Python 9. Trajectory recurrence

9.1. Setting Track Recording Parameters

prototype	SetTPDParam(name, period_ms, type=1,di_choose=0, do_choose=0)
Description	Setting parameters for track logging
Mandatory parameters	name: track name; period_ms: sampling period, fixed value, 2ms or 4ms or 8ms;
Default parameters	type: data type, 1-joint position; di_choose: DI choose, bit0~bit7 corresponds to control box DI0~DI7, bit8~bit9 corresponds to end DI0~DI1, 0-no choose, 1-choose Default 0. do_choose: DO choose, bit0~bit7 corresponds to control box DO0~DO7, bit8~bit9 corresponds to end DO0~DO1, 0-no choose, 1-choose Default 0
Return Value	Error Code Success-0 Failure- errcode

9.2. Start Track Recording

Prototype	SetTPDStart(name, period_ms, type=1,di_choose=0, do_choose=0)
Description	Start Track Record
Mandatory parameters	name: track name; period_ms: sampling period, fixed value, 2ms or 4ms or 8ms;
Default parameters	type: number datatype, 1-joint position default 1; di_choose: DI choose, bit0~bit7 corresponds to control box DI0~DI7, bit8~bit9 corresponds to end DI0~DI1, 0-no choose, 1-choose Default 0. do_choose: DO choose, bit0~bit7 corresponds to control box DO0~DO7, bit8~bit9 corresponds to end DO0~DO1, 0-no choose, 1-choose Default 0
Return Value	Error Code Success-0 Failure- errcode

9.3. Stop Track Recording

prototype	SetWebTPDStop()
Description	Stop Track Record
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.4. Deleting track records

Prototype	SetTPDDelete(name)
Description	Delete Track Record
Mandatory parameters	name: track name
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.5. 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')
type = 1
name = "tpd2025"
period_ms = 4
di_choose = 0
do_choose = 0
robot.SetTPDParam(name, period_ms)
robot.Mode(1)
time.sleep(1)
robot.DragTeachSwitch(1)
robot.SetTPDStart(name, period_ms)
print("SetTPDStart")
time.sleep(10)
robot.SetWebTPDStop()
robot.DragTeachSwitch(0)
robot.CloseRPC()

9.6. Trajectory preloading

Prototype	LoadTPD(name)
Description	Trajectory Preloading
Mandatory parameters	name: track name
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.7. Trajectory Reproduction

Prototype	MoveTPD(name,blend,ovl)
Description	Trajectory Reproduction
Mandatory parameters	name: track name blend: smooth or not, 0 - not smooth, 1 - smooth ovl: velocity scaling factor, range [0 to 100]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.8. Get the starting position of the trajectory

Prototype	GetTPDStartPose(name)
Description	Get trajectory start position
Mandatory parameters	name: track name
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode desc_pose=[x,y,z,rx,ry,rz]: trajectory start position

9.9. Example of robot TPD trajectory recording code

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')
type = 1
name = "tpd2025"
period_ms = 4
di_choose = 0
do_choose = 0
ovl = 100.0
blend = 0
rtn = robot.LoadTPD(name)
print(f"LoadTPD rtn is: {rtn}")
error,start_pose = robot.GetTPDStartPose(name)
print(f"start pose, xyz is: {start_pose[0]},{start_pose[1]},{start_pose[2]}. "
      f"rpy is: {start_pose[3]},{start_pose[4]},{start_pose[5]}")
robot.MoveCart(start_pose, 0, 0, 100, 100)
time.sleep(1)
rtn = robot.MoveTPD(name, blend, ovl)
print(f"MoveTPD rtn is: {rtn}")
time.sleep(5)
robot.SetTPDDelete(name)
robot.CloseRPC()

