C++

This manual is the secondary development interface document of C++.

Important

Robot parameter unit description: The robot position unit is millimeter (mm), and the attitude unit is degree (°).

Important

1. In code examples that are not specifically stated, the robot has been powered on and enabled by default;

2. All code examples in the documentation default to no interference within the robot’s workspace;

3. Please use the data of the on-site robot in the actual use test.

Note

The current document applies to SDK-v2.0.0 version and is backward compatible with v1.x version.

• 1. Version Update Description

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• 2. Data structure specification

  • 2.1. Interface call return value type

  • 2.2. Joint position data type

  • 2.3. Cartesian spatial location data type

  • 2.4. Euler Angle attitude data type

  • 2.5. Cartesian space pose data type

  • 2.6. Extension axis position data type

  • 2.7. Torque sensor data type

  • 2.8. Spiral parameter data type

  • 2.9. feedback packet of robot controller state

• 3. Basics

  • 3.1. Instantiate Robot

  • 3.2. Establish Communication with Controller

  • 3.3. Close Communication with Controller

  • 3.4. Query SDK Version

  • 3.5. Get Controller IP

  • 3.6. Control Robot to Enter/Exit Drag Teaching Mode

  • 3.7. Check if Robot is in Drag Mode

  • 3.8. Enable/Disable Robot

  • 3.9. Switch Between Manual/Auto Mode

  • 3.10. Shut Down Robot OS

  • 3.11. Set Reconnection Parameters

  • 3.12. Shut down the robot operating system

  • 3.13. Initialize Log Parameters

  • 3.14. Set Log Filter Level

  • 3.15. Basic Robot Control Example

  • 3.16. Get Robot Software Version Example

  • 3.17. Get Robot Hardware Version

  • 3.18. Get Robot Firmware Version

  • 3.19. Get Robot Software/Firmware Version Example

• 4. Robot Motion

  • 4.1. JOG Motion

  • 4.2. JOG Deceleration Stop

  • 4.3. JOG Immediate Stop

  • 4.4. Robot JOG Control Example

  • 4.5. Joint Space Motion

  • 4.6. Joint Space Motion (Automatic Forward Kinematics Calculation)

  • 4.7. Cartesian Space Linear Motion

  • 4.8. Cartesian Space Linear Motion (Automatic Inverse Kinematics Calculation)

  • 4.9. Cartesian Space Circular Motion

  • 4.10. Cartesian Space Circular Motion (Automatic Inverse Kinematics Calculation)

  • 4.11. Cartesian Space Full Circle Motion

  • 4.12. Cartesian Space Full Circle Motion (Automatic Inverse Kinematics Calculation)

  • 4.13. Cartesian Space Point-to-Point Motion

  • 4.14. Robot Basic Motion Instruction Code Example

  • 4.15. Cartesian Space Spiral Motion

  • 4.16. Cartesian Space Spiral Motion (Automatic Inverse Kinematics Calculation)

  • 4.17. Spiral Motion Code Example

  • 4.18. Servo Motion Start

  • 4.19. Servo Motion End

  • 4.20. Joint Space Servo Mode Motion

  • 4.21. Joint Space Servo Mode Motion Example

  • 4.22. Joint Torque Control Start

  • 4.23. Joint Torque Control

  • 4.24. Joint Torque Control End

  • 4.25. Joint Torque Control Example

  • 4.26. Joint Torque Control Code Example with Overspeed Protection

  • 4.27. Cartesian Space Servo Mode Motion

  • 4.28. Cartesian Space Servo Mode Motion Code Example

  • 4.29. Spline Motion Start

  • 4.30. Joint Space Spline Motion (Auto Forward Kinematics Calculation)

  • 4.31. Spline PTP Motion

  • 4.32. Spline Motion End

  • 4.33. Spline Motion Example

  • 4.34. New Spline Motion Start

  • 4.35. New Spline Command Point

  • 4.36. New Spline Command Point (Auto Inverse Kinematics Calculation)

