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 |
|---|---|---|
get_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.
{ "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:
{
"command": "get_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:
{
"command": "get_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 |
|---|---|---|
get_controller_state | string | Return the controller state. |
- Code demo
Input
Execution: Get the controller state.
{ "command": "get_controller_state" }Output
The accuracy of voltage, current, and temperature is 0.001.
{
"command": "get_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.
{"command":"clear_system_err"}Output
The clearing of the system error is successful.
{
"command": "clear_system_err",
"clear_state": true
}The clearing of the system error has failed.
{
"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 |
|---|---|---|
get_current_joint_temperature | int | Return the current joint temperature, unit: °C, accuracy: 0.001℃ |
- Code demo
Input
Execution: Get the current joint temperature.
{ "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:
{
"command": "get_current_joint_temperature",
"joint_temperature": [
27500,
28000,
26800,
26800,
28900,
30100
]
}7-DoF robotic arm:
{
"command": "get_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 |
|---|---|---|
get_current_joint_current | int | Return the current joint current, unit: mA, accuracy: 0.001 mA. |
- Code demo
Input
Execution: Get the current joint current.
{ "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:
{
"command": "get_current_joint_current",
"joint_current": [
65,
-200,
170,
200,
-300,
168
]
}7-DoF robotic arm:
{
"command": "get_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 |
|---|---|---|
get_current_joint_voltage | int | Return the current joint voltage, unit: V, accuracy: 0.001 V. |
- Code demo
Input
Execution: Get the current joint voltage.
{ "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:
{
"command": "get_current_joint_voltage",
"joint_voltage": [
27500,
28000,
26800,
26800,
28900,
30100
]
}7-DoF robotic arm:
{
"command": "get_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.
{"command":"get_joint_degree"}Output
Return the joint angle of the 6-DoF robotic arm, accuracy: 0.001°.
{
"command":"get_joint_degree",
"joint": [
10,
20,
30,
40,
50,
60
]
}Return the joint angle of the 7-DoF robotic arm, accuracy: 0.001°.
{
"command":"get_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.
{"command":"get_arm_all_state"}Output
Return all states of the 6-DoF robotic arm.
{
"command":"get_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.
{
"command":"get_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
}
}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:
{ "command": "set_init_pose", "init_pose": [10000, 0, 20000, 30000, 0, 20000] }7-DoF robotic arm:
{"command":"set_init_pose","init_pose":[10000,0,20000,30000,0,20000,20000]}Output
{
"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 |
|---|---|---|
get_init_pose | string | Return the initial pose. |
- Code demo
Input
Execution: Get the initial pose.
{ "command": "get_init_pose" }Output
6-DoF robotic arm:
{
"command": "get_init_pose",
"init_pose": [
10000,
0,
20000,
30000,
0,
20000
]
}7-DoF robotic arm:
{
"command": "get_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
{"command":"set_install_pose","pose":[0,90,45]}Output Setting succeeded.
{
"command": "set_install_pose",
"set_state": true
}Setting failed.
{
"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
{"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°.
{
"command": "get_install_pose",
"pose": [
0,
90,
45
]
}