xarm-python-sdk 1.17.0__tar.gz → 1.17.3__tar.gz

{xarm_python_sdk-1.17.0 → xarm_python_sdk-1.17.3}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: xarm-python-sdk
-Version: 1.17.0
+Version: 1.17.3
 Summary: Python SDK for UFACTORY robotic arm 850, xArm 5/6/7, and Lite6.
 Project-URL: Homepage, https://www.ufactory.cc
 Project-URL: Documentation, https://github.com/xArm-Developer/xArm-Python-SDK/blob/master/doc/api/xarm_api.md

{xarm_python_sdk-1.17.0 → xarm_python_sdk-1.17.3}/README.md

@@ -42,7 +42,7 @@ xArm Python SDK
 - #### [UFACTORY ModbusTCP Manual](doc/UF_ModbusTCP_Manual.md)
 
 ## Update Summary
-- > ### 1.17.0 
+- > ### 1.17.0/1.7.1
   - Change some API names
 
 - > ### 1.16.0
@@ -62,69 +62,50 @@ xArm Python SDK
   - Support new version of vacuum gripper
   - Support the studio-2.5.0 blockly project conversion to python
 
-- > ### 1.13.30
-  - Supports obtaining unsaved trajectory recording duration
-  - Fix the abnormal path of running blockly program in some cases
-  - Fix the return format of getting C23 and C38 errors
-  - Supports obtaining identification status
-
-- > ### 1.13.19
-  - Friction identification supports xarm7_mirror model
-  - Fix the abnormal return value of blockly conversion robotiq related interface
-  
-- > ### 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)
-
 - > ### [More](ReleaseNotes.md)
 
 ## API Change List
-  | OLD API NAME   | NEW API NAME  |
-  | -------------- | ------------- |
-  | set_impedance  |  set_ft_sensor_admittance_parameters  |
-  | set_impedance_mbk  |  set_ft_sensor_admittance_parameters  |
-  | set_impedance_config  |  set_ft_sensor_admittance_parameters  |
-  | set_force_control_pid  |  set_ft_sensor_force_parameters  |
-  | config_force_control  |  set_ft_sensor_force_parameters  |
-  | ft_sensor_set_zero  |  set_ft_sensor_zero  |
-  | ft_sensor_iden_load  |  iden_ft_sensor_load_offset  |
-  | ft_sensor_cali_load  |  set_ft_sensor_load_offset  |
-  | ft_sensor_enable  |  set_ft_sensor_enable  |
-  | ft_sensor_app_set  |  set_ft_sensor_mode  |
-  | ft_sensor_app_get  |  get_ft_sensor_mode  |
-  | get_linear_track_registers  |  get_linear_motor_registers  |
-  | get_linear_track_pos  |  get_linear_motor_pos  |
-  | get_linear_track_status  |  get_linear_motor_status  |
-  | get_linear_track_error  |  get_linear_motor_error  |
-  | get_linear_track_is_enabled  |  get_linear_motor_is_enabled  |
-  | get_linear_track_on_zero  |  get_linear_motor_on_zero  |
-  | get_linear_track_sci  |  get_linear_motor_sci  |
-  | get_linear_track_sco  |  get_linear_motor_sco  |
-  | clean_linear_track_error  |  clean_linear_motor_error  |
-  | set_linear_track_enable  |  set_linear_motor_enable  |
-  | set_linear_track_speed  |  set_linear_motor_speed  |
-  | set_linear_track_back_origin  |  set_linear_motor_back_origin  |
-  | set_linear_track_pos  |  set_linear_motor_pos  |
-  | set_linear_track_stop  |  set_linear_motor_stop  |
-  | get_suction_cup  |  get_vacuum_gripper  |
-  | set_suction_cup  |  set_vacuum_gripper  |
-  | shutdown_system  |  system_control  |
-  | get_ik  |  get_inverse_kinematics  |
-  | get_fk  |  get_forward_kinematics  |
-  | set_sleep_time  |  set_pause_time  |
-  | get_gpio_digital  |  get_tgpio_digital  |
