C and C++:

Online Programming Configuration projectManagement

This interface supports the sending and management of online programming files, global waypoint management, and other functions.

Send files rm_send_project()

• Method prototype:

int rm_send_project(rm_robot_handle * handle,rm_send_project_t project,int * errline)

Jump to rm_robot_handle and rm_send_project_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
project	Input	Parameter configuration structure for sending files.
errline	Input	If the operation fails, this parameter returns the number of error lines. If err_line is 0, it indicates that the paring data length is incorrect; if err_line is -1, it indicates no error.

• Return value:

Parameter	Type	Description	Handling Suggestions
0	int	Success.	-
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.	- Validate JSON Command: ① Enable DEBUG logs for the API to capture the raw JSON data. ② Check JSON syntax: Ensure correct formatting of parentheses, quotes, commas, etc. (You can use a JSON validation tool). ③ Verify against the API documentation that parameter names, data types, and value ranges comply with the specifications. ④ After fixing the issues, resend the command and check if the controller returns a normal status code and business data. - Check Robot Arm Status: ① Check for real-time error messages in the robot arm controller or logs (such as hardware failures, over-limit conditions), and reset, calibrate, or troubleshoot hardware issues according to the prompts. ② After fixing the issues, resend the command and check if the controller returns a normal status code and business data.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.	Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.	- Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal. - Verify Version Compatibility: ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description. ② If the version is too low, upgrade the controller or use an API version that is compatible. - Call the ModbusTCP interface: Applicable only when reading from or writing to the ModbusTCP device of the controller. After creating the robot arm control handle, you must call the rm_set_modbustcp_mode() interface; otherwise, no return value will be received.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.	Verify Version Compatibility: ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description. ② If the version is too low, upgrade the controller or use an API version that is compatible.
-4	int	File name check failed.	Check file path and format: Check if the file path is empty or formatted incorrectly.
-5	int	File reading failed.	- Check file path: ① Ensure the file path is correct and there are no spelling errors. ② Confirm that the file actually exists at the specified path. - Check file permissions: Ensure the user has permission to read the file. If the file is in a protected directory, administrative privileges may be required. - Check if the file is in use: Ensure the file is not being opened or locked by another program. If the file is in use, you may need to close the program that is using the file. - Contact technical support: If none of the above steps resolve the issue, the user can contact the technical support team, providing detailed error information and steps taken, to allow the support staff to further investigate and diagnose the issue. - Retry the operation: Attempt to re-execute the rm_send_project function to see if the problem persists. - Try another file: If possible, try reading another file to see if the issue is related to a specific file.

• Usage demo

// Save the online programming files to the controller with the ID 10, and operate at 20% speed
rm_send_project_t project;
int errline;
strcpy(project.project_path, "/home/work/realman.txt");
project.project_type = 0;//在线编程文件
project.plan_speed = 20;
project.only_save = 0;// 运行
project.save_id = 10;
project.project_path_len = strlen(project.project_path);
ret = rm_send_project(robot_handle, project, &errline);
printf("send project result: %d, err_line: %d\n", ret, errline);

Change the speed ratio in trajectory planning rm_set_plan_speed()

• Method prototype:

int rm_set_plan_speed(rm_robot_handle * handle,int speed)

Jump to rm_robot_handle and rm_send_project_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
speed	Input	Speed data of the current progress bar.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

int speed = 20;
ret = rm_set_plan_speed(robot_handle,speed);

Get online program list rm_get_program_trajectory_list()

• Method prototype:

int rm_get_program_trajectory_list(rm_robot_handle * handle,int page_num,int page_size,const char * vague_search,rm_program_trajectorys_t * trajectorys)

Jump to rm_robot_handle and rm_program_trajectorys_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
page_num	Input	Page number.
page_size	Input	Page size.
vague_search	Input	Keyword for vague search.
trajectorys	Output	Online program list.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

// Query 10 online programming files on page 1.
int page_num = 1;
int page_size = 10;
const char *vague_search;
rm_program_trajectorys_t program_trajectorys;
int result = rm_get_program_trajectory_list(robot_handle, page_num, page_size, vague_search, &program_trajectorys);
printf("rm_get_program_trajectory_list result : %d\n", result);

Run Specified Trajectory rm_set_program_id_run()

• Method prototype:

int rm_set_program_id_run(rm_robot_handle * handle,int id,int speed,int block)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
id	Input	Page number.
speed	Input	1−100, speed required to run the trajectory. If set to 0, run at the saved speed.
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.

