Detailed explanation of myblockly building blocks

System Status

Get Basic firmware version

• Prototype: get_basic_version()
• Interface Description: Get the Basic firmware version.
• Return: Return to Basic firmware version.

Get Master Control Info

• Prototype: get_system_version()

• Interface Description: Get main control version information.

• Return: Return to Basic firmware version.

Get Robot ID

• Prototype: get_robot_id()

• Interface Description: Get the robot id.

• Return: Return the robot id.

Set Robot ID

• Prototype: set_robot_id(id)
• Interface Description: Set the robot id.
• Parameters: -robot id

WLAN Setting

Set WLAN account password

• Prototype: set_ssid_pwd(account,password)
• Interface Description: Set WLAN account password.
• Parameters:
  • wlan account
  • wlan password

Get WLAN Account and Password

• Prototype: get_ssid_pwd()
• Interface Description: Get the WLAN account password.
• Return:
  • wlan account
  • wlan password

Set Server Port

• Prototype: set_server_port(port)
• Interface Description: Set the port for WLAN connection.
• Parameters:
  • The port number

Basic

Set basic pin output

• Prototype: set_basic_output(id,state)
• Interface Description: Set base pin output
• Parameters:
  • Pin number
  • Select output status

Get basic pin input

• Prototype: set_basic_output(id)
• Interface Description: Get base pin input
• Return:
  • Base pin input status

ATOM Io

Set Color

• Prototype: set_color(r=0,g=0,b=0)
• Interface Description: Set the color of the end LED light.

• Parameters

  • red

  • green

  • blue

Set PWM output

• Prototype: set_pwm_output(v1=0,v2=0,v3=0)
• Interface Description: Set PWM output.

• Parameters

  • v1 (int)

  • v2 (int)

  • v3 (int)

Set end pin mode

• Prototype: set_pin_mode(id,state)
• Interface Description: Set the end pin mode.
• Parameters
  • Pin number
  • Select mode

Set IO value

• Prototype: set_digital_output(id,state)
• Interface Description: Set IO value

• Parameters

  • io serial number

  • Select status 0 or 1

Read IO value

• Prototype: get_digital_input(id)
• Interface Description: Read IO value
• Parameters
  • io serial number

Status

Power On

• Prototype: power_on()
• Interface Description: Atom opens communication (open by default).

Power Off

• Prototype: power_off()
• Interface Description: Atom closes communication.

Check whether the robot arm is powered on

• Prototype: is_power_on()

• Interface Description: Check whether the robot arm is powered on.

• Return:

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

release all Servos

• Prototype: release_all_servos()
• Interface Description: Set the robot arm to free movement mode

Set command refresh mode

• Prototype: set_fresh_mode(mode)

• Interface Description: Set command refresh mode

• Parameters

  • mode: Refresh Sport - always execute the latest command first. Interpolation - Execute instructions sequentially in a queue.

Get command refresh mode

• Prototype: get_fresh_mode()
• Interface Description: Get command refresh mode
• Return
  • 1 - Always execute the latest command first.
  • 0 - Execute instructions sequentially in a queue.

Get Error Infomation

• Prototype: get_error_information()

• Interface Description: Get robot error information.

• Return:

  • 0: No error.
  • 1 ~ 6: The corresponding joint exceeds the limit position.
  • 32: The inverse kinematics solution has no solution.
  • 33 ~ 34: There is no adjacent solution for linear motion.

Clear Error Infomation

• Prototype: clear_error_information()
• Interface Description: Clear robot error messages.

Check if Atom is connected

• Prototype: is_controller_connected()
• Interface Description: Check whether Atom is connected
• Return:
  • 0: Not connected
  • 1: Connected

Set free mode

• Prototype: set_free_mode(state)
• Interface Description: Whether to set to free mode
• Parameters:
  • state(int): 0 | 1

Is free mode

• Prototype: is_free_mode()
• Interface description: Check whether it is free mode
• return value:
  • state(int): 0 | 1

MDI Control

Get Angles

• Prototype: get_angles()
• Interface Description: Get the degrees of all joints.
• Return:
  • joint angle value

Get Coords

• Prototype: get_coords()
• Interface Description: Get the Cartesian coordinates of the machine.
• Return:
  • Cartesian coordinates

Set single joint angle

• Prototype: send_angle(id, degree, speed)

• Interface Description: Robot single joint angle control.

• Parameters

  • Joint id: 1-6

  • Angle value

  • speed

Set single coordinates

• Prototype: send_coord(id, value, speed)

• Interface Description: Robot single coordinate control.

