Python 4.22. Cartesian Space Servo Mode Motion

Prototype	ServoCart(mode, desc_pos, exaxis, pos_gain=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0], acc=0.0, vel=0.0, cmdT=0.008,filterT=0.0, gain=0.0)
Description	Cartesian space servo mode motion
Required Parameters	mode:[0]-Absolute motion (base coordinate system), [1]-Incremental motion (base coordinate system), [2]-Incremental motion (tool coordinate system); exaxis:Extended axis position; desc_pos:Target Cartesian position/Target Cartesian position increment;
Default Parameters	pos_gain:Pose increment proportionality coefficient, only effective in incremental motion, range [0~1], default [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]; acc:Acceleration, range [0~100], temporarily not available, default 0.0; vel:Velocity, range [0~100], temporarily not available, default 0.0; cmdT:Command transmission period, unit s, recommended range [0.001~0.0016], default 0.008; filterT:Filter time, unit [s], temporarily not available, default 0.0; gain:Proportional amplifier for target position, temporarily not available, default 0.0;
Return Value	Error code Success-0 Failure- errcode

4.23. Cartesian Space Servo Mode Motion Code Example

from fairino import Robot
import time
robot = Robot.RPC('192.168.58.2')
desc_pos_dt = [83.00800, 50.525000, 29.246, 179.629, -7.138, -166.975]
exaxis = [100.0, 0.0, 0.0, 0.0]
pos_gain = [0.0] * 6
mode = 0
vel = 0.0
acc = 0.0
cmdT = 0.001
filterT = 0.0
gain = 0.0
flag = 0
count = 5000
robot.SetSpeed(20)
while count:
    rtn = robot.ServoCart(mode, desc_pos_dt, exaxis, pos_gain, acc, vel, cmdT, filterT, gain)
    print(f"ServoCart rtn is {rtn}")
    count -= 1
    desc_pos_dt[0] += 0.01
    exaxis[0] += 0.01
robot.CloseRPC()
return 0

4.24. Start of spline motion

Prototype	SplineStart()
Description	Sample movement begins
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

4.25. Sample motion PTP

Prototype	SplinePTP(joint_pos, tool, user, desc_pos = [0.0,0.0,0.0,0.0,0.0,0.0,0.0], vel = 20.0, acc = 100.0, ovl = 100.0)
Description	Sample Motion PTP
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: velocity, range [0-100], default 20.0. acc: acceleration, range [0 to 100], default 100.0. ovl: velocity scaling factor, [0 to 100], default 100.0
Return Value	Error Code Success-0 Failure- errcode

4.26. End of spline motion

Prototype	SplineEnd()
Description	End of spline motion
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

4.27. Spline 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')
joint_points = [
    [-11.904, -99.669, 117.473, -108.616, -91.726, 74.256],  # j1
    [-45.615, -106.172, 124.296, -107.151, -91.282, 74.255],  # j2
    [-61.954, -84.409, 108.153, -116.316, -91.283, 74.260],  # j3
    [-89.575, -80.276, 102.713, -116.302, -91.284, 74.267]  # j4
]
cart_points = [
    [-419.524, -13.000, 351.569, -178.118, 0.314, 3.833],  # desc_pos1
    [-321.222, 185.189, 335.520, -179.030, -1.284, -29.869],  # desc_pos2
    [-327.622, 402.230, 320.402, -178.067, 2.127, -46.207],  # desc_pos3
    [-104.066, 544.321, 327.023, -177.715, 3.371, -73.818]  # desc_pos4
]
offset_pos = [0] * 6
epos = [0] * 4
tool = user = 0
vel = acc = ovl = 100.0
blendT = -1.0
flag = 0
robot.SetSpeed(20)
err1 = robot.MoveJ(joint_pos=joint_points[0],tool=tool, user=user,vel=vel)
print(f"MoveJ 错误码: {err1}")
robot.SplineStart()
robot.SplinePTP(joint_pos=joint_points[0],tool=tool, user=user)
robot.SplinePTP(joint_pos=joint_points[1],tool=tool, user=user)
robot.SplinePTP(joint_pos=joint_points[2],tool=tool, user=user)
robot.SplinePTP(joint_pos=joint_points[3],tool=tool, user=user)
robot.SplineEnd()
robot.CloseRPC()

