New in version python: SDK-v2.0.4
Prototype | SetAuxDO(DONum,bOpen,smooth,block) |
Description | Setting the Extended DO |
Mandatory parameters |
|
Default parameters | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.48. Setting up Extended AO
New in version python: SDK-v2.0.4
Prototype | SetAuxAO(AONum,value,block) |
Description | Setting the Extended AO |
Mandatory parameters |
|
Default parameters | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.49. Setting the Extended DI Input Filter Time
New in version python: SDK-v2.0.4
Prototype | SetAuxDIFilterTime(filterTime) |
Description | Setting the Extended DI Input Filter Time |
Mandatory parameters |
|
Default parameters | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.50. Setting the Extended AI Input Filter Time
New in version python: SDK-v2.0.4
Prototype | SetAuxAIFilterTime(AINum,filterTime) |
Description | Set the extended AI input filter time |
Mandatory parameters |
|
Default parameters | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.51. Waiting for extended DI input
New in version python: SDK-v2.0.4
Prototype | WaitAuxDI(DINum,bOpen,time,errorAlarm) |
Description | Waiting for extended DI input |
Mandatory parameters |
|
Default parameters | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.52. Waiting for extended AI input
New in version python: SDK-v2.0.4
Prototype | WaitAuxAI(,AINum,sign,value,time,errorAlarm) |
Description | Waiting for extended AI input |
Mandatory parameters |
|
Default parameters | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.53. Get Extended DI Value
New in version python: SDK-v2.0.4
Prototype | GetAuxDI(DINum,isNoBlock) |
Description | Get Extended DI Value |
Mandatory parameters |
|
Default parameters | NULL |
Return Value |
|
13.54. Get Extended AI Value
New in version python: SDK-v2.0.4
Prototype | GetAuxAI(AINum,isNoBlock) |
Description | Get Extended AI Value |
Mandatory parameters |
|
Default parameters | NULL |
Return Value |
|
13.55. Extended IO code examples
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')
for i in range(128):
robot.SetAuxDO(i, True, False, True)
time.sleep(0.1)
for i in range(128):
robot.SetAuxDO(i, False, False, True)
time.sleep(0.1)
for i in range(409):
value1 = i * 10
value2 = 4095 - i * 10
robot.SetAuxAO(0, value1, True)
robot.SetAuxAO(1, value2, True)
robot.SetAuxAO(2, value1, True)
robot.SetAuxAO(3, value2, True)
time.sleep(0.01)
robot.SetAuxDIFilterTime(10)
robot.SetAuxAIFilterTime(0, 10)
for i in range(20):
curValue = False
error, curValue = robot.GetAuxDI(i, False) # 注意：如库内部需引用方式，这里需修改
print(f"DI{i} {curValue}")
curValue = -1
for i in range(4):
error, curValue = robot.GetAuxAI(i, True) # 同样注意引用传参问题
print(f"AI{i} {curValue}")
robot.WaitAuxDI(1, False, 1000, False)
robot.WaitAuxAI(1, 1, 132, 1000, False)
robot.CloseRPC()
13.56. Removable Device Enable
New in version python: SDK-v2.0.5
Prototype | TractorEnable(enable) |
description | removable device enable |
Mandatory parameters |
|
Default parameters | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.57. Zeroing of removable units
New in version python: SDK-v2.0.5
Prototype | TractorHoming() |
Description | Removable unit back to zero |
Mandatory parameters | NULL |
Default parameters | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.58. Movable unit linear motion
New in version python: SDK-v2.0.5
Prototype | TractorMoveL(distance, vel) |
Description | Movable device linear motion |
Mandatory parameters |
|
Default parameters | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.59. Movable unit circular motion
New in version python: SDK-v2.0.5
prototype | TractorMoveC(radio, angle, vel) |
Description | Movable device circular motion |
Mandatory parameters |
|
Default parameters | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.60. Stopping motion of movable devices
New in version python: SDK-v2.0.5
Prototype | ProgramStop() |
Description | Movable unit stops moving |
Mandatory parameters | NULL |
Default parameters | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.61. Portable device 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')
