8. Status query

8.1. Get the current joint position (angle).

prototype	GetActualJointPosDegree(flag=1)
Description	Get the current position (angle) of the joint.
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking, default 1
Return Value	errorcode Success-0 Failure- errcode joint_pos=[j1,j2,j3,j4,j5,j6]: current joint position (angle)

8.2. Get the current joint position in radians.

Prototype	GetActualJointPosRadian(flag=1)
Description	Get the current position (in radians) of the joint.
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode joint_pos=[j1,j2,j3,j4,j5,j6]: current joint position (in radians)

8.3. Get joint feedback speed -deg/s

Prototype	GetActualJointSpeedsDegree(flag=1)
Description	Get joint feedback speed -deg/s
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode speed=[j1,j2,j3,j4,j5,j6]: joint feedback speed -deg/s

8.4. Obtain joint feedback acceleration-deg/s^2

Prototype	GetActualJointAccDegree(flag=1)
Description	Obtain joint feedback acceleration-deg/s^2
Mandatory parameters	NULL
Default parameters	flag： 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode acc=[j1,j2,j3,j4,j5,j6]：Joint feedback acceleration-deg/s^2

8.5. Get TCP command synthesis speed

Prototype	GetTargetTCPCompositeSpeed(flag=1)
Description	Get TCP command synthesis speed
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode [tcp_speed,ori_speed]: tcp_speed - linear closing speed ori_speed - attitude closing speed

8.6. Getting TCP Feedback Hopping Speed

Prototype	GetActualTCPCompositeSpeed(flag=1)
Description	Get TCP feedback closing speed
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode [tcp_speed,ori_speed]: tcp_speed - linear closing speed ori_speed - attitude closing speed

8.7. Get TCP command speed

Prototype	GetTargetTCPSpeed(flag=1)
Description	Get TCP command speed
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode speed=[x,y,z,rx,ry,rz]: TCP command speed, mm/s

8.8. Getting TCP feedback speed

Prototype	GetActualTCPSpeed(flag=1)
Description	Get TCP feedback on speed
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode speed=[x,y,z,rx,ry,rz]: TCP feedback speed

8.9. Get current tool position

Prototype	GetActualTCPPose(flag=1)
Description	Get current tool position
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode tcp_pose=[x,y,z,rx,ry,rz]: current tool pose

8.10. Get the current tool coordinate system number

prototype	GetActualTCPNum(flag=1)
Description	Get the current tool coordinate system number
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode tool_id: tool coordinate system number

8.11. Get the current workpiece coordinate system number

prototype	GetActualWObjNum(flag=1)
Description	Get the current workpiece coordinate system number
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode wobj_id: the workpiece coordinate system number

8.12. Get the current end flange position

Prototype	GetActualToolFlangePose(flag=1)
Description	Get current end flange position
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode flange_pose=[x,y,z,rx,ry,rz]: current end flange pose

8.13. Get current joint torque

Prototype	GetJointTorques(flag=1)
Description	Get the current joint torque
Mandatory parameters	NULL
Default parameters	flag: 0-blocking, 1-non-blocking Default 1
Return Value	errorcode Success-0 Failure- errcode torques=[j1,j2,j3,j4,j5,j6]: joint torques.

8.14. Get system time

Prototype	GetSystemClock()
Description	Get system time
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode t_ms: system time in [ms]

8.15. Queries whether robot motion is complete

Prototype	GetRobotMotionDone()
Description	Query if robot movement is complete
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode state: state of robot motion, 0 - unfinished, 1 - finished

8.16. Query the cache length of the robot motion queue

Prototype	GetMotionQueueLength()
Description	Query the cache length of the robot motion queue
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode len：Cache length

8.17. Obtain the emergency stop status of the robot

Prototype	GetRobotEmergencyStopState()
Description	Obtain the emergency stop status of the robot
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode state：Emergency stop status: 0- non-emergency stop, 1- emergency stop

8.18. Obtain the communication status between the SDK and the robot

Prototype	GetSDKComState()
Description	Obtain the communication status between the SDK and the robot
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode state：Communication status: 0- Normal communication, 1- Abnormal communication

