8. Robot Status Check

8.1. Get current joint position (angle).

/**
* @brief Get current joint position (angle).
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] jPos Six joint positions in deg.
* @return Error code.
*/
int GetActualJointPosDegree(byte flag, ref JointPos jPos);

8.2. Get current joint position in degrees of arc.

/**
* @brief Get current joint position in radians.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] jPos six joint positions in rad
* @return Error code
*/
int GetActualJointPosRadian(byte flag, ref JointPos jPos);

8.3. Get the joint feedback velocity

/**
* @brief Get joint feedback speed -deg/s
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] speed Six joint speeds.
* @return Error code.
*/
int GetActualJointSpeedsDegree(byte flag, ref double[] speed);

8.4. Get joint feedback acceleration

/**
* @brief Get the joint feedback acceleration -deg/s^2
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] acc Six joint accelerations.
* @return Error code.
*/
int GetActualJointAccDegree(byte flag, ref double[] acc);

8.5. Get TCP command velocity - joint velocity

/**
* @brief Get TCP command speed-combining speed.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] tcp_speed linear_speed
* @param [out] ori_speed Attitude Speed
* @return error code
*/
int GetTargetTCPCompositeSpeed(byte flag, ref double tcp_speed, ref double ori_speed);

8.6. Get TCP feedback speed-composite speed

/**
* @brief Get TCP feedback speed-combination speed.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] tcp_speed linear_speed
* @param [out] ori_speed Attitude Speed
* @return error code
*/
int GetActualTCPCompositeSpeed(byte flag, ref double tcp_speed, ref double ori_speed);

8.7. Get TCP command speed-composite speed

/**
* @brief Get TCP command speed-split.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] speed [x,y,z,rx,ry,rz] speed
* @return error code
*/
int GetTargetTCPSpeed(byte flag, ref double[] speed);

8.8. Get TCP feedback speed-split speed

/**
* @brief Get TCP feedback speed-cents.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] speed [x,y,z,rx,ry,rz] speed
* @return error code
*/
int GetActualTCPSpeed(byte flag, ref double[] speed);

8.9. Get current tool position

/**
* @brief Get current tool position
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] desc_pos Tool position.
* @return Error code.
*/
int GetActualTCPPose(byte flag, ref DescPose desc_pos);

8.10. Get the current tool coordinate system number

/**
* @brief Get the current tool coordinate system number.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] id tool coordinate system number
* @return Error code.
*/
int GetActualTCPNum(byte flag, ref int id).

8.11. Get the current tool coordinate system number

/**
* @brief Get the current workpiece coordinate system number.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] id The workpiece coordinate system number.
* @return Error code.
*/
int GetActualWObjNum(byte flag, ref int id);

8.12. Get the current end flange position

/**
* @brief Get the current end flange position.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] desc_pos Flange position.
* @return Error code.
*/
int GetActualToolFlangePose(byte flag, ref DescPose desc_pos);

8.13. Get the current joint torque

/**
* @brief Get current joint torque.
* @param [in] flag 0-blocking, 1-non-blocking
* @param [out] torques Joint torques.
* @return Error code.
*/
int GetJointTorques(byte flag, float[] torques).

8.14. Get System Time

/**
* @brief  Get system time
* @param  [out] t_ms Unit ms, can be converted according to UTC time. When the robot is in a fault state, GetSystemClock returns 0 and returns an error code.
* @return  Error code
*/
public int GetSystemClock(ref double t_ms)

8.15. Synchronize System Time to Robot

/**
* @brief Get the current host system time and send it to the robot to synchronize the system time (due to QNX system limitations, synchronization accuracy is at the minute level)
* @return Error code
*/
public int SetRobottime()

8.16. Synchronize System Time to Robot Code Example

public void testSetAndGetRobotTime()
{
    double t_ms = 0.0;

    int ret = robot.GetSystemClock(ref t_ms);
    if (ret == 0)
    {
        Console.WriteLine($"system clock : {t_ms}");
        // Convert millisecond timestamp to DateTime (UTC time)
        DateTime utcTime = new DateTime(1970, 1, 1, 0, 0, 0, DateTimeKind.Utc).AddMilliseconds(t_ms);
        Console.WriteLine($"BEFORE UTC Time   : {utcTime:yyyy-MM-dd HH:mm:ss}");
    }
    else
    {
        Console.WriteLine($"GetSystemClock failed,ret:{ret}");
    }

    robot.SetRobottime();

