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/*
Function description: Store a joint point position information
id - Stores the point id, starting with 1, independently of the point id of CARTPoint
double j1−j6 − 6 joint positions in degrees
*/
int JNTPoint(int id, double j1, double j2, double j3, double j4, double j5, double j6)
// Examples
JNTPoint(1,10,11,12,13,14,15)
/*
Function description: Store a Cartesian point position information
id - Stores the point id, starting from 1, independently of the point id of JNTPoint
double x,y,z,rx,ry,yz - Cartesian point position information, position in mm, Angle in degrees
*/
int CARTPoint(int id, double x,y,z,rx,ry,rz)//Store a point in Cartesian space
// Examples
CARTPoint(1,100,110,200,0,0,0)
/*
Function description: Get the joint or Cartesian position information of the specified sequence point
string name - 'JNT' or 'CART', where JNT stands for getting information about joint points and 'CART' stands for getting information about Cartesian points
int id - The point id, starting at 1
*/
string GET(string name, int id)//Get the contents of the corresponding id sequence number point; name can be entered as JNT or CART
// Examples
GET(JNT,1)
/*
Function description: Drag mode switch
uint8_t state - 1- Enable drag mode,0- disable drag mode
*/
int DragTeachSwitch(uint8_t state)
// Examples
DragTeachSwitch(0)
/*
Function description: Manipulator enable switch
uint8_t state - 1 -manipulator enabled,0 -manipulator deenabled
*/
int RobotEnable(uint8_t state)
// Examples
RobotEnable(1)
/*
Function description:Mode switching
uint8_t state - 1- Manual mode,0- automatic mode
*/
int Mode(uint8_t state)
// Examples
Mode(1)
/*
Function description:Set the manipulator speed in the current mode
float vel - Percentage of speed, ranging from 1-100
*/
int SetSpeed(float vel)
// Examples
SetSpeed(10)
/*
Function description:Sets and loads the tool coordinate system with the specified sequence number
int id - Tool coordinate system number, range 1-15
float x,y,z,rx,ry,rz - Offset information for the tool coordinate system
*/
int SetToolCoord(int id, float x,float y, float z,float rx,float ry,float rz)
// Examples
SetToolCoord(1,0,0,0,0,0,0)
/*
Function description:Set the list of tool coordinate systems
int id - Tool coordinate system number, range 1-15
float x,y,z,rx,ry,rz - Offset information for the tool coordinate system
*/
int SetToolList(int id, float x,float y, float z,float rx,float ry,float rz );
// Examples
SetToolList(1,0,0,0,0,0,0)
/*
Function description:Set the external tool coordinate system
int id - Tool coordinate system number, range 1-15
float x,y,z,rx,ry,rz - Offset information for the external tool coordinate system
*/
int SetExToolCoord(int id, float x,float y, float z,float rx,float ry,float rz);
// Examples
SetExToolCoord(1,0,0,0,0,0,0)
/*
Function description:Sets the list of external tool coordinate systems
int id - Tool coordinate system number, range 1-15
float x,y,z,rx,ry,rz - Offset information for the external tool coordinate system
*/
int SetExToolList(int id, float x,float y, float z,float rx,float ry,float rz);
// Examples
SetExToolList(1,0,0,0,0,0,0)
/*
Function description:Set the workpiece coordinate system
int id - Workpiece coordinate system number, range 1-15
float x,y,z,rx,ry,rz - Offset information of the workpiece coordinate system
*/
int SetWObjCoord(int id, float x,float y, float z,float rx,float ry,float rz);
// Examples
SetWObjCoord(1,0,0,0,0,0,0)
/*
Function description:Set the list of workpiece coordinate systems
int id - Workpiece coordinate system number, range 1-15
