Arduino API

1. Overall Status

powerOn();

  • Function: The robot is powered on, and the robot can be controlled after the power is turned on（open by default）

  • Return Value: None

powerOff();

  • Function: Robot power off

  • Return Value: None

isPoweredOn();

  • Function: Atom status inquiry, return Atom connect status

  • Return Value: Power on is TRUE, power off is FALSE

getAtomVersion();

  • Function: Get Atom firmware version

  • Return Value: Values of type int,the data needs to be /10. For example, if the version number read is 12, it needs to be divided by 10, and the final version number is 1.2

setFreeMoveMode(bool mode);

  • Function: Set the free movement mode. After the free movement mode is turned on, the LED at the end will be yellow. Press and hold the atom at the end to move the robot manually
  • Parameter Description:

  • mode: mode, 0/1, 0--off free movement, 1--open free movement

  • Return Value: None

2. MDI Mode and Robot Control (Manual Data Input)

getAngles();

  • Function: Read all joint angles, when used one Angles should be defined to receive data that was read. Angles are defined in terms of variables or functions built into library functions. We can define a memory space that is 6 angles to store Angle variables, it is used in the same way as arrays.

  • Return Value: Arrays of type Angles

writeAngle(int joint, float value, int speed);

  • Function: Send a single joint Angle

  • Parameter Specification：
    Joint Number= joint, range from 1-6; Specified Angle Value= value, range approximately from -170°- + 170°; Specified Speed= speed, range from 1-100

  • Return Value: None

writeAngles(Angles angles, int speed);

  • Function: Synchronize joint angles, send joint angles at the same time. Specified Angles is a container with a capacity of 6 data, can be viewed as an array. Use a for loop to assign values, or assign values separately.

  • Angles[0] = Specified Angle, Angles[2] = Specify Angle, range from 0-90 ( the value range should be the same as writeAngle ) unit°
    Movement Speed = speed, range from 0–100 unit %

  • Return Value: None

getCoords();

  • Function: Read x,y,z,rx,ry,rz of the end of myCobot, a Coords tempcoords should be defined when used to received angles that was read. Coords are defined in terms of variables or functions built into library functions. We can define a memory space that is 6 tempcoords to store Angle variables, it is used in the same way as arrays.

  • Return Value: An array of type Coords. You need to define variables of type Coords.

writeCoord(Axis axis, float value, int speed);

  • Function: Send the specific value of the individual coordinate parameters x/y/z, the ends are going to move in a single direction.

  • Parameter Specification:
    Value of Moving Path Coordinate = value range from -300–300 ( The position coordinates of axis=Axis::X, aixs=Axis::Y and axis=Axis::Z are respectively X,Y,Z, the units would be mm. Position coordinate value range is not uniform, axis=Axis::RX, aixs=Axis::RY and axis=Axis::RZ are respectively RX,RY,RZ ranging from-180°-180°, if the value is beyond the range it will return the clue “inverse kinematics no solution” )
    Specified Speed = speed range from 1-100 unit %

  • Return Value: None

writeCoords(Coords coords, int speed);

  • Function: To send the specified coordinate parameter, which should be of type Coords, declare a variable of type Coords, which is used in the same way as an array

  • Parameter Specification
    coords[0] = X, coords[1] = Y, coords[2] = Z,
    X,Y,Z range from -300.00-300.00 ( Value range is not defined. If the value is beyond the range, the clue ”inverse kinematics no solution” will be given ) unit mm
    RX,RY,RZ range from -180-180
    Specified Speed = speed, range from 1-100 unit %

  • Return Value: None

checkRunning();

  • Function: Check whether the equipment is in motion

  • Return Value: In motion is TRUE，on the contrary it's FALSE

setEncoder(int joint, int encoder);

  • Function: Set a single joint to rotate to a specified potential value

  • Parameter description: joint number = joint value range 1-7 (joint number 7 is generally a gripper, gripper potential value range: 1325-2048); steering gear potential value = encoder value range 0-4096 (the range should be positively related to the range of each joint)

  • Return Value: None

getEncoder(int joint);

  • Function: Get the specified joint potential value

  • Parameter Specification: Servo Motor Number = joint range from 1-7

  • Return Value: Int type, range from 0-4096

setEncoders(Angles angleEncoders, int speed);

  • Function: Set the six joints to run synchronously to the specified position

  • Parameter Specification: Need to define a variable of type Angles: angleEncoders, it is used in the same way as arrays. Assign a value to the array angleEncoders, values range from 0-4096 ( The range should be positively related to the range of each joint ) , the length range of the array is 6. Specified Speed = speed, range from 1-100 unit %

  • Return Value: None

getEncoders();

  • Function: Get all joint potential values

  • Return Value: Arrays of type Angles, range from 0-4096

getServoSpeeds();

  • Function: Get all servo speeds

  • Return Value: Arrays of type Angles, Velocity is 0 when not in motion

3. JOG Mode

jogAngle(int joint, int direction, int speed);

