API 说明 ============================ Elite CS 工控机主控支持的 API ++++++++++++++++++++++++++++++++++++++++++ 暂不支持工控机主控 Elite CS 机械臂主控支持的 API +++++++++++++++++++++++++++++++++++ Elite CS协作臂支持的和xyz相关的api放在 ``xyz_master_api.script`` 中，以下选取重要api进行介绍，其他api可以参考脚本文件或者模板程序。 注1：脚本语法同python 注2：Elite也提供了官方脚本api，如运动指令、io控制、数学指令等，请参考官方脚本文档 .. function:: xyz_client_disconnect() -> None :noindex: 关闭socket连接 .. function:: xyz_client_connect(server_ip="192.168.41.1", port=11111) -> None :noindex: 连接到Max :param server_ip: 服务端(max)的ip地址 :type vs_id: string :param port: 端口号 :type port: int .. function:: xyz_heart_beat() -> int :noindex: 发送心跳信号 :return: error_code :rtype: int .. function:: xyz_switch_task(task_codename: str) -> int :noindex: 切换任务 :param task_codename: 任务代号 :type task_codename: string :return: error_code :rtype: int .. function:: xyz_switch_tool(tool_id: int) -> int :noindex: 切换工具 :param tool_id: 工具id :type tool_id: int :return: error_code :rtype: int .. function:: xyz_call_vision_cmd(vs_id: int, vision_codename: str) -> int :noindex: 呼叫视觉命令 :param vs_id: 视觉服务id :type vs_id: int :param vision_codename: 视觉命令代号 :type vision_codename: string :return: error_code :rtype: int .. function:: xyz_request_grasp_pose(vs_id: int) -> Tuple[int, int] :noindex: 请求抓取目标点位 :param vs_id: 视觉服务id :type vs_id: int :return: error_code, token :rtype: Tuple[int, int] .. function:: xyz_get_grasp_pose(token: int) -> Tuple :noindex: 获取抓取目标点位 :param token: xyz_request_grasp_pose()返回的token值 :type token: int :return: (error_code, grasp_pose, grasp_pose_num, pipeline_num, register_num, int1, int2, int3, int4, int5, int6) :rtype: Tuple[int, int] .. function:: xyz_request_object_pose(vs_id: int) -> Tuple[int, int] :noindex: 请求物体位姿 :param vs_id: 视觉服务id :type vs_id: int :return: error_code, token :rtype: Tuple[int, int] .. function:: xyz_get_object_pose(token: int) -> Tuple :noindex: 获取物体位姿 :param token: xyz_request_object_pose()返回的token值 :type token: int :return: (error_code, object_pose, object_pose_num, object_name, int1, int2, int3, int4, int5, int6) :rtype: Tuple[int, int] .. function:: xyz_reset_task() -> int :noindex: 重置任务，下位机在初始化时需要调用该指令 :return: error_code :rtype: int .. function:: xyz_send_current_joints() -> int :noindex: 发送机器人当前角度 :return: error_code :rtype: int .. function:: xyz_send_current_cart_pose() -> int :noindex: 发送机器人当前Cartesian坐标 :return: error_code :rtype: int .. function:: xyz_send_current_ext_joints() -> int :noindex: 暂不支持 :return: error_code :rtype: int .. function:: xyz_request_pick_place(vs_id: int) -> int :noindex: 请求抓放规划 :param vs_id: 视觉服务id :type vs_id: int :return: error_code :rtype: int .. function:: xyz_get_pick_in(vs_id: int) -> Tuple :noindex: 获取取料入框轨迹，轨迹执行可以参考后面的轨迹执行函数 :param vs_id: 视觉服务id :type vs_id: int :return: error_code, pipeline_num, register_num, traj_pose_num, traj :rtype: Tuple .. function:: xyz_get_pick_out(vs_id: int) -> Tuple :noindex: 获取取料出框轨迹，轨迹执行可以参考后面的轨迹执行函数 :param vs_id: 视觉服务id :type vs_id: int :return: error_code, pipeline_num, register_num, traj_pose_num, traj :rtype: Tuple .. function:: xyz_get_place_in(vs_id: int) -> Tuple :noindex: 获取放料入框轨迹，轨迹执行可以参考后面的轨迹执行函数 :param vs_id: 视觉服务id :type vs_id: int :return: error_code, pipeline_num, register_num, traj_pose_num, traj :rtype: Tuple .. function:: xyz_get_place_out(vs_id: int) -> Tuple :noindex: 获取放料出框轨迹，轨迹执行可以参考后面的轨迹执行函数 :param vs_id: 视觉服务id :type vs_id: int :return: error_code, pipeline_num, register_num, traj_pose_num, traj :rtype: Tuple .. function:: xyz_update_tote_pose(vs_id: int) -> int :noindex: 料箱重定位 :param vs_id: 视觉服务id :type vs_id: int :return: error_code :rtype: int .. function:: xyz_update_object_pose_in_hand() -> Tuple :noindex: 工件在手上的二次定位 :return: error_code, place_pose :rtype: Tuple .. function:: xyz_switch_item(vs_id: int, item_codename: str) -> int :noindex: 切换工件 :param vs_id: 视觉服务id :type vs_id: int :param item_codename: 工件代号 :type item_codename: string :return: error_code :rtype: int .. function:: xyz_calculate_grasp_pose(vs_id: int) -> Tuple :noindex: 计算抓取目标点位 等价于执行 