3. Robot Basics

3.1. Instantiating the Robot

/**
* @brief  Robot interface class constructor
*/
Robot();

3.2. Establishing Communication with the Controller

/**
* @brief  Establish communication with the robot controller
* @param  [in] ip  Controller IP address, default is 192.168.58.2
* @return Error code
*/
int RPC(string ip);

3.3. Disconnect from the robot

/**
* @brief Disconnect from the robot controller
* @return Error code
*/
int CloseRPC();

3.4. Query the SDK version number

/**
* @brief Query the SDK version number
* @param [out] version SDK version number
* @return Error code
*/
int GetSDKVersion(ref string version);

3.5. Get the controller IP address

/**
* @brief  Get the controller IP
* @param  [out] ip  Controller IP
* @return  Error code
*/
int GetControllerIP(ref string ip);

3.6. Control the robot to enter or exit drag teaching mode

/**
* @brief  Control the robot to enter or exit drag teaching mode
* @param  [in] state 0-exit drag teaching mode, 1-enter drag teaching mode
* @return  Error code
*/
int DragTeachSwitch(byte state);

3.7. Check if the robot is in drag mode

/**
* @brief  Check if the robot is in drag teach mode
* @param  [out] state 0-not in drag teach mode, 1-in drag teach mode
* @return Error code
*/
int IsInDragTeach(ref byte state);

3.8. Control robot enable or disable

/**
* @brief Control robot enable or disable; robot is automatically enabled by default after power-on
* @param  [in] state  0-disable, 1-enable
* @return  Error code
*/
int RobotEnable(byte state);

3.9. Control robot manual/automatic mode switching

/**
* @brief Control robot manual/automatic mode switching
* @param [in] mode 0-automatic mode, 1-manual mode
* @return Error code
*/
int Mode(int mode);

3.10. Shut down the robot operating system

/**
* @brief Shut down the robot operating system
* @return Error code
*/
int ShutDownRobotOS();

3.11. Code example

private void button6_Click(object sender, EventArgse)
{
    int rtn = robot.ShutDownRobotOS();
    Console.WriteLine($"ShutDownRobotOS rtn is {rtn}");
}

3.12. Set robot communication reconnection parameters

/**
* @brief Set robot communication reconnection parameters
* @param [in] enable Whether to enable true-enable, false-disable
* @param [in] times Reconnect times
* @param [in] period Reconnect time interval (milliseconds)
*/
void SetReconnectParam(bool enable, int times, int period);

3.13. Code example

private void btnStandard_Click(object sender, EventArgs e)
{
    Robot robot = new Robot();
    robot.SetReconnectParam(true, 100, 20000);//Disconnection reconnection parameters
    robot.RPC("192.168.58.2");

    string ip = "";
    string version = "";
    byte state = 0;

    robot.GetSDKVersion(ref version);
    Console.WriteLine($"SDK version : {version}");
    robot.GetControllerIP(ref ip);
    Console.WriteLine($"controller ip : {ip}");

    robot.Mode(1);
    Thread.Sleep(1000);
    robot.DragTeachSwitch(1);
    int rtn = robot.IsInDragTeach(ref state);
    Console.WriteLine($"drag state : {state}");
    Thread.Sleep(3000);
    robot.DragTeachSwitch(0);
    Thread.Sleep(1000);
    robot.IsInDragTeach(ref state);
    Console.WriteLine($"drag state: {state}");
    Thread.Sleep(3000);
    robot.RobotEnable(0);
    Thread.Sleep(3000);
    robot.RobotEnable(1);

    robot.Mode(0);
    Thread.Sleep(1000);
    robot.Mode(1);
}

3.14. Initialize log parameters

/**
* @brief Initialize log parameters
* @param [in] logType: Output mode, DIRECT-direct output; BUFFER-buffered output; ASYNC-asynchronous output
* @param [in] logLevel: Log filtering level, ERROR-error; WARNING-warning; INFO-information; DEBUG-debug
* @param [in] filePath: File save path, e.g., "D://Log/"
* @param [in] saveFileNum: Number of files to save; files exceeding both the number of files to save and the number of days to save will be deleted
* @param [in] saveDays: Number of days to save; files exceeding both the number of files to save and the number of days to save will be deleted
* @return Error code
*/
int LoggerInit(FrLogType logType = FrLogType.DIRECT, FrLogLevel logLevel = FrLogLevel.INFO, string filePath = "", int saveFileNum = 10, int saveDays = 10);