8.19. Obtain the safety stop signal

Prototype	GetSafetyStopState()
Description	Obtain the safety stop signal
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode [si0_state,si1_state]：si0_state safety stop signal SI0, 0- invalid, 1- valid si1_state safety stop signal SI1, 0- invalid, 1- valid

8.20. Obtain the current temperature of the joint drive(℃)

Prototype	GetJointDriverTemperature()
Description	Obtain the current temperature of the joint drive(℃)
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode data=[t1,t2,t3,t4,t5,t6]：The current temperatures of each joint

8.21. Obtain the current torque of the joint drive(Nm)

Prototype	GetJointDriverTorque()
Description	Obtain the current torque of the joint drive(Nm)
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode data=[j1,j2,j3,j4,j5,j6]：Joint torque [fx,fy,fz,tx,ty,tz]

8.22. Obtain the status of the robot

Prototype	GetRobotRealTimeState()
Description	Obtain the status of the robot
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode robot_state_pkg：Robot state structure

8.23. Robot status query code example

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
error,[yangle, zangle] = robot.GetRobotInstallAngle()
print(f"yangle:{yangle},zangle:{zangle}")
error,j_deg = robot.GetActualJointPosDegree(0)
print(f"joint pos deg:{j_deg[0]},{j_deg[1]},{j_deg[2]},{j_deg[3]},{j_deg[4]},{j_deg[5]}")
error,jointSpeed = robot.GetActualJointSpeedsDegree(0)
print(f"joint speeds deg:{jointSpeed[0]},{jointSpeed[1]},{jointSpeed[2]},{jointSpeed[3]},{jointSpeed[4]},{jointSpeed[5]}")
error,jointAcc = robot.GetActualJointAccDegree(0)
print(f"joint acc deg:{jointAcc[0]},{jointAcc[1]},{jointAcc[2]},{jointAcc[3]},{jointAcc[4]},{jointAcc[5]}")
error,[tcp_speed, ori_speed] = robot.GetTargetTCPCompositeSpeed(0)
print(f"GetTargetTCPCompositeSpeed tcp {tcp_speed}; ori {ori_speed}")
error,[tcp_speed, ori_speed] = robot.GetActualTCPCompositeSpeed(0)
print(f"GetActualTCPCompositeSpeed tcp {tcp_speed}; ori {ori_speed}")
error,targetSpeed = robot.GetTargetTCPSpeed(0)
print(f"GetTargetTCPSpeed {targetSpeed[0]},{targetSpeed[1]},{targetSpeed[2]},{targetSpeed[3]},{targetSpeed[4]},{targetSpeed[5]}")
error,actualSpeed = robot.GetActualTCPSpeed(0)
print(f"GetActualTCPSpeed {actualSpeed[0]},{actualSpeed[1]},{actualSpeed[2]},{actualSpeed[3]},{actualSpeed[4]},{actualSpeed[5]}")
error,tcp = robot.GetActualTCPPose(0)
print(f"tcp pose:{tcp[0]},{tcp[1]},{tcp[2]},{tcp[3]},{tcp[4]},{tcp[5]}")
error,flange = robot.GetActualToolFlangePose(0)
print(f"flange pose:{flange[0]},{flange[1]},{flange[2]},{flange[3]},{flange[4]},{flange[5]}")
error,id = robot.GetActualTCPNum(0)
print(f"tcp num:{id}")
error,id = robot.GetActualWObjNum(0)
print(f"wobj num:{id}")
error,jtorque = robot.GetJointTorques(0)
print(f"torques:{jtorque[0]},{jtorque[1]},{jtorque[2]},{jtorque[3]},{jtorque[4]},{jtorque[5]}")
error,t_ms = robot.GetSystemClock()
print(f"system clock:{t_ms}")
error,config = robot.GetRobotCurJointsConfig()
print(f"joint config:{config}")
error,motionDone = robot.GetRobotMotionDone()
print(f"GetRobotMotionDone:{motionDone}")
error,len = robot.GetMotionQueueLength()
print(f"GetMotionQueueLength:{len}")
error,emergState = robot.GetRobotEmergencyStopState()
print(f"GetRobotEmergencyStopState:{emergState}")
error,comstate = robot.GetSDKComState()
print(f"GetSDKComState:{comstate}")
error,[si0_state, si1_state] = robot.GetSafetyStopState()
print(f"GetSafetyStopState:{si0_state} {si1_state}")
error,temp = robot.GetJointDriverTemperature()
print(f"Temperature:{temp[0]},{temp[1]},{temp[2]},{temp[3]},{temp[4]},{temp[5]}")
error,torque = robot.GetJointDriverTorque()
print(f"torque:{torque[0]},{torque[1]},{torque[2]},{torque[3]},{torque[4]},{torque[5]}")
error,pkg = robot.GetRobotRealTimeState()
robot.CloseRPC()

