ELITE ROBOTS EC Series

Programming Manual

SDK-Socket Script Manual

Suzhou Elite Robot Co., Ltd

2024-01-16
Version: Ver3.15.2

www.elibot.cn
 Contents

1 Introduction 1

2 Control Interface 2
2.1 Python data processing example . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.2 Interface service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2.1 Servo Service(ServoService) . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2.1.1 Get the servo status of the robotic arm . . . . . . . . . . . . . . . 5
2.2.1.2 Set servo status of robotic arm . . . . . . . . . . . . . . . . . . . 5
2.2.1.3 Synchronous Servo Encoder Data . . . . . . . . . . . . . . . . . . 6
2.2.1.4 Clear alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2.1.5 Get synchronization status . . . . . . . . . . . . . . . . . . . . . . 7
2.2.2 Parameter Service(ParamService) . . . . . . . . . . . . . . . . . . . . . . . 7
2.2.2.1 Get robot status . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2.2.2 Get Robot Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2.2.3 Obtain the joint position information of the robot output terminal . 8
2.2.2.4 Get the current pose information of the robot . . . . . . . . . . . . 8
2.2.2.5 Get robot motor speed . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2.2.6 Get the current coordinate system of the robot . . . . . . . . . . . 10
2.2.2.7 Get robot cycle mode . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2.2.8 Get the current job running line number of the robot . . . . . . . . 11
2.2.2.9 Get the current encoder value list of the robot . . . . . . . . . . . 12
2.2.2.10 Get the current tool number of the robot in the teaching mode . . 13
2.2.2.11 Switch the current tool number of the robot in the teaching mode . 13
2.2.2.12 Get the current user coordinate number of the robot . . . . . . . . 14
2.2.2.13 Switch the current user coordinate number of the robot . . . . . . 14
2.2.2.14 Get the current torque information of the robot . . . . . . . . . . . 15
2.2.2.15 Get the current running point number of the trajectory . . . . . . . 15
2.2.2.16 Specify coordinate system . . . . . . . . . . . . . . . . . . . . . . 16
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2.2.2.17 Drag the teaching switch . . . . . . . . . . . . . . . . . . . . . . 17

2.2.2.18 Get the drag-enabling state of the robot . . . . . . . . . . . . . . . 17
2.2.2.19 Set robot arm load and center of gravity . . . . . . . . . . . . . . 18
2.2.2.20 Set Robotic Arm Tool Center . . . . . . . . . . . . . . . . . . . . 18
2.2.2.21 Get collision status . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.2.2.22 Get user coordinate system data . . . . . . . . . . . . . . . . . . . 19
2.2.2.23 Specify cycle mode . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.2.2.24 Set user coordinate system data . . . . . . . . . . . . . . . . . . . 21
2.2.2.25 Get tool coordinate system data . . . . . . . . . . . . . . . . . . . 22
2.2.2.26 Get tool load quality . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.2.2.27 Get tool cog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.2.2.28 Get robot type . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.2.2.29 Get robot DH parameters . . . . . . . . . . . . . . . . . . . . . . 24
2.2.2.30 Set collision enable . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.2.2.31 Set collision sensitivity . . . . . . . . . . . . . . . . . . . . . . . 25
2.2.2.32 Get the automatically generated encrypted string . . . . . . . . . . 26
2.2.2.33 Set security parameters . . . . . . . . . . . . . . . . . . . . . . . 26
2.2.2.34 Get robot running speed . . . . . . . . . . . . . . . . . . . . . . . 27
2.2.2.35 Clear collision status . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.2.2.36 Get the current tool number of the robot in remote mode . . . . . . 28
2.2.2.37 Set the current tool number of the robot in remote mode . . . . . . 29
2.2.2.38 Get the center pose of flange in Base coordinate system . . . . . . 29
2.2.2.39 Get the center pose of the flange in the user coordinate system . . . 30
2.2.2.40 Get robot subtype . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.2.2.41 Get security parameter enable status . . . . . . . . . . . . . . . . 31
2.2.2.42 Get safe power . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.2.2.43 Get Safe Momentum . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.2.2.44 Access to safety tools . . . . . . . . . . . . . . . . . . . . . . . . 33
2.2.2.45 Get the "external" force and torque in the current TCP coordinate33
2.2.2.46 Get the current joint torque . . . . . . . . . . . . . . . . . . . . 34
2.2.2.47 Get safe elbow force . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.2.2.48 Get speed percentage . . . . . . . . . . . . . . . . . . . . . . . . 35
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2.2.2.49 Get the maximum starting speed of dragging . . . . . . . . . . . . 35

2.2.2.50 Get the maximum torque error percentage . . . . . . . . . . . . . 35
2.2.2.51 Set end button state . . . . . . . . . . . . . . . . . . . . . . . . . 35
2.2.2.52 Get end button status . . . . . . . . . . . . . . . . . . . . . . . . 36
2.2.2.53 Get collision detection enable state . . . . . . . . . . . . . . . . . 36
2.2.2.54 Get collision sensitivity . . . . . . . . . . . . . . . . . . . . . . . 37
2.2.2.55 Get the pose of the current tcp in the current user coordinate system 37
2.2.2.56 Get the serial number of the robot alarm information . . . . . . . . 38
2.2.2.57 Get joint motion speed . . . . . . . . . . . . . . . . . . . . . . . . 38
2.2.2.58 Get tcp acceleration . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.2.2.59 Get joint acceleration . . . . . . . . . . . . . . . . . . . . . . . . 40
2.2.2.60 Get tcp movement speed . . . . . . . . . . . . . . . . . . . . . . . 40
2.2.2.61 Get the emergency stop status of the robot . . . . . . . . . . . . . 41
2.2.2.62 Get tool load and center of mass . . . . . . . . . . . . . . . . . . 42
2.2.2.63 Get joint position information of robot input . . . . . . . . . . . . 42
2.2.2.64 Get the precise state of the robot servo encoder . . . . . . . . . . . 43
2.2.2.65 Get the state of the robot servo alarm . . . . . . . . . . . . . . . 43
2.2.2.66 Clear the booking queue . . . . . . . . . . . . . . . . . . . . . . 44
2.2.2.67 Get the actual tcp pose . . . . . . . . . . . . . . . . . . . . . . . 44
2.2.2.68 Get the target interpolation tcp pose . . . . . . . . . . . . . . . . 45
2.2.2.69 Get the actual joint . . . . . . . . . . . . . . . . . . . . . . . . . 45
2.2.2.70 Get the target interpolation joint . . . . . . . . . . . . . . . . . . 46
2.2.2.71 Get the linear interpolation pose . . . . . . . . . . . . . . . . . . 46

2.2.2.72 Get the joint temperature . . . . . . . . . . . . . . . . . . . . . 47

2.2.2.73 Get all inverse solution results of the target pose . . . . . . . . . 48

2.2.2.74 Set the system time . . . . . . . . . . . . . . . . . . . . . . . . 48

2.2.2.75 Set the terminal indicator mode . . . . . . . . . . . . . . . . . . 49

2.2.2.76 Get the terminal indicator mode of the current robot . . . . . . . 49

2.2.2.77 Set welding machine parameters . . . . . . . . . . . . . . . . . . 50
2.2.2.78 Get welding machine parameters . . . . . . . . . . . . . . . . . . 51
2.2.2.79 Set welding parameters of the process number . . . . . . . . . . . 52
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2.2.2.80 Get welding parameters of the process number . . . . . . . . . . . 53

2.2.2.81 Set welding curve parameters . . . . . . . . . . . . . . . . . . . . 54
2.2.2.82 Get welding curve parameters . . . . . . . . . . . . . . . . . . . . 55
2.2.2.83 Set weave parameters of the process number . . . . . . . . . . . . 56
2.2.2.84 Get weave parameters of the process number . . . . . . . . . . . . 57
2.2.2.85 Set welding machine enabling state . . . . . . . . . . . . . . . . . 58
2.2.2.86 Get welding machine enabling state . . . . . . . . . . . . . . . . . 58
2.2.2.87 Set power status of the robot . . . . . . . . . . . . . . . . . . . . . 59
2.2.2.88 Get power status of the robot . . . . . . . . . . . . . . . . . . . . . 59

2.2.2.89 Set voltage type of the brake . . . . . . . . . . . . . . . . . . . . 60

2.2.2.90 Get voltage type of the brake . . . . . . . . . . . . . . . . . . . . 60

2.2.2.91 Set drag function of the force control . . . . . . . . . . . . . . . . 61

2.2.2.92 Get drag function of the force control . . . . . . . . . . . . . . . . 62

2.2.3 Movement Service(MovementService) . . . . . . . . . . . . . . . . . . . . . 62

2.2.3.1 Joint Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
2.2.3.2 Linear motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
2.2.3.3 Circular Movement . . . . . . . . . . . . . . . . . . . . . . . . . 66
2.2.3.4 Rotation Movement . . . . . . . . . . . . . . . . . . . . . . . . . 67

2.2.3.5 Add waypoint info 2.0 . . . . . . . . . . . . . . . . . . . . . . . . 69

2.2.3.6 Clear waypoint information 2.0 . . . . . . . . . . . . . . . . . . . 71
2.2.3.7 Track Movement 2.0 . . . . . . . . . . . . . . . . . . . . . . . . . 71
2.2.3.8 Jog Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
2.2.3.9 Stop robot operation . . . . . . . . . . . . . . . . . . . . . . . . . 73
2.2.3.10 Robot runs automatically . . . . . . . . . . . . . . . . . . . . . . 74
2.2.3.11 Robot stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
2.2.3.12 Check if the jbi file exists . . . . . . . . . . . . . . . . . . . . . . 75

2.2.3.13 Run jbi file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

2.2.3.14 Get jbi file running status . . . . . . . . . . . . . . . . . . . . . . 76
2.2.3.15 Set robot running speed . . . . . . . . . . . . . . . . . . . . . . . 76
2.2.3.16 Joint motion at uniform speed . . . . . . . . . . . . . . . . . . . . 77
2.2.3.17 Stop joint motion at uniform speed . . . . . . . . . . . . . . . . . 78
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2.2.3.18 Linear uniform motion . . . . . . . . . . . . . . . . . . . . . . . . 78

2.2.3.19 Stop linear motion at constant speed . . . . . . . . . . . . . . . . 79
2.2.3.20 Linear motion under specified coordinate system . . . . . . . . . . 80
2.2.3.21 Encoder zero calibration . . . . . . . . . . . . . . . . . . . . . . . 82
2.2.4 Kinematics Service(KinematicsService) . . . . . . . . . . . . . . . . . . . . 82
2.2.4.1 Inverse solution function . . . . . . . . . . . . . . . . . . . . . . 82
2.2.4.2 Positive solution function . . . . . . . . . . . . . . . . . . . . . . 83
2.2.4.3 Base coordinate to user coordinate pose conversion . . . . . . . . 84
2.2.4.4 User coordinate to base coordinate pose conversion . . . . . . . . 84
2.2.4.5 Position multiplication . . . . . . . . . . . . . . . . . . . . . . . . 85
2.2.4.6 Pose inversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
2.2.5 IO Service(IOService) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
2.2.5.1 Get input IO status . . . . . . . . . . . . . . . . . . . . . . . . . . 87
2.2.5.2 Get output IO status . . . . . . . . . . . . . . . . . . . . . . . . . 87
2.2.5.3 Set output IO status . . . . . . . . . . . . . . . . . . . . . . . . . 88
2.2.5.4 Get virtual input IO status . . . . . . . . . . . . . . . . . . . . . . 88
2.2.5.5 Get virtual output IO status . . . . . . . . . . . . . . . . . . . . . 89
2.2.5.6 Set virtual output IO status . . . . . . . . . . . . . . . . . . . . . 89
2.2.5.7 Read multiple M virtual IO . . . . . . . . . . . . . . . . . . . . . 90
2.2.5.8 Get analog input . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
2.2.5.9 Get analog output. . . . . . . . . . . . . . . . . . . . . . . . . . . 91
2.2.5.10 Set analog output . . . . . . . . . . . . . . . . . . . . . . . . . . 92
2.2.6 Variable service(VarService) . . . . . . . . . . . . . . . . . . . . . . . . . . 92
2.2.6.1 Get system B variable value . . . . . . . . . . . . . . . . . . . . . 92
2.2.6.2 Set system B variable value . . . . . . . . . . . . . . . . . . . . . 93
2.2.6.3 Get system I variable value . . . . . . . . . . . . . . . . . . . . . 93
2.2.6.4 Set system I variable value . . . . . . . . . . . . . . . . . . . . . 94
2.2.6.5 Get system D variable value . . . . . . . . . . . . . . . . . . . . . 94
2.2.6.6 Set system D variable value . . . . . . . . . . . . . . . . . . . . . 95
2.2.6.7 Get whether the system P variable is enabled . . . . . . . . . . . . 95
2.2.6.8 Get the value of P variable . . . . . . . . . . . . . . . . . . . . . 96
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2.2.6.9 Set the value of the P variable . . . . . . . . . . . . . . . . . . . . 96

2.2.6.10 Set the scope of the V variable . . . . . . . . . . . . . . . . . . . 97
2.2.6.11 Get the value of V variable . . . . . . . . . . . . . . . . . . . . . 97
2.2.6.12 Set the value of the V variable . . . . . . . . . . . . . . . . . . . . 97
2.2.6.13 Save variable data . . . . . . . . . . . . . . . . . . . . . . . . . . 98
2.2.7 Transparent Transmission Service . . . . . . . . . . . . . . . . . . . . . . . 99
2.2.7.1 Initialize transparent transmission service . . . . . . . . . . . . . 99
2.2.7.2 Set the current transparent transmission servo target joint point . . 99
2.2.7.3 Get whether the current robot is in a transparent transmission state 100
2.2.7.4 Add transparent transmission of servo target joint point information
to the cache . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
2.2.7.5 Clear the transparent transmission cache . . . . . . . . . . . . . . 102
2.2.7.6 Example 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
2.2.7.7 Example 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
2.2.8 System Service(SystemService) . . . . . . . . . . . . . . . . . . . . . . . . 108
2.2.8.1 Get the controller software version number . . . . . . . . . . . . . 108
2.2.8.2 Get servo version number . . . . . . . . . . . . . . . . . . . . . . 109
2.2.9 TrajectoryService(TrajectoryService) . . . . . . . . . . . . . . . . . . . . . 109
2.2.9.1 Initial movement . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
2.2.9.2 Add movement points . . . . . . . . . . . . . . . . . . . . . . . . 110
2.2.9.3 Stop adding movement points . . . . . . . . . . . . . . . . . . . . 111
2.2.9.4 Check execution status . . . . . . . . . . . . . . . . . . . . . . . . 112
2.2.9.5 Start a time-stamped movement . . . . . . . . . . . . . . . . . . . 113
2.2.9.6 Pause motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
2.2.9.7 Resume motion . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

2.2.9.8 Stop motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

2.2.9.9 Empty the cache . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
2.2.9.10 Example 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
2.2.9.11 Example 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
2.2.10 ProfinetService(ProfinetService) . . . . . . . . . . . . . . . . . . . . . . . . 121
2.2.10.1 Get the value of the profinet int input register . . . . . . . . . . . . 121
2.2.10.2 Get the value of the profinet int output register . . . . . . . . . . . 122
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2.2.10.3 Get the value of the profinet float type input register . . . . . . . . 123
2.2.10.4 Get the value of the profinet float type output register . . . . . . . 123
2.2.10.5 Set the value of the profinet int output register . . . . . . . . . . . 124
2.2.10.6 Set the value of the profinet float output register . . . . . . . . . . 125
2.2.11 Backdrive service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
2.2.11.1 Get the opening of the servo brake . . . . . . . . . . . . . . . . . 125
2.2.11.2 Get whether it is in reverse drive mode . . . . . . . . . . . . . . . 126
2.2.11.3 Enter backdrive mode . . . . . . . . . . . . . . . . . . . . . . . . 126
2.2.11.4 Exit backdrive mode . . . . . . . . . . . . . . . . . . . . . . . . . 127
2.2.11.5 Reset controller state . . . . . . . . . . . . . . . . . . . . . . . . 127

2.2.12 Ethernet/IP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

2.2.12.1 Get the value of the Ethernet/IP int input register . . . . . . . . . . 129
2.2.12.2 Get the value of the Ethernet/IP int output register . . . . . . . . . 130
2.2.12.3 Get the value of the Ethernet/IP float type input register . . . . . . 131
2.2.12.4 Get the value of the Ethernet/IP float type output register . . . . . 132

2.2.12.5 Set the value of the Ethernet/IP int output register . . . . . . . . . 133

2.2.12.6 Set the value of the Ethernet/IP float output register . . . . . . . . 134

2.2.13 External force sensor service . . . . . . . . . . . . . . . . . . . . . . . . . . 135

2.2.13.1 Mark the start of the torque data transfer . . . . . . . . . . . . . . 135

2.2.13.2 Transfer the torque data . . . . . . . . . . . . . . . . . . . . . . . 136
2.2.13.3 Stop the transfer of the current torque data . . . . . . . . . . . . . . 137
2.2.13.4 Get the source of the current torque data . . . . . . . . . . . . . . . 138

2.2.13.5 Get the force and torque of the TCP based on the external force
sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

2.2.13.6 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

2.2.13.6.1 Example 1 (of the data transfer: with the returned value)140

2.2.13.6.2 Example 2 (of the data transfer: with no returned value) 143

2.2.13.6.3 Example 3 (of the data parsing and transfer) . . . . . . 146

2.2.14 Hardware Communication Control Service . . . . . . . . . . . . . . . . . . . 151

2.2.14.1 Open the serial port of the hardware . . . . . . . . . . . . . . . . . . 151

2.2.14.2 Configure the serial port of the hardware . . . . . . . . . . . . . . . 152
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2.2.14.3 Receive the data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

2.2.14.4 Send the data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

2.2.14.5 Clear the buffer zone of the hardware serial port . . . . . . . . . . 155

2.2.14.6 Close the serial port of the hardware . . . . . . . . . . . . . . . . . 156

2.2.15 TCI Communication Control Service . . . . . . . . . . . . . . . . . . . . . . . 157

2.2.15.1 Open the TCI serial port . . . . . . . . . . . . . . . . . . . . . . . . . 157

2.2.15.2 Configure the TCI serial port . . . . . . . . . . . . . . . . . . . . . 158
2.2.15.3 Receive the data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
2.2.15.4 Send the data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

2.2.15.5 Clear the buffer zone of the TCI serial port . . . . . . . . . . . . . 161

2.2.15.6 Close the TCI serial port . . . . . . . . . . . . . . . . . . . . . . . . 162

2.2.16 Force Control Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
2.2.16.1 Start the force control mode . . . . . . . . . . . . . . . . . . . . . . 163
2.2.16.2 End the force control mode . . . . . . . . . . . . . . . . . . . . . . 163

2.2.16.3 Get the state of the force control mode . . . . . . . . . . . . . . . . 164

2.2.16.4 Clear all values of the force sensor to zero . . . . . . . . . . . . . . 166

2.2.16.5 Start the force-seeking movement . . . . . . . . . . . . . . . . . . . 167

2.2.16.6 End the force-seeking movement . . . . . . . . . . . . . . . . . . . 168

2.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
2.3.1 Example 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
2.3.2 Example 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
2.3.3 Example 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

3 Monitor Interface 177

3.1 Data description list of monitor interface . . . . . . . . . . . . . . . . . . . . . . . . 177
3.2 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

4 Log Interface 187

4.1 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

5 Raw Log Interface 188

5.1 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

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 Chapter 1 Introduction

CAUTION

The applicable software version of this manual is: Ver3.15.2.

Elite Robot has opened robot controller ports to support users in secondary development, as shown in
Table 1-1 .

Table 1-1 . Controller port

Port Number Name Function

8055 Control Interface receive json string in specified format

8056 Monitor Interface output robot information

The user can connect to the corresponding controller port through socket communication to perform
some operations to realize the corresponding function.

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 Chapter 2 Control Interface

The user can send a json string in the specified format to the control interface of the controller through
socket communication to achieve related functions, as shown below.

1 send
2
3 {" jsonrpc ":"2.0"," method ":" method name"," params ":parameters ,"id":id}
4
5 receive
6
7 Normal
8 {" jsonrpc ":"2.0"," result ":" result ","id":id}
9 Error
10 {" jsonrpc ":"2.0","error":{"code":error code ," message ":"error
message "},"id":id}

CAUTION

This function is applicable to 2.13.0 and above versions.

The id when sending the json string is the same as the id when receiving the result, as shown below.

1 Send
2 {" jsonrpc ":"2.0"," method ":" cmd_set_payload "," params ":{"cog"
:[1 ,2 ,3] ," tool_num ":1,"m":12} ,"id":1}
3
4 {" jsonrpc ":"2.0"," method ":" checkJbiExist "," params ":{" filename ":"
123123 "},"id":1}
5
6 {" jsonrpc ":"2.0"," method ":" getRobotState "," params ":[],"id":1}
7
8
9 Receive
10 Normal
11 {" jsonrpc ":"2.0"," result ":" false ","id":1}
12
13 Error
14 {" jsonrpc ":"2.0","error":{"code": -32601 ," message ":" Method not
found ."},"id":1}

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 2.1 Python data processing example

NOTICE

Both sending and receiving end with \n

Currently, there are two common exceptions returned by the json protocol:
JRPC_METHOD_NOT_FOUND -32601, JRPC_INTERNAL_ERROR -32693.
32601 means that the corresponding interface is not found. You need to check whether the
interface name is correct or whether the current version supports the interface.
32693 is an exception defined inside the interface. Corresponding parameters are not found,
parameters are out of range, and execution conditions are not met. Such exceptions are reported.
Such errors only need to check whether the parameters and their ranges and execution conditions
are satisfied according to the error information.

2.1 Python data processing example

The examples in this chapter are all in Python. Users can modify the code according to the examples
in this section.
CAUTION

The Python language version must be Python3.

1 import socket
2 import json
3 import time
4
5 def connectETController (ip ,port =8055) :
6 sock = socket . socket ( socket .AF_INET , socket . SOCK_STREAM )
7 try:
8 sock. connect ((ip ,port))
9 return (True ,sock)
10 except Exception as e:
11 sock.close ()
12 return (False ,)
13
14 def disconnectETController (sock):
15 if(sock):

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 2.2 Interface service

16 sock.close ()
17 sock=None
18 else:
19 sock=None
20
21 def sendCMD (sock ,cmd , params =None ,id =1):
22 if(not params ):
23 params =[]
24 else:
25 params =json.dumps( params )
26 sendStr ="{{\" method \":\"{0}\" ,\" params \":{1} ,\" jsonrpc \":\"2.0\" ,\" id
\":{2}}} ". format (cmd ,params ,id)+"\n"
27 try:
28 sock. sendall (bytes(sendStr ,"utf -8"))
29 ret=sock.recv (1024)
30 jdata=json.loads(str(ret ,"utf -8"))
31 if(" result " in jdata.keys ()):
32 return (True ,json.loads(jdata[" result "]),jdata["id"])
33 elif("error" in jdata.keys ()):
34 return (False ,jdata[" error "], jdata["id"])
35 else:
36 return (False ,None ,None)
37 except Exception as e:
38 return (False ,None ,None)
39
40 if __name__ == " __main__ ":
41 # Robot IP address
42 robot_ip =" 192.168.1.200 "
43 conSuc ,sock= connectETController ( robot_ip )
44 if( conSuc ):
45 # Get robot status
46 suc , result , id = sendCMD (sock , " getRobotState ")
47 # Print results
48 print( result )

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 2.2 Interface service

2.2 Interface service

2.2.1 Servo Service(ServoService)

2.2.1.1 Get the servo status of the robotic arm

{" jsonrpc ":"2.0" ," method ":" getServoStatus ","id":id}

Function: Get the servo status of the robotic arm

Parameter: None
Return: Enable true, not enable false
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the servo status of the robotic arm
suc , result , id=sendCMD(sock,””getServoStatus)

2.2.1.2 Set servo status of robotic arm

{" jsonrpc ":"2.0" ," method ":" set_servo_status "," params ":{" status ": status },"
id":id}

Function: Set servo enable state

Parameter: status: servo switch, range: int[0,1], 1 is on, 0 is off
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the servo status of the robotic arm
suc , result , id=sendCMD(sock, ”getServoStatus”)
if ( result == 0) :
# Set the servo status of the robot arm to ON
suc , result , id=sendCMD(sock,”set_servo_status”,{”status” :1})
time . sleep (1)

Note: This command is only supported in remote mode.

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 2.2 Interface service

2.2.1.3 Synchronous Servo Encoder Data

{" jsonrpc ":"2.0" ," method ":" syncMotorStatus ","id":id}

Function: Synchronize servo encoder data

Parameter: None
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get synchronization status
suc , result , id = sendCMD(sock, ”getMotorStatus”)
if ( result == 0) :
# Synchronize servo encoder data
suc , result , id = sendCMD(sock, ”syncMotorStatus”)
time . sleep (0.5)

Note: This command is only supported in remote mode.

2.2.1.4 Clear alarm

{" jsonrpc ":"2.0" ," method ":" clearAlarm ","id":id}

Function: Clear alarm

Parameter: None
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Clear alarm
ret , result , id = sendCMD(sock, ”clearAlarm”)

Note: This command is only supported in remote mode.

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 2.2 Interface service

2.2.1.5 Get synchronization status

{" jsonrpc ":"2.0" ," method ":" getMotorStatus ","id":id}

Function: Get synchronization status

Parameter: None
Return: True for synchronization, false for unsynchronization
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get synchronization status
suc , result , id = sendCMD(sock, ”getMotorStatus”)

2.2.2 Parameter Service(ParamService)

2.2.2.1 Get robot status

{" jsonrpc ":"2.0" ," method ":" getRobotState ","id":id}

Function: Get robot status

Parameter: None
Return: Stop state 0, pause state 1, emergency stop state 2, running state 3, alarm state 4,
collision state 5
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get robot status
suc , result , id = sendCMD(sock, ”getRobotState”)

Note: The emergency stop status obtained by this instruction will only exist for a short time
and will be covered by the alarm soon. If you need to get the emergency stop status,
please refer to Subsection 2.2.2.61.

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 2.2 Interface service

2.2.2.2 Get Robot Mode

{" jsonrpc ":"2.0" ," method ":" getRobotMode ","id": id}

Function: Get Robot Mode

Parameter: None
Return: Teaching mode 0, operating mode 1, remote mode 2
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get Robot Mode
suc , result , id = sendCMD(sock, ”getRobotMode”)

2.2.2.3 Obtain the joint position information of the robot output terminal

{" jsonrpc ":"2.0" ," method ":" get_joint_pos ","id":id}

Function: Obtain the joint position information of the robot output terminal
Parameter: None
Return: The current position information of the robot double pos[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get information about the joint position of the robot output terminal
suc , result , id = sendCMD(sock, ”get_joint_pos”)

Note: getRobotPos is deprecated, please use get_joint_pos to obtain the joint position infor-
mation of the robot output terminal

2.2.2.4 Get the current pose information of the robot

{" jsonrpc ":"2.0" ," method ":" get_tcp_pose "," params ":{" coordinate_num ":
coordinate_num ," tool_num ": tool_num ," unit_type ": unit_type },"id":id}

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 2.2 Interface service

Function: Get the current pose information of the robot

Parameter: coordinate_num: coordinate number; int[-1,7], -1: base coordinate system, 0~7: cor-
responding user coordinate system
tool_num: tool number: int[-1,7], -1: current tool number, 0~7: corresponding tool
number
unit_type: int[0,1], optional parameter, returns the unit type of pose rx, ry, rz, 0: angle,
1: radians, if not written, the default value is radians.
Return: The current pose information of the robot double pose[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the current pose information of the robot
suc , result , id=sendCMD(sock,”get_tcp_pose”,{”coordinate_num”: 0,”tool_num”: 0})

Note: If the parameter coordinate_num and the parameter tool_num are used at the same
time, the corresponding tool number and the user coordinate in the corresponding user
coordinate system are returned; if neither or only the parameter tool_num is used, the
robot pose in the base coordinate system is returned. The parameter coordinate_num
cannot be used alone.
getRobotPose and getTcpPose are deprecated, please use get_tcp_pose to get the cur-
rent robot pose.

2.2.2.5 Get robot motor speed

{" jsonrpc ":"2.0" ," method ":" get_motor_speed ","id":id}

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 2.2 Interface service

Function: Get robot motor speed

Parameter: None
Return: Robot motor speed double speed[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
point = []
point .append([0.0065,−103.9938,102.2076,−88.2138,
90.0000,0.0013)
point .append([−16.2806,−82.4996,81.9848,−89.4851,
90.0000,−16.2858])
point .append([3.7679, −71.7544, 68.7276, −86.9732,
90.0000, 3.7627])
point .append ([12.8237,−87.3028,87.2361,−89.9333,
90.0000,12.8185])
if (conSuc):
for i in range (0, 4, 1) :
# Joint movement
suc , result , id=sendCMD(sock,”moveByJoint”,{”targetPos”:point[i ], ”speed”:30})
while(True) :
# Get robot motor speed
suc , result , id =sendCMD(sock,”get_motor_speed”)
print ( result )
# Get robot status
suc , result , id=sendCMD(sock,”getRobotState”)
if ( result == 0) :
break

Note: getMotorSpeed is deprecated, please use get_motor_speed to obtain the motor speed
of the robot.

