Python:
Teaching and Stepping Control of the Robotic ArmArmTeachMove It is used for teaching and stepping control of joints, position, and orientation. The following is a detailed description of the member functions of the teaching and stepping of the robotic arm ArmTeachMove, including the method prototype, parameter description, return value, and usage demo.
Joint step rm_set_joint_step()
- Method prototype:
python
rm_set_joint_step(self, num: int, step: float, v: int, block: int) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
num | int | Joint number, 1-7 |
step | float | Step angle |
v | int | Velocity ratio: 1−100, indicating the percentage of the planned velocity and acceleration to the maximum linear speed and linear acceleration of the end effector |
block | 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 |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are sent incorrectly 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. |
| -4 | int | The current in-position equipment verification fails, indicating that the current in-position equipment is not a joint. |
| -5 | int | The single-thread mode does not receive a return value after the timeout, indicating that the timeout period may be improper. |
- 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)
# Step joint 5 by 3°
print(arm.rm_set_joint_step(5, 3, 20, 1))
arm.rm_delete_robot_arm()Position step rm_set_pos_step()
In the current work frame.
- Method prototype:
python
rm_set_pos_step(self, teach_type: rm_pos_teach_type_e, step: float, v: int, block: int) -> int:Jump to typeList for details ofrm_thread_mode_e
- Parameter description:
| Parameter | Type | Description |
|---|---|---|
teach_type | rm_pos_teach_type_e | Teaching type |
step | float | Step distance in m, with an accuracy of 0.001 mm |
v | int | Velocity ratio: 1−100, indicating the percentage of the planned velocity and acceleration to the maximum linear speed and linear acceleration of the end effector |
block | 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 |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are sent incorrectly 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. |
| -4 | int | The current in-position equipment verification fails, indicating that the current in-position equipment is not a joint. |
| -5 | int | The single-thread mode does not receive a return value after the timeout, indicating that the timeout period may be improper. |
- 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)
# Step 0.05 m in the X-axis direction of the current work frame
print(arm.rm_set_pos_step(rm_pos_teach_type_e.RM_X_DIR_E, 0.05, 20, 1))
arm.rm_delete_robot_arm()Orientation step rm_set_ort_step()
In the current work frame.
- Method prototype:
python
rm_set_ort_step(self, teach_type: rm_ort_teach_type_e, step: float, v: int, block: int) -> int:Jump to typeList for details of rm_ort_teach_type_e
- Parameter description:
| Parameter | Type | Description |
|---|---|---|
teach_type | rm_ort_teach_type_e | Teaching type |
step | float | Step radian in rad, with an accuracy of 0.001 rad |
v | int | Velocity ratio: 1−100, indicating the percentage of the planned velocity and acceleration to the maximum linear speed and linear acceleration of the end effector |
block | 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 |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are sent incorrectly 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. |
| -4 | int | The current in-position equipment verification fails, indicating that the current in-position equipment is not a joint. |
| -5 | int | The single-thread mode does not receive a return value after the timeout, indicating that the timeout period may be improper. |
- 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)
# Rotate 0.01 rad around the X-axis of the current work frame
print(arm.rm_set_ort_step(rm_ort_teach_type_e.RM_RX_ROTATE_E, 0.01, 20, 1))
arm.rm_delete_robot_arm()Joint teaching rm_set_joint_teach()
- Method prototype:
python
rm_set_joint_teach(self, num: int, direction: int, v: int) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
num | int | Teaching joint number, 1-7 |
direction | int | Teaching direction, 0: backward, 1: forward |
v | int | Velocity ratio: 1−100, indicating the percentage of the planned velocity and acceleration to the maximum linear velocity and acceleration of the joint |
- Return value: State codes executed by functions:
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are sent incorrectly 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
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)
# Teach in the forward direction of joint 5
print(arm.rm_set_joint_teach(5, 1, 20))
arm.rm_delete_robot_arm()Cartesian spatial position teaching rm_set_pos_teach()
In the current work frame.
- Method prototype:
python
rm_set_pos_teach(self, teach_type: rm_pos_teach_type_e, direction: int, v: int) -> int:Jump to typeList for details ofrm_thread_mode_e
- Parameter description:
| Parameter | Type | Description |
|---|---|---|
teach_type | rm_pos_teach_type_e | Teaching type |
direction | int | Teaching direction, 0: backward, 1: forward |
v | int | Velocity ratio: 1−100, indicating the percentage of the planned velocity and acceleration to the maximum angular speed and angular acceleration of the end effector |
- Return value: State codes executed by functions:
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are sent incorrectly 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
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)
# Teach in the forward direction of the X-axis of the current work frame
print(arm.rm_set_pos_teach(rm_pos_teach_type_e.RM_X_DIR_E, 1, 20))
arm.rm_delete_robot_arm()Cartesian spatial orientation teaching rm_set_ort_teach()
In the current work frame.
- Method prototype:
python
rm_set_ort_teach(self, teach_type: rm_ort_teach_type_e, direction: int, v: int) -> int:Jump to typeList for details of rm_ort_teach_type_e
- Parameter description:
| Parameter | Type | Description |
|---|---|---|
teach_type | rm_ort_teach_type_e | Teaching type |
direction | int | Teaching direction, 0: backward, 1: forward |
v | int | Velocity ratio: 1−100, indicating the percentage of the planned velocity and acceleration to the maximum angular speed and angular acceleration of the end effector |
- Return value: State codes executed by functions:
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are sent incorrectly 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
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)
# Teach in the forward direction around the X-axis of the current work frame
print(arm.rm_set_ort_teach(rm_ort_teach_type_e.RM_RX_ROTATE_E, 1, 20))
arm.rm_delete_robot_arm()Stop teaching rm_set_stop_teach()
- Method prototype:
python
rm_set_stop_teach(self) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
num | int | Teaching joint number, 1-7 |
direction | int | Teaching direction, 0: backward, 1: forward |
v | int | Velocity ratio: 1−100, indicating the percentage of the planned velocity and acceleration to the maximum linear velocity and acceleration of the joint |
- Return value: State codes executed by functions:
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are sent incorrectly 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
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_stop_teach())
arm.rm_delete_robot_arm()Set teaching frame rm_set_teach_frame()
- Method prototype:
python
rm_set_teach_frame(self, frame_type: int) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
frame_type | int | 0: work frame, 1: tool frame |
- Return value: State codes executed by functions:
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are sent incorrectly 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
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)
# Switch the teaching frame to the current tool frame
print(arm.rm_set_teach_frame(1))
arm.rm_delete_robot_arm()Get teaching frame rm_get_teach_frame()
- Method prototype:
python
rm_get_teach_frame(self) -> tuple[int, int]:- Return value:
tuple[int,int]: a tuple containing two elements.
- State codes executed by functions.
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are sent incorrectly 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. |
- Frame movement
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Work frame |
| 1 | int | Tool frame |
- 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_teach_frame())
arm.rm_delete_robot_arm()