-  | set_gpio_digital  |  set_tgpio_digital  |
-  | get_gpio_analog  |  get_tgpio_analog  |
+  | OLD API NAME   | NEW API NAME  |  SDK VERSION  |
+  | -------------- | ------------- |  ------------  |
+  | set_tgpio_modbus_timeout  |  set_rs485_timeout  |  1.17.1  |
+  | get_tgpio_modbus_timeout  |  get_rs485_timeout  |  1.17.1  |
+  | set_tgpio_modbus_baudrate  |  set_rs485_baudrate  |  1.17.1  |
+  | get_tgpio_modbus_baudrate  |  get_rs485_baudrate  |  1.17.1  |
+  | getset_tgpio_modbus_data  |  set_rs485_data  |  1.17.1  |
+  | set_impedance  |  set_ft_sensor_admittance_parameters  |  1.17.0  |
+  | set_impedance_mbk  |  set_ft_sensor_admittance_parameters  |  1.17.0  |
+  | set_impedance_config  |  set_ft_sensor_admittance_parameters  |  1.17.0  |
+  | set_force_control_pid  |  set_ft_sensor_force_parameters  |  1.17.0  |
+  | config_force_control  |  set_ft_sensor_force_parameters  |  1.17.0  |
+  | ft_sensor_set_zero  |  set_ft_sensor_zero  |  1.17.0  |
+  | ft_sensor_iden_load  |  iden_ft_sensor_load_offset  |  1.17.0  |
+  | ft_sensor_cali_load  |  set_ft_sensor_load_offset  |  1.17.0  |
+  | ft_sensor_enable  |  set_ft_sensor_enable  |  1.17.0  |
+  | ft_sensor_app_set  |  set_ft_sensor_mode  |  1.17.0  |
+  | ft_sensor_app_get  |  get_ft_sensor_mode  |  1.17.0  |
+  | get_linear_track_registers  |  get_linear_motor_registers  |  1.17.0  |
+  | get_linear_track_pos  |  get_linear_motor_pos  |  1.17.0  |
+  | get_linear_track_status  |  get_linear_motor_status  |  1.17.0  |
+  | get_linear_track_error  |  get_linear_motor_error  |  1.17.0  |
+  | get_linear_track_is_enabled  |  get_linear_motor_is_enabled  |  1.17.0  |
+  | get_linear_track_on_zero  |  get_linear_motor_on_zero  |  1.17.0  |
+  | get_linear_track_sci  |  get_linear_motor_sci  |  1.17.0  |
+  | get_linear_track_sco  |  get_linear_motor_sco  |  1.17.0  |
+  | clean_linear_track_error  |  clean_linear_motor_error  |  1.17.0  |
+  | set_linear_track_enable  |  set_linear_motor_enable  |  1.17.0  |
+  | set_linear_track_speed  |  set_linear_motor_speed  |  1.17.0  |
+  | set_linear_track_back_origin  |  set_linear_motor_back_origin  |  1.17.0  |
+  | set_linear_track_pos  |  set_linear_motor_pos  |  1.17.0  |
+  | set_linear_track_stop  |  set_linear_motor_stop  |  1.17.0  |
+  | shutdown_system  |  system_control  |  1.13.3  |
+  | get_suction_cup  |  get_vacuum_gripper  |  1.5.0  |
+  | set_suction_cup  |  set_vacuum_gripper  |  1.5.0  |
+  | get_ik  |  get_inverse_kinematics  |  1.0.0  |
+  | get_fk  |  get_forward_kinematics  |  1.0.0  |
+  | set_sleep_time  |  set_pause_time  |  1.0.0  |
+  | get_gpio_digital  |  get_tgpio_digital  |  1.0.0  |
+  | set_gpio_digital  |  set_tgpio_digital  |  1.0.0  |
+  | get_gpio_analog  |  get_tgpio_analog  |  1.0.0  |
 
 
 ## [Example](example/wrapper/)
@@ -356,14 +337,14 @@ xArm Python SDK
   arm.robotiq_get_status(...)
   ```
 
-- #### Modbus of the end tools
+- #### Modbus of the RS485
 
   ```python
-  arm.set_tgpio_modbus_timeout(...)
-  arm.get_tgpio_modbus_timeout(...)
-  arm.set_tgpio_modbus_baudrate(...)
-  arm.get_tgpio_modbus_baudrate(...)
-  arm.getset_tgpio_modbus_data(...)
+  arm.set_rs485_timeout(...)
+  arm.get_rs485_timeout(...)
+  arm.set_rs485_baudrate(...)
