Python:

End-Effector Ecosystem Protocol Configuration RmPlusConfig

Set End-Effector Ecosystem Protocol Mode rm_set_rm_plus_mode()

• Method prototype:

rm_set_rm_plus_mode(self, mode: int) -> int:

• Parameter description:

Parameter	Type	Description
mode	int	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:

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 a robotic arm connection and print the connection ID

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create a robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
# Set the end-effector ecosystem protocol mode
arm.rm_set_rm_plus_mode(9600)
# Disconnect all connections and destroy the thread
RoboticArm.rm_destroy()

Get End-Effector Ecosystem Protocol Mode rm_get_rm_plus_mode()

• Method prototype:

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

• Return value:

tuple[int, int]: 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. 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)

• Usage demo

from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E) 
# Create a robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

# Get the end-effector ecosystem protocol mode
tag, mode = arm.rm_get_rm_plus_mode()
print(tag, mode)
# Disconnect all connections and destroy the thread
RoboticArm.rm_destroy()

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

• Method prototype:

rm_set_rm_plus_touch(self,mode: int) -> int:

• Parameter description:

Parameter	Type	Description
mode	int	Tactile sensor switch status. 0: Disable tactile sensor, 1: Enable tactile sensor (return processed data), 2: Enable tactile sensor (return raw data)

• 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 a robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
# Set the tactile sensor mode
arm.rm_set_rm_plus_touch(1)
# Disconnect all connections and destroy the thread
RoboticArm.rm_destroy()

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

• Method prototype:

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

• Return value:

tuple[int,int]: 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. Tactile sensor switch status:
   • 0: Disable tactile sensor
   • 1: Enable tactile sensor (return processed data)
   • 2: Enable tactile sensor (return raw data)

• Usage demo

from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E) 

# Create a robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
# Get the tactile sensor mode
tag, mode = arm.rm_get_rm_plus_touch()
print(tag, mode)
# Disconnect all connections and destroy the thread
RoboticArm.rm_destroy()

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

• Method prototype:

rm_get_rm_plus_base_info(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. End-effector basic information:
   • dict[str, any] A dictionary of end-effector basic information, with keys being the field names of the rm_plus_base_info_t structure.

• Usage demo

from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E) 

# Create a robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)  

# Read the end-effector basic information
tag, base_info = arm.rm_get_rm_plus_base_info()
print(tag, base_info)
# Disconnect all connections and destroy the thread
RoboticArm.rm_destroy()

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

• Method prototype:

rm_get_rm_plus_state_info(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. End-effector real-time information:
   • dict[str, any] A dictionary of end-effector real-time information, with keys being the field names of the rm_plus_state_info_t structure.

• Usage demo

from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create a robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

# Read the end-effector real-time information
tag, state_info = arm.rm_get_rm_plus_state_info()
print(tag, state_info)
# Disconnect all connections and destroy the thread
RoboticArm.rm_destroy()

Read End-Effector Ecosystem Device Registerrm_get_rm_plus_reg

• Method prototype:

rm_get_rm_plus_reg(self, addr: int, length: int) -> tuple[int, list[int]]:

• Parameter description:

Parameter	Type	Description
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.

• Return value:

tuple[int, list[int]]: 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. • list[int] The list of read register data.

• Usage demo

ret = -1  # Initialize variable
mode = 0
addr = 1000
length = 11
# Call the register reading method (returns status code ret and data list arr, the list length is 11)
ret, arr = arm.rm_get_rm_plus_reg(addr, length)

Write End-Effector Ecosystem Device Registerrm_set_rm_plus_reg

• Method prototype:

rm_set_rm_plus_reg(self, addr: int, length: int, data: list[int]) -> int:

• Parameter description:

Parameter	Type	Description
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	list[int]	The list of data to be written to the register.

• Return value:

State codes executed by functions:

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

• Usage demo

ret = -1  # Initialize variable
mode = 0
addr = 1025
length = 1
data = [1]  
ret = arm.rm_set_rm_plus_reg(addr, length, data)