Introduction to Phoenix API

Note: Phoenix API can only be run on the robot's main control, not on the customer's computer. If you want to use Phoenix API, you need to manually shut down Roboflow, otherwise an error will be reported

Introduction to API interface

1 State management

start_power_on_only()

  • Function: The robot is only powered on, not enabled, and the Atom light at the end is on
  • Parameter: None
  • Return:(bool)
  • True: Power-on completed
  • False: Power-on failed

start_power_on_only()

  • Function: The robot is only powered on, not enabled, and the Atom light at the end is on
  • Parameter: None
  • Return:(bool)
  • True: Power-on completed
  • False: Power-on failed

is_power_on()

  • Function: Check if the robot is powered on
  • Parameters: None
  • Return:(bool)
  • True: The robot is powered on
  • False: The robot is not powered on

is_servo_enabled(joint)

  • Function: Get the corresponding joint connection status
  • Parameters:
  • joint: Joint.J1 ~ Joint.J6
  • Return:(bool)
  • True: Connected
  • False: Not connected

is_all_servos_enabled()

  • Function: Get the connection status of all joints
  • Parameters:
  • joint: Joint.J1 ~ Joint.J6
  • Return:(bool)
  • True: All joints are connected
  • False: There are unconnected joints/all joints are not connected

start_robot()

  • Function: The robot is powered on and enabled, and the Atom light at the end is on
  • Parameter: None
  • Return:(bool)
  • True: Startup completed
  • False: Startup failed

state_check()

  • Function: Get system startup status
  • Parameter: None
  • Return:(bool)
  • True: System started
  • False: System not started

check_running()

  • Function: Get system startup status
  • Parameter: None
  • Return:(bool)
  • True: Moving
  • False: Still

set_free_move_mode(on=True)

  • Function: Set free move mode
  • Parameter:
  • True: Turn on free move mode
  • False: Turn off free move mode
  • Return:(bool)
  • True: Successfully turn on/off free movement mode
  • False: Failed to turn on/off free movement mode

is_software_free_move()

  • Function: Determine whether free movement mode is turned on
  • Parameter: None
  • Return:(bool)
  • True: Free movement mode is turned on
  • False: Free movement mode is not turned on

get_payload()

  • Function: Read robot arm payload
  • Parameter: None
  • Return:(float) Payload

is_program_paused()

  • Function: Determine whether the program is paused
  • Parameter: None
  • Return:(bool)
  • True: Program is paused
  • False: Program is not paused

get_error()

  • Function: Read robot arm error information
  • Parameter: None
  • Return:(tuple) Return error information

get_joint_min_pos_limit(joint)

  • Function: Get the corresponding joint minimum angle
  • Parameter:
  • joint: Joint.J1 ~ Joint.J6
  • Return:(float) Corresponding minimum joint angle

get_joint_max_pos_limit(joint)

  • Function: Get the corresponding joint maximum angle
  • Parameter:
  • joint: Joint.J1 ~ Joint.J6
  • Return:(float) Corresponding maximum joint angle

get_joint_max_pos_limit(joint)

  • Function: Get the corresponding joint maximum angle
  • Parameter:
  • joint: Joint.J1 ~ Joint.J6
  • Return:(float) Corresponding maximum joint angle

get_acceleration()

  • Function: Get robot arm acceleration
  • Parameter: None
  • Return: (float) Acceleration

set_task_mode(task_mode)

  • Function: Set robot task mode
  • Parameter:
  • task_mode: There are AUTO mode, MANUAL mode, MDI mode
  • Return: (bool) Whether the task mode is set successfully (the return value is always true)

release_joint_brake(joint, release=True)

  • Function: Set joint brake status
  • Parameter:
  • joint: Joint.J1 ~ Joint.J6
  • release (bool): True - open brake False - close brake
  • Return: None

set_mdi_mode()

  • Function: Set the working mode to MDI
  • Parameters: None
  • Return: None

is_mdi_mode()

