API method details

When using the following function interface, please import our API library at the beginning, otherwise it will not run successfully, that is, enter the following code:

#For Mira series
from pymycobot import Mira

Note: If our API library is not installed, please refer to the 7.1 Environment Building chapter to install it.

1 The overall operating status of the robotic arm

1.1 go_zero()

  • Function： The robotic arm returns to zero.
  • return value: none

1.2 power_on()

  • Function: All joints of the robotic arm are powered on.
  • return value: none

1.3 release_all_servos()

  • Function: All joints of the robotic arm are powered off
  • return value: none

2 Input program control mode (MDI mode)

Note: Different series of manipulators have different limit positions, and the settable attitude values are also different. For details, please refer to the parameter introduction of the corresponding model.

2.1 get_angles_info()

  • Function: Get the current angle of the robotic arm.
  • return value: lista list of float values representing the angles of all joints.

2.2 set_angle(id, degree, speed)

  • Function: Sends the specified single joint motion to the specified angle
  • Parameter Description:
    • id: Representing the joints of the robotic arm, the three-axis has three joints, which can be represented by numbers 1-3.
    • degree: Indicates the angle of the joint
    • speed：Indicates the speed of the robotic arm movement, ranging from 0 to 100 (unit: mm/s).
  • return value: none

2.3 set_angles(degrees, speed)

  • Function: Send all angles to all joints of the robotic arm
  • Parameter Description:
    • degrees: (List[float])Including the angle of all joints, the three-axis robot has three joints, so the length is 3, and the representation method is: [20,20,20]
    • speed: Indicates the speed of the robot arm movement, the value range is 0-100 (unit: mm/s).
  • return value: none

2.4 get_coords_info()

  • Function: Get the current coordinates of the robotic arm.
  • return value: lista list containing the coordinates
    • Three axes: length is 3, followed by [x, y, z]

2.5 send_coord(id,coord,speed)

  • Function: Send a single coordinate value to the robotic arm to move
  • Parameter Description:
    • id:Represents the coordinates of the robotic arm, the three axes have three coordinates, and there are specific representation methods. X-coordinate notation: "X" or "x".
    • coord: Enter the coordinate value you want to reach
    • speed: Indicates the speed of the robot arm movement, the range is 0-100 (unit: mm/s).
  • return value: none

2.6 set_coords(coords, speed)

  • Function: Send global coordinates to move the robotic arm head from the original point to the point you specify.
  • Parameter Description:
    • coords:
      • Three axes: the coordinate value of [x,y,z], the length is 3
    • speed: Indicates the speed of the robot arm movement, the range is 0-100 (unit: mm/s).
  • return value: none

2.7 get_radians_info()

  • Function: Get the current radian value of the robotic arm.
  • return value: listA list containing all joint radian values.

2.8 set_radians(radians, speed)

  • Function: Send radian values to all joints of the robotic arm
  • Parameter Description:
    • radians: A list of radian values for each joint( List[float])
    • speed: Indicates the speed of the robot arm movement, the range is 0-100 (unit: mm/s).
  • return value: none

2.9 set_mode()

  • Function: set coordinate mode
  • Parameter Description:
    • 0:Absolute Cartesian mode.
    • 1:Relative Cartesian mode.
  • return value: none

2.10 sleep()

  • Function: Delay
  • Parameter Description:
    • Time: delay time (type Int)
  • return value: none

2.12 set_init_pose()

  • Function: Set the current location to a fixed location. For example (0,0,0), set this position as the zero point.
  • Parameter Description:
    • coords: All coordinates of the robotic arm
    • speed: Indicates the speed of the robot arm movement, the range is 0-100 (unit: mm/s).
  • return value: none

2.13 set_pwm()

  • Function: Set PWM duty cycle
  • Parameter Description: P: duty cycle, range: 0-255
  • return value: none

2.14 set_fan_state()

  • Function: set fan status
  • Parameter Description:
    • 0: close
    • 1: open
  • return value: none

2.15 get_switch_state()

  • Function: Get limit switch status
  • Parameter Description:
    • X: Whether joint 3 has reached the limit
    • Y: Whether joint 2 has reached the limit
    • Z: Whether joint 1 has reached the limit
  • return value: 有

2.16 set_speed_mode(mode)

  • Function: Set speed mode
  • Parameter Description:
    • 0: uniform mode
    • 2: Acceleration and deceleration mode
  • return value: none

3 JOG mode and operation

3.1 set_jog_angle(id, direction, speed)

  • Function: Set jog mode (angle)
  • Parameter Description:
    • id: Represents the joint of the robotic arm, which is represented by entering 1~3 according to the joint id
    • direction: It mainly controls the moving direction of the robot arm. Input 0 is negative value movement, and input 1 is positive value movement
    • speed: Speed 0 ~ 100 (unit: mm/s).
  • return value: none

