C、C++:

Joint Configuration Query JointConfigReader

It is used to query the maximum speed, acceleration, limits, etc., of joints and drivers.

Query the maximum joint speedrm_get_joint_max_speed()

• Method prototype:

int rm_get_joint_max_speed(rm_robot_handle * handle,float * max_speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
max_speed	Input	Array of speed of joints 1 to 7, in °/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

float max_speed[6];
ret = rm_get_joint_max_speed(robot_handle, max_speed);
printf("get joint max speed result : %d\n", ret);
printf("Max speeds: ");
for (int i = 0; i < 6; i++) {
    printf("%.2f ", max_speed[i]);
}
printf("\n");

Query the maximum joint accelerationrm_get_joint_max_acc()

• Method prototype:

int rm_get_joint_max_acc(rm_robot_handle * handle,float * max_acc)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
max_acc	Input	Array of acceleration of joints 1 to 7, in °/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

float max_acc[6];
ret = rm_get_joint_max_acc(robot_handle, max_acc);
printf("get joint max acc result : %d\n", ret);
printf("Max accelerations: ");
for (int i = 0; i < 6; i++) {
    printf("%.2f ", max_acc[i]);
}
printf("\n");

Query the joint minimum limitrm_get_joint_min_pos()

• Method prototype:

int rm_get_joint_min_pos(rm_robot_handle * handle,float * min_pos)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
min_pos	Input	Array of minimum position of joints 1 to 7, 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

float min_pos[6];
ret = rm_get_joint_min_pos(robot_handle, min_pos);
printf("get joint min pos result : %d\n", ret);
printf("Min positions: ");
for (int i = 0; i < 6; i++) {
    printf("%.2f ", min_pos[i]);
}
printf("\n");

Query the maximum joint limitrm_get_joint_max_pos()

• Method prototype:

int rm_get_joint_max_pos(rm_robot_handle * handle,float * max_pos)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
max_pos	Input	Array of maximum position of joints 1 to 7, 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

float max_pos[6];
ret = rm_get_joint_max_pos(robot_handle, max_pos);
printf("get joint max pos result : %d\n", ret);
printf("Max positions: ");
for (int i = 0; i < 6; i++) {
    printf("%.2f ", max_pos[i]);
}
printf("\n");

Query the maximum joint speed (driver)rm_get_joint_drive_max_speed()

• Method prototype:

int rm_get_joint_drive_max_speed(rm_robot_handle * handle,float * max_speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
max_speed	Input	Array of speed of joints 1 to 7, in °/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

float max_speed[6];
ret = rm_get_joint_drive_max_speed(robot_handle, max_speed);
printf("get joint drive max speed result : %d\n", ret);
printf("Max drive speeds: ");
for (int i = 0; i < 6; i++) {
    printf("%.2f ", max_speed[i]);
}
printf("\n");

Query the maximum joint acceleration (driver)rm_get_joint_drive_max_acc()

• Method prototype:

int rm_get_joint_drive_max_acc(rm_robot_handle * handle,float * max_acc)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
max_acc	Input	Array of acceleration of joints 1 to 7, in °/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

float max_acc[6];
ret = rm_get_joint_drive_max_acc(robot_handle, max_acc);
printf("get joint drive max acc result : %d\n", ret);
printf("Max accelerations: ");
for (int i = 0; i < 6; i++) {
    printf("%.2f ", max_acc[i]);
}
printf("\n");

Query the joint minimum limit (driver)rm_get_joint_drive_min_pos()

• Method prototype:

int rm_get_joint_drive_min_pos(rm_robot_handle * handle,float * min_pos)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
min_pos	Input	Array of minimum position of joints 1 to 7, 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

float min_pos[6];
ret = rm_get_joint_drive_min_pos(robot_handle, min_pos);
printf("get joint drive min pos result : %d\n", ret);
printf("Min positions: ");
for (int i = 0; i < 6; i++) {
    printf("%.2f ", min_pos[i]);
}
printf("\n");

Query the maximum joint limit (driver)rm_get_joint_drive_max_pos()

• Method prototype:

int rm_get_joint_drive_max_pos(rm_robot_handle * handle,float * max_pos)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
max_pos	Input	Array of maximum position of joints 1 to 7, 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

float max_pos[6];
ret = rm_get_joint_drive_max_pos(robot_handle, max_pos);
printf("get joint drive max pos result : %d\n", ret);
printf("Max positions: ");
for (int i = 0; i < 6; i++) {
    printf("%.2f ", max_pos[i]);
}
printf("\n");

Query the joint enable staterm_get_joint_en_state()

• Method prototype:

int rm_get_joint_en_state(rm_robot_handle * handle,uint8_t * en_state)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
en_state	Input	Array of enable state of joints 1 to 7, 1: enabled state, 0: disabled state.

• 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

uint8_t en_state[6];
ret = rm_get_joint_en_state(robot_handle, en_state);
printf("get joint en state result : %d\n", ret);
printf("Enable states: ");
for (int i = 0; i < 6; i++) {
    printf("%d ", en_state[i]);
}
printf("\n");

Query the joint error coderm_get_joint_err_flag()

• Method prototype:

int rm_get_joint_err_flag(rm_robot_handle * handle,uint16_t * err_flag,uint16_t * brake_state)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
err_flag	Input	Joint error code feedback. For error codes, please refer to Error code query of robotic arms.
brake_state	Input	Joint brake state feedback, where 1 indicates the brake is not engaged, and 0 indicates the brake is engaged.

• 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

uint16_t err_flag[6];
uint16_t brake_state[6];
ret = rm_get_joint_err_flag(robot_handle, err_flag,brake_state);
printf("get joint err flag result : %d\n", ret);
printf("Error flags: ");
for (int i = 0; i < 6; i++) {
    printf("%d ", err_flag[i]);
}
printf("\n");
printf("Brake states: ");
for (int i = 0; i < 6; i++) {
    printf("%d ", brake_state[i]);
}
printf("\n");