  • Function: Control the movement of a single joint in one direction

  • Parameter Specification:
    Joint/Servo Motor Number = joint, range from 1-6;
    Direction of Joint Motion = Direction, range from -1/1;
    Specified Speed = speed, range from 1-100 unit %

  • Return Value: None

jogCoord(Axis axis, int direction, int speed);

  • Function: Control myCobot moves in one direction in Cartesian space

  • Parameter Specification:
    Direction Selection = axis, range from X,Y,Z,RX,RY,RZ;
    Direction of Joint Motion = Direction, range from -1/1;
    Specified Speed = speed, range from 1-100 unit %

  • Return Value: None

jogStop();

  • Function: Stops the specified direction of motion that has started

  • Return Value: None

ProgramPause();

  • Function: Program pause

  • Return Value: None

ProgramResume();

  • Function: Program continues to run

  • Return Value: None

TaskStop();

  • Function: Program stop

  • Return Value: None

4. Running Status and Settings

getSpeed();

  • Function: Read the current running speed

  • Return Value: Int tape, range from 1-100, unit %

setSpeed(int percentage);

  • Function: Set the running speed

  • Parameter Specification: Percentage, range from 1-100, unit %

getJointMin(int joint);

  • Function: Read the joint minimal limit Angle

  • Parameter Specification: Joint Number = joint, range from 1-6

  • Return Value: Float type of the array

getJointMax(int joint);

  • Function: Read the joint maximal limit Angle

  • Parameter Specification: Joint Number = joint, range from 1-6

  • Return Value: Float type of the array

setMovementType(MovementType movement_type);

  • Function: Set the movement method

  • Parameter Specification: Movements are non-linear path movement (movej) and linear path movement (movel)

  • Return Value: None

getMovementType();

  • Function: Read movement method

  • Return Value: The non-linear method returns 0; the linear method returns 1

5. Joint Servo Control

isServoEnabled(int joint);

  • Function: Check the single joint connection status

  • Parameter Specification: Joint Number = joint, range from 1-6

  • Return Value: Connection status, 0/1, 1--connected, 0--not connected

isAllServoEnabled();

  • Function: Check whether all joins are properly connected

  • Return Value: Connection status, 0/1, 1--connected, 0--not connected

getServoData(int joint, byte data_id);

  • Function: Read the system parameters of joint

  • Parameter Specification:
    Joint servo serial number = joint, range from 1-6;
    Data Address = data_id, refer to the following Figure for address

  • Return Value: Refer to the following Figure for the value range

pic

setServoData(int joint, byte data_id, byte data);

  • Function: Set the system parameters of joint

  • Parameter Specification:
    Joint servo serial number = joint, range from 1-6;
    Data Address = data_id, refer to the address range in the figure above;
    data = the range of values in the above diagram

  • Return Value: None

setServoCalibration(int joint);

  • Function:Joint Zero Calibration, the corresponding potential value is 2048

  • Parameter Specification: joint number = joint, range from 1-6

releaseServo(byte servo_no);

  • Function: Relax/disable a certain joint of the robot

  • Parameter Specification: servo_no is 1-6

  • Return Value: None

focusServo(byte servo_no);

  • Function: Enable a certain joint of the robot

  • Parameter Specification: servo_no is 1-6

  • Return Value: None

getServoVoltages();

  • Function: Get all servo voltages

  • Return Value: Array of type Angles, reference range from 8.4-12.0

getServoStatus();

  • Function: Get the status of all servos

  • Return Value: 0 means all states are normal; 1 means voltage overvoltage/undervoltage; 2 means magnetic code state abnormal; 4 means temperature overheating; 8 means current overcurrent; 32 means load overload; when the number that appears is not equal to the above abnormal numbers, for example: 3 means voltage overvoltage/undervoltage and magnetic code state abnormal, 7 means voltage overvoltage/undervoltage, magnetic code state abnormal and temperature overheating

getServoTemps();

  • Function: Get all servo temperatures

  • Return Value: Array of type Angles, reference range from 0-255

6. Atom IO Control

setPinMode(byte pin_no, byte pin_mode);

  • Function: Sets the state mode of the specified pin of atom

  • Parameter Specification:
    Pin Serial Number = pin_no, reference range from: 19、22、23、26、32、33
    Output Mode = pin_mode, reference range from: 0、1

  • Return Value: None

setLEDRGB(byte r, byte g, byte b);

  • Function: Set the color of the RGB lights of atom

  • Parameter Specification:
    Parameter of Red Light = r, range from 0x00 – 0xFF;
    Parameter of Green Light = g, range from 0x00 – 0xFF;
    Parameter of Blue Light = b, range from 0x00 – 0xFF;

  • Return Value: None

setGripperState(byte mode, int sp);

  • Function: Set the opening and closing state of the Gripper

  • Parameter Description:

  • mode, jaw opening and closing mode, range 0/1, 0--the jaws are opened to the maximum, 1--the jaws are closed to the minimum
  • sp, clamping jaw opening and closing speed, range 1-100

setGripperValue(int data, int sp);