+  arm.get_rs485_baudrate(...)
+  arm.set_rs485_data(...)
   ```
 
 - #### GPIO

{xarm_python_sdk-1.17.0 → xarm_python_sdk-1.17.3}/ReleaseNotes.md

@@ -2,7 +2,7 @@
 
 ## Update Summary
 
-- > ### 1.17.0 
+- > ### 1.17.0/1.7.1 
   - Change some API names
 
 - > ### 1.16.0

{xarm_python_sdk-1.17.0 → xarm_python_sdk-1.17.3}/doc/api/xarm_api.md

@@ -1,4 +1,4 @@
-xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrapper.xarm_api
+xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrapper.xarm_api
 
 ## class __XArmAPI__
 ****************************************
@@ -443,7 +443,7 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 > :return: code, states  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
 >     states: [...]  
->         states[0]: contorller gpio module state  
+>         states[0]: controller gpio module state  
 >             states[0] == 0: normal  
 >             states[0] == 1: wrong  
 >             states[0] == 6: communication failure  
@@ -522,7 +522,18 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 > :return: tuple((code, [error_code, warn_code])), only when code is 0, the returned result is correct.  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
 >     error_code: See the [Controller Error Code Documentation](./xarm_api_code.md#controller-error-code) for details.  
->     warn_code: See the [Controller Error Code Documentation](./xarm_api_code.md#controller-warn-code) for details.
+>     warn_code: See the [Controller Warn Code Documentation](./xarm_api_code.md#controller-warn-code) for details.
+
+
+#### def __get_external_device_monitor_params__(self):
+
+> Get the monitor params of the external device  
+> Note:  
+>     1. only available if firmware_version >= 2.7.100  
+>   
+> :return: tuple((code, params)), only when code is 0, the returned result is correct.  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
+>     params: [dev_type, frequency]
 
 
 #### def __get_fdb_mat_history_num__(self):
@@ -1057,6 +1068,33 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
+#### def __get_rs485_baudrate__(self, target='robot', **kwargs):
+
+> Get the baudrate of the target RS485  
+>   
+> :param target: 'robot' or 'control_box'  
+>     robot: Robot RS485  
+>     control_box: ControlBox RS485  
+> :return: tuple((code, baudrate)), only when code is 0, the returned result is correct.  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
+>     baudrate: the modbus baudrate of the target RS485
+
+
+#### def __get_rs485_timeout__(self, target='robot', protocol='modbus_rtu', **kwargs):
+
+> Get the timeout of the target RS485  
+>   
+> :param target: 'robot' or 'control_box'  
+>     robot: Robot RS485  
+>     control_box: ControlBox RS485  
+> :param protocol: 'modbus_rtu' or 'transparent'  
+>     modbus_rtu: Modbus RTU  
+>     transparent: Transparent Transmission  
+> :return: tuple((code, timeout)), only when code is 0, the returned result is correct.  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
+>     timeout: timeout of the target RS485, milliseconds
+
+
 #### def __get_servo_angle__(self, servo_id=None, is_radian=None, is_real=False):
 
 > Get the servo angle  
@@ -1124,23 +1162,23 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 
 #### def __get_tgpio_modbus_baudrate__(self):
 
-> Get the modbus baudrate of the tool gpio  
->   
-> :return: tuple((code, baudrate)), only when code is 0, the returned result is correct.  
->     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
->     baudrate: the modbus baudrate of the tool gpio
+> Set the baudrate of the Robot RS485 (please use get_rs485_baudrate)
 
 
-#### def __get_tgpio_modbus_timeout__(self, is_transparent_transmission=False):
+#### def __get_tgpio_modbus_timeout__(self, is_transparent_transmission=False, **kwargs):
 
-> Get tgpio modbus timeout  
+> Get the timeout of the Robot RS485 (please use get_rs485_timeout replace)
+
+
+#### def __get_tgpio_monitor_params__(self):
+
+> Get the monitor params of the TGPIO  
 > Note:  
->     Only available if firmware_version >= 2.3.0  
+>     1. only available if firmware_version >= 2.7.101  
 >   
-> :param is_transparent_transmission: is transparent transmission or not  
-> :return: tuple((code, timeout)), only when code is 0, the returned result is correct.  