xyz_request_grasp_pose() + xyz_get_grasp_pose() :param vs_id: 视觉服务id :type vs_id: int :return: (error_code, grasp_pose, grasp_pose_num, pipeline_num, register_num, int1, int2, int3, int4, int5, int6) :rtype: Tuple[int, int] .. function:: xyz_calculate_object_pose(vs_id: int) -> Tuple :noindex: 计算物体位姿 等价于执行 xyz_request_object_pose() + xyz_get_object_pose() :param vs_id: 视觉服务id :type vs_id: int :return: (error_code, object_pose, object_pose_num, object_name, int1, int2, int3, int4, int5, int6) :rtype: Tuple[int, int] .. function:: xyz_usr_cmd(str_5=None, int_10=None, float_10=None, cart_pose=None, joints=None) -> Tuple :noindex: 用户指令 用于基础指令不支持的情况下，配合任务流图完成用户特定功能 各个参数的含义取决于任务流图中设定的输入输出 :param str_5: 5个字符串输入 :type str_5: list[str] :param int_10: 10个int输入 :type int_10: list[int] :param float_10: 10个float输入 :type float_10: list[float] :param cart_pose: [x,y,z,rx,ry,rz] in XYZ unit (mm/deg) :param cart_pose: list[float] :param joints: [j1,j2,j3,j4,j5,j6] in XYZ unit (deg) :param joints: list[float] :return: Tuple contains: - error_code: - out_str_5: list[str] - out_int_10: list[int] - out_float_10: list[float] - out_cart_pose: [x,y,z,rx,ry,rz] in Elite unit (m/rad) - out_joints: [j1,j2,j3,j4,j5,j6] in Elite unit (rad) .. function:: xyz_exec_pick_in_traj(traj: list) -> None :noindex: 执行pick-in轨迹，特点是执行最后一个点的时候速度比较慢 要求轨迹中至少有2个点 可以调整轨迹执行的速度、圆滑等参数，具体详见api中的函数代码 :param traj: 轨迹点，来源于xyz_get_pick_in()/xyz_get_pick_out()/xyz_get_place_in()/xyz_get_place_out()中返回的轨迹 :type traj: list :return: error_code :rtype: int .. function:: xyz_exec_pick_out_traj(traj: list) -> None :noindex: 执行pick-out轨迹，特点是执行第一个点时速度较慢 要求轨迹中至少有2个点 可以调整轨迹执行的速度、圆滑等参数，具体详见api中的函数代码 :param traj: 轨迹点，来源于xyz_get_pick_in()/xyz_get_pick_out()/xyz_get_place_in()/xyz_get_place_out()中返回的轨迹 :type traj: list :return: error_code :rtype: int .. function:: xyz_exec_general_traj(traj: list) -> None :noindex: 执行轨迹，全程用同一套速度、圆滑等参数 要求轨迹中至少有1个点 可以调整轨迹执行的速度、圆滑等参数，具体详见api中的函数代码 :param traj: 轨迹点，来源于xyz_get_pick_in()/xyz_get_pick_out()/xyz_get_place_in()/xyz_get_place_out()中返回的轨迹 :type traj: list :return: error_code :rtype: int .. function:: xyz_joints_movej(ap: [], vel_angular: float = 60.0, acc_angular: float = 80.0, r_angular: float = 0.0, is_elite_unit: bool = True) :noindex: 执行MoveJ(joints) :param ap: axis_pose, [j1,..,j6], unit rad or degree, depends on is_elite_unit :param vel_angular: °/s :param acc_angular: °/s^2 :param r_angular: mm :param is_elite_unit: set to True if unit rad in ap, False if unit degree in ap .. function:: xyz_cart_movel(cp: [], vel_linear: float = 250.0, acc_linear: float = 1200.0, r_linear: float = 0, is_elite_unit: bool = True) :noindex: 执行MoveL(cart) :param cp: cart_pose, [x,y,z,rx,ry,rz], unit mm/deg or m/rad, depends on is_elite_unit :param vel_linear: mm/s :param acc_linear: mm/s^2 :param r_linear: mm :param is_elite_unit: set to True if unit m/rad in cp, False if unit mm/deg in cp .. function:: xyz_joints_movel(ap: [], vel_linear: float = 250.0, acc_linear: float = 1200.0, r_linear: float = 0, is_elite_unit: bool = True) :noindex: 执行MoveL(joints) :param ap: axis_pose, [j1,..,j6], unit rad or degree, depends on is_elite_unit :param vel_linear: mm/s :param acc_linear: mm/s^2 :param r_linear: mm :param is_elite_unit: set to True if unit rad in ap, False if unit degree in ap .. function:: xyz_cart_movej(cp: [], vel_angular: float = 60.0, acc_angular: float = 80.0, r_angular: float = 0.0, is_elite_unit: bool = True) :noindex: 执行MoveJ(cp) 涉及到逆解，有可能报错，慎重使用 :param cp: cart_pose, [x,y,z,rx,ry,rz], unit mm/deg or m/rad, depends on is_elite_unit :param vel_angular: °/s :param acc_angular: °/s^2 :param r_angular: mm :param is_elite_unit: set to True if unit m/rad in cp, False if unit mm/deg in cp .. function:: xyz_check_error_code(error_code: int) :noindex: 判断error_code是否正确，如果有错误就弹窗报警 :param err_code: :type err_code: int .. function:: xyz_print_info(msg: str) :noindex: 弹窗打印info信息 :param msg: info信息 :type err_code: msg .. function:: xyz_print_error(msg: str) :noindex: 弹窗打印报错信息 :param msg: info信息 :type err_code: msg