  • Function: Set the Gripper opening and closing angle

  • Parameter Description:

  • data, clamping jaw opening and closing angle, range 0-100, 0--closed to the minimum angle, 100--open to the maximum angle

  • sp, clamping jaw opening and closing speed, range 1-100

  • Return Value: None

setGripperIni();

  • Function: Set jaw zero point

  • Return Value: None

getGripperValue();

  • Function: Get the current angle of the gripper

  • Return value: Returns the current gripper angle, range 0-100

isGripperMoving();

  • Function: Detects if the jaws are in motion

  • Return Value: 0 not in motion, 1 in motion

void setEletricGripper(bool mode);

  • Note: This interface is only available for MyCobot320 robot

  • Function: Control the opening and closing of the electric gripper

  • Parameter Description:

  • mode: mode, 0/1, 0--the jaws are opened to the maximum, 1--the jaws are closed to the minimum

  • Return value: None

void InitEletricGripper();

  • Note: This interface is only available for MyCobot320 robot

  • Function: Initialize the opening and closing of the electric gripper. Every time the electric gripper is plugged in, it needs to be initialized before it can be controlled. After the initialization is successful, the gripper will open and close once

  • Return value: None

void setGripperMode(bool mode);

  • Note: This interface is only available for MyCobot320 robot

  • Function: Set Adaptive Gripper Control Mode

  • Parameter Description:

  • mode: mode, 0/1, 0--485 communication control, 1--io control (in io mode, it can only be turned on or off, and the angle cannot be set. Pins 23 and 33, when turned on or off, both pins The feet need to be set to different states, one must be high and one low)

  • Return value: None

bool getGripperMode();

  • Note: This interface is only available for MyCobot320 robot

  • Function: Set Adaptive Gripper Control Mode

  • Return value: adaptive gripper control mode, 0/1, 0--485 communication control, 1--io control

setDigitalOutput(byte pin_no, byte pin_state);

  • Function: Setting the operating state of IO pins

  • Parameter Specification: 0 input; 1 output; 2 pull_up_input

  • Return Value: None

getDitialInput(byte pin_no);

  • Function: Read input

  • Parameter Specification: Pin Serial Number = pin_no Range of values: 19、22、23、26、32、33

  • Return Value: None

setPWMOutput(byte pin_no, int freq, byte pin_write);

  • Function: Set ATOM end IO to output PWM signal with specified duty cycle

  • Parameter Specification:

  • pin_no: IO Serial Number
  • freq: Clock Frequency

  • pin_write: Duty Cycle 0-256; 128 means 50%

  • Return Value: None

7. Coordinate Control Mode

setToolReference(Coords coords);

  • Function: Set coordinate system of tool

  • Parameter Specification:
    X,Y,Z range from -300.00-300.00 ( Value range is not defined. If the value is beyond the range, the clue "inverse kinematics no solution" will be given ) unit mm
    RX,RY,RZ range from -180.00-180.00

  • Return Value: None

setWorldReference(Coords coords);

  • Function: Set coordinate system of world

  • Parameter Specification:
    X,Y,Z range from -300.00-300.00 ( Value range is not defined. If the value is beyond the range, the clue "inverse kinematics no solution" will be given ) unit mm
    RX,RY,RZ range from -180.00-180.00

  • Return Value: None

getToolReference();

  • Function: Get coordinate system of tool

  • Return Value:
    X,Y,Z range from -300.00-300.00 ( Value range is not defined. If the value is beyond the range, the clue "inverse kinematics no solution" will be given ) unit mm
    RX,RY,RZ range from -180.00-180.00

getWorldReference();

  • Function: Get coordinate system of world

  • Return Value:
    X,Y,Z range from -300.00-300.00 ( Value range is not defined. If the value is beyond the range, the clue "inverse kinematics no solution" will be given ) unit mm
    RX,RY,RZ range from -180.00-180.00

setReferenceFrame(RFType rftype);

  • Function: Set coordinate system of frame

  • Parameter Specification:
    RFType::BASE takes the robot base as the base coordinate, RFType::WORLD takes the world coordinate system as the base coordinate

  • Return Value: None

getReferenceFrame();

  • Function：Get coordinate system of flange

  • Return Value: X,Y,Z range from -300.00-300.00 ( Value range is not defined. If the value is beyond the range, the clue "inverse kinematics no solution" will be given ) unit mm
    RX,RY,RZ range from -180.00-180.00

setEndType(EndType end_type)

  • Function: Set coordinate system of the end

  • Parameter Specification:
    EndType::FLANGE set the end as flange, EndType::TOOL set the end to the tool end

  • Return Value: None

getEndType();

  • Function: Get coordinate system of the end

  • Return Value: X,Y,Z range from -300.00-300.00 ( Value range is not defined. If the value is beyond the range, the clue "inverse kinematics no solution" will be given ) unit mm
    RX,RY,RZ range from -180.00-180.00

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