2.2.2.6 Get the current coordinate system of the robot

{" jsonrpc ":"2.0" ," method ":" getCurrentCoord ","id":id}

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 2.2 Interface service

Function: Get the current coordinate system of the robot

Parameter: None
Return: Joint 0, Base 1, Tool 2, User 3, Cylinder 4
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the current coordinate system of the robot
suc , result , id = sendCMD(sock, ”getCurrentCoord”)

2.2.2.7 Get robot cycle mode

{" jsonrpc ":"2.0" ," method ":" getCycleMode ","id ": id}

Function: Get robot cycle mode

Parameter: None
Return: Single step 0, single loop 1, continuous loop 2
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get robot cycle mode
suc , result , id = sendCMD(sock, ”getCycleMode”)

2.2.2.8 Get the current job running line number of the robot

{" jsonrpc ":"2.0" ," method ":" getCurrentJobLine ","id":id}

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 2.2 Interface service

Function: Get the current job running line number of the robot
Parameter: None
Return: JBI line number
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the servo status of the robotic arm
suc , result , id=sendCMD(sock, ”getServoStatus”)
if ( result == 0) :
# Set the servo status of the robot arm to ON
suc , result , id=sendCMD(sock,”set_servo_status”,{”status” :1})
time . sleep (1)
# Check if the jbi file exists
suc , result , id=sendCMD(sock,”checkJbiExist”,{”filename”: jbi_filename })
if (suc and result ==1):
# Run jbi file
suc , result , id=sendCMD(sock,”runJbi”,{”filename”: jbi_filename })
if (suc and result ) :
checkRunning=3
while(checkRunning==3):
# Get jbi file running status
suc , result , id=sendCMD(sock,”getJbiState”)
checkRunning=result[” runState ”]
# Get the current job running line number of the robot
# The line number needs to count the line number of the point information , not
the line number of the teach pendant program
suc , result , id=sendCMD(sock,”getCurrentJobLine”)
print ( result )
time . sleep (0.1)

2.2.2.9 Get the current encoder value list of the robot

{" jsonrpc ":"2.0" ," method ":" getCurrentEncode ","id":id}

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 2.2 Interface service

Function: Get the current encoder value list of the robot

Parameter: None
Return: The current encoder value list of the robot double encode[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the current encoder value list of the robot
suc , result , id = sendCMD(sock, ”getCurrentEncode”)

2.2.2.10 Get the current tool number of the robot in the teaching mode

{" jsonrpc ":"2.0" ," method ":" getToolNumber ","id":id}

Function: Get the current tool number of the robot in the teaching mode
Parameter: None
Return: The current tool number of the robot, range: int[0,7]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the current tool number of the robot in the teaching mode
suc , result , id = sendCMD(sock, ”getToolNumber”)

2.2.2.11 Switch the current tool number of the robot in the teaching mode

{" jsonrpc ":"2.0" ," method ":" setToolNumber "," params ":{" tool_num ": tool_num
},"id":id}

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 2.2 Interface service

Function: Switch the current tool number in the teaching mode

Parameter: tool_num: Tool number, range: int[0,7]
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Switch the current tool number of the robot in the teaching mode
suc , result , id=sendCMD(sock,”setToolNumber”,{”tool_num”:7})
time . sleep (0.5)
# Get the current tool number of the robot in the teaching mode
suc , result , id = sendCMD(sock, ”getToolNumber”)

Note: This command can only switch the current tool number in teaching mode.
This command is only supported in remote mode.

2.2.2.12 Get the current user coordinate number of the robot

{" jsonrpc ":"2.0" ," method ":" getUserNumber ","id":id}

Function: Get the current user coordinate number of the robot

Parameter: None
Return: Coordinate number of the current user of the robot, range: int[0,7]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the current user coordinate number of the robot
suc , result , id = sendCMD(sock, ”getUserNumber”)

2.2.2.13 Switch the current user coordinate number of the robot

{" jsonrpc ":"2.0" ," method ":" setUserNumber "," params ":{" user_num ": user_num },
id ": id}

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 2.2 Interface service

Function: Switch the current user coordinate number of the robot

Parameter: user_num: user coordinate number, range: int[0,7]
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc) ::
# Switch the current user coordinate number of the robot
suc , result , id=sendCMD(sock,”setUserNumber”,{”user_num”:7})
time . sleep (0.5)
# Get the current user coordinate number of the robot
suc , result , id = sendCMD(sock, ”getUserNumber”)

Note: This command is only supported in remote mode.

2.2.2.14 Get the current torque information of the robot

{" jsonrpc ":"2.0" ," method ":" get_motor_torque ","id":id}

Function: Get the current torque information of the robot

Parameter: None
Return: Robot current torque information double torques[6], The ratio per thousand of the
ratedtorque of the joint, unit ‰.
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the current torque information of the robot
suc , result , id = sendCMD(sock, ”get_motor_torque”)

Note: getRobotTorques is deprecated, please use get_motor_torque to get the current torque
information of the robot

2.2.2.15 Get the current running point number of the trajectory

{" jsonrpc ":"2.0" ," method ":" getPathPointIndex ","id":id}

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 2.2 Interface service

Function: Get the current running point number of the trajectory

Parameter: None
Return: Store the serial number of the current running point, -1 is non-waypoint movement
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
C000 = [0.0065,−103.9938,102.2076,−88.2138,
90.0000,0.0013]
C001 = [−16.2806,−82.4996,81.9848,−89.4851,
90.0000, −16.2858]
C002 = [3.7679, −71.7544, 68.7276, −86.9732,
90.0000, 3.7627]
if (conSuc):
# Clear waypoint information 2.0
suc , result , id = sendCMD(sock, ”clearPathPoint”)
if ( result == True) :
# Add waypoint information 2.0
suc , result , id = sendCMD(sock, ”addPathPoint”, {”wayPoint”: C000,”moveType”: 0, ”
speed”: 50, ”circular_radius”:20})
suc , result , id = sendCMD(sock, ”addPathPoint”, {”wayPoint”: C001,”moveType”:0, ”
speed”: 50, ”circular_radius”:20})
suc , result , id = sendCMD(sock, ”addPathPoint”, {”wayPoint”: C002,”moveType”: 0, ”
speed”: 50, ”circular_radius” :0})
# Trajectory movement 2.0
suc , result , id = sendCMD(sock, ”moveByPath”)
while(True) :
# Get the current running point number of the trajectory
suc , result , id = sendCMD(sock, ”getPathPointIndex”)
print ( result )
# Get robot status
suc , result , id = sendCMD(sock, ”getRobotState”)
if ( result == 0) :
break

2.2.2.16 Specify coordinate system

{" jsonrpc ":"2.0" ," method ":" setCurrentCoord "," params ":{" coord_mode ":
coord_mode },"id ":id}

Function: Specify coordinate system

Parameter: coord_mode: coordinate system,range int[0,4]. joint: 0, right angle: 1, tool: 2, user:
3, cylinder: 4
Return: True for success, false for failure
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 2.2 Interface service

Example: if __name__ == ”__main__”:

# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
for i in range (0, 5, 1)
# Specify coordinate system
suc , result , id=sendCMD(sock,”setCurrentCoord”,{”coord_mode”:i})
time . sleep (0.5)
# Specify coordinate system
suc , result , id=sendCMD(sock,”getCurrentCoord”)
print ( result )

Note: This command is only supported in remote mode.

2.2.2.17 Drag the teaching switch

{" jsonrpc ":"2.0" ," method ":" drag_teach_switch "," params ":{" switch ": switch
},"id":id}

Function: Drag the teaching switch

Parameter: switch: switch, range: int[0,1],0 is off, 1 is on
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Drag the teaching switch
suc , result , id=sendCMD(sock,”drag_teach_switch”,{”switch”:1})

Note: This command is only supported in remote mode.

2.2.2.18 Get the drag-enabling state of the robot

{" jsonrpc ":"2.0" ," method ":" get _ d r a g _ s t a t e ","id": id}

Function: Get the drag-enabling state of the robot

Parameter: None
Return: True means that the drag button is enabled, false means that the button is disabled
Example: if __name__ == ”__main__”:

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 2.2 Interface service

# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the drag-enabling state of the robot
suc , result , id=sendCMD(sock,”get_drag_state”)

2.2.2.19 Set robot arm load and center of gravity

{" jsonrpc ":"2.0" ," method ":" cmd_set_payload "," params ":{" tool_num ": tool_num
,"m":m," point ": point },"id ": id} or {" jsonrpc ":"2.0" ," method ":"
cmd_set_payload "," params ":{" tool_num ": tool_num ,"m":m," cog ": cog },"id":
id}

Function: Set robot arm load and center of gravity

Parameter: tool_num: Tool number, range: int[0,7]
m: load weight, unit Kg, double, range: EC63 [0,3.6] EC66 [0,7.2] EC612 [0,14.4]
point or cog: center of gravity, x, y, z, unit mm, range: double[-5000,5000]
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Set robot arm load and center of gravity
suc , result , id = sendCMD(sock, ”cmd_set_payload”,{”tool_num”:0, ”m”:5, ”cog” :[10, 20,
30]})

Note: Version 2.16.2 and above support the selection of tool number. The value of tool_num
is set as the load and center of gravity of the tool.
The parameter point is deprecated.
This command is only supported in remote mode.

2.2.2.20 Set Robotic Arm Tool Center

{" jsonrpc ":"2.0" ," method ":" cmd_set_tcp "," params ":{" point ": point ," tool_num
": tool_num ," unit_type ": unit_type },"id":id}

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 2.2 Interface service

Function: Set Robotic Arm Tool Center

Parameter: tool_num: tool number, range: int[0,7]
point: tool center, the first three items are in millimeters, the range: double[-500,500],
the last three units: radian, range: double[-π,π] or angle, range: double[-180,180]
unit_type: optional parameter, int[0,1], sets the unit type of rx, ry, rz in the tool center,
0: angle, 1: radian, if not written, the default value is radians.
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Set up the robotic arm tool center
suc , result , id = sendCMD(sock, ”cmd_set_tcp”, {”point”: [10, 0, 0, 30, 0, 0], ”
tool_num”: 1, ” unit_type ” :0})
print (suc , result , id )
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: This command is only supported in remote mode.

2.2.2.21 Get collision status

{" jsonrpc ":"2.0" ," method ":" getCollisionState ","id":id}

Function: Get collision status

Parameter: None
Return: Collision: 1, No collision: 0
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get collision status
suc , result , id = sendCMD(sock, ” getCollisionState )

2.2.2.22 Get user coordinate system data

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{" jsonrpc ":"2.0" ," method ":" getUserFrame "," params ":{" user_num ": user_num ,"
unit_type ": unit_type },"id ": id}

Function: Get user coordinate system data

Parameter: user_num: User coordinate number, range: int[0,7]
unit_type: int[0,1], optional parameter, returns the unit type of pose rx, ry, rz, range
int [0,1]
Default: radians, 0: angle, 1: radians
Return: User coordinate system data double pose[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
for i in range (8) :
suc , result , id=sendCMD(sock,”getUserFrame”,{”user_num”:i,”unit_type”:1})
print (”User coordinate number = ”, i )
print (”suc=”,suc , ”” , ”id =”, id )
if (suc) :
print (” result =”, result )
else :
print (”err_msg=”, result [”message”])

Note: The unit_type parameter is only applicable to v2.15.2 and above.

2.2.2.23 Specify cycle mode

{" jsonrpc ":"2.0" ," method ":" setCycleMode "," params ":{" cycle_mode ":
cycle_mode },"id ":id}

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Function: Specify cycle mode

Parameter: cycle_mode: cycle mode, range: int[0,2] single step: 0, single cycle: 1, continuous
cycle: 2
Return: Success true, failure false
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
#Set the loop mode to single loop
ret , result , id = sendCMD(sock, ”setCycleMode”,{”cycle_mode”:1})
if ret :
print (” result =”, result )
else :
print (”err_msg=”, result [”message”])

Note: This command is only supported in remote mode.

2.2.2.24 Set user coordinate system data

{" jsonrpc ":"2.0" ," method ":" setUserFrame "," params ":{" user_num ": user_num ,"
user_frame ": user_frame ," unit_type ": unit_type },"id ":id}

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Function: Set user coordinate system data

Parameter: user_num: user number, range int [0,7]
user_frame: user coordinate system data, double user_frame[6], range: [-1e+9,1e+9],
x, y, z unit: millimeter, rx, ry, rz unit: degree/rad
unit_type: the unit type of rx, ry, rz of the user coordinate system, int[0,1], optional
parameters, the unit type of rx, ry, rz, 0: angle, 1: radians, if not written, the default is
radians value.
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
user_frame=[499.011212,570.517817,
247.082805, −3.141593, −0.000000, −0.773067]
ret , result , id=sendCMD(sock,”setUserFrame”,{”user_num”:0,”user_frame”:user_frame,”
unit_type”:1})
if ret :
print (” result =”, result )
else :
print (”err_msg=”, result [”message”])

Note: This command is only supported in remote mode.

The unit_type parameter is only applicable to v2.15.2 and above.

2.2.2.25 Get tool coordinate system data

{" jsonrpc ":"2.0" ," method ":" getTcpPos "," params ":{" tool_num ": tool_num ,"
unit_type ": unit_type },"id":id}

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Function: Get tool coordinate system data

Parameter: tool_num: tool coordinate number, range int [0,7]
unit_type: int[0,1], return the unit type of rx, ry, rz of the coordinate system, 0:angle,
1:radian, optional parameter, if not written, the default value is radians.
Return: Tool coordinate system data double pose[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
ret , result , id = sendCMD(sock, ”getTcpPos”, {”tool_num”: 0})
if ret :
print (” result =”, result )
else :
print (”err_msg=”, result [”message”])

2.2.2.26 Get tool load quality

{" jsonrpc ":"2.0" ," method ":" getPayload "," params ":{" tool_num ": tool_num },"id
":id}

Function: Get tool load quality

Parameter: tool_num: tool coordinate number, range int [0,7]
Return: Tool load quality, double m
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
ret , result , id = sendCMD(sock, ”getPayload”, {”tool_num”: 0})
if ret :
print (” result =”, result )
else :
print (”err_msg=”, result [”message”])

Note: This command is deprecated.

2.2.2.27 Get tool cog

{" jsonrpc ":"2.0" ," method ":" getCentreMass "," params ":{" tool_num ": tool_num
},"id":id}

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Function: Get tool centroid

Parameter: tool_num: tool coordinate number, range int [0,7]
Return: Tool load cog double cog
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
ret , result , id = sendCMD(sock, ”getCentreMass”, {”tool_num”: 0})
if ret :
print (” result =”, result )
else :
print (”err_msg=”, result [”message”])

Note: This command is deprecated.

2.2.2.28 Get robot type

{" jsonrpc ":"2.0" ," method ":" getRobotType ","id": id}

Function: Get robot type

Parameter: None
Return: Robot type int 62 (six-axis collaborative robot), 60 (vertical multi-joint series robot),
41 (four-axis rotary joint robot), 40 (palletizing robot), 43 (SCARA robot), 30 (Delta
parallel robot)
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
ret , result , id = sendCMD(sock, ”getRobotType”)
if ret :
print (” result =”, result )
else :
print (”err_msg=”, result [”message”])

2.2.2.29 Get robot DH parameters

{" jsonrpc ":"2.0" ," method ":" getDH "," params ":{" index ": index },"id":id}

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Function: Get robot DH parameters

Parameter: index: range int [0,11], corresponding to connecting rod parameter d1~d12
Return: DH parameters
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the value of connecting rod parameter d1
ret , result , id = sendCMD(sock, ”getDH”, {”index”:0})
if ret :
print (” result =”, result )
else :
print (”err_msg=”, result [”message”])

2.2.2.30 Set collision enable

{" jsonrpc ":"2.0" ," method ":" setCollisionEnable "," params ":{" enable ":
enable },"id ": id}

Function: Set collision enable

Parameter: enable:int[0,1], 1: turn on the collision switch, 0: turn off the collision switch
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Turn on the collision switch
ret , result , id = sendCMD(sock, ”setCollisionEnable” , {”enable”: 1})
if ret :
print (” result =”, result )
else :
print (”err_msg=”, result [”message”])

Note: This command is deprecated.

2.2.2.31 Set collision sensitivity

{" jsonrpc ":"2.0" ," method ":" setCollisionSensitivity "," params ":{" value ":
value}, "id ":id}

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Function: Set collision sensitivity

Parameter: value: sensitivity range int [10,100]
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Set collision sensitivity to 50%
ret , result , id = sendCMD(sock, ” setCollisionSensitivity ” , {”value”: 50})
if ret :
print (” result =”, result )
else :
print (”err_msg=”, result [”message”])

Note: This command is only supported in remote mode. This command is deprecated.

2.2.2.32 Get the automatically generated encrypted string

{" jsonrpc ":"2.0" ," method ":" get_remote_sys_password ","id":id}

Function: Get the automatically generated encrypted string

Parameter: None
Return: Automatically generated encrypted string
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.200”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
ret , str , id = sendCMD(sock, ”get_remote_sys_password”)
print ( str )
else :
print (”Connection failed ”)
disconnectETController (sock)

2.2.2.33 Set security parameters

{" jsonrpc ":"2.0" ," method ":" setSafetyParams "," params ":{" password ": password
," enable ": enable ," mode ":mode ," power ": power ," momentum ": momentum ,"
tool_force ": tool_force ," elbow_force ": elbow_force ," speed ": speed ,"
collision_enable ": collision_enable ," collision_sensitivity ":
collision_sensitivity },"id ":id}

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Function: Set security parameters

Parameter: password: When the remote mode password is not set on the interface, the default
password is ”123456”; after the remote mode user password is set on the interface:
firstly, you need to use ”get_remote_sys_password” to obtain the encrypted string gen-
erated by the system, and the remote The user password combination of the mode,
calculate its MD5 value as the password required for json security parameter setting
enable: safety restriction parameter enable, int[0,1], 1: enable, 0: disable
mode: mode, int[0,1], 0: normal mode, 1: reduced mode
power: power, range: double [80,1500], unit:W
momentum: momentum, range: double [5,90], unit:kg·m/s
tool_force: Tool force, range: double [100,400], unit:N
elbow_force: elbow force: double [100,400], unit:N
speed: speed percentage, double [0-100], unit:%
collision_enable: int[0,1], optional parameter, set the collision detection switch, 0:
turn off the collision detection switch, 1: turn on the collision detection switch
collision_sensitivity: optional parameter, set collision detection sensitivity, range
int[10,100], unit:%
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
ret , str1 , id = sendCMD(sock, ”get_remote_sys_password”)
word = hashlib .md5()
str2 = ”123456”
word.update( str1 .encode(”utf8”) )
word.update( str2 .encode(”utf8”) )
password = word. hexdigest ()
print (password)
ret , result , id = sendCMD(sock, ”setSafetyParams”, {”password”: password, ”enable”: 1,
”mode”: 1, ”power”: 400, ”momentum”: 90, ”tool_force”: 400 , ”elbow_force”: 400,
”speed”: 0.5, ”collision_enable”: 0, ”collision_sensitivity”: 10})
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: This command is supported in remote and play mode.

2.2.2.34 Get robot running speed

{" jsonrpc ":"2.0" ," method ":" getSpeed ","id ":id}

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Function: Get the robot’s automatic speed

Parameter: no
Return: Automatic speed double
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
ret , result , id = sendCMD(sock, ”getSpeed”)
if ret :
print (” result =”, result )
else :
print (”err_msg=”, result [”message”])

2.2.2.35 Clear collision status

{" jsonrpc ":"2.0" ," method ":" resetCollisionState ","id":id}

Function: Clear collision status

Parameter: None
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
ret , result , id = sendCMD(sock, ” resetCollisionState ”)
if ret :
print (” result =”, result )
else :
print (”err_msg=”, result [”message”])

Note: This command is only supported in remote mode.

2.2.2.36 Get the current tool number of the robot in remote mode

{" jsonrpc ":"2.0" ," method ":" getAutoRunToolNumber ","id":id}

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Function: Get the current tool number of the robot in remote mode
Parameter: None
Return: The current tool number of the robot in remote mode, range: int[0,7]
Note: The tool number in automatic mode is the same as the tool number in remote
mode.
Example: if __name__ == ”__main__”:
ip = ”192.168.1.202”
conSuc, sock = connectETController ( ip )
# print (conSuc)
if conSuc:
ret , result , id = sendCMD(sock, ”getAutoRunToolNumber”)
if ret :
print (” result = ” , result )
else :
print (”err_msg = ” , result [”message”])

Note: This command is applicable to v2.14.4 and above.

2.2.2.37 Set the current tool number of the robot in remote mode

{" jsonrpc ":"2.0" ," method ":" setAutoRunToolNumber "," params ":{" tool_num ":
tool_num },"id":id}

Function: Set the current tool number of the robot in remote mode
Parameter: tool_num: tool number, range: int[0,7]
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
ip = ”192.168.1.202”
conSuc, sock = connectETController ( ip )
if conSuc:
ret , result , id=sendCMD(sock,”setAutoRunToolNumber”,{”tool_num”: 0})
if ret :
print (” result = ” , result )
else :
print (”err_msg = ” , result [”message”])

Note: This command is only supported in remote mode.

This command is applicable to v2.14.4 and above.

2.2.2.38 Get the center pose of flange in Base coordinate system

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{" jsonrpc ":"2.0" ," method ":" get_base_flange_pose ", " params ":{" unit_type ":
unit_type },"id": id}

Function: Get the center pose of the flange in the Base coordinate system
Parameter: unit_type: int[0,1], return the unit type of the pose rx, ry, rz, 0: return angle, 1: return
radian, optional parameter, if not written, the default value is radians.
Return: The center pose of the flange in the Base coordinate system, Double[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.202”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the center pose of the flange in the Base coordinate system
ret , result , id = sendCMD(sock,”get_base_flange_pose”,{”unit_type”: 0})
print (” result =”, result )
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: This command is applicable to v2.14.4 and above.

2.2.2.39 Get the center pose of the flange in the user coordinate system

{" jsonrpc ":"2.0" ," method ":" get_user_flange_pose "," params ":{" unit_type ":
unit_type },"id": id}

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Function: Get the center pose of the flange in the user coordinate system
Parameter: unit_type: int[0,1], return the unit type of the pose rx, ry, rz, 0: return angle, 1: return
radian, optional parameter, if not written, the default value is radians.
Return: Center pose of flange in user coordinate system, Double[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.202”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the center pose of the flange in the user coordinate system
ret , result , id = sendCMD(sock,”get_user_flange_pose”,{”unit_type”: 0})
print (” result =”, result )
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: This command is applicable to v2.14.4 and above.

2.2.2.40 Get robot subtype

{" jsonrpc ":"2.0" ," method ":" getRobotSubtype ","id":id}

Function: Get robot subtype

Parameter: None
Return: Robot subtype int
Example: if __name__ == ”__main__”:
ip = ”192.168.1.202”
conSuc,sock=connectETController(ip )
if conSuc:
# Get robot subtype
suc , result , id=sendCMD(sock,”getRobotSubtype”)
print ( result )

Note: This command is applicable to v2.16.2 and above.

2.2.2.41 Get security parameter enable status

{" jsonrpc ":"2.0" ," method ":" getRobotSafetyParamsEnabled ","id":id}

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Function: Get security parameter enable status

Parameter: None
Return: Close 0, open 1
Example: if __name__ == ”__main__”:
ip = ”192.168.1.202”
conSuc, sock = connectETController ( ip )
if conSuc:
# Get security parameter enable status
suc , result , id=sendCMD(sock,”getRobotSafetyParamsEnabled”)
print ( result )

Note: This command is applicable to v2.16.2 and above.

2.2.2.42 Get safe power

{" jsonrpc ":"2.0" ," method ":" getRobotSafetyPower ","id":id}

Function: Get safe power

Parameter: None
Return: The power value in normal mode and reduced mode double
Example: if __name__ == ”__main__”:
ip = ”192.168.1.202”
conSuc, sock = connectETController ( ip )
if conSuc:
# Get robot safety power
suc , result , id=sendCMD(sock,”getRobotSafetyPower”)
print ( result )

Note: This command is applicable to v2.16.2 and above.

2.2.2.43 Get Safe Momentum

{" jsonrpc ":"2.0" ," method ":" getRobotSafetyMomentum ","id":id}

Function: Gain safety momentum

Parameter: None
Return: Momentum value double in normal mode and reduced mode
Example: if __name__ == ”__main__”:
ip = ”192.168.1.202”
conSuc, sock = connectETController ( ip )

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if conSuc:
# Get robot safety momentum
suc , result , id =sendCMD(sock,”getRobotSafetyMomentum”)
print ( result )

Note: This command is applicable to v2.16.2 and above.

2.2.2.44 Access to safety tools

{" jsonrpc ":"2.0" ," method ":" getRobotSafetyToolForce ","id":id}

Function: Acquire the power of safety tools

Parameter: None
Return: Tool force double in normal mode and reduced mode
Example: if __name__ == ”__main__”:
ip = ”192.168.1.202”
conSuc, sock = connectETController ( ip )
if conSuc:
# Acquire robot safety tool power
suc , result , id =sendCMD(sock,”getRobotSafetyToolForce”)
print ( result )

Note: This command is applicable to v2.16.2 and above.

2.2.2.45 Get safe elbow force

{" jsonrpc ":"2.0" ," method ":" get_tcp_force ","params":{"ref_tcp":ref_tcp},"id":id}

Function: Get the "external" force and torque of the current TCP coordinate system
Parameter: ref_tcp: reference coordinate system, int[0,1]，optional parameter, 0: base coordinate
system, 1: tcp coordinate system, If not written, the default is tcp coordinate system.
Return: The "external" force and torque of the current tcp double force[6], the first three are
external force and the last three are torque
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the force and torque of the current TCP in the base coordinate system
suc , result , id = sendCMD(sock, ”get_tcp_force”,{”get_tcp_force”: 0})

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print ( suc, result, id )

else :
print (”Connection failed ”)
disconnectETController (sock)

Note: The default direction of force and torque is TCP.

2.2.2.46 Get the current joint torque

{" jsonrpc ": "2.0" , " method ": " get_ j o i n t _ t o r q u e s ", "id": id}

Function: Get the current joint torque

Parameter: None
Return: The current joint torque double torques[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”172.16.11.248”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Get the current joint torque of the robot
suc , result , id = sendCMD(sock, ”get_joint_torques”)
print ( suc, result, id )
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: The joint torque is the motor torque minus the "torque required to drive itself",
reflecting the "external" torque.

2.2.2.47 Get safe elbow

{" jsonrpc ":"2.0" ," method ":" getRobotSafetyElbowForce ","id ":id}

Function: Obtain safe elbow force

Parameter: None
Return: Elbow force in normal mode and reduced mode double
Example: if __name__ == ”__main__”:
ip = ”192.168.1.202”
conSuc, sock = connectETController ( ip )
if conSuc:
# Obtain the robot safety elbow force
suc , result , id =sendCMD(sock,”getRobotSafetyElbowForce”)

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print ( result )

Note: This command is applicable to v2.16.2 and above.

2.2.2.48 Get speed percentage

{" jsonrpc ":"2.0" ," method ":" getRobotSpeedPercentage ","id":id}

Function: Get the robot’s speed percentage

Parameter: None
Return: Speed percentage in normal mode and reduced mode double
Example: if __name__ == ”__main__”:
ip = ”192.168.1.202”
conSuc, sock = connectETController ( ip )
if conSuc:
# Get robot speed percentage
suc , result , id =sendCMD(sock,”getRobotSpeedPercentage”)
print ( result )

Note: This command is applicable to v2.16.2 and above.

2.2.2.49 Get the maximum starting speed of dragging

{" jsonrpc ":"2.0" ," method ":" getRobotDragStartupMaxSpeed ","id":id}

Function: Get the maximum start speed of drag

Parameter: None
Return: The maximum starting speed of the robot during dragging double
Example: if __name__ == ”__main__”:
ip = ”192.168.1.202”
conSuc, sock = connectETController ( ip )
if conSuc:
# Get the maximum start speed of the drag
suc , result , id =sendCMD(sock,”getRobotDragStartupMaxSpeed”)
print ( result )

Note: This command is applicable to v2.16.2 and above.

2.2.2.50 Get the maximum torque error percentage

{" jsonrpc ":"2.0" ," method ":" getRobotTorqueErrorMaxPercents ","id":id}

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Function: Get the maximum torque error percentage of the machine

Parameter: None
Return: The maximum torque error percentage in the robot force control parameters double
Example: if __name__ == ”__main__”:
ip = ”192.168.1.202”
conSuc, sock = connectETController ( ip )
if conSuc:
# Get the maximum torque error percentage of the machine
suc , result , id =sendCMD(sock,”getRobotTorqueErrorMaxPercents”)
print ( result )

Note: This command is applicable to v2.16.2 and above.

2.2.2.51 Set end button state

{" jsonrpc ":"2.0" ," method ":" setFlangeButton "," params ":{" button_num ":
button_num ," state ": state },"id":id}

Function: Set the end button state

Parameter: button_num: button, int[0,1], 0: blue button, 1: green button
state: state, int[0,2], 0: disable, 1: drag, 2: mark
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
ip = ”192.168.1.202”
conSuc, sock = connectETController ( ip )
if conSuc:
# Set the end button state
suc , result , id =sendCMD(sock,”setFlangeButton”,{”button_num”:0,”state” :1})
print ( result )

Note: This command is only supported in remote mode.

This command is applicable to v2.16.2 and above.

2.2.2.52 Get end button status

{" jsonrpc ":"2.0" ," method ":" checkFlangeButton "," params ":{" button_num ":
button_num },"id ":id}

Function: Get the end button state

Parameter: button_num: button, int[0,1], 0: blue button, 1: green button
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Example: if __name__ == ”__main__”:

ip = ”192.168.1.202”
conSuc, sock = connectETController ( ip )
if conSuc:
# Get the status of the end button
suc , result , id=sendCMD(sock,”checkFlangeButton”,{”button_num”:0})
print (suc , result , id )

Note: This command is applicable to v2.16.2 and above.

