Java 8. Robot status inquiry

8.1. Get current joint positions (degrees)

/**
* @brief  Get current joint positions (degrees)
* @param  [out] jPos Six joint positions in deg
* @return  Error code
*/
int GetActualJointPosDegree(JointPos jPos);

8.2. Get joint feedback speed (deg/s)

/**
* @brief Get joint feedback speed (deg/s)
* @param [out] speed Six joint speeds
* @return Error code
*/
int GetActualJointSpeedsDegree(Object[] speed);

8.3. Get joint feedback acceleration

/**
* @brief  Get joint feedback acceleration (deg/s^2)
* @param  [in] flag 0-Blocking, 1-Non-blocking
* @param  [out] acc Six joint accelerations
* @return  Error code
*/
public int GetActualJointAccDegree(int flag, Object[] acc)

8.4. Get TCP command composite speed

/**
* @brief  Get TCP command speed
* @param  [in] flag 0-Blocking, 1-Non-blocking
* @param  [out] tcp_speed Linear speed
* @param  [out] ori_speed Orientation speed
* @return  Error code
*/
public int GetTargetTCPCompositeSpeed(int flag, double tcp_speed, double ori_speed)

8.5. Get TCP feedback composite speed

/**
* @brief  Get TCP feedback composite speed
* @param  [in] flag 0-Blocking, 1-Non-blocking
* @param  [out] tcp_speed Linear speed
* @param  [out] ori_speed Orientation speed
* @return  Error code
*/
public int GetActualTCPCompositeSpeed(int flag, double tcp_speed, double ori_speed)

8.6. Get TCP command speed

/**
* @brief  Get TCP command speed
* @param  [in] flag 0-Blocking, 1-Non-blocking
* @param  [out] speed [x,y,z,rx,ry,rz] speed
* @return  Error code
*/
public int GetTargetTCPSpeed(int flag, Object[] speed)

8.7. Get TCP feedback speed

/**
* @brief  Get TCP feedback speed
* @param  [in] flag 0-Blocking, 1-Non-blocking
* @param  [out] speed [x,y,z,rx,ry,rz] speed
* @return  Error code
*/
public int GetActualTCPSpeed(int flag, Object[] speed)

8.8. Get current tool pose

/**
* @brief  Get current tool pose
* @param  [out] desc_pos  Tool pose
* @return  Error code
*/
int GetActualTCPPose(DescPose desc_pos);

8.9. Get current tool coordinate system number

/**
* @brief  Get current tool coordinate system number
* @param  [in] flag  0-Blocking, 1-Non-blocking
* @param  [out] id  Tool coordinate system number
* @return  Error code
*/
int GetActualTCPNum(int flag, int[] id)

8.10. Get current workpiece coordinate system number

/**
* @brief  Get current workpiece coordinate system number
* @param  [in] flag  0-Blocking, 1-Non-blocking
* @param  [out] id  Workpiece coordinate system number
* @return  Error code
*/
public int GetActualWObjNum(int flag, int[] id)

8.11. Get current end flange pose

/**
* @brief  Get current end flange pose
* @param  [in] flag  0-Blocking, 1-Non-blocking
* @param  [out] desc_pos  Flange pose
* @return  Error code
*/
public int GetActualToolFlangePose(int flag, DescPose desc_pos)

8.12. Get current joint torque

/**
* @brief Get current joint torque
* @param  [in]  flag 0-Blocking, 1-Non-blocking
* @param  [out]  torques Joint torques
* @return  Error code
*/
int GetJointTorques(int flag, Object[] torques);

8.13. Get system time

/**
* @brief  Get system time
* @return  List[0]:int Error code; List[1]:double t_ms in ms
*/
List<Number> GetSystemClock();

8.14. Check if robot motion is completed

/**
* @brief  Check if robot motion is completed
* @param   [out] state  0-Not completed, 1-Completed
* @return  Error code
*/
public int GetRobotMotionDone(int[] state)

8.15. Query robot motion queue buffer length

/**
* @brief  Query robot motion queue buffer length
* @param   [out] len  Buffer length
* @return  Error code
*/
public int GetMotionQueueLength(int[] len)

8.16. Get robot emergency stop state

/**
* @brief Get robot emergency stop state
* @param [out] state Emergency stop state, 0-Normal, 1-Emergency stop
* @return Error code
*/
public int GetRobotEmergencyStopState(int[] state)