float x,y,z,rx,ry,rz - Offset information of the workpiece coordinate system
*/
int SetWObjList(int id, float x,float y, float z,float rx,float ry,float rz);
// Examples
SetWObjList(1,0,0,0,0,0,0)
/*
Function description:Set the end load weight
float weight - Load weight in kg
*/
int SetLoadWeight(float weight);
// Examples
SetLoadWeight(3.5)
/*
Function description:Set the end-load centroid coordinates
float x,y,z - Coordinates of the center of mass in mm
*/
int SetLoadCoord(float x,float y,float z);
// Examples
SetLoadCoord(10,20,30)
/*
Function description:Set the robot installation mode
uint8_t install - Installation mode,0- formal,1- side,2- inverted
*/
int SetRobotInstallPos(uint8_t install);
// Examples
SetRobotInstallPos(0)
/*
Function description:Set the robot installation Angle, free installation
double yangle - Angle of inclination
double zangle - Angle of rotation
*/
int SetRobotInstallAngle(double yangle,double zangle);
// Examples
SetRobotInstallAngle(90,0)
//Security configuration
/*
Function description:Set the robot collision level
float level1-level6 - Collision levels for axes 1-6, ranging from 1-10
*/
int SetAnticollision(float level1, float level2, float level3, float level4, float level5, folat level6);
// Examples
SetAnticollision(1,1,1,1,1,1)
/*
* @brief Set the post-collision strategy
* @param [in] strategy 0-Error and stop, 1-Continue running
* @param [in] safeTime Safe stop time [1000 - 2000] ms
* @param [in] safeDistance Safe stop distance [1-150] mm
* @param [in] safeVel Safe speed [50-250] mm/s
* @param [in] safetyMargin Safety factor for J1-J6 [1-10]
* @return Error code
*/
int SetCollisionStrategy(int strategy, int safeTime, int safeDistance, int safeVel, int safetyMargin[]);
// Example
SetCollisionStrategy(1);
/**
* @brief sets the collision detection method of the robot
* @param [in] method Collision detection method: 0- current mode; 1- Dual encoder; 2- Current and dual encoder turn on simultaneously
* @param [in] thresholdMode Collision level threshold method 0-Collision level fixed threshold mode 1- Customize collision detection thresholds
* @return error code
*/
int SetCollisionDetectionMethod(int method, int thresholdMode);
// Examples
SetCollisionDetectionMethod(0,0)
/**
* @brief Indicates that collision detection is disabled in static mode
* @param [in] status 0- Off; 1- Open
* @return error code
*/
int SetStaticCollisionOnOff(int status);
// Examples
SetStaticCollisionOnOff(1)
/**
* @brief joint torque power detection
* @param [in] status 0- Off; 1- Open
* @param [in] power Set maximum power (W);
* @return error code
*/
int SetPowerLimit(int status, double power);
//Examples
SetPowerLimit(1,100)
/**
*@brief Configured force sensor
*@param [in] company Manufacturer of force sensors, 17-KUNWEI，19-CAAA，20-ATI，21-HKM，22-GZCX，23-NBIT，24-XJC，26-NSR
*@param [in] device Device number, KUNWEI(0-KWR75B)，CAAA(0-MCS6A-200-4)，ATI(0-AXIA80-M8)，HKM(0-MST2010)，GZCX(0-WHC6L-YB-10A)，NBIT(0-XLH93003ACS)，XJC(0-XJC-6F-D82)，NSR(0-NSR-FTSensorA)
*@param [in] softvesion Software version. The value is not used. The default value is 0
*@param [in] bus The device is attached to the terminal bus and is not in use. The default value is 0
*@return Error code
*/
int FT_SetConfig(int company, int device, int softvesion, int bus);
// Examples
FT_SetConfig(0,1,0,0)
/**
*@brief Get the force sensor configuration
*@param [in] company Force sensor manufacturer, to be determined
*@param [in] device Device number, not used yet. The default value is 0
*@param [in] softvesion Software version. The value is not used. The default value is 0
