C, C++:

Controller IO Configuration and Query controllerIOConfig

The controller of the RealMan robotic arm shares the input and output mode (IO mode). This interface is intended to set the IO mode and IO power voltage of the controller.

Set the digital IO mode rm_set_IO_mode()

C Language Version

• Method prototype:

int rm_set_IO_mode(rm_robot_handle * handle,int io_num,rm_io_config_t config)

Jump to rm_robot_handle, rm_io_config_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
io_num	Input	IO port numbers 1−4.
config	Input	Digital IO Configuration Structure.

• 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 real-time speed adjustment multiplexing mode of the digital IO channel 1.
int io_num = 1;
rm_io_config_t config = (rm_io_config_t){0};
config.io_mode = 14;
config.io_real_time_config_t.speed = 50;
config.io_real_time_config_t.mode = 1;
ret = rm_set_IO_mode (robot_handle, io_num, config);

//Set the input start function multiplexing mode of the digital IO channel 1
int io_num = 1; 
rm_io_config_t config = (rm_io_config_t){0};                             
config.io_mode = 2;                       
ret = rm_set_IO_mode (robot_handle,io_num, config);

C++ Version

• Method prototype:

int rm_set_IO_mode(rm_robot_handle *handle, int io_num, int io_mode, int io_speed_mode=0, int io_speed=0)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
io_num	Input	IO port numbers 1−4.
io_mode	Input	Mode, 0 - General Purpose Input Mode; 1 - General Purpose Output Mode; 2 - Input Start Function Multiplexing Mode; 3 - Input Pause Function Multiplexing Mode; 4 - Input Resume Function Multiplexing Mode; 5 - Input Emergency Stop Function Multiplexing Mode; 6 - Input Current Loop Drag Multiplexing Mode; 7 - Input Force-Only Position Drag Mode (Configurable with Six-Axis Force Version); 8 - Input Force-Only Posture Drag Mode (Configurable with Six-Axis Force Version); 9 - Input Force-Position Hybrid Drag Multiplexing Mode (Configurable with Six-Axis Force Version); 10 - Input External Axis Maximum Soft Limit Multiplexing Mode (Configurable in External Axis Mode); 11 - Input External Axis Minimum Soft Limit Multiplexing Mode (Configurable in External Axis Mode); 12 - Input Initial Pose Function Multiplexing Mode; 13 - Output Collision Function Multiplexing Mode; 14 - Real-Time Speed Adjustment Function Multiplexing Mode.
io_speed_mode	Input（Optional）	1. Single Trigger Mode, when the IO is pulled low, the speed is set to the value of the speed parameter, and when the IO returns to a high level, the speed is set to the initial value. 2. Continuous Trigger Mode, when the IO is pulled low, the speed is set to the value of the speed parameter, and when the IO returns to a high level, the speed maintains the current value (active when io_mode is 14)
io_speed	Input（Optional）	Speed value range 0-100 (active when io_mode is 14).

• 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

RM_Service robot_service;
//Set the input start function multiplexing mode of the digital IO channel 1
int io_num = 1;                              
int io_mode = 2;                       
ret = robot_service.rm_set_IO_mode (robot_handle,io_num,io_mode);

//Set the real-time speed adjustment multiplexing mode of the digital IO channel 1.
int io_num = 1;
int io_mode = 14;
int io_speed = 50;
int io_speed_mode = 1;
ret = robot_service.rm_set_IO_mode (robot_handle, io_num, io_mode, io_speed_mode, io_speed);

Set the digital output state rm_set_DO_state()

• Method prototype:

int rm_set_DO_state(rm_robot_handle * handle,int io_num,int state)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
io_num	Input	IO port numbers 1−4.
state	Input	IO state, 1: high output, 0: low output.

• 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 high output of digital IO channel 1
int io_num = 1;                              
int state = 1;                       
ret = rm_set_DO_state(robot_handle,io_num,state);

Get the digital IO state rm_get_IO_state()

C Language Version

• Method prototype:

int rm_get_IO_state(rm_robot_handle * handle,int io_num, rm_io_get_t* config)

Jump to rm_robot_handle, rm_io_get_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
io_num	Input	IO port numbers 1−4.
config	Output	Digital IO Status Acquisition Structure.