2.2.2.53 Get collision detection enable state

{" jsonrpc ":"2.0" ," method ":" get_collision_enable_status ","id":id}

Function: Get the status of collision detection

Parameter: None
Return: 0: not enabled, 1: enabled
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.202”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get collision detection enable state
suc , result , id = sendCMD(sock, ”get_collision_enable_status”)
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

2.2.2.54 Get collision sensitivity

{" jsonrpc ": "2.0" , " method ": " getCollisionSensitivity ", "id": id}

Function: Get collision sensitivity

Parameter: None
Return: Collision sensitivity int
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):

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# Get collision sensitivity

suc , result , id = sendCMD(sock, ”getCollisionSensitivity”)
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

2.2.2.55 Get the pose of the current tcp in the current user coordinate system

{" jsonrpc ":"2.0" ," method ":" getTcpPoseInUser "," params ":{" unit_type ":
unit_type },"id": id}

Function: Get the pose of the current tcp in the current user coordinate system
Parameter: unit_type: int[0,1], optional parameter, returns the unit type of pose rx, ry, rz,0: angle,
1: radians, if not written, the default value is radians.
Return: The current pose of tcp in the user coordinate system
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.202”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the pose information of the current tcp in the current user coordinate system
suc , result , id = sendCMD(sock, ”getTcpPoseInUser”,{”unit_type”: 0})
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

2.2.2.56 Get the serial number of the robot alarm information

{" jsonrpc ":"2.0" ," method ":" getAlarmNum ","id":id}

Function: Get the serial number of the robot alarm information

Parameter: None
Return: Returns the serial numbers of the last 5 robot alarm messages successfully, otherwise
returns false

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Example: if __name__ == ”__main__”:

# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Get the abnormality of the robot arm body
suc , result , id = sendCMD(sock, ”getAlarmNum”)
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

2.2.2.57 Get joint motion speed

{" jsonrpc ":"2.0" ," method ":" get_joint_speed ","id":id}

Function: Get joint speed

Parameter: None
Return: Joint movement speed double speed[6], unit: degree/s
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
while 1:
suc , result , id = sendCMD(sock, ”get_joint_speed”)
print (suc , result , id )
time . sleep (0.001)
else :
print (”Connection failed ”)
disconnectETController (sock)

2.2.2.58 Get tcp acceleration

{" jsonrpc ":"2.0" ," method ":" get_tcp_acc ","id":id}

Function: Get tcp acceleration

Parameter: None
Return: tcp motion acceleration double tcp_acc, unit mm/s2

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Example: if __name__ == ”__main__”:

# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
while 1:
suc , result , id = sendCMD(sock, ”get_tcp_acc”)
print (suc , result , id )
time . sleep (0.01)
else :
print (”Connection failed ”)
disconnectETController (sock)

2.2.2.59 Get joint acceleration

{" jsonrpc ":"2.0" ," method ":" get_joint_acc ","id":id}

Function: Get joint acceleration

Parameter: None
Return: Joint motion acceleration double joint_acc[6], unit: degree/s2
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
while 1:
suc , result , id = sendCMD(sock, ”get_joint_acc”)
print (suc , result , id )
time . sleep (0.01)
else :
print (”Connection failed ”)
disconnectETController (sock)

2.2.2.60 Get tcp movement speed

{" jsonrpc ": "2.0" , " method ": " get_tcp_speed ", "id": id}

Function: Get tcp movement speed

Parameter: None
Return: Current tcp movement speed double tcp_speed, unit: mm/sec

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Example: if __name__ == ”__main__”:

# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Get tcp movement speed
suc , result , id = sendCMD(sock, ”get_tcp_speed”)
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

2.2.2.61 Get the emergency stop status of the robot

{" jsonrpc ":"2.0" ," method ":" get_estop_status ","id":id}

Function: Get the emergency stop status of the robot

Parameter: None
Return: int[0,1], whether the robot is in an emergency stop state, 1: emergency stop, 0: non-
emergency stop
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
suc , result , id = sendCMD(sock,”get_estop_status”)
print ( result )

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2.2.2.62 Get tool load and center of mass

{" jsonrpc ":"2.0" ," method ":" get_tool_payload "," params ":{" tool_num ":
tool_num },"id ": id}

Function: Get tool load and centroid

Parameter: tool_num: tool number, range int[0,7]
Return: m: tool load quality, double
tool_cog: tool load centroid, double cog[3]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.202”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
for i in range (0,8) :
# Get tool load and centroid
suc , result , id = sendCMD(sock, ”get_tool_payload”,{”tool_num”: i })
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

2.2.2.63 Get joint position information of robot input

{" jsonrpc ":"2.0" ," method ":" get_motor_pos ","id":id}

Function: Obtain the joint position information of the robot input

Parameter: None
Return: double pos[6]: joint position information of the robot input

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Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the joint position information of the robot input
suc , result , id = sendCMD(sock, ”get_motor_pos”)
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

2.2.2.64 Get the precise state of the robot servo encoder

{" jsonrpc ":"2.0" ," method ":" get_servo_precise_position_status ","id":id}

Function: Get the precise status of the robot servo encoder

Parameter: None
Return: 1: exact, 0: inexact
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Get the precise status of the robot servo encoder
suc , result , id = sendCMD(sock, ” get_servo_precise_position_status ”)
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

2.2.2.65 Get the state of the robot servo alarm

{" jsonrpc ":"2.0" ," method ":" get_servo_alarm_state","id": id}

Function: Get the state of the robot servo alarm

Parameter: None
Return: 1: in servo alarm state, 0: not in servo alarm state
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”172.16.11.248”

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conSuc, sock = connectETController ( robot_ip )

if (conSuc):
# Get the state of the robot servo alarm
suc , result , id = sendCMD(sock, ” get_servo_alarm_state ”)
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

2.2.2.66 Clear the booking queue

{" jsonrpc ":"2.0" ," method ":" book_program_c l e a r ","id":id}

Function: Clear the booking queue

Parameter: None
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”172.16.11.248”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Clear the booking queue
suc , result , id = sendCMD(sock, ”book_program_clear”)
print (suc , result , id )
time . sleep (0.001)
else :
print (”Connection failed ”)
disconnectETController (sock)

Note： The command is only supported in the remote mode and it can clear the queue only
when the robot stops or gives an alarm (under the static condition).

2.2.2.67 Get the actual tcp pose

{" jsonrpc ":"2.0" ," method ":" g e t _ a c t u a l _ t c p "," params ":{" t o o l _ n u m ":t o o l _ n u m ,
"user_num":user_num},"id ":id}

Function: Get the actual tcp pose data in the base coordinate system or the specified user
coordinate system
Parameter: tool_num: tool coordinate number, optional parameter, int[0,7], when it is not entered,
the current tool is used. Otherwise, the specified tool is used
user_num: user coordinate number, optional parameter, int[0,7], when it is not entered,
the user gets the pose in the base coordinate system. Otherwise, the user gets the pose
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Return: Robot pose information double pose [6]

Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the actual tcp pose of the tool 1 in the user 1 coordinate system
suc , result , id=sendCMD(sock,”get_actual_tcp”,{”tool_num”:1,” user_num ” :1})
print ( result )
else :
print (”Connection failed”)
disconnectETController (sock)

2.2.2.68 Get the target interpolation tcp pose

{" jsonrpc ":"2.0" ," method ":" g e t _ t a r g e t _ t c p "," params ":{" t o o l _ n u m ":t o o l _ n u m ,
"user_num":user_num},"id ":id}

Function: Get the target interpolation tcp pose data in the base coordinate system or the
specified user coordinate system
Parameter: tool_num: tool coordinate number, optional parameter, int[0,7], when it is not entered,
the current tool is used. Otherwise, the specified tool is used
user_num: user coordinate number, optional parameter, int[0,7], when it is not
entered, the user gets the pose in the base coordinate system. Otherwise, the user gets
the pose in the specified user coordinate
Return: Robot pose information double pose [6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the target interpolation tcp pose of the tool 1 in the user 1 coordinate system
suc , result , id=sendCMD(sock,”get_target_tcp”,{”tool_num”:1,” user_num ” :1})
print ( result )
else :
print (”Connection failed”)
disconnectETController (sock)

2.2.2.69 Get the actual joint

{" jsonrpc ":"2.0" ," method ":" get_actual_j o i n t ","id ":id}
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Function: Get the current actual joint data

Parameter: none
Return: Robot joint information double joint[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the current actual joint
suc , result , id=sendCMD(sock,”get_actual_joint”)
print ( result )
else :
print (”Connection failed”)
disconnectETController (sock)

2.2.2.70 Get the target interpolation joint

{" jsonrpc ":"2.0" ," method ":" get_target_j o i n t ","id":id}

Function: Get the current target interpolation joint data

Parameter: none
Return: Robot joint information double joint [6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the current target interpolation joint
suc , result , id=sendCMD(sock,”get_target_joint”)
print ( result )
else :
print (”Connection failed”)
disconnectETController (sock)

2.2.2.71 Get the linear interpolation pose

{" jsonrpc ":"2.0" ," method ":" g e t _ i n t e r p _ p o s e "," params ":{" d a t a 1 ":d a t a 1 ,
"data2":data2, " r a t i o " : r a t i o },"id":id}

Function: Get the linear interpolation pose data between two given poses
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Parameter: data1: pose data, standard parameter, double pose [6], the first three stand for
position, unit of x, y, z is mm, range is [-∞, +∞], the last three stand for pose, unit of
Rx, Ry, Rz is radian, range is [-π,π]
data2: pose data, standard parameter, double pose[6], the first three stand for position,
unit of x, y, z is mm, range is [-∞, +∞], the last three stand for pose, unit of Rx, Ry,
Rz is radian, range is [-π,π]
ratio: floating-point data, standard parameter, it stands for the proportional value. The
range is [0,1]. When the value is equal to 0, the robot will return to the first pose.
When the value is equal to 1, the robot will return to the second pose
Return: Robot pose information double pose [6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
point1=[371.533, 101.636, 3.038, 0, -0.174, 2.861]
point2=[346.312, -256.945, -91.131, -0.014, 0.521, 1.903]
if (conSuc):
# Get the linear interpolation pose data between two given poses
suc , result , id=sendCMD(sock,”get_interp_pose”,{”data1”:point1,”data2”:point2,”ratio”:0.5})
print ( result )
else:
print (”Connection failed”)
disconnectETController (sock)

2.2.2.72 Get the joint temperature

{" jsonrpc ":"2.0" ," method ":" get_joint_t e m p ","id ": id}

Function: Get the joint temperature

Parameter: none
Return: double joint_temp[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”get_joint_temp”)
print ( suc, result, id )
else:
print (”Connection failed”)
disconnectETController (sock)

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2.2.2.73 Get all inverse solution results of the target pose

{" jsonrpc ":"2.0" ," method ":" i n v e r s e K i n e m a t i c A l l "," params ":{" t a r g e t P o s e ":
targetPose},"id ": id}

Function: Get all inverse solution results of the target pose

Parameter: targetPose: the target pose, double pose[6], the first three stands for position, unit is
mm, range is [-1e+09~1e+09], the last three stands for pose, unit is radian, range is
[-π,π]
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the current pose information of the robot
suc , result , id=sendCMD(sock,”get_tcp_pose”)
# Inverse solution function 2.0, with all inverse solution results of the target pose
suc , result , id=sendCMD(sock,”inverseKinematicAll”,{”targetPose”: result})

2.2.2.74 Set the system time

{" jsonrpc ":"2.0" ," method ":" s e t _ s y s t e m _ t i m e "," params ":{" t i m e ": [year, month,
day, hour, minute, second]},"id ": id}

Function: Set the system time

Parameter: time: any time between 1970 and 2037 can be set, int[6], separately save the
information including year, month, day, hour, minute and second
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Set the system time
suc , result , id=sendCMD(sock,”set_system_time”, {”time“: [2023, 4,25,13,5,20]})
print ( suc, result, id )

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2.2.2.75 Set the terminal indicator mode

{" jsonrpc ":"2.0" ," method ":" s e t _ e n d i n g _ p i l o t _ l a m p _ c t r l _ m o d e "," params ":

"mode":mode},"id ": id}

Function: Set the terminal indicator mode

Parameter: mode: 0, always on, 1, customize
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Set the terminal indicator mode to customize
ret, result , id=sendCMD(sock,”set_ending_pilot_lamp_ctrl_mode”,{”mode”:1})

Note: This command is applicable to V3.10.2 and above.

2.2.2.76 Get the terminal indicator mode of the current robot

{" jsonrpc ":"2.0" ," method ":" get_ending_pilot_lamp_ctrl_m o d e ","id":id}

Function: Get the terminal indicator mode of the current robot

Parameter: None
Return: 0: always on, 1: customize
Example:
if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the terminal indicator mode of the current robot
ret, result , id=sendCMD(sock,”get_ending_pilot_lamp_ctrl_mode”)
print ( ret, result, id )

Note: This command is applicable to V3.10.2 and above.

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2.2.2.77 Set welding machine parameters

{" jsonrpc ":"2.0" ," method ":" s e t _ w e l d i n g _ m a c h i n e _ p a r a m e t e r s "," params ":{"

p r e p a r e A s p i r a t i o n T i m e ": p r e p a r e A s p i r a t i o n T i m e ," d e l a y A s p i r a t i o n T i m e
" : d e l a y A s p i r a t i o n T i m e , " a r c C h e c k T i m e ": a r c C h e c k T i m e ," a r c C o n f i r m T i m e
":arcConfirmTime,"id": id}

Function: Set welding machine parameters

Parameter: optional parameters:
prepareAspirationTime: gas pre-flow time, range: double[0,10000], unit: s
delayAspirationTime: gas delay time, range: double[0,10000], unit: s
arcCheckTime: arc detection time, range: double[0,10000], unit: s
arcConfirmTime: confirmation time of the arc detection, range: double[0,10000], unit: s
arcExhaustedCheckTime: detection time of the arc depletion, range: double[0,10000],
unit:s
inchingWireFeedingTime: feeder inching time, range: double[0,1], unit: s
weldSwitchSignal: welding enabling signal(DO), range: int[0,19]
gasSwitchSignal: manual gas supply signal (DO), range: int[0,19]
wireFeedSwitchSignal: manual wire-feeding signal(DO), range: int[0,19]
wireWithdrawalSwitchSignal: manual wire withdrawal signal(DO), range: int[1,19]
arcSignal: feedback on the arc start(DI), range: int [4,19]
machineAlarmSignal: welding machine alarm signal(DI), range: int [4,19]
analogControlCurrentSignal: welding current(AI), range: int[1,4]
analogControlVoltageSignal: welding voltage(AI), range: int[1,4]
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
ret, result , id = sendCMD(sock, ”set_welding_machine_parameters”,{”
prepareAspirationTime”: 1, ”delayAspirationTime”: 1, ”arcCheckTime”: 1, ”arcConfirmTime”: 1,
”arcExhaustedTime”: 1})

Note: This command is applicable to V3.12.2 and above.

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2.2.2.78 Get welding machine parameters

{" jsonrpc ":"2.0" ," method ":" get_ w e l d i n g _ m a c h i n e _ p a r a m e t e r s ","id":id}

Function: Get welding machine parameters

Parameter: None
Return: Welding machine parameter list
prepareAspirationTime: gas pre-flow time, unit: s
delayAspirationTime: gas delay time, unit: s
arcCheckTime: arc detection time, unit: s
arcConfirmTime: confirmation time of the arc detection, unit: s
arcExhaustedCheckTime: detection time of the arc depletion, unit: s
inchingWireFeedingTime: feeder inching time, unit: s
weldSwitchSignal: welding enabling signal(DO)
gasSwitchSignal: manual gas supply signal(DO)
wireFeedSwitchSignal: manual wire-feeding signal(DO)
wireWithdrawalSwitchSignal: manual wire withdrawal signal(DO)
arcSignal: feedback on the arc start(DI)
machineAlarmSignal: welding machine alarm signal(DI)
analogControlCurrentSignal: welding current(AI)
analogControlVoltageSignal: welding voltage(AI)
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id = sendCMD(sock, ”get_welding_machine_parameters”)

Note: This command is applicable to V3.12.2 and above.

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2.2.2.79 Set welding parameters of the process number

{" jsonrpc ":"2.0" ," method ":" s e t _ w e l d i n g _ p a r a m e t e r s "," params ":{"techNum":

t e c h N u m , " n o t e ": n o t e ," s t a r t C u r r e n t " : s t a r t C u r r e n t , " a r c C u r r e n t " :
a r c C u r r e n t , " a n t i S t i c k C u r r e n t " : a n t i S t i c k C u r r e n t , " e n d C u r r e n t ":
endCurrent,"startVoltage":startVoltage,"id ": id}

Function: Set welding parameters of the process number

Parameter: techNum: process number, range: int[1,8]
optional parameters, range: the min. current is the control current 1 in the curve
parameter and the max. current is the control current 2; the min. voltage is the
control voltage 1 and the max. voltage is the control voltage 2
note: description, string type, length: max. 31
startCurrent: welding current, double, unit: A
arcCurrent: arc-on current, double, unit: A
antiStickCurrent: wire stick current, double, unit: A
endCurrent: arc-off current, double, unit: A
startVoltage: welding voltage, double, unit: V
arcVoltage: arc-on voltage, double, unit: V
antiStickVoltage: wire stick voltage, double, unit: V
endVoltage: arc-off voltage, double, unit: V
antiStickTime: wire stick time, double, unit: s
startTime: arc-on time, double, unit: s
endTime: arc-off time, double, unit: s
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
ret, result , id = sendCMD(sock, ”set_welding_parameters”,{”techNum”: 2, ”note”: “test”,
”startCurrent”: 1, ”arcCurrent”: 1, ”antiStickCurrent”: 1, ”endCurrent“: 1, ”startVoltage“: 1,
”arcVoltage“: 1, ”antiStickVoltage“: 1})

Note: This command is applicable to V3.12.2 and above.

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2.2.2.80 Get welding parameters of the process number

{" jsonrpc ":"2.0" ," method ":" get_welding_p a r a m e t e r s "," params ":{" t e c h N u m ":
t e c h N u m },"id":id}

Function: Get welding parameters of the process number

Parameter: echNum: process number, range: int[1,8
Return: Welding parameter list
note: description, string type, length: max. 31
startCurrent: welding current, double, unit: A
arcCurrent: arc-on current, double, unit: A
antiStickCurrent: wire stick current, double, unit: A
endCurrent: arc-off current, double, unit: A
startVoltage: welding voltage, double, unit: V
arcVoltage: arc-on voltage, double, unit: V
antiStickVoltage: wire stick voltage, double, unit: V
endVoltage: arc-off voltage, double, unit: V
antiStickTime: wire stick time, double, unit: s
startTime: arc-on time, double, unit: s
endTime: arc-off time, double, unit: s
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
ret, result , id = sendCMD(sock, ”get_welding_parameters”,{”techNum”: 2})

Note: This command is applicable to V3.12.2 and above.

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2.2.2.81 Set welding curve parameters

{" jsonrpc ":"2.0" ," method ":" s e t _ w e l d i n g _ c u r v e _ p a r a m e t e r s "," params ":{"

o u t p u t C u r r e n t 1 ": o u t p u t C u r r e n t 1 ," o u t p u t C u r r e n t 2 " : o u t p u t C u r r e n t 2 , "
o u t p u t V o l t a g e 1 " : o u t p u t V o l t a g e 1 , " o u t p u t V o l t a g e 2 ": o u t p u t V o l t a g e 2 ,"
correspondCurrent1":correspondCurrent1,"id ": id}

Function: Set welding curve parameters

Parameter: optional parameters:
outputCurrent1: control current 1, range: double[0,10], unit: A
outputCurrent2: control current 2, range: double[0,10], unit: A
outputVoltage1: control voltage 1, range: double[0,10], unit: V
outputVoltage2: control voltage 2, range: double[0,10], unit: V
correspondCurrent1: welding current 1, range: double[0,10], unit: A
correspondCurrent2: welding current 2, range: double[0,10], unit: A
correspondVoltage1: welding voltage 1, range: double[0,10], unit: V
correspondVoltage2: welding voltage 2, range: double[0,10], unit: V
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
ret, result , id = sendCMD(sock, ”set_welding_curve_parameters”,{”outputCurrent1”: 1,
”outputCurrent2”: 1, ”outputVoltage1”: 1, ”outputVoltage2”: 1, ”correspondCurrent1”: 1,
”correspondCurrent2“: 1, ”correspondVoltage1“: 1, ”correspondVoltage2“: 1})

Note: This command is applicable to V3.12.2 and above.

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2.2.2.82 Get welding curve parameters

{" jsonrpc ":"2.0" ," method ":" get_ w e l d i n g _ c u r v e _ p a r a m e t e r s ","id ":id}

Function: Get welding curve parameters

Parameter: None
Return: Welding curve parameter list
outputCurrent1: control current 1, unit: A
outputCurrent2: control current 2, unit: A
outputVoltage1: control voltage 1, unit: V
outputVoltage2: control voltage 2, unit: V
correspondCurrent1: welding current 1, unit: A
correspondCurrent2: welding current 2, unit: A
correspondVoltage1: welding voltage 1, unit: V
correspondVoltage2: welding voltage 2, unit: V
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id = sendCMD(sock, ”get_welding_curve_parameters”)
print ( result )

Note: This command is applicable to V3.12.2 and above.

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2.2.2.83 Set weave parameters of the process number

{" jsonrpc ":"2.0" ," method ":" s e t _ p e n d u l u m _ w e l d i n g _ p a r a m e t e r s "," params ":{"

t e c h N u m " : t e c h N u m , " n o t e ": n o t e ," t y p e " : t y p e , " f r e q u e n c y " : f r e q u e n c y , "
a m p l i t u d e " : a m p l i t u d e , " s t o p T i m e 1 " : s t o p T i m e 1 , " s t o p T i m e 2 ":stopTime2,
"id ": id}

Function: Set weave parameters of the process number

Parameter: techNum: process number, range: int[1,16]
optional parameters:
note: description, string type, length: max. 31
type: weave, 0: sin, 1: triangle
frequency: frequency, range: double[0,20]
amplitude: amplitude, range: double[0,50]
stopTime1: stop time of the stop point 1, range: double[0,10000] stopTime2:
stop time of the stop point 2, range: double[0,10000]
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
ret, result , id = sendCMD(sock, ”set_pendulum_welding_parameters”,{”techNum”: 2,
”note”: “test”, ”type”: 0, ”frequency”: 10, ”amplitude”: 10, ”stopTime1“: 10, ”stopTime2“:
10})

Note: This command is applicable to V3.12.2 and above.

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2.2.2.84 Get weave parameters of the process number

{" jsonrpc ":"2.0" ," method ":" get_pendulum_welding_p a r a m e t e r s "," params ":{
" t e c h N u m " : t e c h N u m },"id": id}

Function: Get weave parameters of the process number

Parameter: techNum: process number, range: int[1,16]
Return: Weave parameter list:
note: description, string type, length: max. 31
type: weave, 0: sin, 1: triangle
frequency: frequency, range: double[0,20]
amplitude: amplitude, range: double[0,50]
stopTime1: stop time of the stop point 1, range: double[0,10000] stopTime2:
stop time of the stop point 2, range: double[0,10000]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
ret, result , id = sendCMD(sock, ”get_pendulum_welding_parameters”,{”techNum”: 2})

Note: This command is applicable to V3.12.2 and above.

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2.2.2.85 Set welding machine enabling state

{" jsonrpc ":"2.0" ," method ":" s e t _ w e l d i n g _ m a c h i n e _ e n a b l e "," params ":

"enable":0},"id ": id}

Function: Set welding machine enabling state

Parameter: enable: 0, disabled, 1, enabled
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
ret, result , id=sendCMD(sock,”set_welding_machine_enable”,{”enable”:0})

Note: This command is applicable to V3.12.2 and above.

2.2.2.86 Get welding machine enabling state

{" jsonrpc ":"2.0" ," method ":" get_ w e l d i n g _ m a c h i n e _ e n a b l e _ s t a t u s ","id": id}

Function: Get welding machine enabling state

Parameter: None
Return: 0, disabled, 1, enabled
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.202”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id = sendCMD(sock, ”get_welding_machine_enable_status”)
print = ( result )

Note: This command is applicable to V3.12.2 and above.

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2.2.2.87 Set power status of the robot

{" jsonrpc ":"2.0" ," method ":" set_robot_p o w e r _ s t a t u s "," params ":{" s t a t u s ":
s t a t u s },"id ":id}

Function: Set power status of the robot

Parameter: status: 0: power off, 1: power on
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
r e t , result , id = sendCMD(sock, ”set_robot_power_status”,{”status”: 0})

Note: This command is applicable to V3.12.2 and above.

2.2.2.88 Get power status of the robot

{" jsonrpc ":"2.0" ," method ":" get_robot_pow e r _ s t a t u s ","id ":id}

Function: Get power status of the robot

Parameter: None
Return: Status for success, 0: power off, 1: powering on, 2: power on; False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
r e t , result , id = sendCMD(sock, ”get_robot_power_status”)

Note: This command is applicable to V3.12.2 and above.

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2.2.2.89 Set voltage type of the brake

{" jsonrpc ":"2.0" ," method ":" set_brake_v o l t a g e _ t y p e "," params ":{" t y p e ":
t y p e },"id ": id}

Function: Set voltage type of the brake

Parameter: type: 0: 59V, 1: 51V
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
r e t , result , id = sendCMD(sock, ”set_brake_voltage_type”,{”type”: 0})

Note: This command is only available for MINI controller and is applicable to V3.14.2 and above.

2.2.2.90 Get voltage type of the brake

{" jsonrpc ":"2.0" ," method ":" get_brake_v o l t a g e _ t y p e ","id ":id}

Function: Get voltage type of the brake

Parameter: None
Return: Voltage type of brake, 0: 59V, 1: 51V
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
r e t , result , id = sendCMD(sock, ”get_brake_voltage_type”)

Note: This command is only available for MINI controller and is applicable to V3.14.2 and above.

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2.2.2.91 Set drag function of the force control

{" jsonrpc ":"2.0" ," method ":" set_force_c o n t r o l _ d r a g "," params ":{" s t a t u s ":
s t a t u s , " m o d e " : m o d e , " f r e e _ a x e s " : f r e e _ a x e s },"id ": id}

Function: Set drag function of the force control

Parameter: status: enabled or disabled, 0: disabled, 1: enabled
mode: feature, 0: base, 1: TCP (optional parameter)
free_axes: DOFs in the direction of X, Y, Z, Rx, Ry and Rz axis when dragging, size
of the integer array is 6, 0: disabled, 1: enabled
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
r e t , result , id = sendCMD(sock, ”set_force_control_drag”, {”status”: 0, ”mode”: 1, ”
free_axes”: [1, 1, 1, 1, 1, 1]})

Note: The parameters mode and free_axes are valid only when the drag function is enabled.
If they are not entered, the previous configuration will be used by default and the
settings will not be saved in case of disconnection from power.
This command is applicable to V3.14.2 and above.

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2.2.2.92 Get drag function of the force control

{" jsonrpc ":"2.0" ," method ":" get_force_c o n t r o l _ d r a g _ s t a t u s ","id ":id}

Function: Get drag function of the force control

Parameter: None
Return: Drag status of the force control , status: enabled or disabled, 0: disabled, 1: enabled
mode: feature, 0: base, 1: TCP
free_axes: DOFs in the direction of X, Y, Z, Rx, Ry and Rz axis when dragging, size
of the integer array is 6, 0: disabled, 1: enabled
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
r e t , result , id = sendCMD(sock, ”get_force_control_drag_status”)

Note: This command is applicable to V3.14.2 and above.

2.2.3 Movement Service(MovementService)

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2.2.3.1 Joint Movement

{" jsonrpc ":"2.0" ," method ":" moveByJ o i n t "," params ":{" t a r g e t P o s ": t a r g e t P o s ,"
s p e e d ": s p e e d ," a c c ": a c c ," d e c ": d e c ," c o n d _ t y p e ":c o n d _ t y p e ,"cond_num":
c o n d _ n u m ," cond_v a l u e ": cond_v a l u e ," cond_j u d g m e n t ": cond_j u d g m e n t },
"id": id}

Function: Joint movement

Parameter: targetpos: the target joint point double pos[6], the range is [-360,360]
speed: operating speed, range: double[0.01,100]
cond_type: optional parameter, 0 is digital input X, 1 is digital output Y, 2 is user-
defined input, range: int [0,2]
cond_num: IO address, optional parameter, range int[0,63]
cond_value: IO status, optional parameter, range int[0,1], when the actual IO status is
consistent with this value, the unfinished movement is immediately abandoned and the
next instruction is executed.
cond_judgment: conditional judgment, optional parameter, string type, it is a user-defined
speed: operating speed, range: double[0.01,100]
cond_type: optional parameter, 0 is digital input X, 1 is digital output Y, 2 is user-
defined input, range: int [0,2]
cond_num: IO address, optional parameter, range int[0,63]
cond_value: IO status, optional parameter, range int[0,1], when the actual IO status is
consistent with this value, the unfinished movement is immediately abandoned and the
next instruction is executed.
cond_judgment: conditional judgment, optional parameter, string type, it is a user-defined
IF statement. When the conditions are met, the unfinished movement will be immediately
abandoned and the next instruction will be executed.
acc: acceleration percentage, range: int [1,100], optional parameter, the default
values 80 if not written.
dec: deceleration percentage, range: int [1,100], optional parameter, the default value
is acc if not written.
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc, sock = connectETController ( robot_ip )
point = []
point .append([0.0065,−103.9938,102.2076,−88.2138,
90.0000,0.0013])
point .append([−16.2806,−82.4996,81.9848,−89.4851,
90.0000, −16.2858])

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point .append([3.7679, −71.7544, 68.7276, −86.9732,

90.0000, 3.7627])
point .append ([12.8237,−87.3028,87.2361,−89.9333,
90.0000,12.8185])
if (conSuc):
# Get the servo status of the robotic arm
suc , result , id = sendCMD(sock, ”getServoStatus”)
if ( result == 0) :
# Set the servo status of the robotic arm to ON
suc , result , id = sendCMD(sock,”set_servo_status”,{”status” :1})
time . sleep (1)
for i in range (4) :
# Joint movement
suc , result , id=sendCMD(sock,”moveByJoint”,{”targetPos”:point[i ], ”speed” :30, ”acc”
:10, ”dec” :10, ”cond_type” :0, ”cond_num ”:7,”cond_value”:1})
while(True) :
# Get robot status
suc , result , id = sendCMD(sock, ”getRobotState”)
if ( result == 0) :
break

Note: When cond_type is equal to 0 or 1, the con_num and con_value are valid. When cond_type
is equal to 2, the con_judgment is valid. For the user-defined conditions, please refer to the
syntax format of UNTIL in the JBI command.

