C, C++:

End Effector Motion Parameter Configuration armTipVelocityParameters

The setting and query of the end effector motion parameters include linear speed, linear acceleration, angular speed, angular acceleration, collision stage, etc.

Set the maximum linear speed of the end effector rm_set_arm_max_line_speed()

• Method prototype:

int rm_set_arm_max_line_speed(rm_robot_handle * handle,float speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
speed	Input	Maximum linear speed of the end effector, in m/s.

• 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 maximum linear speed of the end effector to 0.1 m/s
float speed = 0.1;
ret = rm_set_arm_max_line_speed(robot_handle,speed);

Set the maximum linear acceleration of the end effector rm_set_arm_max_line_acc()

• Method prototype:

int rm_set_arm_max_line_acc(rm_robot_handle * handle,float acc)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
acc	Input	Maximum linear acceleration of the end effector, in m/s2.

• 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 maximum linear acceleration of the end effector to 2 m/s2
float acc = 2;
ret = rm_set_arm_max_line_acc(robot_handle,acc);

Set the maximum angular speed of the end effector rm_set_arm_max_angular_speed()

• Method prototype:

int rm_set_arm_max_angular_speed(rm_robot_handle * handle,float speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
speed	Input	Maximum angular speed of the end effector, in rad/s.

• 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 maximum angular speed of the end effector to 0.2 rad/s
float speed = 0.2;
ret=rm_set_arm_max_angular_speed(robot_handle,speed);

Set the maximum angular acceleration of the end effector rm_set_arm_max_angular_acc()

• Method prototype:

int rm_set_arm_max_angular_acc(rm_robot_handle * handle,float acc)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
acc	Input	Maximum angular acceleration of the end effector, in rad/s2.

• 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 maximum angular acceleration of the end effector to 4 rads/s2
float acc = 4;
ret = rm_set_arm_max_angular_acc(robot_handle,acc);

Set the end effector parameters to defaults rm_set_arm_tcp_init()

• Method prototype:

int rm_set_arm_tcp_init(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

//Initialize the parameters of the robotic arm, and the end effector parameters will be restored to defaults. The defaults of the end effector are:
//Linear speed: 0.1 m/s; linear acceleration: 0.5 m/s2
//Angular speed: 0.2 rad/s; angular acceleration: 1 rad/s2
ret = rm_set_arm_tcp_init(robot_handle);

Set the dynamic collision stage rm_set_collision_state()

• Method prototype:

int rm_set_collision_state(rm_robot_handle * handle,int collision_stage)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
collision_stage	Input	Stage: 0−8; 0: no collision detection, 8: most sensitive collision detection.

• 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 collision stage of the robotic arm to 1
int stage = 1;
ret=rm_set_collision_state(robot_handle,stage,RM_BLOCK);

Get the collision stage rm_get_collision_stage()

• Method prototype:

int rm_get_collision_stage(rm_robot_handle * handle,int * collision_stage)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
collision_stage	Output	Save the returned collision stage, value: 0−8; 0: no collision detection, 8: most sensitive collision detection.

• 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

//Query the dynamic collision stage of the robotic arm
int stage = -1;
ret = rm_get_collision_stage(robot_handle,&stage);

Get the maximum linear speed of the end effector rm_get_arm_max_line_speed()

• Method prototype:

int rm_get_arm_max_line_speed(rm_robot_handle * handle,float * speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
speed	Output	Save the returned maximum linear speed of the end effector, in m/s.

• 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 linear speed of the end effector
float speed = 0;                                                              
ret = rm_get_arm_max_line_speed(robot_handle,&speed);

Get the maximum linear acceleration of the end effector rm_get_arm_max_line_acc()

• Method prototype:

int rm_get_arm_max_line_acc(rm_robot_handle * handle,float * acc)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
acc	Output	Save the returned maximum linear acceleration of the end effector, in m/s2.

• 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 linear acceleration of the end effector
float acc = 0;                                                            
ret = rm_get_arm_max_line_acc(robot_handle,&acc);

Get the maximum angular speed of the end effector rm_get_arm_max_angular_speed()

• Method prototype:

int rm_get_arm_max_angular_speed(rm_robot_handle * handle,float * speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
speed	Output	Save the returned maximum angular speed of the end effector, in rad/s.

• 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 angular speed of the end effector
float speed = 0;
ret = rm_get_arm_max_angular_speed(robot_handle,&speed);

Get the maximum angular acceleration of the end effector rm_get_arm_max_angular_acc()

• Method prototype:

int rm_get_arm_max_angular_speed(rm_robot_handle * handle,float * speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
acc	Output	Save the returned maximum angular acceleration of the end effector, in rad/s2.

• 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 angular acceleration of the end effector
float acc = 0;
ret = rm_get_arm_max_angular_speed(robot_handle,&acc);