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FAQ

FAQ​

What is the communication method between SDK and controller, and can the TCP/IP protocol be provided directly?​

The communication method between SDK and controller is TCP/IP, with the real-time part using UDP. The external communication function provides a way to control the robot directly through the TCP/IP protocol: External Communication

Other protocols are for internal use only and are not provided externally.

Is ARM architecture chip supported?​

The ARM architecture library files provided by C++ and Python SDK are compiled with the default aarch64 compiler of Ubuntu 18.04, with the following configuration:

  • Architecture: ARMv8-A (64-bit)
  • ABI: LP64 + hard-float
  • Dependency: glibc 2.27

Generally applicable to:

  • 64-bit ARM devices running Linux (Raspberry Pi 3B+/4/5, NVIDIA Jetson, etc.)
  • Systems meeting the glibc ≥ 2.27 requirement
  • Not compatible with 32-bit ARM devices or older glibc systems

If the target device configuration does not meet the requirements, a gcc cross-compilation toolchain needs to be provided, and we will attempt targeted cross-compilation.

Cartesian position obtained by SDK is inconsistent with teach pendant display​

If using the getStateData interface:

  1. If all obtained values are 0, check if startReceiveRobotState passed the corresponding field
  2. The time passed in startReceiveRobotState and updateRobotState interfaces should be the same.
  3. If the obtained position feels delayed compared to the teach pendant, use while (robot.updateRobotState(chrono::steady_clock::duration::zero())); before updateRobotState to clear old data
  4. If real-time mode is enabled and there is slight deviation in data, it is due to gravity compensation. Subsequent SDK-issued points are based on the position obtained by the SDK. If they must be the same, you can disable gravity compensation on the teach pendant at Options - Production Only - Disable Gravity Compensation (not recommended)
  5. If the value deviation is large, you can switch the coordinate system displayed in the teach pendant status to see if the same situation occurs
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