Introduction to API

API or Application Programming Interface refers to a number of preset programs. Before utilization, it is required to import API library

The M750 firmware supports the following interfaces:

• Shake Firmware API
• Coordinate Firmware API

Shake Firmware API

from pymycobot import MyArmM 

# Example
m750 = MyArmM("COM3")

# Gets the current angle of all joints
angles = m750.get_joints_angle()
print(angles)

# Set joint 1 to move to 40 and set the speed to 20
m750.set_joint_angle(1, 40, 20)

1. Query the status of the bot

1.1 get_robot_modified_version(self)

• function: Get the bot correction version number

• Return value:

  • version (int): the bot correction version number

    1.2 get_robot_firmware_version(self)

• function: Obtaining the Robot Firmware Version (Major and Minor Versions)

• Return value:

  • version (int): the robot firmware

    1.3 get_robot_tool_modified_version(self)

• function: Get the remediation version of the bot tool

  1.4 get_robot_tool_firmware_version(self)

• function: Get the Robot Tool Firmware Version (End Atom)

  1.5 set_robot_err_check_state(self, status)

• function: Set Error Detection Status You can turn off error detection, but do not turn it off unless necessary

• Parameters:

  • status (int): 1 open; o close

    1.6 get_robot_err_check_state(self)

• function: Read error detection status

  1.7 get_robot_error_status(self)

• function: Get the bot error status

• Return value:

  • No error: [0,0,0,0,0,0,0,0]
  • assuming that error 1 and 3 are reported in section 1, it should return: [[1,3],0,0,0,0,0,0,0]

    1.8 get_robot_power_status(self)

• function: Get the robot power status

• Return value:

  • power_status (int): 0: power off, 1: power on

    1.9 set_robot_power_on(self)

• function: Set the robot to power on

  1.10 set_robot_power_off(self)

• function: Set the robot to power off

  1.11 clear_robot_err(self)

• function: Clear the robot abnormality Ignore the error joint and continue to move

  1.12 get_recv_queue_max_len(self)

• function: The total length of the read command queue, the default length is 100

  1.13 set_recv_queue_max_len(self, max_len)

• function: Set the total length of the receiving command queue

  1.14 clear_recv_queue(self)

• function: Clear the queue for receiving commands

  1.15 get_recv_queue_len(self)

• function: The current length of the read receive queue

2. Joint servo control

2.1 get_joint_angle(self, joint_id)

• function: Obtain the current angle of the specified joint, when the obtained angle is 200,
  • it means that the joint has no communication
• Parameters:
  • joint_id (int): 0 - 254

• Return value:

  • angle (int)

    2.2 set_joint_angle(self, joint_id, angle, speed)

• function: Sets the individual joints to move to the target angle

• Parameters:

  • joint_id (int) : 0 - 254
  • angle (int) : 0 - 254
  • speed (int) : 1 - 100

    2.3 get_joints_angle(self)

• function: Obtain the current angle of all joints, if one of the angles is 200��,

  • it means that the joint has no communication

• Return value:

  • angles list(int): 0 - 254

    2.4 set_joints_angle(self, angles, speed)

• function: Sets all joints to move to the target angle

• Parameters:

  • angles (list[int]): 0 - 254
  • speed (int): 0 - 100

    2.5 get_joints_coord(self)

• function: Get the coordinates

• Return value:

  • list[float] * 6: joints angle

    2.6 is_robot_moving(self)

• function: See if the robot is moving

• Return value:

  • 1: moving
  • 0: not moving

    2.7 stop_robot(self)

• function: The robot stops moving

  2.8 get_joints_max(self)

• function: Read the maximum angle of all joints

  2.9 get_joints_min(self)

• function: Read the minimum angle of all joints

3. Servo motor control

3.1 set_servo_calibrate(self, servo_id)

• function: Sets the zero position of the specified servo motor

• Parameters:

  • servo_id (int): 0 - 254

    3.2 get_servo_encoder(self, servo_id)

• function: Gets the current encoder potential value for the specified servo motor

• Parameters:
  • servo_id (int): 0 - 254

• Return value:

  • encoder (int): 0-4095

    3.3 set_servo_encoder(self, servo_id, encoder, speed)

• function: Sets the individual motor motion to the target encoder potential value

• Parameters:

