Python 4. Movement

4.1. jog point and click

Prototype	StartJOG(ref,nb,dir,max_dis,vel=20.0,acc=100.0)
description	jog dot motion
Mandatory parameters	ref: 0 - joint point movement, 2 - base coordinate system point movement, 4 - tool coordinate system point movement, 8 - workpiece coordinate system point movement; nb: 1-1 joint (x-axis), 2-2 joint (y-axis), 3-3 joint (z-axis), 4-4 joint (rx), 5-5 joint (ry), 6-6 joint (rz). dir: 0 - negative direction, 1 - positive direction. max_dis: maximum angle/distance of a single tap in ° or mm;
Default Parameters	vel: percentage of speed, [0 to 100] default 20; acc: acceleration percentage, [0~100] default 100;
Return Value	Error Code Success-0 Failure- errcode

4.2. jog tap to decelerate and stop

Prototype	StopJOG(ref)
description	jog nudging deceleration stop
Mandatory parameters	ref: 1 - joint point stop, 3 - base coordinate system point stop, 5 - tool coordinate system point stop, 9 - workpiece coordinate system point stop
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

4.3. Immediate stop for jog taps

Prototype	ImmStopJOG()
Description	jog nudging stops immediately
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

4.4. Robot point 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')
for i in range(6):
    robot.StartJOG(0, i + 1, 0, 20.0, 20.0, 30.0)
    time.sleep(1)
    robot.ImmStopJOG()
    time.sleep(1)
for i in range(6):
    robot.StartJOG(2, i + 1, 0, 20.0, 20.0, 30.0)
    time.sleep(1)
    robot.ImmStopJOG()
    time.sleep(1)
for i in range(6):
    robot.StartJOG(4, i + 1, 0, 20.0, 20.0, 30.0)
    time.sleep(1)
    robot.StopJOG(5)
    time.sleep(1)
for i in range(6):
    robot.StartJOG(8, i + 1, 0, 20.0, 20.0, 30.0)
    time.sleep(1)
    robot.StopJOG(9)
    time.sleep(1)
robot.CloseRPC()

4.5. Joint space motion

prototype	MoveJ(joint_pos, tool, user, desc_pos = [0.0,0.0,0.0,0.0,0.0,0.0,0.0], vel = 20.0, acc = 0.0, ovl = 100.0, exaxis_pos = [0.0,0.0,0.0,0.0], blendT = -1.0, offset_flag = 0, offset_pos = [0.0,0.0,0.0,0.0,0.0,0.0])
description	joint space motion
Mandatory parameters	joint_pos: target joint position in [°]; tool: tool number, [0 to 14]; user: artifact number, [0 to 14];
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; ovl: velocity scaling factor, [0~100] default 100.0. exaxis_pos: external axis 1 position ~ external axis 4 position Default [0.0,0.0,0.0,0.0]. 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

4.6. Cartesian Space Linear Motion

New in version python: SDK-v2.1.5

Prototype	MoveL(desc_pos, tool, user, joint_pos=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], vel=20.0, acc=0.0, ovl=100.0,blendR=-1.0, blendMode = 0,exaxis_pos=[0.0, 0.0, 0.0, 0.0], search=0, offset_flag=0,offset_pos=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],oacc = 100.0,config=-1,velAccParamMode=0,overSpeedStrategy=0,speedPercent=10)
Description	Cartesian Space Linear Motion
Required Parameters	desc_pos: Target Cartesian pose, unit [mm][°]； tool: Tool number, [0~14]； user: Workpiece/User number, [0~14]；
Default Parameters	joint_pos: Target joint positions, unit [°] Default initial value is [0.0,0.0,0.0,0.0,0.0,0.0], default value is the return value from inverse kinematics； vel: Velocity percentage, [0~100] Default 20.0； acc: Acceleration percentage, [0~100], currently unavailable Default 0.0； ovl: Velocity scaling factor, [0~100] Default 100.0； blendR:[-1.0]-Block until motion completes (blocking), [0~1000]-Blend radius (non-blocking), unit [mm] Default -1.0； blendMode: Transition method; 0-Tangent blend； 1-Corner blend, default 0； exaxis_pos: External axis 1 position ~ External axis 4 position Default [0.0,0.0,0.0,0.0]； search:[0]-No wire search, [1]-Wire search； offset_flag:[0]-No offset, [1]-Offset in workpiece/base coordinate system, [2]-Offset in tool coordinate system Default 0； offset_pos: Pose offset value, unit [mm][°] Default [0.0,0.0,0.0,0.0,0.0,0.0]； oacc: Acceleration scaling factor [0-100] / Physical acceleration (mm/s²) Default 100； config: Inverse solution joint space configuration, [-1]-Solve with reference to current joint positions, [0~7]-Solve according to a specific joint space configuration, default -1 velAccParamMode: Velocity/Acceleration parameter mode; 0-Percentage; 1-Physical velocity (mm/s) and acceleration (mm/s²) Default 0 overSpeedStrategy: Overspeed handling strategy, 0-Strategy disabled; 1-Standard; 2-Stop with error on overspeed; 3-Adaptive speed reduction, default 0 speedPercent: Allowable speed reduction threshold percentage [0-100], default 10%
Return Value	Error code 0-Success Error- errcode

