Python 11.34. End Sensor Configuration

New in version python: SDK-v2.0.5

Prototype	AxleSensorConfig(idCompany, idDevice, idSoftware, idBus)
Description	End Sensor Configuration
Mandatory parameters	idCompany: manufacturer, 18-Junkong; 25-Huide idDevice: type, 0-JUNKONG/RYR6T.V1.0 idSoftware: software version, 0-J1.0/HuiDe1.0 (not yet available) idBus: mount location, 1-end port 1; 2-end port 2… ..8-end port 8 (not open yet)
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.35. Get End Sensor Configuration

New in version python: SDK-v2.0.5

Prototype	AxleSensorConfigGet()
Description	Get end sensor configuration
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode idCompany: manufacturer, 18-Junkong; 25-Huide idDevice: type, 0-JUNKONG/RYR6T.V1.0

11.36. End sensor activation

New in version python: SDK-v2.0.5

Prototype	AxleSensorActivate(actFlag)
Description	End sensor activation
Mandatory parameters	actFlag: 0-reset; 1-activate
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode coord: coordinate system values [x,y,z,rx,ry,rz]

11.37. End Sensor Register Write

New in version python: SDK-v2.0.5

Prototype	AxleSensorRegWrite(devAddr, regHAddr, regLAddr, regNum, data1, data2, isNoBlock)
Description	End Sensor Register Write
Mandatory parameters	devAddr: device address number 0-255 regHAddr: register address high 8 bits regLAddr: register address lower 8 bits regNum: number of registers 0-255 data1: write to register value 1 data2: write register value 2 isNoBlock: whether blocking 0 - blocking; 1 - non-blocking
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.38. End sensor 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')
robot.AxleSensorConfig(18, 0, 0, 1)
error, company, type = robot.AxleSensorConfigGet()
print(f"company is:{company},type is:{type}")
rtn = robot.AxleSensorActivate(1)
print(f"AxleSensorActivate rtn is:{rtn}")
time.sleep(1)
rtn = robot.AxleSensorRegWrite(1, 4, 6, 1, 0, 0, 0)
print(f"AxleSensorRegWrite rtn is:{rtn}")
robot.CloseRPC()

11.39. Obtaining Robot Peripheral Protocols

New in version python: SDK-v2.0.3

Prototype	GetExDevProtocol()
Description	Get robot peripheral protocol
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode. protocol: Robot peripheral protocol number 4096-Extended Axis Control Card; 4097-ModbusSlave; 4098-ModbusMaster

11.40. Setting up robot peripheral protocols

New in version python: SDK-v2.0.3

Prototype	SetExDevProtocol(protocol)
Description	Setting the robot peripheral protocol
Mandatory parameters	protocol: robot peripheral protocol number 4096 - Extended Axis Control Card; 4097 - ModbusSlave; 4098 - ModbusMaster
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.41. Example of setup robot peripheral protocol code

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')
protocol = 4096
rtn = robot.SetExDevProtocol(protocol)
print(f"SetExDevProtocol rtn:{rtn}")
rtn, protocol = robot.GetExDevProtocol()
print(f"GetExDevProtocol rtn:{rtn},protocol is:{protocol}")
robot.CloseRPC()

11.42. Getting end communication parameters

New in version python: SDK-v2.0.5

Prototype	GetAxleCommunicationParam()
Description	Get end communication parameters
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode baudRate: baud rate: support 1-9600, 2-14400, 3-19200, 4-38400, 5-56000, 6-67600, 7-115200, 8-128000 dataBit: data bit: data bit support (8,9), currently commonly used 8 stopBit: stop bit: 1-1, 2-0.5, 3-2, 4-1.5, currently 1 is commonly used. verify: check digit: 0-None, 1-Odd, 2-Even, currently 0. timeout: timeout time: 1~1000ms, this value needs to be combined with the peripheral with the setting of reasonable time parameters timeoutTimes: timeout times: 1~10, mainly for timeout retransmission, reduce occasional exceptions to improve user experience period: periodic instruction time interval:1~1000ms, mainly used for the time interval between each issuance of periodic instructions

11.43. Setting the end communication parameters

New in version python: SDK-v2.0.5

Prototype	SetAxleCommunicationParam(baudRate, dataBit, stopBit, verify, timeout, timeoutTimes, period)
description	set end communication parameters
Required Parameters	baudRate: baud rate: supports 1-9600, 2-14400, 3-19200, 4-38400, 5-56000, 6-67600, 7-115200, 8-128000 dataBit: data bit: data bit support (8,9), currently commonly used 8 stopBit: stop bit: 1-1, 2-0.5, 3-2, 4-1.5, currently 1 is commonly used. verify: check digit: 0-None, 1-Odd, 2-Even, currently 0. timeout: timeout time: 1~1000ms, this value needs to be combined with the peripheral with the setting of reasonable time parameters timeoutTimes: timeout times: 1~10, mainly for timeout retransmission, reduce occasional exceptions to improve user experience period: periodic instruction time interval:1~1000ms, mainly used for the time interval between each issuance of periodic instructions
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.44. Setting the end file transfer type

New in version python: SDK-v2.0.5

Prototype	SetAxleFileType(type)
Description	Set the end file transfer type
Mandatory parameters	type: 1-MCU upgrade file, 2-LUA file
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode