JSON protocol:

Joint Parameter Instruction Set

To configure the joint parameters of the robotic arm, errors in the joint must first be resolved. Joint parameters cannot be modified until the error codes are cleared. Additionally, before configuring the joint, it must first be disabled; otherwise, the settings will not be applied successfully.

WARNING

Once all joint parameters are modified, they are automatically saved to the joint's Flash and take effect immediately. Afterward, the joint will be in a disabled state, and a command must be sent to re-enable the joint for normal operation.

All parameters of the RealMan robotic arm are configured to their optimal state before delivery. It is generally not recommended for users to modify the underlying joint parameters. If the user needs to make modifications, the robotic arm must first be set to a non-enabled state. Afterward, the parameter modification command can be sent. Once the parameters are successfully updated, the joint re-enabling command should be issued. It is important to note that when re-enabling the joint, the user must ensure that the joint remains stationary to avoid errors during the enabling process. Once the joint is successfully re-enabled, the user can control its movement.

Set the joint configuration

Set the maximum joint speedset_joint_max_speed

Set the maximum speed for the specified joint of the robotic arm. The joint sequence is arranged from the robotic arm's base to the end joint as follows:

For a 6-DoF robotic arm, the joint sequence is numbered from 1 to 6 For a 7-DoF robotic arm, the joint sequence is numbered from 1 to 7

• Input parameter

Parameter	Type	Description
set_joint_max_speed	string	Maximum joint speed setting command.
joint_max_speed	[int,int]	Joint number and maximum speed, in RPM.

WARNING

It is recommended to use the default maximum speed. If any changes are required, the ratio of the maximum joint acceleration to the maximum speed of the joint must be ≥1.5, otherwise, abnormal motion may occur

• Output parameter

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

• Code demo

Input

Execution: Set joint 2 with a maximum speed of 30 RPM and a speed resolution of 0.001 RPM.

{"command":"set_joint_max_speed","joint_max_speed":[2,30000]}

Output

{
    "command": "set_joint_max_speed",
    "joint_max_speed": true
}

Set the maximum joint accelerationset_joint_max_acc

• Input parameter

Parameter	Type	Description
set_joint_max_acc	string	Set the maximum joint acceleration, with a parameter limit of no more than 500 RPM/s.
joint_max_acc	[int,int]	Joint number and maximum acceleration, in RPM/s.

• Output parameter

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

WARNING

It is recommended to use the default maximum joint acceleration. If any changes are required, the ratio of the maximum joint acceleration to the maximum speed of the joint must be ≥1.5, otherwise, abnormal motion may occur

• Code demo

Input

Execution: Set joint 2 with a maximum acceleration of 100 RPM/s and an acceleration resolution of 0.001 RPM/s.

{"command":"set_joint_max_acc","joint_max_acc":[2,100000]}

Output

{
    "command": "set_joint_max_acc",
    "joint_max_acc": true
}

Set the minimum joint limitset_joint_min_pos

• Input parameter

Parameter	Type	Description
set_joint_min_pos	string	Set the minimum joint limit.
joint_min_pos	[int,int]	Joint number and minimum limit angle, in °.

• Output parameter

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

• Code demo

Input

Execution: Set joint 1 with a minimum limit angle of -170°and a resolution of 0.001°.

{"command":"set_joint_min_pos","joint_min_pos":[1,-170000]}

Output

{
    "command": "set_joint_min_pos",
    "joint_min_pos": true
}

Set the maximum joint limitset_joint_max_pos

• Input parameter

Parameter	Type	Description
set_joint_max_pos	string	Set the maximum joint limit.
joint_max_pos	[int,int]	Joint number and maximum limit angle, in °.

• Output parameter

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

• Code demo

Input

Execution: Set joint 1 with a maximum limit angle of 170° and a resolution of 0.001°.

{"command":"set_joint_max_pos","joint_max_pos":[1,170000]}

Output

{
    "command": "set_joint_max_pos",
    "joint_max_pos": true
}

Set the maximum joint speed (driver)set_joint_drive_max_speed

• Input parameter

Parameter	Type	Description
set_joint_drive_max_speed	string	Maximum joint speed setting command.
joint_max_speed	[int,int]	Joint number and maximum speed, in RPM.

WARNING

It is recommended to use the default maximum speed. If any changes are required, the ratio of the maximum joint acceleration to the maximum speed of the joint must be ≥1.5, otherwise, abnormal motion may occur

• Output parameter

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

• Code demo

Input

Execution: Set joint 2 with a maximum speed of 30 RPM and a speed resolution of 0.001 RPM.