4.28. New spline movement begins

Changed in version python: SDK-v2.0.3

prototype	NewSplineStart(type,averageTime=2000)
Description	New Sample Movement Begins
Mandatory parameters	type: 0 - arc transition, 1 - given point path point
Default Parameters	averageTime: global average articulation time (ms) defaults to 2000
Return Value	Error Code Success-0 Failure- errcode

4.29. New spline command point

Prototype	NewSplinePoint(desc_pos,tool,user,lastFlag,joint_pos=[0.0,0.0,0.0,0.0,0.0,0.0], vel = 0.0, acc = 0.0, ovl = 100.0 ,blendR = 0.0 )
description	new spline command point
Mandatory parameters	desc_pos: target Cartesian position in [mm][°]. tool: tool number, [0 to 14]; user: artifact number, [0 to 14]; lastFlag: whether it is the last point, 0 - no, 1 - yes;
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: velocity, range [0~100], not open yet, default is 0.0;; acc: acceleration, range [0 to 100], not open, default 0.0. ovl: velocity scaling factor, [0~100] default 100.0. blendR: [0~1000]-smoothing radius in [mm] default 0.0;
Return Value	Error Code Success-0 Failure- errcode

4.30. End of new spline movement

Prototype	NewSplineEnd()
Description	End of New Sample Campaign
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

4.31. Example of new spline 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')
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 = [-61.954, -84.409, 108.153, -116.316, -91.283, 74.260]
j4 = [-89.575, -80.276, 102.713, -116.302, -91.284, 74.267]
j5 = [-95.228, -54.621, 73.691, -112.245, -91.280, 74.268]
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 = [-327.622, 402.230, 320.402, -178.067, 2.127, -46.207]
desc_pos4 = [-104.066, 544.321, 327.023, -177.715, 3.371, -73.818]
desc_pos5 = [-33.421, 732.572, 275.103, -177.907, 2.709, -79.482]
offset_pos = [0, 0, 0, 0, 0, 0]
epos = [0, 0, 0, 0]
tool = 0
user = 0
vel = 100.0
acc = 100.0
ovl = 100.0
blendT = -1.0
flag = 0
robot.SetSpeed(20)
err1 = robot.MoveJ(joint_pos=j1, tool=tool, user=user, vel=vel)
print(f"movej errcode:{err1}")
robot.NewSplineStart(1, 2000)
robot.NewSplinePoint(desc_pos=desc_pos1, tool=tool, user=user, vel=vel, lastFlag=-1, blendR=0)
robot.NewSplinePoint(desc_pos=desc_pos2, tool=tool, user=user, vel=vel, lastFlag=-1, blendR=0)
robot.NewSplinePoint(desc_pos=desc_pos3, tool=tool, user=user, vel=vel, lastFlag=-1, blendR=0)
robot.NewSplinePoint(desc_pos=desc_pos4, tool=tool, user=user, vel=vel, lastFlag=-1, blendR=0)
robot.NewSplinePoint(desc_pos=desc_pos5, tool=tool, user=user, vel=vel, lastFlag=-1, blendR=0)
robot.NewSplineEnd()
robot.CloseRPC()

4.32. Robot termination motion

Prototype	StopMotion()
Description	Terminate motion, use of terminate motion requires motion instruction to be non-blocking
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

4.33. Robot pause

Prototype	PauseMotion()
Description	Pause motion. Using pause motion requires the motion instruction to be in a non-blocking state
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

4.34. Robot resume motion

Prototype	ResumeMotion()
Description	Resume motion, using resume motion requires the motion instruction to be in a non-blocking state
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

