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Overview

Controller Version Description

Version Description

Historical Version Correspondence

Getting Started

Hardware Preparation

Safety Guide

Hardware Interface

Parameter Description

RM65 Series

RM75 Series

RML63 Series

ECO63 Series

ECO65 Series

GEN72 Series

Teaching User Guide

Robotic Arm Teaching

Online Programming

Robot Arm Configuration

Robot Arm System Information

Robot Arm System Upgrade

Robot Arm Extension

MODBUS-TCP Function

External Interface Settings

Optional Function

Demo Presentation

API2(C、C++) Demo

Basic Demo

Frame Operation Demo

Force-Position hybrid Control Demo

End-effector Gripper Control Demo

Usage Demo of Controller IO Port

Lifting Mechanism Control Demo

Usage Demo of ModbusRTU

Spline Curve Motion Demo

Joint Angle Pass-through Demo

Online Programming Demo

Algorithm Demo

Test Tube Gripping Simulation

API2(Python) Demo

Basic Demo

Frame Operation Demo

Multi-Robot Arm Control Operations Demo

Robotic Arm Force Control Demo

Robotic Arm Grasping Demo

Usage Demo of Controller IO Function

Lift Control Demo

ModbusRTU Demo

Spline Curve Motion Demo

Angle Pass-through Demo

Online Programming Demo

Algorithm Demo

ROS Demo

Robot Arm Motion Control

Force-Position Hybrid Control Planning

Get Robot Arm Status

ROS2 Demo

Foxy

Robot Arm Motion Control

Force-Position Hybrid Control Planning

Get Robot Arm Status

Humble

Robot Arm Motion Control

Force-Position Hybrid Control Planning

Get Robot Arm Status

JSON Protocol

Getting Started

Joint Parameter Command Set

Motion Parameter Command Set

Motion Command Set

Frame Command Set

State Query Command Set

System Command Set

Network Configuration Command Set

IO Configuration Command Set

UDP Active Reporting Command Set

Online Programming Command Set

Drag-and-Teach Command Set

Modbus Command Set

Electronic Fence and Virtual Wall Command Set

Self-Collision Safety Detection Command Set

Force Sensor Command Set (Optional)

End Effector Command set (optional)

End-Effector Ecosystem Command Set (optional)

Controller Extension Device Command Set (Optional)

Appendix: Error Codes

API2(C、C++)

Quick Start

Interface Description

Robotic Arm Connection Configuration

Robotic Arm Trajectory Command

Tool Frame Configuration

Work Frame Configuration

Get the Robotic Arm State

End Effector Motion Parameter Configuration

Robotic Arm Teaching Command

Drag Teaching Configuration

Motion State Control Command

Communication Configuration

System Configuration

System Installation Method Configuration

General Extended Joint Configuration

Lifting Mechanism Configuration

End Effector 6-DoF Force Configuration

Electronic Fence and Virtual Wall Configuration

Pass-Through Force-Position Hybrid Control Compensation Configuration

Global Waypoint Management

End-Effector Tool gripper configuration

Five-Finger Dexterous Hand Configuration

End-Effector Ecosystem Protocol Configuration

Controller IO Configuration and Query

End-Effector Tool IO configuration

Joint Configuration

Joint Configuration Query

Modbus Configuration

Self-Collision Safety Detection Configuration

Online Programming Configuration

Algorithm Interface Configuration

UDP Active Reporting Configuration

Structure

All Robotic Arm State

Current State

Joint Status

Basic Information

Position And Orientation

Position Coordinates

Controller Ctrl Layer Software Information

Frame

Frame Name

Online Programming Running State

Online Programming List

Online Programming Storage

Global Waypoint List

Global Waypoint Storage

Software Version

Gripper State

Envelope Ball Parameter Set

Envelope Ball

Online Programming File Sending

Lifting Mechanism And Expansion Joint State

Electronic Fence/Virtual Wall Enabling State

Dynamic Model Version

Geometric Model

Geometric Model Cube

Geometric Model

Geometric Model Plane

Geometric Model Sphere

Force Sensor Data

6-DoF Force Sensor Data

Robotic Arm Control Handle

WiFi Network Information

Peripheral Data Read and Write

UDP-Based Custom Pushing Item

UDP Real-time Pushing Interface

UDP-Based Pushed Expansion Joint Data

UDP-Based Pushed Lifting Joint Data

UDP-Based Pushed Dexterous Hand Data

UDP-Based Pushed Aloha State

UDP-Based Real-Time Robotic Arm State Pushing

Algorithm Library Version

Algorithm Envelope Parameter

Euler Angles

Quaternion

Rotation Matrix

Inverse Kinematics

Inverse Kinematics Full Solution

Compiling Instruction

Force-Position Hybrid Control

Pass-Through Force-Position Hybrid Compensation

Multiple Drag Teaching

Digital IO Configuration

Digital IO Status Acquisition

Angle Transparency Mode

Pose Transparency Mode

End-Effector Basic Information

End-Effector Real-Time Information

Error Code Structure

Type description

API2 Error Codes

API2(Python)

