MechArm_270_en.md

MechArm 270

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Python API usage instaructions

API (Application Programming Interface), also known as Application Programming Interface functions, are predefined functions. When using the following function interfaces, please import our API library at the beginning by entering the following code, otherwise it will not run successfully:

# Example
from pymycobot import MechArm270

mc = MechArm270('COM3')

# Gets the current angle of all joints
angles = mc.get_angles()
print(angles)

# Set 1 joint to move to 40 and speed to 20
mc.send_angle(1, 40, 20)

1. System Status

get_system_version()

• function： get system version
• Return value： system version

get_basic_version()

• function： Get basic firmware version for M5 version
• Return value： float firmware version

get_error_information()

• function： Obtaining robot error information

• Return value：

  • 0: No error message.
  • 1 ~ 6: The corresponding joint exceeds the limit position.
  • 16 ~ 19: Collision protection.
  • 32: Kinematics inverse solution has no solution.
  • 33 ~ 34: Linear motion has no adjacent solution.

clear_error_information()

• function: Clear robot error message

get_reboot_count()

• function: Get the number of times the machine has been restarted (calculated from the time the firmware is burned)
• Return value: int Number of restarts

2. Overall Status

power_on()

• function: atom open communication (default open)

power_off()

• function: Power off of the robotic arm

is_power_on()

• function: judge whether robot arms is powered on or not

• Return value:

  • 1: power on
  • 0: power off
  • -1: error

release_all_servos()

• function: release all robot arms
  • Attentions：After the joint is disabled, it needs to be enabled to control within 1 second
• Parameters：data（optional）：The way to relax the joints. The default is damping mode, and if the 'data' parameter is provided, it can be specified as non damping mode (1- Undamping).

focus_servo(servo_id)

• function: Power on designated servo

• Parameters:

  • servo_id: int, 1-6

is_controller_connected()

• function: Wether connected with Atom

• Return value:

  • 1: succeed
  • 0: failed
  • -1: error data

read_next_error()

• function: Robot Error Detection

• Return value: list len 6

  • 0: No abnormality
  • 1: Communication disconnected
  • 2: Unstable communication
  • 3: Servo abnormality

get_fresh_mode()

• function: Query sports mode

• Return value:

  • 0: Interpolation mode
  • 1: Refresh mode

set_fresh_mode()

• function: Set command refresh mode

• Parameters:

  • 1: Always execute the latest command first.
  • 0: Execute instructions sequentially in the form of a queue.

focus_all_servos()

• Function: All servos are powered on

• Return value:

• 1: complete

set_vision_mode()

• Function: Set the vision tracking mode, limit the posture flipping of send_coords in refresh mode. (Applicable only to vision tracking function)

• Parameter:

  • 1: open
  • 0: close

3.MDI Mode and Operation

get_angles()

• function: get the degree of all joints
• Return value: list a float list of all degree

send_angle(id, degree, speed)

• function: send one degree of joint to robot arm
• Parameters:

  • id: Joint id(genre.Angle), range int 1-6

  • degree: degree value(float)

    Joint Id	range
    1	-165 ~ 165
    2	-90 ~ 90
    3	-180 ~ 65
    4	-165 ~ 165
    5	-115 ~ 115
    6	-175 ~ 175

  • speed：the speed and range of the robotic arm's movement 1~100

send_angles(angles, speed)

• function： Send all angles to all joints of the robotic arm
• Parameters:
  • angles: a list of degree value(List[float]), length 6
  • speed: (int) 1 ~ 100

get_coords()

• function: Obtain robot arm coordinates from a base based coordinate system
• Return value: a float list of coord:[x, y, z, rx, ry, rz]

send_coord(id, coord, speed)

• function: send one coord to robot arm
• Parameters:
  • id:send one coord to robot arm, 1-6 corresponds to [x, y, z, rx, ry, rz]
  • coord: coord value(float)

    Coord Id	range
    x	-272 ~ 272
    y	-272 ~ 272
    z	-36 ~ 408.9
    rx	-180 ~ 180
    ry	-180 ~ 180
    rz	-180 ~ 180

  • speed: (int) 1-100

send_coords(coords, speed, mode)

• function:: Send overall coordinates and posture to move the head of the robotic arm from its original point to your specified point
• Parameters:
  • coords: ： a list of coords value [x,y,z,rx,ry,rz],length6
  • speed(int): 1 ~ 100
  • mode: (int) 0 - angluar, 1 - linear

pause()

• function: Control the instruction to pause the core and stop all movement instructions
• Return value:
  • 1 - stopped
  • 0 - not stop
  • -1 - error

sync_send_angles(angles, speed, timeout=15)

• function： Send the angle in synchronous state and return when the target point is reached
• Parameters:
  • angles: a list of degree value(List[float]), length 6
  • speed: (int) 1 ~ 100
  • timeout: default 15 s

sync_send_coords(coords, speed, mode=0, timeout=15)

• function： Send the coord in synchronous state and return when the target point is reached
• Parameters:
  • coords: a list of coord value(List[float]), length 6
  • speed: (int) 1 ~ 100
  • mode: (int) 0 - angular（default）, 1 - linear
  • timeout: default 15 s

get_angles_coords()

• function： Get joint angles and coordinates

• Return value: A list with a length of 12. The first six digits are angle information, and the last six digits are coordinate information.

is_paused()

• function: Check if the program has paused the move command
• Return value:
  • 1 - paused
  • 0 - not paused
  • -1 - error

resume()

• function: resume the robot movement and complete the previous command

stop()

• function: stop all movements of robot
• Return value:
  • 1 - stopped
  • 0 - not stop
  • -1 - error

is_in_position(data, flag)

• function : judge whether in the position.
• Parameters:
  • data: Provide a set of data that can be angles or coordinate values. If the input angle length range is 6, and if the input coordinate value length range is 6
  • flag data type (value range 0 or 1)
    • 0: angle
    • 1: coord
• Return value:
  • 1 - true
  • 0 - false
  • -1 - error

is_moving()

• function: judge whether the robot is moving
• Return value:
  • 1 moving
  • 0 not moving
  • -1 error

angles_to_coords(angles)

• Function : Convert angles to coordinates.
• Parameters:
  • angles: list List of floating points for all angles.
• Return value: list List of floating points for all coordinates.

solve_inv_kinematics(target_coords, current_angles)

• Function : Convert coordinates to angles.
• Parameters:
  • target_coords: list List of floating points for all coordinates.
  • current_angles: list List of floating points for all angles, current angles of the robot
• Return value: list List of floating points for all angles.

4. JOG Mode and Operation

jog_angle(joint_id, direction, speed)

• function: jog control angle
• Parameters:
  • joint_id: Represents the joints of the robotic arm, represented by joint IDs ranging from 1 to 6
  • direction(int): To control the direction of movement of the robotic arm, input 0 as negative value movement and input 1 as positive value movement
  • speed: 1 ~ 100

jog_coord(coord_id, direction, speed)

• function: jog control coord.
• Parameters:
  • coord_id: (int) Coordinate range of the robotic arm: 1~6
  • direction: (int) To control the direction of machine arm movement, 0 - negative value movement, 1 - positive value movement
  • speed: 1 ~ 100

jog_rpy(end_direction, direction, speed)

• function: Rotate the end around a fixed axis in the base coordinate system
• Parameters:
  • end_direction: (int) Roll, Pitch, Yaw (1-3)
  • direction: (int) To control the direction of machine arm movement, 1 - forward rotation, 0 - reverse rotation
  • speed: (int) 1 ~ 100

jog_increment_angle(joint_id, increment, speed)

