Robotic Arm APIs

ArmFactory

The ArmFactory class provides the following methods for creating robotic arm instances.

1. Create a robotic arm instance by specifying the type and name.

   • Method:

     create_arm(vendor_type: str, name: str, params: dict[str, str]) -> ArmInterface

   • Parameters:

     Parameter	Description
     vendor_type	The manufacturer or type of the robotic arm.
     name	The instance identifier for the arm (e.g., "left_arm", "right_arm").
     params	Additional robotic arm parameters, such as IP address, port number, etc. { 'ip':'192.168.1.10', # TCP IP address 'port':'5000', # TCP port number 'udp_ip':'192.168.1.100', # UDP IP address 'udp_port':'6000', # UDP port number 'udp_cycle':'20', # UDP cycle (period = udp_cycle * 5 ms) }

   • Return value:

     An ArmInterface instance if creation succeeds, otherwise None.

2. Create a robotic arm instance using an ArmFactoryParam object.

   • Method:

     create_arm(param: ArmFactoryParam) -> ArmInterface

   • Parameters:

     Parameter	Description
     param	Robotic arm configuration parameters. For details, please refer to ArmFactoryParam.

   • Return value:

     An ArmInterface instance if creation succeeds, otherwise None.

3. Create a robotic arm instance from a configuration file.

   • Method:

     create_arm_from_config(config_path: str) -> ArmInterface

   • Parameter:

     Parameter

     Description

     config_path

     Path to the configuration file. The configuration file must be a JSON file. { "arm_type":"xxx", # Robotic arm vendor "arm_name":"left_arm", # Robotic arm name "ip": "192.168.1.18", # TCP IP address "port": "8080", # TCP port number "udp_ip": "192.168.1.102", # UDP IP address "udp_port": "8089", # UDP port number "udp_cycle": "1", # UDP cycle (period = udp_cycle * 5 ms) "enable_gripper": "false" # Enable gripper }

   • Return value:

     An ArmInterface instance if creation succeeds, otherwise None.

ArmFactoryParam

The ArmFactoryParam class is used to describe the parameters required for creating a robotic arm. It can be initialized either through the default constructor or by passing a dictionary.

Attributes

All attributes of the ArmFactoryParam class are read-write.

Attribute (Read-Write)	Data Type	Description
arm_type	str	Robotic arm vendor (e.g., "realman")
arm_name	str	Robotic arm name (e.g., "left_arm")
ip	str	TCP IP address
udp_ip	str	UDP IP address
port	int	TCP port number
udp_port	int	UDP port number
udp_cycle	int	UDP cycle (period = udp_cycle * 5 ms)

Constructor with Parameters

• Method:

  __init__(self, arg0: dict[str, str]) -> None

• Parameter:

  Parameter

  Description

  arg0

  A dictionary containing all necessary parameters for creating the robotic arm. It must include the keys shown in the example below. The constructor will raise a RuntimeError if any required key is missing or its format is invalid. { 'arm_type':'xxx', # Robotic arm vendor 'arm_name':'left_arm', # Robotic arm name 'ip':'192.168.1.10', # TCP IP address 'port':'5000', # TCP port number 'udp_ip': '192.168.1.100', # UDP IP address 'udp_port':'6000', # UDP port number 'udp_cycle':'20', # UDP cycle (period = udp_cycle * 5 ms) 'enable_gripper': 'false' # Enable gripper }

ArmInterface

The ArmInterface class provides a series of public methods for controlling the robotic arm, including motion, grasping, and status queries. Ensure a robotic arm instance has been created before using these methods.

Attributes

Attribute (Read-Only)	Data Type	Description
name	str	The name of the robotic arm instance.

Connect to the Robotic Arm

• Method:

  connect(self) -> alphabot.core.AbcErrorCode

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Disconnect from the Robotic Arm

• Method:

  disconnect(self) -> None

• Return value:

  None.