4.7. Cartesian Space Circular Arc Motion

New in version python: SDK-v2.1.5

Prototype	MoveC(desc_pos_p, tool_p, user_p, desc_pos_t, tool_t, user_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, exaxis_pos_p=[0.0, 0.0, 0.0, 0.0], 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, exaxis_pos_t=[0.0, 0.0, 0.0, 0.0], 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,oacc=100.0,config=-1,velAccParamMode=0)
Description	Cartesian Space Circular Arc Motion
Required Parameters	desc_pos_p: Path point Cartesian pose, unit [mm][°]； tool_p: Path point tool number, [0~14]; user_p: Path point workpiece/user number, [0~14]; desc_pos_t: Target point Cartesian pose, unit [mm][°]; tool_t: Tool number, [0~14]； user_t: Workpiece/User number, [0~14]；
Default Parameters	joint_pos_p: Path point joint positions, unit [°] Default initial value is [0.0,0.0,0.0,0.0,0.0,0.0], default value is the return value from inverse kinematics; joint_pos_t: Target point joint positions, unit [°] Default initial value is [0.0,0.0,0.0,0.0,0.0,0.0], default value is the return value from inverse kinematics; vel_p: Path point velocity percentage, [0~100] Default 20.0; acc_p: Path point acceleration percentage, [0~100] Currently unavailable, default 0.0; exaxis_pos_p: Path point external axis 1 position ~ external axis 4 position Default [0.0,0.0,0.0,0.0]; 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; vel_t: Target point velocity percentage, [0~100] Default 20.0; acc_t: Target point acceleration percentage, [0~100] Currently unavailable default 0.0; exaxis_pos_t: Target point external axis 1 position ~ external axis 4 position Default [0.0,0.0,0.0,0.0]; offset_flag_t: Whether the target point is offset [0]-No offset, [1]-Offset in workpiece/base coordinate system, [2]-Offset in tool coordinate system Default 0; offset_pos_t: Target point pose offset value, unit [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]-Block until motion completes (blocking), [0~1000]-Blend radius (non-blocking), unit [mm] Default -1.0; oacc: Acceleration scaling factor [0-100] / Physical acceleration (mm/s²) Default 100; config: Inverse solution joint space configuration, [-1]-Solve with reference to current joint positions, [0~7]-Solve according to a specific joint space configuration, default -1; velAccParamMode: Velocity/Acceleration parameter mode; 0-Percentage; 1-Physical velocity (mm/s) and acceleration (mm/s²) Default 0
Return Value	Error code 0-Success Error- errcode

