3.4 MotionControl Class
Overview
MotionControl is the core motion-control object for Agilebot robots. It wraps the following capabilities:
- Speed and acceleration parameter management
- Coordinate system management
- Pose conversion
- Trajectory motion control
- Position control mode
- Drag teaching
- Payload management
Common Usage Flow
After Arm is connected, access the Motion instance through arm.motionControl ; no separate initialization is required.
3.4.1 Get Robot Parameters
3.4.1.1 Get OVC Global Speed Ratio
cpp
GetOVC() -> std::pair<Float64, STATUS_CODE>| Item | Description |
|---|---|
| Description | Gets the current robot OVC global speed ratio. The range is 0~1 |
| Request Parameters | None |
| Return Value | Float64: speed ratio, in the range 0~1 STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.1.2 Get OAC Global Acceleration Ratio
cpp
GetOAC() -> std::pair<Float64, STATUS_CODE>| Item | Description |
|---|---|
| Description | Gets the current robot OAC global acceleration ratio. The range is 0~1.2 |
| Request Parameters | None |
| Return Value | Float64: acceleration ratio, in the range 0~1.2 STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.1.3 Get Current TF Tool Frame ID
cpp
GetTF() -> std::pair<int32_t, STATUS_CODE>| Item | Description |
|---|---|
| Description | Gets the TF tool frame ID currently used by the robot. The ID range is 0~50 |
| Request Parameters | None |
| Return Value | int32_t: tool frame ID STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.1.4 Get Current UF User Frame ID
cpp
GetUF() -> std::pair<int32_t, STATUS_CODE>| Item | Description |
|---|---|
| Description | Gets the UF user frame ID currently used by the robot. The ID range is 0~50 |
| Request Parameters | None |
| Return Value | int32_t: user frame ID STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.1.5 Get Current TCS Teaching Coordinate System
cpp
GetTCS() -> std::pair<TCSType, STATUS_CODE>| Item | Description |
|---|---|
| Description | Gets the TCS teaching coordinate system currently used by the robot |
| Request Parameters | None |
| Return Value | TCSType: teaching coordinate system type STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.2 Set Robot Parameters
3.4.2.1 Set OVC Global Speed Ratio
cpp
SetOVC(Float64 value) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Sets the robot OVC global speed ratio |
| Request Parameters | value : Float64 speed ratio, range 0~1 and greater than 0 |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.2.2 Set OAC Global Acceleration Ratio
cpp
SetOAC(Float64 value) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Sets the robot OAC global acceleration ratio |
| Request Parameters | value : Float64 acceleration ratio, range 0.01~1.2 |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.2.3 Set Current TF Tool Frame
cpp
SetTF(int32_t index) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Sets the TF tool frame currently used by the robot |
| Request Parameters | index : int32_t tool frame ID, range 0~50 |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.2.4 Set Current UF User Frame
cpp
SetUF(int32_t index) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Sets the UF user frame currently used by the robot |
| Request Parameters | index : int32_t user frame ID, range 0~50 |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.2.5 Set Current TCS Teaching Coordinate System
cpp
SetTCS(TCSType tcsType) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Sets the TCS teaching coordinate system currently used by the robot |
| Request Parameters | tcsType : TCSType teaching coordinate system type |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.3 Pose and Conversion
3.4.3.1 Get Current Pose
cpp
GetCurrentPose(PoseType poseType) -> std::pair<MotionPose, STATUS_CODE>| Item | Description |
|---|---|
| Description | Gets the current robot pose. Supports pose information in Cartesian space or joint coordinates |
| Request Parameters | poseType : PoseType pose type ( JOINT or CART ) |
| Return Value | MotionPose: robot pose STATUS_CODE: function execution result |
| Compatible Robot Software Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.3.2 Convert Cartesian Pose to Joint Pose
cpp
ConvertCartToJoint(const MotionPose& pose, int32_t ufIndex = 0, int32_t tfIndex = 0) -> std::pair<MotionPose, STATUS_CODE>| Item | Description |
|---|---|
| Description | Converts a Cartesian pose to a joint pose. When hasPosture=true , posture information participates in solving; otherwise only the 6D Cartesian position is used |
| Request Parameters | pose : MotionPose Cartesian robot pose ( PoseType::CART ; when posture is not specified, the SDK automatically solves a feasible posture) ufIndex : int32_t user frame ID, default 0 tfIndex : int32_t tool frame ID, default 0 |
| Return Value | MotionPose: robot pose STATUS_CODE: function execution result |
| Compatible Robot Software Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.3.3 Convert Joint Pose to Cartesian Pose
cpp
