| xCore-SDK 0.5.1 xCore SDK C# API

robot_cli.hpp
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1
8#pragma once
9#ifndef XCORESDK_SRC_CLI_ROBOT_CLI_HPP_
10#define XCORESDK_SRC_CLI_ROBOT_CLI_HPP_
11
12#include <unordered_map>
13#include <any>
14#include "data_types_cli.hpp"
15#include "exception_cli.hpp"
16#include "force_control_cli.hpp"
17
18 using namespace System;
19 using namespace System::Collections::Generic;
20 using namespace System::Runtime::InteropServices;
21
22 namespace rokae {
23
24 class BaseRobot;
25 class BaseCobot;
26 template<unsigned short DoF>
27 class Model_T;
28 class StandardRobot;
29 class xMateRobot;
30 class xMateCr5Robot;
31 class xMateErProRobot;
32 class PCB3Robot;
33 class PCB4Robot;
34
35}
36
37 namespace rokae::clr {
38
42 public ref class BaseRobot {
43 protected:
44
45 rokae::BaseRobot* robot;
46 rokae::StandardRobot* ir6;
47 rokae::PCB3Robot* ir3;
48 rokae::PCB4Robot* ir4;
49 rokae::xMateCr5Robot* cobot5;
50 rokae::xMateRobot* cobot6;
51 rokae::xMateErProRobot* cobot7;
52 rokae::Model_T<3>* model3;
53 rokae::Model_T<4>* model4;
54 rokae::Model_T<5>* model5;
55 rokae::Model_T<6>* model6;
56 rokae::Model_T<7>* model7;
57
58
59 void _moveEventCallback(const std::unordered_map<std::string, std::any>& info);
60 void _safetyEventCallback(const std::unordered_map<std::string, std::any>& info);
61 void _rlExecutionEventCallback(const std::unordered_map<std::string, std::any>& info);
62 EventCallbackNativeDelegate^ _moveNativeDelegate;
63 static EventCallbackDelegate^ _moveManagedDelegate;
64 EventCallbackNativeDelegate^ _safetyNativeDelegate;
65 static EventCallbackDelegate^ _safetyManagedDelegate;
66 EventCallbackNativeDelegate^ _rlExecutionNativeDelegate;
67 static EventCallbackDelegate^ _rlExecutionManagedDelegate;
68
69 public:
73 virtual ~BaseRobot();
74
79 void connectToRobot([Out] ErrorCode^% ec);
80
86 void connectToRobot(String^ remoteIP);
87
94 void connectToRobot(String^ remoteIP, String^ localIP);
95
100 void disconnectFromRobot([Out] ErrorCode^% ec);
101
107 Info robotInfo([Out] ErrorCode^% ec);
108
111 String^ sdkVersion();
112
118 PowerState powerState([Out] ErrorCode^% ec);
119
125 void setPowerState(Boolean on, [Out] ErrorCode^% ec);
126
132 OperateMode operateMode([Out] ErrorCode^% ec);
133
139 void setOperateMode(OperateMode mode, [Out] ErrorCode^% ec);
140
146 OperationState operationState([Out] ErrorCode^% ec);
147
154 array<double>^ jointPos([Out] ErrorCode^% ec);
155
162 array<double>^ jointVel([Out] ErrorCode^% ec);
163
169 array<double>^ jointTorque([Out] ErrorCode^% ec);
170
183 array<double>^ posture(CoordinateType ct, [Out] ErrorCode^% ec);
184
191 CartesianPosition^ cartPosture(CoordinateType ct, [Out] ErrorCode^% ec);
192
198 array<double>^ baseFrame([Out] ErrorCode^% ec);
199
205 StateList getStateList([Out] ErrorCode^% ec);
206
212 Toolset^ toolset([Out] ErrorCode^% ec);
213
224 void setToolset(Toolset^ toolset, [Out] ErrorCode^% ec);
225
235 void setToolset(System::String^ toolName, System::String^ wobjName, [Out] ErrorCode^% ec);
236
242 void setBaseFrame(Frame^ frame, [Out] ErrorCode^% ec);
243
249 void setMotionControlMode(MotionControlMode mode, [Out] ErrorCode^% ec);
250
258 void moveReset([Out] ErrorCode^% ec);
259
266 void stop([Out] ErrorCode^% ec);
267
275 void executeCommand(MoveCommand::Type type, List<MoveCommand^>^ cmd, [Out] ErrorCode^% ec);
276
285 void moveAppend(MoveCommand::Type type, List<MoveCommand^>^ cmd, System::String^% cmdId, [Out] ErrorCode^% ec);
286
294 void moveAppend(MoveCommand::Type type, MoveCommand^ cmd, System::String^% cmdId, [Out] ErrorCode^% ec);
295
310 void setDefaultSpeed(int speed, [Out] ErrorCode^% ec);
311
324 void setDefaultZone(int zone, [Out] ErrorCode^% ec);
325
332 void setDefaultConfOpt(bool forced, [Out] ErrorCode^% ec);
333
338 void moveStart([Out] ErrorCode^% ec);
339
346 void setMaxCacheSize(int number, [Out] ErrorCode^% ec);
347
353 void adjustSpeedOnline(double scale, [Out] ErrorCode^% ec);
354
361 void getAcceleration(double% acc, double% jerk, [Out] ErrorCode^% ec);
362
369 void adjustAcceleration(double acc, double jerk, [Out] ErrorCode^% ec);
370
377 EventInfo queryEventInfo(Event eventType, [Out] ErrorCode^% ec);
378
390 void setEventWatcher(Event eventType, EventCallbackDelegate^ callback, [Out] ErrorCode^% ec);
391
421 void startJog(JogSpace space, double rate, double step, unsigned index, bool direction, [Out] ErrorCode^% ec);
422
427 void clearServoAlarm([Out] ErrorCode^% ec);
428
436 List<LogInfo^>^ queryControllerLog(unsigned count, LogInfo::Level level, [Out] ErrorCode^% ec);
437
445 void setDI(unsigned int board, unsigned int port, bool state, [Out] ErrorCode^% ec);
446
454 bool getDI(unsigned int board, unsigned int port, [Out] ErrorCode^% ec);
455