{"command":"set_joint_drive_max_speed","joint_max_speed":[2,30000]}

Output

{
    "command": "set_joint_drive_max_speed",
    "joint_max_speed": true
}

Set the maximum joint acceleration (driver)set_joint_drive_max_acc

• Input parameter

Parameter	Type	Description
set_joint_drive_max_acc	string	Set the maximum joint acceleration.
joint_max_acc	[int,int]	Joint number and maximum acceleration, in RPM/s.

WARNING

It is recommended to use the default maximum joint acceleration. If any changes are required, the ratio of the maximum joint acceleration to the maximum speed of the joint must be ≥1.5, otherwise, abnormal motion may occur

• Output parameter

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

• Code demo

Input

Execution: Set joint 2 with a maximum acceleration of 500 RPM/s and an acceleration resolution of 0.001 RPM/s.

{"command":"set_joint_drive_max_acc","joint_max_acc":[2,500000]}

Output

{
    "command": "set_joint_drive_max_acc",
    "joint_max_acc": true
}

Set the minimum joint limit (driver)set_joint_drive_min_pos

• Input parameter

Parameter	Type	Description
set_joint_drive_min_pos	string	Set the minimum joint limit.
joint_min_pos	[int,int]	Joint number and minimum limit angle, in °.

• Output parameter

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

• Code demo

Input

Execution: Set joint 1 with a minimum limit angle of -170°and a resolution of 0.001°.

{"command":"set_joint_drive_min_pos","joint_min_pos":[1,-170000]}

Output

{
    "command": "set_joint_drive_min_pos",
    "joint_min_pos": true
}

Set the maximum joint limit (driver)rm_set_joint_drive_max_pos()

• Input parameter

Parameter	Type	Description
set_joint_drive_max_pos	string	Set the maximum joint limit.
joint_max_pos	[int,int]	Joint number and maximum limit angle, in °.

• Output parameter

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

• Code demo

Input

Execution: Set joint 1 with a maximum limit angle of 170° and a resolution of 0.001°.

{"command":"set_joint_drive_max_pos","joint_max_pos":[1,170000]}

Output

{
    "command": "set_joint_drive_max_pos",
    "joint_max_pos": true
}

Set the joint enabling stateset_joint_en_state

• Input parameter

Parameter	Type	Description
set_joint_en_state	string	Set the joint enabling state.
joint_en_state	[int,int]	Joint number and enabling state, 1: enable, 0: disable.

• Output parameter

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

• Code demo

Input

Execution: Enable joint 6.

{"command":"set_joint_en_state","joint_en_state":[6,1]}

Output

{
    "command": "set_joint_en_state",
    "joint_en_state": true
}

Set the joint zero positionset_joint_zero_pos

• Input parameter

Parameter	Type	Description
set_joint_zero_pos	string	Set the joint zero position.
joint_zero_pos	int	Joint number.

• Output parameter

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

• Code demo

Input

Execution: Set the position of Joint 3 to the zero position.

{"command":"set_joint_zero_pos","joint_zero_pos":3}

Output

{
    "command": "set_joint_zero_pos",
    "joint_zero_pos": true
}

Clear the joint error codeset_joint_clear_err

• Input parameter

Parameter	Type	Description
set_joint_clear_err	string	Clear the joint error code.
joint_clear_err	int	Joint number.

• Output parameter

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

• Code demo

Input

Execution: Clear joint 2 error code.

{"command":"set_joint_clear_err","joint_clear_err":2}

Output

{
    "command": "set_joint_clear_err",
    "joint_clear_err": true
}

One-click setting of joint limitsauto_set_joint_limit

• Input parameter

Parameter	Type	Description
auto_set_joint_limit	string	One-click setting of joint limits.
limit_mode	int	Limit setting mode.

• Output parameter

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

• Code demo

Input

Execution: 1: Normal mode, where each joint's limits are defined by the soft limit and hardware limit from the specification parameters.

{"command":"auto_set_joint_limit","limit_mode":1}

Output

{
    "command": "auto_set_joint_limit",
    "limit_mode": true
}

Query the joint configuration

Get information such as joint speed, acceleration, limits, and errors.

Get the maximum joint speedget_joint_max_speed

• Input parameter

Parameter	Type	Description
get_joint_max_speed	string	Get the maximum joint speed.

• Output parameter

Parameter	Type	Description
joint_max_speed	int	Return feedback on maximum joint speed.

• Code demo

Input

Execution: Get the maximum joint speed.

{"command":"get_joint_max_speed"}

Output

The maximum speed of each joint is sequentially reported as 0.03 RPM, in RPM, resolution: 0.

6-DoF robotic arm:

{
    "state": "joint_max_speed",
    "joint_speed": [
        30,
        30,
        30,
        30,
        30,
        30
    ]
}

7-DoF robotic arm:

{
    "state": "joint_max_speed",
    "joint_speed": [
        30,
        30,
        30,
        30,
        30,
        30,
        30
    ]
}

Get the maximum joint accelerationget_joint_max_acc

• Input parameter

Parameter	Type	Description
get_joint_max_acc	string	Get the maximum joint acceleration.