• function: Angle step, single joint angle increment control
• Parameters:
  • joint_id: 1-6
  • increment: Incremental movement based on the current position angle
  • speed: 1 ~ 100

jog_increment_coord(id, increment, speed)

• function: Coord step, single coord increment control
• Parameters:
  • id: axis 1-6
  • increment: Incremental movement based on the current position coord
  • speed: 1 ~ 100
• Return value:
  • 1: completed

set_encoder(joint_id, encoder, speed)

• function: Set a single joint rotation to the specified potential value

• Parameters

  • joint_id: (int) 1-6
  • encoder: 0 ~ 4096
  • speed: 1 ~ 100

get_encoder(joint_id)

• function: Set a single joint rotation to the specified potential value

• Parameters

  • joint_id: (int) 1-6

• Return value: (int) Joint potential value

set_encoders(encoders, speed)

• function: Set the six joints of the manipulator to execute synchronously to the specified position.

• Parameters

  • joint_id: (int) 1-6
  • encoder: 0 ~ 4096
  • speed: 1 ~ 100

get_encoders()

• function: Get the six joints of the manipulator.

• Return value: (list) the list of encoders

5. Running status and Settings

get_joint_min_angle(joint_id)

• function: Gets the minimum movement angle of the specified joint
• Parameters:
  • joint_id : Enter joint ID (range 1-6)
• Return value：float Angle value

get_joint_max_angle(joint_id)

• function: Gets the maximum movement angle of the specified joint
• Parameters:
  • joint_id : Enter joint ID (range 1-6)
• Return value: float Angle value

set_joint_min(id, angle)

• function: Set minimum joint angle limit
• Parameters:
  • id : Enter joint ID (range 1-6)
  • angle: Refer to the limit information of the corresponding joint in the send_angle() interface, which must not be less than the minimum value

set_joint_max(id, angle)

• function: Set maximum joint angle limit
• Parameters:
  • id : Enter joint ID (range 1-6)
  • angle: Refer to the limit information of the corresponding joint in the send_angle() interface, which must not be greater than the maximum value

6. Joint motor control

is_servo_enable(servo_id)

• function: Detecting joint connection status
• Parameters: servo id 1-6
• Return value:
  • 1: Connection successful
  • 0: not connected
  • -1: error

is_all_servo_enable()

• function: Detect the status of all joint connections
• Return value:
  • 1: Connection successful
  • 0: not connected
  • -1: error

set_servo_calibration(servo_id)

• function: The current position of the calibration joint actuator is the angle zero point
• Parameters:
  • servo_id: 1 - 6

release_servo(servo_id)

• function: Set the specified joint torque output to turn off
• Parameters:
  • servo_id: 1 ~ 6
• Return value:
  • 1: release successful
  • 0: release failed
  • -1: error

focus_servo(servo_id)

• function: Set the specified joint torque output to turn on
• Parameters: servo_id: 1 ~ 6
• Return value:
  • 1: focus successful
  • 0: focus failed
  • -1: error

set_servo_data(servo_id, data_id, value, mode=None）

• function: Set the data parameters of the specified address of the steering gear
• Parameters：
  • servo_id: (int) joint id 1 - 6
  • data_id: (int) Data address
  • value: (int) 0 - 4096
  • mode: 0 - indicates that value is one byte(default), 1 - 1 represents a value of two bytes.

get_servo_data(servo_id, data_id, mode=None）

• function: Read the data parameter of the specified address of the steering gear.
• Parameters：
  • servo_id: (int) joint id 1 - 6
  • data_id: (int) Data address
  • mode: 0 - indicates that value is one byte(default), 1 - 1 represents a value of two bytes.
• Return value: 0 ~ 4096

joint_brake(joint_id）

• function: Make it stop when the joint is in motion, and the buffer distance is positively related to the existing speed
• Parameters：
  • joint_id: (int) joint id 1 - 6

7. Servo state value

get_servo_speeds()

