Python 6.22. Setting the global speed

Prototype	SetSpeed(vel)
Description	Set global speed
Mandatory parameter	vel: percentage of speed, range [0~100]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.23. Setting robot acceleration

New in version python: SDK-v2.0.4

Prototype	SetOaccScale(acc)
Description	Setting the robot acceleration
Mandatory parameter	acc: percentage of robot acceleration
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.24. Getting the default speed

Prototype	GetDefaultTransVel()
Description	Get Default Speed
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode vel: default speed in [mm/s]

6.25. Setting the end load weight

Prototype	SetLoadWeight(loadNum, weight)
Description	Set the end load weight, incorrect load weight setting may cause the robot to go out of control in drag mode
Mandatory parameters	loadNum:load number weight: unit [kg]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.26. Setting the end load center of mass coordinates

Prototype	SetLoadCoord(x,y,z,loadNum = 0)
Description	Set end-load center of mass coordinates, incorrect load center of mass setting may cause robot to go out of control in drag mode
Mandatory parameter	x: center of mass coordinates in [mm]. y: coordinates of the center of mass in [mm]. z: coordinates of the center of mass in [mm]
Default parameters	loadNum: Payload number, 0 by default
Return Value	Error Code Success-0 Failure- errcode

6.27. Get the weight of the current load

Prototype	GetTargetPayload(flag=1)
Description	Get the quality of the current load
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode weight: current load weight in [kg]

6.28. Get the center of mass of the current load

Prototype	GetTargetPayloadCog(flag=1)
Description	Get the center of mass of the current load
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode cog=[x,y,z]: coordinates of the current center of mass in [mm]

6.29. Setting the robot mounting method - fixed mounting

Prototype	SetRobotInstallPos(method)
description	set robot mounting method - fixed mounting, wrong mounting method setting can cause robot to lose control in drag mode
Mandatory parameters	method: 0-flat loading, 1-side loading, 2-hanging loading
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.30. Setting the robot mounting angle - free mounting

Prototype	SetRobotInstallAngle(yangle,zangle)
Description	Setting the robot mounting angle - free mounting, wrong mounting angle setting can cause the robot to go out of control in drag mode
Mandatory parameters	yangle: angle of inclination; zangle: angle of rotation
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.31. Getting the robot mounting angle

Prototype	GetRobotInstallAngle()
Description	Get robot mounting angle
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode [yangle,zangle]: yangle - angle of inclination, zangle - angle of rotation.

6.32. Setting system variable values

Prototype	SetSysVarValue(id,value)
Description	Setting System Variables
Mandatory parameters	id: variable number, in the range [1~20]. value: variable value
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.33. Getting system variable values

Prototype	GetSysVarValue(id)
Description	Get system variable values
Mandatory parameters	id: system variable number, range [1~20]
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode var_value: system variable value

6.34. Robot common setup 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')
for i in range(1, 100):
    robot.SetSpeed(i)
    robot.SetOaccScale(i)
    time.sleep(0.03)
error,defaultVel = robot.GetDefaultTransVel()
print(f"GetDefaultTransVel is {defaultVel}")
for i in range(1, 21):
    robot.SetSysVarValue(i, i + 0.5)
    time.sleep(0.1)
for i in range(1, 21):
    value = robot.GetSysVarValue(i)
    print(f"sys value {i} is: {value}")
    time.sleep(0.1)
robot.SetLoadWeight(0, 2.5)
robot.SetLoadCoord(3.0,4.0,5.0)
time.sleep(1)
error,getLoad = robot.GetTargetPayload(0)
error,getLoadTran = robot.GetTargetPayloadCog(0)
print(f"get load is {getLoad}; get load cog is {getLoadTran[0]} {getLoadTran[1]} {getLoadTran[2]}")
robot.SetRobotInstallPos(0)
robot.SetRobotInstallAngle(15.0, 25.0)
error,[anglex, angley] = robot.GetRobotInstallAngle()
print(f"GetRobotInstallAngle x: {anglex}; y: {angley}")
robot.CloseRPC()

6.35. Joint Friction Compensation Switch

Prototype	FrictionCompensationOnOff(state)
Description	Joint Friction Compensation Switch
Mandatory parameters	state: 0-off, 1-on
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.36. Setting the joint friction compensation coefficients - positive loading

Prototype	SetFrictionValue_level(coeff)
Description	Setting the joint friction compensation coefficient - Fixed mounting - Positive mounting
Mandatory parameters	coeff=[j1,j2,j3,j4,j5,j6]: six joint compensation coefficients
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.37. Setting the joint friction compensation coefficient - side mounting

Prototype	SetFrictionValue_wall(coeff)
Description	Setting the joint friction compensation coefficient - fixed mounting - side mounting
Mandatory parameters	coeff=[j1,j2,j3,j4,j5,j6]: six joint compensation coefficients
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.38. Setting the Joint Friction Compensation Factor - Inverted

Prototype	SetFrictionValue_ceiling(coeff)
Description	Setting the joint friction compensation coefficient - fixed mounting - inverted mounting
Mandatory parameters	coeff=[j1,j2,j3,j4,j5,j6]: six joint compensation coefficients
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.39. Setting the joint friction compensation factor - free mounting

Prototype	SetFrictionValue_freedom(coeff)
Description	Setting the joint friction compensation factor - free mounting
Mandatory parameters	coeff=[j1,j2,j3,j4,j5,j6]: six joint compensation coefficients
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode