improvment
This commit is contained in:
parent
f0c038f744
commit
65bd6f2bce
@ -2,12 +2,5 @@
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"id": "xxxxxxxxxxx",
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"module": "safety",
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"command": "collision.set_params",
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"data": {
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"enable": false,
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"mode": 0,
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"coeff": [0,0,0,0,0,0,0],
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"coeff_level": 0,
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"action": 1,
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"percent": 1
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}
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"data": null
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}
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@ -8,6 +8,7 @@ def initialization():
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hr = openapi.HmiRequest()
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pd = openapi.PreDos()
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# 推送配置文件
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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...")
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robot_params = hr.get_robot_params
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robot_type = robot_params["robot_type"]
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security_type = robot_params["security_type"]
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@ -55,33 +56,41 @@ def initialization():
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md.r_soft_estop(1)
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# 断开示教器连接
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clibs.logger.info("断开示教器连接...")
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hr.switch_tp_mode("without")
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# 清空 system IO 配置
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clibs.logger.info("清空所有的 System IO 功能配置...")
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hr.update_system_io_configuration([], [], [], [], [])
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# 关闭缩减模式
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md.r_reduced_mode(0)
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# 关闭安全区域
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clibs.logger.info("正在关闭所有的安全区，并关闭总使能开关...")
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hr.set_safety_area_overall(False)
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hr.set_safety_area_signal(False)
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for i in range(10):
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hr.set_safety_area_enable(i, False)
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# 打开外部通信
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clibs.logger.info("配置并打开外部通信，默认服务器，8080端口，后缀为 \"\\r\"...")
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hr.set_socket_params(True, "", "name", "8080", "\r", 1, True, True, 0, 10)
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# 关闭拖动
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clibs.logger.info("关闭拖动模式...")
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hr.set_drag_params(False, 1, 2)
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# 关闭碰撞检测
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clibs.logger.info("关闭碰撞检测...")
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hr.set_collision_params(False, 0, 1, 100)
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# 清除所有错误码
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# 清除所有过滤错误码
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clibs.logger.info("清除所有过滤错误码设定...")
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hr.set_filtered_error_code("clear", [])
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# 回拖动位姿
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clibs.logger.info("正在回拖动位姿...")
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hr.switch_operation_mode("manual")
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hr.switch_motor_state("on")
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hr.set_quickturn_pos(enable_drag=True)
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155
code/openapi.py
155
code/openapi.py
@ -37,10 +37,9 @@ class ModbusRequest(object):
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self.__reg_high_pulse(40001)
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clibs.logger.info("40001-010 执行复位急停状态(非软急停)")
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def r_reset_estop_clear_alarm(self): # NG
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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...")
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# self.__reg_high_pulse(40002)
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# 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")
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def r_reset_estop_clear_alarm(self): # OK
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self.__reg_high_pulse(40002)
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clibs.logger.info("40002-010 执行复位急停状态(非软急停)，并清除告警信息")
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def r_motor_off(self): # OK
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self.__reg_high_pulse(40003)
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@ -296,7 +295,7 @@ class HmiRequest(object):
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self.__t_is_alive = Thread(target=self.__is_alive)
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self.__t_is_alive.daemon = False
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self.__t_is_alive.start()
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sleep(1) # 很重要，必须有，因为涉及到建联成功与否
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sleep(2) # 很重要，必须有，因为涉及到建联成功与否
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def __is_alive(self):
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first_time = True
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@ -649,7 +648,7 @@ class HmiRequest(object):
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def log_reqs(request):
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with open(clibs.log_data_reqs, mode="a", encoding="utf-8") as f_log:
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log_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
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f_log.write(" ".join([log_time, dumps(req), "\n"]))
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f_log.write(" ".join([log_time, dumps(request), "\n"]))
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if protocol_flag == 0: # for old protocols
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req = None
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@ -712,11 +711,7 @@ class HmiRequest(object):
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req["data"]["enable_home"] = kwargs["enable_home"]
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req["data"]["enable_drag"] = kwargs["enable_drag"]
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req["data"]["enable_transport"] = kwargs["enable_transport"]
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req["data"]["joint_home"] = kwargs["joint_home"]
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req["data"]["joint_drag"] = kwargs["joint_drag"]
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req["data"]["joint_transport"] = kwargs["joint_transport"]
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req["data"]["end_posture"] = kwargs["end_posture"]
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req["data"]["home_error_range"] = kwargs["home_error_range"]
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case "move.quick_turn":
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req["data"]["name"] = kwargs["name"]
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case "move.stop":
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@ -745,27 +740,11 @@ class HmiRequest(object):
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case "move.set_monitor_cfg":
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req["data"]["ref_coordinate"] = kwargs["ref_coordinate"]
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case "move.set_params":