  • Function: Determine whether the current working mode is MDI
  • Parameters: None
  • Return: (bool)
  • True: MDI mode
  • False: Not MDI mode

is_manual_ok()

  • Function: Confirm that the robot is in STATE_ON state and the robot is not currently running any instructions
  • Parameters: None
  • Return: (bool)
  • True: The robot is in STATE_ON state and the robot is not currently running any instructions
  • False: The instruction is not running/or is not in the disabled state

get_motion_line()

  • Function: Get the command line number currently being executed

  • Parameter: None

  • Return: The command line number currently being executed

get_robot_status()

  • Function: Get the robot arm status

  • Parameter: None

  • Return: (bool)

  • True: Normal

  • False: Closed/Error/Unable to move

get_robot_temperature()

  • Function: Get the robot arm CPU temperature

  • Parameter: None

  • Return: (float): System temperature

get_joint_state(joint)

  • Function: Get the corresponding joint status

  • Parameter:

  • joint: Joint.J1 ~ Joint.J6

  • Return: JointState

  • ERROR: Joint error

  • OK: Power on and enabled

  • ERROR: POWERED_OFF

get_joint_communication(joint)

  • Function: Get the corresponding joint communication status
  • Parameter:
  • joint: Joint.J1 ~ Joint.J6
  • Return: (bool)
  • True: Communication is normal
  • False: Communication failed

set_power_limit(power_limit)

  • Function: Set the robot power limit
  • Parameter:
  • power_limit (float): Power limit
  • Return: None

get_power_limit()

  • Function: Get the robot power limit
  • Parameter: None
  • Return:
  • float: Power limit

set_stopping_time(stopping_time)

  • Function: Set the robot stop time
  • Parameter:
  • stopping_time (float):Stop time
  • Return: None

get_stopping_time()

  • Function: Get robot arm stop time
  • Parameter: None
  • Return:
  • float: Stop time

set_stopping_distance(stopping_distance)

  • Function: Set the current stop distance of the robot arm
  • Parameter:
  • stopping_distance (float):Stop distance
  • Return: None

get_stopping_distance()

  • Function: Get the current stop distance of the robot arm
  • Parameter: None
  • Return:
  • float: Stop distance

set_tool_speed(tool_speed)

  • Function: Get tool speed
  • Parameter:
  • tool_speed (float):Tool speed
  • Return: None

get_tool_speed()

  • Function: Get the current stop distance of the robot

  • Parameter: None

  • Return:

  • float: Tool speed

set_tool_force(tool_force)

  • Function: Set tool force

  • Parameter:

  • tool_force (float): Tool force

  • Return: None

get_tool_force()

  • Function: Get tool force

  • Parameter: None

  • Return:
  • float: Tool force

set_max_speed(speed)

  • Function: Get tool force

  • Parameter:

  • speed: Maximum speed, 0 ~ 100

  • Return: None

program_open(program_file_path)

  • Function: Open G-code file, only supports absolute path

  • Parameter:

  • program_file_path: Absolute path of ngc file
  • Return: None

program_run(start_line)

  • Function: Run G-code file from given line
  • Parameter:
  • start_line (int): Start line (first line is 0)
  • Return:(bool)
  • True: Send successfully
  • False: Send failed

get_current_line()

  • Function: Run G-code file from given line
  • Parameter: None
  • Return:int: Current execution line
  • -1: Program is not currently executed/execution is completed
  • 1, 2, 3....x: Program current execution line

program_pause()

  • Function: Pause program execution
  • Parameter: None
  • Return: None

program_resume()

  • Function: Resume program running
  • Parameters: None
  • Return: None

task_stop()

  • Function: Stop the robot and wait for the stop to complete
  • Parameters: None
  • Return: None

get_digital_in(pin_number)

