C and C++:

Lifting Mechanism Configuration liftControl

This interface is used for speed open-loop control, position closed-loop control, and state acquisition of lifting mechanism.

Speed open-loop control of lifting mechanism rm_set_lift_speed()

• Method prototype:

int rm_set_lift_speed(rm_robot_handle * handle,int speed)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
speed	Input	Speed percentage, -100 to 100: speed<0: Lifting mechanism moves down; speed>0: Lifting mechanism moves up; speed=0: Lifting mechanism stops moving;

• 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 moving platform to move at a speed of 50% and downwards
int speed = -50;
ret = rm_set_lift_speed(robot_handle,speed);

Position closed-loop control of lifting mechanism rm_set_lift_height()

• Method prototype:

int rm_set_lift_height(rm_robot_handle * handle,int speed,int height,int block)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
speed	Input	Speed percentage, 1 to 100.
height	Input	Target height, unit: mm, range: 0~2600.
block	Input	Blocking settings: multi-thread mode: 0: non-blocking mode, immediately return after sending commands; 1: blocking mode, return after the robotic arm reaches the target position or the planning fails. Single-thread mode: 0: non-blocking mode; other values: blocking mode, and timeout period setting according to the movement time, in s.

Note: For single-thread blocking mode, set the timeout period to return the trajectory after running within the timeout period.

• 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.
-4	int	The current in-position equipment verification fails, indicating the current in-position equipment is not a dexterous hand.
-5	int	The single-thread mode does not receive a return value after the timeout, indicating that the timeout period may be improper.

• Usage demo

//Set the target height to 100 mm, lifting speed to 50%, and movement to multi-thread blocking mode by default
int height = 100;
int speed = 50;
ret = rm_set_lift_height(robot_handle,speed,height,1);

Acquisition of lifting mechanism state rm_get_lift_state()

• Method prototype:

int rm_get_lift_state(rm_robot_handle * handle,rm_expand_state_t * state)

Jump to rm_robot_handle and rm_expand_state_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
state	Output	Current state of lifting mechanism.

• 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 lifting mechanism
rm_expand_state_t state;
int result = rm_get_lift_state(robot_handle, &state);