2.2.3.2 Linear motion

{" jsonrpc ":"2.0" ," method ":" moveByL i n e "," params ":{" t a r g e t P o s ": t a r g e t P o s ,"
s p e e d _ t y p e ": s p e e d _ t y p e ," s p e e d ": s p e e d ," a c c ": a c c ," d e c ":d e c ,"cond_type"
: c o n d _ t y p e ," cond_n u m ": cond_n u m ," cond_v a l u e ": cond_v a l u e },
"cond_judgment":cond_judgment},"id": id}

Function: Linear motion

Parameter: targetpos: the target joint point double pos[6], the range is [-360,360]
speed: operating speed. double Type is linear speed, range: 1-3000; is rotation angular
speed, range: 1-300; is absolute linear speed, range: linear minimum speed
parameter value-linear maximum speed parameter value; absolute rotation angular
speed, range: rotation angle minimum speed parameter value-rotation angle
maximum speed param-eter value
speed_type: Speedtype, 0 is V (linear speed), 1 is VR (rotational angular speed), 2 is
AV
(absolute linear speed), and 3 is AVR (absolute rotation angular speed). Optional.
cond_type: optional parameter, 0 is digital input X, 1 is digital output Y, 2 is user-
defined input, range: int [0,2]
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cond_num: IO address, optional parameter, range int[0,63]

cond_value: IO status, optional parameter, range int[0,1], when the actual IO status is
consistent with this value, immediately abandon the unfinished movement and
execute the next instruction
cond_judgment: conditions, optional parameter, string type, it is a user-defined IF
statement. When the conditions are met, the unfinished movement will be
immediately
abandoned and the next instruction will be executed.
acc: acceleration percentage, range: int [1,100], optional parameter, the default value
is 80 if not written.
dec: deceleration percentage, range: int [1,100], optional parameter, the default value
is acc if not written.
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.205”
conSuc, sock = connectETController ( robot_ip )
point = []
point .append([0.0065,−103.9938,102.2076,−88.2138,
90.0000,0.0013])
point .append([−16.2806,−82.4996,81.9848,−89.4851,
90.0000, −16.2858])
point .append([3.7679, −71.7544, 68.7276, −86.9732,
90.0000, 3.7627])
point .append ([12.8237,−87.3028,87.2361,−89.9333,
90.0000,12.8185])
if (conSuc):
# Set the servo status of the robotic arm to ON
suc , result , id = sendCMD(sock,”set_servo_status”,{”status” :1})
time . sleep (1)
for i in range (4) :
# Linear motion
suc , result , id=sendCMD(sock,”moveByLine”,{”targetPos”:point[i],”speed_type” :0, ”speed”
:200, ”cond_type” :0, ”cond_num”:7,”cond_value ”:1})
while(True) :
# Get robot status
suc , result , id = sendCMD(sock, ”getRobotState”)
if ( result == 0) :
break

Note: When there is no speed_type parameter, speed means absolute linear speed. When
cond_type is equal to 0 or 1, the con_num and con_value are valid. When cond_type is
equal to 2, the con_judgment is valid. For the user-defined conditions, please refer to
the syntax format of UNTIL in the JBI command.

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2.2.3.3 Circular Movement

{" jsonrpc ":"2.0" ," method ":" moveByArc "," params ":{" midPos ": midPos ,"
targetPos ": targetPos ," speed_type ": speed_type ," speed ": speed ," acc ":acc ,"
dec ":dec ," cond_type ": cond_type ," cond_num ": cond_num ," cond_value ":
cond_value , " c o n d _ j u d g m e n t " : c o n d _ j u d g m e n t },"id":id}

Function: Circular motion

Parameter: midpos: middle joint point double pos[6], the range is [-360,360]
targetpos: the target joint point double pos[8], the range is [-360,360]
speed: operating speed. double Type is linear speed, range: [1,3000]; is rotation
an-gular speed, range: [1,300]; is absolute linear speed, range: linear minimum
speed parameter value-linear maximum speed parameter value; absolute rotation
angular speed, range: rotation angle minimum speed parameter value-rotation
angle maxi-mum speed parameter value
speed_type: speed type, int[0,3], 0 is V (linear speed), 1 is VR (rotational
angular speed), 2 is AV (absolute linear speed), and 3 is AVR (absolute rotation
angular speed). Optional. cond_type: optional parameter, 0 is digital input X, 1
is digital output Y, 2 is user-defined input, range int[0,2]
cond_num: IO address, optional parameter, range int[0,63]
cond_value: IO status, optional parameter, range int[0,1], when the actual IO
status is consistent with this value, the unfinished movement is immediately
abandoned and the next instruction is executed.
cond_judgment: conditions, optional parameter, string type, it is a user-defined IF
statement. When the conditions are met, the unfinished movement will be
immediately abandoned and the next instruction will be executed.
acc: acceleration percentage, range: int [1,100], optional parameter, the default
value is 80 if not written.
dec: deceleration percentage, range: int [1,100], optional parameter, the default
Return: value is acc if not written.
True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.205”
conSuc,sock=connectETController( robot_ip )
P000 = [0.0065,−103.9938,102.2076,−88.2138,

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90.0000,0.0013]
P001 = [−16.2806,−82.4996,81.9848,−89.4851,
90.0000, −16.2858]
if (conSuc):
# Get the servo status of the robotic arm
suc , result , id=sendCMD(sock,”getServoStatus”)
if ( result == 0) :
# Set the servo status of the robotic arm to ON
suc , result , id=sendCMD(sock,”set_servo_status”,{”status” :1})
time . sleep (1)
# Circular movement
suc , result , id=sendCMD(sock,”moveByArc”,{”midPos”:P000,”targetPos”:P001,”speed_type”
:0,”speed”:20,”cond_type”:0,”cond_num”:7 ,”cond_value”:1})

Note: When there is no speed_type parameter, speed means absolute linear speed. When
cond_type is equal to 0 or 1, the con_num and con_value are valid. When cond_type is
equal to 2, the con_judgment is valid. For the user-defined conditions, please refer to the
syntax format of UNTIL in the JBI command.

2.2.3.4 Rotation Movement

{" jsonrpc ":"2.0" ," method ":" moveByRotate "," params ":{" targetPos ": targetPos
," speed_type ": speed_type ," speed ": speed ," acc ":acc ," dec ":dec ," cond_type
": cond_type ," cond_num ":cond_num ," cond_value ": cond_value },"id": id}

Function: Rotational movement

Parameter: targetpos: the target joint point double pos[6], the range is [-360,360]
speed: operating speed. double Type is linear speed, range: [1,3000]; is rotation an-gular
speed, range: [1,300]; is absolute linear speed, range: linear minimum speed parameter
value-linear maximum speed parameter value; absolute rotation angular speed, range:
rotation angle minimum speed parameter value-rotation angle maxi-mum speed parameter
value
speed_type: speed type, int[0,1], 0 is V (linear speed), 1 is VR (rotational angular speed),
2 is AV (absolute linear speed), and 3 is AVR (absolute rotation angular speed). Optional.
cond_type: optional parameter, 0 is digital input X, 1 is digital output Y, 2 is user-defined
input, range int[0,2]
cond_num: IO address, optional parameter, range int[0,63]
cond_value: IO status, optional parameter, range int[0,1], when the actual IO status is
consistent with this value, the unfinished movement is immediately abandoned and the next
instruction is executed.

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acc: acceleration percentage, range: int [1,100], optional parameter, the default value
is 80 if not written.
dec: deceleration percentage, range: int [1,100], optional parameter, the default value
is acc if not written.
Return: True for success, false for failure
Example: if __name__ ==
”__main__”:
# Robot IP
address
robot_ip =”192.168.1.200
”
conSuc,sock=connectETController( robot_ip
)P000 = [0.0065,−103.9938,102.2076,−88.2138,
90.0000,0.0013]
if (conSuc):
# Get the servo status of the robotic arm
suc , result , id=sendCMD(sock,”getServoStatus”)
if ( result == 0) :
# Set the servo status of the robotic arm to ON
suc , result , id=sendCMD(sock,”set_servo_status”,{”status” :1})
time . sleep (1)
# Rotational movement
suc , result , id=sendCMD(sock,”moveByRotate”,{”targetPos”:P000,”speed_type”:0,”speed”:20,
”cond_type” :0, ”cond_num”:7,”cond_value”:1 })

Note: When there is no speed_type parameter, speed represents the absolute rotational angular
speed.
This command is deprecated.

CAUTION
The above commands are only supported in remote mode.
Before executing the above commands, please make sure that the robot is in a
stopped state. If the robot is running, send the stop command first and wait for the
robot to stop.

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2.2.3.5 Add waypoint info 2.0

{" jsonrpc ":"2.0" ," method ":" a d d P a t h P o i n t "," params ":{" w a y P o i n t ": w a y p o i n t ,"
m o v e T y p e " : m o v e T y p e ," speed_type ": speed_type ," speed ": speed ," acc ":acc ,"
dec ":dec ,"smooth":smooth," cond_type ": cond_type," cond_num ": cond_num ,"
cond_value":cond_value , " c o n d _ j u d g m e n t " : c o n d _ j u d g m e n t , "
trigger_cond_type":t r i g g e r _ c o n d _ t y p e , " t r i g g e r _ c o n d _ v a l u e " :
trigger_cond_value,"trigger_io_type":trigger_io_type,"trigger_io_addr":
trigger_io_addr,"trigger_io_status":trigger_io_status},"id":id} or "jsonrpc":
"2.0","method":"addPathPoint","params":{"wayPoint":wayPoint,"moveType":
moveType,"speedType":speedType,"speed":speed,"acc":acc,"dec":dec,"
circular_radius":circular_radius,"cond_type":cond_type,"cond_num":cond_num,"
cond_value":cond_value,"cond_judgment":cond_judgment,"trigger_cond_type":
trigger_cond_type,"trigger_cond_value":trigger_cond_value,"trigger_io_type":
trigger_io_type,"trigger_io_addr":trigger_io_addr,"trigger_io_status":
trigger_io_status},"id":id}

Function: Add Waypoint Info 2.0

Parameter: waypoint: target joint point double pos [6], the range is [-360,360]
moveType: 0 joint motion, 1 linear motion, 2 rotational motion around the tool tip
point, 3 arc motion
speed: running speed. double joint speed range: [1,100] when the joint moves.
For linear, rotary and circular motion, the type is linear speed range: [1,3000]; it is
rotational angular speed, range: [1,300]; is the absolute linear speed, the range: the
minimum linear speed parameter value - the linear maximum speed parameter
value; is the absolute rotational angular velocity, the range: the rotational angle
minimum speed parameter value - the rotational angle maximum speed parameter
value When there is no speed_type parameter, it is expressed as: motion speed,
joint motion speed range [1,100], linear and arc speed range [1,3000], rotational
motion speed range [1,300]
speed_type: speed type, int[0,3], 0 is V (linear speed), 1 is VR (rotational
angular speed), 2 is AV (absolute linear speed), and 3 is AVR (absolute rotation
angular speed). Optional.
smooth: smoothness, range: int[0,7], optional parameter, the smoothness of the
last point must be 0. deprecated.
circular_radius: blending radius, range: double[0,2608], unit millimeter, optional
parameter, default is 0 if not written. The blend radius of the last point must be 0.
cond_type: optional parameter, 0 is digital input X, 1 is digital output Y, 2 is
user-defined input, range int[0,2]
cond_num: IO address, optional parameter, range int[0,63]
cond_value: IO status, optional parameter, range int[0,1], when the actual IO
status is consistent with this value, immediately give up the unfinished movement
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and execute the next instruction

cond_judgment: conditions, optional parameter, string type, it is a user-defined IF
statement. When the conditions are met, the unfinished movement will be immediately
abandoned and the next instruction will be executed.
trigger_cond_type: trigger condition type, 0: trigger is disabled; 1: STARTTIME; 2:
ENDTIME; 3: STARTLEN; 4: ENDLEN, when executing the mov instruction, the
range is [0,2]
trigger_cond_value: corresponds to the trigger condition type 1-4, i.e. the time after the
motion starts, unit is s; the time left until the motion stops, unit is s; the distance to the
starting point of the motion, unit is mm; the distance to the ending point of the motion,
unit is mm
trigger_io_type: IO type, 0: digital output; 1: virtual output
trigger_io_addr: IO address, int type, range of the digital output is [0,19]U[48,49],
range of the virtual output is [528,911]
trigger_io_status: IO status, 0: off; 1: on
acc: acceleration percentage, range: int [1,100], optional parameter, the default value is
80 if not written.
dec: deceleration percentage, range: int [1,100], optional parameter, the default value is
acc if not written.
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
C000 = [0.0065,−103.9938,102.2076,−88.2138,
90.0000, 0.0013]
C001 = [−16.2806,−82.4996,81.9848,−89.4851,
90.0000,−16.2858]
# clear waypoint info 2.0
suc , result , id = sendCMD(sock, ”clearPathPoint”)
if ( result == True) :
# Add waypoint info 2.0
suc , result , id=sendCMD(sock,”addPathPoint”,{”wayPoint”:C000,”moveType”:0,”speed”:50,”
circular_radius ”:50})
suc , result , id=sendCMD(sock,”addPathPoint”,{ ”wayPoint”:C001, ”moveType”:1,”speed_type” :
0,”speed”:50, ”circular_radius” :0})

Note: When cond_type is equal to 0 or 1, the con_num and con_value are valid. When
cond_type is equal to 2, the con_judgment is valid. For the user-defined conditions, please
refer to the syntax format of UNTIL in the JBI command.
When the trigger parameters are not written, the trigger function is disabled by default.
When enabling the trigger function, the parameter UNTIL will not be used.

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CAUTION
This command is only supported in remote mode.
If the motion type is joint motion, the speed_type parameter is invalid and not
recommended.
The parameter circular_radius and the parameter smooth can be used either. It is
recommended to use the parameter circular_radius.

2.2.3.6 Clear waypoint information 2.0

{" jsonrpc ":"2.0" ," method ":" clearPathPoint ","id ":id}

Function: Clear waypoint information 2.0

Parameter: None
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the servo status of the robotic arm
suc , result , id=sendCMD(sock,”getServoStatus”)
if ( result == 0) :
# Clear waypoint information 2.0
suc , result , id = sendCMD(sock, ”clearPathPoint”)

Note: This command is only supported in remote mode.

2.2.3.7 Track Movement 2.0

{" jsonrpc ":"2.0" ," method ":" moveByPath ","id":id}

Function: Track Movement 2.0

Parameter: None
Return: Failure: -1, Success: the total number of waypoints
Example: if __name__ == ”__main__”:

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# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
C000 = [0.0065,−103.9938,102.2076,−88.2138,
90.0000,0.0013]
C001 = [−16.2806,−82.4996,81.9848,−89.4851,
90.0000, −16.2858]
C002 = [3.7679, −71.7544, 68.7276, −86.9732,
90.0000, 3.7627]
if (conSuc):
# Clear waypoint information 2.0
suc , result , id = sendCMD(sock, ”clearPathPoint”)
if ( result == True) :
# Add waypoint information 2.0
suc , result , id = sendCMD(sock, ”addPathPoint”, {”wayPoint”: C000,”moveType”: 0, ”
speed”: 50, ”circular_radius”:20})
suc , result , id = sendCMD(sock, ”addPathPoint”, {”wayPoint”: C001,”moveType”:0, ”
speed”: 50, ”circular_radius”:20})
suc , result , id = sendCMD(sock, ”addPathPoint”, {”wayPoint”: C002,”moveType”: 0, ”
speed”: 50, ”circular_radius” :0})
# Trajectory movement 2.0
suc , result , id = sendCMD(sock, ”moveByPath”)
while(True) :
# Get the current running point number of the trajectory
suc , result , id = sendCMD(sock, ”getPathPointIndex”)
print ( result )
# Get robot status
suc , result , id = sendCMD(sock, ”getRobotState”)
if ( result == 0) :
break

Note: This command is only supported in remote mode.

Before executing this command, make sure that the robot is in a stopped state. If the
robot is running, send the stop command first and wait for the robot to stop.

2.2.3.8 Jog Movement

{" jsonrpc ":"2.0" ," method ":" jog "," params ":{" index ": index ," speed ": speed },"
id": id}

Function: Jog movement

Parameter: index: axis direction or coordinate system direction number, range: int[0,11]
speed: manual speed percentage, range double [0.05,100] (optional parameter, not
required)
Return: True for success, false for failure
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Example: if __name__ == ”__main__”:

# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the servo status of the robotic arm
suc , result , id = sendCMD(sock, ”getServoStatus”)
if ( result == 0) :
# Set the servo status of the robot arm to ON
suc , result , id=sendCMD(sock,”set_servo_status”,{”status” :1})
time . sleep (1)
# Specify the coordinate system
suc , result , id=sendCMD(sock, ”setCurrentCoord”, {”coord_mode”:1})
for i in range (0, 10, 1) :
# x−axis negative direction jog movement
suc , result , id = sendCMD(sock, ”jog”, {”index” :0, ”speed”:10})
print (suc , result , id )
time . sleep (0.1)
suc , result , id = sendCMD(sock, ”stop”)

Note: After stopping sending the jog command, the robot will not stop immediately. Instead,
the robot needs to be stopped immediately by the ”stop robot operation” command
below.
This command is only supported in remote mode.
If the next jog motion instruction is not received for more than 1 second, stop receiving
the jog instruction, and the robot jog motion will stop.

2.2.3.9 Stop robot operation

{" jsonrpc ":"2.0" ," method ":" stop ","id":id}

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Function: Stop robot operation

Parameter: None
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Robot stop
suc , result , id = sendCMD(sock, ”stop”)

Note: This command is only supported in remote mode.

2.2.3.10 Robot runs automatically

{" jsonrpc ":"2.0" ," method ":" run ","id":id}

Function: Robot runs automatically

Parameter: None
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Robot stop
suc , result , id = sendCMD(sock, ”pause”)
time . sleep (1)
# Robot start
suc , result , id = sendCMD(sock, ”run”)

Note: This command is only supported in remote mode.

2.2.3.11 Robot stop

{" jsonrpc ":"2.0" ," method ":" pause ","id":id}

Function: Robot stop

Parameter: None
Return: True for success, false for failure
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Example: if __name__ == ”__main__”:

# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Robot stop
suc , result , id = sendCMD(sock, ”pause”)
time. sleep (1)

Note: This command is only supported in remote mode.

2.2.3.12 Check if the jbi file exists

{" jsonrpc ":"2.0" ," method ":" checkJbiExist "," params ":{" filename ": filename
},"id ": id}

Function: Check if the jbi file exists

Parameter: filename: the name of the file to be checked, string
Return: 0 means not present, 1 means present
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
jbi_filename =” test ”
if (conSuc):
# Check if the jbi file exists
suc , result , id=sendCMD(sock,”checkJbiExist”,{”filename”: jbi_filename })

2.2.3.13 Run jbi file

{" jsonrpc ":"2.0" ," method ":" runJbi "," params ":{" filename ": filename },"id ": id
}

Function: Run jbi file

Parameter: filename the name of the file to be run, string
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
jbi_filename =” test ”
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if (conSuc):
# Check if the jbi file exists
suc , result , id=sendCMD(sock,”checkJbiExist”,{”filename”: jbi_filename })
if (suc and result ==1):
# Run jbi file
suc , result , id=sendCMD(sock,”runJbi”,{”filename”: jbi_filename })

Note: This command is only supported in remote mode.

Before executing this command, make sure that the robot is in a stopped state. If the
robot is running, send the stop command first and wait for the robot to stop.

2.2.3.14 Get jbi file running status

{" jsonrpc ":"2.0" ," method ":" getJbiState ","id":id}

Function: Get jbi file running status

Parameter: None
Return: jbiName: file name
runState: 0 stop state, 1 pause state, 2 emergency stop state, 3 running state, 4 error
state
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
jbi_filename =” test ”
if (conSuc):
# Check if the jbi file exists
suc , result , id=sendCMD(sock,”checkJbiExist”,{”filename”: jbi_filename })
if (suc and result ==1):
# Run jbi file
suc , result , id=sendCMD(sock,”runJbi”,{”filename”: jbi_filename })
if (suc and result ) :
checkRunning=3
while(checkRunning==3):
# Get jbi file running status
suc , result , id=sendCMD(sock,”getJbiState”)
checkRunning=result[” runState ”]
time . sleep (0.1)

2.2.3.15 Set robot running speed

{" jsonrpc ":"2.0" ," method ":" setSpeed "," params ":{" value ": value },"id":id}

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Function: Set the robot running speed

Parameter: value: speed, range: double [0.05,100]
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Set the robot running speed to 30%
suc , result , id = sendCMD(sock, ”setSpeed”, {”value”: 30})
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: This command is applicable to v2.13.1 and above.

This command is only supported in remote mode.

2.2.3.16 Joint motion at uniform speed

{" jsonrpc ":"2.0" ," method ":" moveBySpeedj "," params ":{" vj":vj ," acc ":acc ,"t":
t}," id":id}

Function: Uniform motion of joints

Parameter: vj: double type, speed value of 6 joints, six-digit unit: degree/second
acc: joint acceleration, int, range: greater than 0, unit: degree/s2
t: SPEEDJ execution time, double, range: greater than 0, unit: second
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
speed_j =[1.0,1.0,1.0,1.0,1.0,1.0]
if (conSuc):
# Uniform motion of joints
suc , result , id=sendCMD(sock,”moveBySpeedj”,{”vj”:speed_j,”acc”:20,”t”:5})
print (suc , result , id )

Note: This command is applicable to v2.16.2 and above.

This command is only supported in remote mode.
During moveBySpeedj movement, when multiple moveBySpeedj instructions are
sent, or stopj instruction is sent, the robot will not decelerate after executing the
moveBySpeedj instruction, and continue to execute the last instruction sent by the
user during the movement.
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2.2.3.17 Stop joint motion at uniform speed

{" jsonrpc ":"2.0" ," method ":" stopj "," params ":{" acc ": acc },"id":id}

Function: Stop joint movement at a constant speed

Parameter: acc: int, joint acceleration, stop motion at this acceleration, unit: degree/s2, range:
greater than 0
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”moveBySpeedj”,{”vj” :[20,0,0,0,0,0], ”acc” :50, ”t” :2})
print (suc , result , id )
time . sleep (1)
suc , result , id=sendCMD(sock,”stopj”,{”acc”:10})
print ( result )

2.2.3.18 Linear uniform motion

{" jsonrpc ":"2.0" ," method ":" moveBySpeedl "," params ":{"v":v," acc ":acc ," arot
":arot ,"t":t},"id ": id}

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Function: Linear uniform motion

Parameter: v: double type, the speed value of moving along 6 directions, unit: the first three are
mm/sec, the last three are degrees/sec
acc: int displacement acceleration, range: greater than 0, unit: mm/s2
arot: int optional parameter, attitude acceleration, range: greater than 0, unit:
degree/s 2
t: SPEEDJ execution time, double, range: greater than 0, unit: second
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
speed_l =[1.0,1.0,1.0,1.0,1.0,1.0]
if (conSuc):
# Linear uniform motion
suc , result , id=sendCMD(sock,”moveBySpeedl”,{”v”:speed_l,”acc”:100,”arot”:10,”t” :3.0})
print (suc , result , id )

Note: This command is applicable to v2.16.2 and above.

This command is only supported in remote mode.
During moveBySpeedl movement, when multiple moveBySpeedl instructions are
sent, or stopl instruction is sent, the robot will not decelerate after executing the
moveBySpeedl instruction, and continue to execute the last instruction sent by the
user during the movement.

2.2.3.19 Stop linear motion at constant speed

{" jsonrpc ":"2.0" ," method ":" stopl "," params ":{" acc ":acc ," arot ": arot },"id ":
id}

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Function: Stop linear motion at constant speed

Parameter: acc: int, acceleration, stop motion at this acceleration, unit: mm/s2, range: greater
than 0
arot: int optional parameter, attitude acceleration, range: greater than 0, unit:
degree/s2
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”moveBySpeedl”,{”v”:[20,0,0,0,0,0],”acc” :50, ” arot ” :10, ”t”:2
})
print (suc , result , id )
time . sleep (1)
suc , result , id=sendCMD(sock,”stopl”,{”acc”:10})
print ( result )

2.2.3.20 Linear motion under specified coordinate system

{" jsonrpc ":"2.0" ," method ":" moveByLineCoord "," params ":{" targetUserPose ":
targetUserPose ," speed_type ": speed_type ," speed ": speed ," acc ":acc ," dec ":
dec ," user_coord ": user_coord ," cond_type ": cond_type ," cond_num :" :
cond_num :," cond_value ": cond_value ," unit_type ": unit_type },"id":id}

Function: Linear motion in the specified coordinate system

Parameter: targetUserPose: specify the pose in the user coordinate system, where rx, ry, rz are
radians, range: double [-π,π]] or angle, range: double[-180,180]
speed: operating speed. double Type is linear speed, range: [1,3000]; is rotation
angular speed, range: [1,300]; is absolute linear speed, range: linear minimum speed

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parameter value-linear maximum speed parameter value; absolute rotation angular

speed, range: rotation angle minimum speed parameter value-rotation angle maxi-
mum speed parameter value
speed_type: speed type, optional parameter, int [0,3], 0 is V (linear speed), 1 is VR
(rotational angular speed), 2 is AV (absolute linear speed), and 3 is AVR (absolute
rotation angular speed).
user_coord: user coordinate system data, double[6], where rx, ry, rz are radians,
range: double[-π,π] or angle, range: double[-180,180], do not write the current
coordinate system.
cond_type: optional, 0 is digital input X, 1 is digital output Y, 2 is user-defined
input, range int[0,2]
cond_num: IO address, optional, range int[0,63]
cond_value: IO status, optional, range int[0,1], when the actual IO status is consistent
with this value, immediately abandon the unfinished movement and execute the
next instruction.
cond_judgment: conditions, optional parameter, string type, it is a user-defined IF
statement. When the conditions are met, the unfinished movement will be
immediately.
acc: acceleration percentage, range: int [1,100], optional parameter, the default value
is 80 if not written.
dec: deceleration percentage, range: int [1,100], optional parameter, the default value
is acc if not written.
unit_type: the unit type of rx, ry, rz of user coordinate and user coordinate system,
int [0,1], 0: angle, 1: radians, optional parameters, if not written, the default value is
radians.
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
point =[211,126,343,−2.58,−0.013,−1.813]
if (conSuc):
# Specify the linear motion in the coordinate system
suc , result , id=sendCMD(sock,”moveByLineCoord”,{”targetUserPose”: point,”user_coord”
:[0,0,0,0,0,0], ”speed_type” :1, ”speed” :30, ” unit_type ” :1})
print (suc , result , id )

Note: This command is applicable to v2.16.2 and above. This command is only supported
in remote mode. When there is no speed_type parameter, speed means absolute linear
speed. When cond_type is equal to 0 or 1, the con_num and con_value are valid.
When cond_type is equal to 2, the con_judgment is valid. For the user-defined
conditions, please refer to the syntax format of UNTIL in the JBI command.

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2.2.3.21 Encoder zero calibration

{" jsonrpc ":"2.0" ," method ":" calibrate_encoder_zero_position ","id":id}

Function: Encoder Zero Calibration

Parameter: None
Return: success true, failure false
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.0.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
suc , result , id = sendCMD(sock, ”getServoStatus”)
print (suc , result , id )
time . sleep (0.5)
if result == 0:
# Set the arm servo state
ret , result , id=sendCMD(sock, ”set_servo_status” , {”status”: 1})
print ( result )
time . sleep (1)
# encoder zero calibration
suc , result , id=sendCMD(sock, ”calibrate_encoder_zero_position”)
print (suc , result , id )
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: This command is only supported in remote mode.

2.2.4 Kinematics Service(KinematicsService)

2.2.4.1 Inverse solution function

{" jsonrpc ":"2.0" ," method ":" inverseKinematic "," params ":{" targetPose ":
targetPose ," referencePos ": referencePos },"id":id}

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Function: Inverse solution function, inverse solution with reference point position, according to
the pose information to get the corresponding manipulator joint angle information
Parameter: targetPose: target pose information
referencePos: inverse solution reference point joint angle information double pos[6],
the range is [-360,360], optional parameter
unit_type: the unit type of the rx, ry, rz of the input pose, int [0,1], 0: angle, 1: radian,
optional parameter, if not written, the default value is radians.
Return: Joint coordinates double pos[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
# Reference point
P000 = [0, −90, 90, −90, 90, 0]
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the current pose information of the robot
suc , result , id = sendCMD(sock, ”get_tcp_pose”)
# Inverse solution function 2.0, with reference point position
suc , result , id=sendCMD(sock,”inverseKinematic”,{”targetPose”: result , ” referencePos ”:
P000})

Note: If it is necessary to select the solution, please see Chapter 2.2.2.73.

