Python 6.59. Sample code for automatic calibration of joint torque sensor sensitivity

from fairino import Robot
import time
robot = Robot.RPC('192.168.58.2')
rtn = robot.JointSensitivityEnable(0)
rtn = robot.JointSensitivityEnable(1)
print(f"JointSensitivityEnable rtn is {rtn}")
curJPos = [0.0] * 6
rtn, curJPos = robot.GetActualJointPosDegree(0)
epos = [0.0] * 4
offset_pos = [0.0] * 6
jointPos1 = [curJPos[0], 0.0, 0.0, -90.0, 0.02, curJPos[5]]
descPos1 = [0.0] * 6
rtn, descPos1 = robot.GetForwardKin(jointPos1)
robot.MoveJ(joint_pos=jointPos1, desc_pos=descPos1, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.2)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 1 rtn is {rtn}")
time.sleep(0.1)
jointPos2 = [curJPos[0], -30.0, 0.0, -90.0, 0.02, curJPos[5]]
descPos2 = [0.0] * 6
rtn, descPos2 = robot.GetForwardKin(jointPos2)
robot.MoveJ(joint_pos=jointPos2, desc_pos=descPos2, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 2 rtn is {rtn}")
time.sleep(0.1)
jointPos3 = [curJPos[0], -60.0, 0.0, -90.0, 0.02, curJPos[5]]
descPos3 = [0.0] * 6
rtn, descPos3 = robot.GetForwardKin(jointPos3)
robot.MoveJ(joint_pos=jointPos3, desc_pos=descPos3, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 3 rtn is {rtn}")
time.sleep(0.1)
jointPos4 = [curJPos[0], -90.0, 0.0, -90.0, 0.02, curJPos[5]]
descPos4 = [0.0] * 6
rtn, descPos4 = robot.GetForwardKin(jointPos4)
robot.MoveJ(joint_pos=jointPos4, desc_pos=descPos4, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 4 rtn is {rtn}")
time.sleep(0.1)
jointPos5 = [curJPos[0], -120.0, 0.0, -90.0, 0.02, curJPos[5]]
descPos5 = [0.0] * 6
rtn, descPos5 = robot.GetForwardKin(jointPos5)
robot.MoveJ(joint_pos=jointPos5, desc_pos=descPos5, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 5 rtn is {rtn}")
time.sleep(0.1)
jointPos6 = [curJPos[0], -150.0, 0.0, -90.0, 0.02, curJPos[5]]
descPos6 = [0.0] * 6
rtn, descPos6 = robot.GetForwardKin(jointPos6)
robot.MoveJ(joint_pos=jointPos6, desc_pos=descPos6, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 6 rtn is {rtn}")
time.sleep(0.1)
jointPos7 = [curJPos[0], -180.0, 0.0, -90.0, 0.02, curJPos[5]]
descPos7 = [0.0] * 6
rtn, descPos7 = robot.GetForwardKin(jointPos7)
robot.MoveJ(joint_pos=jointPos7, desc_pos=descPos7, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 7 rtn is {rtn}")
time.sleep(0.1)
robot.MoveJ(joint_pos=jointPos6, desc_pos=descPos6, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 8 rtn is {rtn}")
time.sleep(0.1)
robot.MoveJ(joint_pos=jointPos5, desc_pos=descPos5, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 9 rtn is {rtn}")
time.sleep(0.1)
robot.MoveJ(joint_pos=jointPos4, desc_pos=descPos4, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 10 rtn is {rtn}")
time.sleep(0.1)
robot.MoveJ(joint_pos=jointPos3, desc_pos=descPos3, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 11 rtn is {rtn}")
time.sleep(0.1)
robot.MoveJ(joint_pos=jointPos2, desc_pos=descPos2, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.1)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 12 rtn is {rtn}")
time.sleep(0.1)
robot.MoveJ(joint_pos=jointPos1, desc_pos=descPos1, tool=0, user=0, vel=100, acc=100, ovl=100, exaxis_pos=epos, blendT=-1, offset_flag=0, offset_pos=offset_pos)
time.sleep(0.2)
rtn = robot.JointSensitivityCollect()
print(f"JointSensitivityCollect 13 rtn is {rtn}")
time.sleep(0.1)
calibResult = [0.0] * 6
linearity = [0.0] * 6
rtn,calibResult, linearity = robot.JointSensitivityCalibration()
print(f"JointSensitivityCalibration rtn is {rtn}")
rtn = robot.JointSensitivityEnable(0)
print(f"JointSensitivityEnable rtn is {rtn}")
print(f"jointSensor Calib result is {calibResult[0]},{calibResult[1]},{calibResult[2]},{calibResult[3]},{calibResult[4]},{calibResult[5]}")
print( f"jointSensor linearity is {linearity[0]},{linearity[1]},{linearity[2]},{linearity[3]},{linearity[4]},{linearity[5]}")
hysteresisError = [0.0] * 6
rtn,hysteresisError = robot.JointHysteresisError()
print(f"JointHysteresisError result is {hysteresisError[0]},{hysteresisError[1]},{hysteresisError[2]},{hysteresisError[3]},{hysteresisError[4]},{hysteresisError[5]}")
repeatability = [0.0] * 6
rtn,repeatability = robot.JointRepeatability()
print(f"JointRepeatability result is {repeatability[0]},{repeatability[1]},{repeatability[2]},{repeatability[3]},{repeatability[4]},{repeatability[5]}")
M = [1.0] * 6
B = [1.0] * 6
K = [0.0] * 6
threshold = [1.0] * 6
setZeroFlag = 1
rtn = robot.SetAdmittanceParams(M, B, K, threshold, calibResult, setZeroFlag)
print(f"SetAdmittanceParams rtn is {rtn}")
robot.CloseRPC()

