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Motion Parameter Instruction Set

Setting of motion parameters

This instruction set is used to set and get the linear speed, linear acceleration, angular speed, angular acceleration, and collision stage of the end effector, set the parameter initialization of the robotic arm, set, reset, and get the DH parameters of the robotic arm, and reset the zero offset of joints.
After setting the parameters of the end effector, the Gen 2 controller needs to call parameter save (Gen 2 controller) to save the parameters manually to the controller Flash. Otherwise, the parameters will not be saved after the power off.

Set the maximum linear speed of the end effector set_arm_max_line_speed

• Input parameter

Parameter	Type	Description
set_arm_max_line_speed	string	Set the maximum linear speed of the end effector.
arm_line_speed	int	Target linear speed, in m/s.

WARNING

It is recommended to use the default maximum linear speed. If any changes are required, the ratio of the maximum linear acceleration to the maximum linear speed of the end effector must be ≥3, otherwise, abnormal motion may occur

• Output parameter

Parameter	Type	Description
arm_line_speed	bool	true: setting succeeded, false: setting failed.

• Code demo

Input

Execution: Set the maximum linear speed of the end effector to 0.5 m/s, with a resolution of 0.001 m/s.

{"command":"set_arm_max_line_speed","arm_line_speed":500}

Output

{
    "command": "set_arm_max_line_speed",
    "arm_line_speed": true
}

Set the maximum linear acceleration of the end effector set_arm_max_line_acc

• Input parameter

Parameter	Type	Description
set_arm_max_line_acc	string	Set the maximum linear acceleration of the end effector.
arm_line_acc	int	Target linear acceleration, in m/s2.

WARNING

It is recommended to use the default maximum linear acceleration. If any changes are required, the ratio of the maximum linear acceleration to the maximum linear speed of the end effector must be ≥3, otherwise, abnormal motion may occur

• Output parameter

Parameter	Type	Description
arm_line_acc	bool	true: setting succeeded, false: setting failed.

• Code demo

Input

Execution: Set the maximum linear acceleration of the end effector to 2 m/s2, with a resolution of 0.001 m/s2.

{"command":"set_arm_max_line_acc","arm_line_acc":2000}

Output

{
    "command": "set_arm_max_line_acc",
    "arm_line_acc": true
}

Set the maximum angular speed of the end effector set_arm_max_angular_speed

• Input parameter

Parameter	Type	Description
set_arm_max_angular_speed	string	Set the maximum angular speed of the end effector.
arm_angular_speed	int	Target angular speed, in rad/s.

WARNING

It is recommended to use the default maximum angular speed. If any changes are required, the ratio of the maximum angular acceleration to the maximum angular speed of the end effector must be ≥3, otherwise, abnormal motion may occur

• Output parameter

Parameter	Type	Description
arm_angular_speed	bool	true: setting succeeded, false: setting failed.

• Code demo

Input

Execution: Set the maximum angular speed of the end effector to 0.2 rad/s, with a resolution of 0.001 rad/s.

{"command":"set_arm_max_angular_speed","arm_angular_speed":200}

Output

{
    "command": "set_arm_max_angular_speed",
    "arm_angular_speed": true
}

Set the maximum angular acceleration of the end effector set_arm_max_angular_acc

• Input parameter

Parameter	Type	Description
set_arm_max_angular_acc	string	Set the maximum angular acceleration of the end effector.
arm_angular_acc	int	Target angular acceleration, in rad/s2.

WARNING

It is recommended to use the default maximum angular acceleration. If any changes are required, the ratio of the maximum angular acceleration to the maximum angular speed of the end effector must be ≥3, otherwise, abnormal motion may occur

• Output parameter

Parameter	Type	Description
arm_angular_acc	bool	true: setting succeeded, false: setting failed.

• Code demo

Input

Execution: Set the maximum angular acceleration of the end effector to 4 rad/s, with a resolution of 0.001 rad/s2.

