API Interface Description

1 Overview

Elephant Robotics allow users to remotely control the robot using Socket. We use tcp protocol to communicate between the client and the robot, you can send the formated string through tcp to get or set some property/state of the robot, the format for each function are introduced as bellow.

2 Socket String format rules

2.1 get current angles of robot

Socket string format: get_angles()

  • Function： get angls of all joints
  • Return value： list A list of floating point values representing the angles of all joints
  • Example： If the call was successful and will receive get_angles:[0.174058, 0.520382, -0.07874, 0.092855, 0.0, 0.030356]，If any error occurs, the InvalidAngles() function will be returned（defined as : [-1.0, -2.0, -3.0, -4.0, -1.0, -1.0]）

2.2 set the angles of robot

Socket string format: set_angles(joint1_angle, joint2_angle, joint3_angle, joint4_angle, joint5_angle, joint6_angle,speed)

  • Function： Send all angles to all the joints of the robot arm
  • Parameters：
    • joint1_angle: Joint 1 angle ，range -180.00 ~ 180.00
    • joint2_angle: Joint 2 angle ，range -270.00 ~ 90.00
    • joint3_angle: Joint 3 angle ，range -150.00 ~ 150.00
    • joint4_angle: Joint 4 angle ，range -260.00 ~ 80.00
    • joint5_angle: Joint 5 angle ，range -168.00 ~ 168.00
    • joint6_angle: Joint 6 angle ，range -174.00 ~ 174.00
    • speed: Motion speed，range 0 ~ 2000
  • Example： set_angles(10.0,11.0,12.2,12.3,11.1,16.0,500) ，If the call was successful and will receive set_angles:[ok] ，If any error occurs, will receive set_angles:error_message

2.3 set the angle of one joint

Socket string format: set_angle(joint,angle, speed)

  • Function： Send angle to the specified joint
  • Parameters：
    • joint: J1 / J2 / J3 / J4 / J5 / J6
    • angle: Refer to the parameter description of set_angles() for details about the angle range of each joint
    • speed: Motion speed, range 0 ~ 2000
  • Example： set_angle(J1,50.5,500)，If the call was successful and will receive set_angle：[ok]，If any error occurs, will receive set_angle:error_message

2.4 get current coordinates of robot

Socket string format：get_coords()

  • Function： get current coordinates of robot
  • Return value： listA list of coordinates and poses of length 6, sequentially [x, y, z, rx, ry, rz]
  • Example： If the call was successful and will receive get_coords :[0.174058, 0.520382, -0.07874, 0.092855, 0.0, 0.030356]，If any error occurs, the InvalidAngles() function will be returned（defined as : [-1.0, -2.0, -3.0, -4.0, -1.0, -1.0]）

2.5 set the coordinates of robot

Socket string format：set_coords(axis_x_coord, axis_y_coord, axis_z_coord, axis_rx_coord, axis_ry_coord, axis_rz_coord,speed)

  • Function： Send the overall coordinates and attitude, so that the head of the robot moves from the original point to the specified point

  • Parameters：

    • axis_x_coord: x coordinate
    • axis_y_coord: y coordinate
    • axis_z_coord: z coordinate
    • axis_rx_coord: rx coordinate
    • axis_ry_coord: ry coordinate
    • axis_rz_coord: rz coordinate
    • speed: Motion speed , range 0 ~ 2000

  • Example： set_coords(10.0,11.0,12.2,12.3,11.1,16.0,500)，If the call was successful and will receive set_coords:[ok]，If any error occurs, will receive set_coords:error_message

2.6 set the coordinate of one axis

Socket string format：set_coord(axis,coordinate ,speed)

  • Function： Send a single coordinate value to the robot for movement
  • Parameters：
    • axis: x / y / z / rx / ry / rz
    • coordinate: coordinate value
    • speed: Motion speed , range 0-2000
  • Example： set_coord(x,50.5,500) ，If the call was successful and will receive set_coords:[ok]。If any error occurs, will receive set_coords:error_message

2.7 get the signal of digital out pin

Socket string format：get_digital_out(pin_number)

  • Function： get the signal of digital out pin
  • Parameters：
    • pin_number: 0 to 5 indicates the base electrical port OUT 1 to 6. 16 ~ 17 Corresponding to the end electrical interface of the robot OUT 1-2 (refer to the Pro600 manual for reference)
  • Example： get_digital_out(1) ,If the call was successful and will receive get_digital_out:0 or get_digital_out:1 ，If any error occurs, will receive get_digital_out:error_message

