Python:

Get the Robotic Arm State ArmState

It is used to get the robotic arm state. The following is a detailed description of the member functions of getting the robotic arm state ArmState, including the method prototype, parameter description, return value, and usage demo.

Get the current robotic arm state rm_get_current_arm_state()

• Method prototype:

rm_get_current_arm_state(self) -> tuple[int, dict[str, any]]:

• Return value:
  

  tuple[int, dict[str,any]]: a tuple containing two elements.

  1. State codes executed by functions

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

  2. Current robotic arm state

     Parameter	Type	Description
     rm_current_arm_state_t	dict	Dictionary of the current robotic arm state, key: parameters of rm_current_arm_state_t.

• Usage demo

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_current_arm_state())

arm.rm_delete_robot_arm()

Get the current joint temperature rm_get_current_joint_temperature()

• Method prototype:

rm_get_current_joint_temperature(self) -> tuple[int, list[float]]:

• Return value:
  

  tuple[int, list[float]]: a tuple containing two elements.

  1. State codes executed by functions

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

  2. Robotic arm joint temperature

     Parameter	Type	Description
     -	list[float]	Temperature array of joints 1−7, in °C

• Usage demo

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_current_joint_temperature())

arm.rm_delete_robot_arm()

Get the current joint current rm_get_current_joint_current()

• Method prototype:

rm_get_current_joint_current(self) -> tuple[int, list[float]]:

• Return value:
  

  tuple[int, list[float]]: a tuple containing two elements.

  1. State codes executed by functions

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

  2. Robotic arm joint current

     Parameter	Type	Description
     -	list[float]	Current array of joints 1−7, in mA

• Usage demo

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_current_joint_current())

arm.rm_delete_robot_arm()

Get the current joint voltage rm_get_current_joint_voltage()

• Method prototype:

rm_get_current_joint_voltage(self) -> tuple[int, list[float]]:

• Return value:
  

  tuple[int, list[float]]: a tuple containing two elements.

  1. State codes executed by functions

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

  2. Robotic arm joint voltage

     Parameter	Type	Description
     -	list[float]	Voltage array of joints 1−7, in V

• Usage demo

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_current_joint_voltage())

arm.rm_delete_robot_arm()

Set the initial pose of the robotic arm rm_set_init_pose()

• Method prototype:

int rm_set_init_pose(self, joint: list[float]) -> int:

• Parameter description:

Parameter	Type	Description
joint	list[float]	Joint angle array for the robotic arm's initial pose

• Return value:
  

  State codes executed by functions

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

• Usage demo

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_init_pose())

arm.rm_delete_robot_arm()

Get the initial pose of the robotic arm rm_get_init_pose()

• Method prototype:

rm_get_init_pose(self) -> tuple[int, list[float]]:

• Return value:
  

  tuple[int, list[float]]: a tuple containing two elements.

  1. State codes executed by functions

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

  2. Joint angle for the robotic arm's initial pose

     Parameter	Type	Description
     -	list[float]	Joint angle array for the robotic arm's initial pose, in °

• Usage demo

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_init_pose())

arm.rm_delete_robot_arm()

Get the current joint angle rm_get_joint_degree()

• Method prototype:

rm_get_joint_degree(self) -> tuple[int, list[float]]:

• Return value:
  

  tuple[int, list[float]]: a tuple containing two elements.

  1. State codes executed by functions

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

  2. Joint angle for the robotic arm's initial pose

     Parameter	Type	Description
     -	list[float]	Joint angle array for the robotic arm's initial pose, in °

• Usage demo

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_degree())

arm.rm_delete_robot_arm()

Get all robotic arm states rm_get_arm_all_state()

• Method prototype:

rm_get_arm_all_state(self) -> tuple[int, dict[str, any]]:

• Return value:
  

  tuple[int, dict[str, any]]: a tuple containing two elements.

  1. State codes executed by functions

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

  2. All robotic arm states

     Parameter	Type	Description
     rm_arm_all_state_t	dict	Dictionary of all robotic arm states, key: parameters of rm_arm_all_state_t.

• Usage demo

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_arm_all_state())

arm.rm_delete_robot_arm()

Get the controller RS485 mode rm_get_controller_rs485_mode()

• Method prototype:

rm_get_controller_rs485_mode(self) -> dict[str, any]:

• Return value:
  

  dict[str,any]: a dictionary containing the following keys

  1. State codes executed by functions

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

  2. Robotic arm state mode

     Parameter	Type	Description
     mode	int	0: RS485 serial communication by default, 1: modbus-RTU master mode, 2: modbus-RTU slave mode.

  3. Baud rate

     Parameter	Type	Description
     baudrate	int	Baud rate

  4. Timeout

     Parameter	Type	Description
     timeout	int	modbus protocol timeout period in 100 ms, available only in modbus-RTU mode.

• Usage demo

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_controller_rs485_mode())

arm.rm_delete_robot_arm()

Get the tool RS485 mode rm_get_tool_rs485_mode()

• Method prototype:

rm_get_tool_rs485_mode(self) -> dict[str, any]:

• Return value:
  

  dict[str,any]: a dictionary containing the following keys

  1. State codes executed by functions

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

  2. Robotic arm state mode

     Parameter	Type	Description
     mode	int	0: RS485 serial communication by default, 1: modbus-RTU master mode.

  3. Baud rate

     Parameter	Type	Description
     baudrate	int	Baud rate

  4. Timeout

     Parameter	Type	Description
     timeout	int	modbus protocol timeout period in 100 ms, available only in modbus-RTU mode.

• Usage demo

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_tool_rs485_mode())

arm.rm_delete_robot_arm()