*@param [in] bus The device is attached to the terminal bus and is not in use. The default value is 0
*@return Error code
*/
int FT_GetConfig(int *company, int *device, int *softvesion, int *bus);
// Examples
FT_GetConfig()
/**
*@brief Force sensor activation
*@param [in] act 0- reset, 1- activate
*@return Error code
*/
int FT_Activate(uint8_t act);
// Examples
FT_Activate(1)
/**
*@brief Force sensor calibration
*@param [in] act 0- zero removal, 1- zero correction
*@return Error code
*/
int FT_SetZero(uint8_t act);
// Examples
FT_SetZero(1)
/**
*@brief Collision guard
*@param [in] flag 0- Disable collision guard. 1- Enable collision guard
*@param [in] sensor_id Force sensor number
*@param [in] select Select the six degrees of freedom whether to detect collision, 0- no detection, 1- detection
*@param [in] ft Impact force/torque，fx,fy,fz,tx,ty,tz
*@param [in] max_threshold Maximum threshold
*@param [in] min_threshold Minimum threshold
*@note Force/torque detection range：(ft-min_threshold, ft+max_threshold)
*@return Error code
*/
int FT_Guard(uint8_t flag, int sensor_id, uint8_t select[6], ForceTorque *ft, float max_threshold[6], float min_threshold[6]);
// Examples
FT_Guard(1,1,0,0,1,0,0,0,0,0,100,0,0,0,0,0,200,0,0,0,0,0,50,0,0,0)
/**
*@brief Constant force control
*@param [in] flag 0- turn off constant force control, 1- turn on constant force control
*@param [in] sensor_id Force sensor number
*@param [in] select Select the six degrees of freedom whether to detect collision, 0- no detection, 1- detection
*@param [in] ft Impact force/torque，fx,fy,fz,tx,ty,tz
*@param [in] ft_pid Force pid parameter, torque pid parameter
*@param [in] adj_sign Adaptive start-stop control, 0- off, 1- on
*@param [in] ILC_sign ILC start stop control, 0- stop, 1- training, 2- operation
*@param [in] Maximum Adjustment distance, unit: mm
*@param [in] Maximum Adjustment Angle, unit: deg
*@return Error code
*/
int FT_Control(uint8_t flag, int sensor_id, uint8_t select[6], ForceTorque *ft, float ft_pid[6], uint8_t adj_sign, uint8_t ILC_sign, float max_dis, float max_ang, int filter_Sign = 0, int posAdapt_sign = 0, int isNoBlock = 0);
// Examples
FT_Control(1,1,0,0,1,0,0,0,0,0,-10,0,0,0,0.0005,0,0,0,0,0,0,0,100,10,0,0,0)
/**
*@brief Compliant control on
*@param [in] p Coefficient of position adjustment or compliance
*@param [in] force Compliant opening force threshold, unit: N
*@return Error code
*/
int FT_ComplianceStart(float p, float force);
// Examples
FT_ComplianceStart(0.005,20)
/**
*@brief Compliant control off
*@return Error code
*/
int FT_ComplianceStop();
// Examples
FT_ComplianceStop()
/*
Function description:Set the positive limit, note that the set value must be within the hard limit range
float limit1-limit6 - Six joint limit values
*/
int SetLimitPositive(float limit1, float limit2, float limit3, float limit4, float limit5, float limit6);
// Examples
SetLimitPositve(100,90,90,90,90,90)
/*
Function description:Set the negative limit, note that the set value must be within the hard limit range
float limit1-limit6 - Six joint limit values
*/
int SetLimitNegative(float limit1, float limit2, float limit3, float limit4, float limit5, float limit6);
// Examples
SetLimitNegative(-100,-90,-90,-90,-90,-90)
/*
Function description:Error state removal
*/
int ResetAllError();
/*
Function description:Joint friction compensation switch
uint8_t state - 0- off, 1- on
*/
int FrictionCompensationOnOff(uint8_t state);
// Examples
FrictionCompensationOnOff(1)
/*
Function description:Set the joint friction compensation coefficient -formal suit
float coeff1-coeff6 - Six joint compensation coefficients, ranging from 0-1
*/
