7. Security settings
7.1. Set Collision Level
1/**
2* @brief Set collision level
3* @param [in] mode 0-Level, 1-Percentage
4* @param [in] level Collision threshold, level range [], percentage range [0~1]
5* @param [in] config 0-Don't update config file, 1-Update config file
6* @return Error code
7*/
8errno_t SetAnticollision(int mode, float level[6], int config);
7.2. Set Post-Collision Strategy
Changed in version C++SDK-v2.1.5.0.
1/**
2 * @brief Set post-collision strategy
3 * @param [in] strategy 0-Error pause; 1-Continue running; 2-Error stop; 3-Gravity torque mode; 4-Oscillation response mode; 5-Collision rebound mode
4 * @param [in] safeTime Safe stop time [1000 - 2000]ms
5 * @param [in] safeDistance Safe stop distance [1-150]mm
6 * @param [in] safetyMargin J1-J6 safety factor [1-10]
7 * @return Error code
8 */
9 errno_t SetCollisionStrategy(int strategy, int safeTime, int safeDistance, int safetyMargin[]);
7.3. Custom Collision Detection Threshold Start
Added in version C++SDK-v2.2.0-3.8.0.
1 /**
2 * @brief Start custom collision detection threshold, set joint and TCP collision detection thresholds
3 * @param [in] flag 1-Joint detection only; 2-TCP detection only; 3-Both joint and TCP detection
4 * @param [in] jointDetectionThreshould Joint collision detection threshold j1-j6
5 * @param [in] tcpDetectionThreshould TCP collision detection threshold, xyzabc
6 * @param [in] block 0-Non-blocking; 1-Blocking
7 * @return Error code
8 */
9 errno_t CustomCollisionDetectionStart(int flag, double jointDetectionThreshould[6], double tcpDetectionThreshould[6], int block);
7.4. Custom Collision Detection Threshold End
Added in version C++SDK-v2.2.0-3.8.0.
1 /**
2 * @brief Close custom collision detection threshold function
3 * @return Error code
4 */
5 errno_t CustomCollisionDetectionEnd();
7.5. Robot Collision Level Setting Code Example
1int TestCollision(void)
2 {
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 int mode = 0;
14 int config = 1;
15 float level1[6] = { 1.0,2.0,3.0,4.0,5.0,6.0 };
16 float level2[6] = { 50.0,20.0,30.0,40.0,50.0,60.0 };
17 rtn = robot.SetAnticollision(mode, level1, config);
18 printf("SetAnticollision mode 0 rtn is %d\n", rtn);
19 mode = 1;
20 rtn = robot.SetAnticollision(mode, level2, config);
21 printf("SetAnticollision mode 1 rtn is %d\n", rtn);
22 JointPos p1Joint(-11.904, -99.669, 117.473, -108.616, -91.726, 74.256);
23 JointPos p2Joint(-45.615, -106.172, 124.296, -107.151, -91.282, 74.255);
24 DescPose p1Desc(-419.524, -13.000, 351.569, -178.118, 0.314, 3.833);
25 DescPose p2Desc(-321.222, 185.189, 335.520, -179.030, -1.284, -29.869);
26 ExaxisPos exaxisPos(0.0, 0.0, 0.0, 0.0);
27 DescPose offdese(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
28 robot.MoveL(&p2Joint, &p2Desc, 0, 0, 100, 100, 100, 2, &exaxisPos, 0, 0, &offdese);
29 robot.ResetAllError();
30 int safety[6] = { 5,5,5,5,5,5 };
31 rtn = robot.SetCollisionStrategy(3, 1000, 150, 250, safety);
32 printf("SetCollisionStrategy rtn is %d\n", rtn);
33 double jointDetectionThreshould[6] = { 0.1, 0.1, 0.1, 0.1, 0.1, 0.1 };
34 double tcpDetectionThreshould[6] = { 60,60,60,60,60,60 };