• Output parameter

Parameter	Type	Description
joint_max_acc	int	Return feedback on maximum joint acceleration.

• Code demo

Input

Execution: Get the maximum joint acceleration.

{"command":"get_joint_max_acc"}

Output

The maximum acceleration of each joint is sequentially reported as 0.5 RPM/s, in RPM/s, resolution: 0.001 RPM/s.

6-DoF robotic arm:

{
    "state": "joint_max_acc",
    "joint_acc": [
        500,
        500,
        500,
        500,
        500,
        500
    ]
}

7-DoF robotic arm:

{
    "state": "joint_max_acc",
    "joint_acc": [
        500,
        500,
        500,
        500,
        500,
        500,
        500
    ]
}

Get the minimum joint limitget_joint_min_pos

• Input parameter

Parameter	Type	Description
get_joint_min_pos	string	Get the minimum joint limit.

• Output parameter

Parameter	Type	Description
joint_min_pos	int	Return feedback on minimum joint limit.

• Code demo

Input

Execution: Get the minimum joint limit.

{"command":"get_joint_min_pos"}

Output

Return feedback on minimum joint limit:

For the 6-DoF, the minimum positions are as follows: joints 1, 3, and 5: -170°, joints 2, 4, and 6: -110°
For the 7-DoF, the minimum positions are as follows: joints 1, 3, 4, and 6: -170°, joints 2, 5, and 7: -110°

Joint unit: °, resolution: 0.001°.

6-DoF robotic arm:

{
    "state": "joint_min_pos",
    "min_pos": [
        -170000,
        -110000,
        -170000,
        -110000,
        -170000,
        -110000
    ]
}

7-DoF robotic arm:

{
    "state": "joint_min_pos",
    "min_pos": [
        -170000,
        -110000,
        -170000,
        -170000,
        -110000,
        -170000,
        -110000
    ]
}

Get the maximum joint limitget_joint_max_pos

• Input parameter

Parameter	Type	Description
get_joint_max_pos	string	Get the maximum joint limit.

• Output parameter

Parameter	Type	Description
joint_max_pos	int	Return feedback on maximum joint limit.

• Code demo

Input

Execution: Get the maximum joint limit.

{"command":"get_joint_max_pos"}

Output

Return feedback on maximum joint limit:

For the 6-DoF, the minimum positions are as follows: joints 1, 3, and 5: 170°, joints 2, 4, and 6: 110°
For the 7-DoF, the minimum positions are as follows: joints 1, 3, 4, and 6: 170°, joints 2, 5, and 7: 110°

Joint unit: °, resolution: 0.001°.

6-DoF robotic arm:

{
    "state": "joint_max_pos",
    "max_pos": [
        170000,
        110000,
        170000,
        110000,
        170000,
        110000
    ]
}

7-DoF robotic arm:

{
    "state": "joint_max_pos",
    "max_pos": [
        170000,
        110000,
        170000,
        170000,
        110000,
        170000,
        110000
    ]
}

Get the maximum joint speed (driver)get_joint_min_pos

• Input parameter

Parameter	Type	Description
get_joint_min_pos	string	Get the maximum joint speed.

• Code demo

Input

Execution: Get the maximum joint speed.

{"command":"get_joint_drive_max_speed"}

Output

The maximum speed of each joint is sequentially reported as 0.03 RPM, in RPM, resolution: 0.001 RPM.

6-DoF robotic arm:

{
    "command": "get_joint_drive_max_speed",
    "joint_speed": [
        30,
        30,
        30,
        30,
        30,
        30
    ]
}

7-DoF robotic arm:

{
    "command": "get_joint_drive_max_speed",
    "joint_speed": [
        30,
        30,
        30,
        30,
        30,
        30,
        30
    ]
}

Get maximum joint acceleration (driver)get_joint_drive_max_acc

• Input parameter

Parameter	Type	Description
get_joint_drive_max_acc	string	Get maximum joint acceleration.

• Output parameter

Parameter	Type	Description
get_joint_drive_max_acc	int	Return feedback on maximum joint speed (driver).

• Code demo

Input

Execution: Get maximum joint acceleration

{"command":"get_joint_drive_max_acc"}

Output

The maximum acceleration of each joint is sequentially reported as 0.5 RPM/s, in RPM/s, resolution: 0.001 RPM/s.

6-DoF robotic arm:

{
    "command": "get_joint_drive_max_acc",
    "joint_acc": [
        500,
        500,
        500,
        500,
        500,
        500
    ]
}

7-DoF robotic arm:

{
    "command": "get_joint_drive_max_acc",
    "joint_acc": [
        500,
        500,
        500,
        500,
        500,
        500,
        500
    ]
}

Get the minimum joint limit (driver) get_joint_drive_min_pos

• Input parameter

Parameter	Type	Description
get_joint_drive_min_pos	string	Get the minimum joint limit.