+> :return: tuple((code, params)), only when code is 0, the returned result is correct.  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
->     timeout: timeout of the tgpio modbus, milliseconds
+>     params: [io_type, frequency]
 
 
 #### def __get_tgpio_output_digital__(self, ionum=None):
@@ -1165,7 +1203,7 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 > Get the digital value of the specified Tool GPIO,Compared with the "get_tgpio_digital" interface,  
 >     the value of TI2 is obtained when the ionum is not transmitted.  
 >   
-> :param ionum: 0 or 1 or or 2 or 3 or 4 (both 0 and 4), default is None  
+> :param ionum: 0 or 1 or 2 or 3 or 4 (both 0 and 4), default is None  
 > :return: tuple((code, value or value list)), only when code is 0, the returned result is correct.  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
@@ -1240,12 +1278,12 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 
 #### def __getset_tgpio_modbus_data__(self, datas, min_res_len=0, host_id=9, is_transparent_transmission=False, use_503_port=False, **kwargs):
 
-> Send the modbus data to the tool gpio  
+> Send the modbus data to the RS485 (please use set_rs485_data replace)  
 >   
 > :param datas: data_list  
 > :param min_res_len: the minimum length of modbus response data. Used to check the data length, if not specified, no check  
-> :param host_id: host_id, default is 9 (TGPIO_HOST_ID)  
->     9: END RS485  
+> :param host_id: host_id, default is 9 (ROBOT_RS485_HOST_ID)  
+>     9: Robot RS485  
 >     11: CONTROLLER RS485  
 > :param is_transparent_transmission: whether to choose transparent transmission, default is False  
 >     Note: only available if firmware_version >= 1.11.0  
@@ -1405,14 +1443,12 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 
 #### def __move_gohome__(self, speed=None, mvacc=None, mvtime=None, is_radian=None, wait=False, timeout=None, **kwargs):
 
-> Move to go home (Back to zero), the API will modify self.last_used_position and self.last_used_angles value  
-> Warnning: without limit detection  
+> Move to go home (Back to zero)  
+> Warning: without limit detection  
 > Note:  
->     1. The API will change self.last_used_position value into [201.5, 0, 140.5, -180, 0, 0]  
->     2. The API will change self.last_used_angles value into [0, 0, 0, 0, 0, 0, 0]  
->     3. If you want to wait for the robot to complete this action and then return, please set the parameter wait to True.  
+>     1. If you want to wait for the robot to complete this action and then return, please set the parameter wait to True.  
 >         ex: code = arm.move_gohome(wait=True)  
->     4. This interface does not modify the value of last_used_angles/last_used_joint_speed/last_used_joint_acc  
+>     2. This interface does not modify the value of last_used_joint_speed/last_used_joint_acc  
 >   
 > :param speed: gohome speed (unit: rad/s if is_radian is True else °/s), default is 50 °/s  
 > :param mvacc: gohome acceleration (unit: rad/s^2 if is_radian is True else °/s^2), default is 5000 °/s^2  
@@ -1790,7 +1826,7 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 #### def __reset__(self, speed=None, mvacc=None, mvtime=None, is_radian=None, wait=False, timeout=None):
 
 > Reset the xArm  
-> Warnning: without limit detection  
+> Warning: without limit detection  
 > Note:  
 >     1. If there are errors or warnings, this interface will clear the warnings and errors.  
 >     2. If not ready, the api will auto enable motion and set state  
@@ -1878,7 +1914,7 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 > :param pos: position of the gripper. Integer between 0 and 255. 0 being the open position and 255 being the close position.  