int SetFrictionValue_level(float coeff1,float coeff1,float coeff3,float coeff4,float coeff5,float coeff6);
// Examples
SetFrictionValue_level(1,1,1,1,1,1)
/*
Function description:Set the joint friction compensation coefficient -side loading
float coeff1-coeff6 - Six joint compensation coefficients, ranging from 0-1
*/
int SetFrictionValue_wall(float coeff1,float coeff1,float coeff3,float coeff4,float coeff5,float coeff6);
// Examples
SetFrictionValue_wall(0.5,0.5,0.5,0.5,0.5,0.5)
/*
Function description:Set the joint friction compensation coefficient -flip
float coeff1-coeff6 - Six joint compensation coefficients, ranging from 0-1
*/
int SetFrictionValue_ceiling(float coeff1,float coeff1,float coeff3,float coeff4,float coeff5,float coeff6);
// Examples
SetFrictionValue_ceiling(0.5,0.5,0.5,0.5,0.5,0.5)
//Peripheral device control
/*
Function description:Activated gripper
int index - Clamp claw number
uint8_t act - 0- Reset, 1- Activate
*/
int ActGripper(int index,uint8_t act);
// Examples
ActGripper(1,1)
/*
Function description:Control gripper
int index - Clamp claw number
int pos - Percentage of position, range 0-100
*/
int MoveGripper(int index,int pos);
// Examples
MoveGripper(1,10)
//IO控制
/*
Function description:Set the control box digital output
int id - io number, range 0-15
uint_t status - 0- off, 1- on
*/
int SetDO(int id,uint8_t status);
// Examples
SetDO(1,1)
/*
Function description:Set tool number output
int id - io number, range 0-1
uint_t status - 0- off, 1- on
*/
int SetToolDO(int id,uint8_t status);
// Examples
SetToolDO(0,1)
/*
Function description:Set the control box analog output
int id - io number, range 0-1
float vlaue - Percentage of current or voltage value, range 0-100
*/
int SetAO(int id,float value);
// Examples
SetAO(1,100)
/*
Function description:Set tool analog output
int id - io number, range 0
float vlaue - Percentage of current or voltage value, range 0-100
*/
int SetToolAO(int id,float value);
// Examples
SetToolAO(0,100)
//Motor command
/*
Function description:Robot JOG Start
uint8_t ref - 0-joint JOG, 2-JOG in base coordinate system, 4-JOG in tool coordinate system, 8-JOG in workpiece coordinate system
uint8_t nb - 1 - Joint 1 (or X-axis), 2 - Joint 2 (or Y-axis), 3 - Joint 3 (or Z-axis), 4 - Joint 4 (or Rotation around X-axis), 5 - Joint 5 (or Rotation around Y-axis), 6 - Joint 6 (or Rotation around Z-axis)
uint8_t dir - 0- negative direction, 1- positive direction
float vel - Percentage of speed, ranging from 0-100
*/
int StartJOG(uint8_t ref, uin8_t nb, uint8_t dir, float vel);
// Examples
StartJOG(1,1,1,10)
/*
Function description:Robot JOG Stop
uint8_t ref - 0 - Joint Jog Stop, 2 - Jog Stop in Base Coordinate System, 4 - Jog Stop in Tool Coordinate System, 8 - Jog Stop in Workpiece Coordinate System
*/
int StopJOG(uint8_t ref);
// Examples
StopJOG(1)
/*
Function description:Robot JOG Immediate Stop
*/
int ImmStopJOG();
/*
Function description:Joint space motion
string point_name - For example, JNT1 is the point with the sequence number 1 of the node information,CART1 is the point with the sequence number 1 of the Cartesian point information,MoveJ instruction supports the input of the node or Cartesian point. It should be noted that because the default parameters of the MoveJ instruction specify the tool coordinate system and the workpiece coordinate system, when the serial number of the two coordinate systems is inconsistent with the current load, the instruction will cause an error. It is necessary to modify the coordinate system parameters and LOAD parameters in the default parameters before running the movement instruction.