463 void setDO(unsigned int board, unsigned int port, bool state, [Out] ErrorCode^% ec);
464
472 bool getDO(unsigned int board, unsigned int port, [Out] ErrorCode^% ec);
473
481 double getAI(unsigned board, unsigned port, [Out] ErrorCode^% ec);
482
490 void setAO(unsigned board, unsigned port, double value, [Out] ErrorCode^% ec);
491
497 void setSimulationMode(bool state, [Out] ErrorCode^% ec);
498
505 void readRegister(System::String^ name, List<bool>^% value, [Out] ErrorCode^% ec);
506
513 void readRegister(System::String^ name, List<int>^% value, [Out] ErrorCode^% ec);
514
521 void readRegister(System::String^ name, List<float>^% value, [Out] ErrorCode^% ec);
522
530 void readRegister(System::String^ name, unsigned index, bool% value, [Out] ErrorCode^% ec);
531
539 void readRegister(System::String^ name, unsigned index, int% value, [Out] ErrorCode^% ec);
540
548 void readRegister(System::String^ name, unsigned index, float% value, [Out] ErrorCode^% ec);
549
557 void writeRegister(System::String^ name, unsigned index, bool value, [Out] ErrorCode^% ec);
558
566 void writeRegister(System::String^ name, unsigned index, Int32 value, [Out] ErrorCode^% ec);
567
575 void writeRegister(System::String^ name, unsigned index, float value, [Out] ErrorCode^% ec);
576
584 void writeRegister(System::String^ name, unsigned index, array<bool>^ value, [Out] ErrorCode^% ec);
585
593 void writeRegister(System::String^ name, unsigned index, array<int>^ value, [Out] ErrorCode^% ec);
594
602 void writeRegister(System::String^ name, unsigned index, array<float>^ value, [Out] ErrorCode^% ec);
603
609 List<RLProjectInfo^>^ projectsInfo([Out] ErrorCode^% ec);
610
621 void loadProject(String^ name, System::Collections::Generic::List<System::String^>^ tasks, [Out] ErrorCode^% ec);
622
627 void ppToMain([Out] ErrorCode^% ec);
628
633 void runProject([Out] ErrorCode^% ec);
634
639 void pauseProject([Out] ErrorCode^% ec);
640
647 void setProjectRunningOpt(double rate, bool loop, [Out] ErrorCode^% ec);
648
654 List<WorkToolInfo^>^ toolsInfo([Out] ErrorCode^% ec);
655
661 List<WorkToolInfo^>^ wobjsInfo([Out] ErrorCode^% ec);
662
669 void setRailParameter(System::String^ name, Frame^ value, [Out] ErrorCode^% ec);
670
677 void setRailParameter(System::String^ name, System::String^ value, [Out] ErrorCode^% ec);
678
692 void setRailParameter(System::String^ name, double value, [Out] ErrorCode^% ec);
693
700 void setRailParameter(System::String^ name, bool value, [Out] ErrorCode^% ec);
701
713 void setRailParameter(System::String^ name, array<double>^ value, [Out] ErrorCode^% ec);
714
726 void setRailParameter(System::String^ name, int value, [Out] ErrorCode^% ec);
727
734 void getRailParameter(System::String^ name, bool% value, [Out] ErrorCode^% ec);
735
742 void getRailParameter(System::String^ name, String^% value, [Out] ErrorCode^% ec);
743
750 void getRailParameter(System::String^ name, Frame^% value, [Out] ErrorCode^% ec);
751
763 void getRailParameter(System::String^ name, int% value, [Out] ErrorCode^% ec);
764
777 void getRailParameter(System::String^ name, double% value, [Out] ErrorCode^% ec);
778
789 void getRailParameter(System::String^ name, array<double>^% value, [Out] ErrorCode^% ec);
790
812 int getStateData(String^ name, array<double>^% data);
813
825 int getStateData(String^ name, UInt64% data);
826
838 int getStateData(String^ name, double% data);
839
843 void stopReceiveRobotState();
844
852 unsigned updateRobotState(int timeout_ms);
853
859 void configNtp(System::String^ server_ip, [Out] ErrorCode^% ec);
860
865 void syncTimeWithServer([Out] ErrorCode^% ec);
866
875 array<double>^ checkPath(CartesianPosition^ start, array<double>^ start_joint,
876 CartesianPosition^ target, [Out] ErrorCode^% ec);
877
886 int checkPath(array<double>^ start_joint,
887 array<CartesianPosition^>^ targets,
888 array<double>^% target_joint_calculated,
889 [Out] ErrorCode^% ec);
890
900 array<double>^ checkPath(CartesianPosition^ start, array<double>^ start_joint,
901 CartesianPosition^ aux, CartesianPosition^ target,
902 [Out] ErrorCode^% ec);
903
915 array<double>^ checkPath(CartesianPosition^ start, array<double>^ start_joint,
916 CartesianPosition^ aux1, CartesianPosition^ aux2,
917 double angle, double rot_type, [Out] ErrorCode^% ec);
918
924 void recoverState(int item, [Out] ErrorCode^% ec);
925
933 array<double>^ calcIk(CartesianPosition^ posture, [Out] ErrorCode^% ec);
934
943 array<double>^ calcIk(CartesianPosition^ posture, Toolset^ toolset, [Out] ErrorCode^% ec);
944
952 CartesianPosition^ calcFk(array<double>^ joints, [Out] ErrorCode^% ec);
953
962 CartesianPosition^ calcFk(array<double>^ joints, Toolset^ toolset, [Out] ErrorCode^% ec);
963
982 FrameCalibrationResult^ calibrateFrame(FrameType type, List<array<double>^>^ points, bool is_held,
983 array<double>^ base_aux, [Out] ErrorCode^% ec);
