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Python 8. Status query

8.1. Get the current joint position (angle).

prototype	GetActualJointPosDegree(flag=1)
Description	Get the current position (angle) of the joint.
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking, default 1
Return Value	errorcode Success-0 Failure- errcode joint_pos=[j1,j2,j3,j4,j5,j6]: current joint position (angle)

8.2. Get the current joint position in radians.

Prototype	GetActualJointPosRadian(flag=1)
Description	Get the current position (in radians) of the joint.
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode joint_pos=[j1,j2,j3,j4,j5,j6]: current joint position (in radians)

8.3. Get joint feedback speed -deg/s

Prototype	GetActualJointSpeedsDegree(flag=1)
Description	Get joint feedback speed -deg/s
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode speed=[j1,j2,j3,j4,j5,j6]: joint feedback speed -deg/s

8.4. Obtain joint feedback acceleration-deg/s^2

Prototype	GetActualJointAccDegree(flag=1)
Description	Obtain joint feedback acceleration-deg/s^2
Mandatory parameters	NULL
Default parameters	flag： 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode acc=[j1,j2,j3,j4,j5,j6]：Joint feedback acceleration-deg/s^2

8.5. Get TCP command synthesis speed

Prototype	GetTargetTCPCompositeSpeed(flag=1)
Description	Get TCP command synthesis speed
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode [tcp_speed,ori_speed]: tcp_speed - linear closing speed ori_speed - attitude closing speed

8.6. Getting TCP Feedback Hopping Speed

Prototype	GetActualTCPCompositeSpeed(flag=1)
Description	Get TCP feedback closing speed
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode [tcp_speed,ori_speed]: tcp_speed - linear closing speed ori_speed - attitude closing speed

8.7. Get TCP command speed

Prototype	GetTargetTCPSpeed(flag=1)
Description	Get TCP command speed
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode speed=[x,y,z,rx,ry,rz]: TCP command speed, mm/s

8.8. Getting TCP feedback speed

Prototype	GetActualTCPSpeed(flag=1)
Description	Get TCP feedback on speed
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode speed=[x,y,z,rx,ry,rz]: TCP feedback speed

8.9. Get current tool position

Prototype	GetActualTCPPose(flag=1)
Description	Get current tool position
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode tcp_pose=[x,y,z,rx,ry,rz]: current tool pose

8.10. Get the current tool coordinate system number

prototype	GetActualTCPNum(flag=1)
Description	Get the current tool coordinate system number
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode tool_id: tool coordinate system number

8.11. Get the current workpiece coordinate system number

prototype	GetActualWObjNum(flag=1)
Description	Get the current workpiece coordinate system number
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode wobj_id: the workpiece coordinate system number

8.12. Get the current end flange position

Prototype	GetActualToolFlangePose(flag=1)
Description	Get current end flange position
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode flange_pose=[x,y,z,rx,ry,rz]: current end flange pose

8.13. Get current joint torque

Prototype	GetJointTorques(flag=1)
Description	Get the current joint torque
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode torques=[j1,j2,j3,j4,j5,j6]: joint torques.

8.14. Get system time

Prototype	GetSystemClock()
Description	Get system time
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode t_ms: system time in [ms]

8.15. Queries whether robot motion is complete

Prototype	GetRobotMotionDone()
Description	Query if robot movement is complete
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode state: state of robot motion, 0 - unfinished, 1 - finished

8.16. Query the cache length of the robot motion queue

Prototype	GetMotionQueueLength()
Description	Query the cache length of the robot motion queue
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode len：Cache length

8.17. Obtain the emergency stop status of the robot

Prototype	GetRobotEmergencyStopState()
Description	Obtain the emergency stop status of the robot
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode state：Emergency stop status: 0- non-emergency stop, 1- emergency stop

8.18. Obtain the communication status between the SDK and the robot

Prototype	GetSDKComState()
Description	Obtain the communication status between the SDK and the robot
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode state：Communication status: 0- Normal communication, 1- Abnormal communication

8.19. Obtain the safety stop signal

Prototype	GetSafetyStopState()
Description	Obtain the safety stop signal
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode [si0_state,si1_state]：si0_state safety stop signal SI0, 0- invalid, 1- valid si1_state safety stop signal SI1, 0- invalid, 1- valid

8.20. Obtain the current temperature of the joint drive(℃)

Prototype	GetJointDriverTemperature()
Description	Obtain the current temperature of the joint drive(℃)
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode data=[t1,t2,t3,t4,t5,t6]：The current temperatures of each joint

8.21. Obtain the current torque of the joint drive(Nm)

Prototype	GetJointDriverTorque()
Description	Obtain the current torque of the joint drive(Nm)
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode data=[j1,j2,j3,j4,j5,j6]：Joint torque [fx,fy,fz,tx,ty,tz]

8.22. Obtain the status of the robot

Prototype	GetRobotRealTimeState()
Description	Obtain the status of the robot
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode robot_state_pkg：Robot state structure

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