Python 13.44. UDP extension axes synchronized with robot linear motion 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')
# Set the UDP communication parameters and load
robot.ExtDevSetUDPComParam("192.168.58.88", 2021, 2, 100, 3, 100, 1, 100, 10)
robot.ExtDevLoadUDPDriver()
# Set the parameters of the extended axis
robot.SetAxisDHParaConfig(4, 200, 200, 0, 0, 0, 0, 0, 0)
robot.SetRobotPosToAxis(1)
robot.ExtAxisParamConfig(1, 0, 1, 100, -100, 10, 10, 12, 131072, 0, 1, 0, 0)
# Expand the axis to enable and return to zero
robot.ExtAxisServoOn(1, 0)
robot.ExtAxisSetHoming(1, 0, 20, 3)
# Extended axis coordinate system calibration
pos = []  # Please fill in the coordinates of the marking points
robot.SetRefPointInExAxisEnd(pos)
robot.PositionorSetRefPoint(1)  # It needs to be called four times for calibration
error,coord = robot.PositionorComputeECoordSys()
robot.ExtAxisActiveECoordSys(1, 1, coord, 1)
# Synchronize the starting and ending points of the movement
startdescPose = []  # Please fill in the coordinates of the marking points
startjointPos = []  # Please fill in the coordinates of the marking points
startexaxisPos = []  # Please fill in the coordinates of the marking points
enddescPose = []  # Please fill in the coordinates of the marking points
endjointPos = []  # Please fill in the coordinates of the marking points
endexaxisPos = []  # Please fill in the coordinates of the marking points
# Move to the starting point
robot.ExtAxisMove(startexaxisPos, 20, -1)
offdese = [0, 0, 0, 0, 0, 0]
robot.MoveJ(joint_pos=startjointPos, tool= 1,user= 1,vel= 100,acc= 100,ovl= 100,exaxis_pos= startexaxisPos,blendT= 0)
# Perform synchronous linear motion
robot.ExtAxisSyncMoveL(endjointPos, enddescPose, 1, 1, endexaxisPos, 100, 100, 100, 0, 0, offdese)
robot.CloseRPC()

13.45. UDP extension axes synchronized with robot circular motion

New in version python: SDK-v2.1.5

Prototype	ExtAxisSyncMoveC(desc_pos_p, tool_p, user_p,exaxis_pos_p, desc_pos_t, tool_t, user_t,exaxis_pos_t,joint_pos_p=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], joint_pos_t=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],vel_p =20.0, acc_p=100.0, offset_flag_p=0, offset_pos_p =[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], vel_t=20.0, acc_t=100.0, offset_flag_t=0, offset_pos_t=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], ovl=100.0, blendR=-1.0, config=-1)
Description	UDP extension axis synchronized with robot circular motion
Mandatory parameters	desc_pos_p: path point Cartesian position in [mm][°]; tool_p: pathpoint tool number, [0~14]; user_p: pathpoint artifact number, [0~14]; exaxis_pos_p: path point external axis 1 position ~ external axis 4 position Default [0.0,0.0,0.0,0.0]; desc_pos_t: Cartesian position of the target point in [mm][°]; tool_t: tool number, [0~14]; user_t: artifact number, [0~14]; exaxis_pos_t: target point external axis 1 position ~ external axis 4 position default [0.0,0.0,0.0,0.0];
Default Parameters	joint_pos_p: target joint position in [°] Default initial value is [0.0,0.0,0.0,0.0,0.0,0.0,0.0], default value calls inverse kinematics to solve for the return value. joint_pos_t: target joint position in [°] Default initial value is [0.0,0.0,0.0,0.0,0.0,0.0,0.0], default value calls inverse kinematics to solve for the return value. vel_p: path point velocity percentage, [0~100] default 20.0; acc_p: path point acceleration percentage, [0~100] not open yet, default 0.0; offset_flag_p: whether the path point is offset [0]-no offset, [1]-offset in workpiece/base coordinate system, [2]-offset in tool coordinate system Default 0; offset_pos_p: path point position offset in [mm][°] Default [0.0,0.0,0.0,0.0,0.0,0.0]; vel_t: Target point velocity percentage, [0~100] default 20.0; acc_t: target point acceleration percentage, [0~100] Not open yet Default 0.0; offset_flag_t: whether the target point is offset or not [0]-no offset, [1]-offset in workpiece/base coordinate system, [2]-offset in tool coordinate system Default 0; offset_pos_t: target point attitude offset in [mm][°] Default [0.0,0.0,0.0,0.0,0.0,0.0]; ovl: velocity scaling factor, [0~100] default 100.0; blendR: [-1.0] - motion in place (blocking), [0~1000] - smoothing radius (non-blocking) in [mm] default -1.0; config: Reverse the joint space configuration, [-1]- calculate based on the current joint position, [0~7]- solve based on the specific joint space configuration, default -1
Return Value	Error Code Success-0 Failure- errcode;

13.46. UDP extension axes synchronized with robot circular motion 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')
# Set the UDP communication parameters and load
robot.ExtDevSetUDPComParam("192.168.58.88", 2021, 2, 100, 3, 100, 1, 100, 10)
robot.ExtDevLoadUDPDriver()
# Set the parameters of the extended axis
robot.SetAxisDHParaConfig(4, 200, 200, 0, 0, 0, 0, 0, 0)
robot.SetRobotPosToAxis(1)
robot.ExtAxisParamConfig(1, 0, 1, 100, -100, 10, 10, 12, 131072, 0, 1, 0, 0)
# Expand the axis to enable and return to zero
robot.ExtAxisServoOn(1, 0)
robot.ExtAxisSetHoming(1, 0, 20, 3)
# Extended axis coordinate system calibration
pos = []  # Enter the coordinates of the reference point
robot.SetRefPointInExAxisEnd(pos)
robot.PositionorSetRefPoint(1)  # Call four times to complete the calibration
coord = []
error,coord = robot.PositionorComputeECoordSys()
robot.ExtAxisActiveECoordSys(1, 1, coord, 1)
# Synchronous arc starting point, middle point and end point
startdescPose = []# Input coordinates
startjointPos = []# Input coordinates
startexaxisPos =[]  # Enter the coordinates of the extended axis
middescPose = []# Input the midpoint
midjointPos = []
midexaxisPos =[]
enddescPose = []
endjointPos = []
endexaxisPos =[]
# Move to the starting point
robot.ExtAxisMove(startexaxisPos, 20, -1)
offdese = [0, 0, 0, 0, 0, 0]
robot.MoveJ(joint_pos=startjointPos,tool= 1,user= 1,vel= 100,acc= 100,ovl= 100,exaxis_pos= startexaxisPos,blendT= 0,offset_flag= 0,offset_pos= offdese)
# Start synchronous circular arc movement
robot.ExtAxisSyncMoveC(midjointPos,middescPose,1,1,midexaxisPos,
                       endjointPos,enddescPose,1,1,endexaxisPos,
                       100,100,0,offdese,
                       100,100,0,offdese,
                       100,0)
robot.CloseRPC()