MechArm 270

[toc]

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

# M5 version
mc = MechArm270('COM3',115200)

# PI version
# mc = MechArm270('/dev/ttyAMA0', 1000000)

# 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

1.1 `get_system_version()`

function： get system version
Return value： system version

1.2 `get_basic_version()`

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

1.3 `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.

1.4 `clear_error_information()`

function: Clear robot error message
Return value：
- 1: completed

2. Overall Status

2.1 `power_on()`

function: atom open communication (default open)
Return value：
- 1: completed

2.2 `power_off()`

function: Power off of the robotic arm
Return value：
- 1: completed

2.3 `is_power_on()`

function: judge whether robot arms is powered on or not
Return value:
- 1: power on
- 0: power off
- -1: error

2.4 `release_all_servos(data=None)`

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).
Return value：
- 1: completed

2.5 `focus_servo(servo_id)`

function: Power on designated servo
Parameters:
- servo_id: int, 1-6
Return value：
- 1: completed

2.6 `is_controller_connected()`

function: Wether connected with Atom
Return value:
- 1: succeed
- 0: failed
- -1: error data

2.7 `read_next_error()`

function: Robot Error Detection
Return value: list len 6
- 0: No abnormality
- 1: Communication disconnected
- 2: Unstable communication
- 3: Servo abnormality

2.8 `get_fresh_mode()`

function: Query sports mode
Return value:
- 0: Interpolation mode
- 1: Refresh mode

2.9 `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.
Return value：
- 1: completed

2.10 `focus_all servos()`

Function: All servos are powered on
Return value:
- 1: complete

2.11 `set_vision_mode()`

Function: Set the vision tracking mode, limit the attitude flip of send_coords in refresh mode. (Applicable only to vision tracking function)
Parameter:
- 1: open
- 0: close
Return value:
- 1: complete

3.MDI Mode and Operation

3.1 `get_angles()`

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

3.2 `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)
- speed：the speed and range of the robotic arm's movement 1~100

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

Return value：
- 1: completed

3.3 `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
Return value：
- 1: completed

3.4 `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]

3.5 `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)
- speed: (int) 1-100

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

Return value：
- 1: completed

3.6 `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
Return value：
- 1: completed

3.7 `pause()`

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

3.8 `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
Return value：
- 1: completed

3.9 `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
Return value：
- 1: completed

3.10 `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.

3.11 `is_paused()`

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

3.12 `resume()`

function: resume the robot movement and complete the previous command
Return value：
- 1: completed

3.13 `stop()`

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

3.14 `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

3.15 `is_moving()`

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

3.16 `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.

3.17 `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

4.1 `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
Return value：
- 1: completed

4.2 `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
Return value：
- 1: completed

4.3 `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
Return value：
- 1: completed

4.4 `jog_increment_angle(joint_id, increment, speed)`

Function: Angle stepping, single joint angle increment control
Parameter:
- joint_id: 1-6
- increment: Incremental movement based on the current position angle
- speed: 1~100
Return value:
- 1: Completed

4.5 `jog_increment_coord(id, increment, speed)`

Function: Coordinate stepping, single coordinate increment control
Parameter:
- id: Coordinate axis 1-6
- increment: Incremental movement based on the current position coordinate
- speed: 1~100
Return value:
- 1: Completed

4.6 `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

4.7 `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

4.8 `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
Return value：
- 1: completed

4.9 `get_encoders()`

function: Get the six joints of the manipulator.
Return value: (list) the list of encoders

5. Running status and Settings

5.1 `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

5.2 `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

5.3 `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
Return value：
- 1: completed

5.6 `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
Return value：
- 1: completed

6. Joint motor control

6.1 `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

6.2 `is_all_servo_enable()`

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

6.3 `set_servo_calibration(servo_id)`

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

6.4 `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

6.5 `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

6.6 `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.
Return value：
- 1: completed

6.7 `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

6.8 `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
Return value：
- 1: completed

7. Servo state value

7.1 `get_servo_speeds()`

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

7.2 `get_servo_voltages()`

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

7.3 `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

7.4 `get_servo_temps()`

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

8. Robotic arm end IO control

8.1 `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
Return value：
- 1: completed

8.2 `set_digital_output(pin_no, pin_signal)`

function: set IO statue
Parameters
- pin_no (int): Pin number
- pin_signal (int): 0 / 1
Return value：
- 1: completed

8.3 `get_digital_input(pin_no)`

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

8.4 `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
Return value：
- 1: completed