  • servo_id: (int) 0 - 254
  • encoder: (int) 0 - 4095
  • speed: (int) 1 - 100

    3.4 get_servos_encoder(self)

• function: Obtain the current encoder potential values for multiple servo motors

  3.5 set_servos_encoder(self, positions, speed)

• function: Set the encoder potential value for multiple motors moving to the target

• Parameters:

  • positions (list[int * 8]): 0 - 4095:
  • speed (int): 1 - 100:

    3.6 get_servos_speed(self)

• function: Gets the current movement speed of multiple servo motors

  3.7 set_servos_encoder_drag(self, encoders, speeds)

• function: Set multiple servo motors with a specified speed to the target encoder potential value

• Parameters:

  • encoders (list[int * 8]): 0 - 4095:
  • speeds (list[int * 8]): -10000 - 10000:

    3.8 get_servos_encoder_drag(self)

• function: Reads the current encoder value and operating speed of all servo motors

• Return value:

  • encoders (list[int * 8]): 0-4095
  • speeds (list[int * 8]): 0-4095

    3.9 is_all_servos_enabled(self)

• function: Get the connection status of multiple servo motors

• Return value:

  • status: list[int*8] 0: The connection failed 1: The connection is successful

    3.10 get_servos_temp(self)

• function: Obtain the temperature of multiple servo motors

  3.11 get_servos_voltage(self)

• function: Get the voltage of multiple servo motors

  3.12 get_servos_current(self)

• function: Obtain the current of multiple servo motors

  3.13 get_servos_status(self)

• function: Get all the statuses of multiple servo motors

  3.14 get_servos_protect_current(self)

• function: Obtain multiple servo motor protection currents

  3.15 set_servo_enabled(self, servo_id, state)

• function: Set the servo motor torque switch

• Parameters:
  • servo_id (int): 0-254 254-all
  • state: 0/1
  • 1-focus
  • 0-release

4. Servo motor system parameter modification

4.1 set_servo_p(self, servo_id, data)

• function: Sets the proportionality factor of the position loop P of the specified servo motor

• Parameters:

  • servo_id (int): 0-254
  • data (int): 0-254

    4.2 get_servo_p(self, servo_id)

• function: Reads the position loop P scale factor of the specified servo motor

• Parameters:

  • servo_id (int): 0-254

    4.3 set_servo_d(self, servo_id, data)

• function: Sets the proportional factor for the position ring D of the specified servo motor

• Parameters:

  • servo_id (int): 0-254
  • data (int): 0-254

    4.4 get_servo_d(self, servo_id)

• function: Reads the position ring D scale factor for the specified servo motor

• Parameters:

  • servo_id (int): 0-254

    4.5 set_servo_i(self, servo_id, data)

• function: Set the proportional factor of the position ring I of the specified servo motor

• Parameters:

  • servo_id (int): 0 - 254
  • data (int): 0 - 254

    4.6 get_servo_i(self, servo_id)

• function: Reads the position loop I scale factor of the specified servo motor

  4.7 set_servo_cw(self, servo_id, data)

• function: Sets the clockwise insensitivity zone of the encoder for the specified servo motor

• Parameters:

  • servo_id (int): 0 - 254
  • data (int): 0 - 32

    4.8 get_servo_cw(self, servo_id)

• function: Reads the clockwise insensitive area of the encoder for the specified servo motor

• Parameters:

  • servo_id (int): 0 - 254

    4.9 set_servo_cww(self, servo_id, data)

• function: Sets the counterclockwise insensitive zone of the encoder for the specified servo motor

• Parameters:

  • servo_id (int): 0 - 254
  • data (int): 0 - 32

    4.10 get_servo_cww(self, servo_id)

• function: Reads the counterclockwise insensitive area of the encoder of the specified servo motor

• Parameters:

  • servo_id (int): 0 - 254

    4.11 restore_servo_system_param(self, servo_id)

• function: Restore servo motor system parameters

• Parameters:

  • servo_id: 0 - 255

    4.12 set_servo_system_data(self, servo_id, addr, data, mode)

• function: Set the system parameters for the specified servo motor

• Parameters:

  • servo_id (int): 0 - 254:
  • addr (int):
  • data (int): 0 - 4096
  • mode (int): 1 - data 1byte. 2 - data 2byte

    4.13 get_servo_system_data(self, servo_id, addr, mode)

