Python 7. Security Settings

7.1. Setting the collision level

Prototype	SetAnticollision (mode,level,config)
Description	Setting the collision level
Mandatory parameters	mode: 0 - level, 1 - percentage; level=[j1,j2,j3,j4,j5,j6]: collision threshold; config: 0 - do not update configuration file, 1 - update configuration file
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

7.2. Setting the post-collision strategy

Prototype	SetCollisionStrategy(strategy,safeTime,safeDistance,safeVel,safetyMargin)
Description	Set post-crash strategy
Mandatory parameters	strategy: 0 - report error and pause, 1 - keep running, 2 - error stop, 3 - heavy moment mode, 4 - shock response mode, 5 - impact rebound mode
Default parameters	safeTime: safe stop time [1000-2000] ms, default: 1000 safeDistance: safe stopping distance [1-150] mm, default: 100 safeVel: safe stopping speed[50-250]mm/s, default: 250 safetyMargin[6]: safety margin [1-10], default: [10,10,10,10,10,10,10]
Return Value	Error Code Success-0 Failure- errcode

7.3. The Custom collision detection threshold function starts to set the collision detection thresholds of the joint end and TCP end

New in version python: SDK-v2.1.0

Prototype	CustomCollisionDetectionStart(flag, jointDetectionThreshould, tcpDetectionThreshould, block)
Description	The Custom collision detection threshold function starts to set the collision detection thresholds of the joint end and TCP end
Mandatory parameters	flag: 1- Only joint detection is turned on; 2- Only TCP detection is enabled. 3- Joint and TCP detection are enabled simultaneously jointDetectionThreshould: Joint collision detection threshold j1-j6 tcpDetectionThreshould: indicates TCP collision detection threshold, xyzabc block: 0- non-blocking; 1- block
Default parameters	NULL
Return Value	errcode Success-0 Failure- errcode

7.4. The custom collision detection threshold function is disabled

New in version python: SDK-v2.1.0

Prototype	CustomCollisionDetectionEnd()
Description	The custom collision detection threshold function is disabled
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errcode Success-0 Failure- errcode

7.5. Robot collision level setting 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')
mode = 0
config = 1
level1 = [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]
level2 = [50.0, 20.0, 30.0, 40.0, 50.0, 60.0]
rtn = robot.SetAnticollision(mode, level1, config)
print(f"SetAnticollision mode 0 rtn is {rtn}")
mode = 1
rtn = robot.SetAnticollision(mode, level2, config)
print(f"SetAnticollision mode 1 rtn is {rtn}")
p1Joint = [-11.904, -99.669, 117.473, -108.616, -91.726, 74.256]
p2Joint = [-45.615, -106.172, 124.296, -107.151, -91.282, 74.255]
p1Desc = [-419.524, -13.000, 351.569, -178.118, 0.314, 3.833]
p2Desc = [-321.222, 185.189, 335.520, -179.030, -1.284, -29.869]
exaxisPos = [0.0, 0.0, 0.0, 0.0]
offdese = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
robot.MoveL(desc_pos=p2Desc, tool=0, user=0, vel=100, blendR=2)
robot.ResetAllError()
safety = [5, 5, 5, 5, 5, 5]
rtn = robot.SetCollisionStrategy(3, 1000, 150, 250, safety)
print(f"SetCollisionStrategy rtn is {rtn}")
jointDetectionThreshould = [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
tcpDetectionThreshould = [60, 60, 60, 60, 60, 60]
rtn = robot.CustomCollisionDetectionStart(3, jointDetectionThreshould, tcpDetectionThreshould, 0)
print(f"CustomCollisionDetectionStart rtn is {rtn}")
robot.MoveL(desc_pos=p1Desc, tool=0, user=0, vel=100)
robot.MoveL(desc_pos=p2Desc, tool=0, user=0, vel=100)
rtn = robot.CustomCollisionDetectionEnd()
print(f"CustomCollisionDetectionEnd rtn is {rtn}")
robot.CloseRPC()

7.6. Setting the positive limit

Prototype	SetLimitPositive(p_limit)
Description	Setting positive limits
Mandatory parameters	p_limit=[j1,j2,j3,j4,j5,j6]: six joint positions
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

7.7. Setting the negative limit

Prototype	SetLimitNegative(n_limit)
Description	Setting negative limits
Mandatory parameters	n_limit=[j1,j2,j3,j4,j5,j6]: six joint positions
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

7.8. Obtaining the soft limiting angle of a joint

Prototype	GetJointSoftLimitDeg(flag=1)
Description	Acquisition of joint soft limiting angle
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode [j1min,j1max,j2min,j2max,j3min,j3max, j4min,j4max,j5min, j5max, j6min,j6max]: Axis 1 to Axis 6, joints with negative and positive limits, in [mm]

7.9. Robot limit setting 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')
plimit = [170.0, 80.0, 150.0, 80.0, 170.0, 160.0]
robot.SetLimitPositive(plimit)
nlimit = [-170.0, -260.0, -150.0, -260.0, -170.0, -160.0]
robot.SetLimitNegative(nlimit)
error,neg_deg = robot.GetJointSoftLimitDeg(0)
print(f"pos limit deg: {neg_deg[1]}, {neg_deg[3]}, {neg_deg[5]}, {neg_deg[7]}, {neg_deg[9]}, {neg_deg[11]}")
print(f"neg limit deg: {neg_deg[0]}, {neg_deg[2]}, {neg_deg[4]}, {neg_deg[6]}, {neg_deg[8]}, {neg_deg[10]}")
robot.CloseRPC()

7.10. Setting up a robot collision detection method

New in version python: SDK-v2.1.2

prototype	SetCollisionDetectionMethod(method, thresholdMode)
Description	Sets the robot collision detection method.
Mandatory parameters	method: collision detection method: 0 - current mode; 1 - dual encoder; 2 - current and dual encoder on at the same time thresholdMode: Collision level threshold method 0-Collision level fixed threshold mode 1- Customize collision detection thresholds
Default parameters	NULL
Return Value	errcode Success-0 Failure- errcode

7.11. Set static undercollision detection to start off

New in version python: SDK-v2.0.5

Prototype	SetStaticCollisionOnOff(status)
Description	Set static undercollision detection to start off
Mandatory parameters	status: 0 - off; 1 - on
Default parameters	NULL
Return Value	errcode Success-0 Failure- errcode

7.12. Set up the robot collision detection method 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')
rtn = robot.SetCollisionDetectionMethod(0,0)
rtn = robot.SetStaticCollisionOnOff(1)
print(f"SetStaticCollisionOnOff On rtn is {rtn}")
time.sleep(5)
rtn = robot.SetStaticCollisionOnOff(0)
print(f"SetStaticCollisionOnOff Off rtn is {rtn}")
robot.CloseRPC()

7.13. Joint torque and power detection

New in version python: SDK-v2.0.5

Prototype	SetPowerLimit(status, power)
Description	Joint torque and power detection
Mandatory parameters	status: 0 - off; 1 - on power：Set the maximum power (W)
Default parameters	NULL
Return Value	errcode Success-0 Failure- errcode

7.14. Sample code for joint torque power detection

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')
robot.DragTeachSwitch(1)
robot.SetPowerLimit(1, 200)
error,torques = robot.GetJointTorques(1)
count = 100
robot.ServoJTStart()
while count > 0:
    error = robot.ServoJT(torques, 0.001)
    count -= 1
    time.sleep(0.001)  # 1ms delay
error = robot.ServoJTEnd()
robot.DragTeachSwitch(0)
robot.CloseRPC()