Python:

System Configuration ControllerConfig

It is used for system configuration (e.g., robotic arm state and power). The following is a detailed description of the member functions of the system configuration ControllerConfig, including the method prototype, parameter description, return value, and usage demo.

Get the controller state rm_get_controller_state()

• Method prototype:

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

• Return value:
  dict[str,any]: a dictionary containing the following keys.
  

1. int: state codes executed by functions.

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

2. System state

Parameter	Type	Description
voltage	float	Returned voltage
current	float	Returned current
temperature	float	Returned temperature
sys_err	int	System error code

• 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_state())

arm.rm_delete_robot_arm()

Set the robotic arm power rm_set_arm_power()

• Method prototype:

rm_set_arm_power(self, power: int) -> int:

• Parameter description:

Parameter	Type	Description
power	int	1: power on, 0: power off.

• 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)

# Power on the robotic arm
print(arm.rm_set_arm_power(1))

arm.rm_delete_robot_arm()

Get the power state of the robotic arm rm_get_arm_power_state()

• Method prototype:

rm_get_arm_power_state(self) -> tuple[int, int]:

• Return value:
  tuple[int, int]: a tuple containing two elements

1. int: state codes executed by functions.

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

2. Robotic arm power state

   Parameter	Type	Description
   -	int	Obtained power state of the robotic arm, 1: power on, 0: power off

• 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_power_state())

arm.rm_delete_robot_arm()

Get the cumulative runtime of the controller rm_get_system_runtime()

• Method prototype:

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

• Return value:
  tuple[int, int]: a tuple containing two elements

1. int: state codes executed by functions.

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

2. Controller runtime

   Parameter	Type	Description
   day	int	Read time
   hour	int	Read time
   min	int	Read time
   sec	int	Read time

• 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_system_runtime())

arm.rm_delete_robot_arm()

Clear the cumulative runtime of the controller rm_clear_system_runtime()

• Method prototype:

rm_clear_system_runtime(self) -> int:

• 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_clear_system_runtime())

arm.rm_delete_robot_arm()

Get the cumulative rotation angle of the joint rm_get_joint_odom()

• Method prototype:

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

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

1. int: state codes executed by functions.

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

2. Cumulative joint rotation angle

   Parameter	Type	Description
   -	list[float]	Cumulative rotation angle of each joint

• 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_odom())

arm.rm_delete_robot_arm()

Clear the cumulative rotation angle of the joint rm_clear_joint_odom()

• Method prototype:

int rm_clear_joint_odom(self) -> int:

• 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_clear_joint_odom())

arm.rm_delete_robot_arm()

Get the software information of the robotic arm rm_get_arm_software_info()

• Method prototype:

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

• Return value:
  

tuple[int, dict[str, any]]: the first element is the status code, and the second element is the robotic arm software version information dictionary.

1. int: the status code returned by the function.

   Return value	Description
   0	Obtained and parsed successfully.
   -1	Data sending failed; a problem occurred during communication.
   -2	Data receiving failed; a problem occurred during communication or the controller timed out without returning.
   -3	Return value parsing failed; the data cannot be recognized or is incomplete; this value is also returned when the version format of a 4th-generation controller cannot be recognized.

2. Robotic arm software version information

   Parameter	Type	Description
   rm_arm_software_version_t	dict[str,any]	Dictionary of the robotic arm software version information, key: field name of rm_arm_software_version_t

   Jump to rm_arm_software_version_t for details of the structure.
   

• Usage demo

from Robotic_Arm.rm_robot_interface import (
    RoboticArm, rm_thread_mode_e, rm_api_version,
)

arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
print("SDK version:", rm_api_version())
print("Local algorithm version:", arm.rm_algo_version())

handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
if handle.id <= 0:
    raise RuntimeError("Failed to connect to the robot")

try:
    ret, software_info = arm.rm_get_arm_software_info()
    if ret == 0:
        print("Controller software:", software_info)
    else:
        print("Failed to obtain or parse the controller software information, status code:", ret)
finally:
    arm.rm_delete_robot_arm()

Set the wired network IP address rm_set_NetIP()

• Method prototype:

rm_set_NetIP(self, ip: str, netmask: str, gw: str) -> int:

• Parameter Description:

Name	Type	Description
ip	str	The IP address of the wired network interface.
netmask	str	The subnet mask of the wired network interface.
gw	str	The gateway address of the wired network interface.

• 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)

# Set the IP address of the robotic arm to "192.168.1.19"
print(arm.rm_set_NetIP("192.168.1.19", "255.255.255.0", "192.168.1.1"))

arm.rm_delete_robot_arm()

Clear the system error rm_clear_system_err()

• Method prototype:

rm_clear_system_err(self) -> int:

• 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_clear_system_err())

arm.rm_delete_robot_arm()