Joint Motion

• Method:

  move_joint_position(
      self,
      joints: list[float],
      v: int,
      r: int,
      trajectory_connect: int,
      block: int
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  joints	Target joint positions, in degrees.
  v	Percentage of the maximum joint linear velocity and acceleration used for planning. Valid range: 0-100.
  r	Trajectory blending radius. Default value is 0.
  trajectory_connect	Trajectory connection flag. Accepts 0 or 1. - 0: Plan and execute the trajectory immediately. Do not connect to the next trajectory. - 1: Plan the current trajectory together with the next one, but do not execute immediately. Note: In blocking mode, the method returns immediately even after the trajectory is successfully sent.
  block	Blocking mode flag. Accepts 0 or 1. - 0: Non-blocking mode. The method returns immediately after successfully sending the motion command to the controller. - 1: Blocking mode. The method waits until the arm completes the motion or an error occurs before returning.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Cartesian Linear Motion

• Method:

  move_cartesian_linear(
      self,
      pose: alphabot.core.Pose,
      v: int,
      r: int,
      trajectory_connect: int,
      block: int
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  pose	Target pose. For details, please refer to Pose.
  v	Percentage of the maximum joint linear velocity and acceleration used for planning. Valid range: 0-100.
  r	Trajectory blending radius. Default value is 0.
  trajectory_connect	Trajectory connection flag. Accepts 0 or 1. - 0: Plan and execute the trajectory immediately. Do not connect to the next trajectory. - 1: Plan the current trajectory together with the next one, but do not execute immediately. Note: In blocking mode, the method returns immediately even after the trajectory is successfully sent.
  block	Blocking mode flag. Accepts 0 or 1. - 0: Non-blocking mode. The method returns immediately after successfully sending the motion command to the controller. - 1: Blocking mode. The method waits until the arm completes the motion or an error occurs before returning.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Move to Target Pose in Joint Space

In joint space, a motion trajectory is planned to move the robotic arm to the specified target pose.

• Method:

  move_joint_pose(
      self,
      pose: alphabot.core.Pose,
      v: int,
      r: int,
      trajectory_connect: int,
      block: int
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  pose	Target pose. For details, please refer to Pose.
  v	Percentage of the maximum joint angular velocity and joint angular acceleration used for planning. Valid range: 0-100.
  r	Trajectory blending radius. Default value is 0.
  trajectory_connect	Trajectory connection flag. Accepts 0 or 1. - 0: Plan and execute the trajectory immediately. Do not connect to the next trajectory. - 1: Plan the current trajectory together with the next one, but do not execute immediately. Note: In blocking mode, the method returns immediately even after the trajectory is successfully sent.
  block	Blocking mode flag. Accepts 0 or 1. - 0: Non-blocking mode. The method returns immediately after successfully sending the motion command to the controller. - 1: Blocking mode. The method waits until the arm completes the motion or an error occurs before returning.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Angle Pass-through

Joint angles are sent to the robotic arm via CAN FD (Controller Area Network Flexible Data-rate), bypassing trajectory planning by the controller. If the method is called correctly, the robotic arm executes the motion immediately.

Note

• The pass-through control performance is affected by the communication cycle and trajectory smoothness; therefore, a stable communication cycle is required to avoid large fluctuations.
• When using this feature, it is recommended to plan smooth trajectories to ensure stable operation of the robotic arm.
• The I-series wired Ethernet interface supports a minimum cycle time of 2 ms, providing higher real-time performance.

• Method:

  move_joint_position_canfd(
      self,
      joints: list[float],
      follow: bool,
      trajectory_mode: int = 0,
      radio: int = 0
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  joints	Target joint positions, in degrees.
  follow	Follow mode flag. Accepts True or False. - True: High-follow mode. - False: Low-follow mode. Note: High-follow mode requires a pass-through cycle of 10ms or less.
  trajectory_mode	Used in high-follow mode. Accepts 0, 1, or 2. - 0: Full pass-through mode. - 1: Curve-fitting mode. - 2: Filtering mode.
  radio	- In curve-fitting mode: radio is the smoothing coefficient, range 0-100. - In filtering mode: radio is the filter parameter, range 0-1000.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Pose Pass-through

The target pose is sent to the robotic arm via CAN FD (Controller Area Network Flexible Data-rate), bypassing trajectory planning by the controller.

