JSON protocol:
State Query Command Set

Robotic arm state

Get the current robotic arm state `get_current_arm_state`

Input parameter

Parameter	Type	Description
`get_current_arm_state`	`string`	Get the current robotic arm state.

Output parameter

Parameter	Type	Description
`current_arm_state`	`string`	Return the current robotic arm state.
`joint`	`int`	Joint angle
`pose`	`int`	End effector pose
`err`	`int`	System error code

Code demo

Input

Execution: Get the current robotic arm state.

json

{ "command": "get_current_arm_state" }

Output

Return the current robotic arm state as follows:

Angle of joints 1−6 of the 6-DoF robotic arm: 0.1°, 0.2°, 0.3°, 0.4°, 0.5°, and 0.6°, accuracy: 0.001°;
Angle of joints 1−7 of the 7-DoF robotic arm: 0.1°, 0.2°, 0.3°, 0.4°, 0.5°, 0.6°, and 0.7°, accuracy: 0.001°;
Position: x: 0.1 m, y: 0.2 m, z: 0.03 m, accuracy: 0.001 mm;
Orientation: rx: 0.4 rad, ry: 0.5 rad, rz: 0.6 rad, accuracy: 0.001 rad;
err: system error code, indicating the hardware error during the system running: 0.

6-DoF robotic arm:

json

{
    "state": "current_arm_state",
    "arm_state": {
        "joint": [
            100,
            200,
            300,
            400,
            500,
            600
        ],
        "pose": [
            100000,
            200000,
            30000,
            400,
            500,
            600
        ],
        "err": 0
    }
}

7-DoF robotic arm:

json

{
    "state": "current_arm_state",
    "arm_state": {
        "joint": [
            100,
            200,
            300,
            400,
            500,
            600,
            700
        ],
        "pose": [
            100000,
            200000,
            30000,
            400,
            500,
            600
        ],
        "err": 0
    }
}

Get the controller state `get_controller_state`

Input parameter

Parameter	Type	Description
`get_controller_state`	`string`	Get the controller state.

Output parameter

Parameter	Type	Description
`controller_state`	`string`	Return the controller state.

Code demo

Input

Execution: Get the controller state.

json

{ "command": "get_controller_state" }

Output

The accuracy of voltage, current, and temperature is 0.001.

json

{
  "state": "controller_state",    //Return the controller state
  "voltage": 24000,               //Voltage: 24 V
  "current": 1500,                //Current: 1.5 A
  "temperature": 42000,           //Temperature: 42°C
  "err_flag": 0                  //Error flag: 0
}

Clear the system error `clear_system_err`

Input parameter

Parameter	Type	Description
`clear_system_err`	`string`	Clear the system error.

Code demo

Input

Manually clear the system error. If not cleared manually, the error will remain until a new motion command is issued.

json

 {"command":"clear_system_err"}

Output

The clearing of the system error is successful.

json

{
    "command": "clear_system_err",
    "clear_state": true
}

The clearing of the system error has failed.

json

{
    "command": "clear_system_err",
    "clear_state": false
}

Get the current joint temperature `get_current_joint_temperature`

Input parameter

Parameter	Type	Description
`get_current_joint_temperature`	`string`	Get the current joint temperature.

Output parameter

Parameter	Type	Description
`current_joint_temperature`	`int`	Return the current joint temperature, unit: °C, accuracy: 0.001℃

Code demo

Input

Execution: Get the current joint temperature.

json

{ "command": "get_current_joint_temperature" }

Output

Return the current joint temperature as follows:

Temperature of joints 1−6 of the 6-DoF robotic arm [27.5, 28.0, 26.8, 26.8, 28.9, 30.1];
Temperature of joints 1−7 of the 7-DoF robotic arm [27.5, 28.0, 26.8, 26.8, 28.9, 30.1, 31.1]; unit: °C, accuracy: 0.001°C.

6-DoF robotic arm:

json

{
    "state": "current_joint_temperature",
    "joint_temperature": [
        27500,
        28000,
        26800,
        26800,
        28900,
        30100
    ]
}

7-DoF robotic arm:

json

{
    "state": "current_joint_temperature",
    "joint_temperature": [
        27500,
        28000,
        26800,
        26800,
        28900,
        30100,
        31100
    ]
}

Get the current joint current `get_current_joint_current`

Input parameter

Parameter	Type	Description
`get_current_joint_current`	`string`	Get the current joint current.

Output parameter

Parameter	Type	Description
`current_joint_current`	`int`	Return the current joint current, unit: mA, accuracy: 0.001 mA.

Code demo

Input

Execution: Get the current joint current.

json

{ "command": "get_current_joint_current" }

Output

Return the current joint current as follows:

Current of joints 1−6 of the 6-DoF robotic arm: 0.065 mA, -0.2 mA, 0.17 mA, 0.2 mA, -0.3 mA, 0.168 mA.