2.8 set the signal of digital out pin

Socket string format：set_digital_out(pin_number,signal)

  • Function： set the signal of digital out pin
  • Parameters：
    • pin_number: 0 to 5 indicates the base electrical port OUT 1 to 6. 16 ~ 17 Corresponding to the end electrical interface of the robot OUT 1-2 (refer to the Pro600 manual for reference)
    • signal : 1 - High, 0 - low
  • Example： set_digital_out(1,1) If the call was successful and will receive set_digital_out:[ok]，If any error occurs, will receive set_digital_out:error_message

2.9 get the signal of digital in pin

Socket string format：get_digital_in(pin_number)

  • Function： get the signal of digital in pin
  • Parameters：
    • pin_number: 0 to 5 indicates the base electrical port OUT 1 to 6. 16 ~ 17 Corresponding to the end electrical interface of the robot OUT 1-2 (refer to the Pro600 manual for reference)
  • Example： get_digital_in(1) , If the call was successful and will receive get_digital_in:0 or get_digital_in:1 ，If any error occurs, will receive get_digital_in:error_message

2.10 change the coordinate of one axis in one direction continuously

Socket string format：jog_coord(axis,direction,speed)

  • Function： Control the robot to move continuously according to the specified axis direction
  • Parameters：
    • axis: Representing different directions, the available parameters are x / y / z / rx / ry / rz
    • direction: It mainly controls the direction of movement of the robot arm, -1 - negative direction ，0 - stop，1 - positive direction
    • speed: speed range 0 ~ 2000
  • Example： jog_coord(x,1, 500) ，If the call was successful and will receive jog_coord:[ok]，If any error occurs, will receive jog_coord:error_message

2.11 Changing the Angle of a joint in one direction

Socket string format：jog_angle(joint,direction,speed)

  • Function： Control the robot to keep moving at the specified Angle
  • Parameters：
    • joint: Represents the joint of the robot, and the available parameters are J1 / J2 / J3 / J4 / J5 / J6
    • direction: It mainly controls the direction of movement of the robot arm，-1 - negative direction ，0 - stop，1 - positive direction
    • speed: speed range 0 ~ 2000
  • Example： jog_angle(J1, 1, 500) ，If the call was successful and will receive jog_angle:[ok], If any error occurs, will receive jog_angle:error_message

2.12 enable the system

Tip: Before using this command, run power_on() to power on the robot; otherwise, the system cannot be started

Socket string format：state_on()

  • Function： enable the system
  • Example： state_on()，If the call was successful and will receive state_on:[ok] ，If any error occurs, will receive state_on:error_message

2.13 disable the system

Socket string format：state_off()

  • Function： Shut down the system, but the robot is still powered on
  • Example： state_off()，If the call was successful and will receive state_off:[ok]，If any error occurs, will receive state_off:error_message

2.14 Stop the task

Socket string format：task_stop()

  • Function： Stop running the program
  • Example： task_stop() ，If the call was successful and will receive task_stop:[ok]，If any error occurs, will receive task_stop:error_message

2.15 Set feed rate

Socket string format：set_feed_rate(speed)

  • Function： Set speed
  • Parameters：
    • speed: speed range 0 ~ 100
  • Example： set_feed_rate(50.0)，If the call was successful and will receive set_feed_rate: 0，return any other value and the call fails。

2.16 Put the robot to sleep briefly

Socket string format：wait(seconds)

  • Function： Set system waiting time
  • Parameters：
    • seconds: time
  • Example： wait(10.5) ，If the call was successful and will receive wait:[ok]，If any error occurs, will receive wait:error_message。This feature will cause the robot to "sleep" for a given few seconds, not carrying out any received instructions.