• Parameters

  • Coordinates: 1-6 correspond to x、y、 z、rx、ry、rz
  • coordinate value
  • speed

Check if you are in motion

• Prototype: is_moving(id, value, speed)
• Interface Description: Detect whether the machine is moving.
• Return:
  • 0: The machine is not in motion
  • 1: The machine is in motion.

Angles is in position

• Prototype: is_in_position([j1,j2,j3,j4,j5,j6],0)

• Interface description: Check whether the machine angle reaches the specified position

• Parameters:

  • j1 angle value

  • j2 angle value

  • j3 angle value

  • j4 angle value

  • j5 angle value

  • j6 angle value

• Return:

  • 0: Not reached the specified location
  • 1: Reach the specified location

Coords is in position

• Prototype: is_in_position([x,y,z,rx,ry,rz],1)

• Interface description: Check whether the machine angle reaches the specified position

• Parameters:

  • x coordinate value

  • y coordinate value

  • z coordinate value

  • rx coordinate value

  • ry coordinate value

  • rz coordinate value

• Return:

  • 0: Not reached the specified location
  • 1: Reach the specified location

Set Angles

• Prototype: send_angles(angles, speed)

• Interface Description: Send all angles to the robot arm.

• Parameters

  • angles: list of coordinate values (List[float]).
  • speed: (int) 0 ~ 100

Set Coords

• Prototype: send_coords(coords, speed, mode)

• Interface Description: Send all coordinates to the robot arm.

• Parameters

  • coords: list of coordinate values (List[float]).
  • speed: (int) 0 ~ 100
  • mode: (int): 0 - angular (default), 1 - linear

-

JOG Control

JOG Angle

• Prototype: jog_angle(joint_id, direction, speed)

• Interface description: Jog control angle

• Parameters

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

JOG Coord

• Prototype: jog_coord(coord_id, direction, speed)

• Interface description: Jog control coord.

• Parameters

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

JOG Absolute

• Prototype: jog_absolue(coord_id, direction, speed)

• Interface description: Step mode.

• Parameters

  • coord_id: (int) 1 ~ 6
  • direction:
  • speed: 0 ~ 100

JOG Increment

• Prototype: jog_increment(coord_id, direction, speed)

• Interface description: Step mode.

• Parameters

  • coord_id: (int) 1 ~ 6
  • direction:
  • speed: 0 ~ 100

Jog Stop

• Prototype: jog_stop()
• Interface Description: Stop jog moving.

#

Pause

• Prototype: pause()
• Interface Description: Pause movement.

Resume

• Prototype: resume()
• Interface description: Recovery movement.

Stop

• Prototype: stop()
• Interface Description: Stop moving.

is_paused

• Prototype: is_paused()

• Interface Description: Judge whether the manipulator pauses or not.

• Return: :

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

Set Servo encoder value

• Prototype: set_encoder(joint_id, encoder)

• Interface Description: Set a single joint rotation to the specified potential value.

• Parameters

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

Get Servo encoder value

• Prototype: get_encoder(joint_id)

• Interface description: Obtain the specified joint potential value.

• Parameters: joint_id: (int) 1 ~ 6

• Return: encoder: 0 ~ 4096

Setting

get_speed

• Prototype: get_speed()

• Interface description: Get speed.

• Return: speed: (int)

set_speed

• Prototype: set_speed(speed)

• Interface description: Set speed.

• Parameters: speed: (int) 0 ~ 100

set_joint_min

• Prototype: set_joint_min(id, angle)

• Interface description: Sets the minimum angle for the specified joint.

• Parameters:

  • id: (int) joint id 1-6.
  • angle: 0 - 180.

set_joint_max

• Prototype: set_joint_max(id, angle)

• Interface description: Sets the maximum angle of the specified joint.

• Parameters:

  • id: (int) joint id 1-6.
  • angle: 0 - 180.

get_joint_min_angle

• Prototype: get_joint_min_angle()

• Interface description: Gets the minimum movement angle of the specified joint

• Parameters: joint_id: (int)

• Return: angle value (float)

get_joint_max_angle

• Prototype: get_joint_max_angle()
• Interface description: Gets the maximum movement angle of the specified joint
• Parameters: joint_id: (int)
• Return: angle value (float)

Servo control

is_servo_enable

• Prototype: is_servo_enable(servo_id)

• Interface description: Determine whether all steering gears are connected

• Parameters: servo_id (int) 1 ~ 6

• Return:

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

is_all_servo_enable

• Prototype: is_all_servo_enable()

• Interface description: Determine whether the specified steering gear is connected

• Return:

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

set_servo_data

• Prototype: set_servo_data(servo_no, data_id, value)

• Interface description: Set the data parameters of the specified address of the steering gear.