35 rtn = robot.CustomCollisionDetectionStart(3, jointDetectionThreshould, tcpDetectionThreshould, 0);
36 cout << "CustomCollisionDetectionStart rtn is " << rtn << endl;
37 robot.MoveL(&p1Joint, &p1Desc, 0, 0, 100, 100, 100, -1, &exaxisPos, 0, 0, &offdese);
38 robot.MoveL(&p2Joint, &p2Desc, 0, 0, 100, 100, 100, -1, &exaxisPos, 0, 0, &offdese);
39 rtn = robot.CustomCollisionDetectionEnd();
40 cout << "CustomCollisionDetectionEnd rtn is " << rtn << endl;
41 robot.CloseRPC();
42 return 0;
43 }
7.6. Set Positive Limit
1/**
2* @brief Set positive limit
3* @param [in] limit Six joint positions, unit deg
4* @return Error code
5*/
6errno_t SetLimitPositive(float limit[6]);
7.7. Set Negative Limit
1/**
2* @brief Set negative limit
3* @param [in] limit Six joint positions, unit deg
4* @return Error code
5*/
6errno_t SetLimitNegative(float limit[6]);
7.8. Get Joint Soft Limit Angles
1/**
2* @brief Get joint soft limit angles
3* @param [in] flag 0-Blocking, 1-Non-blocking
4* @param [out] negative Negative limit angle, unit deg
5* @param [out] positive Positive limit angle, unit deg
6* @return Error code
7*/
8errno_t GetJointSoftLimitDeg(uint8_t flag, float negative[6], float positive[6]);
7.9. Robot Limit Setting Code Example
1int TestLimit(void)
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 float plimit[6] = { 170.0,80.0,150.0,80.0,170.0,160.0 };
14 robot.SetLimitPositive(plimit);
15 float nlimit[6] = { -170.0,-260.0,-150.0,-260.0,-170.0,-160.0 };
16 robot.SetLimitNegative(nlimit);
17 float neg_deg[6] = { 0.0 }, pos_deg[6] = { 0.0 };
18 robot.GetJointSoftLimitDeg(0, neg_deg, pos_deg);
19 printf("neg limit deg:%f,%f,%f,%f,%f,%f\n", neg_deg[0], neg_deg[1], neg_deg[2], neg_deg[3], neg_deg[4], neg_deg[5]);
20 printf("pos limit deg:%f,%f,%f,%f,%f,%f\n", pos_deg[0], pos_deg[1], pos_deg[2], pos_deg[3], pos_deg[4], pos_deg[5]);
21 robot.CloseRPC();
22 return 0;
23}
7.10. Set Robot Collision Detection Method
1/**
2* @brief Set robot collision detection method
3* @param [in] method Collision detection method: 0-Current mode; 1-Dual encoder; 2-Both current and dual encoder
4* @param [in] thresholdMode Collision level threshold method: 0-Fixed collision level threshold; 1-Custom collision detection threshold
5* @return Error code
6*/
7errno_t SetCollisionDetectionMethod(int method, int thresholdMode = 0);
7.11. Set Static Collision Detection On/Off
Added in version C++SDK-v2.1.5.0.
1/**
2 * @brief Set static collision detection on/off
3 * @param [in] status 0-Off; 1-On
4 * @return Error code
5 */
6errno_t SetStaticCollisionOnOff(int status);
7.12. Robot Collision Detection Method Code Example
Added in version C++SDK-v2.1.5.0.
1int TestCollisionMethod(void)
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 rtn = robot.SetCollisionDetectionMethod(0, 0);
14 printf("SetCollisionDetectionMethod rtn is %d\n", rtn);
15 rtn = robot.SetStaticCollisionOnOff(1);
16 printf("SetStaticCollisionOnOff On rtn is %d\n", rtn);
17 rtn = robot.Sleep(5000);
18 rtn = robot.SetStaticCollisionOnOff(0);
19 printf("SetStaticCollisionOnOff Off rtn is %d\n", rtn);
20 robot.CloseRPC();
21 return 0;
22}
7.13. Joint Torque Power Detection
Added in version C++SDK-v2.1.5.0.
