SDK API and HMI Function Correspondence

General APIs

This chapter lists the correspondence between the C++ version of xCore SDK and the Robot Assist interface.

Connect to Robot

Establish a connection with the robot. The robot address is passed when creating the robot instance.

template<WorkType Wt, unsigned short DoF>
void rokae::Robot_T< Wt, DoF >::connectToRobot (error_code &ec )

Parameter: [out] ec: Error code

Connect

Disconnect

Disconnect from the robot. The robot motion will be stopped before disconnecting, please pay attention to safety.

void rokae::BaseRobot::disconnectFromRobot (error_code & ec) 

Parameter: [out] ec: Error code

Query Robot Basic Information

Parameter: [out] ec: Error code
Return: Robot basic information (controller version, model, number of axes)

struct Info {
    std::string id;    ///< Robot uid, can be used to distinguish connected robots
    std::string mac;     ///< Mac address
    std::string version; ///< Controller version
    std::string type;   ///< Robot model name
    int joint_num;    ///< Number of axes
};

 Info robotInfo(error_code &ec) const noexcept;

Query Robot Basic Information

Robot Power On/Off and E-Stop Status

Robot power on/off and emergency stop status

PowerState powerState(error_code &ec)

Parameter: [out] ec: Error code
Return:
- on - Power on
- off - Power off
- estop - Emergency stop
- gstop - Safety door open

Status Value

Robot Power On/Off

Robot power on/off. Note: Only robots without external enable switches or teach pendants can be powered on in manual mode.

void setPowerState(bool on, error_code &ec)

Parameters:
- [in] on: true - Power on | false - Power off
- [out] ec: Error code

Robot Operation Mode and Switching

Query the current operation mode of the robot

OperateMode operateMode(error_code &ec)

Switch manual/automatic mode

void setOperateMode(OperateMode mode, error_code &ec)

 enum class OperateMode {
  manual   = 0,    ///< Manual
  automatic = 1,    ///< Automatic
  unknown  = Unknown ///< Unknown (exception occurred)
 };

Query Robot Running Status

Query the current running status of the robot (idle, in motion, drag enabled, etc.)

enum class OperationState {
    idle             = 0, ///< Robot stationary
    jog              = 1, ///< Jog status (not moving)
    rtControlling    = 2, ///< Real-time mode controlling
    drag             = 3, ///< Drag enabled
    rlProgram        = 4, ///< RL project running
    demo             = 5, ///< Demo in progress
    dynamicIdentify  = 6, ///< Dynamics identification in progress
    frictionIdentify = 7, ///< Friction identification in progress
    loadIdentify     = 8, ///< Load identification in progress
    moving           = 9, ///< Robot in motion
    jogging          = 10, ///< Jog in motion
    unknown          = Unknown ///< Unknown
  };  

 OperationState operationState(error_code &ec)

Status Description:

Status Display

Get Current Joint Angles

Current axis angles of the robot, unit: radians

Parameter: [out] ec: Error code
Return: Axis angle values

 std::array<double, DoF> jointPos(error_code &ec)

Joint Angle

Joint Velocity

Current joint velocity of the robot, unit: radians/second

Parameter: [out] ec: Error code
Return: Joint velocity

 std::array<double, DoF> jointVel(error_code &ec)

Joint Velocity

Get Joint Torque

Joint force sensor values, unit: NM

Parameter: [out] ec: Error code
Return: Joint torque values

std::array<double, DoF> jointTorque(error_code &ec)

Joint Torque

Query Controller Logs

Query the latest logs from the controller

Parameters:
- [in] count Number of queries, maximum is 10
- [in] level Specify log level, empty set means no specification
- [out] ec: Error code
Return: Log information

std::vector< LogInfo > rokae::BaseRobot::queryControllerLog ( unsigned count,const std::set< LogInfo::Level > & level,error_code & ec )