ConvertJointToCart(const MotionPose& pose, int32_t ufIndex = 0, int32_t tfIndex = 0) -> std::pair<MotionPose, STATUS_CODE>| Item | Description |
|---|---|
| Description | Converts a joint pose to a Cartesian pose |
| Request Parameters | pose : MotionPose robot joint pose ufIndex : int32_t user frame ID, default 0 tfIndex : int32_t tool frame ID, default 0 |
| Return Value | MotionPose: robot pose STATUS_CODE: function execution result |
| Compatible Robot Software Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.3.4 Cartesian to Joint Without Posture Information
cpp
ConvertCartToJointSimple(const MotionPose& pose, int32_t ufIndex = 0, int32_t tfIndex = 0) -> std::pair<MotionPose, STATUS_CODE>| Item | Description |
|---|---|
| Description | Converts a Cartesian pose to a joint pose. This API always ignores input posture / hasPosture and uses only the 6D Cartesian position |
| Request Parameters | pose : MotionPose robot Cartesian pose ufIndex : int32_t user frame ID, default 0 tfIndex : int32_t tool frame ID, default 0 |
| Return Value | MotionPose: robot pose STATUS_CODE: function execution result |
| Compatible Robot Software Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.3.5 Get DH Parameters
cpp
GetDHParam() -> std::pair<std::vector<DHParam>, STATUS_CODE>| Item | Description |
|---|---|
| Description | Gets the robot DH parameters |
| Request Parameters | None |
| Return Value | std::vector<DHParam> : DH parameter list STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): Not supported |
3.4.3.6 Set DH Parameters
cpp
SetDHParam(const std::vector<DHParam>& dhList) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Sets the robot DH parameters |
| Request Parameters | dhList : std::vector<DHParam> DH parameter list |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): Not supported |
3.4.4 Basic Motion
3.4.4.1 Joint-Space Motion
cpp
MoveJoint(const MotionPose& pose, Float64 vel, Float64 acc) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Moves the robot end effector to the specified position along the fastest path in joint space |
| Request Parameters | pose : MotionPose pose in Cartesian space or joint coordinates vel : Float64 speed ratio, range 0~1 acc : Float64 acceleration ratio, range 0~1.2 |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.4.2 Linear Motion
cpp
MoveLine(const MotionPose& pose, Float64 vel, Float64 acc) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Moves the robot end effector to the specified position along a straight line between the two points |
| Request Parameters | pose : MotionPose pose in Cartesian space or joint coordinates vel : Float64 end speed, range 1~4000 mm/s acc : Float64 acceleration ratio, range 0~1.2 |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.4.3 Circular Motion
cpp
MoveCircle(const MotionPose& viaPose, const MotionPose& endPose, Float64 vel, Float64 acc) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Moves the robot end effector along an arc determined by a via point and an end point |
| Request Parameters | viaPose : MotionPose via-point pose endPose : MotionPose end-point pose vel : Float64 end speed, range 1~4000 mm/s acc : Float64 acceleration ratio, range 0~1.2 |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.4.4 Enter Position Control Mode
cpp
EnterPositionControl() -> STATUS_CODE| Item | Description |
|---|---|
| Description | Requests the controller to enter position control mode |
| Request Parameters | None |
| Return Value | STATUS_CODE: function execution result |
| Notes | Uses controller axis group 1 |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.4.5 Set Position-Control Trajectory Parameters
cpp
SetPositionTrajectoryParams(int32_t maxTimeoutCount, int32_t timeout, int32_t filterLayer, Float64 wristElbowThreshold, Float64 shoulderThreshold) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Sets trajectory parameters used in position control mode |
| Request Parameters | maxTimeoutCount : int32_t maximum timeout count, range [1, 100] timeout : int32_t timeout or send interval, range [1, 100] , unit msfilterLayer : int32_t filter layer, range [1, 100] wristElbowThreshold : Float64 wrist/elbow near-singularity threshold, range [10, 100] shoulderThreshold : Float64 shoulder near-singularity threshold, range [100, 300] |
| Return Value | STATUS_CODE: function execution result |
| Notes | If a parameter is out of range, the SDK returns INVALID_PARAMETER before sending the request |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.4.6 Exit Position Control Mode
cpp
ExitPositionControl() -> STATUS_CODE| Item | Description |
|---|---|
| Description | Requests the controller to exit position control mode |
| Request Parameters | None |
| Return Value | STATUS_CODE: function execution result |
| Notes | Uses controller axis group 1 |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.5 Drag Teaching
3.4.5.1 Enable or Disable Drag
cpp
EnableDrag(bool dragState) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Sets whether the robot enters drag mode |