1/**
2 * @brief Joint torque power detection
3 * @param [in] status 0-Off; 1-On
4 * @param [in] power Set maximum power (W);
5 * @return Error code
6 */
7errno_t SetPowerLimit(int status, double power);
7.14. Joint Torque Power Detection Code Example
1int TestPowerLimit(void)
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 robot.DragTeachSwitch(1);
14 robot.SetPowerLimit(1, 200);
15 float torques[] = { 0, 0, 0, 0, 0, 0 };
16 robot.GetJointTorques(1, torques);
17 int count = 100;
18 robot.ServoJTStart();
19 int error = 0;
20 while (count > 0)
21 {
22 error = robot.ServoJT(torques, 0.001);
23 count = count - 1;
24 robot.Sleep(1);
25 }
26 error = robot.ServoJTEnd();
27 robot.DragTeachSwitch(0);
28 robot.CloseRPC();
29 return 0;
30}
7.15. Set Safety Speed Parameters
1/**
2* @brief Set safety speed parameters
3* @param [in] enable 0-off; 1-manual mode enable; 2-all modes enable
4* @param [in] maxTCPVel Maximum TCP speed limit; [0-1000] mm/s
5* @param [in] strategy Post-overspeed strategy; 0-stop and alarm; 1-auto speed limit; 2-stop and alarm with disable
6* @param [in] maxJointVel Maximum speed for 6 joints (°/s), default 45°/s
7* @return Error code
8*/
9errno_t SetVelReducePara(int enable, double maxTCPVel, int strategy, std::vector<double> maxJointVel = {45.0, 45.0, 45.0, 45.0, 45.0, 45.0});
7.16. SDK Code Example for Setting Safety Speed Parameters
1int TestSetVelReducePara()
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 JointPos j1(0, -90, 90, 0, 0, 0);
14 JointPos j2(90, -90, 90, 0, 0, 0);
15 ExaxisPos epos(0, 0, 0, 0);
16 DescPose offset_pos(0, 0, 0, 0, 0, 0);
17 robot.SetSpeed(80);
18 rtn = robot.SetVelReducePara(2, 30, 1);
19 printf("SetVelReducePara param error rtn is %d\n", rtn);
20 rtn = robot.SetVelReducePara(0, 30, 1);
21 printf("SetVelReducePara disable reduce vel rtn is %d\n", rtn);
22 robot.MoveJ(&j1, 0, 0, 100, 100, 100, &epos, -1, 0, &offset_pos);
23 robot.MoveJ(&j2, 0, 0, 100, 100, 100, &epos, -1, 0, &offset_pos);
24 rtn = robot.SetVelReducePara(1, 30, 1);
25 printf("SetVelReducePara reduce vel rtn is %d\n", rtn);
26 robot.MoveJ(&j1, 0, 0, 100, 100, 100, &epos, -1, 0, &offset_pos);
27 robot.MoveJ(&j2, 0, 0, 100, 100, 100, &epos, -1, 0, &offset_pos);
28 rtn = robot.SetVelReducePara(2, 30, 2);
29 printf("SetVelReducePara disable robot rtn is %d\n", rtn);
30 robot.MoveJ(&j1, 0, 0, 100, 100, 100, &epos, -1, 0, &offset_pos);
31 robot.MoveJ(&j2, 0, 0, 100, 100, 100, &epos, -1, 0, &offset_pos);
32 robot.Sleep(2000);
33 robot.ResetAllError();
34 robot.RobotEnable(1);
35 robot.Sleep(1000);
36 rtn = robot.SetVelReducePara(2, 30, 0);
37 printf("SetVelReducePara report error rtn is %d\n", rtn);
38 robot.MoveJ(&j1, 0, 0, 100, 100, 100, &epos, -1, 0, &offset_pos);
39 robot.MoveJ(&j2, 0, 0, 100, 100, 100, &epos, -1, 0, &offset_pos);
40 robot.CloseRPC();
41 robot.Sleep(1000);
42 return 0;
43}
7.17. Code Example for Setting Robot Joint Safety Speed
1int TestSetJointVelReducePara()
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 int rtn = robot.RPC("192.168.58.2");
8 if (rtn != 0)
9 {
10 return -1;
11 }
12 robot.SetReConnectParam(true, 30000, 500);
13 JointPos j1(10.220, -11.121, -118.086, -46.739, 82.036, 131.503);
14 JointPos j2(89.782, -11.122, -118.086, -46.740, 82.036, 131.504);
15 ExaxisPos epos(0, 0, 0, 0);
16 DescPose offset_pos(0, 0, 0, 0, 0, 0);
17 robot.SetSpeed(20);
18
19 std::vector<double> maxJointVelA = {100.0, 100.0, 100.0, 100.0, 100.0, 100.0 };
20 rtn = robot.SetVelReducePara(2, 200, 0, maxJointVelA);
21 printf("SetVelReducePara param error rtn is %d\n", rtn);