2.2.4.2 Positive solution function

{" jsonrpc ":"2.0" ," method ":" positiveKinematic "," params ":{" targetPos ":
targetPos ," unit_type ": unit_type },"id":id}

Function: Positive solution function, get the corresponding pose information according to the
joint angle information of the manipulator
Parameter: targetpos: target joint angle information double pos[6], the range is [-360,360]
unit_type: return the unit type of the pose rx, ry, rz, int [0,1], 0: return angle, 1: return
radian, optional parameter, if not written, the default value is radians.
Return: Response pose information: double pose[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the current position information of the robot
suc , result , id = sendCMD(sock, ”get_joint_pos”)
# Positive solution function
suc , result , id=sendCMD(sock,”positiveKinematic”,{”targetPos”: result , ” unit_type ” :1})
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2.2.4.3 Base coordinate to user coordinate pose conversion

{" jsonrpc ":"2.0" ," method ":" convertPoseFromCartToUser "," params ":{"
targetPose ": targetPose ," userNo ": userNo ," unit_type ": unit_type },"id": id}

Function: Base coordinate to user coordinate pose conversion function, in the current user co-
ordinate system, the pose information in the corresponding user coordinate system is
obtained according to the pose information of the base coordinate
Parameter: targetPose: pose information in the base coordinate system, double pose[6], rx, ry, rz
range: radian is [-π,π], angle is [-180,180]
userNo:User coordinate number, range: int[0,7]
unit_type: input pose and return pose of rx, ry, rz unit type, int [0,1], 0: angle, 1:
radian, optional parameter, if not written, the default value is radians.
Return: Pose information under the user standard system: double user_pose[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the current pose information of the robot
suc , result , id = sendCMD(sock, ”get_tcp_pose”)
# Base coordinate to user coordinate pose conversion
suc , result , id=sendCMD(sock,”convertPoseFromCartToUser”,{”targetPose”:result , ”userN”:0,
” unit_type ” :1})

2.2.4.4 User coordinate to base coordinate pose conversion

{" jsonrpc ":"2.0" ," method ":" convertPoseFromUserToCart "," params ":{"
targetPose ": targetPose ," userNo ": userNo ," unit_type ": unit_type },"id": id}

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Function: User coordinate to base coordinate pose conversion, in the current user coordinate
system, the pose information in the corresponding base coordinate system is obtained
according to the pose information of the user coordinate
Parameter: targetPose: the pose information in the user coordinate system, double pose[6], the
range of rx, ry, rz: radian is [-π,π], angle is [-180,180]
userNo: User coordinate number, range: int[0,7]
unit_type: input pose and return pose of rx, ry, rz unit type, int [0,1], 0: angle, 1:
radian, optional parameter, if not written, the default value is radians.
Return: Pose information in the base coordinate system: double base_pose[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the current pose information of the robot
suc , result , id = sendCMD(sock, ”get_tcp_pose”, {”coordinate_num”:1, ”tool_num”:7})
# User coordinate to base coordinate pose conversion
suc , result , id=sendCMD(sock,”convertPoseFromUserToCart”,{”targetPose”:result , ”userNo”
:0})

2.2.4.5 Position multiplication

{" jsonrpc ":"2.0" ," method ":" poseMul "," params ":{" pose1 ": pose1 ," pose2 ": pose2
," unit_type ": unit_type },"id":id}

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Function: Position multiplication

Parameter: pose1: pose information, double pose[6], the range of rx, ry, rz: radian is [-π,π], angle
is [-180,180]
pose2: pose information, double pose[6], the range of rx, ry, rz is: [-π,π] in radians,
and the angle is [-180,180]
unit_type: input pose and return pose of rx, ry, rz unit type, int [0,1], 0: angle, 1:
radian, optional parameter, if not written, the default value is radians.
Return: Posture multiplication result information: :double response_pose[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
# pose1
V000 = [10, −10, 10, 0, 0, 0]
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the current pose information of the robot
suc , result , id = sendCMD(sock, ”get_tcp_pose”)
# Position multiplication
suc , result , id=sendCMD(sock,”poseMul”,{”pose1”:V000,”pose2”:result,”unit_type” :1})

2.2.4.6 Pose inversion

{" jsonrpc ":"2.0" ," method ":" poseInv "," params ":{" pose ":pose ," unit_type ":
unit_type },"id":id}

Function: Pose inversionPose inversion

Parameter: pose: pose information, double pose[6], the range of rx, ry, rz: radian is [-π,π], angle
is [-180,180]
unit_type: input pose and return pose of rx, ry, rz unit type, int [0,1], 0: angle, 1:
radian, optional parameter, if not written, the default value is radians.
Return: Pose inversion result information: double response_pose[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the current pose information of the robot
suc , result , id = sendCMD(sock, ”get_tcp_pose”)
# Pose inversion
suc , result , id = sendCMD(sock, ”poseInv”, {”pose”: result , ” unit_type ” :1})

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2.2.5 IO Service(IOService)

2.2.5.1 Get input IO status

{" jsonrpc ":"2.0" ," method ":" getInput "," params ":{" addr ": addr },"id ":id}

Function: Get input IO status

Parameter: addr: input IO address, range: int[0,19]∪[48,51], if it is a MINI controller, range
is [0,11]∪[48,51]
Return: Input IO status, int[0,1], 0 is off, 1 is on
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
for i in range (0, 19 ,1) :
# Get input IO status
suc , result , id = sendCMD(sock, ”getInput”, {”addr”: i })
print ( result )

2.2.5.2 Get output IO status

{" jsonrpc ":"2.0" ," method ":" getOutput "," params ":{" addr ": addr },"id":id}

Function: Get output IO status

Parameter: addr: output IO address, range: int[0,19]∪[48,51], if it is a MINI controller,
range is [0,7]∪[48,51]
Return: Output IO status, int[0,1], 0 is off, 1 is on
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
for n in range (0, 20 ,1) :
# Get output IO status
suc , result , id = sendCMD(sock, ”getOutput”, {”addr”:n})
print ( result )

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2.2.5.3 Set output IO status

{" jsonrpc ":"2.0" ," method ":" setOutput "," params ":{" addr ":addr ," status ":
status },"id":id}

Function: Set output IO status

Parameter: addr: output IO address, range: int[0,19]∪[48,49], if it is a MINI controller, range
is [0,7]∪[48,51]
status: IO status, int[0,1], 0 is off, 1 is on
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
for i in range (0, 20 ,1) :
# Set output IO status
suc , result , id=sendCMD(sock,”setOutput”,{”addr”:i,” status ” :1})
print ( result )

Note: This command is only supported in remote mode.

2.2.5.4 Get virtual input IO status

{" jsonrpc ":"2.0" ," method ":" getVirtualInput "," params ":{" addr ": addr },"id":
id}

Function: Get virtual input IO status

Parameter: addr: virtual IO address, range: int[0,399]
Return: Input IO status, int[0,1], 0 is off, 1 is on
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
for i in range (0, 400 ,1) :
# Get virtual input IO status
suc , result , id=sendCMD(sock,”getVirtualInput”,{”addr”: i })
print ( result )

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2.2.5.5 Get virtual output IO status

{" jsonrpc ":"2.0" ," method ":" getVirtualOutput "," params ":{" addr ": addr },"id ":
id}

Function: Get virtual output IO status

Parameter: addr: virtual IO address, range: int [400,1535]
Return: Output IO status, int[0,1], 0 is off, 1 is on
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
for n in range (528, 800 ,1) :
# Get virtual output IO status
suc , result , id=sendCMD(sock,”getVirtualOutput”,{”addr”:n})
print ( result )

2.2.5.6 Set virtual output IO status

{" jsonrpc ":"2.0" ," method ":" setVirtualOutput "," params ":{" addr ":addr ,"
status ": status },"id":id}

Function: Set virtual output IO status

Parameter: addr: output IO address, range: int[528,799]
status: output IO status, int[0,1], 0 is off, 1 is on
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
for i in range (528, 800 ,1) :
# Set virtual output IO status
suc , result , id=sendCMD(sock,”setVirtualOutput”,{”addr”: i , ” status ” :1})

Note: This command is only supported in remote mode.

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2.2.5.7 Read multiple M virtual IO

{"jsonrpc":"2.0" ,"method":"getRegisters"," params ":{" addr ": addr ,"

len ": len },"id ": id}

Function: Read multiple M virtual IO

Parameter: addr: virtual IO address range int [0,1535]
len: The starting address starts to read backward and the length is (16*len) virtual IO
range int [1,96]
The range of addr+16*len is int[0,1535]
Return: List of virtual IO values (each 16 virtual IO values are represented by a decimal integer,
and the length of the list is len)
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the value of M0~M16
ret , result , id = sendCMD(sock, ”getRegisters” , {”addr”: 0, ”len”: 1})
if ret :
print (” result =”, result )
else :
print (”err_msg=”, result [”message”])

2.2.5.8 Get analog input

{" jsonrpc ":"2.0" ," method ":" getAnalogInput "," params ":{" addr ": addr },"id":id
}

Function: Get analog input

Parameter: addr: analog address, range: int[0,2]
Return: Analog value, range: double[-10,10]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
for i in range (0, 2, 1) :
# Get analog input
suc , result , id = sendCMD(sock, ”getAnalogInput”, {”addr”: i })

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2.2.5.9 Get analog output

{" jsonrpc ":"2.0" ," method ":" get_analog_output "," params ":{" addr ": addr },"id
":id}

Function: Get analog output

Parameter: addr: analog output address, range: int [0,4]
Return: Analog output value, double
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.202”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
for i in range (0,5) :
# Get analog output voltage value
suc , result , id = sendCMD(sock,”get_analog_output”,{”addr”:i })
print ( result )

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2.2.5.10 Set analog output

{" jsonrpc ":"2.0" ," method ":" setAnalogOutput "," params ":{" addr ":addr ," value
": value },"id":id}

Function: Set analog output

Parameter: addr: analog address, range: int[0,4]
value: analog value, when addr is 0-3, range: double[-10,10]; when addr is 4, range:
double[0,10]
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Set analog output
suc , result , id=sendCMD(sock,”setAnalogOutput”,{”addr”:0,”value”:−10})
suc , result , id=sendCMD(sock,”setAnalogOutput”,{”addr”:1,”value”:−3.5})
suc , result , id=sendCMD(sock,”setAnalogOutput”,{”addr”:2,”value”:0})
suc , result , id=sendCMD(sock,”setAnalogOutput”,{”addr”:3,”value”:0.5})
suc , result , id=sendCMD(sock,”setAnalogOutput”,{”addr”:4,”value”:0.5})

Note: This command is only supported in remote mode.

2.2.6 Variable service(VarService)

2.2.6.1 Get system B variable value

{" jsonrpc ":"2.0" ," method ":" getSysVarB "," params ":{" addr ": addr },"id":id}

Function: Get system B variable value

Parameter: addr: variable address, range: int [0,255]
Return: Variable value, range: int[0,2147483647]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc)
for n in range (0, 11 ,1) :
# Get system B variable value
suc , result , id = sendCMD(sock, ”getSysVarB”, {”addr”:n})
print ( result )

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2.2.6.2 Set system B variable value

{" jsonrpc ":"2.0" ," method ":" setSysVarB "," params ":{" addr ":addr ," value ":
value },"id":id}

Function: Set system B variable value

Parameter: addr: variable address, range: int [0,255]
value: variable value, range: int [0,2147483647]
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc)
for n in range (0, 11 ,1) :
# Set system B variable value
suc , result , id=sendCMD(sock,”setSysVarB”,{”addr”:i,”value”:100})

Note: This command is only supported in remote mode.

2.2.6.3 Get system I variable value

{" jsonrpc ":"2.0" ," method ":" getSysVarI "," params ":{" addr ": addr },"id":id}

Function: Get system I variable value

Parameter: addr: variable address, range: int [0,255]
Return: Variable value, range: int[-32767,32767]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc)
for n in range (0, 11 ,1) :
# Get system I variable value
suc , result , id = sendCMD(sock, ”getSysVarI”, {”addr”:n})
print ( result )

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2.2.6.4 Set system I variable value

{" jsonrpc ":"2.0" ," method ":" setSysVarI "," params ":{" addr ":addr ," value ":
value },"id":id}

Function: Set system I variable value

Parameter: addr: variable address, range: int [0,255]
value: variable value, range: int[-32767,32767]
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc)
for n in range (0, 11 ,1) :
# Set system I variable value
suc , result , id=sendCMD(sock,”setSysVarI”,{”addr”:i , ”value”:100})

Note: This command is only supported in remote mode.

2.2.6.5 Get system D variable value

{" jsonrpc ":"2.0" ," method ":" getSysVarD "," params ":{" addr ": addr },"id":id}

Function: Get system D variable value

Parameter: addr: variable address, range: int [0,255]
Return: Variable value, range: double[-1e+09,1e+09]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc)
for n in range (0, 11 ,1) :
# Get system D variable value
suc , result , id = sendCMD(sock, ”getSysVarD”, {”addr”:n})
print ( result )

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2.2.6.6 Set system D variable value

{" jsonrpc ":"2.0" ," method ":" setSysVarD "," params ":{" addr ":addr ," value ":
value },"id":id}

Function: Set system D variable value

Parameter: addr: variable address, range: int [0,255]
value Variable value, range: double[-1e+09,1e+09]
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc)
for n in range (0, 11 ,1) :
# Set system D variable value
suc , result , id=sendCMD(sock,”setSysVarD”,{”addr”:i,”value”:100})

Note: This command is only supported in remote mode.

2.2.6.7 Get whether the system P variable is enabled

{" jsonrpc ":"2.0" ," method ":" getSysVarPState "," params ":{" addr ": addr },"id":
id}

Function: Get whether the system P variable is enabled

Parameter: addr: variable address, range: int [0,255]
Return: Store the enabled state of the P variable, 0: not enabled, 1: enabled
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc)
for i in range (0, 101 ,1) :
# Get whether the system P variable is enabled
suc , result , id = sendCMD(sock, ”getSysVarPState”, {”addr”: i })

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2.2.6.8 Get the value of P variable

{" jsonrpc ":"2.0" ," method ":" getSysVarP "," params ":{" addr ": addr },"id":id}

Function: Get the value of P variable

Parameter: addr: variable address, range: int [0,255]
Return: System P variable value double pos[8]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc)
for i in range (0, 101 ,1) :
# Get whether the system P variable is enabled
suc , result , id = sendCMD(sock, ”getSysVarPState”, {”addr”: i })
if ( result == 1) :
# Get system P variable value
suc , result , id = sendCMD(sock, ”getSysVarP”, {”addr”: i })
print ( result )

2.2.6.9 Set the value of the P variable

{" jsonrpc ":"2.0" ," method ":" setSysVarP "," params ":{" addr :": addr ," pos :": pos
},"id":id}

Function: Set the value of the system P variable

Parameter: addr: variable address, range int[0,255]
pos: the value of the p variable, double pos[6], range [-360,360]
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
ip = ”192.168.1.202”
conSuc, sock = connectETController ( ip )
point = [0, −90, 0, −90, 90, 0]
if conSuc:
ret , result , id=sendCMD(sock,”setSysVarP”,{”addr”:0,”pos”:point})
if ret :
print ( result )
else :
print (”err_msg = ” , result [”message”])

Note: This command is only supported in remote mode.

This command is applicable to v2.15.2 and above.

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2.2.6.10 Set the scope of the V variable

{" jsonrpc ":"2.0" ," method ":" setSysVarV "," params ":{" addr ":addr ," pose :": pose
},"id":id}

Function: Set the value of the system V variable

Parameter: addr: variable address: range int[0,255]
pose: double pose[6], the range of rx,ry,rz is [-π,π]
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
ip = ”192.168.1.202”
conSuc, sock = connectETController ( ip )
pos = [200, 125.5, −50, 1.57, −1.57, 3.14]
if conSuc:
ret , result , id=sendCMD(sock,”setSysVarV”,{”addr”:0,”pos”:pos})
if ret :
print ( result )
else :
print (”err_msg = ” , result [”message”])

Note: This command is only supported in remote mode.

This command is applicable to v2.15.2 and above.

2.2.6.11 Get the value of V variable

{" jsonrpc ":"2.0" ," method ":" getSysVarV "," params ":{" addr ": addr },"id":id}

Function: Get the value of V variable

Parameter: addr: variable address, range: int [0,255]
Return: System V variable value double pose[6]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc)
for i in range (0, 101 ,1) :
# Get the value of V variable
suc , result , id = sendCMD(sock, ”getSysVarV”, {”addr”: i })
print ( result )

2.2.6.12 Set the value of the V variable

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{" jsonrpc ":"2.0" ," method ":" setSysVarV "," params ":{" addr ": addr ," pose ":
pose },"id ": id}

Function: Set the value of the system V variable

Parameter: addr: variable address, range int[0,255]
pose: the value of the V variable, double pose[6], the range of rx,ry,rz is [-π,π]
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.205”
conSuc,sock=connectETController( robot_ip )
pose = [200, 125.5, −50, 0, 0, 0]
if (conSuc):
# Set the system V variable value
suc , result , id = sendCMD(sock, ”setSysVarV”, {”addr”: 0,”pose”:
[243.5,−219.4,169.578000,3.139376,−0.002601,0.106804]})
print (suc , result )
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: This command is only supported in remote mode.

2.2.6.13 Save variable data

{" jsonrpc ":"2.0" ," method ":" save_var_data ","id":id}

Function: Save system variable data

Parameter: no
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
ip = ”192.168.1.202”
conSuc, sock = connectETController ( ip )
pos = [200, 125.5, −50, 1.57, −1.57, 3.14]
if conSuc:
ret , result , id = sendCMD(sock, ”save_var_data”)
if ret :
print ( result )
else :
print (”err_msg = ” , result [”message”])

Note: This command is only supported in remote mode.

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2.2.7 Transparent Transmission Service

2.2.7.1 Initialize transparent transmission service

{" jsonrpc ":"2.0" ," method ":" transparent_transmission_init "," params ":{"
lookahead ": lookahead ,"t":t ," smoothness ": smoothness ," response_enable ":
response_enable },"id ": id}

Function: Initialize transparent transmission service of the robot

Parameter: lookahead: lookahead time, unit ms, range: int [10,1000]
t: sampling time, unit ms, range: int [2,100]
smoothness: gain, unit percentage, range: double [0,1].
response_enable: optional parameter, if not written, there will be a return value by
default. int[0,1], whether the add point instruction returns a value, 0: no return value,
1: return value
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Initialize transparent transmission service
suc , result , id = sendCMD(sock, ”transparent_transmission_init” , {”lookahead”: 400, ”t
”: 10, ”smoothness”: 0.1, ”response_enable”: 0})

Note: This command is only supported in remote mode.

2.2.7.2 Set the current transparent transmission servo target joint point
{" jsonrpc ":"2.0" ," method ":" tt_set_current_servo_joint "," params ":{"
targetPos ": targetPos },"id": id}

Function: Set the current transparent transmission servo target joint point
Parameter: targetpos: target joint point double pos[6], the range is [-360,360]
Return: True for success, false for failure

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Example: if __name__ == ”__main__”:

# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
# Transparent transmission starting point
P0 = [0, −90, 0, −90, 90, 0]
if (conSuc):
# Initialize transparent transmission service
suc , result , id=sendCMD(sock,”transparent_transmission_init”,{”lookahead”:400,”t” :10, ”
smoothness”:0.1})
# Set the current transparent transmission target joint point
suc , result , id=sendCMD(sock,”tt_set_current_servo_joint”,{” targetPos ”: P0})

Note: This command is only supported in remote mode. This command is deprecated.

2.2.7.3 Get whether the current robot is in a transparent transmission state

{" jsonrpc ":"2.0" ," method ":" get_transparent_transmission_state ","id":id}

Function: Get whether the current robot is in a transparent transmission state

Parameter: None
Return: Current transparent transmission status. 0: non-transparent transmission state, 1:
transparent transmission state
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get whether the current robot is in a transparent transmission state
suc , result , id=sendCMD(sock,”get_transparent_transmission_state”)

2.2.7.4 Add transparent transmission of servo target joint point information

to the cache

{" jsonrpc ":"2.0" ," method ":" tt_put_servo_joint_to_buf "," params ":{"
targetPos ": targetPos },"id ": id} or {" jsonrpc ":"2.0" ," method ":"
tt_put_servo_joint_to_buf "," params ":{" targetPose ": targetPose },"id":
id}

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Function: Add transparent transmission of servo target joint point information to the cache
Parameter: targetpos: target joint point double pos[6], the range is [-360,360] or targetPose: target
pose point is double pos[6]
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.202”
conSuc,sock=connectETController(ip )
i =0
if (conSuc):
# Get whether the current robot is in a transparent transmission state
suc , result , id=sendCMD(sock, ”get_transparent_transmission_state”)
print (suc , result , id )
if ( result == 1) :
# Clear the transparent transmission cache
suc , result , id = sendCMD(sock,”tt_clear_servo_joint_buf”)
time . sleep (0.5)
# open a file
file_name =’D :\\ tttest8 . txt ’
fo = open(file_name , ”r”)
while 1:
# Read each line of the file in turn ( point information )
line = fo . readline ()
if not line : break
# Remove the blanks at the beginning and end of each line
line_list = line . strip ()
line_list = list (map( float , line_list . split ( ’ , ’ ) ) )
if ( i == 0) :
# Joint movement to the starting point
suc , result , id=sendCMD(sock,”moveByJoint”,{”targetPos”: line_list , ”speed”:30})
wait_stop () # Wait for the robot to stop
# Initialize the transparent transmission service
suc , result , id=sendCMD(sock,”transparent_transmission_init”,{”lookahead”:400,
”t” :10, ”smoothness” :0.1, ”response_enable” :1})
print (suc , result , id )
# Add transparent transmission of servo target joint point information to the
cache
suc , result , id = sendCMD(sock, ”tt_put_servo_joint_to_buf”,{”targetPos”:
line_list })
time . sleep (0.01)
i = i +1

Note: This command is only supported in remote mode.

Choose one of the two parameters targetPos and targetPose, and only one parameter
can be sent in a command.

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2.2.7.5 Clear the transparent transmission cache

{" jsonrpc ":"2.0" ," method ":" tt_clear_servo_joint_buf ","id":id}

Function: Clear the transparent transmission cache

Parameter: None
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get whether the current robot is in a transparent transmission state
suc , result , id =sendCMD(sock,”get_transparent_transmission_state”)
if ( result == 1) :
# Clear the transparent transmission cache
suc , result , id=sendCMD(sock, ”tt_clear_servo_joint_buf”)
time . sleep (0.5)

Note: This command is only supported in remote mode.

2.2.7.6 Example 1

1 import socket
2 import json
3 import time
4 import random
5
6 def connectETController (ip ,port =8055) :
7 sock = socket . socket ( socket .AF_INET , socket . SOCK_STREAM )
8 try:
9 sock. connect ((ip ,port))
10 return (True ,sock)
11 except Exception as e:
12 sock.close ()
13 return (False ,None)
14
15 def disconnectETController (sock):
16 if(sock):
17 sock.close ()
18 sock=None
19 else:

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20 sock=None
21
22 def sendCMD (sock ,cmd , params =None ,id =1):
23 if(not params ):
24 params =[]
25 else:
26 params =json.dumps( params )
27 sendStr ="{{\" method \":\"{0}\" ,\" params \":{1} ,\" jsonrpc \":\"2.0\" ,\"
id \":{2}}} ". format (cmd ,params ,id)+"\n"
28 try:
29 sock. sendall (bytes(sendStr ,"utf -8"))
30 ret =sock.recv (1024)
31 jdata=json.loads(str(ret ,"utf -8"))
32 if(" result " in jdata.keys ()):
33 return (True ,json.loads(jdata[" result "]) ,jdata["id"])
34 elif("error" in jdata.keys ()):
35 return (False ,jdata[" error "], jdata["id"])
36 else:
37 return (False ,None ,None)
38 except Exception as e:
39 return (False ,None ,None)
40
41 def wait_stop ():
42 while True:
43 time.sleep (0.01)
44 ret1 , result1 , id1 = sendCMD (sock , " getRobotState ")
45 if (ret1):
46 if result1 == 0 or result1 == 4:
47 break
48 else:
49 print(" getRobotState failed ")
50 break
51
52 if __name__ == " __main__ ":
53 # Robot IP address
54 robot_ip =" 192.168.1.202 "
55 conSuc ,sock= connectETController ( robot_ip )
56 print( conSuc )
57 if( conSuc ):
58 # Get robot status
59 suc , result , id = sendCMD (sock , " getRobotState ")
60 if( result == 4):
61 # Clear alarm

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62 suc , result , id = sendCMD (sock , " clearAlarm ")

63 time.sleep (0.5)
64 # Get synchronization status
65 suc , result , id = sendCMD (sock , " getMotorStatus ")
66 if( result == 0):
67 # Synchronize servo encoder data
68 suc , result , id = sendCMD (sock , " syncMotorStatus ")
69 time.sleep (0.5)
70 # Get the servo status of the robotic arm
71 suc , result , id = sendCMD (sock , " getServoStatus ")
72 if ( result == 0):
73 # Set the servo status of the robotic arm to ON
74 suc , result , id = sendCMD (sock , " set_servo_status " ,{" status
":1})
75 time.sleep (1)
76 # Get whether the current robot is in a transparent transmission
state
77 suc , result , id = sendCMD (sock , "
get_transparent_transmission_state ")
78 print(suc , result , id)
79 if( result == 1):
80 # Clear the transparent transmission cache
81 suc , result , id = sendCMD (sock ," tt_clear_servo_joint_buf ")
82 time.sleep (0.5)
83 # open a file
84 file_name ='D:\\ tttest8 .txt '
85 fo = open(file_name , "r")
86 while 1:
87 # Read each line of the file in turn (point information )
88 line = fo. readline ()
89 if not line: break
90 # Remove the blanks at the beginning and end of each line
91 line_list = line.strip ()
92 line_list = list(map(float , line_list .split(',')))
93 print(i, line_list )
94 if (i == 0):
95 # Joint movement to the starting point
96 suc , result , id = sendCMD (sock , " moveByJoint ", {"
targetPos ": line_list , "speed": 30})
97 wait_stop () # Wait for the robot to stop
98 # Initialize the transparent transmission service
99 suc , result , id = sendCMD (sock , "
transparent_transmission_init ", {" lookahead ": 400 , "

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t": 10, " smoothness ": 0.1, " response_enable ": 1})
100 print(suc , result , id)
101 # Add transparent transmission of servo target joint point
information to the cache
102 suc , result , id = sendCMD (sock , " tt_put_servo_joint_to_buf "
,{" targetPos ": line_list })
103 time.sleep (0.01)
104 i = i + 1
105 # Close file
106 fo.close ()
107 # Clear the transparent transmission cache
108 suc , result , id = sendCMD (sock , " tt_clear_servo_joint_buf ")
109 print(" clear_ret = ", suc)
110 else:
111 print(" Connection failed ")
112 disconnectETController (sock)

2.2.7.7 Example 2

1 import socket
2 import json
3 import time
4
5 def connectETController (ip ,port =8055) :
6 sock = socket . socket ( socket .AF_INET , socket . SOCK_STREAM )
7 try:
8 sock. connect ((ip ,port))
9 return (True ,sock)
10 except Exception as e:
11 sock.close ()
12 return (False ,None)
13
14 def disconnectETController (sock):
15 if(sock):
16 sock.close ()
17 sock=None
18 else:
19 sock=None
20
21 def sendCMD (sock ,cmd , params =None ,id =1):
22 if(not params ):
23 params =[]

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24 else:
25 params =json.dumps( params )
26 sendStr ="{{\" method \":\"{0}\" ,\" params \":{1} ,\" jsonrpc \":\"2.0\" ,\"
id \":{2}}} ". format (cmd ,params ,id)+"\n"
27 try:
28 sock. sendall (bytes(sendStr ,"utf -8"))
29 # print (sock.recv)
30 ret =sock.recv (1024)
31 jdata=json.loads(str(ret ,"utf -8"))
32 if(" result " in jdata.keys ()):
33 return (True ,json.loads(jdata[" result "]) ,jdata["id"])
34 elif("error" in jdata.keys ()):
35 return (False ,jdata[" error "], jdata["id"])
36 else:
37 return (False ,None ,None)
38 except Exception as e:
39 return (False ,None ,None)
40
41 def send_Point (sock ,cmd , params =None ,id =1):
42 if(not params ):
43 params =[]
44 else:
45 params =json.dumps( params )
46 sendStr ="{{\" method \":\"{0}\" ,\" params \":{1} ,\" jsonrpc \":\"2.0\" ,\"
id \":{2}}} ". format (cmd ,params ,id)+"\n"
47 sock. sendall (bytes(sendStr ,"utf -8"))
48
49 def wait_stop ():
50 while True:
51 time.sleep (0.01)
52 ret1 , result1 , id1 = sendCMD (sock , " getRobotState ") #
getRobotstate
53 if (ret1):
54 if result1 == 0 or result1 == 4:
55 break
56 else:
57 print(" getRobotState failed ")
58 break
59
60
61 if __name__ == " __main__ ":
62 # Robot IP address
63 robot_ip =" 192.168.1.202 "

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64 conSuc ,sock= connectETController ( robot_ip )

65
66 point = []
67 i = 0
68 if( conSuc ):
69 # Get robot status
70 suc , result , id = sendCMD (sock , " getRobotState ")
71 if( result == 4):
72 # Clear alarm
73 suc , result , id = sendCMD (sock , " clearAlarm ")
74 time.sleep (0.5)
75 # Get synchronization status
76 suc , result , id = sendCMD (sock , " getMotorStatus ")
77 if( result == 0):
78 # Synchronize servo encoder data
79 suc , result , id = sendCMD (sock , " syncMotorStatus ")
80 time.sleep (0.5)
81 # Get the servo status of the robotic arm
82 suc , result , id = sendCMD (sock , " getServoStatus ")
83 if ( result == 0):
84 # Set the servo status of the robotic arm to ON
85 suc , result , id = sendCMD (sock , " set_servo_status " ,{" status
":1})
86 time.sleep (1)
87 # Get whether the current robot is in a transparent
transmission state
88 suc , result , id = sendCMD (sock , "
get_transparent_transmission_state ")
89 print( result )
90 if( result == 1):
91 # Clear the transparent transmission cache
92 suc , result , id = sendCMD (sock ," tt_clear_servo_joint_buf ")
93 time.sleep (0.5)
94 # open a file
95 file_name ='D:\\ tttest8 .txt '
96 fo = open(file_name , "r")
97 while 1:
98 # Read each line of the file in turn (point information )
99 line = fo. readline ()
100 if not line: break
101 # Remove the blanks at the beginning and end of each line
102 line_list = line.strip ()
103 line_list = list(map(float , line_list .split(',')))

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104
105 if (i == 0):
106 # Joint movement to the starting point
107 suc , result , id = sendCMD (sock , " moveByJoint ", {"
targetPos ": line_list , "speed": 30})
108 print( result )
109 wait_stop () # Wait for the robot to stop
110 print (1)
111 # Initialize the transparent transmission service
112 suc , result , id = sendCMD (sock , "
transparent_transmission_init ", {" lookahead ": 400 , "
t": 10, " smoothness ": 0.1, " response_enable ":0})
113 print( result )
114 # Add transparent transmission of servo target joint point
information to the cache
115 send_Point (sock , " tt_put_servo_joint_to_buf " ,{" targetPos ":
line_list })
116 print( result )
117 time.sleep (0.01)
118 i = i + 1
119 # Close file
120 fo.close ()
121 # Clear the transparent transmission cache
122 suc , result , id = sendCMD (sock , " tt_clear_servo_joint_buf ")
123 print(" clear_ret = ", suc)
124 else:
125 print(" Connection failed ")
126 disconnectETController (sock)

2.2.8 System Service(SystemService)

2.2.8.1 Get the controller software version number

{" jsonrpc ":"2.0" ," method ":" getSoftVersion ","id":id}

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Function: Get the controller software version number

Parameter: None
Return: The controller software version number
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the controller software version number
suc , result , id = sendCMD(sock, ”getSoftVersion”)
print ( result )

2.2.8.2 Get servo version number

{"jsonrpc":"2.0" ,"method":"getJointVersion"," params ":{" axis ": axis

},"id":id}

Function: Get the servo version number

Parameter: axis: range int [0,7], corresponding to axis number 1~8
Return: Servo version number
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get 1 axis servo version number
ret , result , id = sendCMD(sock, ”getJointVersion” , {”axis” :0})
if ret :
print (” result =”, result )
else :
print (”err_msg=”, result [”message”])

Note: The servo version for this function is 11 and above.

