C, C++:

Robotic Arm Teaching Command armTeachMove

Robotic arm teaching control commands include step and teaching control of joints, position, and orientation.

Joint step rm_set_joint_step()

• Method prototype:

int rm_set_joint_step(rm_robot_handle * handle,int joint_num,float step,int v,int block)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint_num	Input	Joint numbers 1−7.
step	Input	Step angle.
v	Input	Velocity ratio: 1−100, indicating the percentage of the planned velocity and acceleration to the maximum linear velocity and acceleration of the joint.
block	Input	Blocking settings: multi-thread mode: 0: non-blocking mode, immediately return after sending commands; 1: blocking mode, return after the robotic arm reaches the target position or the planning fails. Single-thread mode: 0: non-blocking mode; other values: blocking mode, and timeout period setting according to the movement time, in s.

Note: For single-thread blocking mode, set the timeout period to return the trajectory after running within the timeout period.

• 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.
-4	int	The current in-position equipment verification fails, indicating that the current in-position equipment is not a joint.
-5	int	The single-thread mode does not receive a return value after the timeout, indicating that the timeout period may be improper.

• Usage demo

// By default, the current thread mode is multi-thread, blocking mode, and forward movement of joint 1 for 10° at a velocity of 50%
rm_set_joint_step(robot_handle, 1, 10, 50, 1);

Position step rm_set_pos_step()

In the current work frame, set the position step.

• Method prototype:

int rm_set_pos_step(rm_robot_handle * handle,rm_pos_teach_type_e type,float step,int v,int block)

Jump to rm_robot_handle for details of the structureJump to [rm_pos_teach_type_e](../type/typeList#rm-pos-teach-type-e-position teaching direction) for details of types

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
type	Input	Teaching type.
step	Input	Step distance in m, with an accuracy of 0.001 mm.
v	Input	Velocity ratio: 1−100, indicating the percentage of the planned velocity and acceleration to the maximum linear velocity and acceleration of the joint.
block	Input	Blocking settings: multi-thread mode: 0: non-blocking mode, immediately return after sending commands; 1: blocking mode, return after the robotic arm reaches the target position or the planning fails. Single-thread mode: 0: non-blocking mode; other values: blocking mode, and timeout period setting according to the movement time, in s.

Note: For single-thread blocking mode, set the timeout period to return the trajectory after running within the timeout period.

• 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.
-4	int	The current in-position equipment verification fails, indicating that the current in-position equipment is not a joint.
-5	int	The single-thread mode does not receive a return value after the timeout, indicating that the timeout period may be improper.

Note: The reference frame is the current work frame by default, which can be modified to the tool frame by calling rm_set_teach_frame.

• Usage demo

// By default, the current thread mode is multi-thread, blocking mode, and forward step of 0.05 m along the X-axis of the current work frame
rm_set_pos_step(robot_handle, RM_X_DIR_E, 0.05f, 50, 1);

Orientation step rm_set_ort_step()

In the current work frame, set the orientation step.

• Method prototype:

int rm_set_ort_step(rm_robot_handle * handle,rm-ort-teach-type-e type,float step,int v,int block)

Jump to rm_robot_handle for details of the structureJump to [rm-ort-teach-type-e](../type/typeList#rm-ort-teach-type-e-orientation teaching direction) for details of types

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
type	Input	Teaching type.
step	Input	Step radian in rad, with an accuracy of 0.001 rad.
v	Input	Velocity ratio: 1−100, indicating the percentage of the planned velocity and acceleration to the maximum linear velocity and acceleration of the joint.
block	Input	Blocking settings: multi-thread mode: 0: non-blocking mode, immediately return after sending commands; 1: blocking mode, return after the robotic arm reaches the target position or the planning fails. Single-thread mode: 0: non-blocking mode; other values: blocking mode, and timeout period setting according to the movement time, in s.

Note: For single-thread blocking mode, set the timeout period to return the trajectory after running within the timeout period.

• 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.
-4	int	The current in-position equipment verification fails, indicating that the current in-position equipment is not a joint.
-5	int	The single-thread mode does not receive a return value after the timeout, indicating that the timeout period may be improper.

Note: The reference frame is the current work frame by default, which can be modified to the tool frame by calling rm_set_teach_frame.