• 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 state of digital IO output channel 1
int num = 1;
rm_io_get_t config = (rm_io_get_t){0};
ret = rm_get_IO_state(robot_handle,num,&config);

C++ Version

• Method prototype:

int rm_get_IO_state(rm_robot_handle *handle, int io_num, int* state, int* mode, int* io_speed_mode=nullptr, int* io_speed=nullptr)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
io_num	Input	IO port numbers 1−4.
state	Output	IO 状态，1-输出高，0-输出低。
io_mode	Output	Mode, 0 - General Purpose Input Mode; 1 - General Purpose Output Mode; 2 - Input Start Function Multiplexing Mode; 3 - Input Pause Function Multiplexing Mode; 4 - Input Resume Function Multiplexing Mode; 5 - Input Emergency Stop Function Multiplexing Mode; 6 - Input Current Loop Drag Multiplexing Mode; 7 - Input Force-Only Position Drag Mode (Configurable with Six-Axis Force Version); 8 - Input Force-Only Posture Drag Mode (Configurable with Six-Axis Force Version); 9 - Input Force-Position Hybrid Drag Multiplexing Mode (Configurable with Six-Axis Force Version); 10 - Input External Axis Maximum Soft Limit Multiplexing Mode (Configurable in External Axis Mode); 11 - Input External Axis Minimum Soft Limit Multiplexing Mode (Configurable in External Axis Mode); 12 - Input Initial Pose Function Multiplexing Mode; 13 - Output Collision Function Multiplexing Mode; 14 - Real-Time Speed Adjustment Function Multiplexing Mode.
io_speed_mode	Output（Optional）	1. Single Trigger Mode, when the IO is pulled low, the speed is set to the value of the speed parameter, and when the IO returns to a high level, the speed is set to the initial value. 2. Continuous Trigger Mode, when the IO is pulled low, the speed is set to the value of the speed parameter, and when the IO returns to a high level, the speed maintains the current value (active when io_mode is 14)
io_speed	Output（Optional）	Speed value range 0-100 (active when io_mode is 14).

• 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

RM_Service robot_service;
//Query the status of Digital IO Output Channel 1
int num = 1;
int state;
int mode;
ret = robot_service.rm_get_IO_state(robot_handle,num,&state,&mode); 

//Query the real-time speed adjustment function multiplexing mode of Digital IO Channel 1
int io_num = 1;
int io_mode;
int io_speed;
int io_speed_mode;
ret = robot_service.rm_set_IO_mode (robot_handle, io_num, io_mode, io_speed_mode, io_speed);

Get all IO input state rm_get_IO_input()

• Method prototype:

int rm_get_IO_input(rm_robot_handle * handle,int * DI_state)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
DI_state	Output	Digital input state array of ports 1−4, 1: high, 0: low, -1: the port is not in input mode.

• 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 all IO input state
int DI_state[4] = {0};
ret = rm_get_IO_input(robot_handle,DI_state);

Get all IO output state rm_get_IO_output()

• Method prototype:

int rm_get_IO_output(rm_robot_handle * handle,int * DO_state)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
DO_state	Output	Digital output state array of ports 1−4, 1: high, 0: low, -1: the port is not in output mode.

• 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 all IO output state
int DO_state[4] = {0};
ret = rm_get_IO_output(robot_handle,DO_state);

Set the controller power output rm_set_voltage()

• Method prototype:

int rm_set_voltage(rm_robot_handle * handle,int voltage_type)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
voltage_type	Input	Power output type, 0: 0 V, 2: 12 V, 3: 24 V.

• 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 controller power output to 24 V
int type = 3;
ret = rm_set_voltage(robot_handle, type);

Get the controller power output rm_get_voltage()

• Method prototype:

int rm_get_voltage(rm_robot_handle * handle,int * voltage_type)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
voltage_type	Output	Power output type, 0: 0 V, 2: 12 V, 3: 24 V.

• 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 power output state
int voltage_type;
ret = rm_get_voltage(robot_handle,&voltage_type);