2.2.9 TrajectoryService(TrajectoryService)

2.2.9.1 Initial movement

{" jsonrpc ":"2.0" ," method ":" start_push_pos "," params ":{" path_lenth ":
path_lenth ," pos_type ": pos_type ," ref_joint_pos ": ref_joint_pos ,"
ref_frame ": ref_frame ," ret_flag ": ret_flag },"id": id}

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Function: Initial movement

Parameter: path_lenth: the number of transmitted points, int, range: greater than or equal to 3
pos_type: point type, int[0,1], 0: joint, 1: pose
ref_joint_pos: reference point, double pos[6], if the input is a pose point, this reference
point is the inverse solution reference point of the first point
ref_frame: coordinate system, double pose[6], if it is based on the base coordinate
system, all 0; if the input coordinate is a pose point, this parameter is the coordinate
system of the point.
ret_flag: int[0,1], whether the add point instruction returns a value, 0: no return value,
1: return value
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
pos = [0, −90, 0, −90, 90, 0]
frame = [0, 0, 0, 0, 0, 0]
if (conSuc):
suc , result , id=sendCMD(sock,”start_push_pos”,{”path_lenth” :10, ”pos_type” :0, ”
ref_joint_pos ”:pos,”ref_frame”:frame,” ret_flag ” :1})
print ( result )

Note: The timestamp of the first point of the transmission must be 0.

2.2.9.2 Add movement points

{" jsonrpc ":"2.0" ," method ":" push_pos "," params ":{" timestamp ": timestamp ," pos
": pos },"id":id}

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Function: Add exercise points

Parameter: timestamp: double, the timestamp of the point (at which time point in the point se-
quence), unit: s, range: greater than or equal to 0, and increasing
pos: double pose[6], point data
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
pos = [0, −90, 0, −90, 90, 0]
frame = [0, 0, 0, 0, 0, 0]
res = 0
if (conSuc):
ret , result , id = sendCMD(sock, ”start_push_pos”, {” path_lenth ” :10, ”pos_type”: 0,
” ref_joint_pos ”: pos, ”ref_frame”: frame, ” ret_flag ”: 1})
print ( result )
ret , joint , id = sendCMD(sock, ”get_joint_pos”)
time . sleep (0.2)
for i in range (0, 10):
ret , result , id = sendCMD(sock, ”push_pos”, {”timestamp”: res , ”pos”: joint })
print ( result , i )
joint [0] += 0.01
res = res + 0.002

2.2.9.3 Stop adding movement points

{" jsonrpc ":"2.0" ," method ":" stop_push_pos ","id":id}

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Function: Stop adding timestamp points

Parameter: None
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
pos = [0, −90, 0, −90, 90, 0]
frame = [0, 0, 0, 0, 0, 0]
res = 0
if (conSuc):
ret , result , id = sendCMD(sock, ”start_push_pos”, {” path_lenth ” :10, ”pos_type”: 0,
” ref_joint_pos ”: pos, ”ref_frame”: frame, ” ret_flag ”: 1})
print ( result )
ret , joint , id = sendCMD(sock, ”get_joint_pos”)
time . sleep (0.2)
for i in range (0, 10):
ret , result , id = sendCMD(sock, ”push_pos”, {”timestamp”: res , ”pos”: joint })
print ( result , i )
joint [0] += 0.01
res = res + 0.002
ret , result , id = sendCMD(sock, ”stop_push_pos”)
print ( result )

Note: Stop_push_pos and push_pos are corresponding relations. Only when all the points
sent by the corresponding push_pos are correct, will it return True, otherwise, it will
return False.

2.2.9.4 Check execution status

{" jsonrpc ":"2.0" ," method ":" check_trajectory ","id":id}

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Function: Check the execution status

Parameter: None
Return: int[-3,0], 0: transmission point and time stamp are correct, -1: point length does not
match, -2: point format error, -3: time stamp is not standardized.
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
pos = [0, −90, 0, −90, 90, 0]
frame = [0, 0, 0, 0, 0, 0]
res = 0
if (conSuc):
ret , result , id = sendCMD(sock, ”start_push_pos”, {” path_lenth ” :10, ”pos_type”: 0,
” ref_joint_pos ”: pos, ”ref_frame”: frame, ” ret_flag ”: 1})
print ( result )
ret , joint , id = sendCMD(sock, ”get_joint_pos”)
time . sleep (0.2)
for i in range (0, 10):
ret , result , id = sendCMD(sock, ”push_pos”, {”timestamp”: res , ”pos”: joint })
print ( result , i )
joint [0] += 0.01
res = res + 0.002
ret , result , id = sendCMD(sock, ”stop_push_pos”)
print ( result )
ret , result , id = sendCMD(sock, ”check_trajectory”)
print ( result )

2.2.9.5 Start a time-stamped movement

{" jsonrpc ":"2.0" ," method ":" start_trajectory "," params ":{" speed_percent ":
speed_percent },"id":id}

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Function: Start a time-stamped movement

Parameter: speed_percent: double, trajectory speed percentage, that is, the original speed multi-
plied by the percentage of speed movement, unit: %, range: greater than or equal to
0.1
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
pos = [0, −90, 0, −90, 90, 0]
frame = [0, 0, 0, 0, 0, 0]
res = 0
if (conSuc):
ret , result , id = sendCMD(sock, ”start_push_pos”, {” path_lenth ” :10, ”pos_type”: 0,
”ref_joint_pos”: pos, ”ref_frame”: frame, ”ret_flag”: 1})
print ( result )
ret , joint , id = sendCMD(sock, ”get_joint_pos”)
time . sleep (0.2)
for i in range (0, 10):
ret , result , id = sendCMD(sock, ”push_pos”, {”timestamp”: res , ”pos”: joint })
print ( result , i )
joint [0] += 0.01
res = res + 0.002
ret , result , id = sendCMD(sock, ”stop_push_pos”)
print ( result )
ret , result , id = sendCMD(sock, ”check_trajectory”)
print ( result )
ret , result , id = sendCMD(sock, ”start_trajectory” , {”speed_percent”: 50})
print ( result )

Note: As long as flush_trajectory, or start_push_pos is not executed, the current trajectory

can run in a loop without repeated transmission

2.2.9.6 Pause motion

{" jsonrpc ":"2.0" ," method ":" pause_trajectory ","id":id}

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Function: Pause motion

Parameter: None
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
ret , result , id=sendCMD(sock, ”pause_trajectory”)
print ( result )

2.2.9.7 Resume motion

{" jsonrpc ":"2.0" ," method ":" resume_trajectory ","id":id}

Function: Resume motion

Parameter: None
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
ret , result , id=sendCMD(sock, ”resume_trajectory”)
print ( result )

2.2.9.8 Stop motion

{" jsonrpc ":"2.0" ," method ":" stop_trajectory ","id":id}

Function: Stop motion

Parameter: None
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
ret , result , id=sendCMD(sock, ” stop_trajectory ”)
print ( result )

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2.2.9.9 Empty the cache

{" jsonrpc ":"2.0" ," method ":" flush_trajectory ","id":id}

Function: Empty the cache

Parameter: None
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
ret , result , id=sendCMD(sock, ” flush_trajectory ”)
print ( result )

2.2.9.10 Example 1

1 import socket
2 import json
3 import time
4
5 def connectETController (ip ,port =8055) :
6 sock = socket . socket ( socket .AF_INET , socket . SOCK_STREAM )
7 try:
8 sock. connect ((ip ,port))
9 return (True ,sock)
10 except Exception as e:
11 sock.close ()
12 return (False ,None)
13
14 def disconnectETController (sock):
15 if(sock):
16 sock.close ()
17 sock=None
18 else:
19 sock=None
20
21 def sendCMD (sock ,cmd , params =None ,id =1):
22 if(not params ):
23 params =[]
24 else:

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25 params =json.dumps( params )

26 sendStr ="{{\" method \":\"{0}\" ,\" params \":{1} ,\" jsonrpc \":\"2.0\" ,\"
id \":{2} }}". format (cmd ,params ,id)+"\n"
27 try:
28 sock. sendall (bytes(sendStr ,"utf -8"))
29 # print (sock.recv)
30 ret =sock.recv (1024)
31 jdata=json.loads(str(ret ,"utf -8"))
32 if(" result " in jdata.keys ()):
33 return (True ,json.loads(jdata[" result "]) ,jdata["id"])
34 elif("error" in jdata.keys ()):
35 return (False ,jdata[" error "], jdata["id"])
36 else:
37 return (False ,None ,None)
38 except Exception as e:
39 return (False ,None ,None)
40
41 def wait_stop ():
42 while True:
43 time.sleep (0.01)
44 ret1 , result1 , id1 = sendCMD (sock , " getRobotState ")
45 if (ret1):
46 if result1 == 0 or result1 == 4:
47 break
48 else:
49 print(" getRobotState failed ")
50 break
51
52 if __name__ == " __main__ ":
53 ip = " 192.168.1.200 "
54 conSuc , sock = connectETController (ip)
55 start_pos = [0, -90, 0, -90, 90, 0]
56 ref_pos = [0, 0, 0, 0, 0, 0]
57 res = 0
58 if conSuc :
59 suc , result , id = sendCMD (sock , " getRobotState ")
60 if ( result == 4):
61 # Clear alarm
62 suc , result , id = sendCMD (sock , " clearAlarm ")
63 time.sleep (0.5)
64 # Get synchronization status
65 suc , result , id = sendCMD (sock ," getMotorStatus ")
66 if result != True:

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67 # Synchronize servo encoder data

68 suc , result , id = sendCMD (sock ," syncMotorStatus ")
69 time.sleep (0.5)
70 time.sleep (0.5)
71 # Get the servo status of the robotic arm
72 suc , result , id = sendCMD (sock , " getServoStatus ")
73 if result == 0:
74 # Set the servo status of the robotic arm to ON
75 ret , result , id = sendCMD (sock , " set_servo_status ", {"
status ": 1})
76 suc , result , id = sendCMD (sock , " moveByJoint ", {" targetPos ":
start_pos , "speed": 50})
77 wait_stop ()
78 suc , result , id = sendCMD (sock , " start_push_pos ", {" path_lenth "
: 10, " pos_type ": 0, " ref_joint_pos ": start_pos , " ref_frame "
: ref_pos , " ret_flag ": 1})
79 print( result )
80 time.sleep (0.2)
81 for i in range (0, 10):
82 suc , result , id = sendCMD (sock , " push_pos ", {" timestamp ":
res , "pos": start_pos })
83 start_pos [0] += 0.02
84 res = res + 0.002
85 time.sleep (1)
86 suc , result , id = sendCMD (sock , " stop_push_pos ")
87 print( result )
88 suc , result , id = sendCMD (sock , " check_trajectory ")
89 print( result )
90 suc , result , id = sendCMD (sock , " start_trajectory ", {"
speed_percent ": 50})
91 print( result )
92 time.sleep (5)
93 suc , result , id = sendCMD (sock , " flush_trajectory ")
94 print( result )
95 else:
96 print(" Connection failed ")
97 disconnectETController (sock)

2.2.9.11 Example 2

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1 import socket
2 import json
3 import time
4
5 def connectETController (ip ,port =8055) :
6 sock = socket . socket ( socket .AF_INET , socket . SOCK_STREAM )
7 try:
8 sock. connect ((ip ,port))
9 return (True ,sock)
10 except Exception as e:
11 sock.close ()
12 return (False ,None)
13
14 def disconnectETController (sock):
15 if(sock):
16 sock.close ()
17 sock=None
18 else:
19 sock=None
20
21 def sendCMD (sock ,cmd , params =None ,id =1):
22 if(not params ):
23 params =[]
24 else:
25 params =json.dumps( params )
26 sendStr ="{{\" method \":\"{0}\" ,\" params \":{1} ,\" jsonrpc \":\"2.0\" ,\"
id \":{2} }}". format (cmd ,params ,id)+"\n"
27 try:
28 sock. sendall (bytes(sendStr ,"utf -8"))
29 # print (sock.recv)
30 ret =sock.recv (1024)
31 jdata=json.loads(str(ret ,"utf -8"))
32 if(" result " in jdata.keys ()):
33 return (True ,json.loads(jdata[" result "]) ,jdata["id"])
34 elif("error" in jdata.keys ()):
35 return (False ,jdata[" error "], jdata["id"])
36 else:
37 return (False ,None ,None)
38 except Exception as e:
39 return (False ,None ,None)
40
41 def send_Point (sock ,cmd , params =None ,id =1):
42 if(not params ):

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43 params =[]
44 else:
45 params =json.dumps( params )
46 sendStr ="{{\" method \":\"{0}\" ,\" params \":{1} ,\" jsonrpc \":\"2.0\" ,\"
id \":{2} }}". format (cmd ,params ,id)+"\n"
47 sock. sendall (bytes(sendStr ,"utf -8"))
48
49 def wait_stop ():
50 while True:
51 time.sleep (0.01)
52 ret1 , result1 , id1 = sendCMD (sock , " getRobotState ")
53 if (ret1):
54 if result1 == 0 or result1 == 4:
55 break
56 else:
57 print(" getRobotState failed ")
58 break
59
60 if __name__ == " __main__ ":
61 ip = " 192.168.1.200 "
62 conSuc , sock = connectETController (ip)
63 start_pos = [0, -90, 0, -90, 90, 0]
64 ref_pos = [0, 0, 0, 0, 0, 0]
65 res = 0
66 if conSuc :
67 suc , result , id = sendCMD (sock , " getRobotState ")
68 if ( result == 4):
69 # Clear alarm
70 suc , result , id = sendCMD (sock , " clearAlarm ")
71 time.sleep (0.5)
72 # Get synchronization status
73 suc , result , id = sendCMD (sock ," getMotorStatus ")
74 if result != True:
75 # Synchronize servo encoder data
76 suc , result , id = sendCMD (sock ," syncMotorStatus ")
77 time.sleep (0.5)
78 time.sleep (0.5)
79 # Get the servo status of the robotic arm
80 suc , result , id = sendCMD (sock , " getServoStatus ")
81 if result == 0:
82 # Set the servo status of the robotic arm to ON
83 ret , result , id = sendCMD (sock , " set_servo_status ", {"
status ": 1})

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84 suc , result , id = sendCMD (sock , " moveByJoint ", {" targetPos ":
start_pos , "speed": 50})
85 wait_stop ()
86 suc , result , id = sendCMD (sock , " start_push_pos ", {" path_lenth "
: 10, " pos_type ": 0, " ref_joint_pos ": start_pos , " ref_frame "
: ref_pos , " ret_flag ": 0})
87 print( result )
88 time.sleep (0.2)
89 for i in range (0, 10):
90 send_Point (sock , " push_pos ", {" timestamp ": res , "pos":
start_pos })
91 start_pos [0] += 0.02
92 res = res + 0.002
93 time.sleep (1)
94 suc , result , id = sendCMD (sock , " stop_push_pos ")
95 print( result )
96 suc , result , id = sendCMD (sock , " check_trajectory ")
97 print( result )
98 suc , result , id = sendCMD (sock , " start_trajectory ", {"
speed_percent ": 50})
99 print( result )
100 time.sleep (5)
101 suc , result , id = sendCMD (sock , " flush_trajectory ")
102 print( result )
103 else:
104 print(" Connection failed ")
105 disconnectETController (sock)

2.2.10 ProfinetService(ProfinetService)

2.2.10.1 Get the value of the profinet int input register

{" jsonrpc ":"2.0" ," method ":" get_profinet_int_input_registers "," params ":{"
addr ":addr ," length ": length },"id": id}

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Function: Get the value of the profinet int input register

Parameter: addr: register start address, range int[0,31]
length: number of registers, range int[1,32]
Note: the sum of addr and length should be less than or equal to 32
Return: list of register values int[length]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Get the value of the profinet int input register
suc , result , id = sendCMD(sock, ”get_profinet_int_input_registers”,{”addr” :0, ” length ”
:1})
print ( result )
else :
print (”Connection failed”)
disconnectETController (sock)

2.2.10.2 Get the value of the profinet int output register

{" jsonrpc ":"2.0" ," method ":" get_profinet_int_output_registers "," params ":{"
addr ":addr ," length ": length },"id": id}

Function: Get the value of the profinet int output register

Parameter: addr: register start address, range int[0,31]
length: number of registers, range int[1,32]
Note: the sum of addr and length should be less than or equal to 32
Return: list of register values int[length]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Get the value of the profinet int output register
suc , result , id = sendCMD(sock, ”get_profinet_int_output_registers”,{”addr” :1, ” length ”
:2})
print ( result )
else :
print (”Connection failed”)
disconnectETController (sock)

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2.2.10.3 Get the value of the profinet float type input register

{" jsonrpc ":"2.0" ," method ":" get_profinet_float_input_registers "," params

":{" addr ":addr ," length ": length },"id ":id}

Function: Get the value of the profinet float type input register
Parameter: addr: register start address, range int[0,31]
length: number of registers, range int[1,32]
Note: the sum of addr and length should be less than or equal to 32
Return: list of register values int[length]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Get the value of the profinet float type input register
suc , result , id = sendCMD(sock, ”get_profinet_float_input_registers”,{”addr” :0, ” length
” :1})
print ( result )
else :
print (”Connection failed”)
disconnectETController (sock)

2.2.10.4 Get the value of the profinet float type output register

{" jsonrpc ":"2.0" ," method ":" get_profinet_float_output_registers "," params

":{" addr ":addr ," length ": length },"id ":id}

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Function: Get the value of the profinet float type output register
Parameter: addr: register start address, range int[0,31]
length: number of registers, range int[1,32]
Note: the sum of addr and length should be less than or equal to 32
Return: list of register values int[length]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Get the value of the profinet float type output register
suc , result , id = sendCMD(sock, ”get_profinet_float_output_registers”,{”addr” :0, ”
length ” :1})
print ( result )
else :
print (”Connection failed”)
disconnectETController (sock)

2.2.10.5 Set the value of the profinet int output register

{" jsonrpc ":"2.0" ," method ":" set_profinet_int_output_registers "," params ":{"
addr ":addr ," length ": length ," value ": value },"id": id}

Function: Set the value of the profinet int output register

Parameter: addr: register start address, range int[0,31]
length: number of registers, range int[1,32]
Note: the sum of addr and length should be less than or equal to 32
value: list of register values, type int[length], element range [-2147483648,
2147483647]
Return: Success True, Failure False
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.0.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Set the profinet int output register
suc , result , id = sendCMD(sock, ”set_profinet_int_output_registers” , {”addr”: 1, ”
length ”: 2, ”value”: [1,1]})
print ( result )
else :
print (”Connection failed”)

Note: This command is only supported in remote mode.

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2.2.10.6 Set the value of the profinet float output register

{" jsonrpc ":"2.0" ," method ":" set_profinet_int_output_registers "," params ":{"
addr ":addr ," length ": length ," value ": value },"id": id}

Function: Set the value of the profinet float type output register
Parameter: addr: register start address, range int[0,31]
length: number of registers, range int[1,32]
Note: the sum of addr and length should be less than or equal to 32
value: list of register values, type double[length], element range
[-3.40E+38,3.40E+38]
Return: Success True, Failure False
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.0.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Set the profinet float type output register
suc , result , id = sendCMD(sock, ”set_profinet_float_output_registers” , {”addr”: 0, ”
length ”: 2, ”value”: [1,1]})
print ( result )
else :
print (”Connection failed”)
disconnectETController (sock)

Note: This command is only supported in remote mode.

2.2.11 Backdrive service

2.2.11.1 Get the opening of the servo brake

{" jsonrpc ":"2.0" ," method ":" get_servo_brake_off_status ","id": id}

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Function: Get the opening of the servo brake

Parameter: none
Return: Servo brake open condition array
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”172.16.11.240”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
suc , result , id = sendCMD(sock, ” get_servo_brake_off_status ”)
print (suc , result , id )
else :
print (”Connection failed ”)
disconnectETController (sock)

2.2.11.2 Get whether it is in reverse drive mode

{" jsonrpc ":"2.0" ," method ":" get_backdrive_status ","id":id}

Function: Get whether it is in backdrive mode

Parameter: none
Return: 1: Backdrive mode, 0: Not in backdrive mode
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”172.16.11.240”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
suc , result , id = sendCMD(sock, ”get_backdrive_status”)
print (suc , result , id )
else :
print (”Connection failed ”)
disconnectETController (sock)

2.2.11.3 Enter backdrive mode

{" jsonrpc ":"2.0" ," method ":" enter_backdrive ","id":id}

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Function: Enter backdrive mode

Parameter: none
Return: Success True, Failure False
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”172.16.11.240”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
suc , result , id = sendCMD(sock, ”enter_backdrive”)
print (suc , result , id )
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: This command is only supported in remote mode, and the robot must be in the reset
state.

2.2.11.4 Exit backdrive mode

{" jsonrpc ":"2.0" ," method ":" exit_backdrive ","id":id}

Function: Exit backdrive mode

Parameter: none
Return: Success True, Failure False
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”172.16.11.240”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
suc , result , id = sendCMD(sock, ”exit_backdrive”)
print (suc , result , id )
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: This command is only supported in remote mode, and the robot must be in reverse
drive mode.

2.2.11.5 Reset controller state

{" jsonrpc ":"2.0" ," method ":" reset_robot_status ","id":id}

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Function: Reset controller state

Parameter: none
Return: Success True, Failure False
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”172.16.11.240”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
suc , result , id = sendCMD(sock, ”reset_robot_status”)
print (suc , result , id )
else :
print (”Connection failed”)
disconnectETController (sock)

Note: The robot must be in a stopped or error state (excluding emergency stop alam).
This command is only supported in remote mode.

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2.2.12 Ethernet/IP

2.2.12.1 Get the value of the Ethernet/IP int input register

{" jsonrpc ":"2.0" ," method ":" g e t _ e i p _ i n t _ i n p u t _ r e g i s t e r s "," params ":{

"addr":addr,"length":length},"id ":id}

Function: Get the value of the Ethernet/IP int input register

Parameter: addr: register start address, range int[0,31]
length: number of registers, range int[1,32]
Note: the sum of addr and length should be less than or equal to 32
Return: list of register values int[length]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Get the value of the Ethernet/IP int input register
suc , result , id = sendCMD(sock, ” get_eip_int_input_registers ”,{”addr” :0, ” length ”
:1})
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: This command is applicable to v3.5.2 and above.

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2.2.12.2 Get the value of the Ethernet/IP int output register

{" jsonrpc ":"2.0" ," method ":" get_eip_int_output_registers "," params ":{"
addr ": addr ," length ": length },"id":id}

Function: Get the value of the Ethernet/IP int output register

Parameter: addr: register start address, range int[0,31]
length: number of registers, range int[1,32]
Note: the sum of addr and length should be less than or equal to 32
Return: list of register values int[length]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Get the value of the Ethernet/IP int output register
suc , result , id = sendCMD(sock, ” get_eip_int_output_registers ”,{”addr” :1, ” length ”
:2})
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: This command is applicable to v3.5.2 and above.

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2.2.12.3 Get the value of the Ethernet/IP float type input register

{" jsonrpc ":"2.0" ," method ":" g e t _ e i p _ f l o a t _ i n p u t _ r e g i s t e r s "," params ":{

"addr":addr,"length":length},"id ":id}

Function: Get the value of the Ethernet/IP float input register

Parameter: addr: register start address, range int[0,31]
length: number of registers, range int[1,32]
Note: the sum of addr and length should be less than or equal to 32
Return: list of register values float [length]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Get the value of the Ethernet/IP float input register
suc , result , id = sendCMD(sock, ” get_eip_float_input_registers ”,{”addr” :0, ” length ”
:1})
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: This command is applicable to v3.5.2 and above.

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2.2.12.4 Get the value of the Ethernet/IP float type output register

{" jsonrpc ":"2.0" ," method ":" g e t _ e i p _ f l o a t _ o u t p u t _ r e g i s t e r s "," params ":{

"addr":addr,"length":length},"id ":id}

Function: Get the value of the Ethernet/IP float output register

Parameter: addr: register start address, range int[0,31]
length: number of registers, range int[1,32]
Note: the sum of addr and length should be less than or equal to 32
Return: list of register values float [length]
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Get the value of the Ethernet/IP float output register
suc , result , id = sendCMD(sock, ” get_eip_float_output_registers ”,{”addr” :0, ” length ”
:1})
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: This command is applicable to v3.5.2 and above.

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2.2.12.5 Set the value of the Ethernet/IP int output register

{" jsonrpc ":"2.0" ," method ":" set_eip_int_output_registers "," params ":{"
addr ": addr ," length ": length },"id":id}

Function: Set the value of the Ethernet/IP int output register

Parameter: addr: register start address, range int[0,31]
length: number of registers, range int[1,32]
Note: the sum of addr and length should be less than or equal to 32
value: list of register values, type int[length], element range [-2147483648,
2147483647]
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Set the Ethernet/IP int output register
suc , result , id = sendCMD(sock, ” set_eip_int_output_registers ” , {”addr”: 1, ”
length ”: 2, ”value”: [1,1]})
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: This command is applicable to v3.5.2 and above.

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2.2.12.6 Set the value of the Ethernet/IP float output register

{" jsonrpc ":"2.0" ," method ":" set_eip_float_output_registers "," params ":{"
addr ": addr ," length ": length },"id":id}

Function: Set the value of the Ethernet/IP float output register

Parameter: addr: register start address, range int[0,31]
length: number of registers, range int[1,32]
Note: the sum of addr and length should be less than or equal to 32
value: list of register values, type double[length], element range [-3.40E
+38,3.40E+38]
Return: True for success, False for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip = ”192.168.1.202”
conSuc, sock = connectETController ( robot_ip )
if (conSuc):
# Set the Ethernet/IP float output register
suc , result , id = sendCMD(sock, ” set_eip_float_output_registers ” , {”addr”: 1, ”
length ”: 2, ”value”: [1.1,1.2]})
print ( result )
else :
print (”Connection failed ”)
disconnectETController (sock)

Note: This command can be used only in the remote mode and is applicable to v3.5.2 and above.

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2.2.13 External force sensor service

2.2.13.1 Mark the start of the torque data transfer

{" jsonrpc ":"2.0" ," method ":" s t a r t _ p u s h _ f o r c e "," params ":{" r e t u r n _ f l a g ":
rerurn_flag},"id ":id}

Function: Mark the start of the torque data transfer

Parameter: return_flag: set if there is a return value, bool type. True means that there is
a return value. False means that there isn't a return value.
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip=”192.168.1.200”
conSuc,sock=connectETController( robot_ip)
if (conSuc):
# Mark the start of the torque data transfer
suc , result , id=sendCMD(sock,”start_push_force”,{ ”return_flag”:True})

Note: The function can be used only when the data source of the force control is SDK.

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2.2.13.2 Transfer the torque data

{" jsonrpc ":"2.0" ," method ":" p u s h _ e x t e r n a l _ f o r c e "," params ":{" i n d e x ":index,
"torque_arry":torque_arry},"id ":id}

Function: Transfer the torque data

Parameter: index: serial no., indicates the transfer sequence, range is [0, 65535]
torque_arry*: arry of torque data, double torques[6]
* Note: The data names are given as below: the force in the X-axis direction, the force in
the Y-axis direction, the force in the Z-axis direction, the torque on the X axis, the
torque on the Y axis and the torque on the Z axis. When the data type is double, it
indicates the force in the X-axis direction, the force in the Y-axis direction, the force in
the Z-axis direction, the torque on the X axis, the torque on the Y axis and the torque on
the Z axis under the output coordinate system of the force sensor. The unit of the force
in the X, Y, Z-axis direction is kg and the unit of the torque is kgM. If the unit of the
original data and the coordinate system are different from the defined ones, please
change the parameter first and then pass in them.
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip=”192.168.1.200”
conSuc,sock=connectETController( robot_ip)
if (conSuc):
# Mark the start of the torque data transfer
suc , result , id=sendCMD(sock,”start_push_force”,{ ”return_flag”:True})
if result==True:
# Transfer the torque data
suc , result , id=sendCMD(sock,”push_external_force”,{”index”:0,”torque_arry”:[1,2,3,4,5,6]})

The value of the parameter index shall be gradually increased from 0 to 65535 after a
Note:
complete transfer process is started. When it reaches the maximum, the counter will
restart from 0. The parameter torque_arry will be marked as the latest data by
repeating this process.
Please call the parameter start_push_force first to mark the start of the external torque
data first before using this function. The function can be used only when the data
source of the force control is SDK.

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2.2.13.3 Stop the transfer of the current torque data

{" jsonrpc ":"2.0" ," method ":" stop_push_f o r c e ","id ":id}

Function: End the transfer of the current torque data

Parameter: none
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip=”192.168.1.200”
conSuc,sock=connectETController( robot_ip)
if (conSuc):
# Mark the start of the torque data transfer
suc , result , id=sendCMD(sock,”start_push_force”,{ ”return_flag”:True})
if result==True:
# Transfer the torque data
suc , result , id=sendCMD(sock,”push_external_force”,{”index”:0,”torque_arry”:[1,2,3,4,5,6]})
# Stop the transfer of the torque data
suc , result , id=sendCMD(sock,”stop_push_force”)

Note: The function can be used only when the data source of the force control is SDK.

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2.2.13.4 Get the source of the current torque data

{" jsonrpc ":"2.0" ," method ":" get_force_c t r l _ m o d e ","id ":id}

Function: Get the source of the current torque data

Parameter: none
Return: int[0,4], 0 and 1 indicate that the torque data is from the inside, 2 indicates that
the torque data is from SDK, 3 indicates that the torque data is from LUA 4
indicates that the torque data is from the terminal end
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.200”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
# Get the source of the current torque data
suc , result , id=sendCMD(sock,”get_force_ctrl_mode”)
print ( result )

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2.2.13.5 Get the force and torque of the TCP based on the external force sensor

{" jsonrpc ":"2.0" ," method ":" get_tcp_force_b y _ s e n s o r ","id ":id}

Function: Get the force and torque of the TCP based on the external force sensor
Parameter: none
Return: double force[6], the first three mean the force and the last three mean the
torque
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.223”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”get_tcp_force_by_sensor”)
print ( result )
else:
print (”Connection failed”)
disconnectETController (sock)

Note: This command can be executed only when the external force sensor is connected.
This command is only applicable to v3.9.2 and above.

