C, C++:

Motion State Control Command armMotionControl

Control the quick stop, slow stop, pause, and continuous motion, delete the trajectory, and query the current planning type.

Set slow stop rm_set_arm_slow_stop()

Stop on the currently running trajectory.

• Method prototype:

int rm_set_arm_slow_stop(rm_robot_handle * handle)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

// Set the robot to stop slowly
if (rm_set_arm_slow_stop(robot_handle) == 0) {  
    printf("Arm set to slow stop successfully.\n");  
} else {  
    printf("Failed to set arm to slow stop.\n");  
}

Set quick stop rm_set_arm_stop()

Stop at the fastest speed with an unrecoverable trajectory.

• Method prototype:

int rm_set_arm_stop(rm_robot_handle * handle)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

// Set the robot to stop quickly
if (rm_set_arm_stop(robot_handle) == 0) {  
    printf("Arm set to stop successfully.\n");  
} else {  
    printf("Failed to set arm to stop.\n");  
}

Set pause rm_set_arm_pause()

Pause on the planned trajectory with a recoverable trajectory.

• Method prototype:

int rm_set_arm_pause(rm_robot_handle * handle)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

// Set robot to pause
if (rm_set_arm_pause(robot_handle) == 0) {  
    printf("Arm set to pause successfully.\n");  
} else {  
    printf("Failed to set arm to pause.\n");  
}

Set continuous motion after a pause rm_set_arm_continue()

• Method prototype:

int rm_set_arm_continue(rm_robot_handle * handle)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

// Set the robot to continue after a pause
if (rm_set_arm_continue(robot_handle) == 0) {  
    printf("Arm set to continue successfully.\n");  
} else {  
    printf("Failed to set arm to continue.\n");  
}

Delete current trajectory rm_set_delete_current_trajectory()

• Method prototype:

int rm_set_delete_current_trajectory(rm_robot_handle * handle)

Jump to rm_robot_handle for details of the structure

Note: It is available only after a pause, otherwise the robotic arm will have an accident!

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

// Delete current trajectory
if (rm_set_delete_current_trajectory(robot_handle) == 0) {  
    printf("Current trajectory deleted successfully.\n");
} else {  
    printf("Failed to delete Current trajectory.\n");  
}

Delete all trajectories rm_set_arm_delete_trajectory()

• Method prototype:

int rm_set_arm_delete_trajectory(rm_robot_handle * handle)

Jump to rm_robot_handle for details of the structure

Note: It is available only after a pause, otherwise the robotic arm will have an accident!

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

// Delete all trajectories
if (rm_set_arm_delete_trajectory(robot_handle) == 0) {  
    printf("Trajectory deleted successfully.\n");
} else {  
    printf("Failed to delete Trajectory.\n");  
}

Get the currently planned trajectory rm_get_arm_current_trajectory()

• Method prototype:

int rm_get_arm_current_trajectory(rm_robot_handle * handle,rm_arm_current_trajectory_e * type,float * data)

Jump to rm_robot_handle for details of the structure
Jump to [rm_arm_current_trajectory_e](../type/typeList#rm-arm-current-trajectory-e-current robotic arm planing type) for details of trajectory type

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
type	Input	Returned planning type.
data	Output	Save the angle array of current joints 1−7 for no planning and joint space planning; and current end pose for Cartesian space planning.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

// Get the current trajectory of the robotic arm
rm_arm_current_trajectory_e trajectory_type;  
float trajectory_data[7]; 
if (rm_get_arm_current_trajectory(robot_handle, &trajectory_type, trajectory_data) == 0) {  
    printf("Current arm trajectory type: %d\n", trajectory_type);    
}