{"command":"set_arm_max_angular_acc","arm_angular_acc":4000}

Output

{
    "command": "set_arm_max_angular_acc",
    "arm_angular_acc": true
}

Set the parameter initialization of the robotic arm set_arm_init

• Input parameter

Parameter	Type	Description
set_arm_init	string	Set the parameter initialization of the robotic arm.

• Output parameter

Parameter	Type	Description
arm_init	bool	true: setting succeeded, false: setting failed.

• Code demo

Input

Execution: Set the parameter initialization of the robotic arm, and the end effector parameters will be restored to defaults.

Linear speed: 0.25 m/s; linear acceleration: 1.6 m/s2
Angular speed: 0.6 rad/s; angular acceleration: 4 rad/s2

{ "command": "set_arm_init" }

Output

{
    "command": "set_arm_init",
    "arm_init": true
}

Setting Collision Detection Switch in stationary state set_collision_detection

This interface can enable the collision detection function of the robotic arm in its stationary state.

• Input parameter

Parameter	Type	Description
set_collision_detection	string	Set the collision detection switch.
mode	int	0: Disable collision detection function in stationary state; 1: Enable collision detection function in stationary state.

• Output parameter

Parameter	Type	Description
set_state	bool	true: Setting successful; false: Setting failed.

• Code demo

Input

{"command":"set_collision_detection","mode":0}

Output

Setting successful

{
    "command":"set_collision_detection",
    "set_state":true
}

Setting failed

{
    "command":"set_collision_detection",
    "set_state":false
}

Set the collision protection level set_collision_stage

• Input parameter

Parameter	Type	Description
set_collision_stage	string	Set the collision stage of the robotic arm.
collision_stage	int	Stage: 0−8.

• Output parameter

Parameter	Type	Description
collision_state	bool	true: setting succeeded, false: setting failed.

• Code demo

Input

Execution: Set the collision stage of the robotic arm to 1, the higher the stage, the more sensitive the collision detection.

{"command":"set_collision_stage","collision_stage":1}

Output

Setting successful

{
    "command": "set_collision_stage",
    "collision_state": true
}

Setting failed

{
    "command": "set_collision_stage",
    "collision_state": false
}

Setting Singularity Avoidance set_avoid_singularity_mode

• Input parameter

Parameter	Type	Description
set_avoid_singularity_mode	string	Set singularity avoidance.
mode	int	0 - Indicates that singularity avoidance is turned off; 1 - Indicates that singularity avoidance is performed using the speed-priority mode (only supports 6-DoF). In this mode, during trajectory operation, the robotic arm will change the posture of some joints near the singularity to avoid it, maintaining the movement speed. The trajectory accuracy will be somewhat reduced near the singularity.

• Output parameter

Parameter	Type	Description
set_state	bool	true: setting succeeded, false: setting failed.

• Code demo

Input

{ "command": "set_avoid_singularity_mode","mode":1}

Output
Setting successful

{
    "command":"set_avoid_singularity_mode",
    "set_state":true
}

Setting failed

{
    "command":"set_avoid_singularity_mode",
    "set_state":false
}

Reset the DH parameters (Gen 3 controller) set_DH_data

TIP

• This command must be used in conjunction with a measuring device to perform absolute precision compensation calculations. Configuration can only be done based on the calculation results; otherwise, it will lead to incorrect robotic arm parameters!
• Please refer to the DH parameter table of the corresponding series of robotic arms for settings. Parameters with a value of 0 cannot be modified. For the detailed parameter table, please refer to Parameter Description.
• Please note that for this product, the Z-axis of each joint is defined as the upward direction from the bottom of the corresponding joint.

• Input parameter

Parameter	Type	Description
set_DH_data	int	Reset the DH parameters of the robotic arm.

• Output parameter

Parameter	Type	Description
set_state	bool	true: setting succeeded, false: setting failed.

• Code demo

Input

Execution: Set four sets of data for each joint, representing alpha, a, d, and offset.
In the demo, they are 1°, 0.002 m, 0.003 m, and 4° respectively.

