API 说明 ============================ otc 工控机主控支持的 API ++++++++++++++++++++++++++++++++++++++++++ +--------+-------------------------+----------+ | 指令号 | 命令 | 支持情况 | +========+=========================+==========+ | 100 | 获取机械臂程序版本号 | 支持 | +--------+-------------------------+----------+ | 101 | 发送速度数据 | 支持 | +--------+-------------------------+----------+ | 102 | 发送加速度数据 | 支持 | +--------+-------------------------+----------+ | 103 | 发送圆滑过渡参数 | 支持 | +--------+-------------------------+----------+ | 104 | 发送工具坐标系(TCP)参数 | 不支持 | +--------+-------------------------+----------+ | 105 | 设置数字量输出 | 支持 | +--------+-------------------------+----------+ | 106 | SetJointsMovej | 支持 | +--------+-------------------------+----------+ | 107 | SetCartMovel | 支持 | +--------+-------------------------+----------+ | 108 | SetJoinsMovel | 支持 | +--------+-------------------------+----------+ | 109 | SetCartMovej | 支持 | +--------+-------------------------+----------+ | 110 | MovejSequence | 不支持 | +--------+-------------------------+----------+ | 111 | MovelSequence | 不支持 | +--------+-------------------------+----------+ | 112 | SetJointsMovejDo | 不支持 | +--------+-------------------------+----------+ | 113 | SetCartMovelDo | 不支持 | +--------+-------------------------+----------+ | 114 | SetJointsMovelDo | 不支持 | +--------+-------------------------+----------+ | 115 | SetJointsMovejGroupDo | 不支持 | +--------+-------------------------+----------+ | 116 | SetCartMovelGroupDo | 不支持 | +--------+-------------------------+----------+ | 117 | SetJointsMovelGroupDo | 不支持 | +--------+-------------------------+----------+ | 118 | MovelUntil | 不支持 | +--------+-------------------------+----------+ | 119 | 获取数字量输入状态 | 支持 | +--------+-------------------------+----------+ | 120 | 获取数字量输出状态 | 支持 | +--------+-------------------------+----------+ | 121 | 获取模拟量输入口数值 | 不支持 | +--------+-------------------------+----------+ | 122 | 获取机械臂当前角度 | 支持 | +--------+-------------------------+----------+ | 123 | 获取机械臂当前位姿 | 支持 | +--------+-------------------------+----------+ | 200 | 机械臂后台发送状态 | 支持 | +--------+-------------------------+----------+ otc工控机主控定义了一些全局变量，不允许用户使用，占用情况如下(``VARIABLE.INC``)： +--------------------------------------+ | 姿势变量Pn | +------+----------+--------------------+ | 地址 | 含义 | 说明(是否用户可写) | +------+----------+--------------------+ | P1 | 内部使用 | x | +------+----------+--------------------+ +------------------------------------------------+ | 整数变量V% | +------+--------------------+--------------------+ | 地址 | 含义 | 说明(是否用户可写) | +------+--------------------+--------------------+ | V50% | 通讯连接标志位 | read only | +------+--------------------+--------------------+ | V51% | motion_socket报错1 | read only | +------+--------------------+--------------------+ | V52% | motion_socket报错2 | read only | +------+--------------------+--------------------+ | V53% | motion通讯接收长度 | read only | +------+--------------------+--------------------+ | V54% | 内部使用 | read only | +------+--------------------+--------------------+ | V55% | 内部使用 | read only | +------+--------------------+--------------------+ | V56% | motion通讯发送长度 | read only | +------+--------------------+--------------------+ | V57% | 内部使用 | read only | +------+--------------------+--------------------+ | V58% | 内部使用 | read only | +------+--------------------+--------------------+ | V60% | 内部使用 | read only | +------+--------------------+--------------------+ | V61% | status_socket报错1 | read only | +------+--------------------+--------------------+ | V62% | status_socket报错2 | read only | +------+--------------------+--------------------+ | V63% | 内部使用 | read only | +------+--------------------+--------------------+ | V64% | 内部使用 | read only | +------+--------------------+--------------------+ | V65% | status通讯发送长度 | read only | +------+--------------------+--------------------+ | V80% | 服务端发送的cmd | read only | +------+--------------------+--------------------+ | V81% | 服务端发送的acc | read only | +------+--------------------+--------------------+ | V82% | 服务端发送的zone | read only | +------+--------------------+--------------------+ | V83% | 服务端发送的port | read only | +------+--------------------+--------------------+ | V84% | 服务端发送的signal | read only | +------+--------------------+--------------------+ +-------------------------------------------------+ | 字符串变量V$ | +-----------+----------------+--------------------+ | 地址 | 含义 | 说明(是否用户可写) | +-----------+----------------+--------------------+ | V10$ | 内部使用 | x | +-----------+----------------+--------------------+ | V11$ | 所有收到信息 | read only | +-----------+----------------+--------------------+ | V21$ | 内部使用 | x | +-----------+----------------+--------------------+ | V22$ | 所有发送信息 | read only | +-----------+----------------+--------------------+ | V30$ | 显示错误消息 | read only | +-----------+----------------+--------------------+ | V31$ | 显示错误消息 | read only | +-----------+----------------+--------------------+ +------------------------------------------------------+ | 实数变量V! | +-------------+-------------------+--------------------+ | 地址 | 含义 | 说明(是否用户可写) | +-------------+-------------------+--------------------+ | V80!~V96! | 内部使用 | x | +-------------+-------------------+--------------------+ otc 机械臂主控支持的 API +++++++++++++++++++++++++++++++++++ otc部分全局变量已经被占用，不允许用户使用，占用情况如下(``VARIABLE.INC``)： +--------------------------------------+ | 姿势变量Pn | +------+----------+--------------------+ | 地址 | 含义 | 说明(是否用户可写) | +------+----------+--------------------+ | P1 | 内部使用 | x | +------+----------+--------------------+ +--------------------------------------------------------------------------------+ | 整数变量V% | +-----------+-----------------------------------------------+--------------------+ | 地址 | 含义 | 说明(是否用户可写) | +-----------+-----------------------------------------------+--------------------+ | V1% | 通讯连接标志位 | x | +-----------+-----------------------------------------------+--------------------+ | V2% | 发送命令标志位 | x | +-----------+-----------------------------------------------+--------------------+ | V3% | 服务端ip地址 | 可写 | +-----------+-----------------------------------------------+--------------------+ | V4% | 服务端端口号 | 可写 | +-----------+-----------------------------------------------+--------------------+ | V5% | 是否通讯失败 | read only | +-----------+-----------------------------------------------+--------------------+ | V6% | socket报错1 | read only | +-----------+-----------------------------------------------+--------------------+ | V7% | socket报错2 | read only | +-----------+-----------------------------------------------+--------------------+ | V8% | 内部使用 | x | +-----------+-----------------------------------------------+--------------------+ | V9% | 内部使用 | x | +-----------+-----------------------------------------------+--------------------+ | V10% | 内部使用 | x | +-----------+-----------------------------------------------+--------------------+ | V11% | 内部使用 | x | +-----------+-----------------------------------------------+--------------------+ | V12% | 发送的命令码 | read only | +-----------+-----------------------------------------------+--------------------+ | V13% | 设置发送给服务端的ws_id | 可写 | +-----------+-----------------------------------------------+--------------------+ | V14% | 设置发送给服务端的token | 可写 | +-----------+-----------------------------------------------+--------------------+ | V15% | 设置发送给服务端的视觉服务id | 可写 | +-----------+-----------------------------------------------+--------------------+ | V16% | 设置发送给服务端的uws_id | 可写 | +-----------+-----------------------------------------------+--------------------+ | V17%~V20% | 系统预留，勿用 | x | +-----------+-----------------------------------------------+--------------------+ | V21% | 服务端返回的error_code | read only | +-----------+-----------------------------------------------+--------------------+ | V22% | 服务端返回的token | read only | +-----------+-----------------------------------------------+--------------------+ | V23% | 服务端返回的grasp_pose_num | read only | +-----------+-----------------------------------------------+--------------------+ | V24% | 系统预留，勿用 | x | +-----------+-----------------------------------------------+--------------------+ | V25% | 服务端返回的obj_pose_num | read only | +-----------+-----------------------------------------------+--------------------+ | V26% | 服务端返回的obj_pose_type | read only | +-----------+-----------------------------------------------+--------------------+ | V27% | 服务端返回的轨迹点数量 | read only | +-----------+-----------------------------------------------+--------------------+ | V28% | 系统预留，勿用 | x | +-----------+-----------------------------------------------+--------------------+ | V29%~V58% | 服务端返回的每个轨迹点的类型 (最多支持30个点) | read only | +-----------+-----------------------------------------------+--------------------+ | V59% | 服务端返回的pipeline_num | read only | +-----------+-----------------------------------------------+--------------------+ | V60% | 服务端返回的register_num | read only | +-----------+-----------------------------------------------+--------------------+ +-------------------------------------------------+ | 字符串变量V$ | +-----------+----------------+--------------------+ | 地址 | 含义 | 说明(是否用户可写) | +-----------+----------------+--------------------+ | V1$ | 显示错误消息 | read only | +-----------+----------------+--------------------+ | V2$ | 内部使用 | x | +-----------+----------------+--------------------+ | V3$ | 内部使用 | x | +-----------+----------------+--------------------+ | V4$~V13$ | 内部使用 | x | +-----------+----------------+--------------------+ | V14$~V15$ | 系统预留，勿用 | x | +-----------+----------------+--------------------+ +------------------------------------------------------+ | 实数变量V! | +-------------+-------------------+--------------------+ | 地址 | 含义 | 说明(是否用户可写) | +-------------+-------------------+--------------------+ | V1! | x of grasp_pose | read only | +-------------+-------------------+--------------------+ | V2! | y of grasp_pose | read only | +-------------+-------------------+--------------------+ | V3! | z of grasp_pose | read only | +-------------+-------------------+--------------------+ | V4! | a of grasp_pose | read only | +-------------+-------------------+--------------------+ | V5! | b of grasp_pose | read only | +-------------+-------------------+--------------------+ | V6! | c of grasp_pose | read only | +-------------+-------------------+--------------------+ | V7! | x of object_pose | read only | +-------------+-------------------+--------------------+ | V8! | y of object_pose | read only | +-------------+-------------------+--------------------+ | V9! | z of object_pose | read only | +-------------+-------------------+--------------------+ | V10! | a of object_pose | read only | +-------------+-------------------+--------------------+ | V11! | b of object_pose | read only | +-------------+-------------------+--------------------+ | V12! | c of object_pose | read only | +-------------+-------------------+--------------------+ | V13! | x of tote_pose | read only | +-------------+-------------------+--------------------+ | V14! | y of tote_pose | read only | +-------------+-------------------+--------------------+ | V15! | z of tote_pose | read only | +-------------+-------------------+--------------------+ | V16! | a of tote_pose | read only | +-------------+-------------------+--------------------+ | V17! | b of tote_pose | read only | +-------------+-------------------+--------------------+ | V18! | c of tote_pose | read only | +-------------+-------------------+--------------------+ | V19!~V26! | 内部使用 | x | +-------------+-------------------+--------------------+ | V301!~V306! | 轨迹点1 | x | +-------------+-------------------+--------------------+ | V307!~V312! | 轨迹点2 | x | +-------------+-------------------+--------------------+ | ... | 轨迹点n | x | +-------------+-------------------+--------------------+ | V475!~V480! | 轨迹点30 | x | +-------------+-------------------+--------------------+ 机械臂主控支持的api定义在放在各个前台模板程序里面: .. function:: MasterInit() :noindex: 初始化各变量 .. function:: xyzMasterConnect() :noindex: 连接服务端 :param ip地址: 服务器的ip地址，填最后3位即可 :type ip地址: ``V3%`` :param 端口号: :type 端口号: ``V4%`` .. function:: xyzSwitchApp(app_name) :noindex: 切换应用 :param app_name: 应用的名称 :type app_name: STRING :return: error_code( ``V21%``): .. function:: xyzSwitchFlow(flow_name) :noindex: 切换flow :param flow_name: 需要切换到的task flow名称，以”.t“结尾，如“1.t” :type flow_name: STRING :return: error_code( ``V21%``): .. function:: xyzSwitchTool(tool_id) :noindex: 切换工具 :param tool_id: 工具名称 :type tool_id: STRING :return: error_code( ``V21%``): .. function:: xyzReqCapImg() :noindex: 请求拍照 :param vision_service_id: 视觉服务id :type vision_service_id: ``V15%`` :return: error_code( ``V21%``): token( ``V22%``): 用于获取对应拍照结果使用的token .. function:: xyzGetCapImg() :noindex: 获取拍照结果 :param token: 请求拍照时返回的token :type token: ``V14%`` :return: error_code( ``V21%``): .. function:: xyzCapImg() :noindex: 拍照并获取结果，等价于xyzReqCapImg() + xyzGetCapImg() :param vision_service_id: 视觉服务id :type vision_service_id: ``V15%`` :return: error_code( ``V21%``): .. function:: xyzReqGraspPose() :noindex: 请求抓取目标点位 :param ws_id: 工作空间id :type ws_id: ``V13%`` :return: error_code( ``V21%``): token( ``V22%``): 用于获取目标点位时使用的token .. function:: xyzGetGraspPose() :noindex: 获取抓取目标点位 :param token: 请求抓取目标点位时返回的token :type token: ``V14%`` :return: error_code( ``V21%``): grasp_pose_num(``V23%``):当前有多少个可供抓取的点 pipeline_num(``V59%``): pipeline文件number register_num(``V60%``):用到的注册文件的注册number grasp_pose(``V1!~V6!``)：抓取目标点的位姿数据 .. function:: xyzReqObjPose() :noindex: 请求物体位姿 :param ws_id: 工作空间id :type ws_id: ``V13%`` :return: error_code( ``V21%``): token( ``V22%``): 用于获取物体位姿时作为识别token .. function:: xyzGetObjPose() :noindex: 获取物体位姿 :param token: 请求抓取目标点位时返回的token :type token: ``V14%`` :return: error_code( ``V21%``): object_pose_num(``V25%``):当前物体位姿个数 pose_type(``V26%``): 物体的位姿类型 object_pose(``V7!