4.8. Cartesian Space Full Circle Motion

New in version python: SDK-v2.1.5

Prototype	Circle(desc_pos_p, tool_p, user_p, desc_pos_t, tool_t, user_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=0.0, exaxis_pos_p=[0.0, 0.0, 0.0, 0.0], vel_t=20.0, acc_t=0.0,exaxis_pos_t=[0.0, 0.0, 0.0, 0.0],ovl=100.0, offset_flag=0, offset_pos=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], oacc=100.0, blendR=-1,config=-1,velAccParamMode=0)
Description	Cartesian Space Full Circle Motion
Required Parameters	desc_pos_p: Path point Cartesian pose, unit [mm][°]； tool_p: Tool number, [0~14]； user_p: Workpiece/User number, [0~14]； desc_pos_t: Target point Cartesian pose, unit [mm][°]； tool_t: Tool number, [0~14]； user_t: Workpiece/User number, [0~14]；
Default Parameters	joint_pos_p: Path point joint positions, unit [°] Default initial value is [0.0,0.0,0.0,0.0,0.0,0.0], default value is the return value from inverse kinematics; joint_pos_t: Target point joint positions, unit [°] Default initial value is [0.0,0.0,0.0,0.0,0.0,0.0], default value is the return value from inverse kinematics; vel_p: Velocity percentage, [0~100] Default 20.0; acc_p: Path point acceleration percentage, [0~100] Currently unavailable default 0.0; exaxis_pos_p: Path point external axis 1 position ~ external axis 4 position Default [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] Currently unavailable default 0.0; exaxis_pos_t: Target point external axis 1 position ~ external axis 4 position Default [0.0,0.0,0.0,0.0] ovl: Velocity scaling factor, [0~100] Default 100.0; offset_flag: Whether to offset [0]-No offset, [1]-Offset in workpiece/base coordinate system, [2]-Offset in tool coordinate system Default 0; offset_pos: Pose offset value, unit [mm][°] Default [0.0,0.0,0.0,0.0,0.0,0.0] oacc: Acceleration scaling factor [0-100] / Physical acceleration (mm/s²), default: 100； blendR:-1：Blocking；0~1000：Blend radius, default: -1； config: Inverse solution joint space configuration, [-1]-Solve with reference to current joint positions, [0~7]-Solve according to a specific joint space configuration, default -1; velAccParamMode: Velocity/Acceleration parameter mode; 0-Percentage; 1-Physical velocity (mm/s) and acceleration (mm/s²) Default 0
Return Value	Error code 0-Success Error- errcode

4.9. Point-to-point motion in Cartesian space

Prototype	MoveCart(desc_pos, tool, user, vel = 20.0, acc = 0.0, ovl = 100.0, blendT = -1.0, config = -1)
Description	Point-to-point motion in Cartesian space
Mandatory parameters	desc_pos: target Cartesian position; tool: tool number, [0 to 14]; user: artifact number, [0 to 14];
Default parameters	vel: velocity, range [0 to 100], default 20.0; acc: acceleration, range [0-100], not available, default 0.0; ovl: velocity scaling factor, [0 to 100], default 100.0. blendT:[-1.0]-motion in place (blocking), [0~500]-smoothing time (non-blocking) in [ms] default -1.0; config: joint configuration, [-1] - solve with reference to current joint position, [0~7] - solve based on joint configuration default is -1
Return Value	Error Code Success-0 Failure- errcode