    // Get the robot time after setting
    double t_ms_after = 0;
    ret = robot.GetSystemClock(ref t_ms_after);
    if (ret == 0)
    {
        Console.WriteLine($"system clock : {t_ms}");
        DateTime robotTimeAfter = DateTimeOffset.FromUnixTimeMilliseconds((long)t_ms_after).UtcDateTime;

        // Get the PC time before setting (as expected value)
        DateTime pcTimeBefore = DateTime.Now;

        // Truncate both expected time (PC time) and robot time to minutes
        DateTime pcMinute = new DateTime(pcTimeBefore.Year, pcTimeBefore.Month, pcTimeBefore.Day,
                                            pcTimeBefore.Hour, pcTimeBefore.Minute, 0, DateTimeKind.Utc);
        DateTime robotMinute = new DateTime(robotTimeAfter.Year, robotTimeAfter.Month, robotTimeAfter.Day,
                                            robotTimeAfter.Hour, robotTimeAfter.Minute, 0, DateTimeKind.Utc);

        // Compare consistency
        bool isConsistent = (pcMinute == robotMinute);
        if (isConsistent)
        {
            Console.WriteLine($"Consistent     | PC time: {pcMinute:yyyy-MM-dd HH:mm}  | Robot time: {robotMinute:yyyy-MM-dd HH:mm}");
        }
        else
        {
            Console.WriteLine($"[Inconsistent | PC time: {pcMinute:yyyy-MM-dd HH:mm}  | Robot time: {robotMinute:yyyy-MM-dd HH:mm}");
        }
    }
    else
    {
        Console.WriteLine($"GetSystemClock failed,ret:{ret}");
    }
}

8.17. Queries if the robot movement is complete

/**
* @brief Query if robot motion is complete.
* @param [out] state 0-not completed, 1-completed
* @return Error code.
*/
int GetRobotMotionDone(ref byte state).

8.18. Queries the length of the robot motion queue cache

/**
* @brief Query the robot motion queue cache length.
* @param [out] len Cache length.
* @return Error code.
*/
int GetMotionQueueLength(ref int len).

8.19. Get the robot emergency stop state

/**
* @brief Get the state of the robot's emergency stop.
* @param [out] state Emergency stop state, 0-non-emergency stop, 1-emergency stop.
* @return Error code.
*/
int GetRobotEmergencyStopState(ref byte state).

8.20. Get the state of the communication between the SDK and the robot

/**
* @brief Get the communication state of the SDK and the robot.
* @param [out] state communication state, 0-normal communication, 1-abnormal communication.
*/
int GetSDKComState(ref int state).

8.21. Get safety stop signal

/**
* @brief Get the safe stop signal.
* @param [out] si0_state Safe stop signal SI0, 0-invalid, 1-valid
* @param [out] si1_state safe stop signal SI1, 0-invalid, 1-valid
*/
int GetSafetyStopState(ref byte si0_state, ref byte si1_state);

8.22. Get robot joint actuator temperature (℃)

/**
* @brief Get the robot's articulated actuator temperature (℃).
* @return Error code
*/
int GetJointDriverTemperature(double[] temperature).

8.23. Get robot joint driver torque(Nm).

/**
* @brief Get robot joint actuator torque (Nm).
* @return Error code
*/
int GetJointDriverTorque(double torque[]).