8.24. Inverse kinematics solution

prototype	GetInverseKin(type,desc_pos,config=-1)
Description	Inverse kinematics, Cartesian position solving for joint positions
Mandatory parameters	type: 0-absolute position (base coordinate system), 1-relative position (base coordinate system), 2-relative position (tool coordinate system) desc_pose:[x,y,z,rx,ry,rz], tool position in [mm][°]
Default parameters	config: joint configuration, [-1] - solved with reference to current joint position, [0~7] - solved based on joint configuration Default -1
Return Value	errorcode Success-0 Failure- errcode joint_pos=[j1,j2,j3,j4,j5,j6]: inverse kinematics solution, Cartesian positional solution for joint positions

8.25. Inverse Kinematics Solution - Specifying Reference Positions

prototype	GetInverseKinRef(type,desc_pos,joint_pos_ref)
Description	Inverse kinematics, tool position solving for joint positions, solving with reference to specified joint positions
Mandatory parameters	type: 0-absolute position (base coordinate system), 1-relative position (base coordinate system), 2-relative position (tool coordinate system) desc_pos: [x,y,z,rx,ry,rz] tool position in [mm][°] joint_pos_ref: [j1,j2,j3,j4,j5,j6], joint reference position in [°]
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode joint_pos=[j1,j2,j3,j4,j5,j6]: inverse kinematics solution, tool position solving for joint position

8.26. Inverse Kinematics Solution, Cartesian Space Includes Extended Axis Position

Prototype	GetInverseKinExaxis(type, desc_pos, exaxis, tool, workPiece, config = -1)
Description	Inverse kinematics solution, Cartesian space includes extended axis position
Required Parameters	type: 0-Absolute pose (base coordinate system), 1-Incremental pose (base coordinate system), 2-Incremental pose (tool coordinate system) desc_pos: Cartesian pose exaxis: Extended axis position tool: Tool number workPiece: Workpiece number config -1: automatic solution, 0-7 correspond to eight sets of solutions
Default Parameters	None
Return Value	Error code Success-0 Failure- errcode joint_pos: Joint position

8.27. Inverse Kinematics Solution Including Extended Axis Position Code Example

from fairino import Robot
import time
robot = Robot.RPC('192.168.58.2')
desc = [99.957, -0.002, 29.994, -176.569, -6.757, -167.462]
exaxis = [100.0, 0.0, 0.0, 0.0]
jointPos = [0.0] * 6
offsetPos = [0.0] * 6
rtn,pkg = robot.GetRobotRealTimeState()
toolnum = pkg.tool
workPcsNum = pkg.user
rtn, jointPos = robot.GetInverseKinExaxis(0, desc, exaxis, toolnum, workPcsNum)
print(f"GetInverseKinExaxis joint is {jointPos[0]},{jointPos[1]},{jointPos[2]},{jointPos[3]},{jointPos[4]},{jointPos[5]}")
robot.ExtAxisMove(exaxis, 100, -1)
robot.MoveJ(joint_pos=jointPos, desc_pos=desc, tool=toolnum, user=workPcsNum, vel=100.0, acc=100.0, ovl=100.0, exaxis_pos=exaxis, blendT=-1, offset_flag=0, offset_pos=offsetPos)
robot.CloseRPC()
return 0

