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Changed in version Java: SDK-v1.0.4-3.8.1
/**
* @brief Conveyor parameter configuration
* @param [in] encChannel Encoder channel 1~2
* @param [in] resolution Pulses per encoder revolution
* @param [in] lead Conveyor travel distance per encoder revolution
* @param [in] wpAxis Workpiece coordinate system number For tracking motion function, set to 0 for tracking grasp and TPD tracking
* @param [in] vision Whether vision is configured 0 no 1 yes
* @param [in] speedRadio Speed ratio For conveyor tracking grasp option (1-100) Default 1 for other options
* @param [in] followType Tracking motion type, 0-tracking motion; 1-chasing inspection motion
* @param [in] startDis Required for chasing grasp, tracking start distance, -1: auto calculate (automatically chase after workpiece reaches below robot), unit mm, default 0
* @param [in] endDis Required for chasing grasp, tracking end distance, unit mm, default 100
* @return Error code
*/
int ConveyorSetParam(int encChannel, int resolution, double lead, int wpAxis, int vision, double speedRadio, int followType, int startDis, int endDis);
11.29. Set conveyor grasp point compensation
/**
* @brief Set conveyor grasp point compensation
* @param [in] cmp Compensation position double[3]{x, y, z}
* @return Error code
*/
int ConveyorCatchPointComp(Object[] cmp);
11.30. Conveyor linear motion
/**
* @brief Linear motion
* @param [in] name Motion point description
* @param [in] tool Tool coordinate number, range [0~14]
* @param [in] wobj Workpiece coordinate number, range [0~14]
* @param [in] vel Speed percentage, range [0~100]
* @param [in] acc Acceleration percentage, range [0~100], not currently available
* @param [in] ovl Speed scaling factor, range [0~100]
* @param [in] blendR [-1.0]-move to position (blocking), [0~1000.0]-smoothing radius (non-blocking), unit mm
* @return Error code
*/
int ConveyorTrackMoveL(String name, int tool, int wobj, double vel, double acc, double ovl, double blendR);
11.31. Conveyor communication input detection
New in version Java: SDK-v1.0.4-3.8.1
/**
* @brief Conveyor communication input detection
* @param [in] timeout Wait timeout time ms
* @return Error code
*/
int ConveyorComDetect(int timeout);
11.32. Conveyor communication input detection trigger
New in version Java: SDK-v1.0.4-3.8.1
/**
* @brief Conveyor communication input detection trigger
* @param [in] timeout Wait timeout time ms
* @return Error code
*/
int ConveyorComDetectTrigger();
11.33. Robot conveyor operation example program
public static int TestConveyor(Robot robot)
{
int retval = 0;
retval = robot.ConveyorStartEnd(1);
retval = robot.ConveyorPointIORecord();
retval = robot.ConveyorPointARecord();
retval = robot.ConveyorRefPointRecord();
retval = robot.ConveyorPointBRecord();
retval = robot.ConveyorStartEnd(0);
retval = 0;
retval = robot.ConveyorSetParam(1,10000,200,0,0,20,0,0,100);
Object[] cmp = new Object[]{ 0.0, 0.0, 0.0 };
retval = robot.ConveyorCatchPointComp(cmp);
int index = 1;
int max_time = 30000;
int block = 0;
retval = 0;
DescPose p1Desc=new DescPose(-419.524, -13.000, 351.569, -178.118, 0.314, 3.833);
DescPose p2Desc=new DescPose(-321.222, 185.189, 335.520, -179.030, -1.284, -29.869);
retval = robot.MoveCart(p1Desc, 1, 0, 100.0, 100.0, 100.0, -1.0, -1);
retval = robot.WaitMs(1);
retval = robot.ConveyorTrackStart(1);
retval = robot.ConveyorTrackMoveL("cvrCatchPoint", 1, 0, 100, 100, 100, -1.0);
retval = robot.MoveGripper(index, 51, 40, 30, max_time, block, 0, 0, 0, 0);
