Python 8.23. Robot status query 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')
error,[yangle, zangle] = robot.GetRobotInstallAngle()
print(f"yangle:{yangle},zangle:{zangle}")
error,j_deg = robot.GetActualJointPosDegree(0)
print(f"joint pos deg:{j_deg[0]},{j_deg[1]},{j_deg[2]},{j_deg[3]},{j_deg[4]},{j_deg[5]}")
error,jointSpeed = robot.GetActualJointSpeedsDegree(0)
print(f"joint speeds deg:{jointSpeed[0]},{jointSpeed[1]},{jointSpeed[2]},{jointSpeed[3]},{jointSpeed[4]},{jointSpeed[5]}")
error,jointAcc = robot.GetActualJointAccDegree(0)
print(f"joint acc deg:{jointAcc[0]},{jointAcc[1]},{jointAcc[2]},{jointAcc[3]},{jointAcc[4]},{jointAcc[5]}")
error,[tcp_speed, ori_speed] = robot.GetTargetTCPCompositeSpeed(0)
print(f"GetTargetTCPCompositeSpeed tcp {tcp_speed}; ori {ori_speed}")
error,[tcp_speed, ori_speed] = robot.GetActualTCPCompositeSpeed(0)
print(f"GetActualTCPCompositeSpeed tcp {tcp_speed}; ori {ori_speed}")
error,targetSpeed = robot.GetTargetTCPSpeed(0)
print(f"GetTargetTCPSpeed {targetSpeed[0]},{targetSpeed[1]},{targetSpeed[2]},{targetSpeed[3]},{targetSpeed[4]},{targetSpeed[5]}")
error,actualSpeed = robot.GetActualTCPSpeed(0)
print(f"GetActualTCPSpeed {actualSpeed[0]},{actualSpeed[1]},{actualSpeed[2]},{actualSpeed[3]},{actualSpeed[4]},{actualSpeed[5]}")
error,tcp = robot.GetActualTCPPose(0)
print(f"tcp pose:{tcp[0]},{tcp[1]},{tcp[2]},{tcp[3]},{tcp[4]},{tcp[5]}")
error,flange = robot.GetActualToolFlangePose(0)
print(f"flange pose:{flange[0]},{flange[1]},{flange[2]},{flange[3]},{flange[4]},{flange[5]}")
error,id = robot.GetActualTCPNum(0)
print(f"tcp num:{id}")
error,id = robot.GetActualWObjNum(0)
print(f"wobj num:{id}")
error,jtorque = robot.GetJointTorques(0)
print(f"torques:{jtorque[0]},{jtorque[1]},{jtorque[2]},{jtorque[3]},{jtorque[4]},{jtorque[5]}")
error,t_ms = robot.GetSystemClock()
print(f"system clock:{t_ms}")
error,config = robot.GetRobotCurJointsConfig()
print(f"joint config:{config}")
error,motionDone = robot.GetRobotMotionDone()
print(f"GetRobotMotionDone:{motionDone}")
error,len = robot.GetMotionQueueLength()
print(f"GetMotionQueueLength:{len}")
error,emergState = robot.GetRobotEmergencyStopState()
print(f"GetRobotEmergencyStopState:{emergState}")
error,comstate = robot.GetSDKComState()
print(f"GetSDKComState:{comstate}")
error,[si0_state, si1_state] = robot.GetSafetyStopState()
print(f"GetSafetyStopState:{si0_state} {si1_state}")
error,temp = robot.GetJointDriverTemperature()
print(f"Temperature:{temp[0]},{temp[1]},{temp[2]},{temp[3]},{temp[4]},{temp[5]}")
error,torque = robot.GetJointDriverTorque()
print(f"torque:{torque[0]},{torque[1]},{torque[2]},{torque[3]},{torque[4]},{torque[5]}")
error,pkg = robot.GetRobotRealTimeState()
robot.CloseRPC()

8.24. Inverse kinematics solution

prototype	GetInverseKin(type,desc_pos,config=-1)
Description	Inverse kinematics, Cartesian position solving for joint positions
Mandatory parameters	type: 0-absolute position (base coordinate system), 1-relative position (base coordinate system), 2-relative position (tool coordinate system) desc_pose:[x,y,z,rx,ry,rz], tool position in [mm][°]
Default parameters	config: joint configuration, [-1] - solved with reference to current joint position, [0~7] - solved based on joint configuration Default -1
Return Value	errorcode Success-0 Failure- errcode joint_pos=[j1,j2,j3,j4,j5,j6]: inverse kinematics solution, Cartesian positional solution for joint positions

8.25. Inverse Kinematics Solution - Specifying Reference Positions

prototype	GetInverseKinRef(type,desc_pos,joint_pos_ref)
Description	Inverse kinematics, tool position solving for joint positions, solving with reference to specified joint positions
Mandatory parameters	type: 0-absolute position (base coordinate system), 1-relative position (base coordinate system), 2-relative position (tool coordinate system) desc_pos: [x,y,z,rx,ry,rz] tool position in [mm][°] joint_pos_ref: [j1,j2,j3,j4,j5,j6], joint reference position in [°]
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode joint_pos=[j1,j2,j3,j4,j5,j6]: inverse kinematics solution, tool position solving for joint position