  • Function: Get the value of the digital input pin
  • Parameters:
  • pin_number (DI): Input pin number
  • Return:(int)
  • 0: No input
  • 1: Input

get_digital_out(pin_number)

  • Function: Get the value of the digital output pin
  • Parameters:
  • pin_number (DO): Output pin number
  • Return:(int)
  • 0: No output
  • 1: Output

set_digital_out(pin_number, pin_value)

  • Function: Set the value of the digital output pin
  • Parameters:
  • pin_number (DO): output pin number
  • pin_value (int): pin value (0 or 1)
  • 0: turn off output
  • 1: turn on output
  • Return: None

get_axis_speed(axis)

  • Function: Get the corresponding axis speed
  • Parameters:
  • axis: Axis.X ~ Axis.RZ
  • Return:
  • （float:）: axis speed

get_cmd_pos()

  • Function: Get trajectory posture
  • Parameters: None
  • Return:
  • list[float]: G-code string list

get_cmd_joint()

  • Function: Get the required joint angle
  • Parameters: None
  • Return:
  • list[float]: [J1,J2,J3,J4,J5,J6]

get_current_speed()

  • Function: Get the current speed

  • Parameter: None

  • Return:

  • (float): Current speed

get_default_speed()

  • Function: Get the default speed

  • Parameter: None

  • Return:

  • (float): Default speed

get_default_acceleration()

  • Function: Get the default acceleration

  • Parameter: None

  • Return:

  • (float): Default acceleration

get_max_speed()

  • Function: Get the maximum speed

  • Parameter: None

  • Return:

  • (float): Maximum speed

get_max_acceleration()

  • Function: Get the maximum acceleration
  • Parameters: None
  • Return:
  • （float）: Maximum acceleration

get_feedrate()

  • Function: Get the current feed rate
  • Parameters: None
  • Return:
  • （float）: Current feed rate

get_motion_enabled()

  • Function: Get the status of the trajectory planner enable flag
  • Parameters: None
  • Return: (bool)
  • True: Can move
  • False: Cannot move

coords_to_gcode(coords)

  • Function: Convert the input coordinates to a G-code string
  • Parameters:
  • coords(list[float | str]): Coordinates
  • Return: list[str] G-code

angles_to_gcode(angles)

  • Function: Convert the input angles to G-code string
  • Parameters:
  • angles(list[float | str]): angles
  • Return: list[str] G-code

coords_equal(coords_1, coords_2)

  • Function: Determine whether the input coordinates are equal
  • Parameters:
  • coords_1: coordinates
  • coords_2: coordinates
  • Return: (bool)
  • True: equal
  • False: not equal

cangles_equal(angles_1, angles_2)

  • Function: Determine whether the input angles are equal
  • Parameters:
  • angles_1: angles
  • angles_2: angles
  • Return: (bool)
  • True: equal
  • False: not equal

tool_get_firmware_version()

  • Function: Get Pico firmware version number

  • Parameter: None

  • Return: Current firmware version

tool_set_digital_out(pin_no, pin_value)

  • Function: Set digital output pin value (end)

  • Parameter:

  • pin_number (DO): output pin number
  • pin_value (int): pin value (0 or 1)
  • 0: turn off output
  • 1: turn on output
  • Return: None

tool_get_digital_in(pin_no)

  • Function: Get digital input pin value (end)

  • Parameter:

  • pin_no (int): input pin number
  • Return: (int)
  • 0: no input
  • 1: input

tool_is_btn_clicked()

  • Function: Determine whether the robot ATOM button is pressed
  • Parameter: None
  • Return: (bool)
  • True: Pressed
  • False: Not pressed

tool_set_gripper_mode(mode)

  • Function: Set the gripper mode
  • Parameter:
  • mode: Gripper mode
  • 0: 485 mode
  • Return: None

tool_set_gripper_enabled(enabled)

  • Function: Set the gripper enable
  • Parameter:
  • enabled: Gripper mode
  • 0: Gripper release
  • 1: Gripper lock
  • Return: None

tool_set_gripper_calibrate()