WARNING

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

• Return value:

Parameter	Type	Description	Handling Suggestions
0	int	Success.	-
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.	- Validate JSON Command: ① Enable DEBUG logs for the API to capture the raw JSON data. ② Check JSON syntax: Ensure correct formatting of parentheses, quotes, commas, etc. (You can use a JSON validation tool). ③ Verify against the API documentation that parameter names, data types, and value ranges comply with the specifications. ④ After fixing the issues, resend the command and check if the controller returns a normal status code and business data. - Check Robot Arm Status: ① Check for real-time error messages in the robot arm controller or logs (such as hardware failures, over-limit conditions), and reset, calibrate, or troubleshoot hardware issues according to the prompts. ② After fixing the issues, resend the command and check if the controller returns a normal status code and business data.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.	Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.	- Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal. - Verify Version Compatibility: ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description. ② If the version is too low, upgrade the controller or use an API version that is compatible. - Call the ModbusTCP interface: Applicable only when reading from or writing to the ModbusTCP device of the controller. After creating the robot arm control handle, you must call the rm_set_modbustcp_mode() interface; otherwise, no return value will be received.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.	Verify Version Compatibility: ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description. ② If the version is too low, upgrade the controller or use an API version that is compatible.
-4	int	The running has stopped, but the successful running information is not received. The trajectory may have stopped outside the range.	Determine whether the trajectory has been externally stopped, such as by triggering pause, stop, or similar buttons.

• Usage demo

// Run the online programming file with the ID 1 at the default speed in blocking mode (multi-thread mode by default)
ret = rm_set_program_id_run(robot_handle, 1, 0, 1);
printf("rm_set_program_id_run result :%d\n", ret);

Query the online program running state rm_get_program_run_state()

• Method prototype:

int rm_get_program_run_state(rm_robot_handle * handle,rm_program_run_state_t * run_state)

Jump to rm_robot_handle and rm_program_run_state_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
run_state	Output	Online program running state structure.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

rm_program_run_state_t state;
ret = rm_get_program_run_state(robot_handle, &state);

Delete the specified trajectory rm_delete_program_trajectory()

• Method prototype:

int rm_delete_program_trajectory(rm_robot_handle * handle,int id)

Jump to rm_robot_handle and rm_program_run_state_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
id	Input	ID of specified trajectory.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

// Delete the online programming file with the ID 50
ret = rm_delete_program_trajectory(robot_handle, 50);
printf("delete program trajectory result : %d\n", ret);

Update the information of the specified trajectory rm_update_program_trajectory()

• Method prototype:

int rm_update_program_trajectory(rm_robot_handle * handle,int id,int speed,const char * name)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
id	Input	ID of specified trajectory.
speed	Input	Updated planned speed ratio 1−100.
name	Input	Updated file name.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

// Update the online programming file with the ID 1: planned speed ratio: 50%, file name: "test"
ret = rm_update_program_trajectory(robot_handle,1,50,"test");
printf("update program trajectory result : %d\n", ret);

Set the ID of program that the IO runs by default rm_set_default_run_program()

• Method prototype:

int rm_set_default_run_program(rm_robot_handle * handle,int id)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
id	Input	Set the ID of online programming file that the IO runs by default. It is configurable from 0 to 100. 0 means canceling the setting.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

// Set the ID of online programming file that the IO runs by default to 1
int ret = -1;
ret = rm_set_default_run_program(robot_handle, 1);

Get the ID of program that the IO runs by default rm_get_default_run_program()

• Method prototype:

int rm_get_default_run_program(rm_robot_handle * handle,int * id)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
id	Output	Save the ID of online programming file that the IO runs by default. It is configurable from 0 to 100. 0 means canceling the setting.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

int id;
ret = rm_get_default_run_program(robot_handle, id);