Controller Log

Set collision detection related parameters, enable collision detection function

Parameters:
- [in] sensitivity Collision detection sensitivity, range 0.01-2.0
- [in] behaviour Robot behavior after collision, supports stop1 (safe stop, stop0 and stop1 handling methods are the same) and stop2 (trigger pause), suppleStop (compliant stop)
- [in] fallback_compliance
  1. When the post-collision behavior is safe stop or trigger pause, this parameter means the fallback distance after collision, unit: meters
  2. When the post-collision behavior is compliant stop, this parameter means the compliance, range [0.0, 1.0]
- [out] ec: Error code

void enableCollisionDetection(const std::array<double, DoF> &sensitivity, StopLevel behaviour,
                              double fallback_compliance, error_code &ec) noexcept;

Disable collision detection function

void disableCollisionDetection(error_code &ec) 

Set Collision Detection

Frame Calibration

Frame calibration (N-point calibration)

Note: Calibration methods and precautions supported by each frame type:
1. Tool frame: Three-point/four-point/six-point calibration method
2. Workpiece frame: Three-point calibration. The calibration result will not be transformed relative to the user frame, i.e., if it is an external workpiece, the returned result is relative to the base frame.
3. Base frame: Six-point calibration. Please ensure dynamics constraints and feedforward are turned off before calibration. If calibration is successful (no error code), the controller will automatically save the calibration result, which will take effect after restarting the controller.
4. Rail base frame: Three-point calibration. If calibration is successful (no error code), the controller will automatically save the calibration result, which will take effect after restarting the controller.
Parameters:
- [in] points List of axis angles, list length is N. For example, when using three-point method to calibrate tool frame, 3 sets of axis angles should be passed. Axis angles are in radians.
- [in] is_held true - Robot handheld | false - External. Only affects tool/workpiece calibration
- [in] base_aux Auxiliary point used in base frame calibration, unit [meters]
- [out] ec: Error code
Return: Calibration result, valid when error code is not set

template<WorkType Wt, unsigned short DoF>
FrameCalibrationResult rokae::Robot_T< Wt, DoF >::calibrateFrame (    
    FrameType type,
    const std::vector< std::array< double, DoF > > &points,
    bool is_held,
    error_code &ec,
    const std::array< double, 3 > & base_aux = {} )

Frame Calibration

Base Calibration

Rail Frame Calibration

Set Rail Parameters

Template parameter: Parameter type

Parameters:

[in] name: Parameter name, see value description
[in] value:

Parameter:	Parameter Name	Data Type
Enable	enable	bool
Base Frame	baseFrame	Frame
Rail Name	name	std::string
Encoder Resolution	encoderResolution	int
Reduction Ratio	reductionRatio	double
Motor Max Speed(rpm)	motorSpeed	int
Soft Limit(m), [Lower,Upper]	softLimit	`std::vector<double>`
Motion Range(m), [Lower,Upper]	range	`std::vector<double>`
Max Speed(m/s)	maxSpeed	double
Max Acceleration（m/s^2)	maxAcc	double
Max Jerk(m/s^3)	maxJerk	double

template<typename R>
void rokae::setRailParameter(const std::string &name, R value, error_code &ec)

Read rail parameters

Template parameter: Parameter type
Parameters:
- [in] name Parameter name, see setRailParameter()
- [out] value Parameter value, see setRailParameter()
- [out] ec: Error code, returns error code if parameter name does not exist or data type does not match

template<typename R>
void getRailParameter(const std::string &name, R &value, error_code &ec) noexcept;

Set Rail Parameters

Robot Running Speed Adjustment

Dynamically adjust robot motion speed, effective in non-real-time mode.

Parameters:
- [in] scale: Speed ratio of motion commands, range 0.01 - 1. When scale is set to 1, the robot will move at the original path speed.
- [out] ec: Error code

void rokae::BaseRobot::adjustSpeedOnline(double scale, error_code &ec)

Set Input Simulation Mode

state true - Enable | false - Disable

void setSimulationMode(bool state, error_code &ec) 

Set Simulation Mode

Set xPanel External Power Supply Mode

xPanel settings can configure the power supply mode for the robot's end tool. This function is only applicable to collaborative robots xMate CR SR series.