8.28. Inverse kinematics solving-whether there is a solution

prototype	GetInverseKinHasSolution(type,desc_pos,joint_pos_ref)
Description	Inverse kinematics, tool position solving for joint position Is there a solution
Mandatory parameters	type: 0-absolute position (base coordinate system), 1-relative position (base coordinate system), 2-relative position (tool coordinate system) desc_pos: [x,y,z,rx,ry,rz] tool position in [mm][°] joint_pos_ref: [j1,j2,j3,j4,j5,j6], joint reference position in [°]
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode result: True-with solution, False-without solution

8.29. Positive kinematics solving

Prototype	GetForwardKin(joint_pos)
Description	Positive Kinematics, Joint Position Solving Tool Posture
Mandatory parameters	joint_pos:[j1,j2,j3,j4,j5,j6]: joint position in [°]
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode desc_pos=[x,y,z,rx,ry,rz]: positive kinematics solution, joint position solver tool position

8.30. Example code for robot forward and inverse kinematics calculation

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
j1 = [-11.904, -99.669, 117.473, -108.616, -91.726, 74.256]
desc_pos1 = [-419.524, -13.000, 351.569, -178.118, 0.314, 3.833]
error, inverseRtn = robot.GetInverseKin(0, desc_pos=desc_pos1, config=-1)
print(f"dcs1 GetInverseKin rtn is {inverseRtn[0]}, {inverseRtn[1]}, {inverseRtn[2]}, "
      f"{inverseRtn[3]}, {inverseRtn[4]}, {inverseRtn[5]}")
error, inverseRtn = robot.GetInverseKinRef(0, desc_pos=desc_pos1, joint_pos_ref=j1)
print(f"dcs1 GetInverseKinRef rtn is {inverseRtn[0]}, {inverseRtn[1]}, {inverseRtn[2]}, "
      f"{inverseRtn[3]}, {inverseRtn[4]}, {inverseRtn[5]}")
error, hasResult = robot.GetInverseKinHasSolution(0, desc_pos=desc_pos1, joint_pos_ref=j1)
print(f"dcs1 GetInverseKinRef result {hasResult}")
error, forwordResult = robot.GetForwardKin(j1)
print(f"jpos1 forwordResult rtn is {forwordResult[0]}, {forwordResult[1]}, {forwordResult[2]}, "
      f"{forwordResult[3]}, {forwordResult[4]}, {forwordResult[5]}")
robot.CloseRPC()

8.31. Query Robot Teaching Management Points Data

Prototype	GetRobotTeachingPoint(name)
Description	Query Robot Demonstration and Management point data
Mandatory parameters	name: name of point
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode [x,y,z,rx,ry,rz,j1,j2,j3,j4,j5,j6,TOOL,WOBJ,SPEED,ACC,E1,E2,E3,E4]: point data

8.32. Get DH compensation parameters

Added in version python: SDK-v2.0.1

Prototype	GetDHCompensation()
Description	Get DH compensation parameters
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode dhCompensation=[cmpstD1,cmpstA2,cmpstA3,cmpstD4,cmpstD5,cmpstD6]: Robot DH Parameter Compensation Values (mm)

8.33. Obtain the SN code of the control box

Added in version python: SDK-v2.1.1

Prototype	GetRobotSN()
Description	Obtain the SN code of the control box
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode SNCode: SN of the control box

8.34. Query robot teaching management point data code example

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
name = "P1"
rtn, data = robot.GetRobotTeachingPoint(name)
print(f"{rtn} name is: {name}")
for i in range(20):
    print(f"data is: {data[i]}")
rtn,que_len = robot.GetMotionQueueLength()
print(f"GetMotionQueueLength rtn is: {rtn}, queue length is: {que_len}")
retval,dh = robot.GetDHCompensation()
print(f"retval is: {retval}")
print(f"dh is: {dh[0]} {dh[1]} {dh[2]} {dh[3]} {dh[4]} {dh[5]}")
error,sn = robot.GetRobotSN()
print(f"robot SN is {sn[0]}")
robot.CloseRPC()

