3 Methods

This chapter is organized by the current C++17 public facade. Each page answers four questions:

1. What is the method signature?
2. What do the parameters and return values look like?
3. What are the preconditions, limits, and failure behaviors?
4. Where can related data structures and examples be found?

If other language SDKs, legacy sites, or older notes differ from this documentation, the public headers, source behavior, and examples in this repository take precedence.

Module Navigation

Page	Module	Focus	Common Types
3.1 Arm	Arm	Connection, lifecycle, and thread model entry	RobotType , STATUS_CODE
3.2 ControllerInfo	ControllerInfo	Status query, mode switching, and keepalive	CtrlStatusEnum , SoftModeEnum , OpModeEnum
3.3 AlarmClient	AlarmClient	Alarm query and reset	RobotAlarm , LanguageType
3.4 MotionControl	MotionControl	Motion, pose, and payload	MotionPose , PayloadInfo
3.5 ProgramManager	ProgramManager	Program execution and program poses	RunningProgramInfo , ProgramPose
3.6 BasScript	BasScript	Structured script builder	BasScript enums and variant values
3.7 Signals	Signals	IO read/write and supported scope	SignalType , SignalValue
3.8 Registers	RegisterBank	R/PR/SR/MR/MH/MI registers	PoseRegister , Register
3.9 Trajectory	TrajectoryManager	Offline trajectory, path, and real-time trajectory	TrajectorySegment , TransformStatusEnum
3.10 FileManager	ControllerFileManager	Upload, download, and search	FileType , FileInfo
3.11 Jogging	JoggingControl	Step jogging and continuous jogging	MoveMode
3.12 Extension	ExtensionClient	Extension query, switching, and service calls	ExtensionInfo , ExtensionState
3.13 SubPub	TopicPubSub	WebSocket subscription, callbacks, and blocking receive	ROBOT_TOPIC_TYPE , IO_TOPIC_TYPE
3.14 Modbus	ModbusClient	Master parameters, slave handles, and read/write	MODBUS_CHANNEL , SerialParams
3.15 CoordinateSystem	CoordinateSystemManager	User and tool coordinate system management	COORDINATE_SYS_TYPE , Coordinate