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Gen 4 Overview

Version Description

Getting Started

Hardware Preparation

Safety Guide

Hardware Interface

Parameter Description

RM65 Series

RM75 Series

RML63 Series

ECO63 Series

ECO65 Series

Teaching User Guide

Robotic Arm Teaching

Teaching Pendant Operation Guide

Robot Arm Configuration

Robot Arm State

Robot Arm Extension

Optional Function

JSON Protocol

Getting Started

Joint Parameter Command Set

Motion Parameter Command Set

Motion Command Set

Frame Command Set

State Query Command Set

System Command Set

Network Configuration Command Set

IO Configuration Command Set

UDP Active Reporting Command Set

Online Programming Command Set

Drag-and-Teach Command Set

Modbus Command Set

Trajectory File Command Set

Force Sensor Command Set (Optional)

End Effector Command set (optional)

Controller Extension Device Command Set (Optional)

Appendix: Error Codes

API2(C、C++)

Quick Start

Interface Description

Robotic Arm Connection Configuration

Robotic Arm Trajectory Command

Tool Frame Configuration

Work Frame Configuration

Get the Robotic Arm State

End Effector Motion Parameter Configuration

Robotic Arm Teaching Command

Drag Teaching Configuration

Motion State Control Command

Communication Configuration

System Configuration

System Installation Method Configuration

General Extended Joint Configuration

Lifting Mechanism Configuration

End Effector 6-DoF Force Configuration

Pass-Through Force-Position Hybrid Control Compensation Configuration

Global Waypoint Management

End-Effector Tool gripper configuration

Five-Finger Dexterous Hand Configuration

Controller IO Configuration and Query

End-Effector Tool IO configuration

Joint Configuration

Joint Configuration Query

Modbus Configuration

Trajectory File

Online Programming Configuration

Algorithm Interface Configuration

UDP Active Reporting Configuration

Structure

All Robotic Arm State

Current State

Joint Status

Joint Version

Basic Information

Position And Orientation

Position Coordinates

Controller Ctrl Layer Software Information

Frame

Frame Name

Online Programming Running State

Online Programming List

Online Programming Storage

Flowchart Program Run State

Global Waypoint List

Global Waypoint Storage

Software Version

Software Information

Gripper State

Online Programming File Sending

Lifting Mechanism And Expansion Joint State

Dynamic Model Version

Force Sensor Data

6-DoF Force Sensor Data

Robotic Arm Control Handle

Peripheral Data Read and Write

UDP-Based Custom Pushing Item

UDP Real-time Pushing Interface

UDP-Based Pushed Expansion Joint Data

UDP-Based Pushed Lifting Joint Data

UDP-Based Pushed Dexterous Hand Data

UDP-Based Pushed Aloha State

UDP-Based Real-Time Robotic Arm State Pushing

Algorithm Library Version

Algorithm Envelope Parameter

Euler Angles

Quaternion

Rotation Matrix

Inverse Kinematics

Inverse Kinematics Full Solution

Compiling Instruction

Force-Position Hybrid Control

Pass-Through Force-Position Hybrid Compensation

Multiple Drag Teaching

Digital IO Configuration

Digital IO Status Acquisition

Angle Transparency Mode

Pose Transparency Mode

End-Effector Basic Information

End-Effector Real-Time Information

Modbus TCP Write Data

Modbus TCP Master Information

Modbus TCP Master List

Modbus TCP Read Data Parameters

Modbus RTU Read Data Parameters

Modbus RTU Write Data

Trajectory Information

Trajectory List

Error Code Structure

Type description

API2 Error Codes

API2(Python)

Quick Start

Interface Description

Robotic Arm Connection Control

Robotic Arm Trajectory Control

Tool Frame Configuration

Work Frame Configuration

Get the Robotic Arm State

Robotic Arm Motion Parameter Configuration

Teaching and Stepping Control of the Robotic Arm

Drag Teaching Configuration

Robotic Arm Motion State Control

Communication Configuration

System Configuration

System Installation Method Configuration

Universal Extended Joint Control

Lifting Mechanism Configuration

End 6-DoF Force Sensor Configuration

Pass-Through Force-Position Hybrid Control Compensation Configuration

Global Waypoint Management

Gripper Configuration

Five-Fingered Dexterous Hand Configuration

Controller IO Configuration and Query

End Effector IO Configuration and Query

Joint Configuration

Joint Configuration Query

Modbus Configuration

Trajectory File

Online Programming File Management

Algorithm Interface Configuration

UDP Proactive Reporting Configuration

Structure

Algorithm Library Version

Algorithm Envelope Parameter

All Robotic Arm State

Robotic Arm Software Version

Software Information

Controller Ctrl Layer Software Information

Current Robotic Arm State

Flowchart Program Run State

Dynamic Model Version

Euler Angle

Robotic Arm In-Position Event

Expansion Joint State

6-DoF Force Sensor Data

Force Sensor Data

Robotic Arm Position and Orientation

Frame Name

Gripper State

Inverse Kinematics

Inverse Kinematics Full Solution Parameter

Robotic Arm Joint State

Joint Version

Matrix

Peripheral Data Read and Write Parameter

Controller Plan Layer Software Information

Pose

Position

Robotic Arm Program Running State

Query Online Programming List

Quaternion

UDP-Based Custom Real-Time Pushing Item

UDP-Based Real-Time Robotic Arm State Pushing Interface Configuration

UDP-Based Pushed Expansion Joint State

UDP-Based Pushed Lifting Mechanism State

UDP-Based Pushed Dexterous Hand State

UDP-Based Pushed Aloha State

UDP-Based Real-Time Robotic Arm State Pushing

Robotic Arm Handle

Robotic Arm Information

Programming File Information Sending

Online Programming Storage Information

Global Waypoint

Global Waypoint List

Force-Position Hybrid Control Parameter

Pass-Through Force-Position Hybrid Compensation

Multiple Drag Teaching Parameter

End-Effector Basic Information

End-Effector Real-Time Information

Modbus TCP Write Data

Modbus TCP Master Information

Modbus TCP Master List

Modbus TCP Read Data Parameters

Modbus RTU Read Data Parameters

Modbus RTU Write Data

Trajectory Information

Trajectory List

Error Code Structure

Type description

API2 Error Codes

Modbus

Modbus Slave Address Table

FAQ

Quick Use FAQ

Robotic Arm API Development FAQ

Related Downloads

Secondary Development Package

Models and Dimensional Drawings

Catalog

Python:
Query Joint Software Version Number `rm_version_t`

Parameter description

Parameter	Type	Description
`version`	`char`	Joint software version number.

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Jing ICP Record No. 20031630-1

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