22 robot.MoveJ(&j1, 1, 2, 100, 100, 100, &epos, -1, 0, &offset_pos);
23 robot.MoveJ(&j2, 1, 2, 100, 100, 100, &epos, -1, 0, &offset_pos);
24 std::vector<double> maxJointVelB = { 20.0, 20.0, 20.0, 20.0, 20.0, 20.0 };
25 rtn = robot.SetVelReducePara(2, 200, 0, maxJointVelB);
26 printf("SetVelReducePara reduce vel rtn is %d\n", rtn);
27 robot.MoveJ(&j1, 1, 2, 100, 100, 100, &epos, -1, 0, &offset_pos);
28 robot.MoveJ(&j2, 1, 2, 100, 100, 100, &epos, -1, 0, &offset_pos);
29 robot.Sleep(2000);
30 robot.CloseRPC();
31 return 0;
32}
7.18. Get Safety Configuration Parameter Checksum
1/**
2* @brief Get safety configuration parameter checksum
3* @param [out] status Verification status, 0-valid, 1-verifying, 2-verification failed
4* @param [out] checksum Checksum, 8-digit hexadecimal
5* @return Error code
6*/
7errno_t GetSafetyParamsCheckSum(int& status, uint32_t& checksum);
7.19. Safety Operation Password Verification
1/**
2* @brief Safety operation password verification
3* @param [in] status Verification, 0-enable, 1-disable
4* @param [in] password Password
5* @return Error code
6*/
7errno_t SafetyOPPasswordCheck(int status, std::string password);
7.20. Safety Configuration Parameter Password Verification Code Example
1int TestSafetyParamsCheckSum()
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot;
5 robot.LoggerInit();
6 robot.SetLoggerLevel(1);
7 robot.SetReConnectParam(true, 30000, 500);
8 int rtn = robot.RPC("192.168.58.2");
9 if (rtn != 0)
10 {
11 return -1;
12 }
13 int status = 0;
14 uint32_t checksum = 0;
15 rtn = robot.GetSafetyParamsCheckSum(status, checksum);
16 printf("GetSafetyParamsCheckSum: error=%d, status=%d, hex_code= 0x%x \n", rtn, status, checksum);
17 robot.Sleep(3000);
18 rtn = robot.SafetyOPPasswordCheck(0, "123");
19 printf("SafetyOPPasswordCheck: error= %d\n", rtn);
20 float level1[6] = { 2.0, 2.0, 2.0, 2.0, 2.0, 2.0 };
21 rtn = robot.SetAnticollision(0, level1, 1);
22 printf("SetAnticollision: error=%d\n", rtn);
23 int safety[6] = { 10, 10, 10, 10, 10, 10 };
24 rtn = robot.SetCollisionStrategy(0, 1000, 150, 0, safety);
25 printf("SetCollisionStrategy rtn is %d\n", rtn);
26 robot.Sleep(1000);
27 rtn = robot.GetSafetyParamsCheckSum(status, checksum);
28 printf("GetSafetyParamsCheckSum(again): error=%d, status=%d, hex_code= 0x%x \n", rtn, status, checksum);
29 robot.Sleep(2000);
30 robot.CloseRPC();
31 return 0;
32}
7.21. Set TLS Encryption Certificate Path
1/**
2* @brief Set the TLS encryption certificate path
3* @param [in] certPath Certificate path; if empty, the default is the certificate in the directory where the executable file is located; certificate names: ca.crt; client.crt; client.key
4* @return Error code
5*/
6errno_t MtlsLink(std::string certPath = "");
7.22. Code Example for Setting the TLS Encryption Certificate Path
1int TestSendModeTcp()
2{
3 ROBOT_STATE_PKG pkg = {};
4 FRRobot robot(true);
5 int rtn = 0;
6 robot.LoggerInit();
7 robot.SetLoggerLevel(1);
8 rtn = robot.SetCmdRpyCallback(UDPFrameCallBack);
9 robot.MtlsLink("D://TLSCERTS/");
10 robot.SetReConnectParam(true, 300000, 50);
11 rtn = robot.RPC("192.168.58.2");
12 if (rtn != 0)
13 {
14 return -1;
15 }
16
17 std::string mode0 = "/f/bIII52III236III7IIIMode(0)III/b/f";
18 std::string mode1 = "/f/bIII52III236III7IIIMode(1)III/b/f";
19 printf("[SEND] %s\n", mode0.c_str());
20 robot.SendTCPFrame(mode0);
21 robot.Sleep(1000);
22 printf("[SEND] %s\n", mode1.c_str());
23 robot.SendTCPFrame(mode1);
24 robot.Sleep(1000);
25 printf("[SEND] %s\n", mode0.c_str());
26 robot.SendTCPFrame(mode0);
27 robot.CloseRPC();
28 robot.Sleep(1000);
29 return 0;
30}