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Online Programming File Management ProjectManagement ​

It is used for the distribution and management of online programming files. The following is a detailed description of the member functions of the distribution and management of online programming files ProjectManagement, including the method prototype, parameter description, return value, and usage demo.

Get online program list rm_get_program_trajectory_list() ​

  • Method prototype:
python
rm_get_program_trajectory_list(self, page_num: int, page_size: int, vague_search: str) -> tuple[int, dict[str, any]]:
  • Parameter description:
ParameterTypeDescription
page_numintPage.
page_sizeintPage size.
vague_searchstrVague search.
  • Return value:
    tuple[int, dict[str,any]]: a tuple containing two elements.
  1. int: state codes executed by functions.

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

  1. Online programming list dictionary
ParameterTypeDescription
rm_program_trajectorys_tdict[str,any]Obtained online programming list dictionary, key: field names of rm_program_trajectorys_t.
  • Usage demo
python
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)

# Vaguely search "a" online programming file
print(arm.rm_get_program_trajectory_list(1, 10, "a"))

arm.rm_delete_robot_arm()

Run Specified Program File rm_set_program_id_run()
​

  • Method prototype:
python
rm_set_program_id_run(self, tra_id: int, speed: int, timeout: int) -> int:
  • Parameter description:
ParameterTypeDescription
tra_idintRun the specified ID, 1-100. The trajectory will be executed if it exists.
speedint1-100, the speed of the trajectory to be run. If set to 0, it will run at the stored speed.
timeoutintBlocking settings:
multi-thread mode:
0: non-blocking mode, immediately return after sending commands;
1: blocking mode, return after the robotic arm reaches the target position or the planning fails;
single-thread mode:
0: non-blocking mode;
other values: blocking mode, and timeout period setting, in s.
  • Return value:
    State codes executed by functions:
ParameterTypeDescriptionHandling Suggestions
0intSuccess.-
1intThe controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.- Validate JSON Command:
① Enable DEBUG logs for the API to capture the raw JSON data.
② Check JSON syntax: Ensure correct formatting of parentheses, quotes, commas, etc. (You can use a JSON validation tool).
③ Verify against the API documentation that parameter names, data types, and value ranges comply with the specifications.
④ After fixing the issues, resend the command and check if the controller returns a normal status code and business data.
- Check Robot Arm Status:
① Check for real-time error messages in the robot arm controller or logs (such as hardware failures, over-limit conditions), and reset, calibrate, or troubleshoot hardware issues according to the prompts.
② After fixing the issues, resend the command and check if the controller returns a normal status code and business data.
-1intThe data transmission fails, indicating that a problem occurs during the communication.Check Network Connectivity:
Use tools like ping/telnet to check if the communication link with the controller is normal.
-2intThe data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.- Check Network Connectivity:
Use tools like ping/telnet to check if the communication link with the controller is normal.
- Verify Version Compatibility:
① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description.
② If the version is too low, upgrade the controller or use an API version that is compatible.
-3intThe return value parse fails, indicating that the received data format is incorrect or incomplete.Verify Version Compatibility:
① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description.
② If the version is too low, upgrade the controller or use an API version that is compatible.
-4intThe running has stopped, but the successful running information is not received. The trajectory may have stopped outside the range.Determine whether the trajectory has been externally stopped, such as by triggering pause, stop, or similar buttons.
  • Usage demo
python
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)

# Run the online programming with the ID 8 at 20% speed in a blocking mode
print(arm.rm_set_program_id_run(8, 20, 1))

arm.rm_delete_robot_arm()

Delete the specified trajectoryrm_delete_program_trajectory() ​

  • Method prototype:
python
rm_delete_program_trajectory(self, tra_id: int) -> int:
  • Parameter description:
ParameterTypeDescription
tra_idintID of specified trajectory.
  • Return value:
    State codes executed by functions:

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

  • Usage demo
python
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_program_trajectory(8))

arm.rm_delete_robot_arm()

Modify the information of the specified trajectoryrm_update_program_trajectory() ​

  • Method prototype:
python
rm_update_program_trajectory(self, tra_id: int, speed: int, name: str) -> int:
  • Parameter description:
ParameterTypeDescription
tra_idintID of specified trajectory.
speedintUpdated planned speed ratio, 1-100.
namestrUpdated file name.
  • Return value:
    State codes executed by functions:

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

  • Usage demo
python
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_program_trajectory(8, 20, "test"))

arm.rm_delete_robot_arm()

Query Flowchart Program Run State rm_get_flowchart_program_run_state()
​

  • Method prototype:
python
rm_get_flowchart_program_run_state(self) -> tuple[int, dict[str, any]]:
  • Return value:

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

  1. int: state codes executed by functions.

    ParameterTypeDescriptionHandling Suggestions
    0intSuccess.-
    1intThe controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.- Validate JSON Command:
    ① Enable DEBUG logs for the API to capture the raw JSON data.
    ② Check JSON syntax: Ensure correct formatting of parentheses, quotes, commas, etc. (You can use a JSON validation tool).
    ③ Verify against the API documentation that parameter names, data types, and value ranges comply with the specifications.
    ④ After fixing the issues, resend the command and check if the controller returns a normal status code and business data.
    - Check Robot Arm Status:
    ① Check for real-time error messages in the robot arm controller or logs (such as hardware failures, over-limit conditions), and reset, calibrate, or troubleshoot hardware issues according to the prompts.
    ② After fixing the issues, resend the command and check if the controller returns a normal status code and business data.
    -1intThe data transmission fails, indicating that a problem occurs during the communication.Check Network Connectivity:
    Use tools like ping/telnet to check if the communication link with the controller is normal.
    -2intThe data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.- Check Network Connectivity:
    Use tools like ping/telnet to check if the communication link with the controller is normal.
    - Verify Version Compatibility:
    ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description.
    ② If the version is too low, upgrade the controller or use an API version that is compatible.
    -3intThe return value parse fails, indicating that the received data format is incorrect or incomplete.Verify Version Compatibility:
    ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description.
    ② If the version is too low, upgrade the controller or use an API version that is compatible.
    -4intThis interface is not supported by the Gen 3 Controller.-

  2. dict[str, any]: A dictionary of the online programming run state.

    ParameterTypeDescription
    rm_arm_software_version_tdict[str,any]A dictionary of the online programming run state, with keys being the field names of the rm_program_run_state_t structure.

    Jump to rm_program_run_state_t for details of the structure.

  • Usage demo
python
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_flowchart_program_run_state())
arm.rm_delete_robot_arm()

Set the ID of program that the IO runs by default rm_set_default_run_program() ​

  • Method prototype:
python
rm_set_default_run_program(self, tra_id: int) -> int:
  • Parameter description:
ParameterTypeDescription
tra_idintSet the ID of online programming file that the IO runs by default. It is configurable from 0 to 100. 0 means canceling the setting.
  • Return value:
    State codes executed by functions:

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

  • Usage demo
python
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_default_run_program(8))

arm.rm_delete_robot_arm()

Get the ID of program that the IO runs by default rm_get_default_run_program() ​

  • Method prototype:
python
rm_get_default_run_program(self) -> tuple[int, int]:
  • Return value:
    tuple[int,int]: a tuple containing two elements.
  1. int: state codes executed by functions.

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

  1. ID of online programming file
ParameterTypeDescription
-intObtained online programming running state dictionary, key: field names of rm_program_run_state_t.
  • Usage demo
python
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_default_run_program())

arm.rm_delete_robot_arm()