Python:

System Installation Method Configuration InstallPos

It is used to configure the installation method and query the end effector software version. The RealMan robotic arm supports different installation methods. However, the robot's dynamic model parameters and frame directions may vary depending on the installation method. The following is a detailed description of the member functions of DragTeach to configure the installation method and query the end effector software version, including the method prototype, parameter description, return value, and usage demo.

Set installation method parametersrm_set_install_pose()

• Method prototype:

rm_set_install_pose(self, x: float, y: float, z: float) -> int:

• Parameter description:

Parameter	Type	Description
x	float	Rotation angle, in °;
y	float	Pitch angle, in °;
z	float	Azimuth angle, in °;

• Return value: int: state codes executed by functions:

Parameter	Type	Description
0	int	Success
1	int	The controller returns false, indicating that the parameters are incorrect 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

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_set_install_pose(0, 90, 0))

arm.rm_delete_robot_arm()

Get installation method parametersrm_get_install_pose()

• Method prototype:

rm_get_install_pose(self) -> dict[str, any]:

• Return value dict[str,any]: a dictionary containing the following keys

1. return_code(): a state code executed by functions

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are incorrect 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.

2. Pose angle value

Parameter	Type	Description
x	float	Rotation angle, in °;
y	float	Pitch angle, in °;
z	float	Azimuth angle, in °;

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_get_install_pose())

arm.rm_delete_robot_arm()

Get the joint software version rm_get_joint_software_version()

The obtained joint software version must be converted to hexadecimal. For example, if the obtained joint software version is 54536, it is converted to hexadecimal D508, so the current joint software version is Vd5.0.8.

• Method prototype:

rm_get_joint_software_version(self) -> tuple[int, list[int]]:

• Return value: tuple[int,list[int]]: a tuple containing two elements -int State codes executed by functions.

Parameter	Type	Description
0	int	Success
1	int	The controller returns false, indicating that the parameters are incorrect 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.
list	int	Array of obtained software versions of each joint.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_get_joint_software_version())

arm.rm_delete_robot_arm()

Get the software version of the end interface board rm_get_tool_software_version()

The obtained software version of the end interface board must be converted to hexadecimal. For example, if the obtained software version is 393, it is converted to hexadecimal 189, so the current software version is V1.8.9.

• Method prototype:

rm_get_tool_software_version(self) -> tuple[int, int]:

• Return value: tuple[int,int]: a tuple containing two elements -int State codes executed by functions.

Parameter	Type	Description
0	int	Success
1	int	The controller returns false, indicating that the parameters are incorrect 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 data returned by the controller is unrecognized or incomplete.
list	int	Obtained software version of the end interface board.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_get_tool_software_version())

arm.rm_delete_robot_arm()