When the target pose is received by the arm controller, the controller first attempts inverse kinematics calculation. If the inverse kinematics solution succeeds and the calculated joint angles do not differ significantly from the current joint positions, the angles are sent directly to the joints for execution, skipping additional trajectory planning.

This feature is suitable for scenarios that require periodic pose adjustments, such as visual servoing applications.

Note

• The pass-through control performance is affected by the communication cycle and trajectory smoothness; therefore, a stable communication cycle is required to avoid large fluctuations.
• When using this feature, it is recommended to plan smooth trajectories to ensure stable operation of the robotic arm.
• The I-series wired Ethernet interface supports a minimum cycle time of 2 ms, providing higher real-time performance.

• Method:

  move_cartesian_pose_canfd(
      self,
      pose: alphabot.core.Pose,
      follow: bool,
      trajectory_mode: int = 0,
      radio: int = 0
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  pose	Target pose.
  follow	Follow mode flag. Accepts True or False. - True: High-follow mode. - False: Low-follow mode. Note: High-follow mode requires a pass-through cycle of 10ms or less.
  trajectory_mode	Used in high-follow mode. Accepts 0, 1, or 2. - 0: Full pass-through mode. - 1: Curve-fitting mode. - 2: Filtering mode.
  radio	- In curve-fitting mode: radio is the smoothing coefficient, range 0-100. - In filtering mode: radio is the filter parameter, range 0-1000.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Joint Space Following Motion

Joint space following motion refers to real-time trajectory planning in joint space to achieve dynamic following of target joint positions.

• Method:

  move_joint_follow(self, joints: list[float]) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  joints	Target joint positions.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Cartesian Space Following Motion

Cartesian space following motion refers to real-time trajectory planning in Cartesian space to achieve dynamic following of the target pose.

• Method:

  move_pose_follow(self, pose: alphabot.core.Pose) -> alphabot.core.AbcErrorCode

• Parameter:

  Parameter	Description
  pose	Target pose. For details, please refer to Pose.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Register Robotic Arm State Callback Function

• Method:

  realtime_arm_state_call_back(self, callback: typing.Callable) -> None

• Parameter:

  Parameter	Description
  callback	The callback function is called whenever a robotic arm state update is received. The callback function receives a parameter of type ArmRealtimeState.

• Return value:

  None.

Slow Stop

The robotic arm decelerates and stops smoothly along the currently executing trajectory.

• Method:

  set_arm_slow_stop(self) -> alphabot.core.AbcErrorCode

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Emergency Stop

The robotic arm stops immediately at the maximum joint speed along the currently executing trajectory. This operation is an irreversible abort; motion cannot be resumed from the interruption point.

• Method:

  set_arm_stop(self) -> alphabot.core.AbcErrorCode

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Pause

The robotic arm pauses execution along the currently running trajectory. This operation is a recoverable interruption; motion can be resumed from the point of interruption.

• Method:

  set_arm_pause(self) -> alphabot.core.AbcErrorCode

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Resume

After being paused, the robotic arm resumes execution from the interruption point and continues the unfinished motion task.

• Method:

  set_arm_continue(self) -> alphabot.core.AbcErrorCode

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set End-Effector Ecosystem Protocol Mode

• Method:

  set_plus_mode(self, mode: int) -> alphabot.core.AbcErrorCode

• Parameter:

  Parameter	Description
  mode	The end-effector ecosystem protocol mode. - 0: Disable protocol. - 9600: Enable protocol (baud rate 9600). - 115200: Enable protocol (baud rate 115200). - 256000: Enable protocol (baud rate 256000). - 460800: Enable protocol (baud rate 460800).

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Release Gripper

The gripper moves to its fully open position at the specified speed.

• Method:

  set_gripper_release(
      self,
      speed: int,
      block: bool,
      timeout: int
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  speed	Gripper release speed. Valid range: 1-1000 (dimensionless).
  block	Blocking mode flag. - True: Blocking mode. Waits for the controller to confirm the gripper has reached the position. - False: Non-blocking mode. Does not wait for the gripper-in-position feedback.
  timeout	Timeout behavior depends on the blocking mode. - Blocking mode: Maximum waiting time for the gripper to reach the target position, in seconds. - Non-blocking mode: If set to 0, the method returns immediately after sending the command; otherwise, it returns after receiving the successful setting command.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Force-Controlled Grasp

The gripper grasps at the specified speed and force. Grasping stops automatically when the gripping force exceeds the configured force threshold.