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req["data"]["JOINT_MAX_SPEED"] = kwargs["JOINT_MAX_SPEED"]
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req["data"]["JOINT_MAX_ACC"] = kwargs["JOINT_MAX_ACC"]
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req["data"]["JOINT_MAX_JERK"] = kwargs["JOINT_MAX_JERK"]
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req["data"]["TCP_MAX_SPEED"] = kwargs["TCP_MAX_SPEED"]
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req["data"]["DEFAULT_ACC_PARAMS"] = kwargs["DEFAULT_ACC_PARAMS"]
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req["data"]["VEL_SMOOTH_FACTOR"] = kwargs["VEL_SMOOTH_FACTOR"]
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req["data"]["ACC_RAMPTIME_JOG"] = kwargs["ACC_RAMPTIME_JOG"]
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req["data"] = kwargs["data"]
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case "move.set_quickstop_distance":
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req["data"]["distance"] = kwargs["distance"]
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case "collision.set_params":
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req["data"]["enable"] = kwargs["enable"]
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req["data"]["mode"] = kwargs["mode"]
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req["data"]["action"] = kwargs["action"]
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req["data"]["percent"] = kwargs["percent"]
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req["data"]["coeff"] = kwargs["coeff"]
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req["data"]["coeff_level"] = kwargs["coeff_level"]
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req["data"]["percent_axis"] = kwargs["percent_axis"]
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req["data"]["fallback_distance"] = kwargs["fallback_distance"]
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req["data"]["compliance"] = kwargs["compliance"]
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req["data"]["reduced_percent"] = kwargs["reduced_percent"]
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req["data"]["reduced_percent_axis"] = kwargs["reduced_percent_axis"]
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req["data"] = kwargs["data"]
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case "collision.set_state":
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req["data"]["collision_state"] = kwargs["collision_state"]
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case "controller.set_params":
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@ -947,35 +926,28 @@ class HmiRequest(object):
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6 工具坐标系Z轴与地面垂直，正向朝上
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:return: as below
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{
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"enable_home": false,
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"enable_drag": false,
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"enable_transport": false,
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"joint_home": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
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"joint_drag": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
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"joint_transport": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
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"end_posture":0,
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"home_error_range":[0.0,0.0,0.0,0.0,0.0,0.0,0.0]
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"enable_home": false, // 是否开启 home 点快速调整
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"enable_drag": false, // 是否开启拖动位姿点快速调整
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"enable_transport": false, // 是否开启发货位姿点快速调整
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"joint_home": [0.0,0.0,0.0,0.0,0.0,0.0,0.0], // home 位姿的关节角度
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"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
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"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
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"end_posture":0, // 末端姿态的调整方式，取值 0-6
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"home_error_range":[0.0,0.0,0.0,0.0,0.0,0.0,0.0] // home点误差范围
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}
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"""
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return self.__get_data(currentframe().f_code.co_name, "move.get_quickturn_pos")
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def set_quickturn_pos(self, enable_home: bool=False, enable_drag: bool=False, enable_transport: bool=False,
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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],
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joint_transport: list=[0.0,0.0,0.0,0.0,0.0,0.0,0.0], end_posture: int=0,
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home_error_range: list=[0.0,0.0,0.0,0.0,0.0,0.0,0.0]):
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def set_quickturn_pos(self, enable_home: bool = False, enable_drag: bool = False, enable_transport: bool = False, end_posture: int = 0):
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"""
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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
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:param enable_home: 是否开启 home 点快速调整
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:param enable_drag: 是否开启拖动位姿点快速调整
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:param enable_transport:是否开启发货位姿点快速调整
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:param joint_home: home 位姿的关节角度
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:param joint_drag: 拖动位姿的关节角度
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:param joint_transport: 发货位姿的关节角度
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:param end_posture: 末端姿态的调整方式，取值 0-6，详见 get_quickturn_pos 注释
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:param home_error_range: home点误差范围
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:return: None
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"""
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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)
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self.execution("move.set_quickturn_pos", enable_home=enable_home, enable_drag=enable_drag, enable_transport=enable_transport, end_posture=end_posture)
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def move2quickturn(self, name: str):
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"""
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@ -1023,7 +995,7 @@ class HmiRequest(object):
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"""
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self.execution("jog.set_params", step=step, override=override, space=space)
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def start_jog(self, index: int, direction: bool=False, is_ext: bool=False):
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def start_jog(self, index: int, direction: bool = False, is_ext: bool = False):
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"""
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开始 JOG 运动
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: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
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@ -1416,43 +1388,42 @@ class HmiRequest(object):
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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
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:return:
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{
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"MOTION":{
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"JOINT_MAX_SPEED": [90, 90, 120, 120, 120, 120, 120],
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"JOINT_MAX_ACC": [200, 200, 200, 200, 200, 200, 200],
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"JOINT_MAX_JERK": [2000, 2000, 2000, 2000, 2000, 2000, 2000],
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"TCP_MAX_SPEED": 500,
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"MOTION": {
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"ACC_RAMPTIME_JOG": 0.5,
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"ACC_RAMPTIME_STOP": 0.5,
