4. Robot Motion
4.1. jog point motion
1/**
2* @brief jog pointing
3* @param [in] refType Type of pointing: 0-joint pointing, 2-pointing in base coordinate system, 4-pointing in tool coordinate system, 8-pointing in artifact coordinate system.
4* @param [in] nb 1-joint 1 (or x-axis), 2-joint 2 (or y-axis), 3-joint 3 (or z-axis), 4-joint 4 (or rotate around x-axis), 5-joint 5 (or rotate around y-axis), 6-joint 6 (or rotate around z-axis)
5* @param [in] dir 0-negative direction, 1-positive direction
6* @param [in] vel velocity percentage, [0~100]
7* @param [in] acc acceleration percentage, [0~100]
8* @param [in] max_dis Maximum angle of a single tap, in [°] or distance, in [mm]
9* @return Error code
10*/
11int StartJOG(byte refType, byte nb, byte dir, float vel, float acc, float max_dis);
4.2. jog nudging deceleration stop
1/**
2* @brief jog pointwise deceleration stops.
3* @param [in] ref 1-joint-point deceleration stop, 3-point deceleration stop in base coordinate system, 5-point deceleration stop in tool coordinate system, 9-point deceleration stop in workpiece coordinate system
4* @return Error code
5*/
6int StopJOG(byte stopType).
4.3. jog pointing stops immediately
1/**
2* @brief jog tapping stops immediately.
3* @return Error code
4*/
5int ImmStopJOG();
4.4. Sample Robot Tap Control Code
1private void btnJOG_Click(object sender, EventArgs e)
2{
3 for (int i = 0; i < 6; i++)
4 {
5 robot.StartJOG(0, i + 1, 0, 20.0f, 20.0f, 30.0f);
6 Thread.Sleep(1000);
7 robot.ImmStopJOG();
8 Thread.Sleep(1000);
9 }
10
11 for (int i = 0; i < 6; i++)
12 {
13 robot.StartJOG(2, i + 1, 0, 20.0f, 20.0f, 30.0f);
14 Thread.Sleep(1000);
15 robot.ImmStopJOG();
16 Thread.Sleep(1000);
17 }
18
19 for (int i = 0; i < 6; i++)
20 {
21 robot.StartJOG(4, i + 1, 0, 20.0f, 20.0f, 30.0f);
22 Thread.Sleep(1000);
23 robot.StopJOG(5);
24 Thread.Sleep(1000);
25 }
26
27 for (int i = 0; i < 6; i++)
28 {
29 robot.StartJOG(8, i + 1, 0, 20.0f, 20.0f, 30.0f);
30 Thread.Sleep(1000);
31 robot.StopJOG(9);
32 Thread.Sleep(1000);
33 }
34}
4.5. Joint space motion
1/**
2* @brief Joint space motion.
3* @param [in] joint_pos Target joint position in degrees.
4* @param [in] desc_pos Target Cartesian position.
5* @param [in] tool Tool coordinate number, range [0~14].
6* @param [in] user Workpiece coordinate number, range [0~14].
7* @param [in] vel velocity percentage, range [0~100] * @param [in] acc.
8* @param [in] acc Acceleration percentage, range [0~100], not available yet.
9* @param [in] ovl Velocity scaling factor, range [0~100].
10* @param [in] epos Extended axis position in mm.
11* @param [in] blendT [-1.0]-motion in place (blocking), [0~500.0]-smoothing time (non-blocking) in ms
12* @param [in] offset_flag 0-no offset, 1-offset in base/work coordinate system, 2-offset in tool coordinate system
13* @param [in] offset_pos Bit position offset
14* @return Error code
15*/
16int MoveJ(JointPos joint_pos, DescPose desc_pos, int tool, int user, float vel, float acc, float ovl, ExaxisPos epos, float blendT, byte offset_flag, DescPose offset_pos);
4.6. Joint space motion (automatic forward kinematics calculation)
New in version C#SDK-V1.1.7: Web-3.8.5
1/**
2* @brief Joint space motion (automatic forward kinematics calculation)
3* @param [in] joint_pos Target joint position, unit deg
4* @param [in] tool Tool coordinate number, range [0~14]
5* @param [in] user Workpiece coordinate number, range [0~14]
6* @param [in] vel Velocity percentage, range [0~100]
7* @param [in] acc Acceleration percentage, range [0~100], not open yet
8* @param [in] ovl Velocity scaling factor, range [0~100]
9* @param [in] epos Extended axis position, unit mm
10* @param [in] blendT [-1.0]-move to position (blocking), [0~500.0]-smoothing time (non-blocking), unit ms
11* @param [in] offset_flag 0-no offset, 1-offset in base/workpiece coordinate system, 2-offset in tool coordinate system
12* @param [in] offset_pos Pose offset
13* @return Error code
14*/
15int MoveJ(JointPos joint_pos, int tool, int user, double vel, double acc, double ovl, ExaxisPos epos, double blendT, int offset_flag, DescPose offset_pos)
4.7. Linear motion in Cartesian space
1/**
2* @brief Cartesian space linear motion
3* @param [in] joint_pos Target joint position, unit deg
4* @param [in] desc_pos Target Cartesian pose
5* @param [in] tool Tool coordinate number, range [0~14]
6* @param [in] user Workpiece coordinate number, range [0~14]
7* @param [in] vel Speed percentage, range [0~100]
8* @param [in] acc Acceleration percentage, range [0~100], currently not available
9* @param [in] ovl Speed scaling factor [0~100]/Physical speed (mm/s)
10* @param [in] blendR [-1.0]-Motion to position (blocking), [0~1000.0]-Blend radius (non-blocking), unit mm
11* @param [in] blendMode Transition mode; 0-Inscribed transition; 1-Corner transition
12* @param [in] epos Extended axis position, unit mm
13* @param [in] search 0-No wire seam tracking, 1-Wire seam tracking
14* @param [in] offset_flag 0-No offset, 1-Offset in base/workpiece coordinate system, 2-Offset in tool coordinate system
15* @param [in] offset_pos Pose offset
16* @param [in] oacc Acceleration scaling factor [0-100]/Physical acceleration (mm/s²)
17* @param [in] velAccParamMode Speed/acceleration parameter mode; 0-Percentage; 1-Physical speed (mm/s) and acceleration (mm/s²)
18* @param [in] overSpeedStrategy Overspeed handling strategy, 1-Standard; 2-Error and stop on overspeed; 3-Adaptive speed reduction, default is 0
19* @param [in] speedPercent Allowable speed reduction threshold percentage [0-100], default 10%
20* @return Error code
21*/
22public int MoveL(JointPos joint_pos, DescPose desc_pos, int tool, int user, float vel, float acc, float ovl, float blendR, int blendMode, ExaxisPos epos, int search, int offset_flag, DescPose offset_pos, float oacc, int velAccParamMode, int overSpeedStrategy = 0, int speedPercent = 10)
4.8. Cartesian space linear motion (automatic inverse kinematics calculation)
New in version C#SDK-V1.1.7: Web-3.8.5
1/**
2* @brief Cartesian space linear motion (automatic inverse kinematics calculation)
3* @param [in] desc_pos Target cartesian pose
4* @param [in] tool Tool coordinate number, range [1~15]
5* @param [in] user Workpiece coordinate number, range [1~15]
6* @param [in] vel Velocity percentage, range [0~100]
7* @param [in] acc Acceleration percentage, range [0~100], not open yet
8* @param [in] ovl Velocity scaling factor, range [0~100]
9* @param [in] blendR [-1.0]-move to position (blocking), [0~1000.0]-smoothing radius (non-blocking), unit mm
10* @param [in] blendMode Transition mode; 0-tangent transition; 1-corner transition
11* @param [in] epos Extended axis position, unit mm
12* @param [in] search 0-no wire search, 1-wire search
13* @param [in] offset_flag 0-no offset, 1-offset in base/workpiece coordinate system, 2-offset in tool coordinate system
14* @param [in] offset_pos Pose offset
15* @param [in] config Inverse kinematics joint space configuration, [-1]-calculate based on current joint position, [0~7]-solve according to specific joint space configuration
16* @param [in] overSpeedStrategy Overspeed handling strategy, 1-standard; 2-stop on error when overspeed; 3-adaptive speed reduction, default is 0
17* @param [in] speedPercent Allowed speed reduction threshold percentage [0-100], default 10%
18* @return Error code
19*/
20int MoveL(DescPose desc_pos, int tool, int user, double vel, double acc, double ovl, double blendR, int blendMode, ExaxisPos epos, int search, int offset_flag, DescPose offset_pos, int config, int overSpeedStrategy, int speedPercent)
4.9. Cartesian Space Linear Motion (Added velAccParamMode parameter for velocity and acceleration modes)
New in version C#SDK-V1.1.7: Web-3.8.5
1/**
2* @brief Cartesian Space Linear Motion (Added velAccParamMode parameter for velocity and acceleration modes)
3* @param [in] joint_pos Target joint position, unit deg
4* @param [in] desc_pos Target Cartesian pose
5* @param [in] tool Tool coordinate number, range [1~15]
6* @param [in] user Workpiece coordinate number, range [1~15]
7* @param [in] vel Velocity percentage, range [0~100]
8* @param [in] acc Acceleration percentage, range [0~100], not yet open
9* @param [in] ovl Velocity scaling factor, range [0~100]
10* @param [in] blendR [-1.0]-Motion complete (blocking), [0~1000.0]-Blending radius (non-blocking), unit mm
11* @param [in] epos Extended axis position, unit mm
12* @param [in] search 0-No wire search, 1-Wire search
13* @param [in] offset_flag 0-No offset, 1-Offset in base/workpiece coordinate system, 2-Offset in tool coordinate system
14* @param [in] offset_pos Pose offset
15* @param [in] velAccParamMode Velocity and acceleration parameter mode; 0-Percentage; 1-Physical velocity (mm/s) and acceleration (mm/s^2)
16* @param [in] overSpeedStrategy Overspeed handling strategy, 1-Standard; 2-Stop with error on overspeed; 3-Adaptive deceleration, default is 0
17* @param [in] speedPercent Allowed deceleration threshold percentage [0-100], default 10%
18* @return Error code
19*/
20public int MoveL(JointPos joint_pos, DescPose desc_pos, int tool, int user, double vel, double acc, double ovl, double blendR, ExaxisPos epos, int search, int offset_flag, DescPose offset_pos, int velAccParamMode, int overSpeedStrategy, int speedPercent)
4.10. Cartesian Space Linear Motion (Overload Function 1, Added blendMode)
New in version C#SDK-V1.1.7: Web-3.8.5
1/**
2* @brief Cartesian Space Linear Motion (Overload Function 1, Added blendMode)
3* @param [in] joint_pos Target joint position, unit deg
4* @param [in] desc_pos Target Cartesian pose
5* @param [in] tool Tool coordinate number, range [1~15]
6* @param [in] user Workpiece coordinate number, range [1~15]
7* @param [in] vel Velocity percentage, range [0~100]
8* @param [in] acc Acceleration percentage, range [0~100], not yet open
9* @param [in] ovl Velocity scaling factor, range [0~100]
10* @param [in] blendR [-1.0]-Motion complete (blocking), [0~1000.0]-Blending radius (non-blocking), unit mm
11* @param [in] blendMode Transition mode; 0-Tangent transition; 1-Corner transition
12* @param [in] epos Extended axis position, unit mm
13* @param [in] search 0-No wire search, 1-Wire search
14* @param [in] offset_flag 0-No offset, 1-Offset in base/workpiece coordinate system, 2-Offset in tool coordinate system
15* @param [in] offset_pos Pose offset
16* @param [in] velAccParamMode Velocity and acceleration parameter mode; 0-Percentage; 1-Physical velocity (mm/s) and acceleration (mm/s^2)
17* @param [in] overSpeedStrategy Overspeed handling strategy, 1-Standard; 2-Stop with error on overspeed; 3-Adaptive deceleration, default is 0
18* @param [in] speedPercent Allowed deceleration threshold percentage [0-100], default 10%
19* @return Error code
20*/
21public int MoveL(JointPos joint_pos, DescPose desc_pos, int tool, int user, double vel, double acc, double ovl, double blendR, int blendMode, ExaxisPos epos, int search, int offset_flag, DescPose offset_pos, int velAccParamMode, int overSpeedStrategy, int speedPercent)
4.11. Cartesian Space Linear Motion (Overload Function 2, No Joint Position Input Required)
New in version C#SDK-V1.1.7: Web-3.8.5
1/**
2* @brief Cartesian Space Linear Motion (Overload Function 2, No Joint Position Input Required)
3* @param [in] desc_pos Target Cartesian pose
4* @param [in] tool Tool coordinate number, range [1~15]
5* @param [in] user Workpiece coordinate number, range [1~15]
6* @param [in] vel Velocity percentage, range [0~100]
7* @param [in] acc Acceleration percentage, range [0~100], not yet open
8* @param [in] ovl Velocity scaling factor, range [0~100]
9* @param [in] blendR [-1.0]-Motion complete (blocking), [0~1000.0]-Blending radius (non-blocking), unit mm
10* @param [in] blendMode Transition mode; 0-Tangent transition; 1-Corner transition
11* @param [in] epos Extended axis position, unit mm
12* @param [in] search 0-No wire search, 1-Wire search
13* @param [in] offset_flag 0-No offset, 1-Offset in base/workpiece coordinate system, 2-Offset in tool coordinate system
14* @param [in] offset_pos Pose offset
15* @param [in] config Inverse kinematic joint space configuration, [-1]-Reference current joint position for calculation, [0~7]-Solve based on specific joint space configuration
16* @param [in] velAccParamMode Velocity and acceleration parameter mode; 0-Percentage; 1-Physical velocity (mm/s) and acceleration (mm/s^2)
17* @param [in] overSpeedStrategy Overspeed handling strategy, 1-Standard; 2-Stop with error on overspeed; 3-Adaptive deceleration, default is 0
18* @param [in] speedPercent Allowed deceleration threshold percentage [0-100], default 10%
19* @return Error code
20*/
21public int MoveL(DescPose desc_pos, int tool, int user, double vel, double acc, double ovl, double blendR, int blendMode, ExaxisPos epos, int search, int offset_flag, DescPose offset_pos, int config, int velAccParamMode, int overSpeedStrategy, int speedPercent)
4.12. Circular motion in Cartesian space
1/**
2* @brief Cartesian circular motion.