• Method:

  set_gripper_pick(
      self,
      speed: int,
      force: int,
      block: bool,
      timeout: int
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  speed	Gripper closing speed. Valid range: 1-1000 (dimensionless).
  force	Force-control threshold. Valid range: 50-1000 (dimensionless).
  block	Blocking mode flag. - True: Blocking mode. Waits for the controller to confirm the gripper has reached the position. - False: Non-blocking mode. Does not wait for the gripper-in-position feedback.
  timeout	Timeout behavior depends on the blocking mode. - Blocking mode: Maximum waiting time for the gripper to reach the target position, in seconds. - Non-blocking mode: If set to 0, the method returns immediately after sending the command; otherwise, it returns after receiving the successful setting command.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Continuous Force-Controlled Grasp

• Method:

  set_gripper_pick_on(
      self,
      speed: int,
      force: int,
      block: bool,
      timeout: int
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  speed	Gripper closing speed. Valid range: 1-1000 (dimensionless).
  force	Force-control threshold. Valid range: 50-1000 (dimensionless).
  block	Blocking mode flag. - True: Blocking mode. Waits for the controller to confirm the gripper has reached the position. - False: Non-blocking mode. Does not wait for the gripper-in-position feedback.
  timeout	Timeout behavior depends on the blocking mode. - Blocking mode: Maximum waiting time for the gripper to reach the target position, in seconds. - Non-blocking mode: If set to 0, the method returns immediately after sending the command; otherwise, it returns after receiving the successful setting command.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set Gripper Aperture Position

After the gripper reaches the target position, the following behavior applies:

• If the current aperture is smaller than the target, the gripper opens to the target position at the default speed.

• If the current aperture is larger than the target, the gripper closes towards the target position at the specified speed and torque limit. The gripper stops when either the torque threshold is exceeded or the target position is reached.

• Method:

  set_gripper_position(
      self,
      position: int,
      block: bool,
      timeout: int
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  position	Target gripper aperture position. Valid range: 1-1000 (dimensionless).
  block	Blocking mode flag. - true: Blocking mode. Waits for the controller to confirm the gripper has reached the position. - false: Non-blocking mode. Does not wait for the gripper-in-position feedback.
  timeout	Timeout behavior depends on the blocking mode. - Blocking mode: Maximum waiting time for the gripper to reach the target position, in seconds. - Non-blocking mode: If set to 0, the method returns immediately after sending the command; otherwise, it returns after receiving the successful setting command.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Gripper Status

• Method:

  get_gripper_state(self) -> tuple[alphabot.core.AbcErrorCode, GripperState]

• Return value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  GripperState	The current gripper status. For details, please refer to GripperState.

Set Target Gesture Sequence Number of the Dexterous Hand

• Method:

  set_hand_posture(
      self,
      posture_num: int,
      block: bool,
      timeout: int
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  posture_num	Gesture sequence number pre-stored in the dexterous hand, range: 1-40.
  block	- True indicates blocking mode, which waits until the dexterous hand motion completes before returning. - False indicates non-blocking mode, which returns immediately after the command is sent.
  timeout	Timeout value in blocking mode, in seconds.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set Each DOF Angle of the Dexterous Hand

The dexterous hand has 6 degrees of freedom (DOF), numbered 1–6 as follows:

1: Little finger, 2: Ring finger, 3: Middle finger, 4: Index finger, 5: Thumb flexion, 6: Thumb rotation.