2.17 mount the robot upside down

Socket string format：set_upside_down(up_dn)

  • Function： Flip the z-axis
  • Parameters：
    • up_dn: 1 - upside down，0 - not upside down
  • Example： set_upside_down(1)，If the call was successful and will receive set_upside_down:[ok]，If any error occurs, will receive set_upside_down:error_message

2.18 power on the robot

Socket string format：power_on()

  • Function： power on the robot
  • Example： power_on()，If the call was successful and will receive power_on:[ok]，If any error occurs, will receive power_on:error_message

2.19 power off the robot

Socket string format：power_off()

  • Function： power off the robot
  • Example： power_off()，If the call was successful and will receive power_off:[ok]，If any error occurs, will receive power_off:error_message

2.21 get the speed the robot

Socket string format：get_speed()

  • Function： Gets the running speed in mm/s
  • Example： get_speed() ，If the call was successful and will receive get_speed: speed，If any error occurs, will receive get_speed:error_message

2.22 check the state of the robot

Socket string format：state_check()

  • Function： Get the robot state
  • Example： state_check() ，If the robot is in normal condition, it will receive state_check:1，If the robot is not in normal condition, it will receive state_check:0，If any error occurs, will receive state_check:error_message

2.23 check if the robot is running

Socket string format：check_running()

  • Function： check if the robot is running
  • Example： check_running()，If the robot is running, it will receive check_running:1，If the robot is not running, it will receive check_running:0，If any error occurs, will receive check_running:error_message

2.24 set the torque limit of the robot

Socket string format：set_torque_limit(axis,torque)

  • Function： Set the torque limit for the robot
  • Parameters：
    • axis: x / y / z / rx / ry / rz
    • torque: range 0 ~ 2
  • Example： set_torque_limit(x,10.0) ，If the call was successful and will receive set_torque_limit:[ok]，If any error occurs, will receive set_torque_limit:error_message

2.25 open a g_code formated text file

Socket string format：program_open(file_path_name)

  • Function： open a g_code formated text file
  • Parameters：
    • file_path_name: The absolute path of the file
  • Example： program_open(/usr/a.txt) ，If the call was successful and will receive program_open:0，If any error occurs, will receive program_open:error_message

2.26 run a g_code formated text file from the given line

Socket string format：program_run(line_number)

  • Function： run a g_code formated text file from the given line
  • Parameters：
    • line_number: Number of lines of code to run
  • Example： program_run(0)，If the call was successful and will receive program_run:0，If any error occurs, will receive program_run:error_message

2.27 Gets robot error messages

Socket string format：read_next_error()

  • Function： Robot error detection
  • Example： read_next_error()，If the call was successful and will receive read_next_error:error_message

2.28 set the payload of the robot

Socket string format：set_payload(payload)

  • Function： set the payload of the robot
  • Parameters：
    • payload: range 0.0 ~ 2.0
  • Example： set_payload(1.0)，If the call was successful and will receive set_payload:[ok]，If any error occurs, will receive set_payload:error_message

2.29 set the acceleration of the robot

Socket string format：set_acceleration(acc)

  • Function： set the acceleration of the robot
  • Parameters：
    • acc : Acceleration, which must be an integer in mm/s
  • Example： set_acceleration(50)，If the call was successful and will receive set_acceleration:[ok]，If any error occurs, will receive set_acceleration:error_message

2.30 get the acceleration of the robot

Socket string format：get_acceleration()

  • Function： get the acceleration of the robot
  • Example： get_acceleration()，If the call was successful and will receive get_acceleration: accactual acceleration)

2.31 Wait for the command to complete

Socket string format：wait_command_done()

  • Function： Wait until the last command completes
  • Example： wait_command_done()，If the call was successful and will receive set_payload:0，If any error occurs, will receive set_payload:error_message

2.32 pause the program

Socket string format：pause_program()

  • Function： Pause a running program
  • Example： pause_program() ，If the call was successful and will receive pause_program:[ok]，If any error occurs, will receive pause_program:error_message

2.33 resume the program

Socket string format：resume_program()

  • Function： Resume the paused program
  • Example： resume_program()，If the call was successful and will receive resume_program:[ok]，If any error occurs, will receive resume_program:error_message

2.34 assign variable

Socket string format：assign_variable("variable_name",value)

  • Function： Assign values to defined variables
  • Example： assign_variable("A",10) ，assign_variable("A",10.20202) or assign_variable("B",”ABC”) or assign_variable("C",True)，assign_variable("C",False)

3 Socket string control force control gripper

3.1 Get Version

Attention: To control the three finger and force control gripper versions, you need to use the 630 v1.2.25.07.30 system and the v1.2.8 end firmware to use the v1.2 force control and v1.1 three finger versions properly. Machines manufactured after September 15, 2025 can support the functions of controlling three fingers and force control

1 Environment setup

Socket string format: force_getFirmware ("ID")