9. Robotic arm end gripper control

9.1 `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
Return value：
- 1: completed

9.2 `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
Return value：
- 1: completed

9.3 `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

9.4 `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)

9.5 `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%
Return value：
- 1: completed

9.6 `set_HTS_gripper_torque(torque)`

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

9.7 `get_HTS_gripper_torque()`

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

9.8 `get_gripper_protect_current()`

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

9.9 `set_gripper_protect_current(current)`

function: Set the gripper protection current
Parameters:
- current: (int): 1 ~ 500
Return value：
- 1: completed

9.10 `init_gripper()`

function: Initialize gripper

10. Set bottom IO input/output status

10.1 `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
Return value：
- 1: completed

10.2 `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

11.1 `set_ssid_pwd(account, password)`

function: Change connected wifi. (Apply to m5)
Parameters:
- account (str) new wifi account
- password (str) new wifi password
Return value：
- 1: completed

11.2 `get_ssid_pwd()`

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

11.3 `set_server_port(port)`

function: Change the connection port of the server
Parameters:
- port (int) The new connection port of the server.
Return value：
- 1: completed

12. TOF

12.1 `get_tof_distance()`

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

13. Communication mode

13.1 `set_transponder_mode(mode)`

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

13.2 `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

14.1 `set_tool_reference(coords)`

function: Set tool coordinate system.
Parameters：
- coords: (list) [x, y, z, rx, ry, rz].
Return value：
- 1: completed

14.2 `get_tool_reference(coords)`

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

14.3 `set_world_reference(coords)`

function: Set world coordinate system.
Parameters：
- coords: (list) [x, y, z, rx, ry, rz].
Return value：
- 1: completed

14.4 `get_world_reference()`

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

14.5 `set_reference_frame(rftype)`

function: Set base coordinate system.
Parameters：
- rftype: 0 - base 1 - tool.
Return value：
- 1: completed

14.6 `get_reference_frame()`

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

14.7 `set_movement_type(move_type)`

function: Set movement type.
Parameters：
- move_type: 1 - movel, 0 - moveJ.
Return value：
- 1: completed

14.8 `get_movement_type()`

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

14.9 `set_end_type(end)`

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

14.10 `get_end_type()`

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

15. Raspberry pi -- GPIO

15.1 `gpio_init()`

function: Init GPIO module, and set BCM mode.

15.2 `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

16.1 `utils.get_port_list()`

Function: Get a list of all current serial port numbers
Return value: Serial port list (list)

16.2 `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

1. 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)
...

2. Server

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

3. socket control

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

3.1 `set_gpio_mode(mode)`

function: Set pin coding method.
Parameters
- mode (str) "BCM" or "BOARD".

3.2 `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"

3.3 `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

3.4 `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

MechArm 270

Python API usage instaructions

1. System Status

1.1 get_system_version()

1.2 get_basic_version()

1.3 get_error_information()

1.4 clear_error_information()

2. Overall Status

2.1 power_on()

2.2 power_off()

2.3 is_power_on()

2.4 release_all_servos(data=None)

2.5 focus_servo(servo_id)

2.6 is_controller_connected()

2.7 read_next_error()

2.8 get_fresh_mode()

2.9 set_fresh_mode()

2.10 focus_all servos()

2.11 set_vision_mode()

3.MDI Mode and Operation

3.1 get_angles()

3.2 send_angle(id, degree, speed)

3.3 send_angles(angles, speed)

3.4 get_coords()

3.5 send_coord(id, coord, speed)

3.6 send_coords(coords, speed, mode)

3.7 pause()

3.8 sync_send_angles(angles, speed, timeout=15)

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

3.10 get_angles_coords()

3.11 is_paused()

3.12 resume()

3.13 stop()

3.14 is_in_position(data, flag)

3.15 is_moving()

3.16 angles_to_coords(angles)

3.17 solve_inv_kinematics(target_coords, current_angles)

4. JOG Mode and Operation

4.1 jog_angle(joint_id, direction, speed)

4.2 jog_coord(coord_id, direction, speed)

4.3 jog_rpy(end_direction, direction, speed)

4.4 jog_increment_angle(joint_id, increment, speed)

4.5 jog_increment_coord(id, increment, speed)

4.6 set_encoder(joint_id, encoder, speed)

4.7 get_encoder(joint_id)

4.8 set_encoders(encoders, speed)

4.9 get_encoders()