• Method:

  set_hand_angle(
      self,
      hand_angle: list[int]
  ) -> alphabot.core.AbcErrorCode

• Parameter:

  Parameter	Description
  hand_angle	Array of finger angles. The array length is 6. The angle range is 0–1000. Additionally, -1 indicates that no action will be performed for this degree of freedom, and the current state will be maintained.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set Angle Following Control for the Dexterous Hand

The dexterous hand has 6 degrees of freedom (DOF), numbered 1–6 as follows:

1: Little finger, 2: Ring finger, 3: Middle finger, 4: Index finger, 5: Thumb flexion, 6: Thumb rotation.

• Method:

  set_hand_follow_angle(
      self,
      hand_angle: list[int],
      block: int
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  hand_angle	Array of finger angles. The array length is 6. The angle range is defined by the dexterous hand manufacturer (e.g., for INSPIRE-ROBOTS, the range is 0–2000).
  block	Timeout value before returning, in milliseconds. A value of 0 means non-blocking mode.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set Position Following Control for the Dexterous Hand

The dexterous hand has 6 degrees of freedom (DOF), numbered 1–6 as follows:

1: Little finger, 2: Ring finger, 3: Middle finger, 4: Index finger, 5: Thumb flexion, 6: Thumb rotation.

• Method:

  set_hand_follow_pos(
      self,
      hand_pos: list[int],
      block: int
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  hand_angle	Array of finger positions. The array length is 6. The position range is defined by the dexterous hand manufacturer (e.g., for INSPIRE-ROBOTS, the range is 0–1000).
  block	Timeout value before returning, in milliseconds. A value of 0 means non-blocking mode.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set Speed of the Dexterous Hand

• Method:

  set_hand_speed(self, speed: int) -> alphabot.core.AbcErrorCode

• Parameter:

  Parameter	Description
  speed	Finger speed. Valid range: 1–1000.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set Force Threshold of the Dexterous Hand

• Method:

  set_hand_force(self, hand_force: int) -> alphabot.core.AbcErrorCode

• Parameter:

  Parameter	Description
  hand_force	Finger force. Valid range: 1–1000.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Current Joint Angles

• Method:

  get_joint_degree(self) -> tuple[alphabot.core.AbcErrorCode, list[float]]

• Return value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  list[float]	Current joint angles.

Compute Forward Kinematics

• Method:

  forward_kinematics(
      self,
      joints: list[float]
  ) -> tuple[alphabot.core.AbcErrorCode, alphabot.core.Pose]

• Parameter:

  Parameter	Description
  joints	Joint angles.

• Return value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  Pose	Pose computed by forward kinematics. For details, please refer to Pose.

Compute Inverse Kinematics

• Method:

  inverse_kinematics(
      self,
      pose: alphabot.core.Pose,
      ref_joints: list[float],
      mode: int = 0
  ) -> tuple[alphabot.core.AbcErrorCode, list[float]]

• Parameters:

  Parameter	Description
  pose	The target pose. For details, please refer to Pose.
  ref_joints	Reference joint angles.
  mode	Solution mode. Accepts 0 or 1. Default is 0. - 0: Single-step solution. - 1: Iterative search solution.

• Return value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  list[float]	Joint angles computed by inverse kinematics.

Configure Modbus RTU Mode

After the robotic arm is started, you must first call the following method to configure Modbus RTU mode before performing any operation on the communication port. Otherwise, an error will be returned.

The robotic arm persists the Modbus configuration. After a reboot, the arm automatically restores the mode that was configured before power-off.

• Method:

  set_modbus_mode(
      self,
      port: int,
      baudrate: int,
      timeout: int
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  port	Specifies the communication port. Valid values: 0, 1, or 2. - 0: Controller RS485 port as RTU master. - 1: End interface board RS485 port as RTU master. - 2: Controller RS485 port as RTU slave.
  baudrate	Baud rate, supporting three common baud rates, namely 9600, 115200, and 460800.
  timeout	Timeout period, in 100 ms. For all read and write commands to the Modbus device, if no response data is returned within the specified timeout period, a timeout error will be returned. The timeout period cannot be set to 0; if set to 0, the robotic arm will take it as 1 for configuration.