  • 4.37. New Spline Motion End

  • 4.38. New Spline Motion Example

  • 4.39. Stop Motion

  • 4.40. Pause Motion

  • 4.41. Resume Motion

  • 4.42. Motion Pause, Resume, Stop Example

  • 4.43. Point Global Offset Start

  • 4.44. Point Global Offset End

  • 4.45. Point Offset Example

  • 4.46. Control Box AO Flying Start

  • 4.47. Control Box AO Flying Stop

  • 4.48. End AO Flying Start

  • 4.49. End AO Flying Stop

  • 4.50. AO Flying Example

  • 4.51. Start Ptp Motion FIR Filter

  • 4.52. Close Ptp Motion FIR Filter

  • 4.53. Start LIN, ARC Motion FIR Filter

  • 4.54. Close LIN, ARC Motion FIR Filter

  • 4.55. FIR Filter Example

  • 4.56. Acceleration Smoothing Start

  • 4.57. Acceleration Smoothing End

  • 4.58. Acceleration Smoothing Example

  • 4.59. Specified Pose Speed Start

  • 4.60. Specified Pose Speed End

  • 4.61. Robot Specified Pose Speed Example

  • 4.62. Start Singular Pose Protection

  • 4.63. Stop Singular Pose Protection

  • 4.64. Robot Singular Pose Protection Example

  • 4.65. Clear the motion command queue

  • 4.66. Move to Intersecting Line Start Point

  • 4.67. Intersecting Line Motion

  • 4.68. Robot Intersecting Line Motion Code Example

  • 4.69. Stationary Air Motion

  • 4.70. Stationary Air Motion Code Example

• 5. IO

  • 5.1. Set Control Box Digital Output

  • 5.2. Set Tool Digital Output

  • 5.3. Set Control Box Analog Output

  • 5.4. Set Tool Analog Output

  • 5.5. Code Example for Setting Digital and Analog Outputs

  • 5.6. Get Control Box Digital Input

  • 5.7. Get Tool Digital Input

  • 5.8. Get Control Box Analog Input

  • 5.9. Get Tool Analog Input

  • 5.10. Get Robot End Point Record Button Status

  • 5.11. Get Robot End DO Output Status

  • 5.12. Get Robot Controller DO Output Status

  • 5.13. Code Example for Getting Robot DI and DO Status

  • 5.14. Wait for Control Box Digital Input

  • 5.15. Wait for Control Box Multi-Channel Digital Input

  • 5.16. Wait for Tool Digital Input

  • 5.17. Wait for Control Box Analog Input

  • 5.18. Wait for Tool Analog Input

  • 5.19. Code Example for Waiting for Control Box Digital and Analog Input Signals