3* @param [in] joint_pos_p Pathpoint joint position in deg.
4* @param [in] desc_pos_p Path point Cartesian position.
5* @param [in] ptool tool coordinate number, range [0~14].
6* @param [in] puser workpiece coordinate number, range [0~14]
7* @param [in] pvel speed percentage, range [0~100]
8* @param [in] pacc Acceleration percentage, range [0~100], not available yet.
9* @param [in] epos_p Extended axis position, in mm
10* @param [in] poffset_flag 0-no offset, 1-offset in base/work coordinate system, 2-offset in tool coordinate system
11* @param [in] offset_pos_p Positional offset
12* @param [in] joint_pos_t Joint position of target point, in deg.
13* @param [in] desc_pos_t Cartesian position of target point.
14* @param [in] ttool tool coordinate number, range [0~14].
15* @param [in] tuser Workpiece coordinate number, range [0~14].
16* @param [in] tvel Velocity percentage, range [0~100]
17* @param [in] tacc Acceleration percentage, range [0~100], not available yet.
18* @param [in] epos_t Extended axis position in mm.
19* @param [in] toffset_flag 0-no offset, 1-offset in base/work coordinate system, 2-offset in tool coordinate system
20* @param [in] offset_pos_t Bit position offset
21* @param [in] ovl velocity scaling factor, range [0~100]
22* @param [in] blendR [-1.0]-motion in place (blocking), [0~1000.0]-smoothing radius (non-blocking) in mm
23* @param [in] oacc Acceleration scaling factor [0-100]/Physical acceleration (mm/s²)
24* @param [in] velAccParamMode Speed/acceleration parameter mode; 0-Percentage; 1-Physical speed (mm/s) and acceleration (mm/s²)
25* @return Error code
26*/
27public int MoveC(JointPos joint_pos_p, DescPose desc_pos_p, int ptool, int puser, float pvel, float pacc,ExaxisPos epos_p, int poffset_flag, DescPose offset_pos_p,JointPos joint_pos_t, DescPose desc_pos_t, int ttool, int tuser, float tvel, float tacc,ExaxisPos epos_t, int toffset_flag, DescPose offset_pos_t,float ovl, float blendR, float oacc, int velAccParamMode)
4.13. Cartesian space circular motion (automatic inverse kinematics calculation)
New in version C#SDK-V1.1.7: Web-3.8.5
1/**
2* @brief Cartesian space circular motion (automatic inverse kinematics calculation)
3* @param [in] desc_pos_p Path point cartesian pose
4* @param [in] ptool Tool coordinate number, range [1~15]
5* @param [in] puser Workpiece coordinate number, range [1~15]
6* @param [in] pvel Velocity percentage, range [0~100]
7* @param [in] pacc Acceleration percentage, range [0~100], not open yet
8* @param [in] epos_p Extended axis position, unit mm
9* @param [in] poffset_flag 0-no offset, 1-offset in base/workpiece coordinate system, 2-offset in tool coordinate system
10* @param [in] offset_pos_p Pose offset
11* @param [in] desc_pos_t Target point cartesian pose
12* @param [in] ttool Tool coordinate number, range [1~15]
13* @param [in] tuser Workpiece coordinate number, range [1~15]
14* @param [in] tvel Velocity percentage, range [0~100]
15* @param [in] tacc Acceleration percentage, range [0~100], not open yet
16* @param [in] epos_t Extended axis position, unit mm
17* @param [in] toffset_flag 0-no offset, 1-offset in base/workpiece coordinate system, 2-offset in tool coordinate system
18* @param [in] offset_pos_t Pose offset
19* @param [in] ovl Velocity scaling factor, range [0~100]
20* @param [in] blendR [-1.0]-move to position (blocking), [0~1000.0]-smoothing radius (non-blocking), unit mm
21* @param [in] config Inverse kinematics joint space configuration, [-1]-calculate based on current joint position, [0~7]-solve according to specific joint space configuration
22* @return Error code
23*/
24int MoveC(DescPose desc_pos_p, int ptool, int puser, double pvel, double pacc, ExaxisPos epos_p, int poffset_flag, DescPose offset_pos_p, DescPose desc_pos_t, int ttool, int tuser, double tvel, double tacc, ExaxisPos epos_t, int toffset_flag, DescPose offset_pos_t, double ovl, double blendR, int config)
4.14. Cartesian Space Arc Motion (Added velAccParamMode parameter for velocity and acceleration modes)
New in version C#SDK-V1.1.7: Web-3.8.5
1/**
2* @brief Cartesian Space Arc Motion (Added velAccParamMode parameter for velocity and acceleration modes)
3* @param [in] joint_pos_p Path point joint position, unit deg
4* @param [in] desc_pos_p Path point Cartesian pose
5* @param [in] ptool Tool coordinate number, range [1~15]
6* @param [in] puser Workpiece coordinate number, range [1~15]
7* @param [in] pvel Velocity percentage, range [0~100]
8* @param [in] pacc Acceleration percentage, range [0~100], not yet open
9* @param [in] epos_p Extended axis position, unit mm
10* @param [in] poffset_flag 0-No offset, 1-Offset in base/workpiece coordinate system, 2-Offset in tool coordinate system
11* @param [in] offset_pos_p Pose offset
12* @param [in] joint_pos_t Target point joint position, unit deg
13* @param [in] desc_pos_t Target point Cartesian pose
14* @param [in] ttool Tool coordinate number, range [1~15]
15* @param [in] tuser Workpiece coordinate number, range [1~15]
16* @param [in] tvel Velocity percentage, range [0~100]
17* @param [in] tacc Acceleration percentage, range [0~100], not yet open
18* @param [in] epos_t Extended axis position, unit mm
19* @param [in] toffset_flag 0-No offset, 1-Offset in base/workpiece coordinate system, 2-Offset in tool coordinate system
20* @param [in] offset_pos_t Pose offset
21* @param [in] ovl Velocity scaling factor, range [0~100]
22* @param [in] blendR [-1.0]-Motion complete (blocking), [0~1000.0]-Blending radius (non-blocking), unit mm
23* @param [in] velAccParamMode Velocity and acceleration parameter mode; 0-Percentage; 1-Physical velocity (mm/s) and acceleration (mm/s^2)
24* @return Error code
25*/
26public int MoveC(JointPos joint_pos_p, DescPose desc_pos_p, int ptool, int puser, double pvel, double pacc, ExaxisPos epos_p, int poffset_flag, DescPose offset_pos_p, JointPos joint_pos_t, DescPose desc_pos_t, int ttool, int tuser, double tvel, double tacc, ExaxisPos epos_t, int toffset_flag, DescPose offset_pos_t, double ovl, double blendR, int velAccParamMode)
4.15. Cartesian Space Arc Motion (Overload Function 1, No Joint Position Input Required)
New in version C#SDK-V1.1.7: Web-3.8.5
1/**
2* @brief Cartesian Space Arc Motion (Overload Function 1, No Joint Position Input Required)
3* @param [in] desc_pos_p Path point Cartesian pose
4* @param [in] ptool Tool coordinate number, range [1~15]
5* @param [in] puser Workpiece coordinate number, range [1~15]
6* @param [in] pvel Velocity percentage, range [0~100]
7* @param [in] pacc Acceleration percentage, range [0~100], not yet open
8* @param [in] epos_p Extended axis position, unit mm
9* @param [in] poffset_flag 0-No offset, 1-Offset in base/workpiece coordinate system, 2-Offset in tool coordinate system
10* @param [in] offset_pos_p Pose offset
11* @param [in] desc_pos_t Target point Cartesian pose
12* @param [in] ttool Tool coordinate number, range [1~15]
13* @param [in] tuser Workpiece coordinate number, range [1~15]
14* @param [in] tvel Velocity percentage, range [0~100]
15* @param [in] tacc Acceleration percentage, range [0~100], not yet open
16* @param [in] epos_t Extended axis position, unit mm
17* @param [in] toffset_flag 0-No offset, 1-Offset in base/workpiece coordinate system, 2-Offset in tool coordinate system
18* @param [in] offset_pos_t Pose offset
19* @param [in] ovl Velocity scaling factor, range [0~100]
20* @param [in] blendR [-1.0]-Motion complete (blocking), [0~1000.0]-Blending radius (non-blocking), unit mm
21* @param [in] config Inverse kinematic joint space configuration, [-1]-Reference current joint position for calculation, [0~7]-Solve based on specific joint space configuration
22* @param [in] velAccParamMode Velocity and acceleration parameter mode; 0-Percentage; 1-Physical velocity (mm/s) and acceleration (mm/s^2)
23* @return Error code
24*/
25public int MoveC(DescPose desc_pos_p, int ptool, int puser, double pvel, double pacc, ExaxisPos epos_p, int poffset_flag, DescPose offset_pos_p, DescPose desc_pos_t, int ttool, int tuser, double tvel, double tacc, ExaxisPos epos_t, int toffset_flag, DescPose offset_pos_t, double ovl, double blendR, int config, int velAccParamMode)
4.16. Point-to-point motion in Cartesian space
1/**
2* @brief Cartesian space point-to-point motion.
3* @param [in] desc_pos Cartesian position of target in base coordinate system.
4* @param [in] tool tool coordinate number, range [0~14]
5* @param [in] user Workpiece coordinate number, range [0~14].
6* @param [in] vel velocity percentage, range [0~100] * @param [in] acc [in] tool coordinate number, range [0~14]
7* @param [in] acc Acceleration percentage, range [0~100], not available yet.
8* @param [in] ovl velocity scaling factor, range [0~100]
9* @param [in] blendT [-1.0]-motion in place (blocking), [0~500.0]-smoothing time (non-blocking) in ms
10* @param [in] config Joint space configuration, [-1]-Refer to current joint position, [0~7]-Refer to specific joint space configuration, default is -1.
11* @return Error code
12*/
13int MoveCart(DescPose desc_pos, int tool, int user, float vel, float acc, float ovl, float blendT, int config);
4.17. Whole circle motion in Cartesian space
New in version C#SDK-V1.1.4: Web-3.8.3
1/**
2* @brief Whole circle motion in Cartesian space.
3* @param [in] joint_pos_p path point 1 joint position in deg.
4* @param [in] desc_pos_p path point 1 Cartesian position.
5* @param [in] ptool tool coordinate number, range [0~14].
6* @param [in] puser workpiece coordinate number, range [0~14]
7* @param [in] pvel velocity percentage, range [0~100]
8* @param [in] pacc Acceleration percentage, range [0~100], not available yet.