• Parameters:

  • servo_no: Serial number of articulated steering gear, 1 - 6.
  • data_id: Data address.
  • value: 0 - 4096

get_servo_data

• Prototype: get_servo_data(servo_no, data_id)

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

• Parameters:

  • servo_no: Serial number of articulated steering gear, 1 - 6.
  • data_id: Data address.

• Return: value: 0 - 4096

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

set_servo_calibration

• Prototype: set_servo_calibration(servo_no)

• Interface description: The current position of the calibration joint actuator is the angle zero point, and the corresponding potential value is 2048.

• Parameters:

  • servo_no: Serial number of articulated steering gear, 1 - 6.

release_servo

• Prototype: release_servo(servo_id)

• Interface description: Power off designated servo

• Parameters: servo_id: 1 ~ 6

focus_servo

• Prototype: focus_servo(servo_id)
• Interface description: Power on designated servo
• Parameters: servo_id: 1 ~ 6

Gripper

set_gripper_calibration

• Prototype: set_gripper_calibration()
• Interface description: Set the current position to zero, set current position value is 2048.

set_gripper_state

• Prototype: set_gripper_state(flag, speed, mode)

• Interface description: Set gripper switch state

• Parameters

  • flag (int): 0 - open, 1 - close
  • speed (int): 0 ~ 100
  • mode:gripper

set_gripper_value

• Prototype: set_gripper_value(value, speed, mode)

• Interface description: Set gripper value

• Parameters

  • value (int): 0 ~ 100
  • speed (int): 0 ~ 100
  • mode:gripper

get_gripper_value

• Prototype: get_gripper_value(mode)
• Interface description: Get gripper value
• Return: gripper value (int)

is_gripper_moving

• Prototype: is_gripper_moving()

• Interface description: Judge whether the gripper is moving or not

• Return:

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

Init Eletric Gripper

• Prototype: init_eletric_gripper()
• Interface description:Init Eletric Gripper

Set Eletric Gripper

• Prototype: set_eletric_gripper()
• Interface description:Init Eletric Gripper

• Parameters

  • 选择打开或关闭

set_gripper_mode

• Prototype: set_gripper_mode(status)

• Interface description: Set gripper mode.

• Parameters

• status (int): 0 - transparent transmission. 1 - Port Mode.

get_gripper_mode

• Prototype: get_gripper_mode()

• Interface description: Get gripper mode.

• Return

  • status (int): 0 - transparent transmission. 1 - Port Mode.

Coord Control

get_tool_reference

• Prototype: get_tool_reference()

• Interface description: Get tool coordinate system.

• Return: list [x, y, z, rx, ry, rz].

set_tool_reference

• Prototype: set_tool_reference(coords)

• Interface description: Set tool coordinate system.

• Parameters:

  • coords: (list) [x, y, z, rx, ry, rz].

get_world_reference

• Prototype: get_world_reference()
• Interface description: Get world coordinate system.
• Return: list [x, y, z, rx, ry, rz].

set_world_reference

• Prototype: set_world_reference(coords)

• Interface description: Set world coordinate system.

• Parameters:

  • coords: (list) [x, y, z, rx, ry, rz].

get_reference_frame

• Prototype: get_reference_frame()

• Interface description: Get base coordinate system.

• Return: 0 - base 1 - tool.

set_reference_frame

• Prototype: set_reference_frame(rftype)

• Interface description: Set base coordinate system.

• Parameters:

  • rftype: 0 - base 1 - tool.

get_movement_type

• Prototype: get_movement_type()
• Interface description: Get movement type.
• Return: 1 - movel, 0 - moveJ.

set_movement_type

• Prototype: set_movement_type(move_type)

• Interface description: Set movement type.

• Parameters:

  • move_type: 1 - movel, 0 - moveJ.

get_end_type

• Prototype: get_end_type()
• Interface description: Get end coordinate system.
• Return: 0 - flange, 1 - tool.

set_end_type

• Prototype: set_end_type(end)

• Interface description: Set end coordinate system.

• Parameters:

  • end: 0 - flange, 1 - tool.

MyCobot320

get_servo_speeds

• Prototype: get_servo_speeds()

• Interface description: Get joint velocity.

• Return: list Speed of each joint.

get_servo_currents

• Prototype: get_servo_currents()

• Interface description: Get joint current.

• Return: list Current of each joint.

get_servo_voltages

• Prototype: get_servo_voltages()

• Interface description: Get joint voltage.

• Return: list Voltage of each joint.

get_servo_status

• Prototype: get_servo_status()

• Interface description: Get the state of each joint.

• Return: list the state of each joint.

get_servo_temps

• Prototype: get_servo_temps()

• Interface description: Get the temperature of each joint.

• Return: list temperature of each joint.

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