8.24. Get the Latest Frame of Robot Real-Time Status Data (Internal Mechanism Changed)

/**
* @brief Get the latest frame of robot real-time status data (internal thread continuously updates, this interface directly returns cached data)
* @param [out] pkg Reference parameter for receiving robot status data (ROBOT_STATE_PKG structure)
* @return Returns 0 on success; returns a negative error code on failure (e.g., network communication error)
*/
public int GetRobotRealTimeState(ref ROBOT_STATE_PKG pkg)

8.25. Sample Robot Status Query Code

private void button29_Click(object sender, EventArgs e)
{
    ROBOT_STATE_PKG pkg = new ROBOT_STATE_PKG();
    double yangle = 0, zangle = 0;
    robot.GetRobotInstallAngle(ref yangle, ref zangle);
    Console.WriteLine($"yangle:{yangle},zangle:{zangle}");

    JointPos j_deg = new JointPos(0,0,0,0,0,0);
    robot.GetActualJointPosDegree(0, ref j_deg);
    Console.WriteLine($"joint pos deg:{j_deg.jPos[0]},{j_deg.jPos[1]},{j_deg.jPos[2]},{j_deg.jPos[3]},{j_deg.jPos[4]},{j_deg.jPos[5]}");

    double[] jointSpeed = new double[6];
    robot.GetActualJointSpeedsDegree(0, ref jointSpeed);
    Console.WriteLine($"joint speeds deg:{jointSpeed[0]},{jointSpeed[1]},{jointSpeed[2]},{jointSpeed[3]},{jointSpeed[4]},{jointSpeed[5]}");

    double[] jointAcc = new double[6];
    robot.GetActualJointAccDegree(0, ref jointAcc);
    Console.WriteLine($"joint acc deg:{jointAcc[0]},{jointAcc[1]},{jointAcc[2]},{jointAcc[3]},{jointAcc[4]},{jointAcc[5]}");

    double tcp_speed = 0, ori_speed = 0;
    robot.GetTargetTCPCompositeSpeed(0, ref tcp_speed, ref ori_speed);
    Console.WriteLine($"GetTargetTCPCompositeSpeed tcp {tcp_speed}; ori {ori_speed}");

    robot.GetActualTCPCompositeSpeed(0, ref tcp_speed, ref ori_speed);
    Console.WriteLine($"GetActualTCPCompositeSpeed tcp {tcp_speed}; ori {ori_speed}");

    double[] targetSpeed = new double[6];
    robot.GetTargetTCPSpeed(0,ref targetSpeed);
    Console.WriteLine($"GetTargetTCPSpeed {targetSpeed[0]},{targetSpeed[1]},{targetSpeed[2]},{targetSpeed[3]},{targetSpeed[4]},{targetSpeed[5]}");

    double[] actualSpeed = new double[6];
    robot.GetActualTCPSpeed(0, ref actualSpeed);
    Console.WriteLine($"GetTargetTCPSpeed {actualSpeed[0]},{actualSpeed[1]},{actualSpeed[2]},{actualSpeed[3]},{actualSpeed[4]},{actualSpeed[5]}");

    DescPose tcp = new DescPose(0, 0, 0, 0, 0, 0);
    robot.GetActualTCPPose(0, ref tcp);
    Console.WriteLine($"tcp pose:{tcp.tran.x},{tcp.tran.y},{tcp.tran.z},{tcp.rpy.rx},{tcp.rpy.ry},{tcp.rpy.rz}");

    DescPose flange = new DescPose(0, 0, 0, 0, 0, 0);
    robot.GetActualToolFlangePose(0, ref flange);
    Console.WriteLine($"flange pose:{flange.tran.x},{flange.tran.y},{flange.tran.z},{flange.rpy.rx},{flange.rpy.ry},{flange.rpy.rz}");

    int id = 0;
    robot.GetActualTCPNum(0, ref id);
    Console.WriteLine($"tcp num:{id}");

    robot.GetActualWObjNum(0, ref id);
    Console.WriteLine($"wobj num:{id}");

    double[] jtorque = new double[6];
    robot.GetJointTorques(0, jtorque);
    Console.WriteLine($"torques:{jtorque[0]},{jtorque[1]},{jtorque[2]},{jtorque[3]},{jtorque[4]},{jtorque[5]}");

    double t_ms = 0;
    robot.GetSystemClock(ref t_ms);
    Console.WriteLine($"system clock:{t_ms}");

    int config = 0;
    robot.GetRobotCurJointsConfig(ref config);
    Console.WriteLine($"joint config:{config}");