• function：Get the movement speed of all joints
• Return value： A list unit step/s

get_servo_voltages()

• function：Get joint voltages
• Return value： A list volts < 24 V

get_servo_status()

• function：Get the movement status of all joints
• Return value： A list,[voltage, sensor, temperature, current, angle, overload], a value of 0 means no error, a value of 1 indicates an error

get_servo_temps()

• function：Get joint temperature
• Return value： A list unit ℃

8. Robotic arm end IO control

set_color(r, g, b)

• function: Set the color of the end light of the robotic arm

• Parameters:

  • r (int): 0 ~ 255

  • g (int): 0 ~ 255

  • b (int): 0 ~ 255

set_digital_output(pin_no, pin_signal)

• function: set IO statue
• Parameters
  • pin_no (int): Pin number
  • pin_signal (int): 0 / 1

get_digital_input(pin_no)

• function: read IO statue
• Parameters: pin_no (int)
• Return value: signal

set_pin_mode(pin_no, pin_mode)

• function: Set the state mode of the specified pin in atom.
• Parameters
  • pin_no (int): Pin number
  • pin_mode (int): 0 - input, 1 - output, 2 - input_pullup

9. Robotic arm end gripper control

set_gripper_state(flag, speed, _type_1=None)

• function: Adaptive gripper enable

• Parameters:

  • flag (int) : 0 - open 1 - close, 254 - release

  • speed (int): 1 ~ 100

  • _type_1 (int):

    • 1 : Adaptive gripper (default state is 1)

    • 2 : A nimble hand with 5 fingers

    • 3 : Parallel gripper

    • 4 : Flexible gripper

set_gripper_value(gripper_value, speed, gripper_type=None)

• function: Set the gripper value

• Parameters:

  • gripper_value (int) : 0 ~ 100

  • speed (int): 1 ~ 100

  • gripper_type (int):

    • 1 : Adaptive gripper (default state is 1)

    • 2 : A nimble hand with 5 fingers

    • 3 : Parallel gripper

    • 4 : Flexible gripper

set_gripper_calibration()

• function: Set the current position of the gripper to zero

is_gripper_moving()

• function: Judge whether the gripper is moving or not
• Return value：
  • 0: not moving
  • 1: is moving
  • -1: error data

get_gripper_value()

• function: Get the value of gripper
• Parameters:
  • gripper_type: (int) default 1
    • 1: Adaptive gripper
    • 3: Parallel gripper
    • 4: Flexible gripper
• Return value：gripper value (int)

set_pwm_output(channel, frequency, pin_val)

• function: PWM control
• Parameters:
  • channel : (int): IO number.
  • frequency: (int): clock frequency
  • pin_val: (int) Duty cycle 0 ~ 256; 128 means 50%

set_HTS_gripper_torque(torque)

• function: Set new adaptive gripper torque
• Parameters:
  • torque: (int): 150 ~ 980
• Return value:
  • 0: Set failed
  • 1: Set successful

get_HTS_gripper_torque()

• function: Get gripper torque
• Return value: (int) 150 ~ 980

get_gripper_protect_current()

• function: Get the gripper protection current
• Return value: (int) 1 ~ 500

set_gripper_protect_current(current)

• function: Set the gripper protection current
• Parameters:
  • current: (int): 1 ~ 500

init_gripper()

• function: Initialize gripper

10. Set bottom IO input/output status

set_basic_output(pin_no, pin_signal)

• function：Set Base IO Output
• Parameters：
  • pin_no (int) Pin port number
  • pin_signal (int): 0 - low. 1 - high

get_basic_input(pin_no)

• function: Read base IO input
• Parameters:
  • pin_no (int) pin number
• Return value: 0 - low. 1 - high

11. WLAN Setting

set_ssid_pwd(account, password)

• function: Change connected wifi. (Apply to m5)
• Parameters:
  • account (str) new wifi account
  • password (str) new wifi password

get_ssid_pwd()

• function: Get connected wifi account and password. (Apply to m5)
• Return value: (account, password)

set_server_port(port)

• function: Change the connection port of the server
• Parameters:
  • port (int) The new connection port of the server.