struct xPanelOpt {
    /*
   @brief Power supply mode
  */
    enum Vout {
        off,    ///< No output
        reserve,  ///< Reserved
        supply12v, ///< Output 12V
        supply24v, ///< Output 24V
    };
};
void setxPanelVout(xPanelOpt::Vout opt, error_code& ec)

Set xPanel Power Supply Mode

Enable Drag & Disable Drag

Enable drag

space Drag space. Joint space drag only supports free drag type
type Drag type
ec Error code

void enableDrag(DragParameter::Space space, DragParameter::Type type, error_code& ec, bool enable_drag_button = false)

Disable drag

void disableDrag(error_code& ec) 

Drag

Path Operations

Start recording path & Stop recording path & Cancel recording & Save path & Path playback & Delete saved path

Path Operations

Force Sensor Calibration

Force sensor calibration. The calibration process takes about 100ms, this function will not block waiting for calibration to complete. Before calibration, the correct load needs to be set through setToolset() (Toolset::load), otherwise it will affect the accuracy of the calibration result.

all_axes true - Calibrate all axes | false - Single axis calibration
Axis index, range [0, DoF), only effective when single axis calibration
ec Error code

 void calibrateForceSensor(bool all_axes, int axis_index, error_code &ec) 

Force Sensor Calibration

SDK API and RL Instruction Correspondence

Joint Motion MoveAbsJ

Target joint angles
End linear velocity, unit mm/s, joint velocity is divided into several intervals based on end linear velocity, see setDefaultSpeed()
Turn zone, unit mm

 MoveAbsJCommand(JointPosition target, double speed = USE_DEFAULT, double zone = USE_DEFAULT);

RL Instruction: MoveAbsJ

Description:

MoveAbsJ (Move Absolute Joint) is used to move the robot and external axes to a position defined by joint angles, used for quick positioning or moving the robot to a precise joint angle. All axes move synchronously, the robot end moves along an irregular curve, please pay attention to whether there is a risk of collision. The tool parameter used in the MoveAbsJ instruction does not affect the robot's end position, but the controller still needs the tool parameter for dynamics calculation.

Joint Motion MoveJ

Target Cartesian point
End linear velocity, unit mm/s, joint velocity is divided into several intervals based on end linear velocity, see setDefaultSpeed()
Turn zone, unit mm

MoveJCommand(CartesianPosition target, double speed = USE_DEFAULT, double zone = USE_DEFAULT);

RL Instruction: MoveJ

Description:

MoveJ (Move The Robot By Joint Movement) is used when there is no requirement for the robot end motion trajectory,
to make the robot quickly move from one point to another. All axes move synchronously, the robot end moves along an irregular curve, please pay attention to whether there is a risk of collision.
The biggest difference between MoveJ instruction and MoveAbsJ is the format of the given target point. The target point of MoveJ is the spatial pose of the tool (TCP) rather than joint axis angles.

End Linear Trajectory MoveL

Target Cartesian point
End linear velocity, unit mm/s, joint velocity is divided into several intervals based on end linear velocity, see setDefaultSpeed()
Turn zone, unit mm

MoveLCommand(CartesianPosition target, double speed = USE_DEFAULT, double zone = USE_DEFAULT);

RL Instruction: MoveL

Description:

Used to move the tool center point TCP along a straight line to the given target position.
When the start and end poses are different, the pose will rotate synchronously with the position to the end pose. Since translation and rotation speeds are specified separately, to ensure the specified speed limit is not exceeded, the final motion time of the MoveL instruction depends on the one with the longer time for pose, position, and arm angle changes. Therefore, when executing certain specific trajectories (such as small displacement but large pose change), if the robot motion speed is obviously too slow or too fast, please check whether the rotation speed setting is reasonable. When you need to keep the tool center point TCP stationary and only adjust the tool pose, you can achieve this by specifying start and end points with the same position but different poses for MoveL.

