Python 13.30. Example of UDP extension axis configuration and tapping code

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')
rtn = robot.ExtDevSetUDPComParam("192.168.58.88", 2021, 2, 100, 3, 200, 1, 100, 5, 1)
print(f"ExtDevSetUDPComParam rtn is {rtn}")
ip = ""
port = 0
period = 0
lossPkgTime = 0
lossPkgNum = 0
disconnectTime = 0
reconnectEnable = 0
reconnectPeriod = 0
reconnectNum = 0
rtn,[ip, port, period, lossPkgTime, lossPkgNum,disconnectTime, reconnectEnable, reconnectPeriod, reconnectNum] = robot.ExtDevGetUDPComParam()
param_str = (f"\nip {ip}\nport {port}\nperiod {period}\nlossPkgTime {lossPkgTime}"
             f"\nlossPkgNum {lossPkgNum}\ndisConntime {disconnectTime}"
             f"\nreconnecable {reconnectEnable}\nreconnperiod {reconnectPeriod}"
             f"\nreconnnun {reconnectNum}")
print(f"ExtDevGetUDPComParam rtn is {rtn}{param_str}")
robot.ExtDevLoadUDPDriver()
rtn = robot.ExtAxisServoOn(1, 1)
print(f"ExtAxisServoOn axis id 1 rtn is {rtn}")
rtn = robot.ExtAxisServoOn(2, 1)
print(f"ExtAxisServoOn axis id 2 rtn is {rtn}")
time.sleep(2)
robot.ExtAxisSetHoming(1, 0, 10, 2)
time.sleep(2)
rtn = robot.ExtAxisSetHoming(2, 0, 10, 2)
print(f"ExtAxisSetHoming rtn is {rtn}")
time.sleep(4)
rtn = robot.SetRobotPosToAxis(1)
print(f"SetRobotPosToAxis rtn is {rtn}")
rtn = robot.SetAxisDHParaConfig(10, 20, 0, 0, 0, 0, 0, 0, 0)
print(f"SetAxisDHParaConfig rtn is {rtn}")
rtn = robot.ExtAxisParamConfig(1, 1, 1, 1000, -1000, 1000, 1000, 1.905, 262144, 200, 1, 0, 0)
print(f"ExtAxisParamConfig axis 1 rtn is {rtn}")
rtn = robot.ExtAxisParamConfig(2, 1, 1, 1000, -1000, 1000, 1000, 4.444, 262144, 200, 1, 0, 0)
print(f"ExtAxisParamConfig axis 2 rtn is {rtn}")
time.sleep(3)
robot.ExtAxisStartJog(1, 0, 10, 10, 30)
time.sleep(1)
robot.ExtAxisStopJog(1)
time.sleep(3)
robot.ExtAxisServoOn(1, 0)
time.sleep(3)
robot.ExtAxisStartJog(2, 0, 10, 10, 30)
time.sleep(1)
robot.ExtAxisStopJog(2)
time.sleep(3)
robot.ExtAxisServoOn(2, 0)
robot.ExtDevUnloadUDPDriver()
robot.CloseRPC()

13.31. Setting the reference point of the extended axis coordinate system - four-point method

New in version python: SDK-v2.0.4

Prototype	ExtAxisSetRefPoint(pointNum)
Description	Setting the reference point of the extended axis coordinate system - four-point method
Mandatory parameters	pointNum: point number [1-4];
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.32. Calculating the Extended Axis Coordinate System - Four Point Method

New in version python: SDK-v2.0.4

Prototype	ExtAxisComputeECoordSys()
Description	Calculating Extended Axis Coordinate Systems - Four Point Method
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode. coord: extended axis coordinate system values [x,y,z,rx,ry,rz];

13.33. Reference Point Setting for the Shifter Coordinate System - Four-Point Method

New in version python: SDK-v2.0.4

Prototype	PositionorSetRefPoint(pointNum)
Description	Reference Point Setting for the Variable Position Machine Coordinate System - Four Point Method
Mandatory parameters	pointNum: point number [1-4];
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.34. Shifter Coordinate System Calculation - Four Point Method

New in version python: SDK-v2.0.4

Prototype	PositionorComputeECoordSys()
Description	Translator Coordinate System Calculation - Four Point Method
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode. coord: the value of the coordinate system of the translocator [x,y,z,rx,ry,rz];

13.35. Setting of the calibration reference point in the position in the coordinate system of the end of the translator

New in version python: SDK-v2.0.4

prototype	SetRefPointInExAxisEnd(pos)
Description	Set the calibration reference point to be positioned in the coordinate system of the end of the variator
Mandatory parameters	pos: bit position values [x,y,z,rx,ry,rz];
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.36. Applying the Extended Axis Coordinate System

