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gitea 2024-09-25 11:30:12 +08:00
parent f0c038f744
commit 65bd6f2bce
3 changed files with 73 additions and 104 deletions
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9
assets/json/collision.set_params.json
View File

@ -2,12 +2,5 @@
"id": "xxxxxxxxxxx", "id": "xxxxxxxxxxx",
"module": "safety", "module": "safety",
"command": "collision.set_params", "command": "collision.set_params",
"data": { "data": null
"enable": false,
"mode": 0,
"coeff": [0,0,0,0,0,0,0],
"coeff_level": 0,
"action": 1,
"percent": 1
}
} }

11
code/common.py
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@ -8,6 +8,7 @@ def initialization():
hr = openapi.HmiRequest() hr = openapi.HmiRequest()
pd = openapi.PreDos() pd = openapi.PreDos()
# 推送配置文件 # 推送配置文件
clibs.logger.info("推送配置文件 fieldbus_device.json/registers.json/registers.xml 到控制器，并配置 IO 设备，设备号为 5...")
robot_params = hr.get_robot_params robot_params = hr.get_robot_params
robot_type = robot_params["robot_type"] robot_type = robot_params["robot_type"]
security_type = robot_params["security_type"] security_type = robot_params["security_type"]
@ -55,33 +56,41 @@ def initialization():
md.r_soft_estop(1) md.r_soft_estop(1)
# 断开示教器连接 # 断开示教器连接
clibs.logger.info("断开示教器连接...")
hr.switch_tp_mode("without") hr.switch_tp_mode("without")
# 清空 system IO 配置 # 清空 system IO 配置
clibs.logger.info("清空所有的 System IO 功能配置...")
hr.update_system_io_configuration([], [], [], [], []) hr.update_system_io_configuration([], [], [], [], [])
# 关闭缩减模式 # 关闭缩减模式
md.r_reduced_mode(0) md.r_reduced_mode(0)
# 关闭安全区域 # 关闭安全区域
clibs.logger.info("正在关闭所有的安全区，并关闭总使能开关...")
hr.set_safety_area_overall(False) hr.set_safety_area_overall(False)
hr.set_safety_area_signal(False) hr.set_safety_area_signal(False)
for i in range(10): for i in range(10):
hr.set_safety_area_enable(i, False) hr.set_safety_area_enable(i, False)
# 打开外部通信 # 打开外部通信
clibs.logger.info("配置并打开外部通信，默认服务器，8080端口，后缀为 \"\\r\"...")
hr.set_socket_params(True, "", "name", "8080", "\r", 1, True, True, 0, 10) hr.set_socket_params(True, "", "name", "8080", "\r", 1, True, True, 0, 10)
# 关闭拖动 # 关闭拖动
clibs.logger.info("关闭拖动模式...")
hr.set_drag_params(False, 1, 2) hr.set_drag_params(False, 1, 2)
# 关闭碰撞检测 # 关闭碰撞检测
clibs.logger.info("关闭碰撞检测...")
hr.set_collision_params(False, 0, 1, 100) hr.set_collision_params(False, 0, 1, 100)
# 清除所有错误码 # 清除所有过滤错误码
clibs.logger.info("清除所有过滤错误码设定...")
hr.set_filtered_error_code("clear", []) hr.set_filtered_error_code("clear", [])
# 回拖动位姿 # 回拖动位姿
clibs.logger.info("正在回拖动位姿...")