    byte motionDone = 0;
    robot.GetRobotMotionDone(ref motionDone);
    Console.WriteLine($"GetRobotMotionDone :{motionDone}");

    int len = 0;
    robot.GetMotionQueueLength(ref len);
    Console.WriteLine($"GetMotionQueueLength :{len}");

    byte emergState = 0;
    robot.GetRobotEmergencyStopState(ref emergState);
    Console.WriteLine($"GetRobotEmergencyStopState :{emergState}");

    int comstate = 0;
    robot.GetSDKComState(ref comstate);
    Console.WriteLine($"GetSDKComState :{comstate}");

    byte si0_state = 0, si1_state = 0;
    robot.GetSafetyStopState(ref si0_state, ref si1_state);
    Console.WriteLine($"GetSafetyStopState :{si0_state} {si1_state}");

    double[] temp = new double[6];
    robot.GetJointDriverTemperature(temp);
    Console.WriteLine($"Temperature:{temp[0]},{temp[1]},{temp[2]},{temp[3]},{temp[4]},{temp[5]}");

    double[] torque = new double[6];
    robot.GetJointDriverTorque(torque);
    Console.WriteLine($"torque:{torque[0]},{torque[1]},{torque[2]},{torque[3]},{torque[4]},{torque[5]}");

    robot.GetRobotRealTimeState(ref pkg);
}

8.26. Inverse kinematics solution

/**
* @brief Inverse kinematics solution
* @param [in] type 0-absolute position (base coordinate system), 1-incremental position (base coordinate system), 2-incremental position (instrumental coordinate system)
* @param [in] desc_pos Cartesian Position
* @param [in] config joint_space_configuration, [-1] - solve with reference to the current joint position, [0~7] - solve according to a specific joint space configuration
* @param [out] joint_pos Joint position.
* @return Error code
*/
int GetInverseKin(int type, DescPose desc_pos, int config, ref JointPos joint_pos);

8.27. Inverse kinematics solution (reference position)

/**
* @brief Inverse kinematics solving, referencing a specified joint position to determine if there is a solution.
* @param [in] type 0-absolute position (base coordinate system), 1-incremental position (base coordinate system), 2-incremental position (instrumental coordinate system)
* @param [in] desc_pos Cartesian Position
* @param [in] joint_pos_ref reference joint position
* @param [out] result 0-no solution, 1-with solution
* @return Error code
*/
int GetInverseKinRef(int posMode, DescPose desc_pos, JointPos joint_pos_ref, ref JointPos joint_pos);

8.28. Inverse Kinematics Solution, Cartesian Space Includes Extended Axis Position

/**
* @brief Inverse kinematics solution, Cartesian space includes extended axis position
* @param [in] type 0-Absolute pose (base coordinate system), 1-Incremental pose (base coordinate system), 2-Incremental pose (tool coordinate system)
* @param [in] desc_pos Cartesian pose
* @param [in] exaxis Extended axis position
* @param [in] tool Tool number
* @param [in] workPiece Workpiece number
* @param [out] joint_pos Joint position
* @param [in] config -1: automatic solution, 0-7 correspond to eight sets of solutions
* @return Error code
*/
public int GetInverseKinExaxis(int type, DescPose desc_pos, ExaxisPos exaxis, int tool, int workPiece, ref JointPos joint_pos, int config = -1);

8.29. Example Code for Inverse Kinematics Solution Including Extended Axis Position

public void TestInverseKinExaxis()
{
    ROBOT_STATE_PKG pkg = new ROBOT_STATE_PKG();
    robot.GetRobotRealTimeState(ref pkg);
    int toolnum = pkg.tool;
    int workPcsNum = pkg.user;

    DescPose desc = new DescPose(-547.469, -47.361, 184.149, 169.843, 4.579, 82.557);
    ExaxisPos exaxis = new ExaxisPos(0.0, 0.0, 0.0, 0.0);
    JointPos jointPos = new JointPos(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);

    robot.GetInverseKinExaxis(0, desc, exaxis, toolnum, workPcsNum, ref jointPos, 0);
    Console.WriteLine($"GetInverseKinExaxis joint is {jointPos.jPos[0]}, {jointPos.jPos[1]}, {jointPos.jPos[2]}, {jointPos.jPos[3]}, {jointPos.jPos[4]}, {jointPos.jPos[5]}");
}