• Usage demo

// By default, the current thread mode is multi-thread, blocking mode, and backward rotation of 0.5 rad along the X-axis at a velocity of 20%
rm_set_ort_step(robot_handle, RM_RX_ROTATE_E, -0.5f, 20, 1);

Set teaching frame rm_set_teach_frame()

• Method prototype:

int rm_set_teach_frame(rm_robot_handle * handle,int frame_type)

Jump to rm_robot_handle for details of the structureJump to [rm-ort-teach-type-e](../type/typeList#rm-ort-teach-type-e-orientation teaching direction) for details of types

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
frame_type	Input	0: work frame, 1: tool frame.

• 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 teaching frame as the tool frame
if (rm_set_teach_frame(robot_handle, 1) == 0) {  
    printf("Teach Frame set successfully\n");
} else {  
    printf("Failed to get teach frame\n");  
}

Get teaching frame rm_get_teach_frame()

• Method prototype:

int rm_get_teach_frame(rm_robot_handle * handle,int frame_type)

Jump to rm_robot_handle for details of the structureJump to [rm-ort-teach-type-e](../type/typeList.md#rm-ort-teach-type-e-orientation teaching direction) for details of types

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
frame_type	Input	0: work frame, 1: tool frame.

• 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 teaching frame 
int frame_type = -1;  
if (rm_get_teach_frame(&handle, &frame_type) == 0) {  
    printf("Current teach frame: %d\n", frame_type);
} else {  
    printf("Failed to get teach frame\n");  
}

Joint teaching rm_set_joint_teach()

• Method prototype:

int rm_set_joint_teach(rm_robot_handle * handle,int joint_num,int direction,int v)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint_num	Input	Teaching joint numbers 1−7.
direction	Input	Teaching direction, 0: backward, 1: forward.
v	Input	Velocity ratio: 1−100, indicating the percentage of the planned velocity and acceleration to the maximum linear velocity and acceleration of the joint.

• 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

//Joint 1 teaching forward at a velocity of 50%
rm_set_joint_teach(robot_handle, 1, 1, 50);

Cartesian spatial position teaching rm_set_pos_teach()

In the current work frame, set Cartesian spatial position teaching.

• Method prototype:

int rm_set_pos_teach(rm_robot_handle * handle,rm_pos_teach_type_e type,int direction,int v)

Jump to rm_robot_handle and [rm_pos_teach_type_e](/robot/api/c/type/typeList#rm-pos-teach-type-e-position teaching direction) for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
type	Input	Teaching type.
direction	Input	Teaching direction, 0: backward, 1: forward.
v	Input	Velocity ratio: 1−100, indicating the percentage of the planned velocity and acceleration to the maximum linear velocity and acceleration of the joint.

• 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.

Note: The reference frame is the current work frame by default, which can be modified to the tool frame by calling rm_set_teach_frame.

• Usage demo

// Teaching forward along the X-axis of the current work frame at a velocity of 50%
rm_set_pos_teach(robot_handle, RM_X_DIR_E, 1, 50);

Cartesian spatial orientation teaching rm_set_ort_teach()

In the current work frame, set Cartesian spatial orientation teaching.

• Method prototype:

int rm_set_ort_teach(rm_robot_handle * handle,rm-ort-teach-type-e type,int direction,int v)

Jump to rm_robot_handle for details of the structureJump to [rm-ort-teach-type-e](../type/typeList.md#rm-ort-teach-type-e-orientation teaching direction) for details of types

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
type	Input	Teaching type.
direction	Input	Teaching direction, 0: backward, 1: forward.
v	Input	Velocity ratio: 1−100, indicating the percentage of the planned velocity and acceleration to the maximum linear velocity and acceleration of the joint.

• 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.

Note: The reference frame is the current work frame by default, which can be modified to the tool frame by calling rm_set_teach_frame.

• Usage demo

// Orientation teaching in blocking mode to rotate backward along the X-axis at a velocity of 20%
rm_set_ort_teach(robot_handle, RM_RX_ROTATE_E, 0, 20);

Stop teaching rm_set_stop_teach()

• Method prototype:

int rm_set_stop_teach(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

// Stop teaching
if (rm_set_stop_teach(robot_handle) == 0) {  
    printf("Teach stop successfully\n");
} else {  
    printf("Failed to stop teach\n");  
}