Python 13.16. Extended axis control code example

from fairino import Robot
import time
# 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.AuxServoSetParam(1, 1, 1, 1, 131072, 15.45)
print(f"AuxServoSetParam is: {retval}")
servoCompany = 0
servoModel = 0
servoSoftVersion = 0
servoResolution = 0
axisMechTransRatio = 0.0
retval, servoCompany, servoModel, servoSoftVersion, servoResolution, axisMechTransRatio = robot.AuxServoGetParam(1)
print(f"servoCompany {servoCompany}\n"
      f"servoModel {servoModel}\n"
      f"servoSoftVersion {servoSoftVersion}\n"
      f"servoResolution {servoResolution}\n"
      f"axisMechTransRatio {axisMechTransRatio}\n")
retval = robot.AuxServoSetParam(1, 10, 11, 12, 13, 14)
print(f"AuxServoSetParam is: {retval}")
retval, servoCompany, servoModel, servoSoftVersion, servoResolution, axisMechTransRatio = robot.AuxServoGetParam(1)
print(f"servoCompany {servoCompany}\n"
      f"servoModel {servoModel}\n"
      f"servoSoftVersion {servoSoftVersion}\n"
      f"servoResolution {servoResolution}\n"
      f"axisMechTransRatio {axisMechTransRatio}\n")
retval = robot.AuxServoSetParam(1, 1, 1, 1, 131072, 36)
print(f"AuxServoSetParam is: {retval}")
time.sleep(3)
robot.AuxServoSetAcc(3000, 3000)
robot.AuxServoSetEmergencyStopAcc(5000, 5000)
time.sleep(1)
emagacc = 0.0
emagdec = 0.0
acc = 0.0
dec = 0.0
error,emagacc, emagdec = robot.AuxServoGetEmergencyStopAcc()
print(f"emergency acc is {emagacc}  dec is {emagdec}")
error,acc, dec = robot.AuxServoGetAcc()
print(f"acc is {acc}  dec is {dec}")
robot.AuxServoSetControlMode(1, 0)
time.sleep(2)
retval = robot.AuxServoEnable(1, 0)
print(f"AuxServoEnable disenable {retval}")
time.sleep(1)
servoErrCode = 0
servoState = 0
servoPos = 0.0
servoSpeed = 0.0
servoTorque = 0.0
retval, servoErrCode, servoState, servoPos, servoSpeed, servoTorque = robot.AuxServoGetStatus(1)
print(f"AuxServoGetStatus servoState {servoState}")
time.sleep(1)
retval = robot.AuxServoEnable(1, 1)
print(f"AuxServoEnable enable {retval}")
time.sleep(1)
retval, servoErrCode, servoState, servoPos, servoSpeed, servoTorque = robot.AuxServoGetStatus(1)
print(f"AuxServoGetStatus servoState {servoState}")
time.sleep(1)
retval = robot.AuxServoHoming(1, 1, 5, 1,100)
print(f"AuxServoHoming {retval}")
time.sleep(3)
retval = robot.AuxServoSetTargetPos(1, 200, 30,100)
print(f"AuxServoSetTargetPos {retval}")
time.sleep(1)
retval, servoErrCode, servoState, servoPos, servoSpeed, servoTorque = robot.AuxServoGetStatus(1)
print(f"AuxServoGetStatus servoSpeed {servoSpeed}")
time.sleep(8)
robot.AuxServoSetControlMode(1, 1)
time.sleep(2)
robot.AuxServoEnable(1, 0)
time.sleep(1)
robot.AuxServoEnable(1, 1)
time.sleep(1)
robot.AuxServoSetTargetSpeed(1, 100, 80)
time.sleep(5)
robot.AuxServoSetTargetSpeed(1, 0, 80)
robot.CloseRPC()