8.26. Inverse Kinematics Solution, Cartesian Space Includes Extended Axis Position

Prototype	GetInverseKinExaxis(type, desc_pos, exaxis, tool, workPiece)
Description	Inverse kinematics solution, Cartesian space includes extended axis position
Required Parameters	type: 0-Absolute pose (base coordinate system), 1-Incremental pose (base coordinate system), 2-Incremental pose (tool coordinate system) desc_pos: Cartesian pose exaxis: Extended axis position tool: Tool number workPiece: Workpiece number
Default Parameters	None
Return Value	Error code Success-0 Failure- errcode joint_pos: Joint position

8.27. Inverse Kinematics Solution Including Extended Axis Position Code Example

from fairino import Robot
import time
robot = Robot.RPC('192.168.58.2')
desc = [99.957, -0.002, 29.994, -176.569, -6.757, -167.462]
exaxis = [100.0, 0.0, 0.0, 0.0]
jointPos = [0.0] * 6
offsetPos = [0.0] * 6
rtn,pkg = robot.GetRobotRealTimeState()
toolnum = pkg.tool
workPcsNum = pkg.user
rtn, jointPos = robot.GetInverseKinExaxis(0, desc, exaxis, toolnum, workPcsNum)
print(f"GetInverseKinExaxis joint is {jointPos[0]},{jointPos[1]},{jointPos[2]},{jointPos[3]},{jointPos[4]},{jointPos[5]}")
robot.ExtAxisMove(exaxis, 100, -1)
robot.MoveJ(joint_pos=jointPos, desc_pos=desc, tool=toolnum, user=workPcsNum, vel=100.0, acc=100.0, ovl=100.0, exaxis_pos=exaxis, blendT=-1, offset_flag=0, offset_pos=offsetPos)
robot.CloseRPC()
return 0

8.28. Inverse kinematics solving-whether there is a solution

prototype	GetInverseKinHasSolution(type,desc_pos,joint_pos_ref)
Description	Inverse kinematics, tool position solving for joint position Is there a solution
Mandatory parameters	type: 0-absolute position (base coordinate system), 1-relative position (base coordinate system), 2-relative position (tool coordinate system) desc_pos: [x,y,z,rx,ry,rz] tool position in [mm][°] joint_pos_ref: [j1,j2,j3,j4,j5,j6], joint reference position in [°]
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode result: True-with solution, False-without solution

8.29. Positive kinematics solving

Prototype	GetForwardKin(joint_pos)
Description	Positive Kinematics, Joint Position Solving Tool Posture
Mandatory parameters	joint_pos:[j1,j2,j3,j4,j5,j6]: joint position in [°]
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode desc_pos=[x,y,z,rx,ry,rz]: positive kinematics solution, joint position solver tool position

8.30. Example code for robot forward and inverse kinematics calculation

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]
desc_pos1 = [-419.524, -13.000, 351.569, -178.118, 0.314, 3.833]
error, inverseRtn = robot.GetInverseKin(0, desc_pos=desc_pos1, config=-1)
print(f"dcs1 GetInverseKin rtn is {inverseRtn[0]}, {inverseRtn[1]}, {inverseRtn[2]}, "
      f"{inverseRtn[3]}, {inverseRtn[4]}, {inverseRtn[5]}")
error, inverseRtn = robot.GetInverseKinRef(0, desc_pos=desc_pos1, joint_pos_ref=j1)
print(f"dcs1 GetInverseKinRef rtn is {inverseRtn[0]}, {inverseRtn[1]}, {inverseRtn[2]}, "
      f"{inverseRtn[3]}, {inverseRtn[4]}, {inverseRtn[5]}")
error, hasResult = robot.GetInverseKinHasSolution(0, desc_pos=desc_pos1, joint_pos_ref=j1)
print(f"dcs1 GetInverseKinRef result {hasResult}")
error, forwordResult = robot.GetForwardKin(j1)
print(f"jpos1 forwordResult rtn is {forwordResult[0]}, {forwordResult[1]}, {forwordResult[2]}, "
      f"{forwordResult[3]}, {forwordResult[4]}, {forwordResult[5]}")
robot.CloseRPC()

8.31. Query Robot Teaching Management Points Data

Prototype	GetRobotTeachingPoint(name)
Description	Query Robot Demonstration and Management point data
Mandatory parameters	name: name of point
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode [x,y,z,rx,ry,rz,j1,j2,j3,j4,j5,j6,TOOL,WOBJ,SPEED,ACC,E1,E2,E3,E4]: point data

8.32. Get DH compensation parameters

New in version python: SDK-v2.0.1

Prototype	GetDHCompensation()
Description	Get DH compensation parameters
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode dhCompensation=[cmpstD1,cmpstA2,cmpstA3,cmpstD4,cmpstD5,cmpstD6]: Robot DH Parameter Compensation Values (mm)

8.33. Obtain the SN code of the control box

New in version python: SDK-v2.1.1

Prototype	GetRobotSN()
Description	Obtain the SN code of the control box
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode SNCode: SN of the control box