Python:
Online Programming File ManagementProjectManagement It is used for the distribution and management of online programming files. The following is a detailed description of the member functions of the distribution and management of online programming files ProjectManagement, including the method prototype, parameter description, return value, and usage demo.
Send files rm_send_project()
rm_send_project()- Method prototype:
python
rm_send_project(self, send_project: rm_send_project_t) -> tuple[int, int]:Jump to rm_send_project_t for details of the structure
- Parameter description:
| Parameter | Type | Description |
|---|---|---|
send_project | rm_send_project_t | File data to be sent. |
- Return value:
tuple[int, int]: a tuple containing two elements.
- int: state codes executed by functions.
| Parameter | Type | Description | Handling Suggestions |
|---|---|---|---|
| 0 | int | Success. | - |
| 1 | int | The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong. | - Validate JSON Command: ① Enable DEBUG logs for the API to capture the raw JSON data. ② Check JSON syntax: Ensure correct formatting of parentheses, quotes, commas, etc. (You can use a JSON validation tool). ③ Verify against the API documentation that parameter names, data types, and value ranges comply with the specifications. ④ After fixing the issues, resend the command and check if the controller returns a normal status code and business data. - Check Robot Arm Status: ① Check for real-time error messages in the robot arm controller or logs (such as hardware failures, over-limit conditions), and reset, calibrate, or troubleshoot hardware issues according to the prompts. ② After fixing the issues, resend the command and check if the controller returns a normal status code and business data. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. | Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. | - Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal. - Verify Version Compatibility: ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description. ② If the version is too low, upgrade the controller or use an API version that is compatible. - Call the ModbusTCP interface: Applicable only when reading from or writing to the ModbusTCP device of the controller. After creating the robot arm control handle, you must call the rm_set_modbustcp_mode() interface; otherwise, no return value will be received. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. | Verify Version Compatibility: ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description. ② If the version is too low, upgrade the controller or use an API version that is compatible. |
| -4 | int | File name check failed. | Check file path and format: Check if the file path is empty or formatted incorrectly. |
| -5 | int | File reading failed. | - Check file path: ① Ensure the file path is correct and there are no spelling errors. ② Confirm that the file actually exists at the specified path. - Check file permissions: Ensure the user has permission to read the file. If the file is in a protected directory, administrative privileges may be required. - Check if the file is in use: Ensure the file is not being opened or locked by another program. If the file is in use, you may need to close the program that is using the file. - Contact technical support: If none of the above steps resolve the issue, the user can contact the technical support team, providing detailed error information and steps taken, to allow the support staff to further investigate and diagnose the issue. - Retry the operation: Attempt to re-execute the rm_send_project function to see if the problem persists. - Try another file: If possible, try reading another file to see if the issue is related to a specific file. |
- int: If the operation fails, this parameter returns the number of error lines
| Parameter | Type | Description |
|---|---|---|
| 0 | int | The check data length is incorrect. |
| Other values | int | Number of error lines. |
| -1 | int | No error, the file has been successfully sent. |
- 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)
# Save the online programming file with the ID 8 and planned speed ratio of 50% to the controller, and execute the file.
file_path = "../TestDatas/example.txt"
send_project = rm_send_project_t(file_path, 50, 0, 8, 0, 0, 0)
print(arm.rm_send_project(send_project))
arm.rm_delete_robot_arm()Get online program list rm_get_program_trajectory_list()
- Method prototype:
python
rm_get_program_trajectory_list(self, page_num: int, page_size: int, vague_search: str) -> tuple[int, dict[str, any]]:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
page_num | int | Page. |
page_size | int | Page size. |
vague_search | str | Vague search. |
- Return value:
tuple[int, dict[str,any]]: a tuple containing two elements.
- int: state codes executed by functions.
0 represents success. For other error codes, please refer to the API2 Error Codes.