  • 5.20. Set Whether to Reset Control Box DO Output After Stop/Pause

  • 5.21. Set Whether to Reset Control Box AO Output After Stop/Pause

  • 5.22. Set Whether to Reset End Tool DO Output After Stop/Pause

  • 5.23. Set Whether to Reset End Tool AO Output After Stop/Pause

  • 5.24. Set Whether to Reset Extension DO Output After Stop/Pause

  • 5.25. Set Whether to Reset Extension AO Output After Stop/Pause

  • 5.26. Set Whether to Reset SmartTool Output After Stop/Pause

  • 5.27. Example Code for Setting LUA Program Output Reset After Stop/Pause

• 6. Common Settings

  • 6.1. Set Tool Reference Point - Six-Point Method

  • 6.2. Calculate Tool Coordinate System

  • 6.3. Set Tool Reference Point - Four-Point Method

  • 6.4. Calculate Tool Coordinate System

  • 6.5. Calculate Tool Coordinate System from Points

  • 6.6. Set Tool Coordinate System

  • 6.7. Set Tool Coordinate System List

  • 6.8. Get Current Tool Coordinate System

  • 6.9. Robot Tool Coordinate System Operation Example

  • 6.10. Set External Tool Reference Point - Six-Point Method

  • 6.11. Calculate External Tool Coordinate System

  • 6.12. Set External Tool Coordinate System

  • 6.13. Set External Tool Coordinate System List

  • 6.14. Robot External Tool Coordinate System Operation Example

  • 6.15. Set Workpiece Reference Point - Three-Point Method

  • 6.16. Calculate Workpiece Coordinate System

  • 6.17. Set Workpiece Coordinate System

  • 6.18. Set Workpiece Coordinate System List

  • 6.19. Calculate Workpiece Coordinate System from Points

  • 6.20. Get Current Workpiece Coordinate System

  • 6.21. Robot Workpiece Coordinate System Operation Example

  • 6.22. Set Global Speed

  • 6.23. Set Robot Acceleration

  • 6.24. Get Robot Default Speed

  • 6.25. Set End Load Weight

  • 6.26. Set End Effector Payload Center of Gravity Coordinates

  • 6.27. Get Current Load Weight

  • 6.28. Get Current Load Center of Gravity

  • 6.29. Set Robot Installation Method

  • 6.30. Set Robot Installation Angle

  • 6.31. Get Robot Installation Angle

  • 6.32. Set System Variable Value

  • 6.33. Get System Variable Value

  • 6.34. Robot Common Settings Example

  • 6.35. Joint Friction Compensation Switch

  • 6.36. Set Joint Friction Compensation Coefficient - Standard Installation

  • 6.37. Set Joint Friction Compensation Coefficient - Wall Installation

  • 6.38. Set Joint Friction Compensation Coefficient - Ceiling Installation

  • 6.39. Set Joint Friction Compensation Coefficient - Free Installation

  • 6.40. Robot Joint Friction Compensation Example

  • 6.41. Query Robot Error Code

  • 6.42. Error State Clear

  • 6.43. Robot Fault State Acquisition and Error Clear Example

  • 6.44. Set wide voltage control box temperature and fan current monitoring parameters

  • 6.45. Obtain wide voltage control box temperature and fan current monitoring parameters

  • 6.46. Wide voltage control box temperature and fan current state acquisition code example

  • 6.47. Calculate Focus Calibration Results

  • 6.48. Set Focus Position

  • 6.49. Enable Focus Following

  • 6.50. Disable Focus Following

  • 6.51. Robot Focus Following Code Example

  • 6.52. Open the joint torque sensor sensitivity calibration function

  • 6.53. Data acquisition of joint torque sensor sensitivity

  • 6.54. Obtain joint torque sensor sensitivity calibration results

  • 6.55. Get Joint Torque Sensor Hysteresis Error

  • 6.56. Get Joint Torque Sensor Repeatability

  • 6.57. Set Joint Force Sensor Parameters

  • 6.58. An example of joint torque sensor sensitivity auto-calibration code

  • 6.59. Gets 8 slave error frames

  • 6.60. Error frame zeroing at slave port

  • 6.61. Gets an example of a slave port error frame code

  • 6.62. Set feed-forward coefficients for each axis

  • 6.63. Obtain the feed-forward coefficients of each axis

  • 6.64. Example of robot velocity feed-forward coefficient code

  • 6.65. Photoelectric Sensor TCP Calibration - Compute Tool RPY

  • 6.66. Photoelectric Sensor TCP Calibration - Compute Tool XYZ

  • 6.67. Photoelectric Sensor TCP Calibration - Start Recording Flange Center Position

  • 6.68. Photoelectric Sensor TCP Calibration - Stop Recording Flange Center Position

  • 6.69. Photoelectric Sensor TCP Calibration - Get Tool Center Point Position

  • 6.70. Photoelectric Sensor TCP Calibration

  • 6.71. Photoelectric Sensor TCP Calibration Code Example

• 7. Security settings

  • 7.1. Set Collision Level

  • 7.2. Set Post-Collision Strategy

  • 7.3. Custom Collision Detection Threshold Start

  • 7.4. Custom Collision Detection Threshold End

  • 7.5. Robot Collision Level Setting Code Example

  • 7.6. Set Positive Limit

  • 7.7. Set Negative Limit

  • 7.8. Get Joint Soft Limit Angles

  • 7.9. Robot Limit Setting Code Example

  • 7.10. Set Robot Collision Detection Method

  • 7.11. Set Static Collision Detection On/Off

  • 7.12. Robot Collision Detection Method Code Example

  • 7.13. Joint Torque Power Detection

  • 7.14. Joint Torque Power Detection Code Example

• 8. Status query

  • 8.1. Get Current Joint Positions (Degrees)