8.35. Get Tool Coordinate System by ID

Changed in version python: SDK-V3.9.8

Prototype	GetToolCoordWithID(id)
Description	Get tool coordinate system by ID
Required Parameters	id: Tool coordinate system number
Default Parameters	None
Return Value	Error code, 0-success; non-zero-error coord: Coordinate system values type: Tool type (optional) 0-tool; 1-sensor install: Installation position (optional) 0-robot end; 1-external to robot toolID: Tool ID loadNo: Load number

8.36. Get Workpiece Coordinate System by ID

Changed in version python: SDK-V3.9.8

Prototype	GetWObjCoordWithID(id)
Description	Get workpiece coordinate system by ID
Required Parameters	id: Workpiece coordinate system number
Default Parameters	None
Return Value	Error code, 0-success; non-zero-error coord: Coordinate system values refFrame: Reference coordinate system

8.37. Get External Tool Coordinate System by ID

Changed in version python: SDK-V3.9.8

Prototype	GetExToolCoordWithID(id)
Description	Get external tool coordinate system by ID
Required Parameters	id: External tool coordinate system number
Default Parameters	None
Return Value	Error code, 0-success; non-zero-error coord: Coordinate system values tcoord: Workpiece coordinate system pose mounted on the robot end (6 values: [x, y, z, rx, ry, rz])

8.38. Get Extended Axis Coordinate System by ID

Added in version python: SDK-v2.1.6

Prototype	GetExAxisCoordWithID(id)
Description	Get extended axis coordinate system by ID
Required Parameters	id: Extended axis coordinate system number
Default Parameters	None
Return Value	Error code, 0-success; non-zero-error coord: Coordinate system values axisCoordNum: Extended axis number (optional) bit0-bit3 correspond to extended axis 1-extended axis 4; e.g., value 3 corresponds to extended axes [1,2] calibFlag: Calibration flag (optional) 0-not calibrated; 1-calibrated

8.39. Get the load mass and centroid according to the number

Added in version python: SDK-v2.1.6

Prototype	GetTargetPayloadWithID(id)
Description	Get the load mass and centroid according to the number
Mandatory parameters	id：Extended axis coordinate system No
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode weight: Quality of load cog: Centroid of the load

8.40. Gets the current tool coordinate system

Added in version python: SDK-v2.1.6

Prototype	GetCurToolCoord()
Description	Gets the current tool coordinate system
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode coord: Coordinate system value

8.41. Gets the current workpiece coordinate system

Added in version python: SDK-v2.1.6

Prototype	GetCurWObjCoord()
Description	Gets the current workpiece coordinate system
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode coord: Coordinate system value

8.42. Gets the current external tool coordinate system

Added in version python: SDK-v2.1.6

Prototype	GetCurExToolCoord()
Description	Gets the current external tool coordinate system
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode coord: Coordinate system value

8.43. Gets the current extended axis coordinate system

Added in version python: SDK-v2.1.6

原型	GetCurExAxisCoord()
描述	Gets the current extended axis coordinate system
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode coord: Coordinate system value

8.44. Get robot coordinate system and load code sample

from fairino import Robot
import time

def main():
    robot = Robot.RPC('192.168.58.2')
    time.sleep(0.5)

    time.sleep(2)