6-DoF robotic arm:

{"command":"set_DH_data","joint_1":[1000,2000,3000,4000],"joint_2":[1000,2000,3000,4000],"joint_3":[1000,2000,3000,4000],"joint_4":[1000,2000,3000,4000],"joint_5":[1000,2000,3000,4000],"joint_6":[1000,2000,3000,4000]}

7-DoF robotic arm:

{"command":"set_DH_data","joint_1":[1000,2000,3000,4000],"joint_2":[1000,2000,3000,4000],"joint_3":[1000,2000,3000,4000],"joint_4":[1000,2000,3000,4000],"joint_5":[1000,2000,3000,4000],"joint_6":[1000,2000,3000,4000],"joint_7":[1000,2000,3000,4000]}

Output

{
    "command": "set_DH_data",
    "set_state": true
}

Reset the DH parameters of the robotic arm to defaults (Gen 3 controller) set_DH_data_default

• Input parameter

Parameter	Type	Description
set_DH_data	string	Reset the DH parameters of the robotic arm to defaults.

• Output parameter

Parameter	Type	Description
set_state	bool	true: setting succeeded, false: setting failed.

• Code demo

Input

Execution: Reset the DH parameters of the robotic arm to defaults.

{ "command": "set_DH_data_default" }

Output

{
    "command": "set_DH_data_default",
    "set_state": true
}

Reset the zero offset of joints set_joint_zero_offset

Reset the zero offset of the joint angle to correct the absolute positioning accuracy.

• Input parameter

Parameter	Type	Description
set_joint_zero_offset	int	Reset the zero offset of the joint angle.

WARNING

This command cannot be used directly by the user. It is used only with the measuring equipment for absolute accuracy compensation, otherwise the parameter error of the robotic arm will occur.

• Output parameter

Parameter	Type	Description
set_state	bool	true: setting succeeded, false: setting failed.

• Code demo

Input

Execution: Set the zero offset of joints, with an accuracy of 0.001° as follows: zero offset of joints 1−6: 1°, -2°, 3°, -4°, 5°, and -6°.

{"command":"set_joint_zero_offset","offset":[1000,-2000,3000,-4000,5000,-6000]}

Output

{
    "command": "set_joint_zero_offset",
    "set_state": true
}

Getting of motion parameters

This instruction set is used to get the maximum linear speed, linear acceleration, angular speed, and angular acceleration of the end effector.

Get the maximum linear speed of the end effector get_arm_max_line_speed

• Input parameter

Parameter	Type	Description
get_arm_max_line_speed	string	Get the maximum linear speed of the end effector.

• Output parameter

Parameter	Type	Description
arm_max_line_speed	int	Return the maximum linear speed of the end effector.

• Code demo

Input

Execution: Get the maximum linear speed of the end effector.

{ "command": "get_arm_max_line_speed" }

Output

Return 0.5 m/s, with a resolution of 0.001 m/s as the maximum linear speed of the end effector.

{
    "state": "arm_max_line_speed",
    "arm_line_speed": 500
}

Get the maximum linear acceleration of the end effector get_arm_max_line_acc

• Input parameter

Parameter	Type	Description
get_arm_max_line_acc	string	Get the maximum linear acceleration of the end effector.

• Output parameter

Parameter	Type	Description
arm_max_line_acc	int	Return the maximum linear acceleration of the end effector.

• Code demo

Input

Execution: Get the maximum linear acceleration of the end effector.

{ "command": "get_arm_max_line_acc" }

Output

Return 0.2 m/s2, with a resolution of 0.001 m/s2 as the maximum linear acceleration of the end effector.

{
    "state": "arm_max_line_acc",
    "arm_line_acc": 200
}

Get the maximum angular speed of the end effector get_arm_max_angular_speed

• Input parameter

Parameter	Type	Description
get_arm_max_angular_speed	string	Get the maximum angular speed of the end effector.

• Output parameter

Parameter	Type	Description
arm_max_angular_speed	int	Return the maximum angular speed of the end effector.