984
992 bool getSoftLimit(array<double, 2>^% limits, [Out] ErrorCode^% ec);
993
1011 void setSoftLimit(bool enable, array<double, 2>^ limits, [Out] ErrorCode^% ec);
1012
1020 void startReceiveRobotState(int interval, array<System::String^>^ fields);
1021};
1022
1026 public ref class StandardRobot : public BaseRobot {
1027 public:
1031 StandardRobot();
1032
1038 StandardRobot(String^ remoteIP);
1039
1046 StandardRobot(String^ remoteIP, String^ localIP);
1047 ~StandardRobot(){};
1048
1055 void enableCollisionDetection(array<double>^ sensitivity, double fallback, [Out] ErrorCode^% ec);
1056
1061 void disableCollisionDetection([Out] ErrorCode^% ec);
1062
1076 void setAvoidSingularity(AvoidSingularityMethod method, bool enable, double limit, [Out] ErrorCode^% ec);
1077
1084 bool getAvoidSingularity(AvoidSingularityMethod method, [Out] ErrorCode^% ec);
1085
1086 };
1087
1091 public ref class Cobot : public BaseRobot {
1092 protected:
1093 rokae::BaseCobot* robot;
1094 public:
1095
1102 void enableDrag(DragOpt::Space space, DragOpt::Type type, [Out] ErrorCode^% ec);
1103
1111 void enableDrag(DragOpt::Space space, DragOpt::Type type, bool enable_drag_button, [Out] ErrorCode^% ec);
1112
1117 void disableDrag([Out] ErrorCode^% ec);
1118
1132 void enableCollisionDetection(array<double>^ sensitivity, StopLevel behaviour, double fallback_compliance, [Out] ErrorCode^% ec);
1133
1138 void disableCollisionDetection([Out] ErrorCode^% ec);
1139
1147 void calibrateForceSensor(bool all_axes, int axis_index, [Out] ErrorCode^% ec);
1148
1153 void startRecordPath([Out] ErrorCode^% ec);
1154
1159 void stopRecordPath([Out] ErrorCode^% ec);
1160
1165 void cancelRecordPath([Out] ErrorCode^% ec);
1166
1173 void saveRecordPath(String^ name, String^ saveAs, [Out] ErrorCode^% ec);
1174
1182 void replayPath(String^ name, double rate, [Out] ErrorCode^% ec);
1183
1190 void removePath(String^ name, bool removeAll, [Out] ErrorCode^% ec);
1191
1197 List<String^>^ queryPathLists([Out] ErrorCode^% ec);
1198
1204 void setxPanelVout(xPanelOpt::Vout opt, [Out] ErrorCode^% ec);
1205
1212 void setxPanelRS485(xPanelOpt::Vout opt, bool if_rs485, [Out] ErrorCode^% ec);
1213
1225 void XPRWModbusRTUReg(int slave_addr, int fun_cmd, int reg_addr, String^ data_type, int num,
1226 array<int>^% data_array, bool if_crc_reverse, [Out] ErrorCode^% ec);
1227
1238 void XPRWModbusRTUCoil(int slave_addr, int fun_cmd, int coil_addr, int num, array<bool>^% data_array,
1239 bool if_crc_reverse, [Out] ErrorCode^% ec) ;
1240
1249 void XPRS485SendData(int send_byte, int rev_byte, array<Byte>^ send_data, array<Byte>^% recv_data, [Out] ErrorCode^% ec);
1250
1258 array<bool>^ getKeypadState([Out] ErrorCode^% ec);
1259
1265 ForceControl^ forceControl();
1266 };
1267
1271 public ref class xMateRobot : public Cobot {
1272 public:
1276 xMateRobot();
1277
1283 xMateRobot(String^ remoteIP);
1284
1291 xMateRobot(String^ remoteIP, String^ localIP);
1292
1296 ~xMateRobot() {};
1297
1315 void setAvoidSingularity(AvoidSingularityMethod method, bool enable, double limit, [Out] ErrorCode^% ec);
1316
1323 bool getAvoidSingularity(AvoidSingularityMethod method, [Out] ErrorCode^% ec);
1324 };
1325
1329 public ref class xMateCr5Robot : public Cobot {
1330 public:
1334 xMateCr5Robot();
1335
1341 xMateCr5Robot(String^ remoteIP);
1342
1349 xMateCr5Robot(String^ remoteIP, String^ localIP);
1350
1354 ~xMateCr5Robot() {};
1355 };
1356
1360 public ref class PCB3Robot : public BaseRobot {
1361 public:
1365 PCB3Robot();
1366
1372 PCB3Robot(String^ remoteIP);
1373
1377 ~PCB3Robot() {};
1378
1379 };
1380
1384 public ref class PCB4Robot : public BaseRobot {
1385 public:
1389 PCB4Robot();
1390
1396 PCB4Robot(String^ remoteIP);
1397
1401 ~PCB4Robot() {};
1402 };
1403
1407 public ref class xMateErProRobot : public Cobot {
1408 public:
1412 xMateErProRobot();
1413
1419 xMateErProRobot(String^ remoteIP);
1420
1427 xMateErProRobot(String^ remoteIP, String^ localIP);
1428
1432 ~xMateErProRobot() {};
1433 };
1434
1435}
1436
1437
1438#endif //XCORESDK_SRC_CLI_ROBOT_CLI_HPP_
rokae::Model_T
Definition: robot_cli.hpp:27
rokae::clr::BaseRobot
机器人通用接口
Definition: robot_cli.hpp:42
rokae::clr::BaseRobot::setRailParameter
void setRailParameter(System::String^ name, Frame^ value, [Out] ErrorCode^% ec)
设置导轨基坐标系
rokae::clr::BaseRobot::cartPosture
CartesianPosition cartPosture(CoordinateType ct, [Out] ErrorCode^% ec)
获取机器人法兰或末端的当前位姿
rokae::clr::BaseRobot::getRailParameter
void getRailParameter(System::String^ name, Frame^% value, [Out] ErrorCode^% ec)
读取导轨基座标系
rokae::clr::BaseRobot::getRailParameter
void getRailParameter(System::String^ name, String^% value, [Out] ErrorCode^% ec)
读取导轨名称
rokae::clr::BaseRobot::setMotionControlMode
void setMotionControlMode(MotionControlMode mode, [Out] ErrorCode^% ec)
设置运动控制模式.