9* @param [in] epos_p extended axis position in mm
10* @param [in] joint_pos_t Path point 2 joint position in deg.
11* @param [in] desc_pos_t Path point 2 Cartesian position in deg.
12* @param [in] ttool tool coordinate number, range [0~14].
13* @param [in] tuser Workpiece coordinate number, range [0~14]
14* @param [in] tvel Velocity percentage, range [0~100]
15* @param [in] tacc Acceleration percentage, range [0~100], not available yet.
16* @param [in] epos_t Extended axis position in mm.
17* @param [in] ovl Speed scaling factor [0~100]/Physical speed (mm/s)
18* @param [in] offset_flag 0-No offset, 1-Offset in base/workpiece coordinate system, 2-Offset in tool coordinate system
19* @param [in] offset_pos Pose offset
20* @param [in] oacc Acceleration scaling factor [0-100]/Physical acceleration (mm/s²)
21* @param [in] blendR -1: Blocking; 0~1000: Blend radius
22* @param [in] velAccParamMode Speed/acceleration parameter mode; 0-Percentage; 1-Physical speed (mm/s) and acceleration (mm/s²)
23* @return Error code
24*/
25public int Circle(JointPos joint_pos_p, DescPose desc_pos_p, int ptool, int puser, float pvel, float pacc,ExaxisPos epos_p, JointPos joint_pos_t, DescPose desc_pos_t, int ttool, int tuser,float tvel, float tacc, ExaxisPos epos_t, float ovl, int offset_flag,DescPose offset_pos, double oacc, double blendR, int velAccParamMode)
4.18. Cartesian space full circle motion (automatic inverse kinematics calculation)
New in version C#SDK-V1.1.7: Web-3.8.5
1/**
2* @brief Cartesian space full circle motion (automatic inverse kinematics calculation)
3* @param [in] desc_pos_p Path point 1 cartesian pose
4* @param [in] ptool Tool coordinate number, range [0~14]
5* @param [in] puser Workpiece coordinate number, range [0~14]
6* @param [in] pvel Velocity percentage, range [0~100]
7* @param [in] pacc Acceleration percentage, range [0~100], not open yet
8* @param [in] epos_p Extended axis position, unit mm
9* @param [in] desc_pos_t Path point 2 cartesian pose
10* @param [in] ttool Tool coordinate number, range [0~14]
11* @param [in] tuser Workpiece coordinate number, range [0~14]
12* @param [in] tvel Velocity percentage, range [0~100]
13* @param [in] tacc Acceleration percentage, range [0~100], not open yet
14* @param [in] epos_t Extended axis position, unit mm
15* @param [in] ovl Velocity scaling factor, range [0~100]
16* @param [in] offset_flag 0-no offset, 1-offset in base/workpiece coordinate system, 2-offset in tool coordinate system
17* @param [in] offset_pos Pose offset
18* @param [in] oacc Acceleration percentage
19* @param [in] blendR -1: blocking; 0~1000: smoothing radius
20* @param [in] config Inverse kinematics joint space configuration, [-1]-calculate based on current joint position, [0~7]-solve according to specific joint space configuration
21* @return Error code
22*/
23int Circle(DescPose desc_pos_p, int ptool, int puser, double pvel, double pacc, ExaxisPos epos_p, DescPose desc_pos_t, int ttool, int tuser, double tvel, double tacc, ExaxisPos epos_t, double ovl, int offset_flag, DescPose offset_pos, double oacc, double blendR,int config)
4.19. Cartesian Space Full Circle Motion (Added velAccParamMode parameter for velocity and acceleration modes)
New in version C#SDK-V1.1.7: Web-3.8.5
1/**
2*@brief Cartesian Space Full Circle Motion (Added velAccParamMode parameter for velocity and acceleration modes)
3*@param [in] joint_pos_p Path point 1 joint position, unit deg
4*@param [in] desc_pos_p Path point 1 Cartesian pose
5*@param [in] ptool Tool coordinate number, range [1~15]
6*@param [in] puser Workpiece coordinate number, range [1~15]
7*@param [in] pvel Velocity percentage, range [0~100]
8*@param [in] pacc Acceleration percentage, range [0~100], not yet open
9*@param [in] epos_p Extended axis position, unit mm
10*@param [in] joint_pos_t Path point 2 joint position, unit deg
11*@param [in] desc_pos_t Path point 2 Cartesian pose
12*@param [in] ttool Tool coordinate number, range [1~15]
13*@param [in] tuser Workpiece coordinate number, range [1~15]
14*@param [in] tvel Velocity percentage, range [0~100]
15*@param [in] tacc Acceleration percentage, range [0~100], not yet open
16*@param [in] epos_t Extended axis position, unit mm
17*@param [in] ovl Velocity scaling factor, range [0~100]
18*@param [in] offset_flag 0-No offset, 1-Offset in base/workpiece coordinate system, 2-Offset in tool coordinate system
19*@param [in] offset_pos Pose offset
20*@param [in] oacc Acceleration percentage
21*@param [in] blendR -1: Blocking; 0~1000: Blending radius
22*@param [in] velAccParamMode Velocity and acceleration parameter mode; 0-Percentage; 1-Physical velocity (mm/s) and acceleration (mm/s^2)
23*@return Error code
24*/
25public int Circle(JointPos joint_pos_p, DescPose desc_pos_p, int ptool, int puser, double pvel, double pacc, ExaxisPos epos_p, JointPos joint_pos_t, DescPose desc_pos_t, int ttool, int tuser, double tvel, double tacc, ExaxisPos epos_t, double ovl, int offset_flag, DescPose offset_pos, double oacc, double blendR, int velAccParamMode)
4.20. Cartesian Space Full Circle Motion (Overload Function 1, No Joint Position Input Required)
New in version C#SDK-V1.1.7: Web-3.8.5
1/**
2* @brief Cartesian Space Full Circle Motion (Overload Function 1, No Joint Position Input Required)
3* @param [in] desc_pos_p Path point 1 Cartesian pose
4* @param [in] ptool Tool coordinate number, range [0~14]
5* @param [in] puser Workpiece coordinate number, range [0~14]
6* @param [in] pvel Velocity percentage, range [0~100]
7* @param [in] pacc Acceleration percentage, range [0~100], not yet open
8* @param [in] epos_p Extended axis position, unit mm
9* @param [in] desc_pos_t Path point 2 Cartesian pose
10* @param [in] ttool Tool coordinate number, range [0~14]
11* @param [in] tuser Workpiece coordinate number, range [0~14]
12* @param [in] tvel Velocity percentage, range [0~100]
13* @param [in] tacc Acceleration percentage, range [0~100], not yet open
14* @param [in] epos_t Extended axis position, unit mm
15* @param [in] ovl Velocity scaling factor, range [0~100]
16* @param [in] offset_flag 0-No offset, 1-Offset in base/workpiece coordinate system, 2-Offset in tool coordinate system
17* @param [in] offset_pos Pose offset
18* @param [in] oacc Acceleration percentage
19* @param [in] blendR -1: Blocking; 0~1000: Blending radius
20* @param [in] config Inverse kinematic joint space configuration, [-1]-Reference current joint position for calculation, [0~7]-Solve based on specific joint space configuration
21* @param [in] velAccParamMode Velocity and acceleration parameter mode; 0-Percentage; 1-Physical velocity (mm/s) and acceleration (mm/s^2)
22* @return Error code
23*/
24public int Circle(DescPose desc_pos_p, int ptool, int puser, double pvel, double pacc, ExaxisPos epos_p, DescPose desc_pos_t, int ttool, int tuser, double tvel, double tacc, ExaxisPos epos_t, double ovl, int offset_flag, DescPose offset_pos, double oacc, double blendR, int config, int velAccParamMode)
4.21. Sample code for basic robot motion instructions
New in version C#SDK-V1.1.7: Web-3.8.5
1public void TestMove()
2 int rtn;
3 JointPos j1 = new JointPos(-11.904f, -99.669f, 117.473f, -108.616f, -91.726f, 74.256f);
4 JointPos j2 = new JointPos(-45.615f, -106.172f, 124.296f, -107.151f, -91.282f, 74.255f);
5 JointPos j3 = new JointPos(-29.777f, -84.536f, 109.275f, -114.075f, -86.655f, 74.257f);
6 JointPos j4 = new JointPos(-31.154f, -95.317f, 94.276f, -88.079f, -89.740f, 74.256f);
7 DescPose desc_pos1 = new DescPose(-419.524f, -13.000f, 351.569f, -178.118f, 0.314f, 3.833f);
8 DescPose desc_pos2 = new DescPose(-321.222f, 185.189f, 335.520f, -179.030f, -1.284f, -29.869f);
9 DescPose desc_pos3 = new DescPose(-487.434f, 154.362f, 308.576f, 176.600f, 0.268f, -14.061f);
10 DescPose desc_pos4 = new DescPose(-443.165f, 147.881f, 480.951f, 179.511f, -0.775f, -15.409f);
11 DescPose offset_pos = new DescPose(0, 0, 0, 0, 0, 0);
12 ExaxisPos epos = new ExaxisPos(0, 0, 0, 0);
13 int tool = 0;
14 int user = 0;
15 float vel = 100.0f;
16 float acc = 100.0f;
17 float ovl = 100.0f;
18 float oacc = 100.0f;
19 float blendT = 0.0f;
20 float blendR = 0.0f;
21 byte flag = 0;
22 byte search = 0;
23 int blendMode = 0;
24 int velAccMode = 0;
25 robot.SetSpeed(20);
26 rtn = robot.MoveJ(j1, desc_pos1, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos);
27 Console.WriteLine($"movej errcode:{rtn}");
28 rtn = robot.MoveL(j2, desc_pos2, tool, user, vel, acc, ovl, blendR, blendMode, epos, search, flag, offset_pos, oacc, velAccMode,0,10);
29 Console.WriteLine($"movel errcode:{rtn}");
30 rtn = robot.MoveC(j3, desc_pos3, tool, user, vel, acc, epos, flag, offset_pos,j4, desc_pos4, tool, user, vel, acc, epos, flag, offset_pos, ovl, blendR, oacc, velAccMode);
31 Console.WriteLine($"movec errcode:{rtn}");
32 rtn = robot.MoveJ(j2, desc_pos2, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos);
33 Console.WriteLine($"movej errcode:{rtn}");
34 rtn = robot.Circle(j3, desc_pos3, tool, user, vel, acc, epos,j1, desc_pos1, tool, user, vel, acc, epos,ovl, flag, offset_pos, oacc, -1, velAccMode);
35 Console.WriteLine($"circle errcode:{rtn}");
36 rtn = robot.MoveCart(desc_pos4, tool, user, vel, acc, ovl, blendT, -1);
37 Console.WriteLine($"MoveCart errcode:{rtn}");
38 rtn = robot.MoveJ(j1, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos);
39 Console.WriteLine($"movej errcode:{rtn}");
40 rtn = robot.MoveL(desc_pos2, tool, user, vel, acc, ovl, blendR, blendMode, epos, search, flag, offset_pos, -1, velAccMode);
41 Console.WriteLine($"movel errcode:{rtn}");
42 rtn = robot.MoveC(desc_pos3, tool, user, vel, acc, epos, flag, offset_pos,desc_pos4, tool, user, vel, acc, epos, flag, offset_pos,ovl, blendR, -1, velAccMode);
43 Console.WriteLine($"movec errcode:{rtn}");
44 rtn = robot.MoveJ(j2, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos);
45 Console.WriteLine($"movej errcode:{rtn}");
46 rtn = robot.Circle(desc_pos3, tool, user, vel, acc, epos, desc_pos1, tool, user, vel, acc, epos,ovl, flag, offset_pos, oacc, blendR, -1, velAccMode);
47 Console.WriteLine($"circle errcode:{rtn}");
48}
4.22. Spiral motion in Cartesian space
1/**
2* @brief Cartesian spiral motion.
3* @param [in] joint_pos target joint position in deg
4* @param [in] desc_pos target cartesian position in deg
5* @param [in] tool Tool coordinate number, range [0~14].
6* @param [in] user Workpiece coordinate number, range [0~14].
7* @param [in] vel velocity percentage, range [0~100] * @param [in] acc [in] tool coordinate number, range [0~14]
8* @param [in] acc Acceleration percentage, range [0~100], not available yet.
9* @param [in] epos extended axis position in mm
10* @param [in] ovl Velocity scaling factor, range [0~100].