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2.2.13.6 Examples

2.2.13.6.1 Example 1 (of the data transfer: with the returned value)

1 import socket
2 import json
3 import os
4 import time import sleep
5
6 def connectETController (ip = " 1 9 2 . 1 6 8 . 1 . 2 0 0 " , port =8055) :
7 sock1 = socket . socket ( socket .AF_INET , socket . SOCK_STREAM )
8 try:
9 sock1. connect ((Ip , port))
10 return True , sock1
11 except Exception as e:
12 p r i n t ('error is',e)
13 sock1. close ()
14 return False , None
15
16 def disconnectETController (sock1):
17 if (sock1):
18 sock1. close ()
19 sock1 = None
20 else:
21 sock1 = None
22 def sendCMD (sock 1 , cmd , params = None , id =1):
23 if (not params ):
24 params = []
25 else:
26 params = json. dumps( params )
27 sendStr = "{{\" method \":\"{0}\" ,\" params \":{1} ,\" jsonrpc
\":\"2.0\" ,\" id \":{2}}} ". format (cmd , params , id) + "\n"
28 try:
29 # print ( sendStr )
30 sock1. sendall ( bytes(sendStr , "utf -8"))
31 ret = sock1.recv (1024)
32 jData = json. loads(str(ret , "utf -8"))
33 # print( “ r a w d a t a : ” , j D a t a )
34 if " result " in jData .keys ():

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35 return True , json.loads(jData[" result "]), jData["id"]

36 elif "error " in jData.keys ():
37 return False , jData["error "], jData["id"]
38 else:
39 return False , None , None
40 except Exception as e:
41
42 return False , None , None
43
44 if __name__ == " __main__ ":
45 robot_ip = " 192.168.1.200 "
46 return_flag = True
47
48 conSuc , sock = connectETController (robot_ip)
49 if conSuc :
50 ret , result , id = sendCMD (sock , " get_ f o r c e _ c t r l _ m o d e ")
51 if result ! = 2: # sdk mode = 2
52 print(" p l e a s e c h a n g e t h e m o d e t o s d k . ")
53 exit()
54
55 ret , result , id = sendCMD (sock , " s t a r t _ p u s h _ f o r c e ",
{"return_flag":return_flag})
56 if result ! = True:
57 exit()
58
59 # torque data array
60 arry = [1.2,2.3,3.2,4.4,5.6,6.9]
61 index = 0
62 cycle_time = 0.005 #interval(ms)
63 host_time = 5 #last time(s)
64 loopCnt = host_time / cycle_time
65 w h i l e loopCnt > 0:
66 ret , result , id = sendCMD (sock , " p u s h _ e x t e r n a l _ f o r c e ",)
{"index":index,"torque_arry":arry})
67 if result ! = True:
68 print(" p u s h _ e x t e r n a l _ f o r c e f a i l e d ! ", result)
69 break
70
71 sleep(cycle_time)
72 loopCnt -= 1

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73 arry[0] += 1
74 index += 1
75
76 ret , result , id = sendCMD (sock , " s t o p _ p u s h _ f o r c e " )
77 else:
78 print(" C o n n e c t i o n f a i l e d ")

79 disconnectETController (sock)

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2.2.13.6.2 Example 2 (of the data transfer: with no returned value)

1 import socket
2 import json
3 import os
4 from time import sleep
5
6 def connectETController (ip = " 1 9 2 . 1 6 8 . 1 . 2 0 0 " , port =8055) :
7 sock1 = socket . socket ( socket .AF_INET , socket . SOCK_STREAM )
8 try:
9 sock1. connect ((Ip , port))
10 return True , sock1
11 except Exception as e:
12 p r i n t ('error is',e)
13 sock1. close ()
14 return False , None
15
16 def disconnectETController (sock1):
17 if sock1:
18 sock1. close ()
19 sock1 = None
20 else:
21 sock1 = None
22
23 def sendCMD (sock 1 , cmd , params = None , id =1):
24 if not params :
25 params = []
26 else:
27 params = json. dumps( params )
28 sendStr = "{{\" method \":\"{0}\" ,\" params \":{1} ,\" jsonrpc
\":\"2.0\" ,\" id \":{2}}} ". format (cmd , params , id) + "\n"
29 try:
30 sock1. sendall ( bytes(sendStr , "utf -8"))
31 ret = sock1.recv (1024)
32 jData = json. loads(str(ret , "utf -8"))
33 if " result " in jData .keys ():
34 return True , json. loads( jData[" result "]), jData["id"]
35 elif " error " in jData.keys ():

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38 return False , None , None

39 except Exception as e:
40 p r i n t ('error is',e)
41 return False , None , None
42
43 def p u s h _ e x t e r n a l _ f o r c e _ w i t h o u t _ r e t u r n (index, arry):
44 cmd = "push_external_force"
45 params = {"index":index, "torque_arry":arry}
46 if not params :
47 params = []
48 else:
49 params = json. dumps( params )
50 id = 1
51 sendStr = "{{\" method \":\"{0}\" ,\" params \":{1} ,\" jsonrpc
\":\"2.0\" ,\" id \":{2}}} ". format (cmd , params , id) + "\n"
52 sock1. sendall ( bytes(sendStr , "utf -8"))
53
54 if __name__ == " __main__ ":
55 robot_ip = " 192.168.1.200 "
56 return_flag = False
57
58 conSuc , sock = connectETController (robot_ip)
59 if conSuc :
60 ret , result , id = sendCMD (sock , " get_ f o r c e _ c t r l _ m o d e ")
61 if result ! = 2: # sdk mode = 2
62 print(" p l e a s e c h a n g e t h e m o d e t o s d k . ")
63 exit()
64
65 ret , result , id = sendCMD (sock , " s t a r t _ p u s h _ f o r c e ",
{"return_flag":return_flag})
66 if result ! = True:
67 exit()
68
69 # torque data array
70 arry = [1.2,2.3,3.2,4.4,5.6,6.9]
71 index = 0

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72 cycle_time = 0.005 #interval(ms)

73 host_time = 5
74 loopCnt = host_time / cycle_time
75 w h i l e loopCnt > 0:
76 p u s h _ e x t e r n a l _ f o r c e _ w i t h o u t _ r e t u r n (index, arry)
77 sleep(cycle_time)
78 loopCnt -= 1
79 arry[0] += 1
80 index += 1
81 else:
82 print(" Connection failed")
83
84 disconnectETController (sock)
85 conSuc , sock = connectETController (robot_ip)
86 if conSuc :
87 ret , result , id = sendCMD (sock , " stop_ p u s h _ f o r c e ")
88 disconnectETController (sock)

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2.2.13.6.3 Example 3 (of the data parsing and transfer)

1 import serial
2 import time
3 import socket
4 import json
5 import struct
6 from time import sleep
7
8 def connectETController(Ip="172.16.11.199", port=8055):
9 sock1 = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
10 try:
11 sock1.connect((Ip, port))
12 return True, sock1
13 except Exception as e:
14 print('error is', e)
15 sock1.close()
16 return False, None
17
18
19 def disconnectETController(sock1):
20 if sock1:
21 sock1.close()
22
23 def sendCMD(sock1, cmd, params = None, id=1):
24 if not params:
25 params = []
26 else:
27 params = json.dumps(params)
28 sendStr ="{{\"method\":\"{0}\",\"params\":{1},\"jsonrpc\":\"2.0\",\"id\":{2}}}".
format(cmd, params, id) + "\n"
29 try:
30 sock1.sendall(bytes(sendStr, "utf-8"))
31 ret = sock1.recv(1024)
32 jData = json.loads(str(ret, "utf-8"))
33 if "result" in jData.keys():
34 return True, json.loads(jData["result"]), jData["id"]
35 elif "error" in jData.keys():
36 return False, jData["error"], jData["id"]
37 else:
38 return False, None, None
39 except Exception as e:
40 print('error is', e)
41 return False, None, None

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42
43 # Global variable
44 portDev = 'COM4'
45 baud = 460800 # 115200
46 parity = serial.PARITY_NONE # PARITY_ODD/PARITY_EVEN
47 stopbits = serial.STOPBITS_ONE
48 bytesize = serial.EIGHTBITS
49 tmout = 0.02 # unit sec
50
51 CMD_STOP_SEND = '43AA0D0A'
52 CMD_CLEAR_SEND = '47AA0D0A'
53 CMD_SEND_DATA = '49AA0D0A'
54 CMD_ACTIVE_SEND = '48AA0D0A'
55 DATA_HEAD = '48AA'
56 DATA_TAIL = '0D0A'
57
58 if __name__ == "__main__":
59 robot_ip = "172.16.11.200"
60 return_flag = True
61 index = 0
62 torque = [0, 0, 0, 0, 0, 0]
63 tm_begin = 0
64 call_tm = 0
65 err_cnt = 0
66
67 # Open the serial port
68 try:
69 ser = serial.Serial(port=portDev, baudrate=baud, parity=parity,
stopbits=stopbits, bytesize=bytesize, timeout=tmout)
70 except serial.serialutil.SerialException as err:
71 print("OS error: {0}".format(err))
72 exit()
73
74 if not ser.isOpen:
75 print("serial open unsuccessful.")
76 exit()
77
78 # Clear the buffer zone
79 ser.flushInput()
80
81 # Connect the robot
82 conSuc, sock = connectETController(robot_ip)
83 if not conSuc:
84 print("Failed to connect to Robot.")

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85 exit()
86
87 # Check if the data source of the force control mode is SDK
88 ret, result, id = sendCMD(sock, "get_force_ctrl_mode")
89 if result != 2: # sdk mode = 2
90 print("please change the mode to sdk.")
91 exit()
92
93 ret, result, id = sendCMD(sock, "stop_push_force")
94
95 # The sensor sends the data actively
96 while True:
97 ser.flushInput()
98 ser.write(bytes.fromhex(CMD_ACTIVE_SEND))
99 count = ser.inWaiting() # Get the buffer zone data of the serial port
100 if count > 0: # It is configured successfully if the data is received
101 break
102 sleep(0.01)
103
104 # Mark the start of the torque data transfer
105 ret, result, id = sendCMD(sock, "start_push_force", {"return_flag" :
return_flag})
106 if result != True:
107 exit()
108
109 print("Start to transmission force torque data.")
110
111 # Main loop
112 while True:
113 # A frame of the valid data is 28 bytes
114 if count > 27:
115 recvRaw = ser.read(count) # Read the serial port data, bytes type
116 beginIdx = recvRaw.find(bytes.fromhex(DATA_HEAD))
117 if beginIdx != -1:
118 endIdx = recvRaw.find(bytes.fromhex(DATA_TAIL), beginIdx)
119 if endIdx != -1 and endIdx - beginIdx == 26:
120 recv = recvRaw[beginIdx:endIdx + 2]
121 recv = list(recv)
122 f1_raw = recv[2:6]
123 f2_raw = recv[6:10]
124 f3_raw = recv[10:14]
125 f4_raw = recv[14:18]
126 f5_raw = recv[18:22]
127 f6_raw = recv[22:26]

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128 f1 = struct.unpack('f', bytes(f1_raw))[0]

129 f2 = struct.unpack('f', bytes(f2_raw))[0]
130 f3 = struct.unpack('f', bytes(f3_raw))[0]
131 f4 = struct.unpack('f', bytes(f4_raw))[0]
132 f5 = struct.unpack('f', bytes(f5_raw))[0]
133 f6 = struct.unpack('f', bytes(f6_raw))[0]
134 torque = [f1, f2, f3, f4, f5, f6]
135 ser.flushInput()
136 err_cnt = 0
137 else:
138 sleep(0.001)
139 else:
140 sleep(0.001)
141 else:
142 err_cnt += 1
143 if err_cnt > 50 :
144 print("sensor data receive length(%d) error, Transmission
quit!"%(count))
145 break
146
147
148 # Count the time to complete a transmission for the commissioning
149 tm_now = time.perf_counter()
150 tm_elapse = tm_now - tm_begin
151 tm_begin = tm_now
152 ret, result, id = sendCMD(sock, "push_external_force", {"index":index,
"torque_arry":torque})
153 if result != True:
154 tm_now = time.perf_counter()
155 curr_call_tm = tm_now - tm_begin # Count the timing of calling the port
156 print("last call time = %f, once loop elapse time = %f, current call
time = %f." % (call_tm, tm_elapse, curr_call_tm))
157 print("push_external_force failed!", result)
158 break
159
160 # Count the timing of calling the port last time
161 call_tm = time.perf_counter() - tm_begin
162 # Necessary steps
163 if index >= 65535:
164 index = 0
165 else:
166 index += 1
167
168 sleep(0.001)

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169 count = ser.inWaiting() # Get the buffer zone data of the serial port
170
171 ret, result, id = sendCMD(sock, "stop_push_force")
172 disconnectETController(sock)
173 ser.close()

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2.2.14 Hardware Communication Control Service

2.2.14.1 Open the serial port of the hardware

{" jsonrpc ":"2.0" ," method ":" o p e n _ s e r i a l _ p o r t "," params ":{" d e v i c e _ t y p e ":
device_type},"id ":id}

Function: Open the serial port of the hardware

Parameter: device_type: data type, standard parameter, int[0,1], 0 means RS232
communication, 1 means RS485 communication
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip=”172.16.11.248”
conSuc,sock=connectETController( robot_ip)
if (conSuc):
suc , result , id=sendCMD(sock,”open_serial_port”,{ ”device_type”:0})
print (suc , result , id )
else:
print (”Connection failed”)
disconnectETController (sock)

Note: After the serial port is successfully opened, the serial data will be automatically
configured. The default baud rate is 9600. The default data length is 8. The default
parity bit is N, The default stop bit is 1. To modify the settings, please refer to
the section "Configure the serial port".
This command is only supported in the remote mode. This command is applicable to
v3.6.2 and above.

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2.2.14.2 Configure the serial port of the hardware

{" jsonrpc ":"2.0" ," method ":" s e t o p t _ s e r i a l _ p o r t "," params ":{" b a u d _ r a t e ":9600，
“bits":8,"event":"N", "stop":1},"id ": id}

Function: Configure the serial port of the hardware

Parameter: baud_rate: baud rate, int type, optional parameter.
RS232 communication: there are 10 choices of the baud rate, i.e. 2400, 4800,
9600, 19200, 38400, 57600, 115200, 230400, 460800 and 500000. When not
passing in the parameter, the baud rate is 9600 by default
RS485 communication: there are 14 choices of the baud rate, i.e. 2400, 4800,
9600, 19200, 38400, 57600, 115200, 230400, 460800, 500000, 921600, 1000000,
2000000 and 3000000. When not passing in the parameter, the baud rate is 9600
by default
bits: data length, int type, optional parameter, there are 2 choices of the data
length, i.e. 7 and 8. When not passing in the parameter, the data length is 8 by
default
event: parity check, string data type, optional parameter, there are 3 choices of the
parity check, i.e. O, N and E. When not passing in the parameter, the parity check
is none by default
stop: stop bit, int type, optional parameter, there are 2 choices of the stop bit, i.e. 1
and 2. When not passing in the parameter, the stop bit is 1 by default
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”open_serial_port”,{”device_type”:0})
print ( suc, result, id )
suc , result , id=sendCMD(sock,”setopt_serial_port”,{”baud_rate”:9600,”bits”:8, ”event”:“N”，
”stop”:1})
print (suc , result , id )
else:
print (”Connection failed”)
disconnectETController (sock)

Note: This command can be executed only when the serial port is opened.
This command is only supported in the remote mode. This command is applicable to
v3.6.2 and above.

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2.2.14.3 Receive the data

{" jsonrpc ":"2.0" ," method ":" recv_serial_p o r t ""params":{"count":5},"id ":id}

Function: Receive the data

Parameter: count: received data length, standard parameter, int[0,256]
hex: received data mode, optional parameter, there are 2 choices of the data mode,
int[0,1]. 0 means ASCII (text) mode, 1 means the hexadecimal mode. When not
passing in the parameter, the default is the text mode
timeout: time-out period, optional parameter, int[0,2147483647], when not passing
in the parameter, the timeout is 100ms by default
Return: result: true for success, false for failure
size: data length collected
buf: data collected
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”open_serial_port”,{”device_type”:0})
print (suc , result , id )
suc , recv , id=sendCMD(sock,”recv_serial_port”,{”count”:100,”hex”:0, ”timeout”:10})
print ( suc, recv, id )
time.sleep(1)
else:
print (”Connection failed”)
disconnectETController (sock)

Note: The results returned will determine if the data is valid or invalid. When the result is
true, the data is valid. This command can be executed only when the serial port is
opened. This command is only supported in the remote mode. This command is applic-
able to v3.6.2 and above.

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2.2.14.4 Send the data

{" jsonrpc ":"2.0" ," method ":" s e n d _ s e r i a l _ p o r t "," params ":{" s e n d _ b u f ":"hello
world!"},"id ": id}

Function: Send the data

Parameter: send_buf: data to be sent, string data type, length of the string data is max. 256
hex: data mode sent, optional parameter, there are 2 choices of the data mode, i.e.
int[0,1]. 0 means ASCII (text) mode, 1 means the hexadecimal mode.
Return: result: true for success, false for failure
size: data length sent

Example: if __name__ == ”__main__”:

# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”open_serial_port”,{”device_type”:0})
print ( suc, result, id )
suc , result , id=sendCMD(sock,”send_serial_port”,{”send_buf”:“1024”,”hex”:0})
print ( suc, result, id )
else:
print (”Connection failed”)
disconnectETController (sock)

Note: The command can be executed only when the serial port is opened. This command is
only supported in the remote mode. This command is applic-able to v3.6.2 and above.

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2.2.14.5 Clear the buffer zone of the hardware serial port

{" jsonrpc ":"2.0" ," method ":" flush_serial_p o r t ","id ":id}

Function: Clear the buffer zone of the hardware serial port

Parameter: none
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”flush_serial_port”)
print ( suc, result, id )
else:
print (”Connection failed”)
disconnectETController (sock)

Note: This command is only supported in the remote mode. This command is applicable to
v3.6.2 and above.

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2.2.14.6 Close the serial port of the hardware

{" jsonrpc ":"2.0" ," method ":" close_serial_p o r t ","id ":id}

Function: Close the serial port of the hardware

Parameter: none
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”close_serial_port”)
print ( suc, result, id )
else:
print (”Connection failed”)
disconnectETController (sock)

Note: This command is only supported in the remote mode. This command is applicable to
v3.6.2 and above.

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2.2.15 TCI Communication Control Service

2.2.15.1 Open theTCI serial port

{" jsonrpc ":"2.0" ," method ":" open_tci","id ": id}

Function: Open the TCI serial port

Parameter: none
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip=”172.16.11.248”
conSuc,sock=connectETController( robot_ip)
if (conSuc):
suc , result , id=sendCMD(sock,”open_tci ”)
print (suc , result , id )
else:
print (”Connection failed”)
disconnectETController (sock)

Note: After the serial port is successfully opened, the serial data will be automatically
configured. The default baud rate is 9600. The default data length is 8. The default
parity bit is N, The default stop bit is 1. To modify the settings, please refer to
the section "Configure the serial port".
This command is only supported in the remote mode. This command is applicable to
v3.6.2 and above.

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2.2.15.2 Configure the TCI serial port

{" jsonrpc ":"2.0" ," method ":" s e t o p t _ t c i "," params ":{" b a u d _ r a t e ":9600，"bits":8,
"event":"N", "stop":1},"id ": id}

Function: Configure the TCI serial port

Parameter: baud_rate: baud rate, int type, optional parameter, there are 13 choices of the baud
rate, i.e. 2400, 4800, 9600, 19200, 38400, 57600, 115200, 230400, 460800,
500000, 921600, 1000000 and 2000000. When not passing in the parameter, the
baud rate is 9600 by default
bits: data length, int type, optional parameter, the data length is 8
event: parity check, string data type, optional parameter, there are 3 choices of the
parity check, i.e. O, N and E. When not passing in the parameter, the parity check
is none by default
stop: stop bit, int type, optional parameter, there are 2 choices of the stop bit, i.e. 1
and 2. When not passing in the parameter, the stop bit is 1 by default
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”open_tci”)
print ( suc, result, id )
suc , result , id=sendCMD(sock,”setopt_tci”,{”baud_rate”:9600,”bits”:8, ”event”:“N”，
”stop”:1})
print (suc , result , id )
else:
print (”Connection failed”)
disconnectETController (sock)

Note: This command can be executed only when the serial port is opened. This command
is only supported in the remote mode. This command is applicable to v3.6.2 and
above.

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2.2.15.3 Receive the data

{" jsonrpc ":"2.0" ," method ":" recv_t c i ""params":{"count":5},"id ":id}

Function: Receive the data

Parameter: count: received data length, standard parameter, int[0,256]
hex: received data mode, optional parameter, there are 2 choices of the data mode,
int[0,1]. 0 means ASCII (text) mode, 1 means the hexadecimal mode. When not
passing in the parameter, the default is the text mode
timeout: time-out period, optional parameter, int[0,2147483647], when not passing
in the parameter, the timeout is 100ms by default
Return: result: true for success, false for failure
size: data length collected
buf: data collected
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”open_tci”)
print (suc , result , id )
suc , recv , id=sendCMD(sock,”recv_tci”,{”count”:100,”hex”:0, ”timeout”:10})
print ( suc, recv, id )
time.sleep(1)
else:
print (”Connection failed”)
disconnectETController (sock)

Note: The results returned will determine if the data is valid or invalid. When the result is
true, the data is valid. This command can be executed only when the serial port is
opened. This command is only supported in the remote mode. This command is applic-
able to v3.6.2 and above.

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2.2.15.4 Send the data

{" jsonrpc ":"2.0" ," method ":" s e n d _ t c i "," params ":{" s e n d _ b u f ":"hello world!"},
"id ": id}

Function: Send the data

Parameter: send_buf: data to be sent, string type, length of the string data is max. 256
hex: data mode sent, optional parameter, there are 2 choices of the data mode, i.e.
int[0,1]. 0 means ASCII (text) mode, 1 means the hexadecimal mode.
Return: result: true for success, false for failure
size: data length sent

Example: if __name__ == ”__main__”:

# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”open_tci”)
print ( suc, result, id )
suc , result , id=sendCMD(sock,”send_tci”,{”send_buf”:”1024”,”hex”:0})
print ( suc, result, id )
else:
print (”Connection failed”)
disconnectETController (sock)

Note: The command can be executed only when the serial port is opened. This command is
only supported in the remote mode. This command is applicable to v3.6.2 and above.

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2.2.15.5 Clear the buffer zone of the TCI serial port

{" jsonrpc ":"2.0" ," method ":" flush_t c i ","id ":id}

Function: Clear the buffer zone of the TCI serial port

Parameter: none
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”flush_tci”)
print ( suc, result, id )
else:
print (”Connection failed”)
disconnectETController (sock)

Note: This command is only supported in the remote mode. This command is applicable to
v3.6.2 and above.

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2.2.15.6 Close the TCI serial port

{" jsonrpc ":"2.0" ," method ":" close_t c i ","id ":id}

Function: Close the TCI serial port

Parameter: none
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”close_tci”)
print ( suc, result, id )
else:
print (”Connection failed”)
disconnectETController (sock)

Note: This command is only supported in the remote mode. This command is applicable to
v3.6.2 and above.

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2.2.16 Force Control Service

2.2.16.1 Start the force control

{" jsonrpc ":"2.0" ," method ":" s t a r t _ f o r c e _ m o d e "," params ":{" m o d e ": 3 ,
mode
" a r r _ f r a m e ": f r a m e ," a r r _ o p t i o n a l ":[6,1,5,1,0,1]," a r r _ t o r q u e ":
[-10,-10,-10,1.3,1.30,1.30]," arr_s p e e d ": s p e e d },"id":id}

Function: Start the force control mode

Parameter: mode: mode, optional parameter, int[0,4], The numbers mean the fixed mode, the
point mode, the motion mode, the TCP mode and the pose mode. The default is 0.
arr_frame: the user-specified force control coordinate system, optional parameter, unit
of x, y and z is mm, range is [-10000,10000], unit of Rx, Ry and Rz is radian, range is
[-π,π]. The default is [0,0,0,0,0,0] and the the force control coordinate system will be
concentric with the TCP coordinate system.
arr_optional: force control method (mask of the DOFs), optional parameter, the value
range is int[0,6] and the numbers mean the motion control, the force tracking, the
fixed mode, the floating mode, the spring mode, the floating mode & motion control,
the spring mode & motion control. The default is [0,0,0,0,0,0,] and it indicates the
motion control.
arr_torque: target torque, optional parameter, double arr_torque[6], the first three
numbers mean the force, the torque range of EC63 is [-30,30]N, the torque range of
EC66 is [-60,60]N, the torque range of EC612 is [-120,120]N and the torque range of
EC616 is [-160,160]N; the last three numbers mean the torque and the range is
[-1.5,1.5]N. The default is [0,0,0,0,0,0]
arr_speed: speed limit, optional parameter, unit is mm/s and °/s, double arr_speed[6],
the first three numbers mean the linear speed, range is [0,200]; the last three numbers
mean the angular speed, range is [0,11]. The default is [100, 100,100, 5.73, 5.73, 5.73]
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip=”172.16.11.248”
conSuc,sock=connectETController( robot_ip)
if (conSuc):
suc , result , id=sendCMD(sock,”start_force_mode”,{”mode”:0, ”arr_frame”:[0,0,0,0,0,0],
”arr_optional”:[1,0,0,0,0,0], ”arr_torque”:[1,0,0,0,0,0], ”arr_speed”:[100,100,100,5.73,
5.73,5.73]})
print (suc , result , id )
else:
print (”Connection failed”)
disconnectETController (sock)

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Note: The force control function can be enabled by using this command. In the process,
users can dynamically configure the related parameters.
When the force control mode is started, the jog movement is executed and the force
control mode will be automatically ended.
It is impossible to start the force control mode and configure the parameters when
the robot is moving.
It is also impossible to start the force control mode when selecting "Unknown data
source" from the drop-down list.
The drag function and the force control function are mutually exclusive. They
cannot work together.
Currently, users can only select the fixed mode, the TCP mode, the motion control
and the force tracking. This command is applicable to v3.6.2 and above.

2.2.16.2 End the force control mode

{" jsonrpc ":"2.0" ," method ":" e n d _ f o r c e _ m o d e ","id": id}

Function: End the force control mode

Parameter: none
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”end_force_mode”)
print (suc , result , id )
else:
print (”Connection failed”)
disconnectETController (sock)

Note: Once the force control mode is started, it is impossible to end the mode during the
robotic movement and the robot will stop running after sending this command.
This command is applicable to v3.6.2 and above.

2.2.16.3 Get the state of the force control mode

{" jsonrpc ":"2.0" ," method ":" g e t _ f o r c e _ m o d e _ s t a t e ","id": id}

Function: End the force control mode

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Parameter: none
Return: True means that the robot is in the force control mode, false means that it is not in the
force control mode
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.248”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”get_force_mode_state”)
print (suc , result , id )
else:
print (”Connection failed”)
disconnectETController (sock)

Note: This command is applicable to v3.6.2 and above.

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2.2.16.4 Clear all values of the force sensor to zero

{" jsonrpc ":"2.0" ," method ":" zero_f o r c e _ s e n s o r ","id ":id}

Function: Clear all values of the force sensor to zero and record the current force sensor data
Parameter: none
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”192.168.1.240”
conSuc,sock=connectETController( robot_ip )
point = []
point.append([0, -107.828, 119.349, -109.754, 83.351, -5.531, 0, 0])
point.append([10, -98.342, 51.251, -92.155, 90, 0, 0, 0])
point.append([-10.60024752475249, -80.04362623762376, 135.67295792079207,
-193.44984567901236, 123.90856481481481, 24.090277777777775])
point.append([47.40996287128712, -51.567450495049506, 49.92419554455446,
-88.9988425925926, 79.45138888888889, 160.08603395061726])
if (conSuc):
# Get the servo status of the robotic arm
suc , result , id=sendCMD(sock,”getServoStatus”)
print (suc, result, id )
if (result = =0):
# Set the servo status of the robotic arm to ON
suc , result , id=sendCMD(sock,”set_servo_status”,{”status”:1})
print (suc, result, id)
# Joint movement to the starting point
suc , result , id=sendCMD(sock,”moveByJoint”,{”targetPos”: point[0],”speed”:10,”acc”:20,”dec”:
20})
print (result):
time.sleep(1)
while 1:
ret, result, id=sendCMD(sock,”getRobotState”) :
if result==0:
break
# Start the force control mode
suc , result , id=sendCMD(sock,”start_force_mode”,{”mode”:0,”arr_frame”:[0,0,0,0,0,0],
” arr_optional ”:[0,0,1,0,0,0], ”arr_torque”:[0,0,0,0,0,0],”arr_speed”:[100,100,100,5.73,5.73,5.73]
})
print (suc, result, id)
# Clear all values to zero
ret, result , id=sendCMD(sock,”zero_force_sensor”)
print ( ”Clear all values to zero:”, result )
suc , result , id=sendCMD(sock,”moveByLine”,{”targetPos”: point[1],”speed”:100,”speed_type”:

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0, ”acc”:80,”dec”:80})
print (result):
while 1:
ret, result, id=sendCMD(sock,”getRobotState”) :
if result==0:
break
# End the force control mode
suc , result , id=sendCMD(sock,”end_force_mode”)
print (suc, result, id)
else :
print (”Connection failed”)
disconnectETController (sock)

Note: The current force sensor data will be read & saved when inserting the command
after STARTFORCEMODE. In the process of the force control, the current readings
will subtract what is previously saved.
The command is only valid when selecting LUA, SDK and Back-end data source in
the force control mode.
The command is only supported in remote mode. In the force control mode, the
command will be invalid after sending the command end_force_mode.

2.2.16.5 Start the force-seeking movement

{" jsonrpc ":"2.0" ," method ":" f c _ a c t ","id": id}

Function: Start the force-seeking movement

Parameter: none
Return: True for success, false for failure
Example: if __name__ == ”__main__”:
# Robot IP address
robot_ip =”172.16.11.223”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”start_force_mode”,{”mode”:0,”arr_frame”:[0,0,0,0,0,0],
” arr_optional ”:[0,0,1,0,0,0], ”arr_torque”:[0,0,0,0,0,0],”arr_speed”:[10,10,10,1,1,1]})
print ( suc, result, id )
ret, result , id=sendCMD(sock,”fc_act”)
print (”force-seeking movement：”，result)
time.sleep(1)
else:
print (”Connection failed”)
disconnectETController (sock)
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Note: After sending the instruction fc_act, the robot will start the force-seeking
movement. The force-seeking movement will be ended if other instructions like the
linear movement, the joint movement and the linear motion under specified
coordinate system are sent in the process. And the robot will execute these new
instructions.
The force-seeking movement will also be ended if the robot reports errors.
The robot will stop running and the force-seeking movement will be ended when
the pause or stop instruction is sent in the process.
This command is valid only when the robot stops running.
This command is only supported in remote mode
This command is applicable to v3.9.2 and above.