• function: Read the system parameters of the specified servo motor

• Parameters:
  • servo_id (int): 0 - 254
  • addr (int):
  • mode (int): 1 - data 1byte. 2 - data 2byte

5. Master IO Control

5.1 set_master_out_io_state(self, pin_number, status = 1)

• function: Set the host I/O pin status

• Parameters:

  • pin_number: M750(1 -6), C650(1-2)
  • status: 0/1; 0: low; 1: high. default: 1

    5.2 get_master_in_io_state(self, pin_number)

• function: get the host I/O pin status

• Parameters:
  • pin_number (int): M750(1 -6), C650(1-2)
• Return value:
  • 0 or 1. 1: high 0: low

6. Slave IO Control

6.1 set_tool_out_io_state(self, io_number, status = 1)

• function: Set the Atom pin status

• Parameters:

  • io_number (int): 1 - 2
  • status: 0 or 1; 0: low; 1: high. default: 1

    6.2 get_tool_in_io_state(self, pin)

• function: Get the Atom pin status

• Parameters:
  • pin (int): pin

• Return value:

  • 0 or 1. 1: high 0: low

    6.3 set_tool_led_color(self, r, g, b)

• function: Set the Atom LED color

• Parameters:

  • r: 0-255
  • g: 0-255
  • b: 0-255

    6.4 is_tool_btn_clicked(self)

• function: get the end button status

• Return value:
  • int: 0/1, 1: press, 0: no press

Coordinate Firmware API

from pymycobot import MyArmMControl 

# Example
arm_control = MyArmMControl('COM3')

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

# Set joint 1 to move to 40 and set the speed to 20
arm_control.write_angle(1, 40, 20)

1. System Status

1.1 get_robot_modify_version(self)

• function: Get the bot correction version number

  1.2 get_robot_system_version(self)

• function: Obtaining the Robot Firmware Version (Major and Minor Versions)

  1.3 get_robot_tool_modify_version(self)

• function: Get the remediation version of the bot tool

  1.4 get_robot_tool_system_version(self)

• function: Get the Robot Tool Firmware Version (End Atom)

2. Overall Status

2.1 power_on(self)

• function: The robotic arm turns on the power

  2.2 power_off(self)

• function: The robotic arm turns off the power

  2.3 is_powered_on(self)

• function: Control core connection status queries

• Return value:

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

    2.4 release_all_servos(self, data)

• function: The robot turns off the torque output

• Parameters:

  • data: 1 - Un damping (The default is damping)

    2.5 set_fresh_mode(self, mode)

• function: Set command refresh mode

• Parameters:

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

    2.6 get_fresh_mode(self)

• function: Query sports mode

  2.7 get_robot_status(self)

• function: Get robot status

3. MDI mode and operation

3.1 get_angles(self)

• function: Get the angle of all joints.

• Return value:

  • list: A float list of all angle.

    3.2 write_angle(self, joint_id, degree, speed)

• function: Send the angle of a joint to robot arm.

• Parameters:

  • joint_id: (int) 1 ~ 6
  • degree: (float) -150 ~ 150
  • speed : (int) 1 ~ 100

    3.3 write_angles(self, angles, speed)

• function: Send the angles of all joints to robot arm.

• Parameters:

  • angles: (list) A float list of all angle.
  • speed : (int) 1 ~ 100

    3.4 get_coords(self)

• function: Get the coordinates of all joints.

• Return value:

  • list: A float list of all coordinates.

    3.5 write_coord(self, coord_id, coord, speed)

• function: Send the coordinates of a joint to robot arm.

• Parameters:

  • coord_id: (int) 1 ~ 6
  • coord: (float) -150 ~ 150
  • speed : (int) 1 ~ 100

    3.6 write_coords(self, coords, speed, mode)

• function: Send the coordinates of all joints to robot arm.

• Parameters:

  • coords: (list) A float list of all coordinates.
  • speed : (int) 1 ~ 100
  • mode: (int) 0 - normal, 1 - low, 2 - high

    3.7 pause(self)

• function: Pause movement

  3.8 is_paused(self)

• function: Judge whether the manipulator pauses or not.

• Return value:

  • 1 - paused
  • 0 - not paused
  • -1 - error

    3.9 resume(self)

• function: Recovery movement

  3.10 stop(self)

• function: Stop moving

  3.11 is_in_position(self, data, mode = 0)

• function: Judge whether in the position.