11* @param [in] offset_flag 0-no offset, 1- offset in base/work coordinate system, 2- offset in tool coordinate system
12* @param [in] offset_pos Bit position offset
13* @param [in] spiral_param spiral_param
14* @return Error code
15*/
16int NewSpiral(JointPos joint_pos, DescPose desc_pos, int tool, int user, float vel, float acc, ExaxisPos epos, float ovl, byte offset_flag, DescPose offset_pos, SpiralParam spiral_param);
4.23. Cartesian space spiral motion (automatic inverse kinematics calculation)
New in version C#SDK-V1.1.7: Web-3.8.5
1/**
2* @brief Cartesian space spiral motion (automatic inverse kinematics calculation)
3* @param [in] desc_pos Target cartesian pose
4* @param [in] tool Tool coordinate number, range [0~14]
5* @param [in] user Workpiece coordinate number, range [0~14]
6* @param [in] vel Velocity percentage, range [0~100]
7* @param [in] acc Acceleration percentage, range [0~100], not open yet
8* @param [in] epos Extended axis position, unit mm
9* @param [in] ovl Velocity scaling factor, range [0~100]
10* @param [in] offset_flag 0-no offset, 1-offset in base/workpiece coordinate system, 2-offset in tool coordinate system
11* @param [in] offset_pos Pose offset
12* @param [in] spiral_param Spiral parameters
13* @param [in] config Inverse kinematics joint space configuration, [-1]-calculate based on current joint position, [0~7]-solve according to specific joint space configuration
14* @return Error code
15*/
16int NewSpiral(DescPose desc_pos, int tool, int user, double vel, double acc, ExaxisPos epos, double ovl, int offset_flag, DescPose offset_pos, SpiralParam spiral_param,int config)
4.24. Sample code for spiral motion
1private void btnDescSpiral_Click(object sender, EventArgs e)
2{
3 int rtn;
4 JointPos j = new JointPos(-11.904, -99.669, 117.473, -108.616, -91.726, 74.256);
5 DescPose desc_pos = new DescPose(-419.524, -13.000, 351.569, -178.118, 0.314, 3.833);
6 DescPose offset_pos1 = new DescPose(50, 0, 0, -30, 0, 0);
7 DescPose offset_pos2 = new DescPose(50, 0, 0, -5, 0, 0);
8 ExaxisPos epos = new ExaxisPos(0, 0, 0, 0);
9 SpiralParam sp;
10 sp.circle_num = 5;
11 sp.circle_angle = 5.0f;
12 sp.rad_init = 50.0f;
13 sp.rad_add = 10.0f;
14 sp.rotaxis_add = 10.0f;
15 sp.rot_direction = 0;
16
17 int tool = 0;
18 int user = 0;
19 float vel = 100.0f;
20 float acc = 100.0f;
21 float ovl = 100.0f;
22 float blendT = 0.0f;
23 byte flag = 2;
24
25 robot.SetSpeed(20);
26
27 rtn = robot.MoveJ(j, desc_pos, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos1);
28 Console.WriteLine($"MoveJ errcode:{rtn}");
29
30 rtn = robot.NewSpiral(j, desc_pos, tool, user, vel, acc, epos, ovl, flag, offset_pos2, sp);
31 Console.WriteLine($"NewSpiral errcode:{rtn}");
32}
4.25. Servo Motion Start
1/**
2* @brief Start servo motion, used with ServoJ and ServoCart commands
3* @param[in] comType Command sending type; 0-xmlrpc; 1-UDP (corresponding to robot port 20007)
4* @return Error code
5*/
6public int ServoMoveStart (int comType = 0)
4.26. Servo Motion End
1/**
2* @brief End servo motion, used with ServoJ and ServoCart commands
3* @param[in] comType Command sending type; 0-xmlrpc; 1-UDP (corresponding to robot port 20007)
4* @return Error code
5*/
6public int ServoMoveEnd (int comType = 0)
4.27. Joint Space Servo Mode Motion
New in version C#SDK-V1.1.4: Web-3.8.3
1/**
2* @brief Joint space servo mode motion
3* @param [in] joint_pos Target joint position, unit deg
4* @param [in] axisPos External axis position, unit mm
5* @param [in] acc Acceleration percentage, range [0~100], temporarily not open, default is 0
6* @param [in] vel Velocity percentage, range [0~100], temporarily not open, default is 0
7* @param [in] cmdT Command sending period, unit s, recommended range [0.001~0.0016]
8* @param [in] filterT Filter time, unit s, temporarily not open, default is 0
9* @param [in] gain Proportional amplifier for target position, temporarily not open, default is 0
10* @param [in] id ServoJ command ID, default is 0
11* @param [in] comType Command sending type; 0-xmlrpc; 1-UDP (corresponding to robot port 20007)
12* @return Error code
13*/
14public int ServoJ(JointPos joint_pos, ExaxisPos axisPos, float acc, float vel, float cmdT, float filterT, float gain, int id = 0, int comType = 0)
4.28. UDP Communication-Based ServoJ, ServoMoveStart, ServoMoveEnd SDK Code Example
New in version C#SDK-V1.1.4: Web-3.8.3
1public void TestServoJUDP()
2{
3 // Subscribe to callback
4 robot.OnUdpFrameReceived += (comType, frameCount, frameCmdID, contentLen, content) =>
5 {
6 Console.WriteLine($"[] comType={comType}, count={frameCount}, cmdID={frameCmdID}, content={content}");
7 };
8
9 ROBOT_STATE_PKG pkg = new ROBOT_STATE_PKG();
10
11 float vel = 0.0f;
12 float acc = 0.0f;
13 float cmdT = 0.008f;
14 float filterT = 0.0f;
15 float gain = 0.0f;
16 byte flag = 0;
17 int count = 300;
18 float dt = 0.1f;
19 int cmdID = 0;
20
21 while (true)
22 {
23 JointPos j = new JointPos(0, -90, 90, 0, 0, 0);
24 ExaxisPos epos = new ExaxisPos(0, 0, 0, 0);
25 DescPose offset_pos = new DescPose(0, -90, 90, 0, 0, 0);
26 robot.MoveJ(j, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
27 int ret = robot.GetActualJointPosDegree(flag, ref j);
28 if (ret == 0)
29 {
30 count = 300;
31 cmdID += 1;
32 robot.ServoMoveStart(1);
33
34 while (count > 0)
35 {
36 robot.ServoJ(j, epos, acc, vel, cmdT, filterT, gain, cmdID, 1);
37 j.jPos[0] += dt;
38 j.jPos[1] += dt;
39 j.jPos[3] += dt;
40 j.jPos[4] += dt;
41 j.jPos[5] += dt;
42 epos.ePos[0] += dt;
43 count -= 1;
44 Thread.Sleep(1);
45 robot.GetRobotRealTimeState(ref pkg);
46 }
47 robot.ServoMoveEnd(1);
48
49 Thread.Sleep(1000);
50 count = 300;
51 robot.ServoMoveStart(1);
52 while (count > 0)
53 {
54 robot.ServoJ(j, epos, acc, vel, cmdT, filterT, gain, cmdID, 1);
55 j.jPos[0] -= dt;
56 j.jPos[1] -= dt;
57 j.jPos[3] -= dt;
58 j.jPos[4] -= dt;
59 j.jPos[5] -= dt;
60 epos.ePos[0] -= dt;
61 count -= 1;
62 Thread.Sleep(1);
63 robot.GetRobotRealTimeState(ref pkg);
64 }
65 robot.ServoMoveEnd(1);
66 }
67 else
68 {
69 Console.WriteLine($"GetActualJointPosDegree errcode:{ret}");
70 }
71 }
72}
4.29. Joint space servo mode motion code example
New in version C#SDK-V1.1.4: Web-3.8.3
1private void btnJointServoMove_Click(object sender, EventArgs e)
2{
3 JointPos j = new JointPos(0, 0, 0, 0, 0, 0);
4 ExaxisPos epos = new ExaxisPos(0, 0, 0, 0);
5
6 float vel = 0.0f;
7 float acc = 0.0f;
8 float cmdT = 0.008f;
9 float filterT = 0.0f;
10 float gain = 0.0f;
11 byte flag = 0;
12 int count = 500;
13 float dt = 0.1f;
14 int cmdID = 0;
15 int ret = robot.GetActualJointPosDegree(flag, ref j);
16 if (ret == 0)
17 {
18 robot.ServoMoveStart();
19
20 try
21 {
22 while (count > 0)
23 {
24
25 robot.ServoJ(j, epos, acc, vel, cmdT, filterT, gain, cmdID);
26
27
28 j.jPos[0] += dt;
29 count--;
30
31
32 robot.WaitMs((int)(cmdT * 1000));
33 }
34 }
35 finally
36 {
37
38 robot.ServoMoveEnd();
39 }
40 }
41 else
42 {
43 Console.WriteLine($"GetActualJointPosDegree error code: {ret}");
44
45 }
46}
4.30. Joint Torque Control Start
1/**
2* @brief Start joint torque control
3* @param [in] comType Command sending type; 0-xmlrpc; 1-UDP (corresponding to robot port 20007)
4* @return Error code
5*/
6public int ServoJTStart (int comType = 0)
4.31. Joint Torque Control
1/**
2* @brief Joint torque control
3* @param [in] torque j1~j6 joint torque, unit Nm
4* @param [in] interval Command period, unit s, range [0.001~0.008]
5* @param [in] checkFlag Detection strategy 0-no restriction; 1-power limitation; 2-velocity limitation; 3-both power and velocity limitation
6* @param [in] jPowerLimit Joint maximum power limit (W)
7* @param [in] jVelLimit Joint maximum velocity (°/s)
8* @param [in] comType Command sending type; 0-xmlrpc; 1-UDP (corresponding to robot port 20007)
9* @return Error code
10*/
11public int ServoJT(double[] torque, double interval, int checkFlag, double[] jPowerLimit, double[] jVelLimit, int comType = 0)
4.32. Joint Torque Control End
1/**
2* @brief End joint torque control
3* @param[in] comType Command sending type; 0-xmlrpc; 1-UDP (corresponding to robot port 20007)
4* @return Error code
5*/
6public int ServoJTEnd (int comType = 0)
4.33. UDP Communication-Based ServoJT, ServoJTStart, ServoJTEnd SDK Code Example
1public int ServoJTWithSafetyUDP()
2{
3 // Subscribe to callback
4 robot.OnUdpFrameReceived += (comType, frameCount, frameCmdID, contentLen, content) =>
5 {
6 Console.WriteLine($"[UDP Response] comType={comType}, count={frameCount}, cmdID={frameCmdID}, content={content}");
7 };
8 while (true)
9 {
10 robot.ResetAllError();
11 Thread.Sleep(500);
12
13 JointPos j = new JointPos(7.053, -89.699, 156.141, -72.751, 7.829, 1.889);
14 ExaxisPos epos = new ExaxisPos(0, 0, 0, 0);
15 DescPose offset_pos = new DescPose(-151.288, -321.186, 221.989, 89.140, 4.361, -0.795);
16 robot.MoveJ(j, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
17
18 double[] torques = new double[6] { 0, 0, 0, 0, 0, 0 };
19 robot.GetJointTorques(1, torques);
20
21 robot.ServoJTStart(1);
22 ROBOT_STATE_PKG pkg = new ROBOT_STATE_PKG();
23 robot.DragTeachSwitch(1);
24
25 int checkFlag = 0;
26 double[] jPowerLimit = new double[6] { 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 };
27 double[] jVelLimit = new double[6] { 50, 50, 50, 50, 50, 50 };
28 int error = 0;
29 while (true)
30 {
31
32 torques[0] = 0.1;
33 error = robot.ServoJT(torques, 0.008, checkFlag, jPowerLimit, jVelLimit, 1);
34
35 Console.WriteLine($"ServoJT rtn is {error}");
36 Thread.Sleep(1);
37
38 robot.GetRobotRealTimeState(ref pkg);
39 Console.WriteLine($"maincode {pkg.main_code}, subcode {pkg.sub_code}");
40 if (pkg.jt_cur_pos[0] > 30)
41 {
42 break;
43 }
44 }
45
46 while (true)
47 {
48
49 torques[0] = -0.1;
50 error = robot.ServoJT(torques, 0.008, checkFlag, jPowerLimit, jVelLimit, 1);
51
52 Console.WriteLine($"ServoJT rtn is {error}");
53 Thread.Sleep(1);