rokae::clr::BaseRobot::pauseProject
void pauseProject([Out] ErrorCode^% ec)
暂停运行工程
rokae::clr::BaseRobot::updateRobotState
unsigned updateRobotState(int timeout_ms)
接收一次机器人状态数据，在每周期读取数据前，需调用此函数。阻塞等待收到新数据，或超时返回。 建议按照设定的发送频率来调用，以获取最新的数据
rokae::clr::BaseRobot::writeRegister
void writeRegister(System::String^ name, unsigned index, float value, [Out] ErrorCode^% ec)
写float类型寄存器值。可写入单个寄存器，或按索引写入寄存器数组中某一元素。
rokae::clr::BaseRobot::runProject
void runProject([Out] ErrorCode^% ec)
开始运行当前加载的工程
rokae::clr::BaseRobot::connectToRobot
void connectToRobot(String^ remoteIP)
建立与机器人的连接。
rokae::clr::BaseRobot::operationState
OperationState operationState([Out] ErrorCode^% ec)
查询机器人当前运行状态 (空闲, 运动中, 拖动开启等)
rokae::clr::BaseRobot::configNtp
void configNtp(System::String^ server_ip, [Out] ErrorCode^% ec)
配置NTP
rokae::clr::BaseRobot::setToolset
void setToolset(System::String^ toolName, System::String^ wobjName, [Out] ErrorCode^% ec)
使用已创建的工具和工件，设置工具工件组信息
rokae::clr::BaseRobot::baseFrame
array< double > baseFrame([Out] ErrorCode^% ec)
读取基坐标系, 相对于世界坐标系
rokae::clr::BaseRobot::adjustSpeedOnline
void adjustSpeedOnline(double scale, [Out] ErrorCode^% ec)
动态调整机器人运动速率，非实时模式时生效。
rokae::clr::BaseRobot::jointPos
array< double > jointPos([Out] ErrorCode^% ec)
机器人当前轴角度 [rad], 机器人本体以及外部轴（若有）。 导轨[m]
rokae::clr::BaseRobot::setDefaultConfOpt
void setDefaultConfOpt(bool forced, [Out] ErrorCode^% ec)
设置是否使用轴配置数据(confData)计算逆解。初始值为false
rokae::clr::BaseRobot::calcFk
CartesianPosition calcFk(array< double >^ joints, [Out] ErrorCode^% ec)
根据轴角度计算正解
rokae::clr::BaseRobot::setDO
void setDO(unsigned int board, unsigned int port, bool state, [Out] ErrorCode^% ec)
设置数字量输出信号值
rokae::clr::BaseRobot::getRailParameter
void getRailParameter(System::String^ name, double% value, [Out] ErrorCode^% ec)
读取导轨参数
rokae::clr::BaseRobot::syncTimeWithServer
void syncTimeWithServer([Out] ErrorCode^% ec)
手动同步一次时间，远端IP是通过configNtp配置的。耗时几秒钟，阻塞等待同步完成，接口预设的超时时间是12秒
rokae::clr::BaseRobot::posture
array< double > posture(CoordinateType ct, [Out] ErrorCode^% ec)
获取机器人法兰或末端的当前位姿
rokae::clr::BaseRobot::setAO
void setAO(unsigned board, unsigned port, double value, [Out] ErrorCode^% ec)
设置模拟量输出信号
rokae::clr::BaseRobot::setToolset
void setToolset(Toolset^ toolset, [Out] ErrorCode^% ec)
设置工具工件组信息。
rokae::clr::BaseRobot::writeRegister
void writeRegister(System::String^ name, unsigned index, array< int >^ value, [Out] ErrorCode^% ec)
写int16/int32类型寄存器数组。
rokae::clr::BaseRobot::setOperateMode
void setOperateMode(OperateMode mode, [Out] ErrorCode^% ec)
切换手自动模式
rokae::clr::BaseRobot::readRegister
void readRegister(System::String^ name, unsigned index, int% value, [Out] ErrorCode^% ec)
读取int16/int32类型寄存器值。可读取单个寄存器，或按索引读取寄存器数组
rokae::clr::BaseRobot::wobjsInfo
List< WorkToolInfo^> wobjsInfo([Out] ErrorCode^% ec)
查询当前加载工程的工件信息
rokae::clr::BaseRobot::jointVel
array< double > jointVel([Out] ErrorCode^% ec)
机器人当前关节速度 [rad/s], 机器人本体以及外部轴（若有）。 导轨[m/s]
rokae::clr::BaseRobot::recoverState
void recoverState(int item, [Out] ErrorCode^% ec)
根据选项恢复机器人状态
rokae::clr::BaseRobot::~BaseRobot
virtual ~BaseRobot()
Deconstructor
rokae::clr::BaseRobot::sdkVersion
String sdkVersion()
查询xCoreSDK版本
rokae::clr::BaseRobot::getDO
bool getDO(unsigned int board, unsigned int port, [Out] ErrorCode^% ec)
查询数字输出量信号值
rokae::clr::BaseRobot::writeRegister
void writeRegister(System::String^ name, unsigned index, array< bool >^ value, [Out] ErrorCode^% ec)
写bool/bit类型寄存器数组
rokae::clr::BaseRobot::executeCommand
void executeCommand(MoveCommand::Type type, List< MoveCommand^>^ cmd, [Out] ErrorCode^% ec)
执行单条或多条运动指令，调用后机器人立刻开始运动
rokae::clr::BaseRobot::setRailParameter
void setRailParameter(System::String^ name, double value, [Out] ErrorCode^% ec)
设置导轨参数
rokae::clr::BaseRobot::readRegister
void readRegister(System::String^ name, List< int >^% value, [Out] ErrorCode^% ec)
读取int16/int32类型寄存器数组。
rokae::clr::BaseRobot::setDefaultZone
void setDefaultZone(int zone, [Out] ErrorCode^% ec)
设定默认转弯区。初始值为为0 (fine, 无转弯区)。该数值表示运动最大转弯区半径(单位:mm), 自动计算转弯百分比 转弯百分比划分4个范围: < 1 0 (fine) 1 ~ 20 10 % 20...
rokae::clr::BaseRobot::getRailParameter
void getRailParameter(System::String^ name, array< double >^% value, [Out] ErrorCode^% ec)
读取导轨软限位和运动范围
rokae::clr::BaseRobot::connectToRobot
void connectToRobot(String^ remoteIP, String^ localIP)
建立与机器人的连接。
rokae::clr::BaseRobot::writeRegister
void writeRegister(System::String^ name, unsigned index, array< float >^ value, [Out] ErrorCode^% ec)
写float类型寄存器数组。
rokae::clr::BaseRobot::getStateData
int getStateData(String^ name, array< double >^% data)
读取机器人状态数据,注意传入的data类型要和数据类型一致。 支持的数据名称及数组长度 关节角度[rad]"q_m" | DoF 关节速度[rad/s]"dq_m" | DoF 关节力矩[Nm]"tau...