8.17. Get SDK-robot communication state

/**
* @brief Get SDK-robot communication state
* @return state Communication state, 0-Normal, 1-Abnormal
*/
public int GetSDKComState()

8.18. Get safety stop signal

/**
* @brief Get safety stop signal
* @param  [out] si0_state Safety stop signal SI0, 0-Invalid, 1-Valid
* @param  [out] si1_state Safety stop signal SI1, 0-Invalid, 1-Valid
* @return Error code
*/
public int GetSafetyStopState(int[] si0_state, int[] si1_state)

8.19. Get robot joint driver temperature (°C)

/**
* @brief Get robot joint driver temperature (°C)
* @param  [out] temperature Temperature
* @return Error code
*/
public int GetJointDriverTemperature(double[] temperature)

8.20. Get robot joint driver torque (Nm)

/**
* @brief Get robot joint driver torque (Nm)
* @param  [out] torque Torque
* @return Error code
*/
public int GetJointDriverTorque(double[] torque)

8.21. Get robot real-time state structure

/**
* @brief Get robot real-time state structure
* @return Real-time state structure
*/
public ROBOT_STATE_PKG GetRobotRealTimeState()

8.22. Robot status inquiry code example

public static int TestGetStatus(Robot robot)
{
    List<Number> angle=new ArrayList<>();
    angle=robot.GetRobotInstallAngle();
    System.out.println("yangle:"+angle.get(1)+",zangle:"+angle.get(2));

    JointPos j_deg =new JointPos(){};
    robot.GetActualJointPosDegree( j_deg);

    Object[] jointSpeed =new Object[] { 0,0,0,0,0,0 };
    robot.GetActualJointSpeedsDegree(jointSpeed);

    Object[] jointAcc = new Object[]{0,0,0,0,0,0 };
    robot.GetActualJointAccDegree(0, jointAcc);

    double tcp_speed = 0.0;
    double ori_speed = 0.0;
    robot.GetTargetTCPCompositeSpeed(0, tcp_speed, ori_speed);

    robot.GetActualTCPCompositeSpeed(0, tcp_speed, ori_speed);

    Object[] targetSpeed =new Object[] { 0,0,0,0,0,0 };
    robot.GetTargetTCPSpeed(0, targetSpeed);

    Object[] actualSpeed =new Object[] {0,0,0,0,0,0 };
    robot.GetActualTCPSpeed(0, actualSpeed);

    DescPose tcp = new DescPose(){};
    robot.GetActualTCPPose(tcp);

    DescPose flange = new DescPose(){};
    robot.GetActualToolFlangePose(0, flange);

    int[] id = {};
    robot.GetActualTCPNum(0, id);

    robot.GetActualWObjNum(0, id);

    List<Number> jtorque=new ArrayList<>();
    jtorque=robot.GetJointTorques(0);

    List<Number> t_ms = new ArrayList<>();
    t_ms=robot.GetSystemClock();

    List<Integer> config = new ArrayList<>();
    config=robot.GetRobotCurJointsConfig();

    int motionDone = 0;
    robot.GetRobotMotionDone(motionDone);

    int[] len ={0 };
    robot.GetMotionQueueLength(len);

    int[] emergState = {0};
    robot.GetRobotEmergencyStopState(emergState);

    int comstate = 0;
    comstate=robot.GetSDKComState();

    int[] si0_state=new int[]{0}, si1_state=new int[]{0};
    robot.GetSafetyStopState(si0_state, si1_state);

    double[] temp =new double[] { 0,0,0,0,0,0 };
    robot.GetJointDriverTemperature(temp);

    double[] torque = new double[]{ 0,0,0,0,0,0 };
    robot.GetJointDriverTorque(torque);

    ROBOT_STATE_PKG pkg=new ROBOT_STATE_PKG();
    pkg=robot.GetRobotRealTimeState();

    return 0;
}

8.23. Inverse kinematics calculation

/**
* @brief  Inverse kinematics calculation
* @param  [in] type 0-Absolute pose (base frame), 1-Incremental pose (base frame), 2-Incremental pose (tool frame)
* @param  [in] desc_pos Cartesian pose
* @param  [in] config Joint space configuration, [-1]-Solve with reference to current joint position, [0~7]-Solve with specific joint space configuration
* @param  [out] joint_pos Joint position
* @return  Error code
*/
int GetInverseKin(int type, DescPose desc_pos, int config, JointPos joint_pos);