54
55 robot.GetRobotRealTimeState(ref pkg);
56 Console.WriteLine($"maincode {pkg.main_code}, subcode {pkg.sub_code}");
57 if (pkg.jt_cur_pos[0] < 0)
58 {
59 break;
60 }
61 }
62
63 robot.DragTeachSwitch(0);
64 error = robot.ServoJTEnd(1);
65 }
66 return 0;
67}
4.34. Joint Torque Control Code Example
1private void button27_Click(object sender, EventArgs e)
2{
3 robot.DragTeachSwitch(1);
4 robot.SetPowerLimit(1, 200);
5 double[] torques = { 0, 0, 0, 0, 0, 0 };
6 robot.GetJointTorques(1, torques);
7
8 int count = 100;
9 robot.ServoJTStart();
10 int error = 0;
11 while (count > 0)
12 {
13 error = robot.ServoJT(torques, 0.001f);
14 count--;
15 Thread.Sleep(1);
16 }
17 error = robot.ServoJTEnd();
18 robot.DragTeachSwitch(0);
19}
4.35. Joint Torque Control Code Example with Overspeed Protection
1public int ServoJTWithSafety()
2{
3 while (true)
4 {
5 robot.ResetAllError();
6 Thread.Sleep(500);
7
8 JointPos j = new JointPos(7.053, -89.699, 156.141, -72.751, 7.829, 1.889);
9 ExaxisPos epos = new ExaxisPos(0, 0, 0, 0);
10 DescPose offset_pos = new DescPose(-151.288, -321.186, 221.989, 89.140, 4.361, -0.795);
11 robot.MoveJ(j, 0, 0, 100, 100, 100, epos, -1, 0, offset_pos);
12
13 double[] torques = new double[6] { 0, 0, 0, 0, 0, 0 };
14 robot.GetJointTorques(1, torques);
15
16 robot.ServoJTStart(0);
17 ROBOT_STATE_PKG pkg = new ROBOT_STATE_PKG();
18 robot.DragTeachSwitch(1);
19
20 int checkFlag = 0;
21 double[] jPowerLimit = new double[6] { 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 };
22 double[] jVelLimit = new double[6] { 50, 50, 50, 50, 50, 50 };
23 int error = 0;
24 while (true)
25 {
26
27 torques[0] = 0.1;
28 error = robot.ServoJT(torques, 0.008, checkFlag, jPowerLimit, jVelLimit, 0);
29
30 Console.WriteLine($"ServoJT rtn is {error}");
31 Thread.Sleep(1);
32
33 robot.GetRobotRealTimeState(ref pkg);
34 Console.WriteLine($"maincode {pkg.main_code}, subcode {pkg.sub_code}");
35 if (pkg.jt_cur_pos[0] > 30)
36 {
37 break;
38 }
39 }
40
41 while (true)
42 {
43
44 torques[0] = -0.1;
45 error = robot.ServoJT(torques, 0.008, checkFlag, jPowerLimit, jVelLimit, 0);
46
47 Console.WriteLine($"ServoJT rtn is {error}");
48 Thread.Sleep(1);
49
50 robot.GetRobotRealTimeState(ref pkg);
51 Console.WriteLine($"maincode {pkg.main_code}, subcode {pkg.sub_code}");
52 if (pkg.jt_cur_pos[0] < 0)
53 {
54 break;
55 }
56 }
57
58 robot.DragTeachSwitch(0);
59 error = robot.ServoJTEnd(0);
60 }
61}
4.36. Servo mode motion in Cartesian space
1
4.37. Cartesian Space Servo Mode Motion
1/**
2* @brief Cartesian space servo mode motion
3* @param [in] mode 0-Absolute motion (base coordinate system), 1-Incremental motion (base coordinate system), 2-Incremental motion (tool coordinate system)
4* @param [in] desc_pos Target Cartesian pose or pose increment
5* @param [in] exaxis Extended axis position
6* @param [in] pos_gain Pose increment proportionality coefficient, only effective in incremental motion, range [0~1]
7* @param [in] acc Acceleration percentage, range [0~100], temporarily not available, default 0
8* @param [in] vel Velocity percentage, range [0~100], temporarily not available, default 0
9* @param [in] cmdT Command transmission period, unit s, recommended range [0.001~0.016]
10* @param [in] filterT Filter time, unit s, temporarily not available, default 0
11* @param [in] gain Proportional amplifier for target position, temporarily not available, default 0
12* @return Error code
13*/
14public int ServoCart(int mode, DescPose desc_pose, ExaxisPos exaxis, double[] pos_gain, double acc, double vel, double cmdT, double filterT, double gain);
4.38. Example of servo mode motion code in Cartesian space
1public void TestServoCart()
2{
3 ROBOT_STATE_PKG pkg = new ROBOT_STATE_PKG();
4
5 int rtn;
6 DescPose desc_pos_dt = new DescPose(83.00800f, 50.525000f, 29.246f, 179.629f, -7.138f, -166.975f);
7 ExaxisPos exaxis = new ExaxisPos(100.0f, 0.0f, 0.0f, 0.0f);
8 double[] pos_gain = { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f };
9 int mode = 0;
10 float vel = 0.0f;
11 float acc = 0.0f;
12 float cmdT = 0.001f;
13 float filterT = 0.0f;
14 float gain = 0.0f;
15 byte flag = 0;
16 int count = 5000;
17
18 robot.SetSpeed(20);
19
20 while (count > 0)
21 {
22 rtn = robot.ServoCart(mode, desc_pos_dt, exaxis, pos_gain, acc, vel, cmdT, filterT, gain);
23 Console.WriteLine($"ServoCart rtn is {rtn}");
24 count -= 1;
25 desc_pos_dt.tran.x += 0.01f;
26 exaxis.ePos[0] += 0.01f;
27 }
28}
4.39. Spline motion starts
1/**
2* @brief Spline start
3* @return Error code.
4*/
5int SplineStart();
4.40. Spline motion PTP
1/**
2* @brief Joint space spline motion.
3* @param [in] joint_pos Target joint position in degrees.
4* @param [in] desc_pos Target Cartesian position.
5* @param [in] tool Tool coordinate number, range [0~14].
6* @param [in] user Workpiece coordinate number, range [0~14].
7* @param [in] vel velocity percentage, range [0~100] * @param [in] acc.
8* @param [in] acc Acceleration percentage, range [0~100], not available yet.
9* @param [in] ovl velocity scaling factor, range [0~100].
10* @return Error code
11*/
12int SplinePTP(JointPos joint_pos, DescPose desc_pos, int tool, int user, float vel, float acc, float ovl);
4.41. Joint space spline motion (automatic forward kinematics calculation)
New in version C#SDK-V1.1.7: Web-3.8.5
1/**
2* @brief Joint space spline motion (automatic forward kinematics calculation)
3* @param [in] joint_pos Target joint position, unit deg
4* @param [in] tool Tool coordinate number, range [0~14]
5* @param [in] user Workpiece coordinate number, range [0~14]
6* @param [in] vel Velocity percentage, range [0~100]
7* @param [in] acc Acceleration percentage, range [0~100], not open yet
8* @param [in] ovl Velocity scaling factor, range [0~100]
9* @return Error code
10*/
11int SplinePTP(JointPos joint_pos, int tool, int user, double vel, double acc, double ovl)
4.42. End of spline motion
1/**
2* @brief End of spline motion.
3* @return Error code.
4*/
5int SplineEnd();
4.43. Sample code for spline motion
1private void btnSplineMove_Click(object sender, EventArgs e)
2{
3 JointPos j1 = new JointPos(-11.904, -99.669, 117.473, -108.616, -91.726, 74.256);
4 JointPos j2 = new JointPos(-45.615, -106.172, 124.296, -107.151, -91.282, 74.255);
5 JointPos j3 = new JointPos(-61.954, -84.409, 108.153, -116.316, -91.283, 74.260);
6 JointPos j4 = new JointPos(-89.575, -80.276, 102.713, -116.302, -91.284, 74.267);
7 DescPose desc_pos1 = new DescPose(-419.524, -13.000, 351.569, -178.118, 0.314, 3.833);
8 DescPose desc_pos2 = new DescPose(-321.222, 185.189, 335.520, -179.030, -1.284, -29.869);
9 DescPose desc_pos3 = new DescPose(-327.622, 402.230, 320.402, -178.067, 2.127, -46.207);
10 DescPose desc_pos4 = new DescPose(-104.066, 544.321, 327.023, -177.715, 3.371, -73.818);
11 DescPose offset_pos = new DescPose(0, 0, 0, 0, 0, 0);
12 ExaxisPos epos = new ExaxisPos(0, 0, 0, 0);
13
14 int tool = 0;
15 int user = 0;
16 float vel = 100.0f;
17 float acc = 100.0f;
18 float ovl = 100.0f;
19 float blendT = -1.0f;
20 byte flag = 0;
21
22 robot.SetSpeed(20);
23
24 int err = -1;
25 err = robot.MoveJ(j1, desc_pos1, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos);
26 Console.WriteLine($"movej errcode: {err}");
27
28 robot.SplineStart();
29 robot.SplinePTP(j1, desc_pos1, tool, user, vel, acc, ovl);
30 robot.SplinePTP(j2, desc_pos2, tool, user, vel, acc, ovl);
31 robot.SplinePTP(j3, desc_pos3, tool, user, vel, acc, ovl);
32 robot.SplinePTP(j4, desc_pos4, tool, user, vel, acc, ovl);
33 robot.SplineEnd();
34}
4.44. Starting new spline motion
Changed in version C#SDK-v1.0.6.
1/**
2* @brief New spline motion start
3* @param [in] type 0-circular transition, 1-given point as path point
4* @param [in] averageTime global average articulation time (ms) (10 ~ ), default 2000
5* @return ErrorCode
6*/
7int NewSplineStart(int type, int averageTime=2000);
4.45. New spline instruction point
1/**
2* @brief Add spline command point.
3* @param [in] joint_pos Target joint position, in deg.
4* @param [in] desc_pos Target Cartesian position.
5* @param [in] tool Tool coordinate number, range [0~14].
6* @param [in] user Tool coordinate number, range [0~14].
7* @param [in] vel Speed percentage, range [0~100].
8* @param [in] acc Acceleration Percentage, range [0~100], not available yet.
9* @param [in] ovl velocity scaling factor, range [0~100]
10* @param [in] blendR [-1.0]-motion in place (blocking), [0~1000.0]-smoothing radius (non-blocking), unit mm
11* @param [in] lastFlag whether it is the last point, 0-no, 1-yes
12* @return error code
13*/
14int NewSplinePoint(JointPos joint_pos, DescPose desc_pos, int tool, int user, float vel, float acc, float ovl, float blendR, int lastFlag);;
4.46. New spline command point (automatic inverse kinematics calculation)
New in version C#SDK-V1.1.7: Web-3.8.5
1/**
2* @brief New spline command point (automatic inverse kinematics calculation)
3* @param [in] desc_pos Target cartesian pose
4* @param [in] tool Tool coordinate number, range [0~14]
5* @param [in] user Workpiece coordinate number, range [0~14]
6* @param [in] vel Velocity percentage, range [0~100]
7* @param [in] acc Acceleration percentage, range [0~100], not open yet
8* @param [in] ovl Velocity scaling factor, range [0~100]
9* @param [in] blendR [-1.0]-move to position (blocking), [0~1000.0]-smoothing radius (non-blocking), unit mm
10* @param [in] lastFlag Whether it is the last point, 0-no, 1-yes
11* @param [in] config Inverse kinematics joint space configuration, [-1]-calculate based on current joint position, [0~7]-solve according to specific joint space configuration
12* @return Error code
13*/
14int NewSplinePoint(DescPose desc_pos, int tool, int user, double vel, double acc, double ovl, double blendR, int lastFlag,int config)
4.47. End of new spline motion
1/**
2* @brief Start of new spline motion
3* @return Error code.