hr.switch_operation_mode("manual") hr.switch_operation_mode("manual")
hr.switch_motor_state("on") hr.switch_motor_state("on")
hr.set_quickturn_pos(enable_drag=True) hr.set_quickturn_pos(enable_drag=True)

157
code/openapi.py
View File

@ -37,10 +37,9 @@ class ModbusRequest(object):
self.__reg_high_pulse(40001) self.__reg_high_pulse(40001)
clibs.logger.info("40001-010 执行复位急停状态(非软急停)") clibs.logger.info("40001-010 执行复位急停状态(非软急停)")
def r_reset_estop_clear_alarm(self): # NG def r_reset_estop_clear_alarm(self): # OK
clibs.logger.critical("[NG]-40002-010 该指令暂时有问题，运行会导致后台 xCore 崩溃，待修复...") self.__reg_high_pulse(40002)
# self.__reg_high_pulse(40002) clibs.logger.info("40002-010 执行复位急停状态(非软急停)，并清除告警信息")
# clibs.logger.info("[NG]-40002-010 执行复位急停状态(非软急停)，并清除告警信息")
def r_motor_off(self): # OK def r_motor_off(self): # OK
self.__reg_high_pulse(40003) self.__reg_high_pulse(40003)
@ -296,7 +295,7 @@ class HmiRequest(object):
self.__t_is_alive = Thread(target=self.__is_alive) self.__t_is_alive = Thread(target=self.__is_alive)
self.__t_is_alive.daemon = False self.__t_is_alive.daemon = False
self.__t_is_alive.start() self.__t_is_alive.start()
sleep(1) # 很重要，必须有，因为涉及到建联成功与否 sleep(2) # 很重要，必须有，因为涉及到建联成功与否
def __is_alive(self): def __is_alive(self):
first_time = True first_time = True
@ -649,7 +648,7 @@ class HmiRequest(object):
def log_reqs(request): def log_reqs(request):
with open(clibs.log_data_reqs, mode="a", encoding="utf-8") as f_log: with open(clibs.log_data_reqs, mode="a", encoding="utf-8") as f_log:
log_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time())) log_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
f_log.write(" ".join([log_time, dumps(req), "\n"])) f_log.write(" ".join([log_time, dumps(request), "\n"]))
if protocol_flag == 0: # for old protocols if protocol_flag == 0: # for old protocols
req = None req = None
@ -712,11 +711,7 @@ class HmiRequest(object):
req["data"]["enable_home"] = kwargs["enable_home"] req["data"]["enable_home"] = kwargs["enable_home"]
req["data"]["enable_drag"] = kwargs["enable_drag"] req["data"]["enable_drag"] = kwargs["enable_drag"]
req["data"]["enable_transport"] = kwargs["enable_transport"] req["data"]["enable_transport"] = kwargs["enable_transport"]
req["data"]["joint_home"] = kwargs["joint_home"]
req["data"]["joint_drag"] = kwargs["joint_drag"]
req["data"]["joint_transport"] = kwargs["joint_transport"]
req["data"]["end_posture"] = kwargs["end_posture"] req["data"]["end_posture"] = kwargs["end_posture"]
req["data"]["home_error_range"] = kwargs["home_error_range"]
case "move.quick_turn": case "move.quick_turn":
req["data"]["name"] = kwargs["name"] req["data"]["name"] = kwargs["name"]
case "move.stop": case "move.stop":
@ -745,27 +740,11 @@ class HmiRequest(object):
case "move.set_monitor_cfg": case "move.set_monitor_cfg":
req["data"]["ref_coordinate"] = kwargs["ref_coordinate"] req["data"]["ref_coordinate"] = kwargs["ref_coordinate"]
case "move.set_params": case "move.set_params":
req["data"]["JOINT_MAX_SPEED"] = kwargs["JOINT_MAX_SPEED"] req["data"] = kwargs["data"]
req["data"]["JOINT_MAX_ACC"] = kwargs["JOINT_MAX_ACC"]
req["data"]["JOINT_MAX_JERK"] = kwargs["JOINT_MAX_JERK"]
req["data"]["TCP_MAX_SPEED"] = kwargs["TCP_MAX_SPEED"]
req["data"]["DEFAULT_ACC_PARAMS"] = kwargs["DEFAULT_ACC_PARAMS"]
