Python:
Joint Configuration QueryJointConfigReader
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.
Parameter | Type | Description |
---|---|---|
int | int | State codes executed by functions: 0: success. -1: The data transmission fails, indicating that a problem occurs during the communication. -2: The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. -3: The return value parse fails, indicating that the data returned by the controller is unrecognized or incomplete. |
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.
Parameter | Type | Description |
---|---|---|
int | int | State codes executed by functions: 0: success. -1: The data transmission fails, indicating that a problem occurs during the communication. -2: The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. -3: The return value parse fails, indicating that the data returned by the controller is unrecognized or incomplete. |
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.
Parameter | Type | Description |
---|---|---|
int | int | State codes executed by functions: 0: success. -1: The data transmission fails, indicating that a problem occurs during the communication. -2: The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. -3: The return value parse fails, indicating that the data returned by the controller is unrecognized or incomplete. |
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.
Parameter | Type | Description |
---|---|---|
int | int | State codes executed by functions: 0: success. -1: The data transmission fails, indicating that a problem occurs during the communication. -2: The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. -3: The return value parse fails, indicating that the data returned by the controller is unrecognized or incomplete. |
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
Parameter | Type | Description |
---|---|---|
int | int | State codes executed by functions. 0: success. -1: The data transmission fails, indicating that a problem occurs during the communication. -2: The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. -3: The return value parse fails, indicating that the data returned by the controller is unrecognized or incomplete. |
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.
Parameter | Type | Description |
---|---|---|
int | int | State codes executed by functions. 0: success. -1: The data transmission fails, indicating that a problem occurs during the communication. -2: The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. -3: The return value parse fails, indicating that the data returned by the controller is unrecognized or incomplete. |
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.
Parameter | Type | Description |
---|---|---|
int | int | State codes executed by functions. 0: success. -1: The data transmission fails, indicating that a problem occurs during the communication. -2: The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. -3: The return value parse fails, indicating that the data returned by the controller is unrecognized or incomplete. |
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.
Parameter | Type | Description |
---|---|---|
int | int | State codes executed by functions. 0: success. -1: The data transmission fails, indicating that a problem occurs during the communication. -2: The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. -3: The return value parse fails, indicating that the data returned by the controller is unrecognized or incomplete. |
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.
Parameter | Type | Description |
---|---|---|
int | int | State codes executed by functions. 0: success. -1: The data transmission fails, indicating that a problem occurs during the communication. -2: The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. -3: The return value parse fails, indicating that the data returned by the controller is unrecognized or incomplete. |
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.
Parameter | Type | Description |
---|---|---|
int | int | State codes executed by functions. 0: success. -1: The data transmission fails, indicating that a problem occurs during the communication. -2: The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. -3: The return value parse fails, indicating that the data returned by the controller is unrecognized or incomplete. |
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()