 > :param speed: gripper speed between 0 and 255  
 > :param force: gripper force between 0 and 255  
-> :param wait: whether to wait for the robotion motion complete, default is True  
+> :param wait: whether to wait for the robotiq motion complete, default is True  
 > :param timeout: maximum waiting time(unit: second), default is 5, only available if wait=True  
 >   
 > :return: tuple((code, robotiq_response))  
@@ -1981,7 +2017,7 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 >     'M117': 'set_gripper_mode: M117 V{mode}'  
 >     'M119': 'get_gripper_position: M119'  
 >     'M120': 'set_gripper_position: M120 V{pos}'  
->     'M121': 'set_gripper_speed: M116 V{speed}'  
+>     'M121': 'set_gripper_speed: M121 V{speed}'  
 >     'M125': 'get_gripper_err_code: M125'  
 >     'M126': 'clean_gripper_error: M126'  
 >     'M131': 'get_tgpio_digital: M131'  
@@ -2080,7 +2116,7 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 > :param pos: gripper pos between 71 and 150, (unit: mm)  
 > :param speed: gripper speed between 500 and 4500, default is 2000, (unit: pulse/s)  
 > :param force: gripper force between 1 and 100, default is 100  
-> :param wait: whether to wait for the robotiq motion to complete, default is True  
+> :param wait: whether to wait for the BIO Gripper G2 motion complete, default is False  
 > :param timeout: maximum waiting time(unit: second), default is 5, only available if wait=True  
 >   
 > :return: tuple((code, robotiq_response))  
@@ -2288,16 +2324,6 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
-#### def __set_control_modbus_baudrate__(self, baud):
-
-> Set the modbus baudrate of the control box  
->   
-> :param baud: 4800/9600/19200/38400/57600/115200/230400/460800/921600/1000000/1500000/2000000/2500000  
->   
-> :return: code  
->     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
-
-
 #### def __set_counter_increase__(self, val=1):
 
 > Set counter plus value, only support plus 1  
@@ -2333,6 +2359,51 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
+#### def __set_dhpgc_gripper_activate__(self, wait=True, timeout=3):
+
+> If not already activated. Activate the DH-PGC-140-50 gripper  
+>   
+> :param wait: whether to wait for the DH-PGC-140-50  gripper activate complete, default is True  
+> :param timeout: maximum waiting time(unit: second), default is 3, only available if wait=True  
+>   
+> :return: code  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
+
+#### def __set_dhpgc_gripper_position__(self, pos, speed=50, force=50, wait=True, timeout=5, **kwargs):
+
+> Set the position of the DH-PGC-140-50 gripper  
+>   
+> :param pos: gripper pos between 0 and 1000  
+> :param speed: gripper speed between 1 and 100  
+> :param force: gripper force between 20 and 100  
+> :param wait: whether to wait for the DH-PGC-140-50 gripper motion to complete, default is True  
+> :param timeout: maximum waiting time(unit: second), default is 5s, only available if wait=True  
+>   
+> :return: code  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
+
+#### def __set_external_device_monitor_params__(self, dev_type, frequency):
+
+> Set the monitor params of the external device  
+> Note:  
+>     1. only available if firmware_version >= 2.7.100  
+>     2. after it is turned on, the position/speed/current information of the external device will be reported through port 30000  
+>     3. once an error occurs, you need to re call to monitor  
+>   
+> :param dev_type: the type of the external device  
+>     0: Turn off monitoring  
+>     1: xArm Gripper  
+>     2: xArm Gripper G2  
+>     3: BIO Gripper G2  
+>     4: Robotiq 2F-85/Robotiq 2F-140  
+> :param frequency: the frequency of communication with the external device  
+>   
+> :return code  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
+
 #### def __set_fdb_mat_history_num__(self, num):
 
 > Set fdb mat history num  
@@ -2364,7 +2435,7 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 
 #### def __set_fence_mode__(self, on):
 
-> Set the fence mode,turn on/off fense mode  
+> Set the fence mode,turn on/off fence mode  
 >   
 > Note:  
 >     1. This interface relies on Firmware 1.2.11 or above  
@@ -2565,7 +2636,6 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 >     2. Changes are not saved automatically. Call save_conf() to save the settings,   
 >    otherwise, they will be lost after a reboot.  
 >     3. Use clean_conf() to restore the system default settings.  
->     4. The clean_conf interface can restore system default settings  
 >   
 > :param direction: Gravity direction vector [x, y, z], e.g., [0, 0, -1] for a floor-mounted arm.  
 > :param wait: Whether to wait for the robotic arm to stop or clear all previous queued commands before applying the setting.  
@@ -2590,7 +2660,7 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 > :param pos: gripper pos between 0 and 84, (unit: mm)  
 > :param speed: gripper speed between 15 and 225, default is 100, (unit: mm/s)  
 > :param force: gripper force between 1 and 100, default is 50  
-> :param wait: whether to wait for the bio gripper motion complete, default is False  
+> :param wait: whether to wait for the xArm Gripper G2 motion complete, default is False  
 > :param timeout: maximum waiting time(unit: second), default is 10s, only valid if wait is True  
 > :return: code  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
@@ -2849,13 +2919,12 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 
 > Set the cartesian position, the API will modify self.last_used_position value  
 > Note:  
->     1. If it is xArm5, ensure that the current robotic arm has a roll value of 180° or π rad and has a roll value of 0 before calling this interface.  