rokae::clr::BaseRobot::setProjectRunningOpt
void setProjectRunningOpt(double rate, bool loop, [Out] ErrorCode^% ec)
更改工程的运行速度和循环模式
rokae::clr::BaseRobot::loadProject
void loadProject(String^ name, System::Collections::Generic::List< System::String^>^ tasks, [Out] ErrorCode^% ec)
加载工程
rokae::clr::BaseRobot::checkPath
array< double > checkPath(CartesianPosition^ start, array< double >^ start_joint, CartesianPosition^ aux1, CartesianPosition^ aux2, double angle, double rot_type, [Out] ErrorCode^% ec)
检验全圆轨迹是否可达
rokae::clr::BaseRobot::readRegister
void readRegister(System::String^ name, unsigned index, bool% value, [Out] ErrorCode^% ec)
读取bit/bool类型寄存器值。可读取单个寄存器，或按索引读取寄存器数组
rokae::clr::BaseRobot::checkPath
array< double > checkPath(CartesianPosition^ start, array< double >^ start_joint, CartesianPosition^ target, [Out] ErrorCode^% ec)
检验直线轨迹是否可达。支持导轨，返回的目标轴角为轴数+外部轴数
rokae::clr::BaseRobot::startJog
void startJog(JogSpace space, double rate, double step, unsigned index, bool direction, [Out] ErrorCode^% ec)
开始jog机器人，需要切换到手动操作模式。调用此接口并且机器人开始运动后，无论机器人是否已经自行停止，都必须调用stop()来结束jog操作，否则机器人会一直处于jog的运行状态。
rokae::clr::BaseRobot::powerState
PowerState powerState([Out] ErrorCode^% ec)
查询机器人上下电以及急停状态
rokae::clr::BaseRobot::connectToRobot
void connectToRobot([Out] ErrorCode^% ec)
连接到机器人。机器人地址为创建StandardRobot实例时传入的
rokae::clr::BaseRobot::jointTorque
array< double > jointTorque([Out] ErrorCode^% ec)
关节力传感器数值 [Nm]
rokae::clr::BaseRobot::getRailParameter
void getRailParameter(System::String^ name, bool% value, [Out] ErrorCode^% ec)
读取导轨是否打开
rokae::clr::BaseRobot::setRailParameter
void setRailParameter(System::String^ name, int value, [Out] ErrorCode^% ec)
设置导轨参数
rokae::clr::BaseRobot::ppToMain
void ppToMain([Out] ErrorCode^% ec)
程序指针跳转到main。调用后，等待控制器解析完工程后返回，阻塞时间视工程大小而定，超时时间设定为10秒。
rokae::clr::BaseRobot::projectsInfo
List< RLProjectInfo^> projectsInfo([Out] ErrorCode^% ec)
查询工控机中RL工程名称及任务
rokae::clr::BaseRobot::readRegister
void readRegister(System::String^ name, unsigned index, float% value, [Out] ErrorCode^% ec)
读取float类型寄存器值。可读取单个寄存器，或按索引读取寄存器数组
rokae::clr::BaseRobot::moveStart
void moveStart([Out] ErrorCode^% ec)
开始/继续运动
rokae::clr::BaseRobot::clearServoAlarm
void clearServoAlarm([Out] ErrorCode^% ec)
清除伺服报警
rokae::clr::BaseRobot::calcIk
array< double > calcIk(CartesianPosition^ posture, [Out] ErrorCode^% ec)
根据位姿计算逆解
rokae::clr::BaseRobot::calcFk
CartesianPosition calcFk(array< double >^ joints, Toolset^ toolset, [Out] ErrorCode^% ec)
根据轴角度计算给定工具工件坐标系下正解
rokae::clr::BaseRobot::checkPath
array< double > checkPath(CartesianPosition^ start, array< double >^ start_joint, CartesianPosition^ aux, CartesianPosition^ target, [Out] ErrorCode^% ec)
检验圆弧轨迹是否可达
rokae::clr::BaseRobot::disconnectFromRobot
void disconnectFromRobot([Out] ErrorCode^% ec)
断开与机器人连接。断开前会停止机器人运动, 请注意安全。
rokae::clr::BaseRobot::toolset
Toolset toolset([Out] ErrorCode^% ec)
查询当前工具工件组信息.
rokae::clr::BaseRobot::setSimulationMode
void setSimulationMode(bool state, [Out] ErrorCode^% ec)
设置输入仿真模式
rokae::clr::BaseRobot::moveAppend
void moveAppend(MoveCommand::Type type, MoveCommand^ cmd, System::String^% cmdId, [Out] ErrorCode^% ec)
下发单条运动指令
rokae::clr::BaseRobot::writeRegister
void writeRegister(System::String^ name, unsigned index, bool value, [Out] ErrorCode^% ec)
写bool/bit类型寄存器值。可写入单个寄存器，或按索引写入寄存器数组中某一元素。
rokae::clr::BaseRobot::getAcceleration
void getAcceleration(double% acc, double% jerk, [Out] ErrorCode^% ec)
读取当前加/减速度和加加速度
rokae::clr::BaseRobot::setBaseFrame
void setBaseFrame(Frame^ frame, [Out] ErrorCode^% ec)
设置基坐标系, 设置后仅保存数值，重启控制器后生效
rokae::clr::BaseRobot::getSoftLimit
bool getSoftLimit(array< double, 2 >^% limits, [Out] ErrorCode^% ec)
获取当前软限位数值
rokae::clr::BaseRobot::setMaxCacheSize
void setMaxCacheSize(int number, [Out] ErrorCode^% ec)
设置最大缓存指令个数，指发送到控制器待规划的路径点个数，允许的范围[1,300]，初始值为30。
rokae::clr::BaseRobot::getStateData
int getStateData(String^ name, UInt64% data)
读取机器人状态数据 支持的数据名称 时间戳,精确到微秒"ts"
rokae::clr::BaseRobot::setDI
void setDI(unsigned int board, unsigned int port, bool state, [Out] ErrorCode^% ec)
设置数字量输入信号，仅当输入仿真模式打开时可以设置(见setSimulationMode())
rokae::clr::BaseRobot::toolsInfo
List< WorkToolInfo^> toolsInfo([Out] ErrorCode^% ec)
查询当前加载工程的工具信息
rokae::clr::BaseRobot::calibrateFrame
FrameCalibrationResult calibrateFrame(FrameType type, List< array< double >^>^ points, bool is_held, array< double >^ base_aux, [Out] ErrorCode^% ec)
坐标系标定 (N点标定).
