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5.2 API Interface Description
5.2.1 Overview
Elephant robot allow users to control the robot from remote, one way is use
socket. We use tcp protocol to communicate between the client and the robot,
you can send the formated string through tcp to get or set some property/state of
the robot, the format for each function are introduced as bellow.
5.2.2 Socket String format rules
1 get current angles of robot
Socket string format: get_angles()
the return string is formated in key-value pair, the key is the funciton name,
the value is the value from robot, like this: get_angles:[0.174058, 0.520382,
-0.07874, 0.092855, 0.0, 0.030356]. If any error occurred, InvalidAngles()
(defined as [-1.0, -2.0, -3.0, -4.0, -1.0, -1.0]) will be returned.
2 set the angles of robot
Socket string format: set_angles(joint1_angle, joint2_angle, joint3_angle,
joint4_angle, joint5_angle, joint6_angle,speed)
Example: set_angles(10.0,11.0,12.2,12.3,.11.1,16.0,500)
the return string is formated in key-value pair, the key is the funciton name,
the value is the value from robot, like this: set_angles:[ok]. If any error
occurred, you will get set_angles:error_message.
3 set the angle of one joint
Socket string format: set_angle(joint,angle, ,speed)
example: set_angle(J1,50.5,500)
the return string is formated in key-value pair, the key is the funciton name,
the value is the value from robot, like this: set_angle:[ok]. If any error
occurred, you will get set_angle:error_message.
4 get current coordinates of robot
Socket string format: get_coords()
the return string is formated in key-value pair, the key is the funciton name,
the value is the value from robot, like this: get_coords:[0.174058, 0.520382,
-0.07874, 0.092855, 0.0, 0.030356]. If any error occurred, InvalidCoords()
(defined as [-1.0, -2.0, -3.0, -4.0, -1.0, -1.0]) will be returned.
Summary of Contents for myCobot Pro 600
Page 1: ...1 Elephant Robotics User Manual myCobot Pro 600 Language English Compiled in 2022 3 28...
Page 27: ...27 Fig 2 9 State of Being Not Powered On...
Page 28: ...28 Fig 2 10 In the Process of Being Powered On Fig 2 11 Completion of Being Powered On...
Page 35: ...35...
Page 37: ...37 3 2 Product Appearance and Composition Fig 3 1 Product Composition...
Page 38: ...38 3 3 Working Principles and Specifications 3 3 1 Working Space...
Page 39: ...39 3 3 2 Coordinate System DH parameters and coordinate system Fig 3 2 DH Coordinate System...
Page 40: ...40 Fig 3 2 DH Coordinate Parameter...
Page 45: ...45 Fig 3 10 Size Parameters of End Mounting Hole...
Page 75: ...75 Figure 2 25 Language and unit 6 Time Figure 2 26 shows the time setting page...
Page 88: ...88 Figure 3 13 Network settings...
Page 95: ...95 Figure 3 21 Basic Settings...
Page 113: ...113 Figure 4 17 Subprogram Figure 4 18 Display subroutine...
Page 135: ...135 Fig 5 88 Connect to RoboFlow Fig 5 89 Connected Successfully...