~V12!``)：物体的位姿数据 .. function:: xyzResetTask() :noindex: 重置任务,一般用来初始化任务内部变量 :return: error_code( ``V21%``): .. function:: xyzSendCurrentJoints() :noindex: 发送机械臂当前角度 :return: error_code( ``V21%``): .. function:: xyzSendCurrentCartPose() :noindex: 发送机械臂当前Cartesian值 :return: error_code( ``V21%``): .. function:: xyzSendCurrentExtJoints() :noindex: 发送机械臂当前扩展轴位置，该指令暂不支持 :return: error_code( ``V21%``): .. function:: xyzReqPick() :noindex: 请求pick动作规划，该指令暂不支持 :return: error_code( ``V21%``): .. function:: xyzReqPlace() :noindex: 请求place动作规划，该指令暂不支持 :return: error_code( ``V21%``): .. function:: xyzReqPickPlace() :noindex: 请求pick和place规划 :param uws_id: 目前该值填0即可 :type uws_id: ``V16%`` :return: error_code( ``V21%``): .. function:: xyzGetPickIn() :noindex: 获取取料入框轨迹 :param uws_id: 目前该值填0即可 :type uws_id: ``V16%`` :return: error_code( ``V21%``): waypoint_num(``V27%``):轨迹点中点位数量 pipeline_num(``V59%``): pipeline文件number register_num(``V60%``):用到的注册文件的注册number 轨迹点()：在 ``V27%`` 大于0的情况下，直接调用 ``ExecTraj()`` 走轨迹即可 .. function:: xyzGetPickOut() :noindex: 获取取料出框轨迹 :param uws_id: 目前该值填0即可 :type uws_id: ``V16%`` :return: error_code( ``V21%``): waypoint_num(``V27%``):轨迹点中点位数量 pipeline_num(``V59%``): pipeline文件number register_num(``V60%``):用到的注册文件的注册number 轨迹点()：在 ``V27%`` 大于0的情况下，直接调用 ``ExecTraj()`` 走轨迹即可 .. function:: xyzGetPlaceIn() :noindex: 获取放料入框轨迹 :param uws_id: 目前该值填0即可 :type uws_id: ``V16%`` :return: error_code( ``V21%``): waypoint_num(``V27%``):轨迹点中点位数量 pipeline_num(``V59%``): pipeline文件number register_num(``V60%``):用到的注册文件的注册number 轨迹点()：在 ``V27%`` 大于0的情况下，直接调用 ``ExecTraj()`` 走轨迹即可 .. function:: xyzGetPlaceOut() :noindex: 获取放料出框轨迹 :param uws_id: 目前该值填0即可 :type uws_id: ``V16%`` :return: error_code( ``V21%``): waypoint_num(``V27%``):轨迹点中点位数量 pipeline_num(``V59%``): pipeline文件number register_num(``V60%``):用到的注册文件的注册number 轨迹点()：在 ``V27%`` 大于0的情况下，直接调用 ``ExecTraj()`` 走轨迹即可 .. function:: xyzSwitchStrat(strat_name) :noindex: 请求切换策略 :param strat_name: 策略名称 :type strat_name: STRING :return: error_code( ``V21%``): .. function:: xyzUpdateTotePose() :noindex: 料箱重定位 :return: error_code( ``V21%``): tote_pose(``V13! ~ V18!``)：重定位后的料箱位姿数据 .. function:: xyzUpdateObjPoseOnHand() :noindex: 工件在上手的二次定位 :return: error_code( ``V21%``): .. function:: xyzUpdateObjPoseToHand() :noindex: 工件不在手上的二次定位 :return: error_code( ``V21%``): waypoint_num(``V27%``):轨迹点中点位数量 pipeline_num(``V59%``): pipeline文件number register_num(``V60%``):用到的注册文件的注册number 轨迹点()：在 ``V27%`` 大于0的情况下，直接调用 ``ExecTraj()`` 走轨迹即可 .. function:: xyzGetObjPoseType() :noindex: 获取工件姿态类型 :return: error_code( ``V21%``): pose_type(``V26%``):工件的pose类型信息 .. function:: xyzResetPalletStatus() :noindex: 重置工业码垛状态 :return: error_code( ``V21%``): .. function:: xyzSwitchObj(obj_name) :noindex: 切换工件 :param ws_id: 工作空间id :type ws_id: ``V13%`` :param obj_name: 工件名称 :type obj_name: STRING :return: error_code( ``V21%``): .. function:: xyzCalculateGraspPose() :noindex: 计算抓取目标点位，该指令等价于xyzReqGraspPose() + xyzGetGraspPose() :param ws_id: 工作空间id :type ws_id: ``V13%`` :return: error_code( ``V21%``): grasp_pose_num(``V23%``):当前有多少个可供抓取的点 pipeline_num(``V59%``): pipeline文件number register_num(``V60%``):用到的注册文件的注册number grasp_pose(``V1!~V6!``)：抓取目标点的位姿数据 .. function:: xyzCalculateObjectPose() :noindex: 计算物体位姿，该指令等价于xyzReqObjPose() + xyzGetObjPose() :param ws_id: 工作空间id :type ws_id: ``V13%`` :return: error_code( ``V21%``): object_pose_num(``V25%``):当前物体位姿个数 pose_type(``V26%``): 物体的位姿类型 object_pose(``V7!~V12!``)：物体的位姿数据