rokae::clr::BaseRobot::adjustAcceleration
void adjustAcceleration(double acc, double jerk, [Out] ErrorCode^% ec)
调节运动加/减速度和加加速度。如果在机器人运动中调用，当前正在执行的指令不生效，下一条指令生效
rokae::clr::BaseRobot::moveReset
void moveReset([Out] ErrorCode^% ec)
运动重置, 清空已发送的运动指令, 清除执行信息。 Robot类在初始化时会调用一次运动重置。RL程序和SDK运动指令切换控制，需要先运动重置。
rokae::clr::BaseRobot::setEventWatcher
void setEventWatcher(Event eventType, EventCallbackDelegate^ callback, [Out] ErrorCode^% ec)
设置接收事件的回调函数。
rokae::clr::BaseRobot::moveAppend
void moveAppend(MoveCommand::Type type, List< MoveCommand^>^ cmd, System::String^% cmdId, [Out] ErrorCode^% ec)
添加单条或多条运动指令, 添加后调用moveStart()开始运动
rokae::clr::BaseRobot::setPowerState
void setPowerState(Boolean on, [Out] ErrorCode^% ec)
机器人上下电。注: 只有无外接使能开关或示教器的机器人才能手动模式上电。
rokae::clr::BaseRobot::queryControllerLog
List< LogInfo^> queryControllerLog(unsigned count, LogInfo::Level level, [Out] ErrorCode^% ec)
查询控制器最新的日志
rokae::clr::BaseRobot::getAI
double getAI(unsigned board, unsigned port, [Out] ErrorCode^% ec)
读取模拟量输入信号值
rokae::clr::BaseRobot::startReceiveRobotState
void startReceiveRobotState(int interval, array< System::String^>^ fields)
让机器人控制器开始发送实时状态数据。阻塞等待收到第一帧消息，超时时间为3秒
rokae::clr::BaseRobot::setRailParameter
void setRailParameter(System::String^ name, bool value, [Out] ErrorCode^% ec)
打开关闭导轨
rokae::clr::BaseRobot::getStateData
int getStateData(String^ name, double% data)
读取机器人状态数据 支持的数据名称 臂角[rad]"psi_m"
rokae::clr::BaseRobot::setSoftLimit
void setSoftLimit(bool enable, array< double, 2 >^ limits, [Out] ErrorCode^% ec)
设置软限位。软限位设定要求： 打开软限位时，机械臂应下电且处于手动模式 软限位不能超过机械硬限位 机械臂当前各轴角度应在设定的限位范围内
rokae::clr::BaseRobot::setDefaultSpeed
void setDefaultSpeed(int speed, [Out] ErrorCode^% ec)
设定默认运动速度，初始值为100。该数值表示末端最大线速度(单位mm/s), 自动计算对应关节速度。 关节速度百分比划分为5个的范围: < 100 10% 100 ~ 200 30% 200 ~ 500...
rokae::clr::BaseRobot::setRailParameter
void setRailParameter(System::String^ name, System::String^ value, [Out] ErrorCode^% ec)
设置导轨名称
rokae::clr::BaseRobot::checkPath
int checkPath(array< double >^ start_joint, array< CartesianPosition^>^ targets, array< double >^% target_joint_calculated, [Out] ErrorCode^% ec)
校验多个直线轨迹
rokae::clr::BaseRobot::getRailParameter
void getRailParameter(System::String^ name, int% value, [Out] ErrorCode^% ec)
读取导轨参数
rokae::clr::BaseRobot::readRegister
void readRegister(System::String^ name, List< bool >^% value, [Out] ErrorCode^% ec)
读取bit/bool类型寄存器数组。
rokae::clr::BaseRobot::robotInfo
Info robotInfo([Out] ErrorCode^% ec)
查询机器人基本信息
rokae::clr::BaseRobot::getStateList
StateList getStateList([Out] ErrorCode^% ec)
查询当前位置, IO信号, 操作模式, 程序速度比例
rokae::clr::BaseRobot::setRailParameter
void setRailParameter(System::String^ name, array< double >^ value, [Out] ErrorCode^% ec)
设置导轨软限位和运动范围
rokae::clr::BaseRobot::queryEventInfo
EventInfo queryEventInfo(Event eventType, [Out] ErrorCode^% ec)
查询事件信息。
rokae::clr::BaseRobot::operateMode
OperateMode operateMode([Out] ErrorCode^% ec)
查询机器人当前操作模式
rokae::clr::BaseRobot::stop
void stop([Out] ErrorCode^% ec)
暂停机器人运动; 暂停后可调用moveStart()继续运动。若需要完全停止，不再执行已添加的指令，可调用moveReset()
rokae::clr::BaseRobot::writeRegister
void writeRegister(System::String^ name, unsigned index, Int32 value, [Out] ErrorCode^% ec)
写byte/int16/int32寄存器值。可写入单个寄存器，或按索引写入寄存器数组中某一元素。
rokae::clr::BaseRobot::calcIk
array< double > calcIk(CartesianPosition^ posture, Toolset^ toolset, [Out] ErrorCode^% ec)
根据位姿计算给定工具工件坐标系下逆解
rokae::clr::BaseRobot::stopReceiveRobotState
void stopReceiveRobotState()
停止接收实时状态数据，同时控制器停止发送。可用于重新设置要接收的状态数据。
rokae::clr::BaseRobot::readRegister
void readRegister(System::String^ name, List< float >^% value, [Out] ErrorCode^% ec)
读取float类型寄存器数组。
rokae::clr::BaseRobot::getDI
bool getDI(unsigned int board, unsigned int port, [Out] ErrorCode^% ec)
查询数字量输入信号值
rokae::clr::CartesianPosition
笛卡尔点位
Definition: data_types_cli.hpp:310
rokae::clr::Cobot
协作机器人通用接口
Definition: robot_cli.hpp:1091
rokae::clr::Cobot::startRecordPath
void startRecordPath([Out] ErrorCode^% ec)