4.10. Sample robot basic motion commands code

from fairino import Robot
import time
robot = Robot.RPC('192.168.58.2')
j1 = [-11.904, -99.669, 117.473, -108.616, -91.726, 74.256]
j2 = [-45.615, -106.172, 124.296, -107.151, -91.282, 74.255]
j3 = [-29.777, -84.536, 109.275, -114.075, -86.655, 74.257]
j4 = [-31.154, -95.317, 94.276, -88.079, -89.740, 74.256]
desc_pos1 = [-419.524, -13.000, 351.569, -178.118, 0.314, 3.833]
desc_pos2 = [-321.222, 185.189, 335.520, -179.030, -1.284, -29.869]
desc_pos3 = [-487.434, 154.362, 308.576, 176.600, 0.268, -14.061]
desc_pos4 = [-443.165, 147.881, 480.951, 179.511, -0.775, -15.409]
offset_pos = [0.0] * 6
epos = [0.0] * 4
tool = 0
user = 0
vel = 100.0
acc = 100.0
ovl = 100.0
oacc = 100.0
blendT = 0.0
blendR = 0.0
flag = 0
search = 0
blendMode = 0
velAccMode = 0
robot.SetSpeed(20)
rtn = robot.MoveJ(joint_pos=j1, tool=tool, user=user, vel=vel, acc=acc, ovl=ovl, exaxis_pos=epos, blendT=blendT, offset_flag=flag, offset_pos=offset_pos)
print(f"movej errcode:{rtn}")
rtn = robot.MoveL(desc_pos=desc_pos2, tool=tool, user=user, vel=vel, acc=acc, ovl=ovl, blendR=blendR, blendMode=blendMode, exaxis_pos=epos, search=search, offset_flag=flag, offset_pos=offset_pos,oacc=oacc, velAccParamMode=velAccMode)
print(f"movel errcode:{rtn}")
rtn = robot.MoveC(desc_pos_p=desc_pos3, tool_p=tool, user_p=user, vel_p=vel, acc_p=acc, exaxis_pos_p=epos, offset_flag_p=flag, offset_pos_p=offset_pos, desc_pos_t=desc_pos4, tool_t=tool, user_t=user, vel_t=vel,acc_t=acc, exaxis_pos_t=epos, offset_flag_t=flag, offset_pos_t=offset_pos, ovl=ovl, blendR=blendR, oacc=oacc, velAccParamMode=velAccMode)
print(f"movec errcode:{rtn}")
rtn = robot.MoveJ(joint_pos=j2, tool=tool, user=user, vel=vel, acc=acc, ovl=ovl, exaxis_pos=epos, blendT=blendT, offset_flag=flag, offset_pos=offset_pos)
print(f"movej errcode:{rtn}")
rtn = robot.Circle(desc_pos_p=desc_pos3, tool_p=tool, user_p=user, vel_p=vel, acc_p=acc, exaxis_pos_p=epos, desc_pos_t=desc_pos1, tool_t=tool, user_t=user, vel_t=vel, acc_t=acc, exaxis_pos_t=epos, ovl=ovl,offset_flag=flag, offset_pos=offset_pos, oacc=oacc, blendR=-1, velAccParamMode=velAccMode)
print(f"circle errcode:{rtn}")
rtn = robot.MoveCart(desc_pos=desc_pos4, tool=tool, user=user, vel=vel, acc=acc,ovl=ovl, blendT=blendT, config=-1)
print(f"MoveCart errcode:{rtn}")
rtn = robot.MoveJ(joint_pos=j1, tool=tool, user=user, vel=vel, acc=acc, ovl=ovl, exaxis_pos=epos, blendT=blendT, offset_flag=flag, offset_pos=offset_pos)
print(f"movej errcode:{rtn}")
rtn = robot.MoveL(desc_pos=desc_pos2, tool=tool, user=user, vel=vel, acc=acc, ovl=ovl, blendR=blendR, blendMode=blendMode, exaxis_pos=epos, search=search, offset_flag=flag, offset_pos=offset_pos, config=-1,velAccParamMode=velAccMode)
print(f"movel errcode:{rtn}")
rtn = robot.MoveC(desc_pos_p=desc_pos3, tool_p=tool, user_p=user, vel_p=vel, acc_p=acc, exaxis_pos_p=epos, offset_flag_p=flag, offset_pos_p=offset_pos, desc_pos_t=desc_pos4, tool_t=tool, user_t=user, vel_t=vel, acc_t=acc,exaxis_pos_t=epos, offset_flag_t=flag, offset_pos_t=offset_pos, ovl=ovl, blendR=blendR, config=-1, velAccParamMode=velAccMode)
print(f"movec errcode:{rtn}")
rtn = robot.MoveJ(joint_pos=j2, tool=tool, user=user, vel=vel, acc=acc, ovl=ovl, exaxis_pos=epos, blendT=blendT, offset_flag=flag, offset_pos=offset_pos)
print(f"movej errcode:{rtn}")
rtn = robot.Circle(desc_pos_p=desc_pos3, tool_p=tool, user_p=user, vel_p=vel, acc_p=acc, exaxis_pos_p=epos, desc_pos_t=desc_pos1, tool_t=tool, user_t=user, vel_t=vel, acc_t=acc, exaxis_pos_t=epos, ovl=ovl, offset_flag=flag,offset_pos=offset_pos, oacc=oacc, blendR=-1, velAccParamMode=velAccMode)
print(f"circle errcode:{rtn}")
robot.CloseRPC()
return 0