req["data"]["VEL_SMOOTH_FACTOR"] = kwargs["VEL_SMOOTH_FACTOR"]
req["data"]["ACC_RAMPTIME_JOG"] = kwargs["ACC_RAMPTIME_JOG"]
case "move.set_quickstop_distance": case "move.set_quickstop_distance":
req["data"]["distance"] = kwargs["distance"] req["data"]["distance"] = kwargs["distance"]
case "collision.set_params": case "collision.set_params":
req["data"]["enable"] = kwargs["enable"] req["data"] = kwargs["data"]
req["data"]["mode"] = kwargs["mode"]
req["data"]["action"] = kwargs["action"]
req["data"]["percent"] = kwargs["percent"]
req["data"]["coeff"] = kwargs["coeff"]
req["data"]["coeff_level"] = kwargs["coeff_level"]
req["data"]["percent_axis"] = kwargs["percent_axis"]
req["data"]["fallback_distance"] = kwargs["fallback_distance"]
req["data"]["compliance"] = kwargs["compliance"]
req["data"]["reduced_percent"] = kwargs["reduced_percent"]
req["data"]["reduced_percent_axis"] = kwargs["reduced_percent_axis"]
case "collision.set_state": case "collision.set_state":
req["data"]["collision_state"] = kwargs["collision_state"] req["data"]["collision_state"] = kwargs["collision_state"]
case "controller.set_params": case "controller.set_params":
@ -947,35 +926,28 @@ class HmiRequest(object):
6 工具坐标系Z轴与地面垂直，正向朝上 6 工具坐标系Z轴与地面垂直，正向朝上
:return: as below :return: as below
{ {
"enable_home": false, "enable_home": false, // 是否开启 home 点快速调整
"enable_drag": false, "enable_drag": false, // 是否开启拖动位姿点快速调整
"enable_transport": false, "enable_transport": false, // 是否开启发货位姿点快速调整
"joint_home": [0.0,0.0,0.0,0.0,0.0,0.0,0.0], "joint_home": [0.0,0.0,0.0,0.0,0.0,0.0,0.0], // home 位姿的关节角度
"joint_drag": [0.0,0.0,0.0,0.0,0.0,0.0,0.0], "joint_drag": [0.0,0.0,0.0,0.0,0.0,0.0,0.0], // 拖动位姿的关节角度
"joint_transport": [0.0,0.0,0.0,0.0,0.0,0.0,0.0], "joint_transport": [0.0,0.0,0.0,0.0,0.0,0.0,0.0], // 发货位姿的关节角度
"end_posture":0, "end_posture":0, // 末端姿态的调整方式，取值 0-6
"home_error_range":[0.0,0.0,0.0,0.0,0.0,0.0,0.0] "home_error_range":[0.0,0.0,0.0,0.0,0.0,0.0,0.0] // home点误差范围
} }
""" """
return self.__get_data(currentframe().f_code.co_name, "move.get_quickturn_pos") return self.__get_data(currentframe().f_code.co_name, "move.get_quickturn_pos")
def set_quickturn_pos(self, enable_home: bool=False, enable_drag: bool=False, enable_transport: bool=False, def set_quickturn_pos(self, enable_home: bool = False, enable_drag: bool = False, enable_transport: bool = False, end_posture: int = 0):
joint_home: list=[0.0,0.0,0.0,0.0,0.0,0.0,0.0], joint_drag: list=[0.0,0.0,0.0,0.0,0.0,0.0,0.0],
joint_transport: list=[0.0,0.0,0.0,0.0,0.0,0.0,0.0], end_posture: int=0,
home_error_range: list=[0.0,0.0,0.0,0.0,0.0,0.0,0.0]):
""" """
设置机器人的home位姿、拖动位姿、发货位姿，轴关节角度，Home点误差范围，详见上一个 get_quickturn_pos 功能实现 设置机器人的home位姿、拖动位姿、发货位姿，轴关节角度，Home点误差范围，详见上一个 get_quickturn_pos 功能实现
:param enable_home: 是否开启 home 点快速调整 :param enable_home: 是否开启 home 点快速调整
:param enable_drag: 是否开启拖动位姿点快速调整 :param enable_drag: 是否开启拖动位姿点快速调整
:param enable_transport:是否开启发货位姿点快速调整 :param enable_transport:是否开启发货位姿点快速调整
:param joint_home: home 位姿的关节角度
:param joint_drag: 拖动位姿的关节角度
:param joint_transport: 发货位姿的关节角度
:param end_posture: 末端姿态的调整方式，取值 0-6，详见 get_quickturn_pos 注释 :param end_posture: 末端姿态的调整方式，取值 0-6，详见 get_quickturn_pos 注释
:param home_error_range: home点误差范围
:return: None :return: None
""" """
self.execution("move.set_quickturn_pos", enable_home=enable_home, enable_drag=enable_drag, enable_transport=enable_transport, joint_home=joint_home, joint_drag=joint_drag, joint_transport=joint_transport, end_posture=end_posture, home_error_range=home_error_range) self.execution("move.set_quickturn_pos", enable_home=enable_home, enable_drag=enable_drag, enable_transport=enable_transport, end_posture=end_posture)
def move2quickturn(self, name: str): def move2quickturn(self, name: str):
""" """
@ -1023,7 +995,7 @@ class HmiRequest(object):
""" """
self.execution("jog.set_params", step=step, override=override, space=space) self.execution("jog.set_params", step=step, override=override, space=space)
def start_jog(self, index: int, direction: bool=False, is_ext: bool=False): def start_jog(self, index: int, direction: bool = False, is_ext: bool = False):
""" """
开始 JOG 运动 开始 JOG 运动
:param index: 0-6，若选轴空间，则 0-6 对应 1-7 轴，若选笛卡尔空间，则 0-6 对应 xyzabc elb :param index: 0-6，若选轴空间，则 0-6 对应 1-7 轴，若选笛卡尔空间，则 0-6 对应 xyzabc elb
@ -1416,43 +1388,42 @@ class HmiRequest(object):
获取机器人的运动参数：包括减速比、耦合比、最大速度、加速度、加加速度、acc ramp time、规划步长等信息 获取机器人的运动参数：包括减速比、耦合比、最大速度、加速度、加加速度、acc ramp time、规划步长等信息
:return: :return:
{ {
"MOTION":{ "MOTION": {
"JOINT_MAX_SPEED": [90, 90, 120, 120, 120, 120, 120], "ACC_RAMPTIME_JOG": 0.5,
"JOINT_MAX_ACC": [200, 200, 200, 200, 200, 200, 200], "ACC_RAMPTIME_STOP": 0.5,
"JOINT_MAX_JERK": [2000, 2000, 2000, 2000, 2000, 2000, 2000], "DEFAULT_ACC_PARAMS": [1.0, 0.5],
"TCP_MAX_SPEED": 500, "JERK_LIMIT_CART": 0,
"JERK_LIMIT_JOINT": 0,
"JERK_LIMIT_ROT": 0,
"JOINT_MAX_ACC": [500, 500, 1000, 1000, 1000],
"JOINT_MAX_JERK": [2000, 2000, 2000, 4000, 4000, 4000],
"JOINT_MAX_SPEED": [120.0, 120.0, 180.0, 180.0, 180.0, 180.0],
"MAX_ACC_PARAMS": [1.0, 1],
"MIN_ACC_PARAMS": [0.3, 0.05],
"TCP_MAX_ACC": 5000, "TCP_MAX_ACC": 5000,
"TCP_MAX_JERK": 10000, "TCP_MAX_JERK": 10000,
"TCP_ROTATE_MAX_SPEED": 180, "TCP_MAX_SPEED": 1000,
"TCP_ROTATE_MAX_ACC": 1800, "TCP_ROTATE_MAX_ACC": 1800,
"TCP_ROTATE_MAX_JERK": 3600, "TCP_ROTATE_MAX_JERK": 3600,
"JERK_LIMIT_CART": 0, "TCP_ROTATE_MAX_SPEED": 180,
"JERK_LIMIT_ROT": 0, "VEL_SMOOTH_FACTOR": 1.0,
"JERK_LIMIT_JOINT": 0, "VEL_SMOOTH_FACTOR_RANGE": [1.0, 10.0]
"MAX_ACC_PARAMS": [1.0, 0.1], }
"MIN_ACC_PARAMS": [0.3, 0.5],
"DEFAULT_ACC_PARAMS": [1.0, 0.35],
"VEL_SMOOTH_FACTOR": 3.33,
"VEL_SMOOTH_FACTOR_RANGE": [1.0, 10.0],
"ACC_RAMPTIME_JOG": 0.01
}
} }
""" """
return self.__get_data(currentframe().f_code.co_name, "move.get_params") return self.__get_data(currentframe().f_code.co_name, "move.get_params")
def set_move_params(self, JOINT_MAX_SPEED, JOINT_MAX_ACC, JOINT_MAX_JERK, TCP_MAX_SPEED, DEFAULT_ACC_PARAMS, VEL_SMOOTH_FACTOR, ACC_RAMPTIME_JOG): def set_move_params(self, **kwargs):
""" """
设置机器人的运动参数：轴最大速度、轴最大加加速度、速度、加加速度、加速度、加加速度、acc ramp time、规划步长等信息 设置机器人的运动参数：轴最大速度、轴最大加加速度、速度、加加速度、加速度、加加速度、acc ramp time、规划步长等信息
:param JOINT_MAX_SPEED:
:param JOINT_MAX_ACC:
:param JOINT_MAX_JERK:
:param TCP_MAX_SPEED:
:param DEFAULT_ACC_PARAMS:
:param VEL_SMOOTH_FACTOR:
:param ACC_RAMPTIME_JOG:
:return: :return:
""" """
self.execution("move.set_params", JOINT_MAX_SPEED=JOINT_MAX_SPEED, JOINT_MAX_ACC=JOINT_MAX_ACC, JOINT_MAX_JERK=JOINT_MAX_JERK, TCP_MAX_SPEED=TCP_MAX_SPEED, DEFAULT_ACC_PARAMS=DEFAULT_ACC_PARAMS, VEL_SMOOTH_FACTOR=VEL_SMOOTH_FACTOR, ACC_RAMPTIME_JOG=ACC_RAMPTIME_JOG) res = self.get_move_params
keys = res.keys()