robot.ExtDevSetUDPComParam("192.168.58.2", 2021, 2, 50, 5, 50, 1, 50, 10, 1)
robot.ExtDevLoadUDPDriver()
rtn = robot.ExtAxisServoOn(1, 1)
rtn = robot.ExtAxisServoOn(2, 1)
time.sleep(2)
robot.ExtAxisSetHoming(1, 0, 10, 2)
time.sleep(2)
rtn = robot.ExtAxisSetHoming(2, 0, 10, 2)
time.sleep(4)
robot.ExtAxisParamConfig(1, 0, 0, 50000, -50000, 1000, 1000, 6.280, 16384, 200, 0, 0, 0)
robot.ExtAxisParamConfig(2, 0, 0, 50000, -50000, 1000, 1000, 6.280, 16384, 200, 0, 0, 0)
robot.SetAxisDHParaConfig(5, 0, 0, 0, 0, 0, 0, 0, 0)
robot.TractorEnable(False)
time.sleep(2)
robot.TractorEnable(True)
time.sleep(2)
robot.TractorHoming()
time.sleep(2)
robot.TractorMoveL(100, 2)
time.sleep(5)
robot.TractorStop()
robot.TractorMoveL(-100, 20)
time.sleep(5)
robot.TractorMoveC(300, 90, 20)
time.sleep(10)
robot.TractorMoveC(300, -90, 20)
time.sleep(1)
robot.CloseRPC()
13.62. Laser sensor recording points
New in version python: SDK-v2.1.4
Prototype | LaserRecordPoint(coordID) |
Description | Laser sensor recording points |
Mandatory par |
|
Default param | NULL |
Return Value |
|
13.63. Sample code for laser sensor recording points
New in version python: SDK-v2.1.4
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')
direction_point = [0, 0, 0]
rtn = robot.LaserTrackingSearchStart(2, direction_point, 10, 100, 10000, 2)
print(f"LaserTrackingSearchStart rtn is {rtn}")
robot.LaserTrackingSearchStop()
coord_id = 2
rtn, joint, desc, exaxis = robot.LaserRecordPoint(coord_id)
print(f"rtn is {rtn}")
print(f"desc_pos:{desc[0]},{desc[1]},{desc[2]},"
f"{desc[3]},{desc[4]},{desc[5]}")
print(f"joint_pos:{joint[0]},{joint[1]},{joint[2]},{joint[3]},{joint[4]},{joint[5]}")
print(f"exaxis pos is {exaxis[0]} {exaxis[1]} {exaxis[2]} {exaxis[3]}")
off = [0] * 6
robot.MoveJ(joint,tool=1,user=0,vel=100,acc=100,ovl=50,exaxis_pos=exaxis,blendT=-1,offset_flag=0,offset_pos=off)
robot.CloseRPC()
13.64. Set the synchronous movement strategy of the extended axis and the robot
New in version python: SDK-v2.1.5
Prototype | SetExAxisRobotPlan(strategy) |
Description | Set the synchronous movement strategy of the extended axis and the robot |
Mandatory par |
|
Default param | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.65. Code example for setting the synchronous motion strategy of the extended axis and the robot
New in version python: SDK-v2.1.5
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')
joint_pos1 = [-22.016, -49.217, 124.714, -161.100, -85.108, -0.333]
joint_pos2 = [-21.083, -46.613, 110.079, -147.796, -80.757, -0.330]
joint_pos3 = [-25.572, -60.090, 135.397, -163.889, -82.489, -0.345]
desc_pos1 = [2.637, -0.001, 30.673, 178.786, -4.134, 68.326]
desc_pos2 = [213.812, -1.440, 47.311, 177.410, 0.166, 68.946]
desc_pos3 = [444.342, -12.723, 82.470, -177.701, -1.325, 65.151]
epos1 = [0.001, 0.000, 0.000, 0.000]
epos2 = [299.977, 0.000, 0.000, 0.000]
epos3 = [399.969, 0.000, 0.000, 0.000]
offset_pos = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
rtn = robot.SetExAxisRobotPlan(0)
print(f"SetExAxisRobotPlan rtn is {rtn}")
time.sleep(1)
rtn = robot.ExtAxisSyncMoveL(desc_pos=desc_pos1,tool=1,user=0,vel=100,acc=100,ovl=100,blendR=-1,exaxis_pos=epos1,offset_flag=0,offset_pos=offset_pos)
print(f"ExtAxisSyncMoveL 1 rtn is {rtn}")
rtn = robot.ExtAxisSyncMoveL(desc_pos=desc_pos2,tool=1,user=0,vel=100,acc=100,ovl=100,blendR=-1,exaxis_pos=epos2,offset_flag=0,offset_pos=offset_pos)
print(f"ExtAxisSyncMoveL 2 rtn is {rtn}")
rtn = robot.ExtAxisSyncMoveL(desc_pos=desc_pos3,tool=1,user=0,vel=100,acc=100,ovl=100,blendR=-1,exaxis_pos=epos3,offset_flag=0,offset_pos=offset_pos)
print(f"ExtAxisSyncMoveL 3 rtn is {rtn}")
time.sleep(8)
robot.CloseRPC()
13.66. Control array type sucker
New in version python: SDK-v2.1.5
Prototype | SetSuckerCtrl(slaveID, len, ctrlValue) |
Description | Control array type sucker |
Mandatory par |
|
Default param | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.67. Get the state of the array suction cup
New in version python: SDK-v2.1.5
Prototype | GetSuckerState(slaveID) |
Description | Get the state of the array suction cup |
Mandatory par |
|
Default param | NULL |