| Request Parameters | dragState : bool robot drag switch. true enters drag mode; false exits drag mode |
| Return Value | STATUS_CODE: function execution result |
| Compatible Robot Software Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): Not supported |
3.4.5.2 Get Axis Lock Status
cpp
GetDragStatus() -> std::pair<DragStatus, STATUS_CODE>| Item | Description |
|---|---|
| Description | Gets the current robot axis lock status. Axis locking applies only to teaching motion |
| Request Parameters | None |
| Return Value | DragStatus: axis lock status. true means the axis can move; false means it is locked STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): Not supported |
3.4.5.3 Set Robot Axis Lock Status
cpp
SetDragStatus(const DragStatus& dragStatus) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Sets the current robot axis lock status. Axis locking applies only to teaching motion |
| Request Parameters | dragStatus : DragStatus lock state for each axis. Default is all true , meaning unlocked |
| Return Value | STATUS_CODE: function execution result |
| Compatible Robot Software Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): Not supported |
3.4.6 Other APIs
3.4.6.1 Get Robot Soft Limits
cpp
GetUserSoftLimit() -> std::pair<std::vector<SoftLimit>, STATUS_CODE>| Item | Description |
|---|---|
| Description | Gets the current robot soft limit information |
| Request Parameters | None |
| Return Value | std::vector<SoftLimit> : robot soft limit information. The first list layer represents axes; the second layer represents lower and upper limits for each axis STATUS_CODE: function execution result |
| Compatible Robot Software Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.6.2 Set UDP Feedback Parameters
cpp
SetUdpFeedbackParams(bool flag, const std::string& ip, int32_t interval, int32_t feedbackType, const std::vector<int32_t>& doList = {}) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Configures UDP feedback parameters for robot data pushed to a specified IP address |
| Request Parameters | flag : bool whether UDP data push is enabled;ip : std::string receiver IP address;interval : int32_t send interval in milliseconds;feedbackType : int32_t feedback data format ( 0 : XML, 1 : JSON, 2 : PROTO);doList : std::vector<int32_t> DO signal list, up to 10 items, optional |
| Return Value | STATUS_CODE: function execution result |
| Notes | Parameter settings take effect only when UDP data push is enabled |
| Compatible Versions | Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported |
3.4.7 Payload Subobject
Payload-related capabilities are grouped under arm.motionControl.payload .
3.4.7.1 Get Current Active Payload ID
cpp
payload.GetCurrentId() -> std::pair<int32_t, STATUS_CODE>| Item | Description |
|---|---|
| Description | Gets the currently active payload ID |
| Request Parameters | None |
| Return Value | int32_t: payload ID STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.7.2 Get Payload Information by ID
cpp
payload.GetById(int32_t payloadId) -> std::pair<PayloadInfo, STATUS_CODE>| Item | Description |
|---|---|
| Description | Gets payload information for the specified ID |
| Request Parameters | payloadId : int32_t payload ID |
| Return Value | PayloadInfo: payload information STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.7.3 Activate the Specified Payload
cpp
payload.SetCurrentId(int32_t payloadId) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Activates the specified payload by ID |
| Request Parameters | payloadId : int32_t payload ID |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.7.4 Add a Custom Payload
cpp
payload.Add(const PayloadInfo& payloadInfo) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Adds user-defined payload information to the robot controller cabinet |
| Request Parameters | payloadInfo : PayloadInfo user-defined payload information |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.7.5 Delete Payload
cpp
payload.Delete(int32_t payloadId) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Deletes the user-defined payload with the specified ID from the controller |
| Request Parameters | payloadId : int32_t payload ID |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
| Notes | The currently active payload cannot be deleted. To delete the active payload, activate another payload first |
3.4.7.6 Update Payload
cpp
payload.Update(const PayloadInfo& payloadInfo) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Updates existing user-defined payload information in the robot |
| Request Parameters | payloadInfo : PayloadInfo object containing the updated payload information |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.7.7 Get All Payloads
cpp
payload.GetAll() -> std::pair<std::vector<PayloadSummary>, STATUS_CODE>| Item | Description |
|---|---|
| Description | Gets the list of all payload information |
| Request Parameters | None |