4*/
5int NewSplineEnd();
4.48. Sample code for new spline motion
1private void btnNewSpline_Click(object sender, EventArgs e)
2{
3 JointPos j1 = new JointPos(-11.904, -99.669, 117.473, -108.616, -91.726, 74.256);
4 JointPos j2 = new JointPos(-45.615, -106.172, 124.296, -107.151, -91.282, 74.255);
5 JointPos j3 = new JointPos(-61.954, -84.409, 108.153, -116.316, -91.283, 74.260);
6 JointPos j4 = new JointPos(-89.575, -80.276, 102.713, -116.302, -91.284, 74.267);
7 JointPos j5 = new JointPos(-95.228, -54.621, 73.691, -112.245, -91.280, 74.268);
8 DescPose desc_pos1 = new DescPose(-419.524, -13.000, 351.569, -178.118, 0.314, 3.833);
9 DescPose desc_pos2 = new DescPose(-321.222, 185.189, 335.520, -179.030, -1.284, -29.869);
10 DescPose desc_pos3 = new DescPose(-327.622, 402.230, 320.402, -178.067, 2.127, -46.207);
11 DescPose desc_pos4 = new DescPose(-104.066, 544.321, 327.023, -177.715, 3.371, -73.818);
12 DescPose desc_pos5 = new DescPose(-33.421, 732.572, 275.103, -177.907, 2.709, -79.482);
13 DescPose offset_pos = new DescPose(0, 0, 0, 0, 0, 0);
14 ExaxisPos epos = new ExaxisPos(0, 0, 0, 0);
15
16 int tool = 0;
17 int user = 0;
18 float vel = 100.0f;
19 float acc = 100.0f;
20 float ovl = 100.0f;
21 float blendT = -1.0f;
22 byte flag = 0;
23
24 robot.SetSpeed(20);
25
26 int err = -1;
27 err = robot.MoveJ(j1, desc_pos1, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos);
28 Console.WriteLine($"movej errcode: {err}");
29
30 robot.NewSplineStart(1, 2000);
31 robot.NewSplinePoint(j1, desc_pos1, tool, user, vel, acc, ovl, -1, 0);
32 robot.NewSplinePoint(j2, desc_pos2, tool, user, vel, acc, ovl, -1, 0);
33 robot.NewSplinePoint(j3, desc_pos3, tool, user, vel, acc, ovl, -1, 0);
34 robot.NewSplinePoint(j4, desc_pos4, tool, user, vel, acc, ovl, -1, 0);
35 robot.NewSplinePoint(j5, desc_pos5, tool, user, vel, acc, ovl, -1, 0);
36 robot.NewSplineEnd();
37}
4.49. Terminate the motion
1/**
2* @brief Terminate the campaign.
3* @return Error code
4*/
5int StopMotion();
4.50. Pause the motion.
1/**
2* @brief Pause motion
3* @return Error code
4*/
5int PauseMotion();
4.51. Resumes motion.
1/**
2* @brief Resume movement
3* @return Error code
4*/
5int ResumeMotion();
4.52. Motion Pause, Resume, Stop Code Example
1private void btnMotionPause_Click(object sender, EventArgs e)
2{
3 int rtn;
4 JointPos j1 = new JointPos(-11.904, -99.669, 117.473, -108.616, -91.726, 74.256);
5 JointPos j5 = new JointPos(-95.228, -54.621, 73.691, -112.245, -91.280, 74.268);
6 DescPose desc_pos1 = new DescPose(-419.524, -13.000, 351.569, -178.118, 0.314, 3.833);
7 DescPose desc_pos5 = new DescPose(-33.421, 732.572, 275.103, -177.907, 2.709, -79.482);
8 DescPose offset_pos = new DescPose(0, 0, 0, 0, 0, 0);
9 ExaxisPos epos = new ExaxisPos(0, 0, 0, 0);
10
11 int tool = 0;
12 int user = 0;
13 float vel = 100.0f;
14 float acc = 100.0f;
15 float ovl = 100.0f;
16 float blendT = -1.0f;
17 byte flag = 0;
18
19 robot.SetSpeed(20);
20
21 rtn = robot.MoveJ(j1, desc_pos1, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos);
22 rtn = robot.MoveJ(j5, desc_pos5, tool, user, vel, acc, ovl, epos, 1, flag, offset_pos);
23 Thread.Sleep(1000);
24 robot.PauseMotion();
25
26 Thread.Sleep(1000);
27 robot.ResumeMotion();
28
29 Thread.Sleep(1000);
30 robot.StopMotion();
31
32 Thread.Sleep(1000);
33
34}
4.53. Start the overall point offset
1/**
2* @brief Start of overall point offset.
3* @param [in] flag 0 - offset in base/workpiece coordinate system, 2 - offset in tool coordinate system
4* @param [in] offset_pos Positional Offset
5* @return Error code
6*/
7int PointsOffsetEnable(int flag, DescPose offset_pos);
4.54. Points overall offset end
1/**
2* @brief End of point offset.
3* @return Error code
4*/
5int PointsOffsetDisable();
4.55. Points Offset Code Example
1private void btnPointOffect_Click(object sender, EventArgs e)
2{
3 JointPos j1, j2;
4 DescPose desc_pos1, desc_pos2, offset_pos, offset_pos1;
5 ExaxisPos epos = new ExaxisPos(0, 0, 0, 0);
6
7 j1 = new JointPos(-11.904, -99.669, 117.473, -108.616, -91.726, 74.256);
8 desc_pos1 = new DescPose(-419.524, -13.000, 351.569, -178.118, 0.314, 3.833);
9
10 j2 = new JointPos(-45.615, -106.172, 124.296, -107.151, -91.282, 74.255);
11
12 desc_pos2 = new DescPose(-321.222, 185.189, 335.520, -179.030, -1.284, -29.869);
13
14 offset_pos = new DescPose(0, 0, 0, 0, 0, 0);
15 offset_pos1 = new DescPose(50.0, 50.0, 50.0, 5.0, 5.0, 5.0);
16
17 int tool = 0;
18 int user = 0;
19 float vel = 100.0f;
20 float acc = 100.0f;
21 float ovl = 100.0f;
22 float blendT = -1.0f;
23 byte flag = 0;
24 int type = 0;
25
26 robot.SetSpeed(20);
27
28 robot.MoveJ(j1, desc_pos1, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos);
29 robot.MoveJ(j2, desc_pos2, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos);
30 Thread.Sleep(1000);
31 robot.PointsOffsetEnable(type, offset_pos1);
32 Thread.Sleep(1000);
33 robot.MoveJ(j1, desc_pos1, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos);
34 robot.MoveJ(j2, desc_pos2, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos);
35 Thread.Sleep(1000);
36 robot.PointsOffsetDisable();
37}
4.56. Control box AO flytap start
New in version C#SDK-v1.0.7.
1/**
2* @brief Control box AO flyswatter start.
3* @param [in] AONum control box AO number
4* @param [in] maxTCPSpeed maxTCPSpeed value [1-5000mm/s], default 1000
5* @param [in] maxAOPercent Percentage of AO corresponding to the maximum TCP speed value, default 100%
6* @param [in] zeroZoneCmp AO percentage for dead zone compensation value, shaped, default 20%, range [0-100]
7* @return Error code.
8*/
9int MoveAOStart(int AONum, int maxTCPSpeed, int maxAOPercent, int zeroZoneCmp);
4.57. Control box AO flytap stop
New in version C#SDK-v1.0.7.
1/**
2* @brief Control box AO flytap stops
3* @return Error code.
4*/
5int MoveAOStop();
4.58. End AO flyswatter start
New in version C#SDK-v1.0.7.
1/**
2* @brief End AO flytap start
3* @param [in] AONum The end AO number.
4* @param [in] maxTCPSpeed maxTCPSpeed value [1-5000mm/s], default 1000
5* @param [in] maxAOPercent Percentage of AOs corresponding to the maximum TCP speed value, default 100%
6* @param [in] zeroZoneCmp AO percentage for dead zone compensation value, shaped, default 20%, range [0-100]
7* @return Error code.
8*/
9int MoveToolAOStart(int AONum, int maxTCPSpeed, int maxAOPercent, int zeroZoneCmp);
4.59. End AO flytap stop
New in version C#SDK-v1.0.7.
1/**
2* @brief End AO flyswatter stops
3* @return Error code
4*/
5int MoveToolAOStop();
4.60. AO flyswatter code example
1private void btnMoveAO_Click(object sender, EventArgs e)
2{
3 JointPos j1 = new JointPos(-11.904, -99.669, 117.473, -108.616, -91.726, 74.256);
4 JointPos j2 = new JointPos(-45.615, -106.172, 124.296, -107.151, -91.282, 74.255);
5 DescPose desc_pos1 = new DescPose(-419.524, -13.000, 351.569, -178.118, 0.314, 3.833);
6 DescPose desc_pos2 = new DescPose(-321.222, 185.189, 335.520, -179.030, -1.284, -29.869);
7 DescPose offset_pos = new DescPose(0, 0, 0, 0, 0, 0);
8 ExaxisPos epos = new ExaxisPos(0, 0, 0, 0);
9
10 int tool = 0;
11 int user = 0;
12 float vel = 100.0f;
13 float acc = 100.0f;
14 float ovl = 100.0f;
15 float blendT = 0.0f;
16 float blendR = 0.0f;
17 byte flag = 0;
18 byte search = 0;
19
20 robot.SetSpeed(5);
21
22 robot.MoveAOStart(0,100,100,20);
23 robot.MoveJ(j1, desc_pos1, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos);
24 robot.MoveJ(j2, desc_pos2, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos);
25 robot.MoveAOStop();
26
27 robot.MoveToolAOStart(0, 100, 100, 20);
28 robot.MoveJ(j1, desc_pos1, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos);
29 robot.MoveJ(j2, desc_pos2, tool, user, vel, acc, ovl, epos, blendT, flag, offset_pos);
30 robot.MoveToolAOStop();
31}
4.61. Start Ptp motion FIR filtering
New in version C#SDK-V1.1.3: Web-3.8.2
1/**
2* @brief Start Ptp motion FIR filtering.
3* @param [in] maxAcc Maximum Acceleration Extreme (deg/s2)
4* @param [in] maxJek Uniform Joint Acuity Extreme (deg/s3)
5* @return Error code.
6*/
7int PtpFIRPlanningStart(double maxAcc, double maxJek=1000);
4.62. Turn off Ptp motion FIR filtering
1/**
2* @brief Turn off Ptp motion FIR filtering.
3* @return Error code
4*/
5int PtpFIRPlanningEnd();
4.63. Start LIN, ARC motion FIR filtering.
1/**
2* @brief Start LIN, ARC motion FIR filtering.
3* @param [in] maxAccLin Linear Acceleration Extreme (mm/s2)
4* @param [in] maxAccDeg angular acceleration extreme (deg/s2)
5* @param [in] maxJerkLin Linear plus Acceleration Extreme (mm/s3)
6* @param [in] maxJerkDeg Angle plus acceleration extreme (deg/s3)
7* @return Error code
8*/
9int LinArcFIRPlanningStart(double maxAccLin, double maxAccDeg, double maxJerkLin, double maxJerkDeg);
4.64. Turn off LIN, ARC motion FIR filtering
1/**
2* @brief Turn off LIN, ARC motion FIR filtering.
3* @return Error code
4*/
5int LinArcFIRPlanningEnd();
4.65. FIR filtering code example
New in version C#SDK-V1.1.3: Web-3.8.2
1private void button69_Click(object sender, EventArgs e)
2{
3 int rtn;
4 JointPos startjointPos = new JointPos(-11.904f, -99.669f, 117.473f, -108.616f, -91.726f, 74.256f);
5 JointPos midjointPos = new JointPos(-45.615f, -106.172f, 124.296f, -107.151f, -91.282f, 74.255f);
6 JointPos endjointPos = new JointPos(-29.777f, -84.536f, 109.275f, -114.075f, -86.655f, 74.257f);
7
8 DescPose startdescPose = new DescPose(-419.524f, -13.000f, 351.569f, -178.118f, 0.314f, 3.833f);
9 DescPose middescPose = new DescPose(-321.222f, 185.189f, 335.520f, -179.030f, -1.284f, -29.869f);
10 DescPose enddescPose = new DescPose(-487.434f, 154.362f, 308.576f, 176.600f, 0.268f, -14.061f);
11
12 ExaxisPos exaxisPos = new ExaxisPos(0, 0, 0, 0);
13 DescPose offdese = new DescPose(0, 0, 0, 0, 0, 0);
14
15 rtn = robot.PtpFIRPlanningStart(1000, 1000);
16 Console.WriteLine("PtpFIRPlanningStart rtn is " + rtn);
17 robot.MoveJ(startjointPos, startdescPose, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
18 robot.MoveJ(endjointPos, enddescPose, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
19 robot.PtpFIRPlanningEnd();
20 Console.WriteLine("PtpFIRPlanningEnd rtn is " + rtn);
21
22 robot.LinArcFIRPlanningStart(1000, 1000, 1000, 1000);
23 Console.WriteLine("LinArcFIRPlanningStart rtn is " + rtn);
24 robot.MoveL(startjointPos, startdescPose, 0, 0, 20, 100, 100, -1,0, exaxisPos, 0, 0, offdese, 1, 50);
25 robot.MoveC(midjointPos, middescPose, 0, 0, 100, 100, exaxisPos, 0, offdese, endjointPos, enddescPose, 0, 0, 100, 100, exaxisPos, 0, offdese, 100, -1, 100, 0);
26 robot.LinArcFIRPlanningEnd();
27 Console.WriteLine("LinArcFIRPlanningEnd rtn is " + rtn);
28}
4.66. Acceleration smoothing on
1/**
2* @brief Acceleration smoothing on
3* @param [in] saveFlag Whether to power down and save.