开始录制路径。录制的时长需要限制在30分钟以内, 此接口不会阻塞等待，录制完毕调用stopRecordPath()来停止录制
rokae::clr::Cobot::forceControl
ForceControl forceControl()
力控指令类
rokae::clr::Cobot::enableDrag
void enableDrag(DragOpt::Space space, DragOpt::Type type, [Out] ErrorCode^% ec)
打开拖动
rokae::clr::Cobot::XPRWModbusRTUCoil
void XPRWModbusRTUCoil(int slave_addr, int fun_cmd, int coil_addr, int num, array< bool >^% data_array, bool if_crc_reverse, [Out] ErrorCode^% ec)
通过xPanel末端读写modbus线圈或离散输入
rokae::clr::Cobot::setxPanelRS485
void setxPanelRS485(xPanelOpt::Vout opt, bool if_rs485, [Out] ErrorCode^% ec)
使用CR和SR末端的485通信功能，需要修改末端的参数配置，可通过此接口进行参数配置
rokae::clr::Cobot::calibrateForceSensor
void calibrateForceSensor(bool all_axes, int axis_index, [Out] ErrorCode^% ec)
力传感器标定。标定过程需要约100ms, 该函数不会阻塞等待标定完成。 标定前需要通过setToolset()设置正确的负载(Toolset.load), 否则会影响标定结果准确性。
rokae::clr::Cobot::getKeypadState
array< bool > getKeypadState([Out] ErrorCode^% ec)
获取末端按键状态，不支持的机型会返回错误码。
rokae::clr::Cobot::queryPathLists
List< String^> queryPathLists([Out] ErrorCode^% ec)
查询已保存的所有路径名称
rokae::clr::Cobot::disableDrag
void disableDrag([Out] ErrorCode^% ec)
关闭拖动
rokae::clr::Cobot::enableCollisionDetection
void enableCollisionDetection(array< double >^ sensitivity, StopLevel behaviour, double fallback_compliance, [Out] ErrorCode^% ec)
设置碰撞检测相关参数, 打开碰撞检测功能。
rokae::clr::Cobot::stopRecordPath
void stopRecordPath([Out] ErrorCode^% ec)
停止录制路径, 若录制成功(无错误码)则路径数据保存在缓存中
rokae::clr::Cobot::setxPanelVout
void setxPanelVout(xPanelOpt::Vout opt, [Out] ErrorCode^% ec)
设置xPanel对外供电模式。注：仅部分机型支持xPanel功能，不支持的机型会返回错误码
rokae::clr::Cobot::XPRS485SendData
void XPRS485SendData(int send_byte, int rev_byte, array< Byte >^ send_data, array< Byte >^% recv_data, [Out] ErrorCode^% ec)
通过xPanel末端直接传输RTU协议裸数据
rokae::clr::Cobot::removePath
void removePath(String^ name, bool removeAll, [Out] ErrorCode^% ec)
删除已保存的路径
rokae::clr::Cobot::saveRecordPath
void saveRecordPath(String^ name, String^ saveAs, [Out] ErrorCode^% ec)
保存录制好的路径
rokae::clr::Cobot::replayPath
void replayPath(String^ name, double rate, [Out] ErrorCode^% ec)
运动指令-路径回放。 和其它运动指令类似，调用replayPath之后，需调用moveStart才会开始运动。
rokae::clr::Cobot::cancelRecordPath
void cancelRecordPath([Out] ErrorCode^% ec)
取消录制, 缓存的路径数据将被删除
rokae::clr::Cobot::XPRWModbusRTUReg
void XPRWModbusRTUReg(int slave_addr, int fun_cmd, int reg_addr, String^ data_type, int num, array< int >^% data_array, bool if_crc_reverse, [Out] ErrorCode^% ec)
通过xPanel末端读写modbus寄存器
rokae::clr::Cobot::disableCollisionDetection
void disableCollisionDetection([Out] ErrorCode^% ec)
关闭碰撞检测功能
rokae::clr::Cobot::enableDrag
void enableDrag(DragOpt::Space space, DragOpt::Type type, bool enable_drag_button, [Out] ErrorCode^% ec)
打开拖动
rokae::clr::ErrorCode
xCoreSDK错误码
Definition: data_types_cli.hpp:23
rokae::clr::ForceControl
力控指令
Definition: force_control_cli.hpp:31
rokae::clr::FrameCalibrationResult
坐标系标定结果
Definition: data_types_cli.hpp:488
rokae::clr::Frame
坐标系
Definition: data_types_cli.hpp:272
rokae::clr::LogInfo::Level
Level
日志等级
Definition: data_types_cli.hpp:504
rokae::clr::MoveCommand
非实时运动指令
Definition: data_types_cli.hpp:355
rokae::clr::MoveCommand::Type
Type
指令类型
Definition: data_types_cli.hpp:360
rokae::clr::PCB3Robot
PCB3轴机型
Definition: robot_cli.hpp:1360
rokae::clr::PCB3Robot::~PCB3Robot
~PCB3Robot()
deconstructor
Definition: robot_cli.hpp:1377
rokae::clr::PCB3Robot::PCB3Robot
PCB3Robot()
默认构造，需调用connectToRobot(remoteIP)初始化
rokae::clr::PCB3Robot::PCB3Robot
PCB3Robot(String^ remoteIP)
创建机器人实例并建立连接
rokae::clr::PCB4Robot
PCB4轴机型
Definition: robot_cli.hpp:1384
rokae::clr::PCB4Robot::~PCB4Robot
~PCB4Robot()
deconstructor
Definition: robot_cli.hpp:1401
rokae::clr::PCB4Robot::PCB4Robot
PCB4Robot()
默认构造，需调用connectToRobot(remoteIP)初始化
rokae::clr::PCB4Robot::PCB4Robot
PCB4Robot(String^ remoteIP)
创建机器人实例并建立连接
rokae::clr::StandardRobot
工业六轴机器人
Definition: robot_cli.hpp:1026
rokae::clr::StandardRobot::disableCollisionDetection
void disableCollisionDetection([Out] ErrorCode^% ec)