8.30. Example Code for Inverse Kinematics Solution Including Extended Axis Position

/**
* @brief Inverse kinematics solution, determine if there is a solution for the specified reference joint position.
* @param [in] posMode 0 absolute position, 1 relative position-base coordinate system, 2 relative position-tool coordinate system.
* @param [in] desc_pos Cartesian position.
* @param [in] joint_pos_ref Reference joint position.
* @param [out] hasResult 0-no solution, 1-has solution
* @return Error code
*/
int GetInverseKinHasSolution(int posMode, DescPose desc_pos, JointPos joint_pos_ref, ref bool hasResult);

8.31. Positive kinematics solution

/**
* @brief Positive kinematics solution.
* @param [in] joint_pos joint position
* @param [out] desc_pos Cartesian position
* @return Error code.
*/
int GetForwardKin(JointPos joint_pos, ref DescPose desc_pos);

8.32. Robot Forward and Reverse Kinematics Calculation Code Example

private void button30_Click(object sender, EventArgs e)
{
     JointPos j1 = new JointPos(-11.904f, -99.669f, 117.473f, -108.616f, -91.726f, 74.256f);
     DescPose desc_pos1 = new DescPose(-419.524f, -13.000f, 351.569f, -178.118f, 0.314f, 3.833f);
     JointPos inverseRtn = new JointPos(0, 0, 0, 0, 0, 0, 0, 0);
     robot.GetInverseKin(0, desc_pos1, -1, ref inverseRtn);
     Console.WriteLine($"dcs1 GetInverseKin rtn is {inverseRtn.jPos[0]} {inverseRtn.jPos[1]} {inverseRtn.jPos[2]} {inverseRtn.jPos[3]} { inverseRtn.jPos[4]} {inverseRtn.jPos[5]}");
     robot.GetInverseKinRef(0, desc_pos1, j1, ref inverseRtn);
     Console.WriteLine($"dcs1 GetInverseKinRef rtn is {inverseRtn.jPos[0]} {inverseRtn.jPos[1]} {inverseRtn.jPos[2]} {inverseRtn.jPos[3]} { inverseRtn.jPos[4]} {inverseRtn.jPos[5]}");
     bool hasResut = false;
     robot.GetInverseKinHasSolution(0, desc_pos1, j1, ref hasResut);
     Console.WriteLine($"dcs1 GetInverseKinRef result {hasResut}");
     DescPose forwordResult = new DescPose(0, 0, 0, 0, 0, 0, 0);
     robot.GetForwardKin(j1, ref forwordResult);
     Console.WriteLine($"jpos1 forwordResult rtn is {forwordResult.tran.x} {forwordResult.tran.y} {forwordResult.tran.z} {forwordResult.rpy.rx } {forwordResult.rpy.ry} {forwordResult.rpy.rz}");
}

8.33. Querying Robot Teaching Management Point Data

/**
* @brief Query robot instruction management point data.
* @param [in] name Point name.
* @param [out] data point data double[20]{x,y,z,rx,ry,rz,j1,j2,j3,j4,j5,j6,tool, wobj,speed,acc,e1,e2,e3,e4}
* @return Error code
*/
int GetRobotTeachingPoint(string name, ref double[] data);

8.34. Get the robot DH parameter compensation value

/**
* @brief Get the robot DH parameter compensation value.
* @param [out] dhCompensation Robot DH parameter compensation value (mm) [cmpstD1,cmpstA2,cmpstA3,cmpstD4,cmpstD5,cmpstD6]
* @return Error code
*/
int GetDHCompensation(ref double[] dhCompensation).