• Code demo

Input

Execution: Get the maximum angular speed of the end effector.

{ "command": "get_arm_max_angular_speed" }

Output

Return 1 rad/s, with a resolution of 0.001 rad/s as the maximum angular speed of the end effector.

{
    "state": "arm_max_angular_speed",
    "arm_angular_speed": 1000
}

Get the maximum angular acceleration of the end effector get_arm_max_angular_acc

• Input parameter

Parameter	Type	Description
get_arm_max_angular_acc	string	Get the maximum angular acceleration of the end effector.

• Output parameter

Parameter	Type	Description
arm_max_angular_acc	int	Return the maximum angular acceleration of the end effector.

• Code demo

Input

Execution: Get the maximum angular acceleration of the end effector.

{ "command": "get_arm_max_angular_acc" }

Output

Return 10 rad/s2, with a resolution of 0.001 rad/s2 as the maximum angular acceleration of the end effector.

{
    "state": "arm_max_angular_acc",
    "arm_angular_acc": 10000
}

Get the collision protection level get_collision_stage

• Input parameter

Parameter	Type	Description
get_collision_stage	string	Get the collision stage of the robotic arm.

• Output parameter

Parameter	Type	Description
collision_stage	int	Stage: 0−8.

• Code demo

Input

Execution: Get the collision stage of the robotic arm.

{ "command": "get_collision_stage" }

Output

{
    "state": "get_collision_stage",
    "collision_stage": 5
}

Querying Collision Detection Switch in stationary state get_collision_detection

• Input parameter

Parameter	Type	Description
get_collision_detection	string	Query the collision detection switch.

• Output parameter

Parameter	Type	Description
collision_stage	int	0: Disable collision detection in stationary state; 1: Enable collision detection in stationary state.

• Code demo

Input

{ "command": "get_collision_detection" }

Output

{
    "command":"get_collision_detection",
    "mode":0
}

Getting Singularity Avoidance Mode get_avoid_singularity_mode

• Input parameter

Parameter	Type	Description
get_avoid_singularity_mode	string	Get singularity avoidance mode.

• Output parameter

Parameter	Type	Description
mode	int	0 - Indicates that singularity avoidance is turned off; 1 - Indicates that singularity avoidance is performed using the speed-priority mode (only supports 6-DoF). In this mode, during trajectory operation, the robotic arm will change the posture of some joints near the singularity to avoid it, maintaining the movement speed. The trajectory accuracy will be somewhat reduced near the singularity.

• Code demo

Input

{ "command": "get_avoid_singularity_mode"}

Output

{
    "command":"get_avoid_singularity_mode",
    "mode":1
}

Get the DH parameters (Gen 3 controller) get_DH_data

• Input parameter

Parameter	Type	Description
get_DH_data	string	Get the DH parameters of the robotic arm.

• Output parameter

Parameter	Type	Description
joint_1	array	Each joint has four sets of data, representing alpha, a, d, and offset. In the demo, they are 1°, 0.002 m, 0.003 m, and 4° respectively.

• Code demo

Input

Execution: Get the DH parameters of the robotic arm.

{ "command": "get_DH_data" }

Output

6-DoF robotic arm:

{
  "command": "get_DH_data",
  "joint_1": [1000, 2000, 3000, 4000],
  "joint_2": [1000, 2000, 3000, 4000],
  "joint_3": [1000, 2000, 3000, 4000],
  "joint_4": [1000, 2000, 3000, 4000],
  "joint_5": [1000, 2000, 3000, 4000],
  "joint_6": [1000, 2000, 3000, 4000]
}

7-DoF robotic arm:

{
  "command":"get_DH_data",
  "joint_1":[1000,2000,3000,4000],
  "joint_2":[1000,2000,3000,4000],
  "joint_3":[1000,2000,3000,4000],
  "joint_4":[1000,2000,3000,4000],
  "joint_5":[1000,2000,3000,4000],
  "joint_6":[1000,2000,3000,4000],
  "joint_7":[1000,2000,3000,4000]
}