3.15. Set log filtering level

/**
* @brief Set log filtering level
* @param [in] logLevel: Log filtering level, ERROR-error; WARNING-warning; INFO-information; DEBUG-debug
* @return Error code
*/
int SetLoggerLevel(FrLogLevel logLevel);

3.16. Get robot software version

/**
* @brief Get robot software version information
* @param [out] robotModel Robot model
* @param [out] webVersion Web version
* @param [out] controllerVersion Controller version
* @return Error code
*/
int GetSoftwareVersion(ref string robotModel, ref string webVersion, ref string controllerVersion);

3.17. Get robot hardware version

/**
* @brief Get robot hardware version information
* @param [out] ctrlBoxBoardVersion Control box board hardware version
* @param [out] driver1Version Driver 1 hardware version
* @param [out] driver1Version Driver 2 hardware version
* @param [out] driver1Version Driver 3 hardware version
* @param [out] driver1Version Driver 4 hardware version
* @param [out] driver1Version Driver 5 hardware version
* @param [out] driver1Version Driver 6 hardware version
* @param [out] endBoardVersion End board hardware version
* @return Error code
*/
int GetHardwareVersion(ref string ctrlBoxBoardVersion, ref string driver1Version, ref string driver2Version, ref string driver3Version, ref string driver4Version, ref string driver5Version, ref string driver6Version, ref string endBoardVersion);

3.18. Get robot firmware version

/**
* @brief Get robot firmware version information
* @param [out] ctrlBoxBoardVersion Control box board firmware version
* @param [out] driver1Version Driver 1 firmware version
* @param [out] driver1Version Driver 2 firmware version
* @param [out] driver1Version Driver 3 firmware version
* @param [out] driver1Version Driver 4 firmware version
* @param [out] driver1Version Driver 5 firmware version
* @param [out] driver1Version Driver 6 firmware version
* @param [out] endBoardVersion End board firmware version
* @return Error code
*/
int GetFirmwareVersion(ref string ctrlBoxBoardVersion, ref string driver1Version, ref string driver2Version, ref string driver3Version, ref string driver4Version, ref string driver5Version, ref string driver6Version, ref string endBoardVersion);

3.19. Code example

private void btnGetVersions_Click(object sender, EventArgs e)
{
    string[] ver = new string[20];
    int rtn = 0;
    rtn = robot.GetSoftwareVersion(ref ver[0], ref ver[1], ref ver[2]);
    rtn = robot.GetHardwareVersion(ref ver[3], ref ver[4], ref ver[5], ref ver[6], ref ver[7], ref ver[8], ref ver[9], ref ver[10]);
    rtn = robot.GetFirmwareVersion(ref ver[11], ref ver[12], ref ver[13], ref ver[14], ref ver[15], ref ver[16], ref ver[17], ref ver[18]);
    Console.WriteLine($"robotmodel  is: {ver[0]}");
    Console.WriteLine($"webVersion  is: {ver[1]}");
    Console.WriteLine($"controllerVersion  is: {ver[2]}");
    Console.WriteLine($"Hard ctrlBox Version  is: {ver[3]}");
    Console.WriteLine($"Hard driver1 Version  is: {ver[4]}");
    Console.WriteLine($"Hard driver2 Version is: {ver[5]}");
    Console.WriteLine($"Hard driver3 Version is: {ver[6]}");
    Console.WriteLine($"Hard driver4 Version is: {ver[7]}");
    Console.WriteLine($"Hard driver5 Version is: {ver[8]}");
    Console.WriteLine($"Hard driver6 Version is: {ver[9]}");
    Console.WriteLine($"Hard end Version is: {ver[10]}");
    Console.WriteLine($"Firm ctrlBox Version is: {ver[11]}");
    Console.WriteLine($"Firm driver1 Version is: {ver[12]}");
    Console.WriteLine($"Firm driver2 Version is: {ver[13]}");
    Console.WriteLine($"Firm driver3 Version is: {ver[14]}");
    Console.WriteLine($"Firm driver4 Version is: {ver[15]}");
    Console.WriteLine($"Firm driver5 Version is: {ver[16]}");
    Console.WriteLine($"Firm driver6 Version is: {ver[17]}");
    Console.WriteLine($"Firm end Version is: {ver[18]}");
}