Arc Trajectory MoveC

Target point
Auxiliary point
End linear velocity, unit mm/s, joint velocity is divided into several intervals based on end linear velocity, see setDefaultSpeed()
Turn zone, unit mm

 MoveCCommand(CartesianPosition target, CartesianPosition aux, double speed = USE_DEFAULT, double zone = USE_DEFAULT);

RL Instruction: MoveC

Description:

MoveC (Move Circle) is used to move the tool center point TCP along an arc through the intermediate auxiliary point to the given target position. When the start and end poses are different, the pose will rotate synchronously with the position to the end pose, and the auxiliary point pose does not affect the arc motion process. Since translation and rotation speeds are specified separately, to ensure the specified speed limit is not exceeded, the final motion time of the MoveC instruction depends on the one with the longer time for pose, position, and arm angle changes. Therefore, under certain specific trajectories (such as small displacement but large pose change), if the robot motion speed is obviously too slow or too fast, please check whether the rotation speed setting is reasonable.

Full Circle Trajectory MoveCF

Target point
Auxiliary point
End linear velocity, unit mm/s
Turn zone, unit mm
Execution angle, unit radians

MoveCFCommand(const CartesianPosition &target, const CartesianPosition &aux, double angle, double speed = USE_DEFAULT, double zone = USE_DEFAULT);

RL Instruction: MoveCF

Description:

MoveCF (Move Circle Full) is used to move and rotate the tool center point TCP along a circular path determined by the start point and two auxiliary points, with the given full circle execution angle. The end point of the MoveCF full circle motion is determined by the full circle execution angle, and the two auxiliary points are only used to determine the spatial position of the circular path. During the full circle motion, the pose will change in the manner specified by the parameters, and the auxiliary point poses do not affect the pose during the full circle motion. The final motion time of the MoveCF instruction only depends on the time of position change. Therefore, in the case of small circle radius, please check whether the motion speed setting is reasonable to avoid the situation of too fast pose rotation.

Spiral Trajectory MoveSP

target End pose
r0 Initial radius [m]
rStep Radius change per unit angle of rotation [m/rad]
angle Total rotation angle [rad]
dir Rotation direction, true - clockwise | false - anticlockwise
speed End linear velocity, unit mm/s

 MoveSPCommand(const CartesianPosition &target, double r0, double rStep, double angle, bool dir, double speed = USE_DEFAULT);

RL Instruction: MoveSP

Description:

MoveSP (Move Spiral) is used to draw an Archimedean spiral in a plane parallel to the xy plane of the workpiece coordinate system, with the specified initial radius, rotation increment rate, total rotation angle, and rotation direction. During the motion, the pose linearly changes to the specified pose in the target point. Note: When the MoveSP instruction is paused during motion and continues to run, it will regenerate the path from the current point as the start point, and will not continue the previous path.

Force Control Initialization

frame_type Force control coordinate system, supports world/wobj/tool/base/flange. Tool and workpiece coordinate systems use the coordinate system set by setToolset()
ec Error code

void fcInit(FrameType frame_type, error_code &ec)

RL Instruction: FcInit

Description:

Used for some initialization work before force control is enabled, such as setting workpiece, tool, and force control coordinate system.

Set Impedance Control Type

type 0 - Joint impedance | 1 - Cartesian impedance
ec Error code

void setControlType(int type, error_code &ec) 

RL Instruction: SetControlType (ctrl_type)

Description:

ctrl_type, data type: int, impedance control type,
supports: 
0: Joint impedance
1: Cartesian impedance

Set Cartesian Impedance Stiffness

stiffness In order: X Y Z direction impedance force stiffness [N/m], X Y Z direction impedance torque stiffness [Nm/rad]
ec Error code

void setCartesianStiffness(const std::array<double, 6> &stiffness, error_code &ec)

RL Instruction:

SetCartCtrlStiffVec trans（stiff_x，trans_stiff_y，trans_stiff_z，rot_stiff_x，rot_stiff_y，rot_stiff_z）;
trans_stiff_x，data type：double，X direction Cartesian impedance force stiffness，unit：N/m。
trans_stiff_y，data type：double，Y direction Cartesian impedance force stiffness，unit：N/m。
trans_stiff_z，data type：double，Z direction Cartesian impedance force stiffness，unit：N/m。
rot_stiff_x，data type：double，X direction Cartesian impedance torque stiffness，unit：N.m/rad。
rot_stiff_y，data type：double，Y direction Cartesian impedance torque stiffness，unit：N.m/rad。
rot_stiff_z，data type：double，Z direction Cartesian impedance torque stiffness，unit：N.m/rad。

