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接口

Warning

以下的所有接口返回值都是JSON格式，在RPC接口返回时会转换为字符串，详见接口协议

Note

未标明请求示例的接口表示该接口无请求参数，即空对象或空字符串或0。未标明返回示例的接口表示该接口无响应参数，即{code: 0, data: "", msg: ""}

基本接口

接口 说明 请求示例 成功时返回示例 备注
HelloWorld 测试接口，返回hello {request.data} "world" "hello world"
{name: "hello", age: 6} "hello {'name': 'hello', 'age': 6}"
GetSDKVersion 获取SDK版本 {code: 0, data:{major:8, minor:8, build: 0}, msg:""}
GetSystemInfo 获取系统状态 "CPU占用率0.0%，内存占用0.0%(98.87M/8511.7M),硬盘使用9.2%(6.85G/78.24G)"
GetSystemRunTime 获取控制库运行时间 {code:0, data:{time:123456}, msg:""}
ImportLicense 导入证书 {license:"abcdefg"} {code:val, data:"", msg:"successfully"}
GetHardWareInformation 获取硬件信息 {code:val, data:{cpu_id:"123", cpu_id_num:123, net_mac:"adfa", net_mac_num:123},msg:"successfully"}

示教接口

接口 说明 请求示例 成功时返回示例 备注
TeachSetIndex 设置当前示教机器人的索引 {robot_index:1} {code:0, data:"", msg:""}
TeachGetIndex 获取当前示教机器人的索引 "" {code:0, data:{robot_index:1}, msg:""}
TeachSetTool 设置当前工具 {tool_name:"tool0"} {code:0, data:{robot_index:1}, msg:""}
TeachGetTool 获取当前工具 "" {code:0, data:{tool_name:"tool0"}, msg:""}
TeachSetWobj 设置当前工件 {wobj_name:"wobj0"} {code:0, data:"", msg:""}
TeachGetWobj 获取当前工件 "" {code:0, data:{wobj_name:"wobj0"}, msg:""}
TeachSetCoordinate 设置当前坐标系 {frame:0} {code:0, data:"", msg:""}
TeachGetCoordinate 获取当前坐标系 "" {code:0, data:{frame:0}, msg:""}
TeachGetNum 获取机器人的个数 "" {code:0, data:{num:1}, msg:""}
TeachGetDof 获取当前机器人的自由度 "" {code:0, data:{dof:1}, msg:""}
TeachGetJoint 获取当前机器人关节 "" {code:0, data:{joint:[1,2,3,4,5,6]}, msg:""} 关节
TeachStreamGetJoint 流式获取当前机器人关节 "" {code:0, data:{joint:[1,2,3,4,5,6]}, msg:""} 关节
TeachDuplexStreamGetJoint 双向流式获取当前机器人关节 "" {code:0, data:{joint:[1,2,3,4,5,6]}, msg:""} 关节
TeachGetCartesian 获取当前机器人位姿 "" {code:0, data:{cartesin:[x,y,z,k,p,s]}, msg:""} 位姿
TeachStreamGetCartesian 流式获取当前机器人位姿 "" {code:0, data:{cartesin:[x,y,z,k,p,s]}, msg:""} 位姿
TeachDuplexStreamGetCartesian 双向流式获取当前机器人位姿 "" {code:0, data:{cartesin:[x,y,z,k,p,s]}, msg:""} 位姿
TeachSaveCurrentJoint 保存当期操作机器人的当前关节数据 {"data_name":"tt"} {"code":0,"data":"","msg":"save robot current cartesian data successfully!"}
TeachSaveCurrentCartesian 保存当前操作机器人的当前位置及姿态数据 {"data_name":"tt"} {"code":0,"data":"","msg":"save robot current joint data successfully!"}
TeachSetVelocity 设置当前机器人示教速度 {velocity: 0.3} {code:0, data:"", msg:""}
TeachGetVelocity 获取当前机器人示教速度 "" {code:0, data:{velocity: 0.3}, msg:""}
TeachSetRunType 设置当前机器人运行方式 {type: 1} {code:0, data:"", msg:""}
TeachGetRunType 获取当前机器人运行方式 "" {code:0, data:{type:1}, msg:""}
TeachClearMoveError 清除运动错误 "" {code:0, data:"", msg:""}
TeachStartProject 启动机器人脚本 {project_name: "test"} {code:0, data:"", msg:""}
TeachStopProject 停止机器人脚本 "" {code:0, data:"", msg:""}
TeachMoveStart 当前机器人使能 "" {code:0, data:"", msg:""}
TeachMoveStop 当前机器人下使能 "" {code:0, data:"", msg:""}
TeachEnableState 当前机器人使能状态 "" {code:1, data:"", msg:"enable"}
TeachMoveHome 当前机器人回到原点 "" {code:0, data:"", msg:""}
TeachMove 示教当前机器人 {axis:1, dirextion:1} {code:0, data:"", msg:""}
TeachStop 停止示教当前机器人 "" {code:0, data:"", msg:""}
TeachCalibrateAxis 标定单轴原点 {axis: 1} {code:0, data:"", msg:""}
TeachCalibrate 标定所有轴原点 "" {code:0, data:"", msg:""}
TeachCalibrateToolData 标定工具数据 {data_index: 1} {code:0, data:"", msg:""}
TeachCalibrateTool 标定工具 {robhold: 1, data_num: 3, payload_name: "tool0", tool_name:"tool1"} {code:0, data:"", msg:""}
TeachCalibrateWobjData 标定工件数据 {data_index: 1} {code:0, data:"", msg:""}
TeachCalibrateWobj 标定工件 {robhold: 1, user_name: "userframe1", wobj_name: "wobj0"} {code:0, data:"", msg:""}
TeachCalibrateUserData 标定用户坐标系数据 {data_index:1} {code:0, data:"", msg:""}
TeachCalibrateUser 标定用户坐标系 {user_name: "username"} {code:0, data:"", msg:""}
TeachCalibrateDynamicsData 采集动力学辨识数据 {code:0, data:"", msg:""}
TeachCalibrateDynamics 动力学辨识 {code:0, data:"", msg:""}
TeachCalibratePayloadData 采集负载辨识数据 {code:0, data:"", msg:""}
TeachCalibrateNopayloadData 采集无负载数据 {code:0, data:"", msg:""}
TeachCalibratePayload 负载辨识 {payload_name:"payload0"} {code:0, data:"", msg:""}
TeachGetDynamicsIdentificationState 获取辨识状态 {code:1, data:"", msg:""}
TeachRobotDirectStart 启动基于末端力矩传感器的拖动示教 {inertia:1.00, damping: 1.00, teach_axis:[1,2,3,4,5,6], is_tool_ctrl: 1} {code: 0, data:"", msg:"success"}
TeachRobotDirectEnd 关闭基于末端力矩传感器的拖动示教 {code:1, data:"", msg:"successfully"}
TeachRobotGotoJoint 当前机器人运动到指定关节位置 {J:[1.1,2.2,3.3,4.4,5.5,6.6], dof:6} {code:0, data:"", msg:"move finish"}
TeachRobotGotoCartesian 当前机器人运动到指定笛卡尔位置 {position:[1.1, 2.2, 3.3,4.4,5.5,6.6]} {code:0, data: "", msg:"move finish"}