  • Function: Read the version number of the force control gripper
  • Parameter Description: ID Range [1-254] Default 14
  • Example: force_CetFirmware (14), if successfully called, will receive: force_CetFirmware: "Version number"

3.2 Obtain updated versions

Socket string format: force_CetModified (ID) '

  • Function: Obtain the updated version number of the force control gripper
  • Parameter Description: ID Range [1-254] Default 14
  • Example: force_CetModified (14), if successfully called, will receive: force_CetModified: "Update version number"

3.2 Setting ID

Socket string format: force_SetGripperId (ID, value)

  • Function: Set the ID of the force control gripper
  • Parameter Description: ID Range [1-254] Default 14, Value [1-254] After modification, the parameter ID needs to be replaced with the modified ID
  • Example: force_SetGripperId (14,1) , if successfully called, will receive: force_SetGripperId: 1

3.3 Obtaining ID

Socket string format: force_GetGripperId (ID) '

  • Function: Obtain the ID of the force control gripper
  • Parameter Description: ID Range [1-254] Default 14
  • Example: force_CetGripperId (14), if successfully called, will receive: force_CetGripperId: "ID value"

3.4 Claw Enable

Socket string format: force_SetGripperEnabled (ID, value)

  • Function: Set the enable and disable settings on the gripper
  • Parameter Description: ID Range [1-254] Default 14
  • Example: force_SetGripperEnabled (14), if successfully called, will receive:force_SetGripperEnabled: "1"

3.5 Setting Angle

Socket string format: force_SetAngle (ID, value)

  • Function: Set the opening and closing angle of the gripper
  • Parameter description: ID range [1-254] default 14, value [0-100] set angle
  • Example: force_SetAngle (14100), if successfully called, will receive: force_SetAngle: "1"

3.6 Obtaining angles

Socket string format: force_GetGripperAngle (ID) '

  • Function: Obtain the current position and angle of the gripper
  • Parameter Description: ID Range [1-254] Default 14
  • Example: force_GetGripperAngle (14) , if successfully called, will receive: force_GetGripperAngle: "Current angle value"

3.7 Claw initialization

Socket string format: force_SetGripperCalibration (ID) '

  • Function: Force Control Claw Zero Position Calibration
  • Parameter Description: ID Range [1-254] Default 14
  • Example: force_SetGripperCalibration (14), if successfully called, will receive: force_SetGripperCalibration: "1"

3.8 Get Status

Socket string format: force_CetGripper (ID)

  • Function: Obtain the motion status of the gripper
  • *Parameter Description: * ID Range [1-254] Default 14
  • Example: force_CetGripper (14), if successfully called, will receive: force_CetGripper: "1", 0-in motion, 1-in place, 2-gripping object, 3 gripping object falling off

3.9 Setting torque

Socket string format: force_SetGripperTorque (ID, value)

  • Function: Set Claw Torque
  • Parameter Description: ID Range [1-254] Default 14, Value [1-100] The torque value that needs to be set
  • Example: force_SetGripperTorque (14100), if successfully called, will receive: force_SetGripperTorque: "1"

3.10 Obtaining torque

Socket string format: force_CetGripperTorque (ID) '

  • Function: Obtain Claw Torque
  • Parameter Description: ID Range [1-254] Default 14
  • Example: Force_GetGripperTorque (14), if successfully called, will receive: Force_GetGripperTorque: "Torque Value"

3.11 Set IO opening angle

Socket string format: force_SetOpen (ID, value)

  • Function: Set the opening angle of the gripper IO control
  • Parameter Description: ID Range [1-254] Default 14, value[0-100], After setting the angle, when using IO to open it, it will open to the angle set
  • Example: force_SetOpen (14100), if successfully called, will receive: force_SetOpen: "1"

3.12 Set IO closing angle

Socket string format: force_SetClose (ID, value)

  • Function: Set the closing angle of the gripper IO control
  • Parameter Description: ID Range [1-254] Default 14, value[0-100], After setting this angle, it will close to the set angle when using IO closure
  • Example: force_SetClose (14,0), if successfully called, will receive: force_SetClose: "1"

3.13 Set speed

Socket string format: force_SetSpeed (ID, value)

  • Function: Set gripper movement speed
  • Parameter Description: ID Range [1-254] Default 14, Value [1-100] Speed Value
  • Example: force_SetSpeed (14,50), if successfully called, will receive: force_SetSpeed: "1"

3.14 Get Speed

Socket string format: force_GetSpeed (ID) '

