C and C++:

End-Effector Ecosystem Protocol Configuration RmPlusConfig

Reading of basic and real-time information of end-effector devices supported by the end-effector ecosystem protocol.

Set End-Effector Ecosystem Protocol Mode rm_set_rm_plus_mode()

• Method prototype

int rm_set_rm_plus_mode(rm_robot_handle *handle, int mode)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	The robot arm handle.
mode	Input	The end-effector ecosystem protocol mode. 0: Disable protocol, 9600: Enable protocol (baud rate 9600), 115200: Enable protocol (baud rate 115200), 256000: Enable protocol (baud rate 256000), 460800: Enable protocol (baud rate 460800).

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

int mode = 460800;
int ret = rm_set_rm_plus_mode(handle, mode);

Query End-Effector Ecosystem Protocol Mode rm_get_rm_plus_mode()

• Method prototype

int rm_get_rm_plus_mode(rm_robot_handle *handle, int *mode)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	The robot arm handle.
mode	Output	The end-effector ecosystem protocol mode. 0: Disable protocol, 9600: Enable protocol (baud rate 9600), 115200: Enable protocol (baud rate 115200), 256000: Enable protocol (baud rate 256000), 460800: Enable protocol (baud rate 460800).

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

int mode = 0;
int ret = rm_get_rm_plus_mode(handle, &mode);

Set Tactile Sensor Mode (Supported by End-Effector Ecosystem Protocol) rm_set_rm_plus_touch()

• Method prototype

int rm_set_rm_plus_touch(rm_robot_handle *handle, int mode)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	The robot arm handle.
mode	Input	The tactile sensor switch status. 0: Disable tactile sensor, 1: Enable tactile sensor (return processed data), 2: Enable tactile sensor (return raw data).

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

int mode = 1;
int ret = rm_set_rm_plus_touch(handle, mode);

Get Tactile Sensor Mode (Supported by End-Effector Ecosystem Protocol) rm_get_rm_plus_touch()

• Method prototype

int rm_get_rm_plus_touch(rm_robot_handle *handle, int *mode)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	The robot arm handle.
mode	Output	The tactile sensor switch status. 0: Disable tactile sensor, 1: Enable tactile sensor (return processed data), 2: Enable tactile sensor (return raw data).

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

int mode = 0;
int ret = rm_get_rm_plus_touch(handle, &mode);

Read End-Effector Basic Information (Supported by End-Effector Ecosystem Protocol) rm_get_rm_plus_base_info()

• Method prototype

int rm_get_rm_plus_base_info(rm_robot_handle *handle, rm_plus_base_info_t *info)

Jump to rm_robot_handle and rm_plus_base_info_t for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	The robot arm handle.
info	Output	The basic information of the end-effector device.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

rm_robot_handle *handle = NULL;
handle = rm_create_robot_arm("192.168.1.18",8080);
rm_plus_base_info_t baseinfo;
int ret = rm_get_rm_plus_base_info(handle, &baseinfo);

Read End-Effector Real-Time Information (Supported by End-Effector Ecosystem Protocol) rm_get_rm_plus_state_info()

• Method prototype

int rm_get_rm_plus_state_info(rm_robot_handle *handle, rm_plus_state_info_t *info)

Jump to rm_robot_handle and rm_plus_state_info_t for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	The robot arm handle.
info	Output	The real-time information of the end-effector device.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

rm_robot_handle *handle = NULL;
handle = rm_create_robot_arm("192.168.1.18",8080);
rm_plus_state_info_t stateinfo;
int ret = rm_get_rm_plus_state_info(handle, &stateinfo);

Read End-Effector Ecosystem Device Register rm_get_rm_plus_reg

• Method prototype

int rm_get_rm_plus_reg(rm_robot_handle *handle, int addr, int length, int *regarr)

Jump to rm_robot_handle and rm_plus_state_info_t for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	The robot arm control handle.
addr	int	Starting address of the register. Note: The valid address range of the register is 1000~1653. For specific functions of the register, please refer to End-Effector Ecosystem Protocol Definition.
length	int	Length of the register.
regarr	intarray	Storage location for the read data.

• Return value:

  0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

ret = -1;
mode = -1;
int addr = 1000;
int length = 11;
int arr[11] = {0};
ret = rm_get_rm_plus_reg(handle, addr, length, arr);

Write End-Effector Ecosystem Device Register rm_set_rm_plus_reg

• Method prototype

int rm_set_rm_plus_reg(rm_robot_handle *handle, int addr, int length, int *data)

Jump to rm_robot_handle and rm_plus_state_info_t for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	The robot arm control handle.
addr	int	Starting address of the register. Note: The valid address range of the register is 1000~1653. For specific functions of the register, please refer to End-Effector Ecosystem Protocol Definition.
length	int	Length of the register.
data	intarray	Written data.

• Return value:

  0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

ret = -1;
mode = -1;
addr = 1025;
length = 1;
int data[1] = {1};
printf("addr = %d\n", addr);
ret = rm_set_rm_plus_reg(handle, addr, length, data);
printf("ret == %d\n", ret);