C、C++:

System Installation Method Configuration installPos

The RealMan robotic arm supports different installation methods. However, the robot's dynamic model parameters and frame directions may vary depending on the installation method. This interface is used to set and read the robot arm's installation method.

Set installation method parametersrm_set_install_pose()

• Method prototype:

int rm_set_install_pose(rm_robot_handle * handle,float x,float y,float z)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
x	Input	Rotation angle, in °.
y	Input	Pitch angle, in °.
z	Input	Azimuth angle, in °.

• 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 installation angles: rotation angle 30°, pitch angle 60°, and azimuth angle 90°
float x = 30;
float y = 60;
float z = 90;
ret = rm_set_install_pose(robot_handle,x,y,z);

Get installation method parametersrm_get_install_pose()

• Method prototype:

int rm_get_install_pose(rm_robot_handle * handle,float * x,float * y,float * z)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
x	Output	Store the rotation angle, in °.
y	Output	Store the pitch angle, in °.
z	Output	Store the azimuth angle, in °.

• 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 installation angles
float fx,fy,fz;
ret = Get_Install_Pose(m_sockhand,&fx,&fy,&fz);