9.10. Trajectory preprocessing

prototype	LoadTrajectoryJ(name,ovl,opt=1)
description	trajectory preprocessing
Mandatory parameters	name: track name, e.g., /fruser/traj/trajHelix_aima_1.txt. ovl: percentage of speed scaling, range [0~100];
Default parameter	opt: 1-control point, default 1
Return Value	Error Code Success-0 Failure- errcode

9.11. Trajectory Reproduction

Prototype	MoveTrajectoryJ()
Description	Trajectory Reproduction
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.12. Getting the starting position of the trajectory

Prototype	GetTrajectoryStartPose(name)
Description	Get trajectory starting position
Mandatory parameters	name: track name
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode desc_pose=[x,y,z,rx,ry,rz]: trajectory start position

9.13. Get track point number

prototype	GetTrajectoryPointNum()
Description	Get track point number
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode pnum: track point number

9.14. Setting the speed of the trajectory in operation

Prototype	SetTrajectoryJSpeed(ovl)
Description	Sets the speed of the trajectory as it runs.
Mandatory parameter	ovl: speed scaling percentage, range [0~100]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.15. Setting the force and torque during trajectory operation

Prototype	SetTrajectoryJForceTorque(ft)
Description	Setting the force and torque in the trajectory run
Mandatory parameters	ft=[fx,fy,fz,tx,ty,tz]: units N and Nm
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.16. Setting the force along the x-direction in the trajectory run

Prototype	SetTrajectoryJForceFx(fx)
Description	Set the force along the x-direction in the trajectory run
Mandatory parameter	ft: force in x direction, in N
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.17. Setting the force along the y-direction in the trajectory run

Prototype	SetTrajectoryJForceFx(fy)
Description	Set the force along the y-direction in the trajectory run
Mandatory parameter	fy: force along y direction in N
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.18. Setting the force along the z-direction in a trajectory run

Prototype	SetTrajectoryJForceFx(fz)
Description	Set the force along the z-direction in the trajectory run
Mandatory parameter	fz: force along the z-direction, in N
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.19. Setting the torque around the x-axis in a trajectory run

Prototype	SetTrajectoryJTorqueTx(tx)
Description	Set the torque around the x-axis for the trajectory run
Mandatory parameter	tx: torque around x-axis in Nm
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.20. Setting the torque around the y-axis in trajectory operation

prototype	SetTrajectoryJTorqueTx(ty)
Description	Set the torque around the y-axis for the trajectory run
Mandatory parameter	ty: torque around y-axis in Nm
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.21. Setting the torque around the z-axis in trajectory operation

Prototype	SetTrajectoryJTorqueTx(tz)
Description	Sets the torque around the z-axis for the trajectory run
Mandatory parameter	tz: torque around z-axis in Nm
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.22. Upload trace J file

New in version python: SDK-v2.0.7

Prototype	TrajectoryJUpLoad(filePath)
Description	Upload trace J file
Mandatory parameter	filePath:Full path name of the uploaded trajectory file，C://test/testJ.txt
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.23. Delete the track J file

