Introduction to API
API or Application Programming Interface refers to a number of preset programs. Before utilization, it is required to import API library:
1. System Status
1.1 get_system_version()
- Function: get the version of firmware
- Parameters: None
- Return value: None
2. Overall Status
2.1 power_on()
Function: atom open communication (default open)
Return Value: None
2.2 power_off()
Function: atom turn off communication
Return Value: None
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()
- Function: release all robot arms
- Return Value: None
2.5 is_controller_connected()
Function: check if connected with Atom.
Return Value:
- 1: connected
- 0: not connected
- -1: error
2.6 read_next_error()
Fuction: robot Error detection
Return Value:
- 0: No abnormality
- 1: Communication disconnected
- 2: Unstable communication
- 3 : Servo abnormality
2.7 set_fresh_mode(mode)
- Fuction: set command refresh mode
- Parameters:
- mode – int
1 - Always execute the latest command first.
0 - Execute instructions sequentially in the form of a queue.
- mode – int
- Return Value: None
2.8 get_fresh_mode()
Fuction: get command refresh mode
Return Value:
- 1 - Always execute the latest command first.
- 0 - Execute instructions sequentially in the form of a queue.
2.9 set_free_mode(mode)
- Fuction: set free mode
- Parameters:
- mode – int
1 - close free mode
0 - open free mode
- mode – int
- Return Value: None
2.10 is_free_mode()
Fuction: check whether it is in free movement mode
Return Value:
- 1 - close
- 0 - open
3. MDI Mode and Operation
3.1 get_angles()
- Function: get the degree of all joints
- Returns: a 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
) / int 1-6 - degree: degree value(
float
) - speed: (
int
) 0 ~ 100
- id: Joint id(
3.3 send_angles(degrees, speed)
- Function: send the degrees of all joints to robot arm
- Parameters:
- degrees: a list of degree value(
List[float]
), length 6 - speed: (
int
) 0 ~ 100
- degrees: a list of degree value(
3.4 get_coords()
Function: get the Coords from robot arm, coordinate system based on base.
Returns: a float list of coord:
[x, y, z, rx, ry, rz]
or[x, y, z, rx]
3.5 send_coord(id, coord, speed)
Function: send one coord to robot arm
Parameters:
- id: coord id(
genre.Coord
) / int 1-6 - coord: coord value(
float
) - speed: (
int
) 0 ~ 100
- id: coord id(
3.6 send_coords(coords, speed, mode)
- Function: send all coords to robot arm
- Parameters:
- coords: a list of coords value(
List[float]
), length 6. - speed: (
int
) 0 ~ 100 - mode: (
int
):0
- angular,1
- linear
- coords: a list of coords value(
3.7 is_in_position(data, flag)
- Function: judge whether in the position.
- Parameters:
- data: A data list, angles or coords, length 6.
- flag: Tag the data type,
0
- angles,1
- coords.
- Return Value:
- 1 - true
- 0 - false
- -1 - error
3.8 is_moving()
- Function: judge whether the robot is moving
- Return Value:
- 1 moving
- 0 not moving
- -1 error
3.9 pause()
- Function: pause robot movement.
- Returns: None.
3.10 is_paused()
- Function: detect if the bot is paused
- Returns:
- 1 - paused
- 0 - not paused
- -1 - error
3.11 resume()
- Function: resume the robot movement and complete the previous command
- Returns: a float list of all degree
3.12 stop()
- Function: stop all movements of robot
- Returns: None
3.13 get_joint_min_angle(joint_id)
- Function: get minimum speed of a joint
- Parameter: range from 1-6
- Return Value: angle value
3.14 get_joint_max_angle(joint_id)
- Function: get maximum speed of a joint
- Parameter: range from 1-6
- Return Value: angle value
3.15 set_joint_min(id,angle)
Function: Sets the minimum angle for the specified joint.
Parameters:
id
: (int
) 1-6.angle
: 0 - 180.