Current of joints 1−7 of the 7-DoF robotic arm: 0.065 mA, -0.2 mA, 0.17 mA, 0.2 mA, -0.3 mA, 0.168 mA, 0.178 mA.

6-DoF robotic arm:

json

{
    "state": "current_joint_current",
    "joint_current": [
        65,
        -200,
        170,
        200,
        -300,
        168
    ]
}

7-DoF robotic arm:

json

{
    "state": "current_joint_current",
    "joint_current": [
        65,
        -200,
        170,
        200,
        -300,
        168,
        178
    ]
}

Get the current joint voltage `get_current_joint_voltage`

Input parameter

Parameter	Type	Description
`get_current_joint_voltage`	`string`	Get the current joint voltage.

Output parameter

Parameter	Type	Description
`current_joint_voltage`	`int`	Return the current joint voltage, unit: V, accuracy: 0.001 V.

Code demo

Input

Execution: Get the current joint voltage.

json

{ "command": "get_current_joint_voltage" }

Output

Return the current joint voltage as follows:

Voltage of joints 1−6 of the 6-DoF robotic arm: 27.5 V, 28.0 V, 26.8 V, 26.8 V, 28.9 V, 30.1 V.
Voltage of joints 1−7 of the 7-DoF robotic arm: 27.5 V, 28.0 V, 26.8 V, 26.8 V, 28.9 V, 30.1 V, 31.1 V.

6-DoF robotic arm:

json

{
    "state": "current_joint_voltage",
    "joint_voltage": [
        27500,
        28000,
        26800,
        26800,
        28900,
        30100
    ]
}

7-DoF robotic arm:

json

{
    "state": "current_joint_voltage",
    "joint_voltage": [
        27500,
        28000,
        26800,
        26800,
        28900,
        30100,
        31100
    ]
}

Get the joint angle of the robotic arm `get_joint_degree`

Input parameter

Parameter	Type	Description
`get_joint_degree`	`string`	Get the joint angle of the robotic arm.

Code demo

Input

Execution: Get the joint angle of the robotic arm.

json

{"command":"get_joint_degree"}

Output

Return the joint angle of the 6-DoF robotic arm, accuracy: 0.001°.

json

{
    "state": "joint_degree",
    "joint": [
        10,
        20,
        30,
        40,
        50,
        60
    ]
}

Return the joint angle of the 7-DoF robotic arm, accuracy: 0.001°.

json

{
    "state": "joint_degree",
    "joint": [
        10,
        20,
        30,
        40,
        50,
        60,
        70
    ]
}

Get all robotic arm states `get_arm_all_state`

Input parameter

Parameter	Type	Description
`get_arm_all_state`	`string`	Get all robotic arm states.

Output parameter

Parameter	Type	Description
`Temperature accuracy`	`int`	0.001°C.
`Current accuracy`	`int`	0.001 mA.
`Voltage accuracy`	`int`	0.001 V.
`err_flag`	`string`	Joint error code.
`err`	`string`	System error codes, there may be multiple, for detailed inquiry please refer to the system error code table.

Code demo

Input

Execution: Get all states of the robotic arm at one time.

json

{"command":"get_arm_all_state"}

Output

Return all states of the 6-DoF robotic arm.

json

{
    "state": "arm_all_state",
    "all_state": {
        "temperature": [
            21,
            22,
            23,
            24,
            25,
            26
        ],
        "current": [
            11,
            12,
            13,
            14,
            15,
            16
        ],
        "voltage": [
            31,
            32,
            33,
            34,
            35,
            36
        ],
        "err_flag": [
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "en_flag": [
            1,
            1,
            1,
            1,
            1,
            1
        ],
        "err": 0
    }
}

Return all states of the 7-DoF robotic arm.

json

{
    "state": "arm_all_state",
    "all_state": {
        "temperature": [
            21,
            22,
            23,
            24,
            25,
            26,
            27
        ],
        "current": [
            11,
            12,
            13,
            14,
            15,
            16,
            17
        ],
        "voltage": [
            31,
            32,
            33,
            34,
            35,
            36,
            37
        ],
        "err_flag": [
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        "en_flag": [
            1,
            1,
            1,
            1,
            1,
            1
        ],
        "err": 0
    }
}

Get the planned number `get_arm_plan_num`

Input parameter

Parameter	Type	Description
`get_arm_plan_num`	`string`	Get the planned number of robotic arm trajectories.

Output parameter

Parameter	Type	Description
`plan_num`	`int`	Planned number of robotic arm trajectories.
`loop_num`	`int`	Number of loop command lines, null: no loop commands.
`loop_cont`	`int`	Running count of loop command lines, null: no loop commands.

