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Joint Configuration Query JointConfigReader ​

It is used to query the maximum speed, acceleration, limits, etc., of joints and drivers. The following is a detailed description of the member functions of the joint configuration query JointConfigReader, including the method prototype, parameter description, return value, and usage demo.

Query the maximum joint speedrm_get_joint_max_speed() ​

  • Method prototype:
python
rm_get_joint_max_speed(self) -> tuple[int, list]:
  • Return value:

tuple[int, list]: a tuple containing two elements.

  1. return_code(): a state code executed by functions. 0 represents success. For other error codes, please refer to the API2 Error Codes.

  2. Maximum joint speed. | Parameter | Type | Description | | :--- | :--- | :--- | | list | float | Maximum joint speed, in °/s. |

  • 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_get_joint_max_speed())
arm.rm_delete_robot_arm()

Query the maximum joint accelerationrm_get_joint_max_acc() ​

  • Method prototype:
python
rm_get_joint_max_acc(self) -> tuple[int, list]:
  • Return value:tuple[int, list]: a tuple containing two elements.

  1. return_code(): a state code executed by functions. 0 represents success. For other error codes, please refer to the API2 Error Codes.

  2. Maximum joint acceleration. | Parameter | Type | Description | | :--- | :--- | :--- | | list | float | Maximum joint acceleration, in °/s. |

  • 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_get_joint_max_acc())
arm.rm_delete_robot_arm()

Query the minimum joint limitrm_get_joint_min_pos() ​

  • Method prototype:
python
rm_get_joint_min_pos(self) -> tuple[int, list]:
  • Return value: tuple[int, list]: a tuple containing two elements.

  1. return_code(): a state code executed by functions. 0 represents success. For other error codes, please refer to the API2 Error Codes.

  2. Minimum joint positions. | Parameter | Type | Description | | :--- | :--- | :--- | | list | float | Array of minimum joint positions, with a length corresponding to the number of joints in the robotic arm, in °. |

  • 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_get_joint_min_pos())
arm.rm_delete_robot_arm()

Query the maximum joint limitrm_get_joint_max_pos() ​

  • Method prototype:
python
rm_get_joint_max_pos(self) -> tuple[int, list]:
  • Return value:tuple[int, list]: a tuple containing two elements.

  1. return_code(): a state code executed by functions. 0 represents success. For other error codes, please refer to the API2 Error Codes.

  2. Maximum joint positions. | Parameter | Type | Description | | :--- | :--- | :--- | | list | float | Array of maximum joint positions, with a length corresponding to the number of joints in the robotic arm, in °. |

  • 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_get_joint_max_pos())
arm.rm_delete_robot_arm()

Query the maximum joint speed (driver)rm_get_joint_drive_max_speed() ​

  • Method prototype:
python
rm_get_joint_drive_max_speed(self) -> tuple[int, list]:
  • Return value:tuple[int, list]: a tuple containing two elements.

  1. return_code(): a state code executed by functions. 0 represents success. For other error codes, please refer to the API2 Error Codes.

  2. Maximum joint speed. | Parameter | Type | Description | | :--- | :--- | :--- | | list | float | Maximum joint speed |

  • 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_get_joint_drive_max_speed())

arm.rm_delete_robot_arm()

Query the maximum joint acceleration (driver)rm_get_joint_drive_max_acc() ​

  • Method prototype:
python
rm_get_joint_drive_max_acc(self) -> tuple[int, list]:
  • Return value:tuple[int, list]: a tuple containing two elements.

  1. return_code(): a state code executed by functions. 0 represents success. For other error codes, please refer to the API2 Error Codes.

  2. Maximum acceleration of each joint. | Parameter | Type | Description | | :--- | :--- | :--- | | list | float | Maximum acceleration of each joint |

  • 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_get_joint_drive_max_acc())

arm.rm_delete_robot_arm()

Query the minimum joint limit (driver)rm_get_joint_drive_min_pos() ​

  • Method prototype:
python
rm_get_joint_drive_min_pos(self) -> tuple[int, list]:
  • Return value:tuple[int, list]: a tuple containing two elements.

  1. return_code(): a state code executed by functions. 0 represents success. For other error codes, please refer to the API2 Error Codes.

  2. Minimum joint positions. | Parameter | Type | Description | | :--- | :--- | :--- | | list | float | Array of minimum joint positions, with a length corresponding to the number of joints in the robotic arm, in ° |

  • 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_get_joint_drive_min_pos())

arm.rm_delete_robot_arm()

Query the maximum joint limit (driver)rm_get_joint_drive_max_pos() ​

  • Method prototype:
python
rm_get_joint_drive_max_pos(self) -> tuple[int, list]:
  • Return value:tuple[int, list]: a tuple containing two elements.

  1. return_code(): a state code executed by functions. 0 represents success. For other error codes, please refer to the API2 Error Codes.

  2. Maximum joint positions. | Parameter | Type | Description | | :--- | :--- | :--- | | list | float | Array of maximum joint positions, with a length corresponding to the number of joints in the robotic arm, in ° |

  • 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_get_joint_drive_max_pos())

arm.rm_delete_robot_arm()

Get the joint enabling staterm_get_joint_en_state() ​

  • Method prototype:
python
rm_get_joint_en_state(self) -> tuple[int, list]:
  • Return value:tuple[int, list]: a tuple containing two elements.

  1. return_code(): a state code executed by functions. 0 represents success. For other error codes, please refer to the API2 Error Codes.

  2. Enabling state of each joint. | Parameter | Type | Description | | :--- | :--- | :--- | | list | float | Array of enabling state of each joint, with a length corresponding to the number of joints in the robotic arm, in ° |

  • 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_get_joint_en_state())

arm.rm_delete_robot_arm()

Get the joint error coderm_get_joint_err_flag() ​

  • Method prototype:
python
rm_get_joint_err_flag(self) -> dict[str, any]:
  • Return value:tuple[int, list]: a tuple containing two elements.

  1. return_code(): a state code executed by functions. 0 represents success. For other error codes, please refer to the API2 Error Codes.

  2. State of each joint. | Parameter | Type | Description | | :--- | :--- | :--- | | err_flag | list[float] | List of floats, representing the error flags for each joint. If arm_dof is not 0, the length of the list will be equal to arm_dof; otherwise, the default ARM_DOF length will be used. | | brake_state | list[float] | List of floats, representing the brake state of each joint. If arm_dof is not 0, the length of the list will be equal to arm_dof; otherwise, the default ARM_DOF length will be used. |

  • 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_get_joint_err_flag())

arm.rm_delete_robot_arm()