C, C++:

System Configuration controllerConfig

This document is prepared to get the controller state, control the power, clear the error, set the wired network IP address, and get the software information.

Get the controller state rm_get_controller_state()

• Method prototype:

int rm_get_controller_state(rm_robot_handle * handle,float * voltage,float * current,float * temperature,int * err_flag )

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
voltage	Output	Returned voltage.
current	Output	Returned current.
temperature	Output	Returned temperature.
err_flag	Output	Controller runtime error code.

• Return value:

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

• Usage demo

//Get the controller state
float voltage = 0;                                                            
float current = 0;                                                            
float temperature = 0;                                                        
int sys_err = 0;                                                         
ret = rm_get_controller_state(robot_handle, &voltage, &current, &temperature, &sys_err);

Set the robotic arm power rm_set_arm_power()

• Method prototype:

int rm_set_arm_power(rm_robot_handle * handle,int arm_power)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
arm_power	Input	1: power on, 0: power off.

• Return value:

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

• Usage demo

//Control the robotic arm power
ret = rm_set_arm_power(robot_handle, 1);

Get the power state of the robotic arm rm_get_arm_power_state()

• Method prototype:

int rm_get_arm_power_state(rm_robot_handle * handle,int * power_state)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
power_state	Output	Obtained power state of the robotic arm, 1: power on, 0: power off.

• Return value:

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

• Usage demo

//Get the power state of the robotic arm
int power;
ret = rm_get_arm_power_state(robot_handle,&power);

Get the cumulative runtime of the controller rm_get_system_runtime()

• Method prototype:

int rm_get_system_runtime(rm_robot_handle * handle,int * day,int * hour,int * min,int * sec
)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
day	Output	Read time.
hour	Output	Read time.
min	Output	Read time.
sec	Output	Read time.

• Return value:

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

• Usage demo

//Get the cumulative runtime of the controller
char state = 0;
int day;
int hour;
int min;
int sec;
ret = rm_get_system_runtime(robot_handle, &day, &hour, &min, &sec);

Clear the cumulative runtime of the controller rm_clear_system_runtime()

• Method prototype:

int rm_clear_system_runtime(rm_robot_handle * handle)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.

• Return value:

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

• Usage demo

//Clear the cumulative runtime of the controller
ret = rm_clear_system_runtime(robot_handle);

Get the cumulative rotation angle of the joint rm_get_joint_odom()

• Method prototype:

int rm_get_joint_odom(rm_robot_handle * handle,float * joint_odom)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
joint_odom	Output	Save the cumulative rotation angle array of each joint.

• Return value:

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

• Usage demo

//Get the cumulative rotation angle of the joint
float odom[7];
ret = rm_get_joint_odom(robot_handle,odom);

Clear the cumulative rotation angle of the joint rm_clear_joint_odom()

• Method prototype:

int rm_clear_joint_odom(rm_robot_handle * handle)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.

• Return value:

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

• Usage demo

//Clear the cumulative rotation angle of the joint
ret = rm_clear_joint_odom(robot_handle);

Set the wired network IP address rm_set_NetIP()

• Method prototype:

int rm_set_NetIP(rm_robot_handle * handle,const char * ip)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
ip	Output	Wired network IP address.

• Return value:

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

• Usage demo

//Set the wired network IP address
ret = rm_set_NetIP(robot_handle,(char*)"192.168.1.19");

Clear the system error rm_clear_system_err()

• Method prototype:

int rm_clear_system_err(rm_robot_handle * handle)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.

• Return value:

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

• Usage demo

//Clear the system error
ret = rm_clear_system_err(robot_handle);

Get the software information of the robotic arm rm_get_arm_software_info()

• Method prototype:

int rm_get_arm_software_info(rm_robot_handle * handle,rm_arm_software_version_t * software_info)

Jump to rm_robot_handle and rm_arm_software_version_t for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
software_info	Input	Structure for the robotic arm software information.

• Return value:

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

• Usage demo

//Get the software information of the robotic arm
rm_arm_software_version_t info;
ret = rm_get_arm_software_info(handle, &arm_software_version);

Get the controller RS485 mode rm_get_controller_RS485_mode()

• Method prototype:

int rm_get_controller_RS485_mode(rm_robot_handle * handle,int * mode,int * baudrate,int * timeout)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
mode	Output	Save the mode. 0: RS485 serial communication by default, 1: modbus-RTU master mode, 2: modbus-RTU slave mode.
baudrate	Output	Save the baud rate.
timeout	Input	modbus protocol timeout period in 100 ms, available only in modbus-RTU mode.

• Return value:

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

• Usage demo

int mode;
int baudrate;
int timeout;
ret = rm_get_controller_RS485_mode(robot_handle, &mode, &baudrate, &timeout);

Get the tool RS485 mode rm_get_tool_RS485_mode()

• Method prototype:

int rm_get_tool_RS485_mode(rm_robot_handle * handle,int * mode,int * baudrate,int * timeout)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
mode	Output	Save the mode. 0: RS485 serial communication by default, 1: modbus-RTU master mode, 2: modbus-RTU slave mode.
baudrate	Output	Save the baud rate.
timeout	Input	modbus protocol timeout period in 100 ms, available only in modbus-RTU mode.

• Return value:

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

• Usage demo

int mode;
int baudrate;
int timeout;
ret = rm_get_tool_RS485_mode(robot_handle, &mode, &baudrate, &timeout);

Get the joint software version rm_get_joint_software_version()

The joint software version number obtained is in string format, and the current joint software version number can be directly obtained.

• Method prototype:

int rm_get_joint_software_version(rm_robot_handle *handle,int *version, rm_version_t *joint_v);

Jump to rm_robot_handle and rm_version_t for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
version	Output	Reserved parameter, not applicable to the Gen 4 controller.
joint_v	Output	The array of strings representing the software version numbers of each joint.

• Return value:

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

• Usage demo

//Get the joint software version
int joint_v[7] = {0};
rm_version_t joint_version[7];
ret = rm_get_joint_software_version(handle, joint_v, joint_version);

Get the software version of the end interface board rm_get_tool_software_version()

The software version number of the end interface board obtained is in string format, and the current end interface board software version number can be directly obtained.

• Method prototype:

int rm_get_tool_software_version(rm_robot_handle *handle, int *version, rm_version_t *end_v);

Jump to rm_robot_handle and rm_version_t for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
version	Output	Reserved parameter, not applicable to the Gen 4 controller.
end_v	Output	The string representing the software version number of the end - effector interface board obtained.

• Return value:

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

• Usage demo

//Get the software version of the end interface board
rm_version_t tool_version;
int tool_v = 0;
ret = rm_get_tool_software_version(handle,&tool_v, &tool_version);