  • 8.2. Get Joint Feedback Speed

  • 8.3. Get Joint Feedback Acceleration

  • 8.4. Get TCP Command Composite Speed

  • 8.5. Get TCP Feedback Composite Speed

  • 8.6. Get TCP Command Speed

  • 8.7. Get TCP Feedback Speed

  • 8.8. Get Current Tool Pose

  • 8.9. Get Current Tool Frame Number

  • 8.10. Get Current Work Object Frame Number

  • 8.11. Get Current End Flange Pose

  • 8.12. Get Current Joint Torque

  • 8.13. Get System Time

  • 8.14. Check If Robot Motion Is Complete

  • 8.15. Query Robot Motion Queue Length

  • 8.16. Get Robot Emergency Stop Status

  • 8.17. Get SDK-Robot Communication Status

  • 8.18. Get Safety Stop Signal

  • 8.19. Get Robot Joint Driver Temperature(℃)

  • 8.20. Get Robot Joint Driver Torque(Nm)

  • 8.21. Get Robot Real-time Status Structure

  • 8.22. Robot Status Query Code Example

  • 8.23. Inverse Kinematics Calculation

  • 8.24. Inverse Kinematics Calculation (Reference Position)

  • 8.25. Inverse Kinematics Solution, Cartesian Space Including Extended Axis Position

  • 8.26. Example Code for Inverse Kinematics Solution Including Extended Axis Position

  • 8.27. Check If Inverse Kinematics Has Solution

  • 8.28. Forward Kinematics Calculation

  • 8.29. Robot Kinematics Calculation Code Example

  • 8.30. Query Robot Teaching Point Data

  • 8.31. Get Robot DH Parameter Compensation Values

  • 8.32. Get Controller SN Code

  • 8.33. Query Robot Teaching Point Data Code Example

  • 8.34. Get Tool Coordinate System by ID

  • 8.35. Get Work Object Coordinate System by ID

  • 8.36. Get External Tool Coordinate System by ID

  • 8.37. Get Extended Axis Coordinate System by ID

  • 8.38. Get Payload Mass and Center of Gravity by ID

  • 8.39. Get Current Tool Coordinate System

  • 8.40. Get Current Work Object Coordinate System

  • 8.41. Get Current External Tool Coordinate System

  • 8.42. Get Current Extended Axis Coordinate System

  • 8.43. Get Robot Coordinate Systems and Payload Code Example

• 9. Trajectory recurrence

  • 9.1. Set TPD Trajectory Recording Parameters

  • 9.2. Start TPD Trajectory Recording

  • 9.3. Stop TPD Trajectory Recording

  • 9.4. Delete TPD Trajectory Recording

  • 9.5. TPD Trajectory Preload

  • 9.6. TPD Trajectory Playback

  • 9.7. Get TPD Start Pose

  • 9.8. Robot TPD Trajectory Recording Code Example

  • 9.9. Trajectory Preprocessing

  • 9.10. Trajectory Playback

  • 9.11. Get Trajectory Start Pose

  • 9.12. Get Trajectory Point Number

  • 9.13. Set Trajectory Running Speed

  • 9.14. Set Trajectory Running Force and Torque

  • 9.15. Set Trajectory Running Force in X Direction

  • 9.16. Set Trajectory Running Force in Y Direction

  • 9.17. Set Trajectory Running Force in Z Direction

  • 9.18. Set Trajectory Running Torque Around X Axis

  • 9.19. Set Trajectory Running Torque Around Y Axis

  • 9.20. Set Trajectory Running Torque Around Z Axis

  • 9.21. Upload Trajectory J File

  • 9.22. Delete Trajectory J File

  • 9.23. Robot Trajectory J File Playback Code Example

  • 9.24. Trajectory Preprocessing (Trajectory Lookahead)

  • 9.25. Trajectory Playback (Trajectory Lookahead)

  • 9.26. Trajectory Playback (Trajectory Lookahead) Code Example

• 10. WebAPP program use

  • 10.1. Set Default Program to Load Automatically on Startup

  • 10.2. Load Specified Program

  • 10.3. Get Loaded Program Name

  • 10.4. Get Current Program Execution Line Number

  • 10.5. Run Currently Loaded Program

  • 10.6. Pause Currently Running Program

  • 10.7. Resume Currently Paused Program

  • 10.8. Stop Currently Running Program

  • 10.9. Get Program Execution State

  • 10.10. Robot LUA Program Operation Code Example

  • 10.11. Download Lua File

  • 10.12. Delete Lua File

  • 10.13. Get All Current Lua File Names