Set Cartesian Nullspace Impedance Stiffness

stiffness Range [0,4], greater than 4 will default to 4, unit Nm/rad
ec Error code

 void setCartesianNullspaceStiffness(double stiffness, error_code &ec)

RL Instruction:

SetCartNsStiff(cart_ns_stiff);
cart_ns_stiff，data type：double，Cartesian nullspace impedance stiffness，value range（0~4），unit：Nm/rad。

Set Joint Impedance Stiffness

stiffness Stiffness of each axis
ec Error code

void setJointStiffness(const std::array<double, DoF> &stiffness, error_code &ec)

RL Instruction:

SetJntCtrlStiffVec( jnt1_stiff，jnt2_stiff，jnt3_stiff，jnt4_stiff，jnt5_stiff， jnt6_stiff，jnt7_stiff);
Jnt1_stiff，data type：double，Joint 1 impedance stiffness，unit：Nm/rad。
Jnt2_stiff，data type：double，Joint 2 impedance stiffness，unit：Nm/rad。
Jnt3_stiff，data type：double，Joint 3 impedance stiffness，unit：Nm/rad。
Jnt4_stiff，data type：double，Joint 4 impedance stiffness，unit：Nm/rad。
Jnt5_stiff，data type：double，Joint 5 impedance stiffness，unit：Nm/rad。
Jnt6_stiff，data type：double，Joint 6 impedance stiffness，unit：Nm/rad。
Jnt7_stiff，data type：double，Joint 7 impedance stiffness，unit：Nm/rad。//When setting 6-axis robot, this parameter defaults to 0.

Set Joint Desired Torque

torque Torque value, range [-30,30], unit Nm
ec Error code

void setJointDesiredTorque(const std::array<double, DoF> &torque, error_code &ec) 

RL Instruction SetJntTrqDes (tau_d1,tau_d2,tau_d3,tau_d4,tau_d5,tau_d6,tau_d7);

tau_d1，data type：double，Joint 1 desired torque，value range（-30~30），unit N.m。
tau_d2，data type：double，Joint 2 desired torque，value range（-30~30），unit N.m。
tau_d3，data type：double，Joint 3 desired torque，value range（-30~30），unit N.m。
tau_d4，data type：double，Joint 4 desired torque，value range（-30~30），unit N.m。
tau_d5，data type：double，Joint 5 desired torque，value range（-30~30），unit N.m。
tau_d6，data type：double，Joint 6 desired torque，value range（-30~30），unit N.m。
tau_d7，data type：double，Joint 7 desired torque，value range（-30~30），unit N.m。//When setting 6-axis robot, this parameter defaults to 0.

Set Cartesian Desired Force/Torque

value In order: X Y Z direction Cartesian desired force, range [-60,60], unit N; X Y Z direction Cartesian desired torque, range [-10,10], unit Nm
ec Error code

void setCartesianDesiredForce(const std::array<double, 6> &value, error_code &ec)

RL Instruction：SetCartForceDes (force_x，force_y，force_z，torque_x，torque_y，torque_z);

force_x，data type：double，X direction Cartesian desired force，value range（-60~60），unit N。
force_y，data type：double，Y direction Cartesian desired force，value range（-60~60），unit N。
force_z，data type：double，Z direction Cartesian desired force，value range（-60~60），unit N。
torque_x，data type：double，X direction Cartesian desired torque，value range（-10~10），unit N.m。
torque_y，data type：double，Y direction Cartesian desired torque，value range（-10~10），unit N.m。
torque_z，data type：double，Z direction Cartesian desired torque，value range（-10~10），unit N.m。

Set Sine Search Motion Rotating Around Single Axis

After setting the impedance control type to Cartesian impedance (i.e., setControlType(1)), it takes effect before calling startOverlay().

