C、C++:

Joint Configuration jointConfigSettings

This refers to setting the joint parameters of the robotic arm, such as speed, acceleration, limit, zero position, and joint error information.

If a joint error occurs, the joint parameters cannot be modified, and the error code must first be cleared. Additionally, before configuring the joint, it must first be disabled; otherwise, the settings will not be applied successfully.

Once all joint parameters are modified, they are automatically saved to the joint's Flash and take effect immediately. Afterward, the joint will be in a disabled state, and a command must be sent to re-enable the joint for normal operation.

Set joint maximum speedrm_set_joint_max_speed()

• Method prototype:

int rm_set_joint_max_speed(rm_robot_handle * handle,int joint_num,float max_speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint_num	Input	Joint number.
max_speed	Input	Joint maximum speed, 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

// Set maximum speed of joint 1 to 180°/s  
int ret = rm_set_joint_max_speed(robot_handle,1,180);
printf("set_joint_max_speed result:%d\n",ret);

Set joint maximum accelerationrm_set_joint_max_acc()

• Method prototype:

int rm_set_joint_max_acc(rm_robot_handle *handle,int joint_num,float max_acc)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint_num	Input	Joint number.
max_acc	Input	Joint maximum acceleration, in °/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 maximum acceleration of joint 2 to 600°/s²
int joint_num = 2;
float acc = 600;
ret = rm_set_joint_max_acc(robot_handle,joint_num,acc);

Set joint minimum limitrm_set_joint_min_pos()

• Method prototype:

int rm_set_joint_min_pos(rm_robot_handle * handle,int joint_num,float min_pos)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint_num	Input	Joint number.
min_pos	Input	Joint minimum position, 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 the minimum limit of joint 1 to -178°
int joint_num = 1;                                                        
float joint = -178;                                                        
ret=rm_set_joint_min_pos(robot_handle,joint_num,joint);

Set joint maximum limitrm_set_joint_max_pos()

• Method prototype:

int rm_set_joint_max_pos(rm_robot_handle * handle,int joint_num,float max_pos)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint_num	Input	Joint number.
max_pos	Input	Joint maximum position, 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 the maximum limit of joint 6 to 360°
int joint_num = 6;
float joint = 360;
ret = rm_set_joint_max_pos(robot_handle,joint_num,joint);

Set joint maximum speed (driver)rm_set_joint_drive_max_speed()

• Method prototype:

int rm_set_joint_drive_max_speed(rm_robot_handle * handle,int joint_num,float max_speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint_num	Input	Joint number.
max_speed	Input	Joint maximum speed, 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

// Set the maximum speed of joint driver 1 to 180°/s
int ret = rm_set_joint_drive_max_speed(robot_handle,1,180);
printf("rm_set_joint_drive_max_speed result:%d\n",ret);

Set joint maximum acceleration (driver)rm_set_joint_drive_max_acc()

• Method prototype:

int rm_set_joint_drive_max_acc(rm_robot_handle * handle,int joint_num,float max_speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint_num	Input	Joint number.
max_acc	Input	Joint maximum acceleration, in °/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 acceleration of joint driver 2 to 600°/s²
int joint_num = 2;
float acc = 600;
ret = rm_set_joint_drive_max_acc(robot_handle,joint_num,acc);

Set joint minimum limit (driver)rm_set_joint_drive_min_pos()

• Method prototype:

int rm_set_joint_drive_min_pos(rm_robot_handle * handle,int joint_num,float min_pos)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint_num	Input	Joint number.
min_pos	Input	Joint minimum position.

• 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 minimum limit of joint driver 6 to -360°
int joint_num = 6;                                                        
float joint = -360;                                                        
ret=rm_set_joint_drive_min_pos(robot_handle,joint_num,joint);

Set joint maximum limit (driver)rm_set_joint_drive_max_pos()

• Method prototype:

int rm_set_joint_drive_max_pos(rm_robot_handle * handle,int joint_num,float max_pos)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint_num	Input	Joint number.
max_pos	Input	Joint maximum position.

• 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 limit of joint driver 6 to 360°
int joint_num = 6;
float joint = 360;
ret = rm_set_joint_drive_max_pos(robot_handle,joint_num,joint);

Set joint enable staterm_set_joint_en_state()

• Method prototype:

int rm_set_joint_en_state(rm_robot_handle * handle,int joint_num,int en_state)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint_num	Input	Joint number.
en_state	Input	1: Enable 0: Disable.

• 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

//Enable joint 1
int joint_num = 1;                                                         
ret=rm_set_joint_en_state(m_sockhand,joint_num,true,RM_BLOCK);

Set joint zero position rm_set_joint_zero_pos()

• Method prototype:

int rm_set_joint_zero_pos(rm_robot_handle * handle,int joint_num)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint_num	Input	Joint number.

• 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 current position of joint 3 to zero position
int joint_num = 3;                                                         
ret = rm_set_joint_zero_pos(m_sockhand,joint_num);

Clear joint error coderm_set_joint_clear_err()

• Method prototype:

int rm_set_joint_clear_err(rm_robot_handle * handle,int joint_num)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint_num	Input	Joint number.

• 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

//Clear joint 2 error code
int joint_num = 2;                                                          
ret=rm_set_joint_clear_err(m_sockhand,joint_num);

Restore joint factory limitrm_auto_set_joint_limit()

• Method prototype:

int rm_auto_set_joint_limit(rm_robot_handle *handle,int limit_mode)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
limit_mode	Input	1: Normal mode, where each joint's limits are defined by the soft limit and hardware limit from the specification parameters.

• 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

ret = rm_auto_set_joint_limit(robot_handle, 1);
printf("set joint limit result : %d\n", ret);