Code demo

Input

Return all states of the robotic arm.

json

{"command":"get_arm_plan_num"}

Output

The third trajectory planning is completed, and no loop command is contained in the trajectory planning.

json

{
    "loop_cont": [

    ],
    "loop_num": [

    ],
    "plan_num": 3,
    "state": "arm_plan_num"
}

Initial pose

Set the initial pose `set_init_pose`

Input parameter

Parameter	Type	Description
`set_init_pose`	`string`	Set the initial pose.
`init_pose`	`int`	Initial pose, accuracy: 0.001°

Output parameter

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

Code demo

Input

Execution: Set the initial pose as follows:

Initial pose of the 6-DoF robotic arm [10°, 0°, 20°, 30°, 0°, 20°].
Initial pose of the 7-DoF robotic arm [10°, 0°, 20°, 30°, 0°, 20°, 20°].

6-DoF robotic arm:

json

{ "command": "set_init_pose", "init_pose": [10000, 0, 20000, 30000, 0, 20000] }

7-DoF robotic arm:

json

{"command":"set_init_pose","init_pose":[10000,0,20000,30000,0,20000,20000]}

Output

json

{
    "command": "set_init_pose",
    "init_pose": true
}

Get the initial pose `get_init_pose`

Input parameter

Parameter	Type	Description
`get_init_pose`	`string`	Get the initial pose.

Output parameter

Parameter	Type	Description
`arm_init_pose`	`string`	Return the initial pose.
`init_pose`	`int`	Accuracy: 0.001°

Code demo

Input

Execution: Get the initial pose.

json

{ "command": "get_init_pose" }

Output

6-DoF robotic arm:

json

{
    "state": "arm_init_pose",
    "init_pose": [
        10000,
        0,
        20000,
        30000,
        0,
        20000
    ]
}

7-DoF robotic arm:

json

{
    "state": "arm_init_pose",
    "init_pose": [
        10000,
        0,
        20000,
        30000,
        0,
        20000,
        20000
    ]
}

Installation mode

The RealMan robotic arm supports different installation modes. However, the robot's dynamic model parameters and frame directions may vary depending on the installation mode.

Set installation mode parameters `set_install_pose`

Input parameter

Parameter	Type	Description
`set_install_pose`	`string`	Set the installation mode of the base.
`pose`	`int`	Rotation angle, pitch angle, and azimuth angle of the base against the horizontal plane, accuracy: 1°. As shown above, the rotation angle is 0°, the pitch angle is 90°, and the azimuth angle is 45°.

Code demo

Input

json

{"command":"set_install_pose","pose":[0,90,45]}

Output Setting succeeded.

json

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

Setting failed.

json

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

Get installation mode parameters `get_install_pose`

Input parameter

Parameter	Type	Description
`get_install_pose`	`string`	Get the installation mode of the base.

Code demo

Input

json

{"command":"get_install_pose"}

Output Rotation angle, pitch angle, and azimuth angle of the base against the horizontal plane, accuracy: 1°. As shown above, the rotation angle is 0°, the pitch angle is 90°, and the azimuth angle is 45°.

json

{
    "state": "install_pose",
    "pose": [
        0,
        90,
        45
    ]
}

Foxy

Humble

JSON protocol:
State Query Command Set

Robotic arm state

Get the current robotic arm state `get_current_arm_state`

Get the controller state `get_controller_state`

Clear the system error `clear_system_err`

Get the current joint temperature `get_current_joint_temperature`

Get the current joint current `get_current_joint_current`

Get the current joint voltage `get_current_joint_voltage`

Get the joint angle of the robotic arm `get_joint_degree`

Get all robotic arm states `get_arm_all_state`

Get the planned number `get_arm_plan_num`

Initial pose

Set the initial pose `set_init_pose`

Get the initial pose `get_init_pose`

Installation mode

Set installation mode parameters `set_install_pose`

Get installation mode parameters `get_install_pose`

JSON protocol: State Query Command Set ​

Robotic arm state ​

Get the current robotic arm state get_current_arm_state ​

Get the controller state get_controller_state ​

Clear the system error clear_system_err ​

Get the current joint temperature get_current_joint_temperature ​

Get the current joint current get_current_joint_current ​

Get the current joint voltage get_current_joint_voltage ​

Get the joint angle of the robotic arm get_joint_degree ​

Get all robotic arm states get_arm_all_state ​

Get the planned number get_arm_plan_num ​

Initial pose ​

Set the initial pose set_init_pose ​

Get the initial pose get_init_pose ​

Installation mode ​

Set installation mode parameters set_install_pose ​

Get installation mode parameters get_install_pose ​

JSON protocol:
State Query Command Set

Robotic arm state

Get the current robotic arm state `get_current_arm_state`

Get the controller state `get_controller_state`

Clear the system error `clear_system_err`

Get the current joint temperature `get_current_joint_temperature`

Get the current joint current `get_current_joint_current`

Get the current joint voltage `get_current_joint_voltage`

Get the joint angle of the robotic arm `get_joint_degree`

Get all robotic arm states `get_arm_all_state`

Get the planned number `get_arm_plan_num`

Initial pose

Set the initial pose `set_init_pose`

Get the initial pose `get_init_pose`

Installation mode

Set installation mode parameters `set_install_pose`

Get installation mode parameters `get_install_pose`