• Parameters:
  • data: A data list, angles or coords.
  • for myArm: angles len 7, coords len 6.
  • mode: 1 - coords, 0 - angles

• Return value:

  • 1 - True
  • 0 - False
  • -1 - Error

    3.12 is_moving(self)

• function: Detect if the robot is moving

• Return value:
  • 0 - not moving
  • 1 - is moving
  • -1 - error data

4. JOG mode and operation

4.1 jog_angle(self, joint_id, direction, speed)

• function: Jog control angle.

• Parameters:

  • joint_id: int
  • for myArm: Joint id 1 - 7.
  • direction: 0 - decrease, 1 - increase
  • speed: int (0 - 100)

    4.2 jog_rpy(self, 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): 1 - forward rotation, 0 - reverse rotation
  • speed (int): 1 ~ 100

    4.3 jog_coord(self, coord_id, direction, speed)

• function: Jog control coord.

• Parameters:

  • coord_id: int 1 ~ 6
  • direction: 0 - decrease, 1 - increase
  • speed: int (1 - 100)

    4.4 jog_increment(self, joint_id, increment, speed)

• function: step mode

• Parameters:
  • joint_id(int):
  • for myArm: Joint id 1 - 6.
  • increment(int): incremental
  • speed(int): int (0 - 100)

5. Motor potentiometer control mode

5.1 get_encoder(self, joint_id)

• function: Obtain the specified joint potential value.

• Parameters:

  • joint_id: (int)
  • for myArm: Joint id 1 - 7.

    5.2 get_encoders(self)

• function: Get the six joints of the manipulator

• Return value:
  • The list of encoders

6. Software joint limit

6.1 get_joint_min(self, joint_id)

• function: Gets the minimum movement angle of the specified joint
• Parameters:
  • joint_id:
  • for myArm: Joint id 1 - 7.

• Return value:

  • angle value(float)

    6.2 get_joint_max(self, joint_id)

• function: Gets the maximum movement angle of the specified joint

• Parameters:
  • joint_id:
  • for myArm: Joint id 1 - 7.

• Return value:

  • angle value(float)

    6.3 set_joint_min(self, joint_id, angle)

• function: Set the joint minimum angle

• Parameters:

  • joint_id: int.
  • for myArm: Joint id 1 - 7.
  • angle: 0 ~ 180

    6.4 set_joint_max(self, joint_id, angle)

• function: Set the joint maximum angle

• Parameters:
  • joint_id: int.
  • for myArm: Joint id 1 - 7.
  • angle: 0 ~ 180

7. Servo control

7.1 is_servo_enable(self, servo_id)

• function: To detect the connection state of a single joint
• Parameters:
  • servo_id:
  • for myArm: Joint id 1 - 8.

• Return value:

  • 0 - disable
  • 1 - enable
  • -1 - error

    7.2 is_all_servo_enable(self)

• function: Detect the connection status of all joints

• Return value:

  • 0 - disable
  • 1 - enable
  • -1 - error

    7.3 set_servo_data(self, servo_id, data_id, value, mode)

• function: Set the data parameters of the specified address of the steering gear

• Parameters:

  • servo_id: Serial number of articulated steering gear.
  • for myArm: joint id 1 - 8
  • data_id: Data address.
  • value: 0 - 4096
  • mode: 0 - indicates that value is one byte(default), 1 - 1 represents a value of two bytes.

    7.4 get_servo_data(self, servo_id, data_id, mode)

• function: Read the data parameter of the specified address of the steering gear.

• Parameters:
  • servo_id: Serial number of articulated steering gear. 1 ~ 7
  • data_id: Data address.
  • mode: 0 - indicates that value is one byte(default), 1 - 1 represents a value of two bytes.

• Return value:

  • values 0 - 4096

    7.5 release_servo(self, servo_id, mode)

• function: Power off designated servo

• Parameters:

  • servo_id: int 1 ~ 8
  • mode: Default damping, set to 1, cancel damping

    7.6 focus_servo(self, servo_id)

• function: Power on designated servo

• Parameters:

  • servo_id: int 1 ~ 7

    7.7 get_servo_speeds(self)

• function: Get the joint speed .