Return Value |
|
13.68. Wait for the sucker state
New in version python: SDK-v2.1.5
Prototype | WaitSuckerState(slaveID, state, ms) |
Description | Wait for the sucker state |
Mandatory par |
|
Default param | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.69. Array type sucker control command code example
New in version python: SDK-v2.1.5
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')
robot.OpenLuaUpload("C://Project/PeripheralSDK/CtrlDev_sucker.lua")
time.sleep(2)
robot.UnloadCtrlOpenLUA(1)
robot.LoadCtrlOpenLUA(1)
time.sleep(1)
ctrl = bytearray(20)
ctrl[0] = 1
robot.SetSuckerCtrl(0, 1, ctrl)
for i in range(100):
rtn, state, press_value, error = robot.GetSuckerState(1)
print(f"sucker1 state is {state}, pressValue is {press_value}, error num is {error}")
rtn, state, press_value, error = robot.GetSuckerState(12)
print(f"sucker12 state is {state}, pressValue is {press_value}, error num is {error}")
time.sleep(0.1)
ret = robot.WaitSuckerState(1, 1, 100)
print(f"WaitSuckerState result is {ret}")
ctrl[0] = 3
robot.SetSuckerCtrl(1, 1, ctrl)
robot.SetSuckerCtrl(12, 1, ctrl)
robot.CloseRPC()
13.70. Upload an open protocol Lua file
New in version python: SDK-v2.1.5
Prototype | OpenLuaUpload(filePath) |
Description | Upload an open protocol Lua file |
Mandatory par |
|
Default param | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.71. Get the slave board parameters
New in version python: SDK-v2.1.5
Prototype | GetFieldBusConfig() |
Description | Get the slave board parameters |
Mandatory par | NULL |
Default param | NULL |
Return Value |
|
13.72. Write the slave DO
New in version python: SDK-v2.1.5
Prototype | FieldBusSlaveWriteDO(DOIndex, wirteNum, status) |
Description | Write the slave DO |
Mandatory par |
|
Default param | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.73. Write the slave AO
New in version python: SDK-v2.1.5
Prototype | FieldBusSlaveWriteAO(AOIndex, wirteNum, status) |
Description | Write the slave AO |
Mandatory par |
|
Default param | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.74. Read the slave DI
New in version python: SDK-v2.1.5
Prototype | FieldBusSlaveReadDI(DOIndex, readeNum) |
Description | Read the slave DI |
Mandatory par |
|
Default param | NULL |
Return Value |
|
13.75. Read the slave AI
New in version python: SDK-v2.1.5
Prototype | FieldBusSlaveReadAI(AOIndex, readeNum) |
Description | Read the slave AI |
Mandatory par |
|
Default param | NULL |
Return Value |
|
13.76. Wait for the extension DI input
New in version python: SDK-v2.1.5
Prototype | FieldBusSlaveWaitDI(DIIndex, status, waitMs) |
Description | Wait for the extension DI input |
Mandatory par |
|
Default param | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.77. Wait for extended AI input
New in version python: SDK-v2.1.5
Prototype | FieldBusSlaveWaitAI(AIIndex, waitType, value, waitMs) |
Description | Wait for extended AI input |
Mandatory par |
|
Default param | NULL |
Return Value | Error Code Success-0 Failure- errcode |
13.78. Example of slave mode related interface instruction code
New in version python: SDK-v2.1.5
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')
robot.OpenLuaUpload("D://zUP/Peripheral_equipment/CtrlDev_field.lua")
time.sleep(2)
robot.SetCtrlOpenLUAName(3,"CtrlDev_field.lua")
robot.UnloadCtrlOpenLUA(3)
robot.LoadCtrlOpenLUA(3)
time.sleep(8)
rtn,type, version, conn_state = robot.GetFieldBusConfig()
print(f"type is {type}, version is {version}, connState is {conn_state}")
# Write digital outputs
ctrl = [1, 0, 1] # DO0=1, DO1=0, DO2=1
robot.FieldBusSlaveWriteDO(0, 3, ctrl)
# Write analog output
ctrl_ao = [0x1000] # AO2 = 0x1000
robot.FieldBusSlaveWriteAO(2, 1, ctrl_ao)
for i in range(100):
rtn,di = robot.FieldBusSlaveReadDI(0, 4)
print(f"DI0 is {di[0]}, DI1 is {di[1]}, DI2 is {di[2]}, DI3 is {di[3]}")
rtn, ai = robot.FieldBusSlaveReadAI(0, 3)
print(f"AI0 is {ai[0]}, AI1 is {ai[1]}, AI2 is {ai[2]}")
time.sleep(0.01)
ret = robot.FieldBusSlaveWaitDI(0, 1, 100)
print(f"FieldBusSlaveWaitDI result is {ret}")
ret = robot.FieldBusSlaveWaitAI(0, 0, 400.00, 100)
print(f"FieldBusSlaveWaitAI result is {ret}")
robot.CloseRPC()