Python:

System Installation Method Configuration InstallPos

It is used to configure the installation method and query the end effector software version. The RealMan robotic arm supports different installation methods. However, the robot's dynamic model parameters and frame directions may vary depending on the installation method. The following is a detailed description of the member functions of DragTeach to configure the installation method and query the end effector software version, including the method prototype, parameter description, return value, and usage demo.

Set installation method parametersrm_set_install_pose()

• Method prototype:

rm_set_install_pose(self, x: float, y: float, z: float) -> int:

• Parameter description:

Parameter	Type	Description
x	float	Rotation angle, in °;
y	float	Pitch angle, in °;
z	float	Azimuth angle, in °;

• Return value:
  int: 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_install_pose(0, 90, 0))

arm.rm_delete_robot_arm()

Get installation method parametersrm_get_install_pose()

• Method prototype:

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

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

1. return_code(): a state code executed by functions.

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

2. Pose angle value.

Parameter	Type	Description
x	float	Rotation angle, in °;
y	float	Pitch angle, in °;
z	float	Azimuth angle, 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_install_pose())

arm.rm_delete_robot_arm()

Get the joint software version rm_get_joint_software_version()

The joint software version number obtained needs to be converted to hexadecimal. For example, if a joint version is obtained as 54536, converting it to hexadecimal results in D508. Therefore, the version number of the current joint is Vd5.0.8.

• Method prototype:

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

• Return value:
  

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

1. int: a state code executed by functions. 0 represents success. For other error codes, please refer to the API2 Error Codes.

2. dict[str, any]: A dictionary containing the following key-value pairs:

   Parameter	Type	Description
   version	list[int]	An array of software version numbers for each joint obtained.
   joints_v	list[str]	Reserved parameter, not applicable to the Gen 3 controller.

• 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_software_version())

arm.rm_delete_robot_arm()

Get the software version of the end interface board rm_get_tool_software_version()

The software version number of the end interface board obtained needs to be converted to hexadecimal. For example, if the version number obtained is 393, converting it to hexadecimal results in 189. Therefore, the version number of the current joint is V1.8.9.

• Method prototype:

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

• Return value:
  

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

1. int: a state code executed by functions.

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

2. dict[str, any]: A dictionary containing the following key-value pairs:

   Parameter	Type	Description
   version	list[int]	Obtained software version of the end interface board.
   tool_v	list[str]	Reserved parameter, not applicable to the Gen 3 controller.

• 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_software_version())

arm.rm_delete_robot_arm()