4* @return ErrorCode
5*/
6int AccSmoothStart(bool saveFlag);
4.67. Acceleration SmoothStart(bool saveFlag); int AccSmoothStart
1/**
2* @brief Accelerate smooth shutdown
3* @param [in] saveFlag whether to power down and save
4* @return ErrorCode
5*/
6int AccSmoothEnd(bool saveFlag);
4.68. Code example
1private void button1_Click(object sender, EventArgs e)
2{
3
4 int rtn;
5 JointPos startjointPos = new JointPos(-11.904f, -99.669f, 117.473f, -108.616f, -91.726f, 74.256f);
6 JointPos endjointPos = new JointPos(-45.615f, -106.172f, 124.296f, -107.151f, -91.282f, 74.255f);
7
8 DescPose startdescPose = new DescPose(-419.524f, -13.000f, 351.569f, -178.118f, 0.314f, 3.833f);
9 DescPose enddescPose = new DescPose(-321.222f, 185.189f, 335.520f, -179.030f, -1.284f, -29.869f);
10
11 ExaxisPos exaxisPos = new ExaxisPos(0, 0, 0, 0);
12 DescPose offdese = new DescPose(0, 0, 0, 0, 0, 0);
13 rtn = robot.AccSmoothStart(false);
14 Console.WriteLine("AccSmoothStart rtn is " + rtn);
15 robot.MoveJ( startjointPos, startdescPose, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
16 robot.MoveJ( endjointPos, enddescPose, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
17 rtn = robot.AccSmoothEnd(false);
18 Console.WriteLine("AccSmoothEnd rtn is " + rtn);
19}
4.69. Specify the attitude speed to turn on
1/**
2* @brief Specify that Attitude Speed is on
3* @param [in] ratio Attitude Speed Percentage [0-300]
4* @return Error code
5*/
6int AngularSpeedStart(int ratio).
4.70. Specifies that the attitude speed is off
1/**
2* @brief Specify attitude speed off
3* @return Error code
4*/
5int AngularSpeedEnd();
4.71. Robot Specify Angular Speed Code Example
1private void button71_Click(object sender, EventArgs e)
2{
3 int rtn;
4 JointPos startjointPos = new JointPos(-11.904f, -99.669f, 117.473f, -108.616f, -91.726f, 74.256f);
5 JointPos endjointPos = new JointPos(-45.615f, -106.172f, 124.296f, -107.151f, -91.282f, 74.255f);
6
7 DescPose startdescPose = new DescPose(-419.524f, -13.000f, 351.569f, -178.118f, 0.314f, 3.833f);
8 DescPose enddescPose = new DescPose(-321.222f, 185.189f, 335.520f, -179.030f, -1.284f, -29.869f);
9
10 ExaxisPos exaxisPos = new ExaxisPos(0, 0, 0, 0);
11 DescPose offdese = new DescPose(0, 0, 0, 0, 0, 0);
12 rtn = robot.AngularSpeedStart(50);
13 Console.WriteLine("AngularSpeedStart rtn is " + rtn);
14 robot.MoveJ( startjointPos, startdescPose, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
15 robot.MoveJ( endjointPos, enddescPose, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
16 rtn = robot.AngularSpeedEnd();
17 Console.WriteLine("AngularSpeedEnd rtn is " + rtn);
18}
4.72. Starting singular position protection
New in version C#SDK-v1.0.9.
1/**
2* @brief Starting singular bitmap protection.
3* @param [in] protectMode Singular protection mode, 0: articulation mode; 1 - Cartesian mode
4* @param [in] minShoulderPos shoulder singularity adjustment range (mm), default 100
5* @param [in] minElbowPos Elbow singularity adjustment range (mm), default 50
6* @param [in] minWristPos Wrist singularity range (°), default 10
7* @return Error code
8*/
9int SingularAvoidStart(int protectMode, double minShoulderPos, double minElbowPos, double minWristPos);
4.73. Stop singular attitude protection
New in version C#SDK-v1.0.9.
1/**
2* @brief Stop odd-bit pose protection.
3* @return Error code
4*/
5int SingularAvoidEnd();
4.74. Code example
New in version C#SDK-v1.0.9.
1private void btnTestSingularAvoidEArc_Click(object sender, EventArgs e)
2{
3 int rtn;
4 JointPos startjointPos = new JointPos(-11.904f, -99.669f, 117.473f, -108.616f, -91.726f, 74.256f);
5 JointPos endjointPos = new JointPos(-45.615f, -106.172f, 124.296f, -107.151f, -91.282f, 74.255f);
6
7 DescPose startdescPose = new DescPose(-419.524f, -13.000f, 351.569f, -178.118f, 0.314f, 3.833f);
8 DescPose enddescPose = new DescPose(-321.222f, 185.189f, 335.520f, -179.030f, -1.284f, -29.869f);
9
10 ExaxisPos exaxisPos = new ExaxisPos(0, 0, 0, 0);
11 DescPose offdese = new DescPose(0, 0, 0, 0, 0, 0);
12
13 rtn = robot.SingularAvoidStart(2, 10, 5, 5);
14 Console.WriteLine("SingularAvoidStart rtn is " + rtn);
15 robot.MoveJ( startjointPos, startdescPose, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
16 robot.MoveJ( endjointPos, enddescPose, 0, 0, 100, 100, 100, exaxisPos, -1, 0, offdese);
17 rtn = robot.SingularAvoidEnd();
18 Console.WriteLine("SingularAvoidEnd rtn is " + rtn);
19}
4.75. Safety Stop Trigger
1/**
2* @brief Safe stop trigger signal
3* @return Error code
4*/
5int GetSafetyCode();
4.76. Clear the motion command queue
New in version C#SDK-V1.1.9: Web-3.8.7
1/**
2* @brief Clear the motion command queue
3* @return Error code
4*/
5public int MotionQueueClear();
4.77. Move to Intersecting Line Start Point
1/**
2* @brief Move to intersecting line start point
3* @param [in] mainPoint Cartesian poses of 6 taught points on the main pipe
4* @param [in] mainExaxisPos Extended axis positions for 6 taught points on the main pipe
5* @param [in] piecePoint Cartesian poses of 6 taught points on the branch pipe
6* @param [in] pieceExaxisPos Extended axis positions for 6 taught points on the branch pipe
7* @param [in] extAxisFlag Whether to enable extended axis; 0-Disable; 1-Enable
8* @param [in] exaxisPos Start point extended axis position
9* @param [in] tool Tool coordinate system number
10* @param [in] wobj Workpiece coordinate system number
11* @param [in] vel Velocity percentage
12* @param [in] acc Acceleration percentage
13* @param [in] ovl Velocity scaling factor
14* @param [in] oacc Acceleration scaling factor
15* @param [in] moveType Motion type; 0-PTP; 1-LIN
16* @param [in] moveDirection Motion direction; 0-Clockwise; 1-Counterclockwise
17* @param [in] offset Offset value
18* @return Error code
19*/
20public int MoveToIntersectLineStart(DescPose[] mainPoint, ExaxisPos[] mainExaxisPos, DescPose[] piecePoint, ExaxisPos[] pieceExaxisPos, int extAxisFlag, ExaxisPos exaxisPos, int tool, int wobj, double vel, double acc, double ovl, double oacc, int moveType, int moveDirection, DescPose offset);
4.78. Intersecting Line Motion
1/**
2* @brief Intersecting line motion
3* @param [in] mainPoint Cartesian poses of 6 taught points on the main pipe
4* @param [in] mainExaxisPos Extended axis positions for 6 taught points on the main pipe
5* @param [in] piecePoint Cartesian poses of 6 taught points on the branch pipe
6* @param [in] pieceExaxisPos Extended axis positions for 6 taught points on the branch pipe
7* @param [in] extAxisFlag Whether to enable extended axis; 0-Disable; 1-Enable
8* @param [in] exaxisPos Start point extended axis positions
9* @param [in] tool Tool coordinate system number
10* @param [in] wobj Workpiece coordinate system number
11* @param [in] vel Velocity percentage
12* @param [in] acc Acceleration percentage
13* @param [in] ovl Velocity scaling factor
14* @param [in] oacc Acceleration scaling factor
15* @param [in] moveDirection Motion direction; 0-Clockwise; 1-Counterclockwise
16* @param [in] offset Offset value
17* @return Error code
18*/
19public int MoveIntersectLine(DescPose[] mainPoint, ExaxisPos[] mainExaxisPos, DescPose[] piecePoint, ExaxisPos[] pieceExaxisPos, int extAxisFlag, ExaxisPos[] exaxisPos, int tool, int wobj, double vel, double acc, double ovl, double oacc, int moveDirection, DescPose offset);
4.79. Robot Intersecting Line Motion Code Example
1void TestIntersectLineMove()
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(3);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return ;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 DescPose mainPoint[6] = {};
14 DescPose piecePoint[6] = {};
15 ExaxisPos mainExaxisPos[6] = {};
16 ExaxisPos pieceExaxisPos[6] = {};
17 int extAxisFlag = 1;
18 ExaxisPos exaxisPos[4] = {};
19 DescPose offset = { 0.0, 2.0 ,30.0, -2.0, 0.0, 0.0 };
20 mainPoint[0] = {490.004, -383.194, 402.735, -9.332, -1.528, 69.594};
21 mainPoint[1] = {444.950, -407.117, 389.011, -5.546, -2.196, 65.279};
22 mainPoint[2] = {445.168, -463.605, 355.759, -1.544, -10.886, 57.104};
23 mainPoint[3] = {507.529, -485.385, 343.013, -0.786, -4.834, 61.799};
24 mainPoint[4] = {554.390, -442.647, 367.701, -4.761, -10.181, 64.925};
25 mainPoint[5] = {532.552, -394.003, 396.467, -13.732, -13.592, 67.411};
26 mainExaxisPos[0] = { -29.996, 0.000, 0.000, 0.000 };
27 mainExaxisPos[1] = { -29.996, 0.000, 0.000, 0.000 };
28 mainExaxisPos[2] = { -29.996, 0.000, 0.000, 0.000 };
29 mainExaxisPos[3] = { -29.996, 0.000, 0.000, 0.000 };
30 mainExaxisPos[4] = { -29.996, 0.000, 0.000, 0.000 };
31 mainExaxisPos[5] = { -29.996, 0.000, 0.000, 0.000 };
32 piecePoint[0] = { 505.571, -192.408, 316.759, 38.098, 37.051, 139.447 };
33 piecePoint[1] = {533.837, -201.558, 332.340, 34.644, 42.339, 137.748};
34 piecePoint[2] = {530.386, -225.085, 373.808, 35.431, 45.111, 137.560};
35 piecePoint[3] = {485.646, -229.195, 383.778, 33.870, 45.173, 137.064};
36 piecePoint[4] = {460.551, -212.161, 354.256, 28.856, 45.602, 135.930};
37 piecePoint[5] = {474.217, -197.124, 324.611, 42.469, 41.133, 148.167};
38 pieceExaxisPos[0] = { -29.996, -0.000, 0.000, 0.000 };
39 pieceExaxisPos[1] = { -29.996, -0.000, 0.000, 0.000 };
40 pieceExaxisPos[2] = { -29.996, -0.000, 0.000, 0.000 };
41 pieceExaxisPos[3] = { -29.996, -0.000, 0.000, 0.000 };
42 pieceExaxisPos[4] = { -29.996, -0.000, 0.000, 0.000 };
43 pieceExaxisPos[5] = { -29.996, -0.000, 0.000, 0.000 };
44 exaxisPos[0] = {-29.996, -0.000, 0.000, 0.000};
45 exaxisPos[1] = {-44.994, 90.000, 0.000, 0.000};
46 exaxisPos[2] = {-59.992, 0.002, 0.000, 0.000};
