz rtn is: {rtn}") rtn = robot.MoveTrajectoryJ() print(f"MoveTrajectoryJ rtn is: {rtn}") robot.CloseRPC() Trajectory preprocessing(Trajectory foresight) +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.4 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``LoadTrajectoryLA(name, mode, errorLim, type, precision, vamx, amax, jmax, flag)``" "Description", "Trajectory preprocessing(Trajectory foresight)" "Mandatory parameter", "- ``name``:track file name - ``mode``: sampling mode, 0- No sampling; 1- equal data interval sampling; 2- Equal error limit sampling - ``errorLim``: error limitation, effective using straight line fitting - ``type``: smooth mode, 0-Bessel smooth - ``precision``: smoothing accuracy, effective when using Bessel smoothing - ``vamx``: set maximum speed, mm/s - ``amax``: set maximum acceleration, mm/s2 - ``jmax``: maximum acceleration, mm/s3 - ``flag``: Uniform speed forward opening switch 0- No opening; 1- Start" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Trajectory reproduction(Trajectory foresight) +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.0 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``MoveTrajectoryLA()``" "Description", "Trajectory reproduction(Trajectory foresight)" "Mandatory parameter", "NULL" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Code example for trajectory reproduction +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: from fairino import Robot import time # A connection is established with the robot controller and a robot object is returned if the connection is successful robot = Robot.RPC('192.168.58.2') rtn = robot.TrajectoryJUpLoad("D://zUP/traj.txt") print(f"Upload TrajectoryJ A {rtn}") traj_file_name = "/fruser/traj/traj.txt" rtn = robot.LoadTrajectoryLA(traj_file_name, 1, 2, 0, 2, 50, 200, 1000, 0) print(f"LoadTrajectoryLA {traj_file_name}, rtn is: {rtn}") rtn, traj_start_pose = robot.GetTrajectoryStartPose(traj_file_name) print(f"GetTrajectoryStartPose is: {rtn}") print(f"desc_pos: {traj_start_pose[0]},{traj_start_pose[1]},{traj_start_pose[2]},{traj_start_pose[3]},{traj_start_pose[4]},{traj_start_pose[5]}") time.sleep(1) robot.SetSpeed(50) robot.MoveCart(traj_start_pose, 0, 0, 100, 100, 100) rtn = robot.MoveTrajectoryLA() print(f"MoveTrajectoryLA rtn is: {rtn}") robot.CloseRPC() Move to TPD Trajectory Recording Start Point +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``MoveToTPDStart(name, moveType, ovl)``" "Description", "Move to TPD trajectory recording start point" "Required Parameters", " - ``name``: Trajectory file name - ``moveType``: Motion type; 0-PTP; 1-LIN - ``ovl``: Speed scaling percentage, range [0~100] " "Default Parameters", "None" "Return Value", "Error code Success-0 Failure-errcode" SDK Code Example for Moving to TPD Trajectory Recording Start Point +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. 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 TestTPD(self): type = 1 name = "tpd2025" period_ms = 4 di_choose = 0 do_choose = 0 robot.SetTPDParam(type=type, name=name, period_ms=period_ms, di_choose=di_choose, do_choose=do_choose) robot.Mode(1) time.sleep(1) robot.DragTeachSwitch(1) robot.SetTPDStart(type=type, name=name, period_ms=period_ms, di_choose=di_choose, do_choose=do_choose) time.sleep(3) robot.SetWebTPDStop() robot.DragTeachSwitch(0) time.sleep(1) ovl = 100.0 blend = 0 start_pose = [0.0] * 6 rtn = robot.LoadTPD(name) print(f"LoadTPD rtn is: {rtn}") rtn, start_pose = robot.GetTPDStartPose(name) print(f"start pose, xyz is: {start_pose[0]},{start_pose[1]},{start_pose[2]}. rpy is: {start_pose[3]},{start_pose[4]},{start_pose[5]}") # robot.MoveCart(desc_pos=start_pose, tool=0, user=0, vel=100, acc=100, ovl=ovl, blendT=-1, config=-1) #time.sleep(1) rtn = robot.MoveToTPDStart(name, 0, 100) print(f"MoveToTPDStart rtn is: {rtn}") rtn = robot.MoveTPD(name, blend, ovl) print(f"MoveTPD rtn is: {rtn}") time.sleep(5) robot.SetTPDDelete(name) robot.CloseRPC() return 0 TestTPD(robot)