• Output parameter

Parameter	Type	Description
get_joint_drive_min_pos	int	Return feedback on minimum joint limit (driver).

• Code demo

Input

Execution: Get the minimum joint limit (driver).

{"command":"get_joint_drive_min_pos"}

Output

Return feedback on minimum joint limit. For example, the RM65 and RM75 robotic arms are used. For detailed parameters, please refer to the parameter descriptions for each series of robotic arms in the Getting Started Guide > Parameter Description.

1. For the 6-DoF, the minimum positions are as follows: joints 1, and 4: -178°, joints 2: -130°, joints 3: -135°, joints 5: -128°, joints 6: -360°.
2. For the 7-DoF, the minimum positions are as follows: joints 1, 3, and 5: -178°, joints 2: -130°, joints 4: -135°, joints 6: -128°, joints 7: -360°.
3. Joint unit: °, resolution: 0.001°.

6-DoF robotic arm:

{
    "command": "get_joint_drive_min_pos",
    "min_pos": [
        -178000,
        -130000,
        -135000,
        -178000,
        -128000,
        -360000
    ]
}

7-DoF robotic arm:

{
    "command": "get_joint_drive_min_pos",
    "min_pos": [
        -178000,
        -130000,
        -178000,
        -135000,
        -178000,
        -128000,
        -360000
    ]
}

Get the maximum joint limit (driver)get_joint_drive_max_pos

• Input parameter

Parameter	Type	Description
get_joint_drive_max_pos	string	Get the maximum joint limit.

• Output parameter

Parameter	Type	Description
get_joint_drive_max_pos	int	Return feedback on maximum joint limit (driver).

• Code demo

Input

Execution: Get the maximum joint limit.

{"command":"get_joint_drive_max_pos"}

Output

Return feedback on maximum joint limit. For example, the following parameters are used. For detailed parameters, please refer to the parameter descriptions for each series of robotic arms in the Getting Started Guide > Parameter Description.

1. For the 6-DoF, the minimum positions are as follows: joints 1, and 4: 178°, joints 2: 130°, joints 3: 135°, joints 5: 128°, joints 6: 360°.
2. For the 7-DoF, the minimum positions are as follows: joints 1, 3, and 5: 178°, joints 2: 130°, joints 4: 135°, joints 6: 128°, joints 7: 360°.
3. Joint unit: °, resolution: 0.001°.

6-DoF robotic arm:

{
    "command": "get_joint_drive_max_pos",
    "max_pos": [
        178000,
        130000,
        135000,
        178000,
        128000,
        360000
    ]
}

7-DoF robotic arm:

{
    "command": "get_joint_drive_max_pos",
    "max_pos": [
        178000,
        130000,
        178000,
        135000,
        178000,
        128000,
        360000
    ]
}

Get the joint enabling stateget_joint_en_state

• Input parameter

Parameter	Type	Description
get_joint_en_state	string	Get the joint enabling state.

• Output parameter

Parameter	Type	Description
joint_en_state	int	Return feedback on joint enabling state.

• Code demo

Input

Execution: Get the joint enabling state.

{"command":"get_joint_en_state"}

Output

Return feedback on joint enabling state, 1: enable 0: disable.

6-DoF robotic arm:

{
    "state": "joint_en_state",
    "en_state": [
        1,
        1,
        1,
        1,
        1,
        0
    ]
}

7-DoF robotic arm:

{
    "state": "joint_en_state",
    "en_state": [
        1,
        1,
        1,
        1,
        1,
        1,
        0
    ]
}

Get the joint error codeget_joint_err_flag

• Input parameter

Parameter	Type	Description
get_joint_err_flag		Get the joint error code.

• Output parameter

Parameter	Type	Description
joint_err_flag	int	Return feedback on joint enabling state.

• Code demo

Input

Execution: Get the joint error code.

{"command":"get_joint_err_flag"}

Output

err_flag: return feedback on joint error code, error code: integer;
brake_state: return feedback on joint brake state, 1: brake not engaged, 0: brake engaged.

6-DoF robotic arm:

{
    "state": "joint_err_flag",
    "err_flag": [
        0,
        0,
        0,
        0,
        0,
        1
    ],
    "brake_state": [
        0,
        0,
        0,
        0,
        0,
        1
    ]
}

7-DoF robotic arm:

{
    "state": "joint_err_flag",
    "err_flag": [
        0,
        0,
        0,
        0,
        0,
        0,
        1
    ],
    "brake_state": [
        0,
        0,
        0,
        0,
        0,
        0,
        1
    ]
}