| Return Value | std::vector<PayloadSummary> : all payload summaries, containing only id and comment STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+ |
3.4.7.8 Check Axis-3 Horizontal Level
cpp
payload.CheckAxisThreeHorizontal() -> std::pair<Float64, STATUS_CODE>| Item | Description |
|---|---|
| Description | Checks whether robot axis 3 is horizontal |
| Request Parameters | None |
| Return Value | Float64: horizontal angle of axis 3, in degrees STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported |
| Notes | The horizontal angle must be within -1~1 degrees before payload identification can be performed |
3.4.7.9 Get Payload Identification State
cpp
payload.GetIdentifyState() -> std::pair<PayloadIdentifyState, STATUS_CODE>| Item | Description |
|---|---|
| Description | Gets the payload identification state |
| Request Parameters | None |
| Return Value | PayloadIdentifyState: payload identification state STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported |
3.4.7.10 Start Payload Identification
cpp
payload.StartIdentify(Float64 weight, Float64 angle) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Starts the payload identification process |
| Request Parameters | weight : Float64 payload weight. Use -1 if unknown;angle : Float64 axis-6 allowed rotation angle, range 30~90 degrees |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported |
| Notes | Enter payload identification state before starting payload identification |
3.4.7.11 Get Payload Identification Result
cpp
payload.GetIdentifyResult() -> std::pair<PayloadInfo, STATUS_CODE>| Item | Description |
|---|---|
| Description | Gets the payload identification result |
| Request Parameters | None |
| Return Value | PayloadInfo: payload identification result STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported |
3.4.7.12 Start Interference Check
cpp
payload.InterferenceCheckForPayloadIdentify(Float64 weight, Float64 angle) -> STATUS_CODE| Item | Description |
|---|---|
| Description | Starts the interference check for payload identification |
| Request Parameters | weight : Float64 payload weight;angle : Float64 axis-6 rotation angle, range 30~90 degrees |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported |
3.4.7.13 Enter Payload Identification State
cpp
payload.IdentifyStart() -> STATUS_CODE| Item | Description |
|---|---|
| Description | Enters the payload identification preparation state |
| Request Parameters | None |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported |
3.4.7.14 Finish Payload Identification State
cpp
payload.IdentifyDone() -> STATUS_CODE| Item | Description |
|---|---|
| Description | Ends the payload identification preparation state |
| Request Parameters | None |
| Return Value | STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported |
3.4.7.15 Full Payload Identification Workflow
cpp
payload.Identify(Float64 weight, Float64 angle) -> std::pair<PayloadInfo, STATUS_CODE>| Item | Description |
|---|---|
| Description | Runs the complete payload identification workflow, including all payload identification steps. Use this API unless you need custom step control |
| Request Parameters | weight : Float64 payload weight. Use -1 if unknown;angle : Float64 axis-6 rotation angle, range 30~90 degrees |
| Return Value | PayloadInfo: payload identification result STATUS_CODE: function execution result |
| Compatible Versions | Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported |
| Notes | The returned payload can be added to the robot or written into an existing robot payload Full workflow: 1. Move to the specified horizontal position and check whether it is horizontal 2. Enter payload identification state 3. Start payload identification 4. Get the payload identification result 5. Finish payload identification state |
Minimal Call Example
cpp
#include <iostream> // Standard output stream for printing motion query results
#include "arm_api.h" // Arm entry point; after connection, motion APIs are accessed through arm.motionControl
#include "status_code.h" // STATUS_CODE for checking SDK call results
int main()
{
Arm arm;
STATUS_CODE connectRet = arm.Connect("192.168.110.2", "");
if (connectRet != STATUS_CODE::OK) {
return 1;
}
auto [ovc, ovcRet] = arm.motionControl.GetOVC();
auto [jointPose, poseRet] = arm.motionControl.GetCurrentPose(PoseType::JOINT);
if (ovcRet != STATUS_CODE::OK || poseRet != STATUS_CODE::OK) {
return 1;
}
auto [cartPose, convertRet] = arm.motionControl.ConvertJointToCart(jointPose);
if (convertRet != STATUS_CODE::OK) {
return 1;
}
std::cout << "ovc=" << ovc << "\n";
std::cout << "joint_count=" << jointPose.joint.size() << "\n";
std::cout << "cartesian_count=" << cartPose.cartesian.size() << "\n";
return 0;
}Scenario Examples
The snippets below cover parameter read/write, pose conversion, basic motion, drag/UDP, payload management, and payload identification. They assume the arm object from the minimal example is already connected. Calls that move the robot or change configuration remain commented out; run them only after checking the site.
Read and Set Motion Parameters
cpp
auto [ovc, ovcRet] = arm.motionControl.GetOVC();
auto [oac, oacRet] = arm.motionControl.GetOAC();
auto [tf, tfRet] = arm.motionControl.GetTF();
auto [uf, ufRet] = arm.motionControl.GetUF();
auto [tcs, tcsRet] = arm.motionControl.GetTCS();
if (ovcRet == STATUS_CODE::OK && oacRet == STATUS_CODE::OK && tfRet == STATUS_CODE::OK && ufRet == STATUS_CODE::OK && tcsRet == STATUS_CODE::OK) {
std::cout << "ovc=" << ovc << " oac=" << oac << " tf=" << tf << " uf=" << uf << " tcs=" << static_cast<int>(tcs) << "\n";
}
// STATUS_CODE setOvcRet = arm.motionControl.SetOVC(0.5);
// STATUS_CODE setOacRet = arm.motionControl.SetOAC(0.5);
// STATUS_CODE setTfRet = arm.motionControl.SetTF(tf);
// STATUS_CODE setUfRet = arm.motionControl.SetUF(uf);
// STATUS_CODE setTcsRet = arm.motionControl.SetTCS(tcs);Read Pose and Convert Coordinates
cpp
auto [jointPose, jointRet] = arm.motionControl.GetCurrentPose(PoseType::JOINT);
if (jointRet != STATUS_CODE::OK) {
return;
}
auto [cartPose, cartRet] = arm.motionControl.ConvertJointToCart(jointPose);
auto [jointFromCart, cartToJointRet] = arm.motionControl.ConvertCartToJoint(cartPose);
auto [jointSimple, simpleRet] = arm.motionControl.ConvertCartToJointSimple(cartPose);
if (cartRet == STATUS_CODE::OK && cartToJointRet == STATUS_CODE::OK && simpleRet == STATUS_CODE::OK) {
std::cout << "joint_count=" << jointPose.joint.size() << " cart_count=" << cartPose.cartesian.size() << "\n";
}Execute Basic Motion
cpp
auto [jointPose, jointRet] = arm.motionControl.GetCurrentPose(PoseType::JOINT);
auto [cartPose, cartRet] = arm.motionControl.ConvertJointToCart(jointPose);
if (jointRet != STATUS_CODE::OK || cartRet != STATUS_CODE::OK) {
return;
}
// STATUS_CODE moveJointRet = arm.motionControl.MoveJoint(jointPose, 0.1, 0.1);
// STATUS_CODE moveLineRet = arm.motionControl.MoveLine(cartPose, 50.0, 0.1);
// STATUS_CODE moveCircleRet = arm.motionControl.MoveCircle(cartPose, cartPose, 50.0, 0.1);DH, Drag, and UDP Push
cpp
auto [dhList, dhRet] = arm.motionControl.GetDHParam();
auto [dragStatus, dragRet] = arm.motionControl.GetDragStatus();
auto [softLimits, limitRet] = arm.motionControl.GetUserSoftLimit();
if (dhRet == STATUS_CODE::OK || dragRet == STATUS_CODE::OK || limitRet == STATUS_CODE::OK) {
std::cout << "dh_count=" << dhList.size() << " soft_limit_count=" << softLimits.size() << "\n";
}
// STATUS_CODE setDhRet = arm.motionControl.SetDHParam(dhList);
// STATUS_CODE enableDragRet = arm.motionControl.EnableDrag(true);
// STATUS_CODE setDragRet = arm.motionControl.SetDragStatus(dragStatus);
// STATUS_CODE udpRet = arm.motionControl.SetUdpFeedbackParams(true, "192.168.110.10", 100, 1, std::vector<int32_t>{0, 1});Query and Maintain Payloads
cpp
auto [payloadId, payloadIdRet] = arm.motionControl.payload.GetCurrentId();
auto [payloads, payloadsRet] = arm.motionControl.payload.GetAll();
if (payloadIdRet != STATUS_CODE::OK) {
return;
}
auto [payloadInfo, payloadRet] = arm.motionControl.payload.GetById(payloadId);
if (payloadRet == STATUS_CODE::OK || payloadsRet == STATUS_CODE::OK) {
std::cout << "payload_id=" << payloadId << " payload_count=" << payloads.size() << "\n";
}
// STATUS_CODE setPayloadRet = arm.motionControl.payload.SetCurrentId(payloadId);
// STATUS_CODE addPayloadRet = arm.motionControl.payload.Add(payloadInfo);
// STATUS_CODE updatePayloadRet = arm.motionControl.payload.Update(payloadInfo);
// STATUS_CODE deletePayloadRet = arm.motionControl.payload.Delete(payloadId);Payload Identification Workflow
cpp
auto [axisAngle, axisRet] = arm.motionControl.payload.CheckAxisThreeHorizontal();
auto [identifyState, stateRet] = arm.motionControl.payload.GetIdentifyState();
auto [identifyResult, resultRet] = arm.motionControl.payload.GetIdentifyResult();
if (axisRet == STATUS_CODE::OK || stateRet == STATUS_CODE::OK || resultRet == STATUS_CODE::OK) {
std::cout << "axis_angle=" << axisAngle << " identify_state=" << static_cast<int>(identifyState) << "\n";
}
// STATUS_CODE interferenceRet = arm.motionControl.payload.InterferenceCheckForPayloadIdentify(-1.0, 45.0);
// STATUS_CODE identifyStartRet = arm.motionControl.payload.IdentifyStart();
// STATUS_CODE startIdentifyRet = arm.motionControl.payload.StartIdentify(-1.0, 45.0);
// STATUS_CODE identifyDoneRet = arm.motionControl.payload.IdentifyDone();
// auto [identifiedPayload, identifyRet] = arm.motionControl.payload.Identify(-1.0, 45.0);Example code:
cpp
#include "query_motion_state/run.h"
#include "query_current_pose/run.h"
#include "convert_pose/run.h"
#include "query_limits/run.h"
#include "write_motion_config/run.h"
#include "run_motion_apis/run.h"
int main(void)
{
// [ZH] 默认只调用一个门面方法；如需体验其他接口，请把下一行替换成下面任意一行。
// [EN] The main function calls only one facade by default. Replace the next line with any line below to try other APIs.
return RunMotionBasicQueryMotionState();
// return RunMotionBasicQueryCurrentPose();
// return RunMotionBasicConvertPose();
// return RunMotionBasicQueryLimits();
// return RunMotionBasicWriteMotionConfig();
// return RunMotionBasicRunMotionApis();
}cpp
#include "query_current_pose/run.h"
#include "convert_joint_to_cart/run.h"
#include "convert_cart_to_joint/run.h"
int main(void)
{
// [ZH] 默认只调用一个门面方法；如需体验其他接口，请把下一行替换成下面任意一行。
// [EN] The main function calls only one facade by default. Replace the next line with any line below to try other APIs.
return RunMotionPoseQueryCurrentPose();
// return RunMotionPoseConvertJointToCart();
// return RunMotionPoseConvertCartToJoint();
}cpp
#include "query_drag_status/run.h"
#include "enable_drag/run.h"
#include "set_drag_status/run.h"
int main(void)
{
// [ZH] 默认只调用一个门面方法；如需体验其他接口，请把下一行替换成下面任意一行。
// [EN] The main function calls only one facade by default. Replace the next line with any line below to try other APIs.
return RunMotionDragQueryDragStatus();
// return RunMotionDragEnableDrag();
// return RunMotionDragSetDragStatus();
}cpp
#include "query_payload_info/run.h"
#include "manage_payloads/run.h"
#include "identify_payload/run.h"
int main(void)
{
// [ZH] 默认只调用一个门面方法；如需体验其他接口，请把下一行替换成下面任意一行。
// [EN] The main function calls only one facade by default. Replace the next line with any line below to try other APIs.
return RunMotionPayloadQueryPayloadInfo();
// return RunMotionPayloadManagePayloads();
// return RunMotionPayloadIdentifyPayload();
}