Python:
Joint ConfigurationJointConfigSettings It is used to configure joint speed, acceleration, limits, enabling state, zero position, error clearing, etc. The following is a detailed description of the member functions of the joint configuration JointConfigSettings, including the method prototype, parameter description, return value, and usage demo.
Set the maximum speed for the specified jointrm_set_joint_max_speed()
- Method prototype:
python
rm_set_joint_max_speed(self, joint_num: int, speed: float) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
joint_num | int | Joint number, ranging from 1 to 7, representing the ID of different joints on the robotic arm. |
speed | float | Maximum joint speed, in °/s, defining the highest speed the joint can achieve during motion. |
- Return value: int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -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 format returned by the controller is incorrect or unrecognizable. |
- Usage demo
python
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_joint_max_speed(1, 180))
arm.rm_delete_robot_arm()Set the maximum joint accelerationrm_set_joint_max_acc()
- Method prototype:
python
rm_set_joint_max_acc(self, joint_num: int, acc: float) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
joint_num | int | Joint number, ranging from 1 to 7, representing the ID of different joints on the robotic arm. |
acc | float | Maximum joint acceleration, in °/s², defining the highest acceleration the joint can achieve during motion. |
- Return value: int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -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 format returned by the controller is incorrect or unrecognizable. |
- Usage demo
python
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_joint_max_acc(1, 600))
arm.rm_delete_robot_arm()Set the minimum joint position limitrm_set_joint_min_pos()
- Method prototype:
python
rm_set_joint_min_pos(self, joint_num: int, min_pos: float) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
joint_num | int | Joint number, ranging from 1 to 7, representing the ID of different joints on the robotic arm. |
min_pos | float | Minimum joint position, in °. |
- Return value: int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -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 format returned by the controller is incorrect or unrecognizable. |
- Usage demo
python
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_joint_min_pos(1, -178))
arm.rm_delete_robot_arm()Set the maximum joint position limitrm_set_joint_max_pos()
- Method prototype:
python
rm_set_joint_max_pos(self, joint_num: int, max_pos: float) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
joint_num | int | Joint number, ranging from 1 to 7, representing the ID of different joints on the robotic arm. |
max_pos | float | Maximum joint position, in °. |
- Return value: int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -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 format returned by the controller is incorrect or unrecognizable. |
- Usage demo
python
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_joint_max_pos(1, 178))
arm.rm_delete_robot_arm()Set the maximum speed for the specified jointrm_set_joint_drive_max_speed()
- Method prototype:
python
rm_set_joint_drive_max_speed(self, joint_num: int, speed: float) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
joint_num | int | Joint number, ranging from 1 to 7, representing the ID of different joints on the robotic arm. |
speed | float | Maximum joint speed, in °/s, defining the highest speed the joint can achieve during motion. |
- Return value: int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -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 format returned by the controller is incorrect or unrecognizable. |
- Usage demo
python
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_joint_drive_max_speed(1, 180))
arm.rm_delete_robot_arm()Set the maximum acceleration for the specified joint (driver)rm_set_joint_drive_max_acc()
- Method prototype:
python
rm_set_joint_drive_max_acc(self, joint_num: int, acc: float) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
joint_num | int | Joint number, ranging from 1 to 7, representing the ID of different joints on the robotic arm. |
acc | float | Maximum joint acceleration, in °/s². |
- Return value: int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -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 format returned by the controller is incorrect or unrecognizable. |
- Usage demo
python
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_joint_drive_max_acc(1, 600))
arm.rm_delete_robot_arm()Set the minimum limit for the specified joint (driver)rm_set_joint_drive_min_pos()
- Method prototype:
python
rm_set_joint_drive_min_pos(self, joint_num: int, min_pos: float) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
joint_num | int | Joint number, ranging from 1 to 7, representing the ID of different joints on the robotic arm. |
min_pos | float | Minimum joint position, in °. |
- Return value: int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -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 format returned by the controller is incorrect or unrecognizable. |
- Usage demo
python
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_joint_drive_min_pos(1, -178))
arm.rm_delete_robot_arm()Set the maximum limit for the specified joint (driver)rm_set_joint_drive_max_pos()
- Method prototype:
python
rm_set_joint_drive_max_pos(self, joint_num: int, max_pos: float) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
joint_num | int | Joint number, ranging from 1 to 7, representing the ID of different joints on the robotic arm. |
max_pos | float | Maximum joint position, in °. |
- Return value: int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -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 format returned by the controller is incorrect or unrecognizable. |
- Usage demo
python
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_joint_drive_max_pos(1, 178))
arm.rm_delete_robot_arm()Set the enabling state for the specified jointrm_set_joint_en_state()
- Method prototype:
python
rm_set_joint_en_state(self, joint_num: int, en_state: int) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
joint_num | int | Joint number, ranging from 1 to 7, representing the ID of different joints on the robotic arm. |
en_state | int | 1: Enable 0: Disable. |
- Return value: int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -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 format returned by the controller is incorrect or unrecognizable. |
- Usage demo
python
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_joint_en_state(1, 1))
arm.rm_delete_robot_arm()Set the current position of the specified joint as the zero position rm_set_joint_zero_pos()
- Method prototype:
python
rm_set_joint_zero_pos(self, joint_num: int) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
joint_num | int | Joint number, ranging from 1 to 7, representing the ID of different joints on the robotic arm. |
- Return value: int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -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 format returned by the controller is incorrect or unrecognizable. |
- Usage demo
python
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_joint_zero_pos(1))
arm.rm_delete_robot_arm()Clear the error codes for the specified jointrm_set_joint_clear_err()
- Method prototype:
python
rm_set_joint_clear_err(self, joint_num: int) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
joint_num | int | Joint number, ranging from 1 to 7, representing the ID of different joints on the robotic arm. |
- Return value: int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -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 format returned by the controller is incorrect or unrecognizable. |
- Usage demo
python
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_joint_clear_err(1))
arm.rm_delete_robot_arm()One-click setting of joint limitsrm_auto_set_joint_limit()
- Method prototype:
python
rm_auto_set_joint_limit(self, mode: int) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
mode | int | 1: Normal mode, where each joint's limits are defined by the soft limit and hardware limit from the specification parameters. |
- Return value: int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -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 format returned by the controller is incorrect or unrecognizable. |
- Usage demo
python
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_auto_set_joint_limit(1))
arm.rm_delete_robot_arm()