关闭碰撞检测功能
rokae::clr::StandardRobot::setAvoidSingularity
void setAvoidSingularity(AvoidSingularityMethod method, bool enable, double limit, [Out] ErrorCode^% ec)
打开/关闭奇异点规避功能。三种方式都支持
rokae::clr::StandardRobot::getAvoidSingularity
bool getAvoidSingularity(AvoidSingularityMethod method, [Out] ErrorCode^% ec)
查询是否处于规避奇异点的状态
rokae::clr::StandardRobot::StandardRobot
StandardRobot(String^ remoteIP, String^ localIP)
创建机器人实例并建立连接，适用机型: 工业六轴
rokae::clr::StandardRobot::StandardRobot
StandardRobot()
默认构造，需调用connectToRobot(remoteIP)初始化
rokae::clr::StandardRobot::enableCollisionDetection
void enableCollisionDetection(array< double >^ sensitivity, double fallback, [Out] ErrorCode^% ec)
设置碰撞检测相关参数, 打开碰撞检测功能。工业机型只支持stop1（安全停止）
rokae::clr::StandardRobot::StandardRobot
StandardRobot(String^ remoteIP)
创建机器人实例并建立连接，适用机型: 工业六轴
rokae::clr::Toolset
工具工件组信息, 根据一对工具工件的坐标、负载、机器人手持设置计算得出
Definition: data_types_cli.hpp:474
rokae::clr::xMateCr5Robot
xMate五轴机器人5轴协作机器人, 包括 XMC17_5/XMC25_5
Definition: robot_cli.hpp:1329
rokae::clr::xMateCr5Robot::xMateCr5Robot
xMateCr5Robot()
默认构造，需调用connectToRobot(remoteIP)初始化
rokae::clr::xMateCr5Robot::~xMateCr5Robot
~xMateCr5Robot()
decosntructor
Definition: robot_cli.hpp:1354
rokae::clr::xMateCr5Robot::xMateCr5Robot
xMateCr5Robot(String^ remoteIP, String^ localIP)
创建机器人实例并建立连接
rokae::clr::xMateCr5Robot::xMateCr5Robot
xMateCr5Robot(String^ remoteIP)
创建机器人实例并建立连接
rokae::clr::xMateErProRobot
协作七轴机器人, 包括 xMateER3 Pro / xMateER7 Pro
Definition: robot_cli.hpp:1407
rokae::clr::xMateErProRobot::xMateErProRobot
xMateErProRobot(String^ remoteIP, String^ localIP)
创建机器人实例并建立连接
rokae::clr::xMateErProRobot::xMateErProRobot
xMateErProRobot(String^ remoteIP)
创建机器人实例并建立连接
rokae::clr::xMateErProRobot::xMateErProRobot
xMateErProRobot()
默认构造，需调用connectToRobot(remoteIP)初始化
rokae::clr::xMateErProRobot::~xMateErProRobot
~xMateErProRobot()
decosntructor
Definition: robot_cli.hpp:1432
rokae::clr::xMateRobot
xMate六轴机器人6轴协作机器人, 包括 xMateCR7/12, xMateSR3/4, xMateER3/7
Definition: robot_cli.hpp:1271
rokae::clr::xMateRobot::xMateRobot
xMateRobot()
默认构造，需调用connectToRobot(remoteIP)初始化
rokae::clr::xMateRobot::~xMateRobot
~xMateRobot()
decosntructor
Definition: robot_cli.hpp:1296
rokae::clr::xMateRobot::setAvoidSingularity
void setAvoidSingularity(AvoidSingularityMethod method, bool enable, double limit, [Out] ErrorCode^% ec)
打开/关闭奇异点规避功能。只适用于部分机型: 四轴锁定支持xMateCR和xMateSR机型 牺牲姿态支持所有协作六轴机型 轴空间插补不支持
rokae::clr::xMateRobot::getAvoidSingularity
bool getAvoidSingularity(AvoidSingularityMethod method, [Out] ErrorCode^% ec)
查询是否处于规避奇异点的状态
rokae::clr::xMateRobot::xMateRobot
xMateRobot(String^ remoteIP, String^ localIP)
创建机器人实例并建立连接
rokae::clr::xMateRobot::xMateRobot
xMateRobot(String^ remoteIP)
创建机器人实例并建立连接
data_types_cli.hpp
rokae::clr::OperationState
OperationState
机器人工作状态
Definition: data_types_cli.hpp:79
rokae::clr::FrameType
FrameType
笛卡尔空间坐标系类型
Definition: data_types_cli.hpp:169
rokae::clr::StopLevel
StopLevel
机器人停止运动等级
Definition: data_types_cli.hpp:119
rokae::clr::CoordinateType
CoordinateType
位姿坐标系类型
Definition: data_types_cli.hpp:109
rokae::clr::JogSpace
JogSpace
Jog选项: 坐标系
Definition: data_types_cli.hpp:147
rokae::clr::MotionControlMode
MotionControlMode
SDK运动控制模式
Definition: data_types_cli.hpp:133
rokae::clr::AvoidSingularityMethod
AvoidSingularityMethod
奇异规避方式
Definition: data_types_cli.hpp:229
rokae::clr::PowerState
PowerState
机器人上下电及急停状态
Definition: data_types_cli.hpp:51
rokae::clr::OperateMode
OperateMode
机器人操作模式
Definition: data_types_cli.hpp:67
rokae::clr::Event
Event
事件类型
Definition: data_types_cli.hpp:246
force_control_cli.hpp
rokae::clr::DragOpt::Space
Space
Definition: data_types_cli.hpp:191
rokae::clr::DragOpt::Type
Type
Definition: data_types_cli.hpp:197
rokae::clr::Info
机器人基本信息，在与建立机器人连接后加载
Definition: data_types_cli.hpp:258
rokae::clr::StateList
状态列表
Definition: data_types_cli.hpp:440
rokae::clr::xPanelOpt::Vout
Vout
xPanel对外供电模式
Definition: data_types_cli.hpp:214