retval = robot.ConveyorTrackMoveL("cvrRaisePoint", 1, 0, 100, 100, 100, -1.0);
retval = robot.ConveyorTrackEnd();
robot.MoveCart(p2Desc, 1, 0, 100.0, 100.0, 100.0, -1.0, -1);
retval = robot.MoveGripper(index, 100, 40, 10, max_time, block, 0, 0, 0, 0);
return 0;
}
11.34. End sensor configuration
/**
* @brief End sensor configuration
* @param [in] config idCompany Manufacturer, 18-JUNKONG; 25-HUIDE
* @param [in] config idDevice Type, 0-JUNKONG/RYR6T.V1.0
* @param [in] config idSoftware Software version, 0-J1.0/HuiDe1.0(not currently available)
* @param [in] config idBus Mount position, 1-end port 1; 2-end port 2...8-end port 8(not currently available)
* @return Error code
*/
int AxleSensorConfig(DeviceConfig config);
11.35. Get end sensor configuration
/**
* @brief Get end sensor configuration
* @param [out] config idCompany Manufacturer, 18-JUNKONG; 25-HUIDE
* @param [out] config idDevice Type, 0-JUNKONG/RYR6T.V1.0
* @return Error code
*/
int AxleSensorConfigGet(DeviceConfig config);
11.36. End sensor activation
/**
* @brief End sensor activation
* @param [in] actFlag 0-reset; 1-activate
* @return Error code
*/
int AxleSensorActivate(int actFlag);
11.37. End sensor register write
/**
* @brief End sensor register write
* @param [in] devAddr Device address number 0-255
* @param [in] regHAddr Register address high 8 bits
* @param [in] regLAddr Register address low 8 bits
* @param [in] regNum Register count 0-255
* @param [in] data1 Write register value 1
* @param [in] data2 Write register value 2
* @param [in] isNoBlock 0-blocking; 1-non-blocking
* @return Error code
*/
int AxleSensorRegWrite(int devAddr, int regHAddr, int regLAddr, int regNum, int data1, int data2, int isNoBlock);
11.38. End sensor code example
public static int TestAxleSensor(Robot robot)
{
DeviceConfig con=new DeviceConfig(18,0,0,1);
robot.AxleSensorConfig(con);
int company = -1;
int type = -1;
robot.AxleSensorConfigGet(con);
int rtn = robot.AxleSensorActivate(1);
robot.Sleep(1000);
rtn = robot.AxleSensorRegWrite(1, 4, 6, 1, 0, 0, 0);
return 0;
}
11.39. Get robot peripheral protocol
/**
* @brief Get robot peripheral protocol
* @return List[0]:Error code; List[1] : int protocol Robot peripheral protocol number 4096-extension axis control card; 4097-ModbusSlave; 4098-ModbusMaster
*/
List<Integer> GetExDevProtocol();
11.40. Set robot peripheral protocol
/**
* @brief Set robot peripheral protocol
* @param [in] protocol Robot peripheral protocol number 4096-extension axis control card; 4097-ModbusSlave; 4098-ModbusMaster
* @return Error code
*/
int SetExDevProtocol(int protocol);
11.41. Set robot peripheral protocol example program
public static int TestExDevProtocol(Robot robot)
{
int protocol = 4096;
int rtn = robot.SetExDevProtocol(protocol);
List<Integer> integer=new ArrayList<>();
integer = robot.GetExDevProtocol();
return 0;
}
11.42. Get end communication parameters
/**
* @brief Get end communication parameters
* @param [out] param End communication parameters
* @return Error code
*/
int GetAxleCommunicationParam(AxleComParam param)
11.43. Set end communication parameters
/**
* @brief Set end communication parameters
* @param [in] param End communication parameters
* @return Error code
*/
int SetAxleCommunicationParam(AxleComParam param)
11.44. Set end file transfer type
/**
* @brief Set end file transfer type
* @param [in] type 1-MCU upgrade file; 2-LUA file
* @return Error code
*/
public int SetAxleFileType(int type)
11.45. Set enable end LUA execution