4.11. Spiral motion in Cartesian space

New in version python: SDK-v2.1.7

Prototype	NewSpiral(desc_pos, tool, user, param, joint_pos = [0.0,0.0,0.0,0.0,0.0,0.0,0.0], vel = 20.0, acc = 0.0, exaxis_pos = [0.0,0.0,0.0,0.0], ovl = 100.0, offset_flag = 0, offset_pos = [0.0,0.0,0.0,0.0,0.0,0.0], config = -1)
Description	Spiral motion in Cartesian space
Mandatory parameters	desc_pos: target Cartesian position in [mm][°]; tool: tool number, [0 to 14]. user: artifact number, [0 to 14]. param=[circle_num, circle_angle, rad_init, rad_add, rotaxis_add, rot_direction, velAccMode]: circle_num: number of spiral turns; circle_angle: spiral inclination; rad_init: initial radius of the spiral. rad_add: radius increment; rotaxis_add: rotational direction increment; rot_direction: rotational direction, 0-clockwise, 1-counterclockwise,velAccMode speed acceleration parameter mode: 0- constant angular velocity, 1- constant linear velocity;
Default parameters	joint_pos: 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: percentage of speed, [0~100] default 20.0. acc: percentage of acceleration, [0~100] default 100.0. exaxis_pos: external axis 1 position ~ external axis 4 position Default [0.0,0.0,0.0,0.0]. ovl: velocity scaling factor, [0~100] default 100.0. 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] 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

4.12. 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')
j = [67.957, -81.482, 87.595, -95.691, -94.899, -9.727]
desc_pos = [-123.142, -551.735, 430.549, 178.753, -4.757, 167.754]
offset_pos1 = [50.0, 0.0, 0.0, -30.0, 0.0, 0.0]
offset_pos2 = [50.0, 0.0, 0.0, -30.0, 0.0, 0.0]
epos = [0.0] * 4
sp = [2, 30.0, 50.0, 10.0, 10.0, 0, 1]  # [circle_num, circle_angle, rad_init, rad_add, rotaxis_add, rot_direction, velAccMode]
tool = 0
user = 0
vel = 30.0
acc = 60.0
ovl = 100.0
blendT = -1.0
flag = 2
robot.SetSpeed(20)
rtn = robot.MoveJ(joint_pos=j, tool=tool, user=user, vel=vel, acc=acc, ovl=ovl, exaxis_pos=epos, blendT=blendT, offset_flag=flag, offset_pos=offset_pos1)
print(f"movej errcode:{rtn}")
rtn = robot.NewSpiral(desc_pos=desc_pos, tool=tool, user=user, vel=vel, acc=acc, exaxis_pos=epos, ovl=ovl, offset_flag=flag, offset_pos=offset_pos2, param=sp)
print(f"newspiral errcode:{rtn}")
robot.CloseRPC()
return 0

4.13. Start of servo motion

Prototype	ServoMoveStart()
Description	Servo motion start, used with ServoJ, ServoCart commands
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

4.14. End of servo motion

Prototype	ServoMoveEnd()
Description	End of servo motion, used with ServoJ, ServoCart commands
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

4.15. Joint space servo mode motion

Prototype	ServoJ(joint_pos, axisPos, acc = 0.0, vel = 0.0, cmdT = 0.008, filterT = 0.0, gain = 0.0, id=0)
Description	Joint space servo mode motion
Mandatory parameters	joint_pos: target joint position in [°]; axisPos: external axis position in mm;
Default parameter	acc: acceleration, range [0~100], not open yet, default 0.0. vel: velocity, range [0~100], not open, default 0.0. cmdT: command send cycle, unit s, recommended range [0.001~0.0016], default is 0.008. filterT: filter time in [s], not open, default is 0.0; filterT: filter time in [s], not open, default is 0.0. gain: proportional amplifier for target position, not open yet, default 0.0; id: servoJ command ID, default 0.
Return Value	Error Code Success-0 Failure- errcode