47 exaxisPos[3] = {-44.994, -89.997, 0.000, 0.000};
48 int tool = 2;
49 int wobj = 0;
50 double vel = 100.0;
51 double acc = 100.0;
52 double ovl = 12.0;
53 double oacc = 12.0;
54 int moveType = 1;
55 int moveDirection = 1;
56 rtn = robot.MoveToIntersectLineStart(mainPoint, mainExaxisPos, piecePoint, pieceExaxisPos, extAxisFlag, exaxisPos[0], tool, wobj, vel, acc, ovl, oacc, moveType, moveDirection, offset);
57 printf("MoveToIntersectLineStart rtn is %d\n", rtn);
58 rtn = robot.MoveIntersectLine(mainPoint, mainExaxisPos, piecePoint, pieceExaxisPos, extAxisFlag, exaxisPos, tool, wobj, vel, acc, 5.0, 5.0, moveDirection, offset);
59 printf("MoveIntersectLine rtn is %d\n", rtn);
60 robot.CloseRPC();
61 return ;
62}
4.80. Stationary Air Motion
1/**
2* @brief Stationary Air Motion
3* @return Error code
4*/
5public int MoveStationary()
4.81. Stationary Air Motion Code Example
1public void LaserSensorRecordandReplay()
2{
3 int rtn = robot.LaserSensorRecordandReplay(0, 10, 1, 0, 0.1, 1, 1, 10, 100);
4 Console.WriteLine($"LaserSensorRecordandReplay rtn is {rtn}");
5 rtn = robot.MoveStationary();
6 Console.WriteLine($"MoveStationary rtn is {rtn}");
7 rtn = robot.LaserSensorRecord1(0, 10);
8 Console.WriteLine($"LaserSensorRecord1 rtn is {rtn}");
9}
4.82. Fixed-Point Swing Start
1/**
2* @brief Start fixed-point swing
3* @param [in] weaveNum Swing number [0-7]
4* @param [in] mode 0-Tool coordinate system; 1-Reference point
5* @param [in] refPoint Reference point Cartesian coordinates [x,y,z,a,b,c]
6* @param [in] weaveTime Swing time [s]
7* @return Error code
8*/
9public int OriginPointWeaveStart(int weaveNum, int mode, DescPose refPoint, double weaveTime);
4.83. Fixed-Point Swing End
1/**
2* @brief End fixed-point swing
3* @return Error code
4*/
5public int OriginPointWeaveEnd();
4.84. Fixed-Point Swing SDK Code Example
1void TestOriginPointWeave()
2{
3 // Create joint position object
4 JointPos j = new JointPos(39.886, -98.580, -124.032, -47.393, 90.000, 40.842);
5 ExaxisPos epos = new ExaxisPos(0, 0, 0, 0);
6 DescPose offset_pos = new DescPose(0, 0, 0, 0, 0, 0);
7
8 // Reference point coordinates
9 DescPose refPoint = new DescPose(400.021, 300.022, 299.996, 179.997, -0.003, -90.956);
10
11 //// First motion
12 robot.MoveJ(j, 1, 0, 100, 100, 100, epos, -1, 0, offset_pos);
13
14 // Start fixed-point swing (mode 0)
15 robot.OriginPointWeaveStart(0, 0, refPoint, 3);
16 robot.MoveStationary(); // Execute stationary motion (assuming this method exists)
17 robot.OriginPointWeaveEnd();
18
19 Thread.Sleep(2000); // Wait 2 seconds
20
21 // Second motion
22 robot.MoveJ(j, 1, 0, 100, 100, 100, epos, -1, 0, offset_pos);
23
24 // Start fixed-point swing (mode 1)
25 robot.OriginPointWeaveStart(0, 1, refPoint, 3);
26 robot.MoveStationary();
27 robot.OriginPointWeaveEnd();
28
29}
4.85. Fixed-Point Swing (Including Laser and Extension Axis) SDK Code Example
1void TestOriginPointWeave2()
2{
3 // Create joint position object
4 JointPos j = new JointPos(39.886, -98.580, -124.032, -47.393, 90.000, 40.842);
5 ExaxisPos epos1 = new ExaxisPos(0, 0, 0, 0);
6 DescPose offset_pos = new DescPose(0, 0, 0, 0, 0, 0);
7 ExaxisPos epos2 = new ExaxisPos(5, 0.000, 0.000, 0.000);
8
9 // Reference point coordinates
10 DescPose refPoint = new DescPose(400.021, 300.022, 299.996, 179.997, -0.003, -90.956);
11
12 int rtn = 0;
13 robot.LaserTrackingSensorConfig("192.168.58.20", 5020);
14 robot.LaserTrackingSensorSamplePeriod(20);
15 robot.LoadPosSensorDriver(101);
16
17 // Load UDP driver
18 robot.ExtDevLoadUDPDriver();
19
20 // Set extension axis command completion time
21 rtn = robot.SetExAxisCmdDoneTime(5000.0);
22 Console.WriteLine("SetExAxisCmdDoneTime rtn is " + rtn);
23
24 // Enable extension axes 1 and 2
25 rtn = robot.ExtAxisServoOn(1, 1);
26 Console.WriteLine("ExtAxisServoOn axis id 1 rtn is " + rtn);
27 rtn = robot.ExtAxisServoOn(2, 1);
28 Console.WriteLine("ExtAxisServoOn axis id 2 rtn is " + rtn);
29 Thread.Sleep(2000);
30
31 // Set extension axis homing
32 robot.ExtAxisSetHoming(1, 0, 10, 2);
33 robot.LaserTrackingLaserOnOff(1);
34
35
36 //// 1---Without extension axis
37 robot.LaserTrackingTrackOnOff(1, 4);
38 robot.Sleep(200);
39 // Start fixed-point swing
40 robot.OriginPointWeaveStart(0, 0, refPoint, 10);
41 robot.MoveStationary(); // Execute stationary motion
42 robot.OriginPointWeaveEnd();
43 robot.LaserTrackingTrackOnOff(0, 4);
44
45 Thread.Sleep(2000); // Wait 2 seconds
46
47 //// 2---With extension axis
48 robot.ExtAxisMove(epos1, 100, -1);
49 robot.LaserTrackingTrackOnOff(1, 4);
50 // Start fixed-point swing
51 robot.OriginPointWeaveStart(0, 0, refPoint, 20);
52 robot.ExtAxisMove(epos2, 100, -1);
53 robot.OriginPointWeaveEnd();
54 robot.LaserTrackingTrackOnOff(0, 4);
55}
4.86. Joint Space Velocity Servo Mode Motion
1/**
2* @brief Joint space velocity servo mode motion
3* @param [in] joint_pos 6 target joint velocities, unit deg/s
4* @param [in] axisPos 4 external axis velocities, unit deg/s
5* @param [in] acc Acceleration percentage, range [0~100], temporarily not open, default is 0
6* @param [in] vel Velocity percentage, range [0~100], temporarily not open, default is 0
7* @param [in] cmdT Command sending period, unit s, recommended range [0.001~0.0016]
8* @param [in] filterT Filter time, unit s, temporarily not open, default is 0
9* @param [in] gain Proportional amplifier for target position, temporarily not open, default is 0
10* @param [in] id ServoJ command ID, default is 0
11* @param[in] comType Command sending type; 0-xmlrpc; 1-UDP (corresponding to robot port 20007)
12* @return Error code
13*/
14public int ServoJV(double[] joint_vel, double[] exis_vel, float acc, float vel, float cmdT, float filterT, float gain, int id = 0, int comType = 0)
4.87. Joint Space Velocity Servo Mode Motion Code Example
1public int ServoJVtest()
2{
3 double[] joint_vel = new double[6] { 10, 0, 0, 0, 0, 0 };
4 double[] exis_vel = new double[4] { 0, 0, 0, 0 };
5 float acc = 0.0f;
6 float vel = 0.0f;
7 float cmdT = 0.01f;
8 float filterT = 0.0f;
9 float gain = 0.0f;
10 int cnt = 0;
11 while (cnt < 200)
12 {
13 int error = robot.ServoJV(joint_vel, exis_vel, acc, vel, cmdT, filterT, gain);
14 Console.WriteLine($"ServoJV rtn is {error}");
15 cnt++;
16 }
17 return 0;
18}
4.88. Joint MIT Control Start
1/**
2* @brief Joint MIT control start
3* @param [in] comType Command sending type; 0-xmlrpc; 1-UDP (corresponding to robot port 20007)
4* @return Error code
5*/
6public int ServoMITStart(int comType = 0)
4.89. Joint MIT Control End
1/**
2* @brief Joint MIT control end
3* @param [in] comType Command sending type; 0-xmlrpc; 1-UDP (corresponding to robot port 20007)
4* @return Error code
5*/
6public int ServoMITEnd(int comType = 0)
4.90. Joint MIT Control
1/**
2* @brief Joint MIT control
3* @param [in] posGain j1~j6 joint position gain
4* @param [in] desPos j1~j6 joint desired position, unit: deg
5* @param [in] velGain j1~j6 joint velocity gain
6* @param [in] desVel j1~j6 joint desired velocity, unit: deg/s
7* @param [in] torque_ff j1~j6 feedforward torque, unit: Nm
8* @param [in] interval Command period, unit s, range [0.001~0.008]
9* @param [in] comType Command sending type; 0-xmlrpc; 1-UDP (corresponding to robot port 20007)
10* @return Error code
11*/
12public int ServoMIT(double[] posGain, double[] desPos, double[] velGain, double[] desVel, double[] torque_ff, double interval, int comType = 0)
4.91. Joint MIT Control Motion Code Example
1public int ServoMITtest()
2{
3 // Subscribe to callback
4 robot.OnUdpFrameReceived += (comType, frameCount, frameCmdID, contentLen, content) =>
5 {
6 Console.WriteLine($"[UDP Response] comType={comType}, count={frameCount}, cmdID={frameCmdID}, content={content}");
7 };
8 while (true)
9 {
10 robot.ResetAllError();
11 Thread.Sleep(500);
12
13 double[] posGain = new double[6] { 0, 0, 0, 0, 0, 0 };
14 double[] desPos = new double[6] { 0, 0, 0, 0, 0, 0 };
15 double[] velGain = new double[6] { 0, 0, 0, 0, 0, 0 };
16 double[] desVel = new double[6] { 0, 0, 0, 0, 0, 0 };
17 double[] torques = new double[6] { 0, 0, 0, 0, 0, 0 };
18 robot.GetJointTorques(1, torques);
19 Console.WriteLine($"111111");
20 //robot.ServoMITEnd(0);
21 robot.ServoMITStart(0);
22 Console.WriteLine($"ServoMITStart");
23 ROBOT_STATE_PKG pkg = new ROBOT_STATE_PKG();
24 robot.DragTeachSwitch(1);
25 Console.WriteLine($"DragTeachSwitch");
26 double intev = 0.008;
27 double[] jPowerLimit = new double[6] { 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 };
28 double[] jVelLimit = new double[6] { 50, 50, 50, 50, 50, 50 };
29 int error = 0;
30 while (true)
31 {
32
33 torques[5] = 0.03;
34 Console.WriteLine($"ServoMIT call ");
35 error = robot.ServoMIT(posGain, desPos, velGain, desVel, torques, intev, 0);
36
37 Console.WriteLine($"ServoMIT111111 rtn is {error}");
38 Thread.Sleep(1);
39
40 robot.GetRobotRealTimeState(ref pkg);
41 //Console.WriteLine($"maincode {pkg.main_code}, subcode {pkg.sub_code}");
42 Console.WriteLine($"pkg.jt_cur_pos[5]:{pkg.jt_cur_pos[5]}");
43 if (pkg.jt_cur_pos[5] > 30)
44 {
45 break;
46 }
47 }
48
49 while (true)
50 {
51
52 torques[5] = -0.03;
53 error = robot.ServoMIT(posGain, desPos, velGain, desVel, torques, intev, 0);
54
55 Console.WriteLine($"ServoJT222222 rtn is {error}");
56 Thread.Sleep(1);
57
58 robot.GetRobotRealTimeState(ref pkg);
59 //Console.WriteLine($"maincode {pkg.main_code}, subcode {pkg.sub_code}");
60 Console.WriteLine($"pkg.jt_cur_pos[5]:{pkg.jt_cur_pos[5]}");
61 if (pkg.jt_cur_pos[5] < 0)
62 {
63 break;
64 }
65 }
66
67 robot.DragTeachSwitch(0);
68 error = robot.ServoMITEnd(0);
69 }
70 return 0;
71}