/**
* @brief Set enable end LUA execution
* @param [in] enable 0-disable; 1-enable
* @return Error code
*/
public int SetAxleLuaEnable(int enable)
11.46. End LUA file error recovery
/**
* @brief End LUA file error recovery
* @param [in] status 0-no recovery; 1-recover
* @return Error code
*/
public int SetRecoverAxleLuaErr(int status)
11.47. Get end LUA execution enable status
/**
* @brief Get end LUA execution enable status
* @param [out] status[0]: 0-disabled; 1-enabled
* @return Error code
*/
int GetAxleLuaEnableStatus(int[] status)
11.48. Set end LUA end device enable type
/**
* @brief Set end LUA end device enable type
* @param forceSensorEnable Force sensor enable status, 0-disable; 1-enable
* @param gripperEnable Gripper enable status, 0-disable; 1-enable
* @param IOEnable IO device enable status, 0-disable; 1-enable
* @return Error code
*/
public int SetAxleLuaEnableDeviceType(int forceSensorEnable, int gripperEnable, int IOEnable)
11.49. Get end LUA end device enable type
/**
* @brief Get end LUA end device enable type
* @param enable enable[0]:forceSensorEnable Force sensor enable status, 0-disable; 1-enable
* @param enable enable[1]:gripperEnable Gripper enable status, 0-disable; 1-enable
* @param enable enable[2]:IOEnable IO device enable status, 0-disable; 1-enable
* @return Error code
*/
public int GetAxleLuaEnableDeviceType(int[] enable)
11.50. Get currently configured end devices
/**
* @brief Get currently configured end devices
* @param forceSensorEnable Force sensor enable device number 0-disabled; 1-enabled
* @param gripperEnable Gripper enable device number, 0-disabled; 1-enabled
* @param IODeviceEnable IO device enable device number, 0-disabled; 1-enabled
* @return Error code
*/
public int GetAxleLuaEnableDevice(int[] forceSensorEnable, int[] gripperEnable, int[] IODeviceEnable)
11.51. Set enable gripper action control function
/**
* @brief Set enable gripper action control function
* @param id Gripper device number
* @param func func[0]-gripper enable; func[1]-gripper initialization; 2-position set; 3-speed set; 4-torque set; 6-read gripper status; 7-read initialization status; 8-read error code; 9-read position; 10-read speed; 11-read torque
* @return Error code
*/
public int SetAxleLuaGripperFunc(int id, int[] func)
11.52. Get enable gripper action control function
/**
* @brief Get enable gripper action control function
* @param id Gripper device number
* @param func func[0]-gripper enable; func[1]-gripper initialization; 2-position set; 3-speed set; 4-torque set; 6-read gripper status; 7-read initialization status; 8-read error code; 9-read position; 10-read speed; 11-read torque
* @return Error code
*/
public int GetAxleLuaGripperFunc(int id, int[] func)
11.53. Robot Ethercat slave file write
/**
* @brief Robot Ethercat slave file write
* @param type Slave file type, 1-upgrade slave file; 2-upgrade slave configuration file
* @param slaveID Slave number
* @param fileName Upload file name
* @return Error code
*/
public int SlaveFileWrite(int type, int slaveID, String fileName)
11.54. Upload end Lua open protocol file
/**
* @brief Upload end Lua open protocol file
* @param filePath Local lua file path name ".../AXLE_LUA_End_DaHuan.lua"
* @return Error code
*/
public int AxleLuaUpload(String filePath)
11.55. Robot Ethercat slave enter boot mode
/**
* @brief Robot Ethercat slave enter boot mode
* @return Error code
*/
public int SetSysServoBootMode()
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