- Return Value: None
3.16 set_joint_max(id,angle)
- Function: Sets the maximum angle of the specified joint.
- Parameter:
id
: (int
) 1-6.angle
: 0 - 180
- Return Value: None
4. JOG Mode and Operation
4.1 jog_angle(joint_id, direction, speed)
Function: jog control angle
Parameters:
joint_id
: (int
) 1 ~ 6direction
:0
- decrease,1
- increasespeed
: 0 ~ 100
4.2 jog_coord(coord_id, direction, speed)
Function: jog control coord.
Parameters:
coord_id
: (int
) 1 ~ 6direction
:0
- decrease,1
- increasespeed
: 0 ~ 100
4.3 jog_increment(joint_id,increment,speed)
- Function: step mode
- Parameters:
coord_id
: (int
) 1-6direction
:speed
: 0 ~ 100
- Returns: None
5. Motor Control
5.1 set_encoder(joint_id, encoder)
- Function: set a single joint rotation to the specified potential value
- Parameters:
joint_id
: (int
) 1 ~ 6encoder
: 0 ~ 4096
5.2 get_encoder(joint_id)
- Function: obtain the specified joint potential value
- Parameters:
joint_id
: (int
) 1 ~ 6 - Returns:
encoder
: 0 ~ 4096
5.3 set_encoders(encoders, speed)
Function: set the six joints of the manipulator to execute synchronously to the specified position
Parameters:
encoders
: a encoder list, length 6.speed
: 0 - 100
5.4 get_encoders()
Function: get the six joints of the manipulator
Returns: a list of encoder (
list
)
6. Servo Control
6.1 is_servo_enable(servo id)
- Function: judge whether a servo is enabled
- Parameter: range from 1-6
- Return Value:
1
: enabled0
: not enabled-1
: error
6.2 is_all_servo_enable()
- Function: judge whether all servos are enabled
- Return Value:
1
: enabled0
: not enabled-1
: error
6.3 release_servo(servo_id)
- Function: release a servo
- Parameter: range from 1-6
- Return Value:
1
: enabled0
: not enabled-1
: error
6.4 set_servo_data(servo_no, data_id, value)
Function: 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
- Return Value: None
6.5 get_servo_data(servo_no, data_id)
Function: 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.
Returns:
value
: 0 - 40960
: disable1
: enable-1
: error
6.6 set_servo_calibration(servo_no)
- Function: 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.
- Return Value: None
6.7 focus_servo(servo_id)
- Function: power on designated servo
- Parameters:
servo_id
: 1 ~ 6 - Return Value: None
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
: 1~6 - Return Value: None
6.9 get_servo_speeds()
- Function: Get joint velocity.
- Return Value:
list
Speed of each joint.
6.10 get_servo_currents()
- Function: Get joint current.
- Return Value:
list
Current of each joint.
6.11 get_servo_voltages()
- Function: Get joint voltage.
- Return Value:
list
Voltage of each joint.
6.12 get_servo_temps()
- Function: Get the temperature of each joint.
- Return Value:
list
the temperature of each joint.
6.13 get_servo_status()
- Function: power on designated servo
- Return Value:
list
the state of each joint.
6.14 get_servo_last_pdi(id)
- Function: Obtain the pdi of a single steering gear before modification
- Return Value: the pdi of the joint.
7. Atom IO
7.1 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_pullupReturn Value: None
7.2 set_digital_output(pin_no, pin_signal)
- Function: set digital state of a pin
Parameters
pin_no
(int):pin_signal
(int): 0 / 1
Return Value: None
7.3 get_digital_input(self, pin_no)
- Function: get digital state of a pin
- Parameters:
pin_no
(int) - Return Value: signal value
7.4 set_pwm_output(channel, frequency, pin_val)
- Function: PWM control.
