Python:

Work Frame Configuration WorkCoordinateConfig

It is used to automatically/manually set, delete, and switch work frames, etc. The following is a detailed description of the member functions of the work frame WorkCoordinateConfig, including the method prototype, parameter description, return value, and usage demo.

Automatically set the work frame with the 3-point methodrm_set_auto_work_frame()

• Method prototype:

rm_set_auto_work_frame(self, name: str, point_num: int) -> int:

• Parameter description:

Parameter	Type	Description
name	str	Work frame name, no longer than 10 bytes.
point_num	int	1 to 3 represent the three calibration points, corresponding to the origin, a point on the X-axis, and a point on the Y-axis in sequence. 4 represents the creation of the frame.

• 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 joint angles [0, 20, 70, 0, 90, 0] as the origin of the work frame
print(arm.rm_movej([0, 20, 70, 0, 90, 0], 20, 0, 0, 1))
print(arm.rm_set_auto_work_frame("test_work", 1))
# Set a point on the X-axis of the work frame
time.sleep(1)
result = arm.rm_get_current_arm_state()
result[1]["pose"][0] += 0.1    # 0.1 m along the X-axis
result = arm.rm_movel(result[1]["pose"], 20, 0, 0, 1)
print(arm.rm_set_auto_work_frame("test_work", 2))
# Set a point on the Y-axis of the work frame
time.sleep(1)
print(arm.rm_movej([0, 20, 70, 0, 90, 0], 20, 0, 0, 1))
result = arm.rm_get_current_arm_state()
result[1]["pose"][1] += 0.1    # 0.1 m along the Y-axis
result = arm.rm_movel(result[1]["pose"], 20, 0, 0, 1)
print(arm.rm_set_auto_work_frame("test_work", 3))
# Create the "test_work" frame
print(arm.rm_set_auto_work_frame("test_work", 4))

arm.rm_delete_robot_arm()

Manually set the work framerm_set_manual_work_frame()

• Method prototype:

rm_set_manual_work_frame(self, name: str, pose: list) -> int:

• Parameter description:

Parameter	Type	Description
name	str	Work frame name, no longer than 10 bytes.
pose	list	Pose of the new work frame relative to the base frame.

• 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_manual_work_frame("test", [-0.259256, -0.170727, 0.35621, 0, -0.447394, -1.81038]))

arm.rm_delete_robot_arm()

Change the current work frame rm_change_work_frame()

• Method prototype:

rm_change_work_frame(self, tool_name: str) -> int:

• Parameter description:

Parameter	Type	Description
tool_name	str	Name of the target work frame

• 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_change_work_frame("test"))

arm.rm_delete_robot_arm()

Delete the specified work frame rm_delete_work_frame()

• Method prototype:

rm_delete_work_frame(self, tool_name: str) -> int:

• Parameter description:

Parameter	Type	Description
tool_name	str	Name of work frame to delete

• 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_delete_work_frame("test"))

arm.rm_delete_robot_arm()

Update the specified work frame rm_update_work_frame()

• Method prototype:

rm_update_work_frame(self, name: str, pose: list) -> int:

• Parameter description:

Parameter	Type	Description
name	str	Name of the specified tool frame.
pose	list	Update the pose of the work frame relative to the base frame.

• 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_update_work_frame("test", [0,0,0,0,0,0]))

arm.rm_delete_robot_arm()

Get names of all work framesrm_get_total_work_frame()

• Method prototype:

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

• Return value:
  

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

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

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

  2. Names of all work frames

     Parameter	Type	Description
     tool_names	list[str]	List of strings, representing the names of all work frames.

  3. Number of work frame names

     Parameter	Type	Description
     len	int	Number of work frame names.

• 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_total_work_frame())

Get the specified work frame rm_get_given_work_frame()

• Method prototype:

rm_get_given_work_frame(self, name: str) -> tuple[int, list[float]]:

• Parameter description:

Parameter	Type	Description
name	str	Name of the specified work frame.

• Return value:
  

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

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

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

  2. Work frame pose

     Parameter	Type	Description
     pose	list[float]	List of work frame poses.

• 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_given_work_frame("test"))

arm.rm_delete_robot_arm()

Get the current work frame rm_get_current_work_frame()

• Method prototype:

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

• Return value:
  

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

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

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

  2. Work frame pose

     Parameter	Type	Description
     rm_frame_t	dict[str, any]	Work frame dictionary, key: parameters of rm_frame_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_work_frame())

arm.rm_delete_robot_arm()