4.35. Motion pause, resume, and stop code examples

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')
j1 =[-11.904, -99.669, 117.473, -108.616, -91.726, 74.256]
j5 =[-95.228, -54.621, 73.691, -112.245, -91.280, 74.268]
desc_pos1 = [-419.524, -13.000, 351.569, -178.118, 0.314, 3.833]
desc_pos5 = [-33.421, 732.572, 275.103, -177.907, 2.709, -79.482]
offset_pos = [0, 0, 0, 0, 0, 0]
epos = [0, 0, 0, 0]
tool = 0
user = 0
vel = 100.0
acc = 100.0
ovl = 100.0
blendT = -1.0
flag = 0
robot.SetSpeed(20)
rtn = robot.MoveJ(joint_pos=j1, tool=tool, user=user, vel=vel)
rtn = robot.MoveJ(joint_pos=j5, tool=tool, user=user, vel=vel, blendT=1)
time.sleep(1)
robot.PauseMotion()
time.sleep(1)
robot.ResumeMotion()
time.sleep(1)
robot.StopMotion()
time.sleep(1)
robot.CloseRPC()

4.36. Overall shift in points begins

Prototype	PointsOffsetEnable(flag,offset_pos)
Description	Point Overall Offset Begins
Mandatory parameters	flag: 0 - offset in base or work coordinate system, 2 - offset in tool coordinate system; offset_pos: offset in [mm][°].
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

4.37. Overall offset of points ends

Prototype	PointsOffsetDisable()
Description	End of overall point offset
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

4.38. Point offset 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')
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]
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]
offset_pos = [0, 0, 0, 0, 0, 0]
offset_pos1 = [0, 0, 50, 0, 0, 0]
epos = [0, 0, 0, 0]
tool = 0
user = 0
vel = 100.0
acc = 100.0
ovl = 100.0
blendT = -1.0
flag = 0
robot.SetSpeed(20)
robot.MoveJ(joint_pos=j1,tool=tool, user=user, vel=vel)
robot.MoveJ(joint_pos=j2, tool=tool, user=user, vel=vel)
time.sleep(1)
robot.PointsOffsetEnable(flag=0, offset_pos=offset_pos1)
robot.MoveJ(joint_pos=j1,tool=tool, user=user, vel=vel)
robot.MoveJ(joint_pos=j2, tool=tool, user=user, vel=vel)
robot.PointsOffsetDisable()
robot.CloseRPC()

4.39. Control box motion AO start

New in version python: SDK-v2.0.4

Prototype	MoveAOStart(AONum,maxTCPSpeed=1000,maxAOPercent=100,zeroZoneCmp=20)
Description	Control Box Motion AO Start
Mandatory parameters	AONum: control box AO number
Default Parameters	maxTCPSpeed: Maximum TCP speed value [1-5000mm/s], default 1000; maxAOPercent: percentage of AO corresponding to the maximum TCP speed value, default 100%; zeroZoneCmp: deadzone compensation value AO percentage, shaped, default 20%, range [0-100].
Return Value	Error Code Success-0 Failure- errcode

4.40. End of control box movement AO

New in version python: SDK-v2.0.4

Prototype	MoveAOStop()
Description	End of control box motion AO
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

4.41. End Motion AO Start

New in version python: SDK-v2.0.4

Prototype	MoveToolAOStart(AONum,maxTCPSpeed=1000,maxAOPercent=100,zeroZoneCmp =20)
Description	End Motion AO Start
Mandatory parameters	AONum: end AO number
Default Parameters	maxTCPSpeed: Maximum TCP speed value [1-5000mm/s], default 1000; maxAOPercent: percentage of AO corresponding to the maximum TCP speed value, default 100%; zeroZoneCmp: deadzone compensation value AO percentage, shaped, default 20%, range [0-100].
Return Value	Error Code Success-0 Failure- errcode

4.42. End movement AO end

New in version python: SDK-v2.0.4

Prototype	MoveToolAOStop()
Description	end movement AO end
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode