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xArm-Python-SDK

Overview

xArm Python SDK

Caution

  • Please keep away from the robot arm to avoid personal injury or equipment damage.
  • Make sure to do a safety assessment before moving to prevent collisions.
  • Protect the arm before unlocking the joint.

Installation

  you can run examples without installation.Only Python3 is supported.

  • download

    git clone https://github.com/xArm-Developer/xArm-Python-SDK.git

  • install

    python setup.py install

Doc

Update Summary

  • 1.13.0

    • Compatible with the standard Modbus TCP protocol, providing part of the standard Modbus TCP protocol interface

  • 1.12.2

    • Support partial Task feedback (requires firmware version greater than or equal to v2.1.0)

  • 1.11.6

    • Correct the ambiguity that the set_position_aa interface is true when both relative and is_tool_coord are true. After the correction, when is_tool_coord is true, relative is invalid (previously is_tool_coord was invalid when relative was true)

  • 1.11.5

    • Optimization pause time is too long (wait=true)
    • Add common motion api (Enabled after firmware version 1.11.100)
    • The Cartesian motion-related interface adds the motion_type parameter to determine the planning method (Enabled after firmware version 1.11.100)

  • 1.11.0

    • Support transparent transmission
      • 240: set_tgpio_modbus_timeout(..., is_transparent_transmission=True)
      • 241: getset_tgpio_modbus_data(..., is_transparent_transmission=True)
    • Modified the centroid unit of the ft_sensor_iden_load and ft_sensor_cali_load interfaces to millimeters (originally meters)

  • More

Example

   Before running the example, please modify the IP in robot.conf to corresponding IP you want to control.

  • 0000-template

  • 0001-event_register
  • 0002-get_property
  • 0003-api_get
  • 0004-servo_attach_detach
  • 1001-move_line
  • 1002-move_line
  • 1003-relative_move_line
  • 1004-move_arc_line
  • 1005-move_arc_line
  • 1006-move_tool_line
  • 1007-counter
  • 1008-move_line_aa
  • 1009-cartesian_velocity_control
  • 1010-cartesian_online_trajectory_planning
  • 2000-joint_velocity_control
  • 2006-joint_online_trajectory_planning
  • 2001-move_joint --> xarm5 --- xarm6 --- xarm7
  • 2002-move_joint --> xarm5 --- xarm6 --- xarm7
  • 2003-move_joint --> xarm5 --- xarm6 --- xarm7
  • 2004-move_joint --> xarm5 --- xarm6 --- xarm7
  • 2005-move_arc_joint --> xarm5 --- xarm6 --- xarm7
  • 3001-move_circle
  • 3002-record_trajectory
  • 3003-playback_trajectory
  • 3004-get_report_data
  • 3005-task_feedback
  • 3006-standard_modbus_tcp
  • 5000-set_tgpio_modbus
  • 5001-get_tgpio_digital
  • 5002-get_tgpio_analog
  • 5003-set_tgpio_digital
  • 5004-set_gripper
  • 5005-get_cgpio_digital_analog
  • 5006-set_cgpio_digital_analog
  • 5007-set_cgpio_input_output_function
  • 5008-get_cgpio_state
  • 5009-set_bio_gripper
  • 6001-set_reduced_mode
  • 6002-set_fense_mode
  • 7001-servo_j
  • 7002-servo_cartesian
  • 7003-servo_cartesian_aa
  • 8000-load_identify_current
  • 8001-force_tech
  • 8002-impedance
  • 8003-force_control
  • 8004-load_identify
  • 8005-read_force_data
  • 8006-save_force_zero
  • 8010-get_ft_sensor_config
  • 9000-set_linear_track
  • blockly_to_python
  • get_report_data_with_protocol

  • Import

    from xarm.wrapper import XArmAPI
arm = XArmAPI('COM5')
arm = XArmAPI('192.168.1.113')
arm = XArmAPI('192.168.1.113', do_not_open=False)
arm = XArmAPI('192.168.1.113', is_radian=False)

  • Connect/Disconnect

    arm.connect(...)
arm.disconnect()

  • Move

    arm.reset(...)
arm.set_position(...)
arm.set_servo_angle(...)
arm.set_servo_angle_j(...)
arm.set_servo_cartesian(...)
arm.move_gohome(...)
arm.move_circle(...)
arm.emergency_stop()
arm.set_position_aa(...)
arm.set_servo_cartesian_aa(...)
arm.vc_set_joint_velocity(...)
arm.vc_set_cartesian_velocity(...)

  • Set

    arm.set_servo_attach(...)
arm.set_servo_detach(...)
arm.set_state(...)
arm.set_mode(...)
arm.motion_enable(...)
arm.set_pause_time(...)

  • Get

    arm.get_version()
arm.get_state()
arm.get_is_moving()
arm.get_cmdnum()
arm.get_err_warn_code()
arm.get_position(...)
arm.get_servo_angle(...)
arm.get_position_aa(...)
arm.get_pose_offset(...)

  • Setting

    arm.set_tcp_offset(...)
arm.set_tcp_jerk(...)
arm.set_tcp_maxacc(...)
arm.set_joint_jerk(...)
arm.set_joint_maxacc(...)
arm.set_tcp_load(...)
arm.set_collision_sensitivity(...)
arm.set_teach_sensitivity(...)
arm.set_gravity_direction(...)
arm.config_tgpio_reset_when_stop(...)
arm.config_cgpio_reset_when_stop(...)
arm.set_report_tau_or_i(...)
arm.set_self_collision_detection(...)
arm.set_collision_tool_model(...)
arm.clean_conf()
arm.save_conf()

  • Gripper

    arm.set_gripper_enable(...)
arm.set_gripper_mode(...)
arm.set_gripper_speed(...)
arm.set_gripper_position(...)
arm.get_gripper_position()
arm.get_gripper_err_code()
arm.clean_gripper_error()

  • BIO Gripper

    arm.set_bio_gripper_enable(...)
arm.set_bio_gripper_speed(...)
arm.open_bio_grippe(...)
arm.close_bio_gripper(...)
arm.get_bio_gripper_status()
arm.get_bio_gripper_error()
arm.clean_bio_gripper_error()

  • RobotIQ Gripper

    arm.robotiq_reset()
arm.robotiq_set_activate(...)
arm.robotiq_set_position(...)
arm.robotiq_open(...)
arm.robotiq_close(...)
arm.robotiq_get_status(...)

  • Modbus of the end tools

    arm.set_tgpio_modbus_timeout(...)
arm.set_tgpio_modbus_baudrate(...)
arm.get_tgpio_modbus_baudrate(...)
arm.getset_tgpio_modbus_data(...)

  • GPIO

    # Tool GPIO
arm.get_tgpio_digital(...)
arm.set_tgpio_digital(...)
arm.get_tgpio_analog(...)
arm.set_tgpio_digital_with_xyz(...)
# Controller GPIO
arm.get_cgpio_digital(...)
arm.get_cgpio_analog(...)
arm.set_cgpio_digital(...)
arm.set_cgpio_analog(...)
arm.set_cgpio_digital_input_function(...)
arm.set_cgpio_digital_output_function(...)
arm.get_cgpio_state()
arm.set_cgpio_digital_with_xyz(...)
arm.set_cgpio_analog_with_xyz(...)

  • Linear Track

    arm.get_linear_track_pos()
arm.get_linear_track_status()
arm.get_linear_track_error()
arm.get_linear_track_is_enabled()
arm.get_linear_track_on_zero()
arm.get_linear_track_sci()
arm.get_linear_track_sco()

arm.clean_linear_track_error(...)
arm.set_linear_track_enable(...)
arm.set_linear_track_speed(...)
arm.set_linear_track_back_origin(...)
arm.set_linear_track_pos(...)
arm.set_linear_track_stop(...)

  • FT Sensor

    arm.set_impedance(...)
arm.set_impedance_mbk(...)
arm.set_impedance_config(...)
arm.config_force_control(...)
arm.set_force_control_pid(...)
arm.ft_sensor_set_zero(...)
arm.ft_sensor_iden_load(...)
arm.ft_sensor_cali_load(...)
arm.ft_sensor_enable(...)
arm.ft_sensor_app_set(...)
arm.ft_sensor_app_get(...)
arm.get_ft_sensor_data(...)
arm.get_ft_senfor_config(...)
arm.get_ft_sensor_error(...)

  • Other

    arm.set_pause_time(...)
arm.system_control(...)
arm.clean_error()
arm.clean_warn()
arm.set_counter_reset()
arm.set_counter_increase(...)

  • Register/Release

    arm.register_report_callback(...)
arm.register_report_location_callback(...)
arm.register_connect_changed_callback(callback)
arm.register_state_changed_callback(callback)
arm.register_mode_changed_callback(callback)
arm.register_mtable_mtbrake_changed_callback(callback)
arm.register_error_warn_changed_callback(callback)
arm.register_cmdnum_changed_callback(callback)
arm.register_temperature_changed_callback(callback)
arm.register_count_changed_callback(callback)
arm.release_report_callback(callback)
arm.release_report_location_callback(callback)
arm.release_connect_changed_callback(callback)
arm.release_state_changed_callback(callback)
arm.release_mode_changed_callback(callback)
arm.release_mtable_mtbrake_changed_callback(callback)
arm.release_error_warn_changed_callback(callback)
arm.release_cmdnum_changed_callback(callback)
arm.release_temperature_changed_callback(callback)
arm.release_count_changed_callback(callback)

  • Property

    arm.connected
arm.default_is_radian
arm.version
arm.position
arm.last_used_position
arm.tcp_speed_limit
arm.tcp_acc_limit
arm.last_used_tcp_speed
arm.last_used_tcp_acc
arm.angles
arm.joint_speed_limit
arm.joint_acc_limit
arm.last_used_angles
arm.last_used_joint_speed
arm.last_used_joint_acc
arm.tcp_offset
arm.state
arm.mode
arm.joints_torque
arm.tcp_load
arm.collision_sensitivity
arm.teach_sensitivity
arm.motor_brake_states
arm.motor_enable_states
arm.has_err_warn
arm.has_error
arm.has_warn
arm.error_code
arm.warn_code
arm.cmd_num
arm.device_type
arm.axis
arm.gravity_direction
arm.gpio_reset_config
arm.count
arm.temperatures
arm.voltages
arm.currents
arm.cgpio_states