- Parameters:
channel
(int
): IO number.frequency
(int
): clock frequencypin_val
(int
): Duty cycle 0 ~ 256; 128 means 50%
- Return Value: None
8. Gripper Control
8.1 set_eletric_gripper(mode)
- Function: set the gripper to open and close
- Parameters:
1
: close0
: open
- Return Value: None
8.2 init_eletric_gripper()
- Function: initialize the electric gripper
- Return Value: None
8.3 set_gripper_mode(mode)
- Function: set the mode of gripper
- Parameters:
1
: port mode0
: transparent transmission
- Return Value: None
8.4 get_gripper_mode(mode)
- Function: set the mode of gripper
- Return Value:
1
: port mode0
: transparent transmission
8.5 is_gripper_moving()
Function: judge whether the gripper is moving or not
Return Value:
0
: not moving1
: is moving-1
: error data
8.6 set_gripper_value(value, speed, gripper_type=None)
- Function: Let the gripper rotate to the specified position at the specified speed
- Parameter Description:
value
: Indicates the position that the gripper wants to reach, the value range is 0~256speed
: indicates the speed at which to rotate, the value range is 0~100gripper_type
: Gripper type, the default is adaptive gripper1
: Adaptive gripper3
: Parallel gripper4
: Flexible gripper
- Return value: None
8.7 get_gripper_value(gripper_type=None)
- Function: Get the current position data information of the gripper
- Parameter Description:
gripper_type
: Gripper type, the default is adaptive gripper1
: Adaptive gripper3
: Parallel gripper4
: Flexible gripper
- Return value: Gripper data information
8.8 set_gripper_calibration()
- Function: Set the initial position of the gripper and set the current position to 2048
- Return value: None
8.9 set_gripper_state(flag, speed, _type=None)
- Function: Let the gripper enter the specified state at the specified speed
- Parameter Description:
flag
: 1 means the gripper is closed, 0 means the gripper is open.speed
: Indicates how fast to reach the specified state, the value range is 0~100_type
: Gripper type, the default is adaptive gripper1
: Adaptive gripper2
: Five-fingered dexterity3
: Parallel gripper4
: Flexible gripper
- Return value: None
9. Atom RGB Control
9.1 set_color(r, g, b)
- Function: set the color of RGB light panel
- Parameters:
R
: 0-255G
: 0-255B
: 0-255
- Return Value: None
10. Coordinate Setting
10.1 set_tool_reference(coords)
Function: Set tool coordinate system.
Parameters:
coords
: (list
) [x, y, z, rx, ry, rz].
Return:None
10.2 set_world_reference(coords)
Function: Set world coordinate system.
Parameters:
coords
: (list
) [x, y, z, rx, ry, rz].
- Return:None
10.3 get_world_reference()
Function: Get world coordinate system.
Return:
list
[x, y, z, rx, ry, rz].
10.4 set_reference_frame(rftype)
Function: Set base coordinate system.
Parameters:
rftype
: 0 - base 1 - tool.
Return:None
10.5 get_reference_frame()
Function: Get base coordinate system.
Return: 0 - base 1 - tool.
10.6 set_movement_type(move_type)
Function: Set movement type.
Parameters:
move_type
: 1 - movel, 0 - moveJ.
Return:None
10.7 get_movement_type()
Function: Get movement type.
Return: 1 - movel, 0 - moveJ.
10.8 set_end_type(end)
- Function: Set end coordinate system.
- Parameters:
end
: 0 - flange, 1 - tool.
- Return:None
10.9 get_end_type()
Function: Get end coordinate system.
Return: 0 - flange, 1 - tool.
10.10 get_tool_reference()
Function: get tool coordinate system
Return:
coords
: (list
) [x, y, z, rx, ry, rz]
11. Basic IO Control
11.1 get_basic_input(pin_no)
- Function: get bottom pin
- Parameters:
pin_no
(int
) Pin number.- Return Value:
0
: in working state1
: not in working state
11.2 set_basic_output(pin_no, pin_signal)
Function: set bottom pin
Parameters:
pin_no
(int
) Pin numberpin_signal
(int
): 0 / 1