New in version python: SDK-v2.0.4

Prototype	ExtAxisActiveECoordSys(applyAxisId,axisCoordNum,coord,calibFlag)
Description	Apply extended axis coordinate system
Mandatory parameters	applyAxisId:Extended Axis Numbering bit0-bit3 corresponds to extended axis numbering 1-4, e.g., if you apply extended axes 1 and 3, it would be 0b 0000 0101, or 5; axisCoordNum: extended axis coordinate system number; coord: coordinate system value [x,y,z,rx,ry,rz]; calibFlag: calibration flag 0 - no, 1 - yes;
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

13.37. Obtain the extended axis coordinate system

New in version python: SDK-v2.1.2

Prototype	ExtAxisGetCoord()
Description	Obtain the extended axis coordinate system
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode coord：Extended axis coordinate system

13.38. Extended axis coordinate system calibration 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')
rtn = robot.ExtDevSetUDPComParam("192.168.58.88", 2021, 2, 100, 3, 200, 1, 100, 5, 1)
print(f"ExtDevSetUDPComParam rtn is {rtn}")
rtn,udp_params = robot.ExtDevGetUDPComParam()
ip, port, period, lossPkgTime, lossPkgNum, disconnectTime, reconnectEnable, reconnectPeriod, reconnectNum = udp_params
patam = (
    f"\nip {ip}\nport {port}\nperiod {period}\nlossPkgTime {lossPkgTime}\n"
    f"lossPkgNum {lossPkgNum}\ndisConntime {disconnectTime}\nreconnecable {reconnectEnable}\n"
    f"reconnperiod {reconnectPeriod}\nreconnnun {reconnectNum}"
)
print(f"ExtDevGetUDPComParam rtn is {rtn}{patam}")
robot.ExtDevLoadUDPDriver()
rtn = robot.ExtAxisServoOn(1, 1)
print(f"ExtAxisServoOn axis id 1 rtn is {rtn}")
rtn = robot.ExtAxisServoOn(2, 1)
print(f"ExtAxisServoOn axis id 2 rtn is {rtn}")
time.sleep(2)
robot.ExtAxisSetHoming(1, 0, 10, 2)
time.sleep(2)
rtn = robot.ExtAxisSetHoming(2, 0, 10, 2)
print(f"ExtAxisSetHoming rtn is {rtn}")
time.sleep(4)
rtn = robot.SetRobotPosToAxis(1)
print(f"SetRobotPosToAxis rtn is {rtn}")
rtn = robot.SetAxisDHParaConfig(1, 128.5, 206.4, 0, 0, 0, 0, 0, 0)
print(f"SetAxisDHParaConfig rtn is {rtn}")
rtn = robot.ExtAxisParamConfig(1, 1, 1, 1000, -1000, 1000, 1000, 1.905, 262144, 200, 1, 0, 0)
print(f"ExtAxisParamConfig axis 1 rtn is {rtn}")
rtn = robot.ExtAxisParamConfig(2, 1, 1, 1000, -1000, 1000, 1000, 4.444, 262144, 200, 1, 0, 0)
print(f"ExtAxisParamConfig axis 2 rtn is {rtn}")
toolCoord = [0, 0, 210, 0, 0, 0]
robot.SetToolCoord(1, toolCoord, 0, 0, 1, 0)
jSafe = [115.193, -96.149, 92.489, -87.068, -89.15, -83.488]
j1 = [117.559, -92.624, 100.329, -96.909, -94.057, -83.488]
j2 = [112.239, -90.096, 99.282, -95.909, -89.824, -83.488]
j3 = [110.839, -83.473, 93.166, -89.22, -90.499, -83.487]
j4 = [107.935, -83.572, 95.424, -92.873, -87.933, -83.488]
descSafe = [0.0,0.0,0.0,0.0,0.0,0.0]
desc1 = [0.0,0.0,0.0,0.0,0.0,0.0]
desc2 = [0.0,0.0,0.0,0.0,0.0,0.0]
desc3 = [0.0,0.0,0.0,0.0,0.0,0.0]
desc4 = [0.0,0.0,0.0,0.0,0.0,0.0]
exaxisPos = [0.0,0.0,0.0,0.0]
offdese = [0.0,0.0,0.0,0.0,0.0,0.0]
error, descSafe = robot.GetForwardKin(jSafe)
robot.MoveJ(joint_pos=jSafe,tool= 1,user= 0,vel= 100)
time.sleep(2)
error, desc1 = robot.GetForwardKin(j1)
robot.MoveJ(joint_pos=j1,tool= 1,user= 0,vel= 100)
time.sleep(2)
actualTCPPos = [0.0,0.0,0.0,0.0,0.0,0.0]
error, actualTCPPos = robot.GetActualTCPPose(0)
robot.SetRefPointInExAxisEnd(actualTCPPos)
rtn = robot.PositionorSetRefPoint(1)
print(f"PositionorSetRefPoint 1 rtn is {rtn}")
time.sleep(2)
robot.MoveJ(joint_pos=jSafe,tool= 1,user= 0,vel= 100)
robot.ExtAxisStartJog(1, 0, 50, 50, 10)
time.sleep(1)
robot.ExtAxisStartJog(2, 0, 50, 50, 10)
time.sleep(1)
error, desc2 = robot.GetForwardKin(j2)
rtn = robot.MoveJ(joint_pos=j2,tool= 1,user= 0,vel= 100)
rtn = robot.PositionorSetRefPoint(2)
print(f"PositionorSetRefPoint 2 rtn is {rtn}")
time.sleep(2)
robot.MoveJ(joint_pos=jSafe,tool= 1,user= 0,vel= 100)
robot.ExtAxisStartJog(1, 0, 50, 50, 10)
time.sleep(1)
robot.ExtAxisStartJog(2, 0, 50, 50, 10)
time.sleep(1)
error, desc3 = robot.GetForwardKin(j3)
robot.MoveJ(joint_pos=j3,tool= 1,user= 0,vel= 100)
rtn = robot.PositionorSetRefPoint(3)
print(f"PositionorSetRefPoint 3 rtn is {rtn}")
time.sleep(2)
robot.MoveJ(joint_pos=jSafe,tool= 1,user= 0,vel= 100)
robot.ExtAxisStartJog(1, 0, 50, 50, 10)
time.sleep(1)
robot.ExtAxisStartJog(2, 0, 50, 50, 10)
time.sleep(1)
error, desc4 = robot.GetForwardKin(j4)
robot.MoveJ(joint_pos=j4,tool= 1,user= 0,vel= 100)
rtn = robot.PositionorSetRefPoint(4)
print(f"PositionorSetRefPoint 4 rtn is {rtn}")
time.sleep(2)
axisCoord = [0.0,0.0,0.0,0.0,0.0,0.0]
error,axisCoord = robot.PositionorComputeECoordSys()
robot.MoveJ(joint_pos=jSafe,tool= 1,user= 0,vel= 100)
print(f"PositionorComputeECoordSys rtn is {axisCoord[0]} {axisCoord[1]} {axisCoord[2]} {axisCoord[3]} {axisCoord[4]} {axisCoord[5]}")
rtn = robot.ExtAxisActiveECoordSys(3, 1, axisCoord, 1)
print(f"ExtAxisActiveECoordSys rtn is {rtn}")
robot.CloseRPC()