IO 接口

接口 说明 请求示例 成功时返回示例 备注
GetAi 获取模拟量输入 {id:123} {code: 0, data:{val:1.1}, msg:""}
SetAo 设置模拟量输出 {id:123, flag:1.12} {code:0, data:"", msg:""} 没有返回值
GetDi 获取数字量输入 {id: 123} {code: 0, data:{val:1}, msg:""} 调用函数的返回值就是val
SetDo 设置数字量输出 {id:123, flag: 123} {code:0, data:"", msg:""} 没有返回值

传感器接口

接口 说明 请求示例 成功是返回示例 备注
TeachCreateTorqueSensor 创建力传感器 {torqueSensorName: "torque1"} {code: 0, data: "", msg:"unsuccessfully"}
TeachDestroyTorqueSensor 释放六维力传感器 {torqueSensorName: "torque1"} {code:0, data:"", msg:"successfully"}
TeachGetSensorTorque 获取六维力传感器数据 {torqueSensorName: "torque1"} {code:0, data:{tor:[1.1,2.2,3.3,4.4,5.5,6.6]}, msg: "successfully"}
TeachGetSensorTorqueTransformToTool 获取转换到工件坐标系下的六维力传感器 {torqueSensorName: "torque1", angle:[1.1,2.2,3.3,4.4,5.5,6.6]} {code: 0, data: {torque:[1.1,2.2,3.3,4.4,5.5,6.6]}, msg: "Successfully"}
TeachTorqueSensorCalibration 六维力传感器标定 {torqueSensorName: "torque1"} {code: val, data: "", msg: "successfully"}

数据接口

接口 说明 请求示例 成功时返回示例 备注
GetAllJointData 获取所有关节数据 {<关节名称>：关节} 如{code:0, data:{'egmj': {'angle': [0.0, 0.6, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'dof': 6}, 'jegm': {'angle': [0.0, 0.6, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'dof': 6}}, msg:""}
GetAllPoseData 获取所有位姿数据 {<位姿名称>：位姿} 同GetAllJointData
GetAllSpeedData 获取所有速度数据 {<速度名称>：速度} 同GetAllJointData
GetAllZoneData 获取所有转弯区数据 {<转弯区名称>：转弯区} 同GetAllJointData
GetAllToolData 获取所有工具数据 {<工具名称>：工具} 同GetAllJointData
GetAllWobjData 获取所有工件数据 {<工件名称>：工件} 同GetAllJointData
GetAllPayloadData 获取所有负载数据 {<负载名称>：负载} 同GetAllJointData
GetAllUserData 获取所有用户坐标系数据 {<用户坐标系>：用户坐标系} 同GetAllJointData

工艺接口

接口 说明 请求示例 成功时返回示例 备注
TeachWriteStackTechnology 写工艺数据到系统 {"s_name":"craft","name":"craft","WorkpieceDataX":0.2,"WorkpieceDataY":0.1,"WorkpieceDataZ":0.05,"GapDataX":0.01,"GapDataY":0.01,"FloorGraphicNum":[1,1,1,1,1],"FloorSum":5,"SG_Data":[{"id":1,"Type":0,"Xnum":2,"Ynum":2,"RotationAngleWhole":0,"RotationAngleSingle":0}],"GriaphicSum":1,"CurrentWorkpieceID":1} {code:0,data:"","msg":"write stack technology successfully!"}"
TeachReadStacktTechnology(Request) 从系统读工艺数据 未完成
TeachDeleteStackTechnology(Request) 删除工艺数据 未完成
TeachBrowseStackTechnology(Request) 浏览某层弓箭位置或者工件数目 未完成