Python 11.15. Get the number of rotation turns of the rotary gripper

New in version python: SDK-v2.0.7

Prototype	GetGripperRotNum()
Description	Get the number of rotation turns of the rotary gripper
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error num：Number of turns

11.16. Gets the percentage of rotation speed of the rotating gripper

New in version python: SDK-v2.0.7

Prototype	GetGripperRotSpeed()
Description	Gets the percentage of rotation speed of the rotating gripper
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error speed：Percent rotation speed

11.17. Obtains the percentage of rotating torque of the rotating gripper

New in version python: SDK-v2.0.7

Prototype	GetGripperRotTorque()
Description	Obtains the percentage of rotating torque of the rotating gripper
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error torque：Percent torque of rotation

11.18. Get the rotary gripper status code example

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
fault = 0
rotNum = 0.0
rotSpeed = 0
rotTorque = 0
error,fault, rotNum = robot.GetGripperRotNum()
error,fault, rotSpeed = robot.GetGripperRotSpeed()
error,fault, rotTorque = robot.GetGripperRotTorque()
print(f"gripper rot num:{rotNum},gripper rotSpeed:{rotSpeed},gripper rotTorque:{rotTorque}")
robot.CloseRPC()

11.19. Drive belt start and stop

Prototype	ConveyorStartEnd(status)
Description	Drive belt start, stop
Mandatory parameters	status: status of the drive belt, 1-start, 0-stop
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.20. Record IO detection points

Prototype	ConveyorPointIORecord()
Description	Record IO detection points
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.21. Record point A

Prototype	ConveyorPointARecord()
Description	Record point A.
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.22. Recording reference points

Prototype	ConveyorRefPointRecord()
Description	Record reference point
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.23. Record point B

Prototype	ConveyorPointBRecord()
Description	Record point B.
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.24. Conveyorized workpiece IO inspection

Prototype	ConveyorIODetect(max_t)
Description	Conveyorized workpiece IO detection
Mandatory parameter	max_t: Maximum detection time in ms
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.25. Get the current position of the object

Prototype	ConveyorGetTrackData(mode)
Description	Get the current position of the object.
Mandatory Parameters	mode: 1-Tracking Capture 2-Tracking Motion 3-TPD Tracking
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.26. Drive belt tracking started

Prototype	ConveyorTrackStart(status)
Description	Drive belt tracking started
Mandatory parameters	status: status, 1-start, 0-stop
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.27. Belt tracking stop

Prototype	ConveyorTrackEnd()
Description	Drive belt tracking stop
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.28. Drive Belt Parameter Configuration

Prototype	ConveyorSetParam(param, followType, startDis, endDis)
Description	Configuration of drive belt parameters
Mandatory parameters	param= [encChannel,resolution,lead,wpAxis,vision,speedRadio]: encChannel: encoder channels 1-2 resolution: encoder resolution Number of pulses per encoder revolution lead: Mechanical transmission ratio Distance traveled by the conveyor belt in one revolution of the encoder wpAxis: Workpiece coordinate system number Select the coordinate system number of the workpiece for the tracking motion function, and set the tracking gripping and TPD tracking to 0. vision: whether or not to match vision 0 - no 1 - match, speedRadio: speed ratio For conveyor tracking gripping speed range (1-100) Tracking motion, TPD tracking set to 1 followType: Track movement type, 0- track movement; 1- Follow-up campaign
Default parameters	startDis: Tracking grasp needs to be set, tracking start distance, -1: automatic calculation (automatic tracking after the workpiece reaches the robot), the unit is mm, the default value is 0 endDis: The tracking capture needs to be set. The tracking termination distance, in mm, is 100 by default
Return Value	Error Code Success-0 Failure- errcode

11.29. Belt Grip Point Compensation

Prototype	ConveyorCatchPointComp(cmp)
Description	Drive belt grip point compensation
Mandatory parameters	cmp: Compensate for position [x,y,z]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.30. linear motion

prototype	ConveyorTrackMoveL(name,tool,wobj,vel=20,acc=100,ovl=100,blendR=-1.0)
Description	Linear motion
Mandatory parameters	name: cvrCatchPoint or cvrRaisePoint tool: tool number wobj: workpiece number
Default Parameters	vel: speed default 20 acc: acceleration default 100 ovl: velocity scaling factor default 100 blendR: [-1.0]-motion in place (blocking), [0~1000]-smoothing radius (non-blocking) in [mm] default -1.0
Return Value	Error Code Success-0 Failure- errcode

11.31. Conveyor communication input detection

New in version python: SDK-v2.1.1

Prototype	ConveyorComDetect(timeout)
Description	Conveyor communication input detection
Mandatory parameters	timeout: Wait timeout duration ms
Default Parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.32. Conveyor communication input detection triggered

New in version python: SDK-v2.1.1

Prototype	ConveyorComDetectTrigger()
Description	Conveyor communication input detection triggered
Mandatory parameters	NULL
Default Parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.33. Robot conveyor operation code example

from fairino import Robot
import time
import threading
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
retval = robot.ConveyorStartEnd(1)
print(f"ConveyorStartEnd retval is:{retval}")
retval = robot.ConveyorPointIORecord()
print(f"ConveyorPointIORecord retval is:{retval}")
retval = robot.ConveyorPointARecord()
print(f"ConveyorPointARecord retval is:{retval}")
retval = robot.ConveyorRefPointRecord()
print(f"ConveyorRefPointRecord retval is:{retval}")
retval = robot.ConveyorPointBRecord()
print(f"ConveyorPointBRecord retval is:{retval}")
retval = robot.ConveyorStartEnd(0)
print(f"ConveyorStartEnd retval is:{retval}")
param = [1.0, 10000.0, 200.0, 0.0, 0.0, 20.0]
retval = robot.ConveyorSetParam(param,0)
print(f"ConveyorSetParam retval is:{retval}")
cmp = [0.0, 0.0, 0.0]
retval = robot.ConveyorCatchPointComp(cmp)
print(f"ConveyorCatchPointComp retval is:{retval}")
index = 1
max_time = 30000
block = 0
retval = 0
p1Desc = [-419.524, -13.000, 351.569, -178.118, 0.314, 3.833]
p2Desc = [-321.222, 185.189, 335.520, -179.030, -1.284, -29.869]
retval = robot.MoveCart(p1Desc, 1, 0, 100.0)
print(f"MoveCart retval is:{retval}")
retval = robot.WaitMs(1)
print(f"WaitMs retval is:{retval}")
retval = robot.ConveyorIODetect(10000)
print(f"ConveyorIODetect retval is:{retval}")
retval = robot.ConveyorGetTrackData(1)
print(f"ConveyorGetTrackData retval is:{retval}")
retval = robot.ConveyorTrackStart(1)
print(f"ConveyorTrackStart retval is:{retval}")
retval = robot.ConveyorTrackMoveL("cvrCatchPoint", 1, 0, 100)
print(f"TrackMoveL retval is:{retval}")
retval = robot.MoveGripper(index, 51, 40, 30, max_time, block, 0, 0, 0, 0)
print(f"MoveGripper retval is:{retval}")
retval = robot.ConveyorTrackMoveL("cvrRaisePoint", 1, 0, 100)
print(f"TrackMoveL retval is:{retval}")
retval = robot.ConveyorTrackEnd()
print(f"ConveyorTrackEnd retval is:{retval}")
robot.MoveCart(p2Desc, 1, 0, 100.0, 100.0)
retval = robot.MoveGripper(index, 100, 40, 10, max_time, block, 0, 0, 0, 0)
print(f"MoveGripper retval is:{retval}")
robot.CloseRPC()