6.60. The number of error frames at eight slave ports of the robot is obtained

New in version python: SDK-v2.1.7

Prototype	GetSlavePortErrCounter()
Description	The number of error frames at eight slave ports of the robot is obtained
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode inRecvErr：Input the number of error frames received inCRCErr：Input the number of CRC error frames inTransmitErr：Input the number of forwarding error frames inLinkErr：Enter the number of link error frames outRecvErr：Outputs the number of frames received incorrectly outCRCErr：The number of CRC error frames is output outTransmitErr：Outputs the number of forwarding error frames outLinkErr：Output link error frames

6.61. Slave port error frame reset

New in version python: SDK-v2.1.7

Prototype	JointSensitivityEnable(slaveID)
Description	Slave port error frame reset
Mandatory parameters	slaveID：Slave station numbers 0 to 7
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.62. Get sample slave port error frame code

from fairino import Robot
import time
import threading
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
inRecvErr = [0] * 8
inCRCErr = [0] * 8
inTransmitErr = [0] * 8
inLinkErr = [0] * 8
outRecvErr = [0] * 8
outCRCErr = [0] * 8
outTransmitErr = [0] * 8
outLinkErr = [0] * 8
rtn,inRecvErr, inCRCErr, inTransmitErr, inLinkErr, outRecvErr, outCRCErr, outTransmitErr, outLinkErr = robot.GetSlavePortErrCounter()
for i in range(8):
    if inRecvErr[i] != 0:
        print(f"inRecvErr {i} is {inRecvErr[i]}")
    if inCRCErr[i] != 0:
        print(f"inCRCErr {i} is {inCRCErr[i]}")
    if inTransmitErr[i] != 0:
        print(f"inTransmitErr {i} is {inTransmitErr[i]}")
    if inLinkErr[i] != 0:
        print(f"inLinkErr {i} is {inLinkErr[i]}")
    if outRecvErr[i] != 0:
        print(f"outRecvErr {i} is {outRecvErr[i]}")
    if outCRCErr[i] != 0:
        print(f"outCRCErr {i} is {outCRCErr[i]}")
    if outTransmitErr[i] != 0:
        print(f"outTransmitErr {i} is {outTransmitErr[i]}")
    if outLinkErr[i] != 0:
        print(f"outLinkErr {i} is {outLinkErr[i]}")
print("others has no err!")
for i in range(8):
    robot.SlavePortErrCounterClear(i)
robot.CloseRPC()

6.63. Set the feed-forward coefficient of each axis speed

New in version python: SDK-v2.1.7

Prototype	SetVelFeedForwardRatio(radio)
Description	Set the feed-forward coefficient of each axis speed
Mandatory parameters	radio：Each axis velocity feedforward coefficient
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

6.64. The velocity feedforward coefficients of each axis are obtained

New in version python: SDK-v2.1.7

Prototype	GetVelFeedForwardRatio()
Description	The velocity feedforward coefficients of each axis are obtained
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode radio：Each axis velocity feedforward coefficient