2.2.16.6 End the force-seeking movement

{" jsonrpc ":"2.0" ," method ":" f c _ d e a c t ","id": id}

Function: End the force-seeking movement

Parameter: none
Return: True for success, false for failure

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Example: if __name__ == ”__main__”:

# Robot IP address
robot_ip =”172.16.11.223”
conSuc,sock=connectETController( robot_ip )
if (conSuc):
suc , result , id=sendCMD(sock,”start_force_mode”,{”mode”:0,”arr_frame”:[0,0,0,0,0,0],
” arr_optional ”:[0,0,1,0,0,0], ”arr_torque”:[0,0,0,0,0,0],”arr_speed”:[10,10,10,1,1,1]})
print ( suc, result, id )
ret, result , id=sendCMD(sock,”fc_act”)
print (”force-seeking movement: ”，result)
time.sleep(10)
ret, result , id=sendCMD(sock,”fc_deact”)
print (”End the force-seeking movement: ”，result)
suc , result , id=sendCMD(sock,”end_force_mode”)
print ( suc, result, id )
else:
print (”Connection failed”)
disconnectETController (sock)

Note: This command is only supported in remote mode and is applicable to v3.9.2 and above.

2.3 Examples

2.3.1 Example 1

1 import socket
2 import json
3 import time
4 import random
5
6 def connectETController (ip ,port =8055) :
7 sock = socket . socket ( socket .AF_INET , socket . SOCK_STREAM )
8 try:
9 sock. connect ((ip ,port))
10 return (True ,sock)
11 except Exception as e:
12 sock.close ()
13 return (False ,None)
14
15 def disconnectETController (sock):
16 if(sock):
17 sock.close ()
18 sock=None
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19 else:
20 sock=None
21
22 def sendCMD (sock ,cmd , params =None ,id =1):
23 if(not params ):
24 params =[]
25 else:
26 params =json. dumps ( params )
27 sendStr ="{{\" method \":\"{0}\" ,\" params \":{1} ,\" jsonrpc \":\"2.0\" ,\"
id \":{2}}} ". format (cmd ,params ,id)+"\n"
28 try:
29 sock. sendall ( bytes (sendStr ,"utf -8"))
30 ret =sock.recv (1024)
31 jdata=json.loads (str(ret ,"utf -8"))
32 if(" result " in jdata .keys ()):
33 return (True ,json.loads(jdata[" result "]) ,jdata["id"])
34 elif("error" in jdata.keys ()):
35 return (False , jdata[" error "], jdata["id"])
36 else:
37 return (False ,None ,None)
38 except Exception as e:
39 return (False ,None ,None)
40
41 if __name__ == " __main__ ":
42 # Robot IP address
43 robot_ip =" 192.168.1.202 "
44 conSuc ,sock= connectETController ( robot_ip )
45 print( conSuc )
46 if( conSuc ):
47 # Clear alarm
48 ret , result , id = sendCMD (sock , " clearAlarm ")
49 print("Clear alarm ")
50 print("ret = ", ret , "", "id = ", id)
51 if (ret == True):
52 print(" result = ", result )
53 time.sleep (1)
54 else:
55 print(" err_msg = ", result [" message "])
56 # Get synchronization status
57 ret , result , id = sendCMD (sock , " getMotorStatus ")
58 print("Get synchronization status ")
59 print("ret = ", ret , "", "id = ", id)
60 if (ret == True):
61 print(" result = ", result )
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63 # Synchronize
64 ret1 , result1 , id = sendCMD (sock , " syncMotorStatus ")
65 print(" synchronization ")
66 print("ret = ", ret1 , "", "id = ", id)
67 if (ret1 == True):
68 print(" result = ", result1 )
69 time.sleep (0.5)
70 else:
71 print(" err_msg = ", result1 [" message "])
72 else:
73 print(" err_msg = ", result [" message "])
74
75
76 # Turn on the servo
77 ret , result , id = sendCMD (sock , " set_servo_status ", {" status "
:1})
78 print("Turn on the servo ")
79 print("ret = ", ret , "", "id = ", id)
80 if (ret == True):
81 print(" result = ", result )
82 time.sleep (1)
83 else:
84 print(" err_msg = ", result [" message "])
85 # Get servo status
86 ret , result , id = sendCMD (sock , " getServoStatus ")
87 print("ret = ", ret , "", "id = ", id)
88 if(ret == True):
89 print(" result = ", result )
90 else:
91 print(" err_msg = ", result [" message "])
92 else:
93 print(" Connection failed ")
94 disconnectETController (sock)

2.3.2 Example 2

1 import socket
2 import json
3 import time
4
5
6 # v1 .2

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7
8 def connectETController (ip , port =8055) :
9 sock = socket . socket ( socket .AF_INET , socket . SOCK_STREAM )
10 try:
11 sock. connect ((ip , port))
12 return (True , sock)
13 except Exception as e:
14 sock.close ()
15 return (False , None)
16
17
18 def disconnectETController (sock):
19 if (sock):
20 sock.close ()
21 sock = None
22 else:
23 sock = None
24
25
26 def sendCMD (sock , cmd , params =None , id =1):
27 if (not params ):
28 params = []
29 else:
30 params = json.dumps( params )
31 sendStr = "{{\" method \":\"{0}\" ,\" params \":{1} ,\" jsonrpc
\":\"2.0\" ,\" id \":{2}}} ". format (cmd , params , id) + "\n"
32 try:
33 # print ( sendStr )
34 sock. sendall (bytes(sendStr , "utf -8"))
35 ret = sock.recv (1024)
36 jdata = json.loads(str(ret , "utf -8"))
37 if (" result " in jdata.keys ()):
38 return (True , json.loads(jdata[" result "]), jdata["id"])
39 elif ("error" in jdata.keys ()):
40 return (False , jdata["error"], jdata["id"])
41 else:
42 return (False , None , None)
43 except Exception as e:
44 return (False , None , None)
45
46
47 if __name__ == " __main__ ":
48 ip = " 192.168.1.205 "

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49 conSuc , sock = connectETController (ip)

50 # print ( conSuc )
51 if ( conSuc ):
52 # Get robot status
53 ret , result , id = sendCMD (sock , " getRobotState ")
54 print("Get robot status ")
55 print("ret = ", ret , " ", "id = ", id)
56 if (ret == True):
57 print(" result = ", result )
58 else:
59 print(" err_msg = ", result [" message "])
60 # Get robot mode
61 ret , result , id = sendCMD (sock , " getMotorStatus ")
62 print("Get robot mode")
63 print("ret = ", ret , " ", "id = ", id)
64 if (ret == True):
65 print(" result = ", result )
66 else:
67 print(" err_msg = ", result [" message "])
68 # Get the current position information of the robot
69 ret , result , id = sendCMD (sock , " get_joint_pos ")
70 print("Get the current position information of the robot ")
71 print("ret = ", ret , " ", "id = ", id)
72 if (ret == True):
73 print(" result = ", result )
74 else:
75 print(" err_msg = ", result [" message "])
76 # Get the current pose information of the robot
77 print("Get the current pose information of the robot ")
78 ret , result , id = sendCMD (sock , " get_tcp_pose ")
79 print("ret = ", ret , " ", "id = ", id)
80 if (ret == True):
81 print(" result = ", result )
82 else:
83 print(" err_msg = ", result [" message "])
84 # Get the value of analog input
85 ret , result , id= sendCMD (sock , " getAnalogInput ", {"addr":1})
86 print("Get the value of analog input ")
87 print("ret = ", ret , " ", "id = ", id)
88 if(ret == True):
89 print(" result = ", result )
90 else:
91 print(" err_msg = ", result [" message "])

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92 else:
93 print(" Connection failed ")
94 disconnectETController (sock)

2.3.3 Example 3

1 import socket
2 import json
3 import time
4
5
6
7 def connectETController (ip , port =8055) :
8 sock = socket . socket ( socket .AF_INET , socket . SOCK_STREAM )
9 try:
10 sock. connect ((ip , port))
11 return (True , sock)
12 except Exception as e:
13 sock.close ()
14 return (False , None)
15
16
17 def disconnectETController (sock):
18 if (sock):
19 sock.close ()
20 sock = None
21 else:
22 sock = None
23
24
25 def sendCMD (sock , cmd , params =None , id =1):
26 if (not params ):
27 params = []
28 else:
29 params = json.dumps( params )
30 sendStr = "{{\" method \":\"{0}\" ,\" params \":{1} ,\" jsonrpc
\":\"2.0\" ,\" id \":{2}}} ". format (cmd , params , id) + "\n"
31 try:
32 # print ( sendStr )
33 sock. sendall (bytes(sendStr , "utf -8"))
34 ret = sock.recv (1024)
35 jdata = json. loads (str(ret , "utf -8"))

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36 if (" result " in jdata.keys ()):

37 return (True , json.loads(jdata[" result "]), jdata["id"])
38 elif ("error" in jdata.keys ()):
39 return (False , jdata["error"], jdata["id"])
40 else:
41 return (False , None , None)
42 except Exception as e:
43 return (False , None , None)
44
45
46 if __name__ == " __main__ ":
47 ip = " 192.168.1.205 "
48 conSuc , sock = connectETController (ip)
49 # print ( conSuc )
50 if ( conSuc ):
51 # Switch the current tool number to 0
52 ret , result , id = sendCMD (sock , " setToolNumber ", {" tool_num ":
0})
53 print(" Switch the current tool number to 0")
54 print("ret = ", ret , " ", "id = ", id)
55 if (ret == True):
56 print(" result = ", result )
57 time.sleep (3)
58 else:
59 print(" err_msg = ", result [" message "])
60 # Set the load and center of gravity of the robotic arm
61 ret , result , id = sendCMD (sock , " cmd_set_payload ", {" tool_num ":
0, "m": 6, "cog": [20.2 , 40, 30.5]})
62 print("Set the load and center of gravity of the robotic arm")
63 print("ret = ", ret , " ", "id = ", id)
64 if (ret == True):
65 print(" result = ", result )
66 else:
67 print(" err_msg = ", result [" message "])
68 # Set up the tool center of the robotic arm
69 point1 = [1.002 , -2.5, 5.0, 0.74 , -1.57, 0]
70 ret , result , id = sendCMD (sock , " cmd_set_tcp ", {" tool_num ": 0,
" point ": point1 }) # cmd_set_tcp
71 print("ret = ", ret , " ", "id = ", id)
72 if (ret == True):
73 print(" result = ", result )
74 else:
75 print(" err_msg = ", result [" message "])

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76 else:
77 print(" Connection failed ")
78 disconnectETController (sock)

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 Chapter 3 Monitor Interface

Users can get robot information by connecting to monitor interface of the robot through the socket
client.
CAUTION

This function is applicable to 2.13.1 and above versions.

CAUTION

8056 is a (tcp) long-connection interface. If the access time exceeds 8ms, the data
will pile up in the buffer zone.

3.1 Data description list of monitor interface

Name Type Byte Description

Message Size unsigned int32 4*1 The current packet length is 1024, the
effective field length is 801, the
reserved field length is 219, and the
parity field length is 4

timestamp unsigned int64 8*1 timestamp, the number of milliseconds

since January 1, 1970

autorun_cycelMode unsigned char 1*1 cycle mode, 0: single step, 1: single

cycle, 2: continuous
double[AXIS_
machinePos 8*8 joint angle, unit degree
COUNT]
machinePose Double[6] 8*6 Base coordinates, the first three items
are in millimeters, the last three items
are in radians

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 3.1 Data description list of monitor interface

Name Type Byte Description

machineUserPose Double[6] 8*6 Current user coordinates, the first three
items are in millimeters, the last three
items are in radians
torque double[AXIS_ 8*8 The ratio per thousand of the rated
COUNT] torque of the joint, unit ‰,

robotState int32_t 4*1 Robot state: 0: stop, 1: pause, 2:

emergency stop, 3: run, 4: alarm

servoReady int32_t 4*1 Servo status: 0: not open, 1: open.

can_motor_run int32_t 4*1 Synchronization status: 0: not

synchronized, 1: synchronized

motor_speed int[AXIS_COUNT] 4*8 Motor speed, unit: rpm

robotMode int32_t 4*1 Robot mode: 0: teaching mode, 1:

automatic mode, 2: remote mode
double[ANALOG_
analog_ioInput 8*3 Analog input port data, unit V
IN_NUM]
double[ANALOG_
analog_ioOutput 8*5 Analog output port data, unit V
OUT_NUM]
digital_ioInput unsigned int64 8*1 digital input port data

digital_ioOutput unsigned int64 8*1 digital output port data

collision unsigned char 1*1 collision alarm state, 0: non-collision

alarm state, 1: collision alarm state.

machineFlangePose Double[6] 8*6 The pose of the flange center in the

Base coordinate system, the first three
items are in millimeters, and the last
three are in radians.
machineUserFlange
Double[6] 8*6 The pose of the flange center in the user
Pose
coordinate system, the first three items
are in millimeters, and the last three are
in radians. v2.14.4 added

emergencyStopState unsigned char 1*1 Whether it is an emergency stop state,

v2.16.2 added

tcpSpeed Double 8*1 tcp movement speed, unit mm/s, v2.16.2

added
Double[AXIS_
jointSpeed 8*8 joint speed, unit degree/s, v2.16.2 added
COUNT]
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Name Type Byte Description

tcpAcc Double 8*1 tcp acceleration, unit: mm/s2

Double[ANALOG_
jointAcc 8*8 joint acceleration, unit: degree/s2
OUT_NUM]
jointTemperature Double[6] 8*6 joint temperature, unit: °C

jointTorque Double[6] 8*6 joint output torque, unit: Nm

extJointTorques Double[6] 8*6 estimated external joint torque value,
unit: Nm

exTcpForceInTool Double[6] 8*6 estimated external end force/moment of

force in the current tool coordinate
system, unit of the first three items: N,
unit of the last thee items: Nm
dragState unsigned char 1*1 drag state, 1: enabled, 0: diabled
sensor_connected_ unsigned char 1*1 The current state of the force sensor,
state
1: connected, 0: disconnected

Reserved unsigned char 1*219 The reserved length of the data packet,
the length is 219

matchingWord unsigned int 4*1 parity bits, the last 4 bytes of the data
packet, it is valid only when the value is
3967833836 (i.e. 0xec8056ec).
Otherwise, the data will be invalid.

3.2 Example

1 import socket
2 import struct
3 import collections
4 import time
5 import math
6 HOST = " 192.168.1.202 "
7 PORT = 8056
8
9 while 1:
10 s = socket . socket ( socket .AF_INET , socket . SOCK_STREAM )
11 s. settimeout (8) DN:EC
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 3.2 Example

12 s. connect ((HOST ,PORT))

13 index = 0
14 lost = 0
15
16 while True:
17 dic = collections . OrderedDict ()
18 dic['MessageSize '] = 'I'
19 dic['TimeStamp '] = 'Q'
20 dic['autorun_cycleMode '] = 'B'
21 dic['machinePos01 '] = 'd'
22 dic['machinePos02 '] = 'd'
23 dic['machinePos03 '] = 'd'
24 dic['machinePos04 '] = 'd'
25 dic['machinePos05 '] = 'd'
26 dic['machinePos06 '] = 'd'
27 dic['machinePos07 '] = 'd'
28 dic['machinePos08 '] = 'd'
29 dic['machinePose01 '] = 'd'
30 dic['machinePose02 '] = 'd'
31 dic['machinePose03 '] = 'd'
32 dic['machinePose04 '] = 'd'
33 dic['machinePose05 '] = 'd'
34 dic['machinePose06 '] = 'd'
35 dic['machineUserPose01 '] = 'd'
36 dic['machineUserPose02 '] = 'd'
37 dic['machineUserPose03 '] = 'd'
38 dic['machineUserPose04 '] = 'd'
39 dic['machineUserPose05 '] = 'd'
40 dic['machineUserPose06 '] = 'd'
41 dic['torque01 '] = 'd'
42 dic['torque02 '] = 'd'
43 dic['torque03 '] = 'd'
44 dic['torque04 '] = 'd'
45 dic['torque05 '] = 'd'
46 dic['torque06 '] = 'd'
47 dic['torque07 '] = 'd'
48 dic['torque08 '] = 'd'
49 dic['robotState '] = 'i'
50 dic['servoReady '] = 'i'
51 dic['can_motor_run '] = 'i'
52 dic['motor_speed01 '] = 'i'
53 dic['motor_speed02 '] = 'i'
54 dic['motor_speed03 '] = 'i'

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 3.2 Example

55 dic['motor_speed04 '] = 'i'

56 dic['motor_speed05 '] = 'i'
57 dic['motor_speed06 '] = 'i'
58 dic['motor_speed07 '] = 'i'
59 dic['motor_speed08 '] = 'i'
60 dic['robotMode '] = 'i'
61 dic['analog_ioInput01 '] = 'd'
62 dic['analog_ioInput02 '] = 'd'
63 dic['analog_ioInput03 '] = 'd'
64 dic['analog_ioOutput01 '] = 'd'
65 dic['analog_ioOutput02 '] = 'd'
66 dic['analog_ioOutput03 '] = 'd'
67 dic['analog_ioOutput04 '] = 'd'
68 dic['analog_ioOutput05 '] = 'd'
69 dic['digital_ioInput '] = 'Q'
70 dic['digital_ioOutput '] = 'Q'
71 dic['collision '] = 'B'
72 dic['machineFlangePose01 '] = 'd'
73 dic['machineFlangePose02 '] = 'd'
74 dic['machineFlangePose03 '] = 'd'
75 dic['machineFlangePose04 '] = 'd'
76 dic['machineFlangePose05 '] = 'd'
77 dic['machineFlangePose06 '] = 'd'
78 dic['machineUserFlangePose01 '] = 'd'
79 dic['machineUserFlangePose02 '] = 'd'
80 dic['machineUserFlangePose03 '] = 'd'
81 dic['machineUserFlangePose04 '] = 'd'
82 dic['machineUserFlangePose05 '] = 'd'
83 dic['machineUserFlangePose06 '] = 'd'
84 dic[" emergencyStopState "] = "B"
85 dic[" tcp_speed "] = "d"
86 dic[" joint_speed01 "] = "d"
87 dic[" joint_speed02 "] = "d"
88 dic[" joint_speed03 "] = "d"
89 dic[" joint_speed04 "] = "d"
90 dic[" joint_speed05 "] = "d"
91 dic[" joint_speed06 "] = "d"
92 dic[" joint_speed07 "] = "d"
93 dic[" joint_speed08 "] = "d"
94 dic[" tcpacc "] = "d"
95 dic[" jointacc01 "] = "d"
96 dic[" jointacc02 "] = "d"
97 dic[" jointacc03 "] = "d"
98 dic[" jointacc04 "] = "d"
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 3.2 Example

99 dic[" jointacc05 "] = "d"

100 dic[" jointacc06 "] = "d"
101 dic[" jointacc07 "] = "d"
102 dic[" jointacc08 "] = "d"
103 dic[" joint_temperature01 "] = "d"
104 dic[" joint_temperature02 "] = "d"
105 dic[" joint_temperature03 "] = "d"
106 dic[" joint_temperature04 "] = "d"
107 dic[" joint_temperature05 "] = "d"
108 dic[" joint_temperature06 "] = "d"
109 dic[" joint_torque01 "] = "d"
110 dic[" joint_torque02 "] = "d"
111 dic[" joint_torque03 "] = "d"
112 dic[" joint_torque04 "] = "d"
113 dic[" joint_torque05 "] = "d"
114 dic[" joint_torque06 "] = "d"
115 dic[" e x t joint_torques01 "] = "d"
116 dic[" e x t joint_torques02 "] = "d"
117 dic[" e x t joint_torques03 "] = "d"
118 dic[" e x t joint_torques04 "] = "d"
119 dic[" e x t joint_torques05 "] = "d"
120 dic[" e x t joint_torques06 "] = "d"
121 dic[" e x t tcpforceintool01 "] = "d"
122 dic[" e x t tcpforceintool02 "] = "d"
123 dic[" exttcpforceintool03 "] = "d"
124 dic[" exttcpforceintool04 "] = "d"
125 dic[" exttcpforceintool05 "] = "d"
126 dic[" exttcpforceintool06 "] = "d"
127 dic[" d r a g S t a t e "] = "B"
128 dic[" s e n s o r _ c o n n e c t e d _ s t a t e "] = "B"
129
130 print (" index =", index)
131 data = s.recv (1024)
132 if len(data) != 1024:
133 lost += 1
134 print (str(lost))
135 continue
136
137 names =[]
138 ii= range (len(dic))
139 for key ,i in zip(dic ,ii):
140 fmtsize = struct . calcsize (dic[key ])
141 data1 , data = data [0: fmtsize ], data[ fmtsize :]

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 3.2 Example

142 fmt= "!" + dic[key]

143 names. append ( struct . unpack (fmt ,data1))
144 dic[key] = dic[key], struct . unpack (fmt , data1)
145 output = ""
146 for key in dic.keys ():
147 output += str(key) + ":" + str(dic[key ][1][0]) + ";\
n"
148 output = "lost : " + str(lost) + " index : " + str(index ) +
";" + output + "\n"
149 if dic['MessageSize '] != ('I', (1024 ,)):
150 s. close ()
151 break
152 matchingWord = struct.unpack('!I', data[-4:])[0]
153 if matchingWord != 3967833836:
154 continue
155
156 if index %10 == 0:
157 # Print all information
158 print ( output )
159 # Print packet length
160 print (dic['MessageSize '])
161 # Print timestamp
162 timestamp01_value = dic['TimeStamp '][1][0] // 1000
163 timeValue = time. gmtime (int( timestamp01_value ))
164 print (time. strftime ("%Y-%m-%d %H:%M:%S", timeValue ))
165 # Print joint coordinates
166 print (dic['machinePos01 '][1][0] , dic['machinePos02 '
][1][0] ,
167 dic['machinePos03 '][1][0] , dic['machinePos04 '
][1][0] ,
168 dic['machinePos05 '][1][0] , dic['machinePos06 '
][1][0] ,
169 dic['machinePos07 '][1][0] , dic['machinePos08 '
][1][0])
170 # Print base coordinates
171 print (dic['machinePose01 '][1][0] , dic['machinePose02 '
][1][0] , dic['machinePose03 '][1][0] ,
172 dic['machinePose04 '][1][0] ,
173 dic['machinePose05 '][1][0] , dic['machinePose06 '
][1][0])
174 # Print user coordinates
175 print (dic['machineUserPose01 '][1][0] , dic['
machineUserPose02 '][1][0] , dic['machineUserPose03 '
][1][0] ,
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 3.2 Example

176 dic['machineUserPose04 '][1][0] ,

177 dic['machineUserPose05 '][1][0] , dic['
machineUserPose06 '][1][0])
178 # Print the percentage of joint rated torque
179 print (dic['torque01 '][1][0] , dic['torque02 '][1][0] ,
dic['torque03 '][1][0] , dic['torque04 '][1] [0],
180 dic['torque05 '][1][0] ,
181 dic['torque06 '][1][0] , dic['torque07 '][1][0] ,
dic['torque08 '][1][0])
182 # Print robot status
183 print (dic['robotState '][1][0])
184 # Print servo enable status
185 print (dic['servoReady '][1][0])
186 # Print synchronization status
187 print (dic['can_motor_run '][1][0])
188 # Print the motor speed of each axis
189 print (dic['motor_speed01 '][1][0] , dic['motor_speed02 '
][1][0] , dic['motor_speed03 '][1][0] ,
190 dic['motor_speed04 '][1][0] , dic['motor_speed05 '
][1][0] ,
191 dic['motor_speed06 '] [1][0] , dic['motor_speed07
'][1][0] , dic['motor_speed08 '][1][0])
192 # Print robot mode
193 print(dic['robotMode '][1][0])
194 # Print analog input port data
195 print(dic['analog_ioInput01 '][1][0] , dic['
analog_ioInput02 '][1][0] , dic['analog_ioInput03 '
][1][0])
196 # Print analog output port data
197 print(dic['analog_ioOutput01 '][1][0] , dic['
analog_ioOutput02 '][1][0] , dic['analog_ioOutput03 '
][1][0] ,
198 dic['analog_ioOutput04 '][1][0] , dic['
analog_ioOutput05 '][1][0])
199 # Print the binary form of the digital input port
data
200 print (bin(dic['digital_ioInput '][1][0]) [2:]. zfill (64)
)
201 # Print the binary form of the digital output port
data
202 print (bin(dic['digital_ioOutput '][1][0]) [2:]. zfill
(64))
203 # Print collision alarm status
204 print (dic[" collision " ][1][0])
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 3.2 Example

205 # Print the center pose of the flange in the base

coordinate system
206 print (dic['machineFlangePose01 '][1][0] , dic['
machineFlangePose02 '][1][0] , dic['
machineFlangePose03 '][1][0] ,
207 dic['machineFlangePose04 '][1][0] ,
208 dic['machineFlangePose05 '][1][0] , dic['
machineFlangePose06 '][1][0])
209 # Print the center pose of the flange in the user
coordinate system
210 print (dic['machineUserFlangePose01 '][1][0] , dic['
machineUserFlangePose02 '][1][0] ,
211 dic['machineUserFlangePose03 '][1][0] , dic['
machineUserFlangePose04 '][1][0] ,
212 dic['machineUserFlangePose05 '][1][0] , dic['
machineUserFlangePose06 '][1][0])
213 # Print whether it is currently in emergency stop
state
214 print (dic[" emergencyStopState " ][1][0])
215 # Print tcp movement speed
216 print(dic[" tcp_speed " ][1][0])
217 # Print the speed of each joint under joint motion
218 print(dic['joint_speed01 '][1][0] , dic['joint_speed02 '
][1][0] ,
219 dic['joint_speed03 '][1][0] , dic['joint_speed04 '
][1][0] ,
220 dic['joint_speed05 '][1][0] , dic['joint_speed06 '
][1][0] ,
221 dic['joint_speed07 '][1][0] , dic['joint_speed08 '
][1][0])
222 # Print tcp acceleration
223 print (dic[" tcpacc " ][1][0])
224 # Print the acceleration of each joint under joint
movement
225 print (dic['jointacc01 '][1][0] , dic['jointacc02 '
][1][0] ,
226 dic['jointacc03 '][1][0] , dic['jointacc04 '
][1][0] ,
227 dic['jointacc05 '][1][0] , dic['jointacc06 '
][1][0] ,
228 dic['jointacc07 '][1][0] , dic['jointacc08 '
][1][0])
229 # Print temperature

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 3.2 Example

230 print (dic['joint_temperature01 '][1][0] , dic['

joint_temperature02 '][1][0] ,
231 dic['joint_temperature03 '][1][0] , dic['
joint_temperature04 '][1][0] ,
232 dic['joint_temperature05 '][1][0] , dic['
joint_temperature06 '][1][0])
233 # Print output torque
234 print (dic['joint_torque01 '][1][0] , dic['
joint_torque02 '][1][0] ,
235 dic['joint_torque03 '][1][0] , dic['
joint_torque04 '][1][0] ,
236 dic['joint_torque05 '][1][0] , dic['joint_torque06 '
][1][0])
237 # Print the estimated external joint torque value
238 print(dic['exjoint_torques01 '][1][0] , dic['
exjoint_torques02 '][1][0] ,
239 dic['exjoint_torques03 '][1][0] , dic['
exjoint_torques04 '][1][0] ,
240 dic['exjoint_torques05 '][1][0] , dic['
exjoint_torques06'][1][0])
241 # Print the estimated external end force/moment of force
in the current tool coordinate system
242 print(dic['extcpforceintool01 '][1][0] , dic['
extcpforceintool02 '][1][0] ,
243 dic['extcpforceintool03 '][1][0] , dic['
extcpforceintool04 '][1][0] ,
244 dic['extcpforceintool05 '][1][0] , dic['
extcpforceintool06'][1][0])
245 # Print the drag-enabling state
246 print(dic['d r a g S t a t e '][1][0] )
247 # Print the connection state of the force sensor
248 print(dic['s e n s o r _ c o n n e c t e d _ s t a t e '][1][0] )
249 index = index +1
250 output = ""
251 dic = {}
252 data = ""
253 time. sleep (0.008)
254 s.close ()

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 Chapter 4 Log Interface

Users can connect to the robot log interface through the socket client.
The log types are: Error, Warning, Info. If the Error type is entered, Error information will be obtained;
If the Warning type is entered, the log information of Error and Warning types will be obtained; If you
enter Info, all types of log information will be obtained.
After connecting, enter all to enter all logs; enter a number, such as 10, to output the last 10 lines of
logs; enter exit to exit the connection.

4.1 Example

1 import socket
2 HOST = " 192.168.1.202 "
3 PORT = 8058
4
5 s = socket . socket ( socket .AF_INET , socket . SOCK_STREAM )
6 s. settimeout (2)
7 s. connect ((HOST ,PORT))
8 # New file or empty file content
9 # file = open(r'D :\205\ log\ all_err_log .md ','w ').close ()
10 # Get all log information
11 str1 = "Type=Info\n"
12 s.send(str1. encode ())
13 str2 = "all\n"
14 s.send(str2. encode ())
15 while True:
16 try:
17 data = s.recv (128000)
18 # with open(r'D :\205\ log\ all_err_log .md ','a+') as f:
19 # f.write (data. decode ())
20 print(data. decode ())
21 except ( Exception ):
22 break
23 s.close ()

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 Chapter 5 Raw Log Interface

Users can connect to the raw log interface of the robot through the socket client.
After connecting, enter all to enter all logs; enter a number, such as 10, to output the last 10 lines of
logs; enter exit to exit the connection.
CAUTION

This function is applicable to 2.14.0 and above.

5.1 Example

1 import socket
2 HOST = " 192.168.1.205 "
3 PORT = 8059
4
5 s = socket . socket ( socket .AF_INET , socket . SOCK_STREAM )
6 s. settimeout (2)
7 s. connect ((HOST ,PORT))
8 # New file or empty file content
9 file = open(r'D :\205\ log\ err_log_1 .md ','w').close ()
10
11 # Get the last 10 log entries , the number sent corresponds to the
number of log entries obtained
12 str1 = "10\n"
13 s.send(str1. encode ())
14 while True:
15 try:
16 data = s.recv (1024)
17 with open(r'D :\205\ log\ err_log_1 .md ','a+') as f:
18 f.write(data. decode ())
19 print(data. decode ())
20 except ( Exception ):
21 break
22 s.close ()

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 ALWAYS EASIER THAN BEFORE

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