4.16. Example of joint space servo mode motion 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')
j = [0.0] * 6
epos = [0.0] * 4
vel = 0.0
acc = 0.0
cmdT = 0.008
filterT = 0.0
gain = 0.0
flag = 0
count = 500
dt = 0.1
cmdID = 0
ret, j = robot.GetActualJointPosDegree(flag)
if ret == 0:
    cmdID += 1
    robot.ServoMoveStart()
    while count:
        robot.ServoJ(joint_pos=j,axisPos= epos,acc= acc,vel= vel, cmdT=cmdT, filterT=filterT, gain=gain, id=cmdID)
        j[4] += dt
        count -= 1
        time.sleep(cmdT)
        rtn,pkg = robot.GetRobotRealTimeState()
        print(f"Servoj Count {pkg.servoJCmdNum}; last pos is {pkg.lastServoTarget[0]},{pkg.lastServoTarget[1]},{pkg.lastServoTarget[2]},{pkg.lastServoTarget[3]},{pkg.lastServoTarget[4]},{pkg.lastServoTarget[5]}")

        if count < 50:
            robot.MotionQueueClear()
            print(f"After queue clear, Servoj Count {pkg.servoJCmdNum}; last pos is {pkg.lastServoTarget[0]},{pkg.lastServoTarget[1]},{pkg.lastServoTarget[2]},{pkg.lastServoTarget[3]},{pkg.lastServoTarget[4]},{pkg.lastServoTarget[5]}")
            break
    robot.ServoMoveEnd()
else:
    print(f"GetActualJointPosDegree errcode:{ret}")
robot.CloseRPC()

4.17. Joint torque control begins

Prototype	ServoJTStart()
Description	Joint torque control begins
Mandatory parameters	NULL
Default_parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

4.18. Joint torque control

Prototype	ServoJT(torque, interval, checkFlag=0, jPowerLimit=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], jVelLimit=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
Description	Joint Torque Control
Required Parameters	torque: Torque for joints j1~j6, unit: Nm interval: Command cycle, unit: s, range: [0.001~0.008] checkFlag: Detection strategy 0-No restrictions; 1-Power limit; 2-Velocity limit; 3-Both power and velocity limits, default: 0 jPowerLimit: Default parameter jPowerLimit Maximum joint power limit (W), default: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] jVelLimit: Maximum joint velocity (°/s), default: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
Default Parameters	None
Return Value	Error code Success-0 Failure- errcode

4.19. Joint torque control is completed

Prototype	ServoJTEnd()
Description	Joint torque control is completed
Mandatory parameters	NULL
Default_parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

4.20. Sample code for joint torque control

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.DragTeachSwitch(1)
# torques = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
error,torques = robot.GetJointTorques(1)
robot.ServoJTStart()
count = 100
while count > 0:
    error = robot.ServoJT(torques, 0.001)
    count -= 1
    time.sleep(0.001)
error = robot.ServoJTEnd()
robot.DragTeachSwitch(0)
robot.CloseRPC()

4.21. Joint Torque Control Code Example with Overspeed Protection

from fairino import Robot
import time
robot = Robot.RPC('192.168.58.2')
robot.ResetAllError()
time.sleep(0.5)
torques = [0.0] * 6
rtn, torques = robot.GetJointTorques(1)
robot.ServoJTStart()
robot.DragTeachSwitch(1)
checkFlag = 3
jPowerLimit = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
jVelLimit = [181,80,80,80,80,80]
count = 800000
error = 0
while count > 0:
    torques[2] = torques[2] + 0.01
    error = robot.ServoJT(torques, 0.008, checkFlag, jPowerLimit, jVelLimit)
    print(f"ServoJT rtn is {error}")
    count = count - 1
    time.sleep(0.001)
    rtn,pkg = robot.GetRobotRealTimeState()
    print(f"maincode {pkg.main_code},subcode {pkg.sub_code}")
robot.DragTeachSwitch(0)
error = robot.ServoJTEnd()