  • Function: Get gripper movement speed
  • Parameter Description: ID Range [1-254] Default 14
  • Example: force_SetSpeed (14), if successfully called, will receive: force_SetSpeed: "Speed value"

3.15 Obtain IO setting opening angle

Socket string format: force_CetOpen (ID)

  • Function: Obtain the opening angle of the gripper IO setting
  • Parameter Description: ID Range [1-254] Default 14
  • Example: force_CetOpen (14), if successfully called, will receive: force_CetOpen: "Angle Value"

3.16 Obtain IO setting closure angle

Socket string format: force_CetClose (ID)

  • Function: Obtain the closing angle set by the gripper IO
  • Parameter Description: ID Range [1-254] Default 14
  • Example: force_CetClose (14), if successfully called, will receive: force_CetClose: "Angle value"

3.17 Set Absolute Angle

Socket string format: force_SetAbsAngle (ID, value)

  • Function: Set the absolute angle of the gripper, and only return successfully after the movement is in place
  • Parameter Description: ID Range [1-254] Default 14, Value [0-100] Angle Value
  • Example: force_SetAbsAngle (14100), if successfully called, will receive: force_SetAbsAngle: "1"

4 Socket string controls three finger dexterous hand

4.1 Obtain version number

Socket string format: Hand_CetFirmware (ID)`

  • Function: Obtain three finger version numbers
  • Parameter Description: ID Range [1-254] Default 14
  • Example: Hand_CetFirmware (14) , if successfully called, will receive: Hand_CetFirmware: "Version Number"

4.2 Obtain updated version number

Socket string format: hand_get-modified (ID)

  • Function: Obtain three finger version numbers
  • Parameter Description: ID Range [1-254] Default 14
  • Example: Hand_get-modified (14), if successfully called, will receive: Hand_get-modified: "Update version number"

4.3 Setting ID

Socket string format: Hand_SetId (ID, value)

  • Function: Set Three Finger ID
  • Parameter description: ID range [1-254] default 14, value [1-254] set ID value
  • Example: Hand_SetId (14,1), if successfully called, will receive: Hand_SetId: "1"

4.4 Obtain ID

Socket string format: Hand_CetId (ID)`

  • Function: Obtain three finger ID
  • Parameter Description: ID Range [1-254] Default 14
  • Example: Hand_CetId (14), if successfully called, will receive: Hand_CetId: "ID value"

4.5 Enable Settings

Socket string format: Hand_SetEnabled (ID, value)

  • Function: Set three command enable states
  • Parameter Description:
    • ID range [1-254] default 14
    • value[0/1], 0- No upper enable, 1- Upper enable
  • Example: Hand_SetEnabled (14,1), if successfully called, will receive: Hand_SetEnabled: "1"

4.6 Setting Joint Motion

Socket string format: Hand_SetJointAngle (ID, joint, value)

  • Function: Set three finger single joint movement

  • Parameter Description:

    • ID range [1-254] default 14
    • joint [1-6] joint ID
    • value[0-100] Angle Value

  • Example: Hand_SetJointAngle (14,1,100), if successfully called, will receive: Hand_SetJointAngle: "1"

4.7 Obtaining Joint Movement

Socket string format: Hand_GetJointAngle (ID, joint)

  • Function: Obtain single joint movements of three fingers
  • Parameter Description:
    • ID range [1-254] default 14
    • joint [1-6] joint ID
  • Example: Hand_GetJointAngle (14,1), if successfully called, will receive: Hand_GetJointAngle: "Joint Angle"

4.8 Initialization Three Fingers

Socket string format: Hand_SetJointCalibrate(ID, joint)

  • Function: Calibrate three finger zero position
  • Parameter Description:
    • ID range [1-254] default 14
    • joint [1-6] joint ID
  • Example: Hand_SetJointCalibrate (14,1), if successfully called, will receive: Hand_SetJointCalibrate: "1"

4.9 Obtaining Three Finger Status

Socket string format: Hand_CetHand (ID)`

  • Function: Calibrate three finger zero position
  • Parameter Description: ID Range [1-254] Default 14
  • Example: Hand_GetHand (14), if successfully called, will receive: Hand_GetHand: "1", 0-in motion, 1-in place, 2-gripping object, 3 gripping object falling off

4.10 Set Three Finger Torque

Socket string format: Hand_SetTorque (ID, joint, value)