  Note

  Other configurations are as follows by default: data bit - 8, stop bit - 1, parity check - no.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Close Modbus RTU Mode

• Method:

  close_modbus_mode(self, port: int) -> alphabot.core.AbcErrorCode

• Parameter:

  Parameter	Description
  port	Specifies the communication port. Valid values: 0, 1, or 2. - 0: Controller RS485 port as RTU master. - 1: End interface board RS485 port as RTU master. - 2: Controller RS485 port as RTU slave.

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Write multiple registers

• Method:

  write_registers(
      self,
      params: PeripheralReadWriteParams,
      values: list[int]
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  params	Parameter structure writing multiple registers. For details, please refer to PeripheralReadWriteParams.
  values	An array of data to be written to the registers, where each value is a 16-bit unsigned integer in the range 0-65535.

  Note

  • A maximum of 10 registers can be written at a time. The array length must equal the number of registers.
  • This method automatically converts 16-bit integers into a byte sequence with the high byte first (big-endian order).

• Return value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Error Information

• Method:

  get_error_flag(self) -> tuple[alphabot.core.AbcErrorCode, tuple[list[int], list[int]]]

• Return value:

  A tuple containing two elements.

  Element Type		Description
  AbcErrorCode		AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode。
  tuple[list[int], list[int]]	list[int]	Joint error codes.
  	list[int]	Joint brake status. - 1: Brake is engaged (not released). - 0: Brake is released.

ArmForceSensor

The ArmForceSensor class represents force sensor data of the robotic arm.

Attribute (Read-Write)	Data Type	Description
force	list[float]	Current raw force sensor data, in units of 0.001 N or 0.001 N·m.
zero_force	list[float]	Current external force data measured by the force sensor system, in units of 0.001 N or 0.001 N·m.
coordinate	int	Coordinate frame of the external force data. - 0: Sensor coordinate frame. - 1: Current working coordinate frame. - 2: Current tool coordinate frame.

ArmRealtimeState

The ArmRealtimeState class represents the real-time state of the robotic arm.

Attribute (Read-Write)	Data Type	Description
name	str	Robotic arm name
timestamp	typing.Any	Timestamp
joint_status	JointState	Joint states
force_sensor	ArmForceSensor	Force sensor status
arm_current_status	ArmCurrentStatus	Robotic arm status
gripper_state	GripperState	Gripper status
ee_pose	Pose	End-effector pose

JointState

Attribute (Read-Write)	Data Type	Description
joint_position	list[float]	Current joint angles, in degrees (°).
joint_speed	list[float]	Current joint speeds, in RPM (revolutions per minute).
joint_current	list[float]	Current joint current, in milliamperes (mA).
joint_temperature	list[float]	Current joint temperature, in degrees Celsius (°C).
joint_voltage	list[float]	Current joint voltage, in volts (V).
joint_err_code	list[int]	Current joint error codes.
joint_en_flag	list[bool]	Current joint enable flags. - True: Enabled. - False: Disabled.

GripperState

Attribute (Read-Write)	Data Type	Description
status	int	Gripper status. - 0: Offline. - 1: Online. - -1: Online but disabled.
error	int	Gripper error information. - Lower 8 bits: Internal gripper error codes. - Bits 5—7: Reserved. - Bit 4: Internal communication error. - Bit 3: Driver error. - Bit 2: Overcurrent. - Bit 1: Overtemperature. - Bit 0: Locked-rotor.
mode	int	Current operating mode. - 1: Gripper fully open and idle. - 2: Gripper fully closed and idle. - 3: Gripper stopped and idle. - 4: Gripper is closing. - 5: Gripper is opening. - 6: Gripper stopped by force-controlled during closing.
current_force	int	Current force, in grams (g).
temperature	int	Current temperature, in degrees Celsius (°C).
actpos	int	Gripper aperture, range 0-1000. - 0: Gripper fully closed. - 1000: Gripper fully open.

PeripheralReadWriteParams

The PeripheralReadWriteParams class is used to configure Modbus communication parameters between the controller and peripheral devices.

Attribute (Read-Write)	Data Type	Description
port	int	Communication port. - 0: Controller RS485 port - 1: End-effector interface board RS485 port - 3: Controller Modbus TCP device
address	int	Starting data address
device	int	Peripheral device address
num	int	Number of data items