6.65. Robot velocity feedforward coefficient code example

from fairino import Robot
import time
import threading
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
setRadio = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
robot.SetVelFeedForwardRatio(setRadio)
getRadio = [0.0] * 6
rtn,getRadio = robot.GetVelFeedForwardRatio()
print(f"{getRadio[0]},{getRadio[1]},{getRadio[2]},{getRadio[3]},{getRadio[4]},{getRadio[5]}")
robot.CloseRPC()

6.66. Photoelectric Sensor TCP Calibration - Compute Tool RPY

Prototype	TCPComputeRPY(Btool, Etool, sensor, radius, dz)
Description	Photoelectric Sensor TCP Calibration - Compute Tool RPY
Required Parameters	Btool: Robot Cartesian position Etool: Current tool coordinate values sensor: Current sensor coordinate values (not yet available) radius: Circular motion radius in mm (not yet available) dz: Movement distance along the negative Z-axis of the base coordinate system; when dz = 10000, the function directly returns tool RPY
Default Parameters	None
Return Value	Error code. Success - 0, Failure - errcode

6.67. Photoelectric Sensor TCP Calibration - Compute Tool XYZ

Prototype	TCPComputeXYZ(select, originDirection, pos1, pos2, pos3, pos4)
Description	Photoelectric Sensor TCP Calibration - Compute Tool XYZ
Required Parameters	select: 0-Compute tool TCP; 1-Compute sensor origin; 2-Compute sensor orientation; 3-Directly return tool TCP; 4-Record current workpiece coordinate system and tool coordinate system originDirection: 0-X direction; 1-Y direction; 2-Z direction pos1: Robot Cartesian position 1 pos2: Robot Cartesian position 2 pos3: Robot Cartesian position 3 pos4: Robot Cartesian position 4
Default Parameters	None
Return Value	Error code. Success - 0, Failure - errcode Return value (returned on successful call) TCP Tool XYZ values

6.68. Photoelectric Sensor TCP Calibration - Start Recording Flange Center Position

Prototype	TCPRecordFlangePosStart()
Description	Photoelectric Sensor TCP Calibration - Start Recording Flange Center Position
Required Parameters	None
Default Parameters	None
Return Value	Error code. Success - 0, Failure - errcode

6.69. Photoelectric Sensor TCP Calibration - Stop Recording Flange Center Position

Prototype	TCPRecordFlangePosEnd()
Description	Photoelectric Sensor TCP Calibration - Stop Recording Flange Center Position
Required Parameters	None
Default Parameters	None
Return Value	Error code. Success - 0, Failure - errcode

6.70. Photoelectric Sensor TCP Calibration - Get Tool Center Point Position

Prototype	TCPGetRecordFlangePos()
Description	Photoelectric Sensor TCP Calibration - Get Tool Center Point Position
Required Parameters	None
Default Parameters	None
Return Value	Error code. Success - 0, Failure - errcode Return value (returned on successful call) TCP Tool center point position (x, y, z)

6.71. Photoelectric Sensor TCP Calibration

Prototype	PhotoelectricSensorTCPCalibration(luaPath, offsetX)
Description	Photoelectric Sensor TCP Calibration
Required Parameters	luaPath: Automatic calibration Lua program path: For QX version robots - ‘/fruser/FR_CalibrateTheToolTcp.lua’; For LA version robots - ‘/usr/local/etc/controller/lua/FR_CalibrateTheToolTcp.lua’ offsetX: Teaching point offset (x, y, z) in mm
Default Parameters	None
Return Value	Error code. Success - 0, Failure - errcode Return value (returned on successful call) TCP Tool XYZ values

6.72. Photoelectric Sensor TCP Calibration Code Example

from fairino import Robot
import time
robot = Robot.RPC('192.168.58.2')
offset = [10.0, 10.0, 3.0]
TCP = [0.0] * 6
rtn, TCP = robot.PhotoelectricSensorTCPCalibration("/fruser/FR_CalibrateTheToolTcp.lua", offset)
print(f"PhotoelectricSensorTCPCalibration rtn is {rtn},{TCP[0]},{TCP[1]},{TCP[2]},{TCP[3]},{TCP[4]},{TCP[5]}")
robot.CloseRPC()
return 0