• Return value:

  • speeds: list[float * 8] +- 3000 step/s

    7.8 get_servo_currents(self)

• function: Get the joint current

• Return value:

  • currents: list[float * 8] 0 ~ 3250

    7.9 get_servo_voltages(self)

• function: Get the joint voltages

• Return value:

  • voltages: list[float] voltage 0 ~ 240

    7.10 get_servo_status(self)

• function: Get the joint status.

• Return value:

  • status: list[int] 0 ~ 255
  • 0 - normal,
  • other - error

    7.11 get_servo_temps(self)

• function: Get joint temperature

• Return value:
  • temperatures: list[float] 0 ~ 255

8. Atom IO

8.1 set_digital_output(self, pin_no, pin_signal)

• function: Set the terminal atom io status

• Parameters:

  • pin_no (int):
  • pin_signal (int): 0 / 1

    8.2 get_digital_input(self, pin_no)

• function: Get the terminal atom io status

• Return value:

9. Atom Button

9.1 set_led_color(self, r = 0, g = 0, b = 0)

• function: Set the light color on the top of the robot arm.

• Parameters:

  • r (int): 0 ~ 255
  • g (int): 0 ~ 255
  • b (int): 0 ~ 255

    9.2 is_tool_btn_clicked(self)

• function: Judge whether the button on the top of the robot arm is clicked or not.

• Return value:
  • 0 - not clicked
  • 1 - is clicked
  • -1- error data

10. Gripper API

10.1 set_gripper_enabled(self)

• function: Enable gripper

  10.2 get_gripper_value(self)

• function: Get the value of gripper.

• Return value:

  • gripper value (int)

    10.3 set_gripper_state(self, flag, speed)

• function: Set gripper switch state

• Parameters:

  • flag (int): 0 - open, 1 - close, 254 - release
  • speed (int): 1 ~ 100

    10.4 set_gripper_value(self, gripper_value, speed)

• function: Set gripper value

• Parameters:

  • gripper_value (int): 0 ~ 100
  • speed (int): 1 ~ 100

    10.5 set_gripper_calibration(self)

• function: Set the current position to zero, set current position value is 2048.

  10.6 is_gripper_moving(self)

• function: Judge whether the gripper is moving or not

• Return value:
  • 0 - not moving
  • 1 - is moving
  • -1- error data

11. Cartesian space parameter setting

11.1 set_tool_reference(self, coords)

• function: Set tool coordinate system

• Parameters:

  • coords: a list of coords value(List[float]), [x(mm), y, z, rx(angle), ry, rz]

    11.2 get_tool_reference(self)

• function: Get tool coordinate system

  11.3 set_world_reference(self, coords)

• function: Set the world coordinate system

• Parameters:

  • coords: a list of coords value(List[float]), [x(mm), y, z, rx(angle), ry, rz]

    11.4 get_world_reference(self)

• function: Get the world coordinate system

  11.5 set_reference_frame(self, rftype)

• function: Set the base coordinate system

• Parameters:

  • rftype: 0 - base 1 - tool.

    11.6 get_reference_frame(self)

• function: Get the base coordinate system

• Return value:

  • 0 - base 1 - tool.

    11.7 set_movement_type(self, move_type)

• function: Set movement type

• Parameters:

  • move_type: 1 - movel, 0 - moveJ

    11.8 get_movement_type(self)

• function: Get movement type

• Return value:

  • 1 - movel, 0 - moveJ

    11.9 get_end_type(self)

• function: Get end coordinate system

• Return value:

  • 0 - flange, 1 - tool

    11.10 set_end_type(self, mode)

• function: Set end coordinate system

• Parameters:
  • mode: int, 0 - flange, 1 - tool

12. Basic IO Control

12.1 set_basic_output(self, pin_no, pin_signal)

• function: Set the base IO output

• Parameters:

  • pin_no: pin port number.
  • pin_signal: 0 / 1

    12.2 get_basic_input(self, pin_no)

• function: Read the base IO output

• Parameters:
  • pin_no: (int) pin port number.

13. WLAN Setting

13.1 set_ssid_pwd(self, account: str, password: str)

• function: Change connected wi-fi.

• Parameters:

  • account: (str) new wi-fi account.
  • password: (str) new wi-fi password.

    13.2 get_ssid_pwd(self)

• function: Get connected wi-fi account and password.

• Return value:

  • (account, password)

    13.3 set_server_port(self, port)

• function: Change the connection port of the server.

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

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