8.35. Get control box SN code

/**
* @brief Get control box SN code.
* @param [out] SNCode Control Box SN Code
* @return Error code.
*/
int GetRobotSN(ref string SNCode);

8.36. Query the robot teaching management point data code example

private void button31_Click(object sender, EventArgs e)
{
    string name = "A0";
    double[] data = new double[20];
    int rtn = robot.GetRobotTeachingPoint(name, ref data);
    Console.WriteLine(" {0} name is: {1} \n", rtn, name);
    for (int i = 0; i < 20; i++)
    {
        Console.WriteLine("data is: {0} \n", data[i]);
    }

    int que_len = 0;
    rtn = robot.GetMotionQueueLength(ref que_len);
    Console.WriteLine("GetMotionQueueLength rtn is: {0}, queue length is: {1} \n", rtn, que_len);

    double[] dh = { 0, 0, 0, 0, 0, 0 };
    int retval = 0;
    retval = robot.GetDHCompensation(ref dh);
    Console.WriteLine($"retval is  {retval}");
    Console.WriteLine($"dh is {dh[0]}, {dh[1]}, {dh[2]}, {dh[3]}, {dh[4]}, {dh[5]}");
    string SN = "";
    robot.GetRobotSN(ref SN);
    Console.WriteLine($"robot SN is  {SN}");
}

8.37. Get Tool Coordinate System by ID

Changed in version C#SDK-V3.9.8.

/**
* @brief Get tool coordinate system by ID
* @param [in] id Tool coordinate system number
* @param [out] coord Coordinate system values
* @param [out] type Tool type: 0-tool; 1-sensor
* @param [out] install Installation position: 0-robot end; 1-external to robot
* @param [out] toolID Tool ID
* @param [out] loadNo Load number
* @return Error code
*/
int GetToolCoordWithID(int id, ref DescPose coord, ref int type, ref int install, ref int toolID, ref int loadNo)

8.38. Get Workpiece Coordinate System by ID

Changed in version C#SDK-V3.9.8.

/**
* @brief Get workpiece coordinate system by ID
* @param [in] id Workpiece coordinate system number
* @param [out] coord Coordinate system values
* @param [out] refFrame Reference coordinate system
* @return Error code
*/
public int GetWObjCoordWithID(int id, ref DescPose coord, ref int refFrame)

8.39. Get External Tool Coordinate System by ID

Changed in version C#SDK-V3.9.8.

/**
* @brief Get external tool coordinate system by ID
* @param [in] id External tool coordinate system number, 20-39 correspond to external tool coordinate systems 0-19
* @param [out] coord TCP pose of the fixed external tool on the robot
* @param [out] tcoord Workpiece coordinate system pose mounted on the robot end
* @return Error code
*/
public int GetExToolCoordWithID(int id, ref DescPose coord, ref DescPose tcoord)

8.40. Get Extended Axis Coordinate System by ID

Changed in version C#SDK-V3.9.8.

/**
* @brief Get extended axis coordinate system by ID
* @param [in] id External tool coordinate system number
* @param [out] coord Coordinate system values
* @param [out] axisCoordNum Extended axis number; bit0-bit3 correspond to extended axis 1-extended axis 4; e.g., axisCoordNum value 3 corresponds to extended axes [1, 2]
* @param [out] calibFlag Calibration flag; 0-not calibrated; 1-calibrated
* @return Error code
*/
public int GetExAxisCoordWithID(int id, ref DescPose coord, ref int axisCoordNum, ref int calibFlag)

8.41. Get Current Tool Coordinate System

Added in version C#SDK-V1.1.8: Web-3.8.6

/**
 * @brief Get Current Tool Coordinate System
 * @param [out] coord Coordinate system value
 * @return Error code
 */
public int GetCurToolCoord(ref DescPose coord)

8.42. Get Current Work Object Coordinate System

Added in version C#SDK-V1.1.8: Web-3.8.6

/**
 * @brief Get Current Work Object Coordinate System
 * @param [out] coord Coordinate system value
 * @return Error code
 */
public int GetCurWObjCoord(ref DescPose coord)

8.43. Get Current External Tool Coordinate System

Added in version C#SDK-V1.1.8: Web-3.8.6

/**
 * @brief Get Current External Tool Coordinate System
 * @param  [out] coord Coordinate system value
 * @return Error code
 */
public int GetCurExToolCoord(ref DescPose coord)