    id = 1
    rtn, toolCoord, type_val, install, toolID, loadNo = robot.GetToolCoordWithID(id)
    print(f"GetToolCoordWithID {id}, {toolCoord[0]:.6f} {toolCoord[1]:.6f} {toolCoord[2]:.6f} {toolCoord[3]:.6f} {toolCoord[4]:.6f} {toolCoord[5]:.6f},  type = {type_val}, install = {install}, toolID = {toolID}, loadNo = {loadNo}")
    rtn, wobjCoord, refFrame = robot.GetWObjCoordWithID(id)
    print(f"GetWObjCoordWithID {id}, {wobjCoord[0]:.6f} {wobjCoord[1]:.6f} {wobjCoord[2]:.6f} {wobjCoord[3]:.6f} {wobjCoord[4]:.6f} {wobjCoord[5]:.6f}, refFrame = {refFrame}")
    rtn, extoolCoord, exworkpieceCoord = robot.GetExToolCoordWithID(21)
    print(f"GetExToolCoordWithID {id}, {extoolCoord[0]:.6f} {extoolCoord[1]:.6f} {extoolCoord[2]:.6f} {extoolCoord[3]:.6f} {extoolCoord[4]:.6f} {extoolCoord[5]:.6f}, {exworkpieceCoord[0]:.6f} {exworkpieceCoord[1]:.6f} {exworkpieceCoord[2]:.6f} {exworkpieceCoord[3]:.6f} {exworkpieceCoord[4]:.6f} {exworkpieceCoord[5]:.6f}")
    rtn, exAxisCoord, axisCoordNum, calibFlag = robot.GetExAxisCoordWithID(id)
    print(f"GetExAxisCoordWithID {id}, {exAxisCoord[0]:.6f} {exAxisCoord[1]:.6f} {exAxisCoord[2]:.6f} {exAxisCoord[3]:.6f} {exAxisCoord[4]:.6f} {exAxisCoord[5]:.6f}, axisCoordNum = {axisCoordNum}, calibFlag = {calibFlag}")
    rtn, weight, cog = robot.GetTargetPayloadWithID(id)
    print(f"GetTargetPayloadWithID {id}, {weight:.6f} {cog[0]:.6f} {cog[1]:.6f} {cog[2]:.6f}")
    rtn, toolCoord = robot.GetCurToolCoord()
    print(f"GetCurToolCoord {toolCoord[0]:.6f} {toolCoord[1]:.6f} {toolCoord[2]:.6f} {toolCoord[3]:.6f} {toolCoord[4]:.6f} {toolCoord[5]:.6f}")
    rtn, wobjCoord = robot.GetCurWObjCoord()
    print(f"GetCurWObjCoord {wobjCoord[0]:.6f} {wobjCoord[1]:.6f} {wobjCoord[2]:.6f} {wobjCoord[3]:.6f} {wobjCoord[4]:.6f} {wobjCoord[5]:.6f}")
    rtn, extoolCoord = robot.GetCurExToolCoord()
    print(f"GetCurExToolCoord {extoolCoord[0]:.6f} {extoolCoord[1]:.6f} {extoolCoord[2]:.6f} {extoolCoord[3]:.6f} {extoolCoord[4]:.6f} {extoolCoord[5]:.6f}")

    rtn, exAxisCoord = robot.GetCurExAxisCoord()
    print(f"GetCurExAxisCoord {exAxisCoord[0]:.6f} {exAxisCoord[1]:.6f} {exAxisCoord[2]:.6f} {exAxisCoord[3]:.6f} {exAxisCoord[4]:.6f} {exAxisCoord[5]:.6f}")
    rtn, weightT = robot.GetTargetPayload(0)
    rtn, cogT = robot.GetTargetPayloadCog(0)
    print(f"GetTargetPayload {weightT:.6f} {cogT[0]:.6f} {cogT[1]:.6f} {cogT[2]:.6f}")
    coordSet = [0.0, 1.0, 2.0, 3.0, 4.0, 5.0]

    rtn = robot.SetToolCoord(1, coordSet, 0, 0, 1, 0)
    print(f"SetToolCoord rtn is {rtn}")

    rtn = robot.SetWObjCoord(1, coordSet, 0)
    print(f"SetWObjCoord rtn is {rtn}")

    rtn = robot.SetLoadWeight(1, 1.3)
    print(f"SetLoadWeight rtn is {rtn}")

    rtn = robot.SetLoadCoord(10.0, 20.0, 30.0,1)
    print(f"SetLoadCoord rtn is {rtn}")

    etcp = [0.0, 0.0, 100.0, 0.0, 0.0, 0.0]
    etool = [0.0, 0.0, 50.0, 0.0, 0.0, 0.0]
    rtn = robot.SetExToolCoord(21, etcp, etool)
    print(f"SetExToolCoord rtn is {rtn}")

    rtn = robot.ExtAxisActiveECoordSys(1, 1, coordSet, 1)
    print(f"ExtAxisActiveECoordSys rtn is {rtn}")

    robot.CloseRPC()

if __name__ == "__main__":
    main()