Type description

Here is a list of the types related to the C/C++ API control interface of the RealMan robotic arm.

rm_thread_mode_e Thread mode

Enumerated value	Description
RM_SINGLE_MODE_E	Single-thread mode, waiting for data return in a non-blocking manner.
RM_DUAL_MODE_E	Dual-thread mode, adding a receiving thread to monitor data in the queue.
RM_TRIPLE_MODE_E	Triple-thread mode, adding a thread to monitor UDP interface data based on the dual-thread mode.

rm_event_type_e Event type

Enumerated value	Description
RM_NONE_EVENT_E	Non-event.
RM_CURRENT_TRAJECTORY_STATE_E	Current trajectory in position.
RM_PROGRAM_RUN_FINISH_E	Online programming running finished.

rm_robot_arm_model_e Robotic arm model

Enumerated value	Description
RM_MODEL_RM_65_E	RM_65
RM_MODEL_RM_75_E	RM_75
RM_MODEL_RM_63_II_E	RML_63
RM_MODEL_ECO_65_E	ECO_65
RM_MODEL_ECO_62_E	ECO_62
RM_MODEL_GEN_72_E	GEN_72
RM_MODEL_ECO_63_E	ECO_63

rm_force_type_e End force sensor type

Enumerated value	Description
RM_MODEL_RM_B_E	Standard version.
RM_MODEL_RM_ZF_E	1-DoF force version.
RM_MODEL_RM_SF_E	6-DoF force version.

rm_arm_current_trajectory_e Current robotic arm planning type

Enumerated value	Description
RM_NO_PLANNING_E	No planning.
RM_JOINT_SPACE_PLANNING_E	Joint space planning.
RM_CARTESIAN_LINEAR_PLANNING_E	Cartesian space linear planning.
RM_CARTESIAN_ARC_PLANNING_E	Cartesian space arc planning.
RM_SPLINE_CURVE_MOTION_PLANNING_E	Spline curve motion planning.
RM_TRAJECTORY_REPLAY_PLANNING_E	Teaching trajectory replay planning.

rm_pos_teach_type_e Position teaching direction

Enumerated value	Description
RM_X_DIR_E	Position teaching, along X-direction.
RM_Y_DIR_E	Position teaching, along Y-direction.
RM_Z_DIR_E	Position teaching, along Z-direction.

rm_ort_teach_type_e Orientation teaching direction

Enumerated value	Description
RM_RX_ROTATE_E	Orientation teaching, rotating around the X-axis.
RM_RY_ROTATE_E	Orientation teaching, rotating around the Y-axis.
RM_RZ_ROTATE_E	Orientation teaching, rotating around the Z-axis.

rm_udp_arm_current_status_e UDP-based pushed current robotic arm state

Enumerated value	Description
RM_IDLE_E	Enabled but idle state
RM_MOVE_L_E	move L running state
RM_MOVE_J_E	move J running state
RM_MOVE_C_E	move C running state
RM_MOVE_S_E	move S running state
RM_MOVE_THROUGH_JOINT_E	Pass-through joint state
RM_MOVE_THROUGH_POSE_E	Pass-through pose state
RM_MOVE_THROUGH_FORCE_POSE_E	Pass-through force control state
RM_MOVE_THROUGH_CURRENT_E	Pass-through current loop state
RM_STOP_E	Quick stop state
RM_SLOW_STOP_E	Slow stop state
RM_PAUSE_E	Pause state
RM_CURRENT_DRAG_E	Current loop drag state
RM_SENSOR_DRAG_E	6-DoF force sensor drag state
RM_TECH_DEMONSTRATION_E	Teaching state

rm_force_position_sensor_eForce-Position Hybrid Control Sensor Enumeration

Enumerated value	Description
RM_FP_0F_SENSOR_E	One-dimensional Force Sensor
RM_FP_SF_SENSOR_E	Six-dimensional Force Sensor

rm_force_position_mode_eForce-Position Hybrid Control Mode Enumeration

Enumerated value	Description
RM_FP_BASE_COORDINATE_E	Base Coordinate System Force Control
RM_FP_TOOL_COORDINATE_E	Tool Coordinate System Force Control

rm_force_position_dir_eForce-Position Hybrid Control Mode (Single Direction) Force Control Direction Enumeration

Enumerated value	Description
RM_FP_X_E	Along the X-axis
RM_FP_Y_E	Along the Y-axis
RM_FP_Z_E	Along the Z-axis
RM_FP_RX_E	Along the RX orientation
RM_FP_RY_E	Along the RY orientation
RM_FP_RZ_E	Along the RZ orientation

rm_trajectory_connect_config_eTrajectory Connection Configuration

Enumerated value	Description
RM_TRAJECTORY_DISCONNECT_E	Execute the planned trajectory immediately without connecting to the subsequent trajectory
RM_TRAJECTORY_CONNECT_E	Plan and execute the current trajectory together with the next trajectory