for _ in keys:
if _ in kwargs.keys():
res[_] = kwargs[_]
self.execution("move.set_params", data=res)
@property @property
def get_quick_stop_distance(self): def get_quick_stop_distance(self):
@ -1479,40 +1450,37 @@ class HmiRequest(object):
获取碰撞检测相关参数 获取碰撞检测相关参数
:return: :return:
{ {
"action": 1, // 触发行为 - 1 安全停止 2 暂停停止 3 柔顺停止 "action": 1, // 触发行为：1-安全停止；2-触发暂停；3-柔顺停止
"coeff": [100, 100, 100, 100, 100, 100], "coeff": [100, 100, 100, 100, 100, 100], // 0-整机灵敏度百分比，1-单轴灵敏度百分比，2-单轴和整机灵敏度百分比
"coeff_level": 0, "coeff_level": 0, // 灵敏度等级：0-低，1-中，2-高
"compliance": 0, "compliance": 0, // 柔顺功能比例系数，[0-1]
"enable": true, "enable": true, // 功能使能开关
"fallback_distance": 3, "fallback_distance": 3, // 回退距离
"mode": 0, "mode": 0, // 力传感器系数，0 整机 1 单轴
"percent": 100, "percent": 100, // 0-200，整机灵敏度百分比
"percent_axis": [100, 100, 100, 100, 100, 100], "percent_axis": [100, 100, 100, 100, 100, 100], // 0-200，单轴灵敏度百分比
"reduced_percent": 100, "reduced_percent": 100, // 0-200，整机缩减模式灵敏度百分比
"reduced_percent_axis": [100, 100, 100, 100, 100, 100] "reduced_percent_axis": [100, 100, 100, 100, 100, 100] // 0-200，单轴缩减模式灵敏度百分比
} }
""" """
return self.__get_data(currentframe().f_code.co_name, "collision.get_params") return self.__get_data(currentframe().f_code.co_name, "collision.get_params")
def set_collision_params(self, enable, mode, action, percent, coeff=0, coeff_level=0, def set_collision_params(self, enable, mode, action, percent, **kwargs):
percent_axis=[100, 100, 100, 100, 100, 100], fallback_distance=5, compliance=0,
reduced_percent=100, reduced_percent_axis=[100, 100, 100, 100, 100, 100]):
""" """
设置碰撞检测相关参数 设置碰撞检测相关参数
:param enable: 功能使能开关 :param enable: 功能使能开关
:param mode: 力传感器系数，0 整机 1 单轴 :param mode: 力传感器系数，0 整机 1 单轴
:param coeff: 0-整机灵敏度百分比，1-使用单轴灵敏度百分比，2-使用单轴和整机灵敏度百分比 :param action: 触发行为：1-安全停止；2-触发暂停；3-柔顺停止
:param coeff_level: 灵敏度等级：0-低，1-中，2-高
:param action: 触发行为：1-安全停止；2-触发暂停；3-柔顺停止；
:param percent: 0-200，整机灵敏度百分比 :param percent: 0-200，整机灵敏度百分比
:param percent_axis: 0-200，单轴灵敏度百分比
:param fallback_distance: 回退距离
:param compliance: 柔顺功能比例系数，[0-1]
:param reduced_percent: 0-200，整机缩减模式灵敏度百分比
:param reduced_percent_axis: 0-200，单轴缩减模式灵敏度百分比
:return: :return:
""" """
self.execution("collision.set_params", enable=enable, mode=mode, action=action, percent=percent, coeff=coeff, coeff_level=coeff_level, percent_axis=percent_axis, fallback_distance=fallback_distance, compliance=compliance, reduced_percent=reduced_percent, reduced_percent_axis=reduced_percent_axis) res = self.get_collision_params
keys = res.keys()
kwargs.update({"enable": enable, "mode": mode, "action": action, "percent": percent})
for _ in keys:
if _ in kwargs.keys():
res[_] = kwargs[_]
self.execution("collision.set_params", data=res)
def set_collision_state(self, collision_state: bool): def set_collision_state(self, collision_state: bool):
""" """
@ -2000,7 +1968,6 @@ class ExternalCommunication(object):
def reduced_mode_state(self): def reduced_mode_state(self):
return self.__exec_cmd("reduced_mode_state", "获取缩减模式状态") return self.__exec_cmd("reduced_mode_state", "获取缩减模式状态")
@property
def get_io_state(self, io_list: str): # DO0_0,DI1_3,DO2_5，不能有空格 def get_io_state(self, io_list: str): # DO0_0,DI1_3,DO2_5，不能有空格
return self.__exec_cmd(f"io_state:{io_list}", "获取 IO 状态值") return self.__exec_cmd(f"io_state:{io_list}", "获取 IO 状态值")