8.44. Get Current Extended Axis Coordinate System

Added in version C#SDK-V1.1.8: Web-3.8.6

/**
 * @brief Get Current Extended Axis Coordinate System
 * @param [out] coord Coordinate system value
 * @return Error code
 */
public int GetCurExAxisCoord(ref DescPose coord)

8.45. Code Example for Getting Coordinates by ID

Changed in version C#SDK-V3.9.8.

public int TestCoord()
{
    int rtn;
    int id = 1;

    // GetToolCoordWithID
    DescPose toolCoord = new DescPose(0, 0, 0, 0, 0, 0);
    int type = 0, install = 0, toolID = 0, loadNo = 0;
    rtn = robot.GetToolCoordWithID(id, ref toolCoord, ref type, ref install, ref toolID, ref loadNo);
    Console.WriteLine("GetToolCoordWithID {0}, {1:F3} {2:F3} {3:F3} {4:F3} {5:F3} {6:F3}, type={7}, install={8}, toolID={9}, loadNo={10}",
        id, toolCoord.tran.x, toolCoord.tran.y, toolCoord.tran.z,
        toolCoord.rpy.rx, toolCoord.rpy.ry, toolCoord.rpy.rz, type, install, toolID, loadNo);

    // GetWObjCoordWithID
    DescPose wobjCoord = new DescPose(0, 0, 0, 0, 0, 0);
    int refFrame = 0;
    rtn = robot.GetWObjCoordWithID(id, ref wobjCoord, ref refFrame);
    Console.WriteLine("GetWObjCoordWithID {0}, {1:F3} {2:F3} {3:F3} {4:F3} {5:F3} {6:F3}, refFrame={7}",
        id, wobjCoord.tran.x, wobjCoord.tran.y, wobjCoord.tran.z,
        wobjCoord.rpy.rx, wobjCoord.rpy.ry, wobjCoord.rpy.rz, refFrame);

    // GetExToolCoordWithID
    DescPose extoolCoord = new DescPose(0, 0, 0, 0, 0, 0);
    DescPose exworkpieceCoord = new DescPose(0, 0, 0, 0, 0, 0);
    rtn = robot.GetExToolCoordWithID(21, ref extoolCoord, ref exworkpieceCoord);
    Console.WriteLine("GetExToolCoordWithID 21, {0:F3} {1:F3} {2:F3} {3:F3} {4:F3} {5:F3}",
        extoolCoord.tran.x, extoolCoord.tran.y, extoolCoord.tran.z,
        extoolCoord.rpy.rx, extoolCoord.rpy.ry, extoolCoord.rpy.rz);
    Console.WriteLine("  tcoord: {0:F3} {1:F3} {2:F3} {3:F3} {4:F3} {5:F3}",
        exworkpieceCoord.tran.x, exworkpieceCoord.tran.y, exworkpieceCoord.tran.z,
        exworkpieceCoord.rpy.rx, exworkpieceCoord.rpy.ry, exworkpieceCoord.rpy.rz);

    // GetExAxisCoordWithID
    DescPose exAxisCoord = new DescPose(0, 0, 0, 0, 0, 0);
    int axisCoordNum = 0, calibFlag = 0;
    rtn = robot.GetExAxisCoordWithID(id, ref exAxisCoord, ref axisCoordNum, ref calibFlag);
    Console.WriteLine("GetExAxisCoordWithID {0}, {1:F3} {2:F3} {3:F3} {4:F3} {5:F3} {6:F3}, axisCoordNum={7}, calibFlag={8}",
        id, exAxisCoord.tran.x, exAxisCoord.tran.y, exAxisCoord.tran.z,
        exAxisCoord.rpy.rx, exAxisCoord.rpy.ry, exAxisCoord.rpy.rz, axisCoordNum, calibFlag);

    // GetTargetPayloadWithID
    double weight = 0.0;
    DescTran cog = new DescTran(0, 0, 0);
    rtn = robot.GetTargetPayloadWithID(id, ref weight, ref cog);
    Console.WriteLine("GetTargetPayloadWithID {0}, {1:F3} {2:F3} {3:F3} {4:F3}",
        id, weight, cog.x, cog.y, cog.z);