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"DEFAULT_ACC_PARAMS": [1.0, 0.5],
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"JERK_LIMIT_CART": 0,
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"JERK_LIMIT_JOINT": 0,
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"JERK_LIMIT_ROT": 0,
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"JOINT_MAX_ACC": [500, 500, 1000, 1000, 1000],
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"JOINT_MAX_JERK": [2000, 2000, 2000, 4000, 4000, 4000],
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"JOINT_MAX_SPEED": [120.0, 120.0, 180.0, 180.0, 180.0, 180.0],
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"MAX_ACC_PARAMS": [1.0, 1],
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"MIN_ACC_PARAMS": [0.3, 0.05],
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"TCP_MAX_ACC": 5000,
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"TCP_MAX_JERK": 10000,
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"TCP_ROTATE_MAX_SPEED": 180,
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"TCP_MAX_SPEED": 1000,
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"TCP_ROTATE_MAX_ACC": 1800,
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"TCP_ROTATE_MAX_JERK": 3600,
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"JERK_LIMIT_CART": 0,
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"JERK_LIMIT_ROT": 0,
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"JERK_LIMIT_JOINT": 0,
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"MAX_ACC_PARAMS": [1.0, 0.1],
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"MIN_ACC_PARAMS": [0.3, 0.5],
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"DEFAULT_ACC_PARAMS": [1.0, 0.35],
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"VEL_SMOOTH_FACTOR": 3.33,
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"VEL_SMOOTH_FACTOR_RANGE": [1.0, 10.0],
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"ACC_RAMPTIME_JOG": 0.01
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"TCP_ROTATE_MAX_SPEED": 180,
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"VEL_SMOOTH_FACTOR": 1.0,
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"VEL_SMOOTH_FACTOR_RANGE": [1.0, 10.0]
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}
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}
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"""
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return self.__get_data(currentframe().f_code.co_name, "move.get_params")
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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):
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def set_move_params(self, **kwargs):
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"""
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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
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:param JOINT_MAX_SPEED:
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:param JOINT_MAX_ACC:
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:param JOINT_MAX_JERK:
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:param TCP_MAX_SPEED:
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:param DEFAULT_ACC_PARAMS:
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:param VEL_SMOOTH_FACTOR:
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:param ACC_RAMPTIME_JOG:
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:return:
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"""
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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)
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res = self.get_move_params
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keys = res.keys()
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for _ in keys:
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if _ in kwargs.keys():
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res[_] = kwargs[_]
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self.execution("move.set_params", data=res)
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@property
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def get_quick_stop_distance(self):
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@ -1479,40 +1450,37 @@ class HmiRequest(object):
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获取碰撞检测相关参数
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:return:
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{
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"action": 1, // 触发行为 - 1 安全停止 2 暂停停止 3 柔顺停止
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"coeff": [100, 100, 100, 100, 100, 100],
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"coeff_level": 0,
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"compliance": 0,
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"enable": true,
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"fallback_distance": 3,
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"mode": 0,
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"percent": 100,
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"percent_axis": [100, 100, 100, 100, 100, 100],
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"reduced_percent": 100,
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"reduced_percent_axis": [100, 100, 100, 100, 100, 100]
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"action": 1, // 触发行为：1-安全停止；2-触发暂停；3-柔顺停止
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"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
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"coeff_level": 0, // 灵敏度等级：0-低，1-中，2-高
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"compliance": 0, // 柔顺功能比例系数，[0-1]
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"enable": true, // 功能使能开关
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"fallback_distance": 3, // 回退距离
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"mode": 0, // 力传感器系数，0 整机 1 单轴
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"percent": 100, // 0-200，整机灵敏度百分比
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"percent_axis": [100, 100, 100, 100, 100, 100], // 0-200，单轴灵敏度百分比
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"reduced_percent": 100, // 0-200，整机缩减模式灵敏度百分比
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"reduced_percent_axis": [100, 100, 100, 100, 100, 100] // 0-200，单轴缩减模式灵敏度百分比
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}
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"""
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return self.__get_data(currentframe().f_code.co_name, "collision.get_params")
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def set_collision_params(self, enable, mode, action, percent, coeff=0, coeff_level=0,
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percent_axis=[100, 100, 100, 100, 100, 100], fallback_distance=5, compliance=0,
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reduced_percent=100, reduced_percent_axis=[100, 100, 100, 100, 100, 100]):
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def set_collision_params(self, enable, mode, action, percent, **kwargs):
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"""
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设置碰撞检测相关参数
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:param enable: 功能使能开关
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:param mode: 力传感器系数，0 整机 1 单轴
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: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
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:param coeff_level: 灵敏度等级：0-低，1-中，2-高
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:param action: 触发行为：1-安全停止；2-触发暂停；3-柔顺停止；
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:param action: 触发行为：1-安全停止；2-触发暂停；3-柔顺停止
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:param percent: 0-200，整机灵敏度百分比
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:param percent_axis: 0-200，单轴灵敏度百分比
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:param fallback_distance: 回退距离
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: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:
|
||||
"""
|
||||
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):
|
||||
"""
|
||||
@ -2000,7 +1968,6 @@ class ExternalCommunication(object):
|
||||
def reduced_mode_state(self):
|
||||
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
|
||||
return self.__exec_cmd(f"io_state:{io_list}", "获取 IO 状态值")
|
||||
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user