  • Function: Set the gripper calibration
  • Parameter: None
  • Return: None

tool_set_gripper_value（value, speed）

  • Function: Set the gripper angle
  • Parameter:
  • value: Gripper angle 0-100
  • speed: Gripper speed 1-100
  • Return: None

tool_set_gripper_state(state, speed)

  • Function: Set gripper enable
  • Parameter:
  • state: Gripper state
  • 0: Fully open
  • 1: Fully closed
  • speed: Gripper speed 1-100
  • Return: None

clear_all_errors()

  • Function: Clear all errors
  • Parameter: None
  • Return: None

recover_robot()

  • Function: Recover after collision or other errors are detected
  • Parameter: None
  • Return: (bool)
  • True: Recovery successful
  • False: Recovery failed

enable_manual_brake_control()

  • Function: Enable or disable manual brake control.
  • Parameters: None
  • Return: None

set_joint_torque_limit(joint, torque_limit)

  • Function: Set Cartesian torque limit
  • Parameters:
  • joint: Axis.X ~ Axis.RZ
  • torque_limit(float): Torque limit value
  • Return: None

set_axis_torque_limit(axis, value)

  • Function: Set the corresponding joint torque limit value
  • Parameters:
  • axis: Joint.J1 ~ Joint.J6
  • torque_limit(float): Torque limit value
  • Return: None

2 Motion Management

get_coords()

  • Function: Get all coordinates
  • Parameters: None
  • Return: (list)
  • [X,Y,Z,RX,RY,RZ]

get_coord(axis)

  • Function: Get the corresponding coordinates
  • Parameters:
  • axis: Axis.X ~ Axis.RZ
  • Return: Coordinates

get_angles()

  • Function: Get all joint angles
  • Parameters: None
  • Return:(list)
  • [J1,J2,J3,J4,J5,J6]

get_angle(joint)

  • Function: Get the corresponding joint angles
  • Parameters:
  • joint: Joint.J1 ~ Joint.J6
  • Return: Joint angles

set_coords(list, speed)

  • Function: Control multi-coordinate motion
  • Parameters:
  • list: [X,Y,Z,RX,RY,RZ]
  • speed: 0~100
  • Return: None

set_coord(axis, coord, speed)

  • Function: Control single coordinate motion
  • Parameter:
  • axis:: Axis.X ~ Axis.RZ
  • coord: Coordinate
  • speed: 0-100
  • Return: None

set_angles(list, speed)

  • Function: Control multi-joint motion
  • Parameter:
  • list: [J1,J2,J3,J4,J5,J6]
  • speed: 0~100
  • Return: None

set_angle(joint, angle, speed)

  • Function: Control single joint motion
  • Parameter:
  • joint:: Joint.J1 ~ Joint.J6
  • angle: angle
  • speed: 0-100
  • Return: None

is_in_position(coords, is_linear)

  • Function: Determine whether the robot arm moves to the corresponding angle/coordinate
  • Parameter:
  • coords (list[float]): coordinate/angle
  • is_linear (bool):
  • False (0) - angle
  • True (1) - coordinate
  • Return: (bool)
  • True: Movement is in place
  • False: Movement is not in place

is_in_commanded_position()

  • Function: Determine whether the robot arm moves to the corresponding angle/coordinate
  • Parameter: None
  • Return: (bool)
  • True: Movement is in place
  • False: Movement is not in place

jog_absolute_coord(axis, coord, speed)

  • Function: Control single coordinate continuous motion
  • Parameter:
  • axis: Axis.X ~ Axis.RZ
  • coord (float): coordinate
  • speed (float): 0~100
  • Return:(bool)
  • True: Start continuous operation
  • False: Failure

jog_stop_all()

  • Function: Stop all angle/coordinate motions
  • Parameter: None
  • Return:(bool)
  • True: Stop successfully

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