Quick Start

Interface Description

Robotic Arm Connection Control

Robotic Arm Trajectory Control

Tool Frame Configuration

Work Frame Configuration

Get the Robotic Arm State

Robotic Arm Motion Parameter Configuration

Teaching and Stepping Control of the Robotic Arm

Drag Teaching Configuration

Robotic Arm Motion State Control

Communication Configuration

System Configuration

System Installation Method Configuration

Universal Extended Joint Control

Lifting Mechanism Configuration

End 6-DoF Force Sensor Configuration

Electronic Fence and Virtual Wall Configuration

Pass-Through Force-Position Hybrid Control Compensation Configuration

Global Waypoint Management

Gripper Configuration

Five-Fingered Dexterous Hand Configuration

End-Effector Ecosystem Protocol Configuration

Controller IO Configuration and Query

End Effector IO Configuration and Query

Joint Configuration

Joint Configuration Query

Modbus Configuration

Self-Collision Safety Detection Configuration

Online Programming File Management

Algorithm Interface Configuration

UDP Proactive Reporting Configuration

Structure

Algorithm Library Version

Algorithm Envelope Parameter

All Robotic Arm State

Robotic Arm Software Version

Controller Ctrl Layer Software Information

Current Robotic Arm State

Dynamic Model Version

Electronic Fence/Virtual Wall Enabling State

Tool Frame Envelope Ball

Tool Frame Envelope Ball List

Euler Angle

Robotic Arm In-Position Event

Expansion Joint State

Electronic Fence

Geometric Model Cube

Geometric Model

Geometric Model Plane

Geometric Model Sphere

Geometric Model Name

6-DoF Force Sensor Data

Force Sensor Data

Robotic Arm Position and Orientation

Frame Name

Gripper State

Inverse Kinematics

Inverse Kinematics Full Solution Parameter

Robotic Arm Joint State

Matrix

Peripheral Data Read and Write Parameter

Controller Plan Layer Software Information

Pose

Position

Robotic Arm Program Running State

Query Online Programming List

Quaternion

UDP-Based Custom Real-Time Pushing Item

UDP-Based Real-Time Robotic Arm State Pushing Interface Configuration

UDP-Based Pushed Expansion Joint State

UDP-Based Pushed Lifting Mechanism State

UDP-Based Pushed Dexterous Hand State

UDP-Based Pushed Aloha State

UDP-Based Real-Time Robotic Arm State Pushing

Robotic Arm Handle

Robotic Arm Information

Programming File Information Sending

Online Programming Storage Information

Global Waypoint

Global Waypoint List

WiFi Network Information

Force-Position Hybrid Control Parameter

Pass-Through Force-Position Hybrid Compensation

Multiple Drag Teaching Parameter

End-Effector Basic Information

End-Effector Real-Time Information

Error Code Structure

Type description

API2 Error Codes

ROS Development

Quick Start

RM-Robotic Arm Driver Package

RM-Quick Start Package

RM-Moveit Communication Package

RM-Robotic Arm Model Package

RM-Robotic Arm ROS Examples

RM-Gazebo Package

RM-Moveit Control Package

RM-Robotic Arm ROS Topic Description

RM-ROS Package Message List

ROS2 Development

Quick Start

RM-Robotic Arm Driver Package

RM-Quick Start Package

RM-Moveit Communication Package

RM-Robotic Arm Model Package

RM-Robotic Arm ROS2 Examples

RM-Gazebo Package

RM-Moveit2 Control Package

RM-Robotic Arm ROS2 Topic Description

RM-Custom Message Description

Modbus

Modbus Slave Address Table

FAQ

Quick Use FAQ

Robotic Arm API Development FAQ

API Error Codes

Related Downloads

Secondary Development Package

User Manual

Models and Dimensional Drawings

Catalog

C, C++:
Dynamic Model Version Structure `rm_dynamic_version_t`

Class member variable description

Dynamic model version number model_version
C++
```
char rm_dynamic_version_t::model_version[5]
```

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Jing ICP Record No. 20031630-1

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