3.2 set_jog_coord(axis, direction, speed)

  • Function: Control the robot to move continuously according to the specified coordinates or attitude values
  • Parameter Description:
    • axis: Represents the joint of the robotic arm, which is represented by x/y/z according to the joint axis
    • direction: It mainly controls the moving direction of the robot arm. Input 0 is negative value movement, and input 1 is positive value movement
    • speed: Speed 0 ~ 100 (unit: mm/s).
  • return value: none

3.3 set_jog_stop()

  • Function: Stop continuous movement under jog control
  • return value: none

4 IO control

4.1 set_gpio_state(state)

  • Function: Set the suction pump status.
  • Parameter Description:
    • state (int): Input 0 to turn on the suction pump, and input 1 to turn off the suction pump.
  • return value: none

4.2 set_gripper_zero()

  • Function: Set gripper zero position (set current position to zero position).
  • return value: none

4.3 set_gripper_state(state):

  • Function: Set the gripper switch
  • 参数说明: state：Enter 0 to open the jaws and 1 to close the jaws.
  • return value: none

5 functional interface

5.1 play_gcode_file(filename)

  • Function: Play the imported track file.
  • Parameter Description:
    • filename : track file name
  • return value: none

6 Use Cases

6.1 Use of suction pump

import time
import platform
from pymycobot.mira import Mira

# Automatically select the system and connect the robotic arm
if platform.system() == "Windows":
    ma = Mira('COM6', 115200)
    ma.go_zero()
elif platform.system() == "Linux":
    ma = Mira('/dev/ttyUSB0', 115200)
    ma.go_zero()

# The position of the robotic arm movement
angles = [
    [-81.71, 0.0, 0.0],
    [-90.53, 21.77, 47.56],
    [-90.53, 0.0, 0.0],
    [-59.01, 21.77, 45.84],
    [-59.01, 0.0, 0.0]
]

# Absorb small blocks
ma.set_angles(angles[0], 50)
time.sleep(3)
ma.set_angles(angles[1], 50)
time.sleep(3)

# Turn on the suction pump
ma.set_gpio_state(0)

ma.set_angles(angles[2], 50)
time.sleep(3)
ma.set_angles(angles[3], 50)

# Turn off the suction pump
ma.set_gpio_state(1)
time.sleep(3)

ma.set_angles(angles[4], 50)

6.2 夹爪的使用

import time
import platform
from pymycobot import Mira

# Automatically select the system and connect the robotic arm
if platform.system() == "Windows":
    ma = Mira('COM6', 115200)
    ma.go_zero()
elif platform.system() == "Linux":
    ma = Mira('/dev/ttyUSB0', 115200)
    ma.go_zero()

# The position of the robotic arm movement
angles = [
    [-81.71, 0.0, 0.0],
    [-90.53, 21.77, 47.56],
    [-90.53, 0.0, 0.0],
    [-59.01, 21.77, 45.84],
    [-59.01, 0.0, 0.0]
]

ma.set_angles(angles[0], 50)
time.sleep(3)

i = 5
# cycle 5 times
while i > 0:
    # Open the jaws
    ma.set_gripper_state(0)
    time.sleep(2)
    # close the jaws
    ma.set_gripper_state(1)
    time.sleep(2)
    i -= 1

6.3 Get point information

import time
import platform
from pymycobot.mira import Mira

def mira_move():
    # Automatically select the system and connect the robotic arm
    if platform.system() == "Windows":
        ma = Mira('COM6', 115200)
        # Robot zero calibration
        ma.go_zero()
    elif platform.system() == "Linux":
        ma = Mira('/dev/ttyUSB0', 115200)
        ma.go_zero()

    # Let the robotic arm reach the angular position at a speed of 50
    ma.set_angles([19.48, 0, 0], 50)
    # Set the waiting time to ensure that the robotic arm has reached the specified position
    time.sleep(2)
    ma.set_angles([0, 18.91, 49.85], 50)
    time.sleep(3)
    ma.set_angles([0, 0, 0], 50)
    time.sleep(2)

    # Let the robotic arm reach the coordinate position at a speed of 50
    ma.set_coords([217.09, 113.01, 98.36], 50)
    time.sleep(4)

    # Use radians to control the robot arm to return to the zero position
    ma.set_radians([0, 0, 0], 50)
    time.sleep(3)
    ma.set_coords([-6.91, -175.86, 120.0], 50)
    time.sleep(4)
    ma.set_coords([107.54, -171.23, 117.11], 50)
    time.sleep(4)

    # Get angular position information
    print(ma.get_angles_info())
    # Get coordinate location information
    print(ma.get_coords_info())
    # Get position information in radians
    print(ma.get_radians_info())


if __name__ == "__main__":   
    mira_move()

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