The upper limits of search motion amplitude and search motion frequency vary by model, please refer to the "xCore Control System Manual" for instructions on the SetSineOverlay instruction.

line_dir Search motion reference axis: 0 - X | 1 - Y | 2 - Z
amplify Search motion amplitude, unit Nm
frequency Search motion frequency, unit Hz
phase Search motion phase, range [0, PI], unit radians
bias Search motion bias, range [0, 10], unit Nm
ec Error code

void setSineOverlay(int line_dir, double amplify, double frequency, double phase,double bias, error_code &ec)

RL Instruction：SetSineOverlay( line_dir, amplify, frequncy, phase, bias);

line_dir，data type：int，search motion reference axis，supports
0：reference direction is X axis
1：reference direction is Y axis
2：reference direction is Z axis
Amplify，data type：double，search motion amplitude，unit N.m。
Frequncy，data type：double，search motion frequency，unit Hz。
Phase，data type：double，search motion phase，value range（-3.14~3.14），unit rad。
Bias，data type：double，search motion bias，value range（-10~10），unit N.m。

Set Lissajous Search Motion in Plane

After setting the impedance control type to Cartesian impedance (i.e., setControlType(1)), it takes effect before calling startOverlay().

plane Search motion reference plane: 0 - XY | 1 - XZ | 2 - YZ
amplify_one Search motion direction one amplitude, range [0, 20], unit Nm
frequency_one Search motion direction one frequency, range [0, 5], unit Hz
amplify_two Search motion direction two amplitude, range [0, 20] unit Nm
frequency_two Search motion direction two frequency, range [0, 5], unit Hz
phase_diff Search motion phase difference between two directions, range [0, PI], unit radians
ec Error code

void setLissajousOverlay(int plane, double amplify_one, double frequency_one, double amplify_two,double frequency_two, double phase_diff, error_code &ec) 

RL Instruction：SetLissajousOverlay(plane, amplify_one, frequncy_one, amplify_two, frequncy_two, phase_diff);

Plane，data type：int，search motion reference plane，supports
0：reference plane is XY plane
1：reference plane is XZ plane
2：reference plane is YZ plane
amplify_one，data type：double，search motion direction one amplitude，value range（-20~20），unit N.m。
frequncy_one，data type：double，search motion direction one frequency，value range（0~5），unit Hz。
amplify_two，data type：double，search motion direction two amplitude，value range（-20~20），unit N.m。
frequncy_two，data type：double，search motion direction two frequency，value range（0~5），unit Hz。
phase_diff，data type：double，search motion phase difference between two directions，value range（-3.14~3.14），unit rad

Set Load Used by Force Control Module

load Load
ec Error code

void setLoad(const Load &load, error_code &ec)

RL Instruction：SetLoad(m,rx,ry,rz,Ixx,Iyy,Izz );

M，data type：double，load mass，unit：kg，range（0~25）；
Rx，data type：double，distance of load center of mass in flange coordinate system x direction，unit：mm，range（-300，300）；
Ry，data type：double，distance of load center of mass in flange coordinate system y direction，unit：mm，range（-300，300）；
Rz，data type：double，distance of load center of mass in flange coordinate system z direction，unit：mm，range（-300，300）；
Ixx，data type：double，principal moment of inertia of load center of mass x axis，unit：kg*mm^2，range（0，100000）；
Iyy，data type：double，principal moment of inertia of load center of mass y axis，unit：kg*mm^2，range（0，100000）；
Izz，data type：double，principal moment of inertia of load center of mass z axis，unit：kg*mm^2，range（0，100000）；

Other Force Control Instruction SDK API and RL Correspondence

Function	SDK API	RL Instruction
Enable previously set search motion	startOverlay	StartOverlay
Pause search motion	pauseOverlay	PauseOverlay
Restart paused search motion	restartOverlay()	RestartOverlay
Stop search motion	stopOverlay	StopOverlay
Enable force control	fcStart	FcStart
Stop force control	fcStop	FcStop
Set termination condition related to contact force	setForceCondition	FcCondForce
Set termination condition related to contact torque	setTorqueCondition	FcCondTorque
Set termination condition related to contact position	setPoseBoxCondition	FcCondPosBox
Activate set termination condition and wait	waitCondition	FcCondWaitWhile
Enable/Disable force control module protection monitoring	fcMonitor	FcMonitor
Set maximum axis speed in force control mode	setJointMaxVel	SetFcJointVelMax
Set maximum end speed relative to base frame in force control mode	setCartesianMaxVel	SetFcCartVelMax
Set maximum axis momentum in force control mode	setJointMaxMomentum	SetFcJointMomentumMax
Set maximum axis kinetic energy in force control mode	setJointMaxEnergy	SetFcJointEnergyMax