float vel - Command speed percentage, range 0-100
int tool - tool coordinate index
int user - reference coordinate index
*/
int MoveJ(string point_name, float vel,int tool, int user);//point_name indicates the input prestored point information,
// Examples
MoveJ(JNT1,10,1,1)
/*
Function description:Rectilinear motion in Cartesian space
string point_name - For example, JNT1 is the point whose sequence number is 1,CART1 is the point whose sequence number is 1, and the MoveL instruction supports the input of the point or Cartesian point. It should be noted that since the default parameters of the MoveL instruction specify the tool coordinate system and the workpiece coordinate system, when the serial number of the two coordinate systems is inconsistent with the current load, the instruction will cause an error. The coordinate system parameters and load parameters need to be modified in the default parameters before running the motion instruction.
float vel - Command speed percentage, range 0-100
*/
int MoveL(string point_name,float vel);
// Examples
MoveL(CART1,10)
/*
Function description:Circular motion in Cartesian space
string point1_name point2_name - For example, JNT1 is the point whose sequence number is 1,CART1 is the point whose sequence number is 1. MoveC command supports the input of the point or Cartesian point, but the two points must be of the same type, that is, the first point does not support the input of the joint space point and the second point input of the Cartesian point. It should be noted that because the default parameters of the MoveC instruction specify the tool coordinate system and the workpiece coordinate system, when the serial number of the two coordinate systems is inconsistent with the current load, the instruction will cause an error. It is necessary to modify the coordinate system parameters and LOAD parameters in the default parameters before running the movement instruction.
float vel - Command speed percentage, range 0-100
*/
int MoveC(string point1_name,string point2_name, float vel);
// Examples
MoveC(JNT1,JNT2,10)
/*
Function description:The spline movement begins
*/
int SplineStart();
/*
Function description:Joint space spline movement, this command only supports the input of joint data such as JNT1, the input of Cartesian point will report an error
string point_name - The prestored point name, such as JNT1, is the point whose sequence number is 1.
float vel - Percentage of speed, range 0-100
*/
int SplinePTP(string point_name, float vel);
// Examples
SplinePTP(JNT2,10)
/*
Function description:The spline movement is over
*/
int SplineEnd();
/*
Function description:The Cartesian space spline motion begins
uint8_t ctlpoint - 0- trajectory passes through the path point, 1- trajectory does not pass through the control point, at least 4 points
*/
int NewSplineStart(uint8_t ctlpoint);
// Examples
NewSplineStrart(1)
/*
Function description:For Cartesian space spline movement, only Cartesian space points such as CART1 can be entered, and an error will be reported when entering joint space points
string point_name - Prestored point names, such as CART1, are points in Cartesian space with sequence number 1.
float vel - Percentage of speed, range 0-100
int lastflag - 0- not the last point, 1- the last point
*/
int NewSplinePoint(string point_name, float vel, int lastflag);
// Examples
NewSplinePoint(JNT2,20,0)
/*
Function description:The Cartesian space spline motion ends
*/
int NewSplineEnd();
/*
Function description:Stop motion
*/
int StopMotion();
/*
Function description:Global shift of point position begins
int flag - 0- Offset in base coordinate/workpiece coordinate, 2- offset in tool coordinate
double x,y,z,rx,ry,rz - Offset pose amount
*/
int PointsOffsetEnable(int flag,double x,double y,double z,double rx,double ry,double rz);
// Examples
PointsOffsetEnable(1,10,10,10,0,0,0)
/*
Function description:The point offset is complete
*/
int PointsOffsetDisable();
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