New in version python: SDK-v2.0.7

Prototype	TrajectoryJDelete(filePath)
Description	Delete the track J file
Mandatory parameter	filePath:Removes the full pathname of the trace file,C://test/testJ.txt
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.24. Robot trajectory J file reproduction 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.TrajectoryJUpLoad("D://zUP/traj.txt")
print(f"Upload TrajectoryJ A {rtn}")
traj_file_name = "/fruser/traj/traj.txt"
rtn = robot.LoadTrajectoryJ(traj_file_name, 100, 1)
print(f"LoadTrajectoryJ {traj_file_name}, rtn is: {rtn}")
rtn,traj_start_pose = robot.GetTrajectoryStartPose(traj_file_name)
print(f"GetTrajectoryStartPose is: {rtn}")
print(f"desc_pos:{traj_start_pose[0]},{traj_start_pose[1]},{traj_start_pose[2]},"
      f"{traj_start_pose[3]},{traj_start_pose[4]},{traj_start_pose[5]}")
time.sleep(1)
robot.SetSpeed(50)
robot.MoveCart(traj_start_pose, 0, 0, 50, 100, 100)
rtn,traj_num = robot.GetTrajectoryPointNum()
print(f"GetTrajectoryStartPose rtn is: {rtn}, traj num is: {traj_num}")
rtn = robot.SetTrajectoryJSpeed(50.0)
print(f"SetTrajectoryJSpeed is: {rtn}")
traj_force = [0.0,0.0,0.0,0.0,0.0,0.0]
traj_force[0] = 10  # fx = 10
rtn = robot.SetTrajectoryJForceTorque(traj_force)
print(f"SetTrajectoryJForceTorque rtn is: {rtn}")
rtn = robot.SetTrajectoryJForceFx(10.0)
print(f"SetTrajectoryJForceFx rtn is: {rtn}")
rtn = robot.SetTrajectoryJForceFy(0.0)
print(f"SetTrajectoryJForceFy rtn is: {rtn}")
rtn = robot.SetTrajectoryJForceFz(0.0)
print(f"SetTrajectoryJForceFz rtn is: {rtn}")
rtn = robot.SetTrajectoryJTorqueTx(10.0)
print(f"SetTrajectoryJTorqueTx rtn is: {rtn}")
rtn = robot.SetTrajectoryJTorqueTy(10.0)
print(f"SetTrajectoryJTorqueTy rtn is: {rtn}")
rtn = robot.SetTrajectoryJTorqueTz(10.0)
print(f"SetTrajectoryJTorqueTz rtn is: {rtn}")
rtn = robot.MoveTrajectoryJ()
print(f"MoveTrajectoryJ rtn is: {rtn}")
robot.CloseRPC()

9.25. Trajectory preprocessing(Trajectory foresight)

New in version python: SDK-v2.1.4

Prototype	LoadTrajectoryLA(name, mode, errorLim, type, precision, vamx, amax, jmax, flag)
Description	Trajectory preprocessing(Trajectory foresight)
Mandatory parameter	name:track file name mode: sampling mode, 0- No sampling; 1- equal data interval sampling; 2- Equal error limit sampling errorLim: error limitation, effective using straight line fitting type: smooth mode, 0-Bessel smooth precision: smoothing accuracy, effective when using Bessel smoothing vamx: set maximum speed, mm/s amax: set maximum acceleration, mm/s2 jmax: maximum acceleration, mm/s3 flag: Uniform speed forward opening switch 0- No opening; 1- Start
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.26. Trajectory reproduction(Trajectory foresight)

New in version python: SDK-v2.1.0

Prototype	MoveTrajectoryLA()
Description	Trajectory reproduction(Trajectory foresight)
Mandatory parameter	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

9.27. Code example for trajectory reproduction

from fairino import Robot
import time
# A connection is established with the robot controller and a robot object is returned if the connection is successful
robot = Robot.RPC('192.168.58.2')
rtn = robot.TrajectoryJUpLoad("D://zUP/traj.txt")
print(f"Upload TrajectoryJ A {rtn}")
traj_file_name = "/fruser/traj/traj.txt"
rtn = robot.LoadTrajectoryLA(traj_file_name, 1, 2, 0, 2, 50, 200, 1000, 0)
print(f"LoadTrajectoryLA {traj_file_name}, rtn is: {rtn}")
rtn, traj_start_pose = robot.GetTrajectoryStartPose(traj_file_name)
print(f"GetTrajectoryStartPose is: {rtn}")
print(f"desc_pos: {traj_start_pose[0]},{traj_start_pose[1]},{traj_start_pose[2]},{traj_start_pose[3]},{traj_start_pose[4]},{traj_start_pose[5]}")
time.sleep(1)
robot.SetSpeed(50)
robot.MoveCart(traj_start_pose, 0, 0, 100, 100, 100)
rtn = robot.MoveTrajectoryLA()
print(f"MoveTrajectoryLA rtn is: {rtn}")
robot.CloseRPC()