- Online programming list dictionary
| Parameter | Type | Description |
|---|---|---|
rm_program_trajectorys_t | dict[str,any] | Obtained online programming list dictionary, key: field names of rm_program_trajectorys_t. |
- 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)
# Vaguely search "a" online programming file
print(arm.rm_get_program_trajectory_list(1, 10, "a"))
arm.rm_delete_robot_arm()Run Specified Trajectory rm_set_program_id_run()
rm_set_program_id_run()- Method prototype:
python
rm_set_program_id_run(self, tra_id: int, speed: int, timeout: int) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
tra_id | int | Run the specified ID, 1-100. The trajectory will be executed if it exists. |
speed | int | 1-100, the speed of the trajectory to be run. If set to 0, it will run at the stored speed. |
timeout | int | Blocking settings: multi-thread mode: 0: non-blocking mode, immediately return after sending commands; 1: blocking mode, return after the robotic arm reaches the target position or the planning fails; single-thread mode: 0: non-blocking mode; other values: blocking mode, and timeout period setting, in s. |
- Return value: State codes executed by functions:
| Parameter | Type | Description | Handling Suggestions |
|---|---|---|---|
| 0 | int | Success. | - |
| 1 | int | The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong. | - Validate JSON Command: ① Enable DEBUG logs for the API to capture the raw JSON data. ② Check JSON syntax: Ensure correct formatting of parentheses, quotes, commas, etc. (You can use a JSON validation tool). ③ Verify against the API documentation that parameter names, data types, and value ranges comply with the specifications. ④ After fixing the issues, resend the command and check if the controller returns a normal status code and business data. - Check Robot Arm Status: ① Check for real-time error messages in the robot arm controller or logs (such as hardware failures, over-limit conditions), and reset, calibrate, or troubleshoot hardware issues according to the prompts. ② After fixing the issues, resend the command and check if the controller returns a normal status code and business data. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. | Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. | - Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal. - Verify Version Compatibility: ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description. ② If the version is too low, upgrade the controller or use an API version that is compatible. - Call the ModbusTCP interface: Applicable only when reading from or writing to the ModbusTCP device of the controller. After creating the robot arm control handle, you must call the rm_set_modbustcp_mode() interface; otherwise, no return value will be received. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. | Verify Version Compatibility: ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description. ② If the version is too low, upgrade the controller or use an API version that is compatible. |
| -4 | int | The running has stopped, but the successful running information is not received. The trajectory may have stopped outside the range. | Determine whether the trajectory has been externally stopped, such as by triggering pause, stop, or similar buttons. |
- 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)
# Run the online programming with the ID 8 at 20% speed in a blocking mode
print(arm.rm_set_program_id_run(8, 20, 1))
arm.rm_delete_robot_arm()Query the online program running state rm_get_program_run_state()
- Method prototype:
python
rm_get_program_run_state(self) -> tuple[int, dict[str, any]]:- Return value:
tuple[int, dict[str,any]]: a tuple containing two elements.
- int: state codes executed by functions.
0 represents success. For other error codes, please refer to the API2 Error Codes.
- Online programming running state dictionary
| Parameter | Type | Description |
|---|---|---|
rm_program_run_state_t | dict[str,any] | Obtained online programming running state dictionary, key: field names of rm_program_run_state_t. |
- 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_program_run_state())
arm.rm_delete_robot_arm()Delete the specified trajectoryrm_delete_program_trajectory()
- Method prototype:
python
rm_delete_program_trajectory(self, tra_id: int) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
tra_id | int | ID of specified trajectory. |
- Return value: State codes executed by functions:
0 represents success. For other error codes, please refer to the API2 Error Codes.
- 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_delete_program_trajectory(8))
arm.rm_delete_robot_arm()Modify the information of the specified trajectoryrm_update_program_trajectory()
- Method prototype:
python
rm_update_program_trajectory(self, tra_id: int, speed: int, name: str) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
tra_id | int | ID of specified trajectory. |
speed | int | Updated planned speed ratio, 1-100. |
name | str | Updated file name. |
- Return value: State codes executed by functions:
0 represents success. For other error codes, please refer to the API2 Error Codes.
- 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_update_program_trajectory(8, 20, "test"))
arm.rm_delete_robot_arm()Set the ID of program that the IO runs by default rm_set_default_run_program()
- Method prototype:
python
rm_set_default_run_program(self, tra_id: int) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
tra_id | int | Set the ID of online programming file that the IO runs by default. It is configurable from 0 to 100. 0 means canceling the setting. |
- Return value: State codes executed by functions:
0 represents success. For other error codes, please refer to the API2 Error Codes.
- 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_default_run_program(8))
arm.rm_delete_robot_arm()Get the ID of program that the IO runs by default rm_get_default_run_program()
- Method prototype:
python
rm_get_default_run_program(self) -> tuple[int, int]:- Return value:
tuple[int,int]: a tuple containing two elements.
- int: state codes executed by functions.
0 represents success. For other error codes, please refer to the API2 Error Codes.
- ID of online programming file
| Parameter | Type | Description |
|---|---|---|
| - | int | Obtained online programming running state dictionary, key: field names of rm_program_run_state_t. |
- 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_default_run_program())
arm.rm_delete_robot_arm()