Path Playback

SDK API:

name Path name to playback
rate Playback rate, should be less than 3.0, 1 is the original path rate. Note that when rate is greater than 1, driver following errors may occur
ec Error code

void replayPath(const std::string& name, double rate, error_code& ec)

RL Instruction：ReplayPath( path [, rate] [, wobj/tool] );

Path，data type：path，drag playback path type，defined in path list，drag teaching recording。
Rate，data type：double，playback percentage，range 0.01~3.00。0.01 means running at 1% of the drag speed；
1.00 means 100% speed original speed playback；3.00 means 300% speed playback。
wobj/tool，data type：Tool|Workpiece。Specify that the end device of the multi-motion playback instruction is a certain tool or workpiece，during playback
the robot will change the playback control parameters according to the corresponding device to improve running stability

General APIs​

Connect to Robot​

Disconnect​

Query Robot Basic Information​

Robot Power On/Off and E-Stop Status​

Robot Power On/Off​

Robot Operation Mode and Switching​

Query Robot Running Status​

Get Current Joint Angles​

Joint Velocity​

Get Joint Torque​

Query Controller Logs​

Set Collision Detection Related Parameters, Enable/Disable Collision Detection Function​

Frame Calibration​

Set Rail Parameters​

Robot Running Speed Adjustment​

Communication Related​

Set Input Simulation Mode​

Set xPanel External Power Supply Mode​

Collaboration Related​

Enable Drag & Disable Drag​

Path Operations​

Force Sensor Calibration​

SDK API and RL Instruction Correspondence​

Joint Motion MoveAbsJ​

Joint Motion MoveJ​

End Linear Trajectory MoveL​

Arc Trajectory MoveC​

Full Circle Trajectory MoveCF​

Spiral Trajectory MoveSP​

Force Control Initialization​

Set Impedance Control Type​

Set Cartesian Impedance Stiffness​

Set Cartesian Nullspace Impedance Stiffness​

Set Joint Impedance Stiffness​

Set Joint Desired Torque​

Set Cartesian Desired Force/Torque​

Set Sine Search Motion Rotating Around Single Axis​

Set Lissajous Search Motion in Plane​

Set Load Used by Force Control Module​

Other Force Control Instruction SDK API and RL Correspondence​

Path Playback​

General APIs

Connect to Robot

Disconnect

Query Robot Basic Information

Robot Power On/Off and E-Stop Status

Robot Power On/Off

Robot Operation Mode and Switching

Query Robot Running Status

Get Current Joint Angles

Joint Velocity

Get Joint Torque

Query Controller Logs

Set Collision Detection Related Parameters, Enable/Disable Collision Detection Function

Frame Calibration

Set Rail Parameters

Robot Running Speed Adjustment

Communication Related

Set Input Simulation Mode

Set xPanel External Power Supply Mode

Collaboration Related

Enable Drag & Disable Drag

Path Operations

Force Sensor Calibration

SDK API and RL Instruction Correspondence

Joint Motion MoveAbsJ

Joint Motion MoveJ

End Linear Trajectory MoveL

Arc Trajectory MoveC

Full Circle Trajectory MoveCF

Spiral Trajectory MoveSP

Force Control Initialization

Set Impedance Control Type

Set Cartesian Impedance Stiffness

Set Cartesian Nullspace Impedance Stiffness

Set Joint Impedance Stiffness

Set Joint Desired Torque

Set Cartesian Desired Force/Torque

Set Sine Search Motion Rotating Around Single Axis

Set Lissajous Search Motion in Plane

Set Load Used by Force Control Module

Other Force Control Instruction SDK API and RL Correspondence

Path Playback