13.39. UDP Extended Axis Motion

New in version python: SDK-v2.1.4

Prototype	ExtAxisMove(pos,ovl,blend=-1)
Description	UDP Extended Axis Motion
Mandatory parameters	pos=[exaxis[0],exaxis[1],exaxis[2],exaxis[3]]: target position Axis 1 position to Axis 4 position; ovl: percentage of speed
Default parameters	blend：Smoothing parameter (mm or ms), -1, waiting for the motion to complete, Default -1
Return Value	Error Code Success-0 Failure- errcode

13.40. UDP Extended axis motion 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')
axisPos = [20,0,0,0]
robot.ExtAxisMove(axisPos, 50, -1)
robot.CloseRPC()
return 0

13.41. UDP extension axes synchronized with robot joint motion

New in version python: SDK-v2.0.4

Prototype	ExtAxisSyncMoveJ(joint_pos,tool,user,exaxis_pos, desc_pos=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], vel=20.0, acc=0.0, ovl= 100.0, blendT=-1.0, offset_flag=0, offset_pos=[ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
Description	UDP extension axis synchronized motion with robot joint motion
Mandatory parameters	joint_pos: target joint position in [°]; desc_pos: Cartesian position of the target in [mm][°]; tool: tool number, [0 to 14] user: artifact number, [0~14] exaxis_pos: external axis 1 position ~ external axis 4 positions
Default Parameters	desc_pos: target Cartesian position in [mm][°] Default initial value [0.0,0.0,0.0,0.0,0.0,0.0,0.0], default value calls positive kinematics to solve for the return value. vel: percentage of speed, [0~100] default 20.0; acc: percentage of acceleration, [0~100] not open yet, default 0.0; ovl: velocity scaling factor, [0~100] default 100.0 ; blendT: [-1.0]-motion in place (blocking), [0~500.0]-smoothing time (non-blocking) in [ms] default -1.0; offset_flag: [0] - no offset, [1] - offset in workpiece/base coordinate system, [2] - offset in tool coordinate system Default 0; offset_pos: position offset in [mm][°] default [0.0,0.0,0.0,0.0,0.0,0.0] ;
Return Value	Error Code Success-0 Failure- errcode;