  • Function: Set three finger joint torque
  • Parameter Description:
    • ID range [1-254] default 14
    • joint [1-6] joint ID
    • Value [0-100] torque value
  • Example: Hand_SetTorque (14,100), if successfully called, will receive: Hand_SetTorque: "1"

4.11 Reading Three Finger Torque

Socket string format: Hand_GetTorque (ID, joint)`

  • Function: Read torque of three finger joints
  • Parameter Description:
    • ID range [1-254] default 14
    • joint [1-6] joint ID
  • Example: Hand_CetTorque (14,1), if successfully called, will receive: Hand_CetTorque: "Torque Value"

4.12 Setting Three Finger Speed

Socket string format: Hand_SetSpeed (ID, Jiont, value)

  • Function: Set the speed of three finger joint movement
  • Parameter Description:
    • ID range [1-254] default 14
    • Jiont [1-6] joint ID
    • Value [0-100] Speed value -Example: Hand_SetSpeed (14,1,100), if successfully called, will receive: Hand_SetSpeed: "1"

4.12 Obtaining Three Finger Speed

Socket string format: Hand_SetSpeed (ID, joint)

  • Function: Obtain the speed of three finger joint movement
  • Parameter Description:
    • ID range [1-254] default 14
    • Jiunt [1-6] joint ID
  • Example: Hand_GetSpeed (14,1), if successfully called, will receive: Hand_GetSpeed: "Speed value"

4.13 Setting Three Finger Joint

Socket string format: Hand_SetFullAngles (ID, value, speed)

  • Function: Set three finger total joint angle movement
  • Parameter Description:
    • ID range [1-254] default 14
    • value[angle1,angle2,angle3,angle4,angle5,angle6]
      • angle1:0-100
      • angle2:0-100
      • angle3:0-100
      • angle4:0-100
      • angle5:0-100
      • angle6:0-100
    • speed[0-100]
  • Example: Hand_SetFullAngles (14,0,0,0,0,0,100), if successfully called, will receive: Hand_SetFullAngles: "1"

4.14 Hand Force Action

Socket string format: Hand_SetCatch (ID, pose, value, num)`

  • Function: Set three finger gesture actions
  • Parameter Description:
    • ID range [1-254] default 14
    • pose[0-4]
    • value[0-5], When pose is 4, the value range is [0-20]
    • Num: (Invalid/01) By default, there is no such byte. When the byte is 01, idle fingers can freely manipulate it
  • Example: Hand_SetCatch (14,1,3,0), if successfully called, will receive: Hand_SetCatch: "1"

4.15 Get Type

Socket string format: hand_get-model (ID) '

  • Function: Feedback three fingers left or right hand
  • Parameter Description: ID Range [1-254] Default 14
  • Example: Hand_SetCatch (14), if successfully called, will receive: Hand_SetCatch: "1", 0-Left Hand, 1-Right Hand

5 Socket string controls the end of ATOM

5.1 Get Version

Socket string format: GetFirmwareEnd() '

  • Function: Obtain the end version number of the machine's ATOM
  • Example: GetFirmwareEnd(), if successfully called, will receive: GetFirmwareEnd: "version number"

5.2 Obtain updated versions

Socket string format: GetModifyEnd() '

  • Function: Obtain the updated version number of the machine's ATOM terminal
  • Example: GetModifyEnd(), if successfully called, will receive: GetModifyEnd(): "Update version number"

5.3 Color Setting

Socket string format: SetLedColor (red, green, blue)

  • Function: Obtain the color of the ATOM terminal button on the machine
  • Parameter Description:
    • red[0-255]
    • green[0-255]
    • blue[0-255]
  • Example: SetLedColor (255,0,0), if successfully called, will receive: SetLedColor: "1"

5.4 Obtaining Key Status

Socket string format: SetEndBtStatus() '

  • Function: Obtain the status of the ATOM terminal button on the machine
  • Example: SetEndBtStatus(), if successfully called, will receive: SetEndBtStatus: "1", 0-release, 1-press

Variable names are quoted in double quotation marks (""); If the value is an integer or floating point type, you can write the value directly without using the serial number. If the value is a Boolean type, you can write 0/1 directly using True/False, and the variable is changed to an integer type

The return string is formatted as a key-value pair, where the key is the function name and the value is the value received from the robot，If the call was successful and will receive assign_variable:[ok]。If any error occurs, will receive assign_variable:[wrong request format]。

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