->     2. If it is xArm5, roll must be set to 180° or π rad, pitch must be set to 0  
->     3. If the parameter(roll/pitch/yaw) you are passing is an radian unit, be sure to set the parameter is_radian to True.  
+>     1. If it is xArm5, roll must be set to 180° or π rad, pitch must be set to 0  
+>     2. If the parameter(roll/pitch/yaw) you are passing is an radian unit, be sure to set the parameter is_radian to True.  
 >         ex: code = arm.set_position(x=300, y=0, z=200, roll=-3.14, pitch=0, yaw=0, is_radian=True)  
->     4. If you want to wait for the robot to complete this action and then return, please set the parameter wait to True.  
+>     3. If you want to wait for the robot to complete this action and then return, please set the parameter wait to True.  
 >         ex: code = arm.set_position(x=300, y=0, z=200, roll=180, pitch=0, yaw=0, is_radian=False, wait=True)  
->     5. This interface is only used in the base coordinate system.  
+>     4. This interface is only used in the base coordinate system.  
 >   
 > :param x: cartesian position x, (unit: mm), default is self.last_used_position[0]  
 > :param y: cartesian position y, (unit: mm), default is self.last_used_position[1]  
@@ -3008,6 +3077,73 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
+#### def __set_rh56_finger_position__(self, finger_id, pos, speed=500, force=500, wait=False, timeout=None, **kwargs):
+
+> Set the position of the INS-RH56DFX finger  
+>   
+> :param finger_id: INS-RH56DFX finger_id between 1 and 6  
+> :param pos: INS-RH56DFX pos between 0 and 1000  
+> :param speed: INS-RH56DFX speed between 0 and 1000, default is 500  
+> :param force: INS-RH56DFX force between 0 and 1000, default is 500  
+> :param wait: whether to wait for the INS-RH56DFX finger motion complete, default is False  
+> :param timeout: maximum waiting time(unit: second), default is 5s, only valid if wait is True  
+> :return: code  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
+
+#### def __set_rs485_baudrate__(self, baud, target='robot', **kwargs):
+
+> Set the baudrate of the target RS485  
+>   
+> :param baud: 4800/9600/19200/38400/57600/115200/230400/460800/921600/1000000/1500000/2000000/2500000  
+> :param target: 'robot' or 'control_box'  
+>     robot: Robot RS485  
+>     control_box: ControlBox RS485  
+> :return: tuple((code, baudrate)), only when code is 0, the returned result is correct.  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
+>     baudrate: the modbus baudrate of the target RS485
+
+
+#### def __set_rs485_data__(self, datas, min_res_len=0, target='robot', protocol='modbus_rtu', use_503_port=False, **kwargs):
+
+> Send the modbus data to the target RS485  
+>   
+> :param datas: data_list  
+> :param min_res_len: the minimum length of modbus response data. Used to check the data length, if not specified, no check  
+> :param target: 'robot' or 'control_box'  
+>     robot: Robot RS485  
+>     control_box: ControlBox RS485  
+> :param protocol: 'modbus_rtu' or 'transparent'  
+>     modbus_rtu: Modbus RTU  
+>     transparent: Transparent Transmission  
+> :param use_503_port: whether to use port 503 for communication, default is False  
+>     Note: if it is True, it will connect to 503 port for communication when it is used for the first time, which is generally only useful for transparent transmission.  