12. TOF

get_tof_distance()

• function: Get the detected distance (Requires external distance detector)
• Return value: (int) The unit is mm.

13. Communication mode

set_transponder_mode(mode)

• function: Set basic communication mode
• Parameters:
  • mode : 0 - Turn off transparent transmission，1 - Open transparent transmission

get_transponder_mode()

• function: Get basic communication mode
• Parameters:
• Return value:
  • 1: Open transparent
  • 0: Turn off transparent transmission

14. Cartesian space coordinate parameter setting

set_tool_reference(coords)

• function: Set tool coordinate system.
• Parameters：
  • coords: (list) [x, y, z, rx, ry, rz].

get_tool_reference(coords)

• function: Get tool coordinate system.
• Return value:
  • oords: (list) [x, y, z, rx, ry, rz]

set_world_reference(coords)

• function: Set world coordinate system.
• Parameters：
  • coords: (list) [x, y, z, rx, ry, rz].

get_world_reference()

• function: Get world coordinate system.
• Return value: list [x, y, z, rx, ry, rz].

set_reference_frame(rftype)

• function: Set base coordinate system.
• Parameters：
  • rftype: 0 - base 1 - tool.

get_reference_frame()

• function: Get base coordinate system.
• Return value: (list) [x, y, z, rx, ry, rz].

set_movement_type(move_type)

• function: Set movement type.
• Parameters：
  • move_type: 1 - movel, 0 - moveJ.

get_movement_type()

• function: Get movement type.
• Return value:
  • 1 - movel
  • 0 - moveJ

set_end_type(end)

• function: Set end coordinate system
• Parameters:
  • end (int): 0 - flange, 1 - tool

get_end_type()

• function: Obtain the end coordinate system
• Return value:
  • 0 - flange
  • 1 - tool

15. Raspberry pi -- GPIO

gpio_init()

• function: Init GPIO module, and set BCM mode.

gpio_output(pin, v)

• function: Set GPIO port output value.

• Parameters

  • pin (int) Pin number.
  • v (int): 0 / 1

16. utils (module)

This module supports some helper methods. Use the code entered at the beginning of the file to import the module:

from pymycobot import utils

utils.get_port_list()

• Function: Get a list of all current serial port numbers

• Return value: Serial port list (list)

utils.detect_port_of_basic()

• Function: Return the first detected serial port number of M5 Basic. (Only one serial port number will be returned)

• Return value: Return the detected port number. If no serial port number is detected, it will return: None

MechArm 270 Socket

Note: raspberryPi version Only supports python3 The robotic arm that uses this class of premise has a server and has been turned on.

Use TCP/IP to control the robotic arm

Client

# demo
from pymycobot import MechArmSocket
# Port 9000 is used by default
mc = MechArmSocket("192.168.10.10",9000)

res = mc.get_angles()
print(res)

mc.send_angles([0,0,0,0,0,0],20)
...

Server

Server file is in the demo folder,For details, please check the Server_270.py file in the demo folder

socket control

Note: Most of the methods are the same as the class MechArm270, only the new methods are listed here.

set_gpio_mode(mode)

• function: Set pin coding method.

• Parameters

  • mode (str) "BCM" or "BOARD".

set_gpio_out(pin_no, mode)

• function: Set the pin as input or output.

• Parameters

  • pin_no (int) pin id.
  • mode (str) "in" or "out"

set_gpio_output(pin_no, state)

• function: Set the pin to high or low level.

• Parameters

  • pin_no (int) pin id.
  • state (int) 0 or 1

get_gpio_in(pin_no)

• function: Get pin level status.

• Parameters

  • pin_no (int) pin id.

• Return value: 0 is low level 1 is high level