    // GetCurToolCoord
    rtn = robot.GetCurToolCoord(ref toolCoord);
    Console.WriteLine("GetCurToolCoord {0:F3} {1:F3} {2:F3} {3:F3} {4:F3} {5:F3}",
        toolCoord.tran.x, toolCoord.tran.y, toolCoord.tran.z,
        toolCoord.rpy.rx, toolCoord.rpy.ry, toolCoord.rpy.rz);

    // GetCurWObjCoord
    rtn = robot.GetCurWObjCoord(ref wobjCoord);
    Console.WriteLine("GetCurWObjCoord {0:F3} {1:F3} {2:F3} {3:F3} {4:F3} {5:F3}",
        wobjCoord.tran.x, wobjCoord.tran.y, wobjCoord.tran.z,
        wobjCoord.rpy.rx, wobjCoord.rpy.ry, wobjCoord.rpy.rz);

    // GetCurExToolCoord
    rtn = robot.GetCurExToolCoord(ref extoolCoord);
    Console.WriteLine("GetCurExToolCoord {0:F3} {1:F3} {2:F3} {3:F3} {4:F3} {5:F3}",
        extoolCoord.tran.x, extoolCoord.tran.y, extoolCoord.tran.z,
        extoolCoord.rpy.rx, extoolCoord.rpy.ry, extoolCoord.rpy.rz);

    // GetCurExAxisCoord
    rtn = robot.GetCurExAxisCoord(ref exAxisCoord);
    Console.WriteLine("GetCurExAxisCoord {0:F3} {1:F3} {2:F3} {3:F3} {4:F3} {5:F3}",
        exAxisCoord.tran.x, exAxisCoord.tran.y, exAxisCoord.tran.z,
        exAxisCoord.rpy.rx, exAxisCoord.rpy.ry, exAxisCoord.rpy.rz);

    // GetTargetPayload / GetTargetPayloadCog
    double weightT = 0.0;
    DescTran cogT = new DescTran(0, 0, 0);
    robot.GetTargetPayload(0, ref weightT);
    robot.GetTargetPayloadCog(0, ref cogT);
    Console.WriteLine("GetTargetPayload {0:F3} {1:F3} {2:F3} {3:F3}",
        weightT, cogT.x, cogT.y, cogT.z);

    // SetToolCoord
    DescPose coordSet = new DescPose(0, 1, 2, 3, 4, 5);
    rtn = robot.SetToolCoord(1, coordSet, 0, 0, 1, 0);
    Console.WriteLine("SetToolCoord(1) rtn={0}", rtn);

    // SetWObjCoord
    rtn = robot.SetWObjCoord(1, coordSet, 0);
    Console.WriteLine("SetWObjCoord(1) rtn={0}", rtn);

    // SetLoadWeight + SetLoadCoord
    rtn = robot.SetLoadWeight(1, 1.3f);
    Console.WriteLine("SetLoadWeight(1,1.3) rtn={0}", rtn);

    DescTran loadCog = new DescTran(10, 20, 30);
    rtn = robot.SetLoadCoord(1, loadCog);
    Console.WriteLine("SetLoadCoord(1,10,20,30) rtn={0}", rtn);

    // SetExToolCoord
    DescPose etcp = new DescPose(0, 0, 100, 0, 0, 0);
    DescPose etool = new DescPose(0, 0, 50, 0, 0, 0);
    rtn = robot.SetExToolCoord(21, etcp, etool);
    Console.WriteLine("SetExToolCoord(21) rtn={0}", rtn);
    // SetExToolList
    rtn = robot.SetExToolList(21, etcp, etool);
    Console.WriteLine("SetExToolList(21) rtn={0}", rtn);

    // ExtAxisActiveECoordSys
    rtn = robot.ExtAxisActiveECoordSys(1, 1, coordSet, 1);
    Console.WriteLine("ExtAxisActiveECoordSys(1,1,..,1) rtn={0}", rtn);

    return 0;
}