+>     Note: only available if firmware_version >= 1.11.0  
+>   
+> :return: tuple((code, modbus_response))  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
+>     modbus_response: modbus response data
+
+
+#### def __set_rs485_timeout__(self, timeout, target='robot', protocol='modbus_rtu', **kwargs):
+
+> Set the timeout of the target RS485  
+>   
+> :param timeout: timeout, milliseconds  
+> :param target: 'robot' or 'control_box'  
+>     robot: Robot RS485  
+>     control_box: ControlBox RS485  
+> :param protocol: 'modbus_rtu' or 'transparent'  
+>     modbus_rtu: Modbus RTU  
+>     transparent: Transparent Transmission  
+> :return: code  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
+
+#### def __set_rs485_use_503_port__(self, use_503_port=True):
+
+
+
 #### def __set_self_collision_detection__(self, on_off):
 
 > Set whether to enable self-collision detection   
@@ -3037,7 +3173,7 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 >     1. If servo_id is 1-(Number of axes), angle should be a numeric value  
 >         ex: code = arm.set_servo_angle(servo_id=1, angle=45, is_radian=False)  
 >     2. If servo_id is None or 8, angle should be a list of values whose length is the number of joints  
->         like [axis-1, axis-2, axis-3, axis-3, axis-4, axis-5, axis-6, axis-7]  
+>         like [axis-1, axis-2, axis-3, axis-4, axis-5, axis-6, axis-7]  
 >         ex: code = arm.set_servo_angle(angle=[30, -45, 0, 0, 0, 0, 0], is_radian=False)  
 > :param speed: move speed (unit: rad/s if is_radian is True else °/s), default is self.last_used_joint_speed  
 > :param mvacc: move acceleration (unit: rad/s^2 if is_radian is True else °/s^2), default is self.last_used_joint_acc  
@@ -3263,28 +3399,28 @@ xArm-Python-SDK API Documentation (V1.17.0): class XArmAPI in module xarm.wrappe
 
 #### def __set_tgpio_modbus_baudrate__(self, baud):
 
-> Set the modbus baudrate of the tool gpio  
->   
-> :param baud: 4800/9600/19200/38400/57600/115200/230400/460800/921600/1000000/1500000/2000000/2500000  
->   
-> :return: code  
->     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+> Set the baudrate of the Robot RS485 (please use set_rs485_baudrate)
 
 
 #### def __set_tgpio_modbus_timeout__(self, timeout, is_transparent_transmission=False, **kwargs):
 
-> Set the modbus timeout of the tool gpio  
->   
-> :param timeout: timeout, milliseconds  
-> :param is_transparent_transmission: whether the set timeout is the timeout of transparent transmission  
->     Note: only available if firmware_version >= 1.11.0  
->   
-> :return: code  
->     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+> Set the timeout of the Robot RS485 (please use set_rs485_timeout)
 
 
-#### def __set_tgpio_modbus_use_503_port__(self, use_503_port=True):
+#### def __set_tgpio_monitor_params__(self, io_type, frequency):
 
+> Set the monitor params of the TGPIO  
+> Note:  
+>     1. only available if firmware_version >= 2.7.101  
+>     2. after it is turned on, the information of the TGPIO will be reported through port 30000  
+>   
+> :param io_type: the type of the TGPIO  
+>     0: Turn off monitoring  
+>     1: Turn on monitoring  
+> :param frequency: the frequency of communication with the TGPIO  
+>   
+> :return code  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
 #### def __set_timeout__(self, timeout):

{xarm_python_sdk-1.17.0 → xarm_python_sdk-1.17.3}/xarm/core/config/x_config.py

@@ -17,9 +17,10 @@ class XCONF(object):
     TRACK_ID = LINEAR_MOTOR_ID # old
     GRIPPER_ID = 8
 
-    TGPIO_HOST_ID = 9
-    LINEAR_MOTOR_HOST_ID = 11
-    LINEER_TRACK_HOST_ID = LINEAR_MOTOR_HOST_ID # old
+    ROBOT_RS485_HOST_ID = 9
+    CONTROL_BOX_RS485_HOST_ID = 11
+    TGPIO_HOST_ID = ROBOT_RS485_HOST_ID # old
+    LINEER_TRACK_HOST_ID = CONTROL_BOX_RS485_HOST_ID # old
 
     def __init__(self):
         pass
@@ -377,7 +378,7 @@ class XCONF(object):
         IDEN_FRIC = 115
 
         TGPIO_MB_TIOUT = 123
-        TGPIO_MODBUS = 124
+        RS485_RTU = 124
         TGPIO_ERR = 125
         TGPIO_W16B = 127
         TGPIO_R16B = 128
@@ -425,7 +426,7 @@ class XCONF(object):
         GET_COMMON_INFO = 234
 
         TGPIO_COM_TIOUT = 240
-        TGPIO_COM_DATA = 241
+        RS485_AGENT = 241
 
         FEEDBACK_CHECK = 253
         SET_FEEDBACK_TYPE = 254