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2022/03/14: Initial 2.0 API documentation; motion and setup commands.
2022/03/21: Preset name argument added to Move and Combined move. Collision checking against DSM has been moved to an explicit new argument in Move command. Combined move structure row clarifications.
2022/03/30: GetTCPPose description added (formerly duplicated GetJointAngles). DSM command descriptions added. Additional desctiption added to SetAlternateLocation’s “mode” argument. Moved SetServos location for better organization.
2022/04/08: SetResponseType and SetUnits can now be stored per IP address rather than per client. Example CSV responses added to DSM commands. Robot Presets and Object states are now stored to disk so project reload will have the last set values. SetInterruptBehavior timeout value is now used as the timeout for the alternate location mode: 0 with complete_move: 1, and mode: 1. UpdateTarget can now optionally re-generate the autoconnects associated with that target.
2022/04/14: Initial RSM command documentation. AddBox description updated to include box origin and offset argument. AddFrame description updated to note that frames are not saved to disk.
2022/04/21: API specs for enabling a subset of a project added (Activate, Deactivate, UpdateInactiveRobotSettings).
2022/04/28: GetRapidSenseStatus now returns the pallet_id if one exists. InspectPallet no longer returns the package_id. QueryClearance argument description and response details corrected to state that the clients active units will be used for the clearance value. Fixed minor typos in AddFrame and InspectInboundPackage.
2022/05/02: InspectInboundPackage now returns the package_orientation. Interlock generation and report commands added.
2022/05/03: InspectPallet now returns the package_id.
2022/05/04: SetUnits and SetResponseType descriptions updated to make it clear that only new connections will be affected by set_ip_default.
2022/05/12: GetTCPPose YAML response corrected, the key is pose, not tcp_pose. CreateTarget CSV response delayed response corrected from CreateTarget to CreateTargetResult. Added a note to the SetRobotPreset description that ReleaseControl must be called first, if the number of axes on the robot is changing. Added to the UpdateTarget description to indicate that auto connect constraints will be maintained at the targets new location. Updated CancelMove description to note that it is only accepted in OPERATION mode.
2022/05/31: Preset argument description updated in Move and CombinedMove. GetJointAngles is being renamed to GetJointConfiguration, but both are supported currently.
2022/06/01: Added acceptable string characters to the formation rules section.
2022/06/08: Added SetMaxLinearSpeed and SetMaxLinearAcceleration descriptions.
2022/06/14: More SetAlternateLocation examples added. Clarified the behavior of the reset flag for SetMaxLinearSpeeds and SetMaxLinearAcceleration.
2022/06/17: Corrected SetMaxLinearAcceleration’s max value.
2022/07/01: Updated spec for Move with supported move type and goal combinations.
2022/08/08: Clarified the effect CancelMove has on queued Move and CombinedMove commands.
2022/08/30: Added OverrideInspectError, ToggleMonitorFaults, Calibrate descriptions.
2022/08/31: Updated Queuing Moves when a robot preset changes. Updated Queuing Moves with smoothing support. Updated Move spec that supports robot preset changes. Updated SetRobotPreset spec.
2022/10/03: Updated spec for DeactivateRobots.
2022/12/03: (2.2)Updated spec for CreateTarget to add a new target without connections.
2022/12/03: (2.2)Added RenameTarget command.
2022/12/03: (2.2)Added RemoveTarget command.
2022/12/03: (2.2)Added AddConnection command.
2022/12/03: (2.2)Added RemoveConnection command.
2022/12/03: (2.2)Updated spec for Move with support for external axes and triggers.
2022/12/03: (2.2)Updated spec for CombinedMove with support for external axes and triggers.
2022/12/03: (2.2)Updated spec for CancelMove with ramp-down speed at a fixed 80%.
2022/12/03: (2.2)Updated spec for SetDefaultProject to clear the default project if project name input is not specified.
2022/12/03: (2.2)Added GetLoadedProject command.
2022/12/03: (2.2)Added GetRobotPresets command.
2022/12/03: (2.2)Updated spec for UserLog with allowed characters in a user log.
2022/12/04: (2.2)Danger/risk of interleaving RTR with non-RTR move commands is documented in the Move command.
2022/12/05: (2.2)GetJointAngles command is deprecated and replaced by GetJointConfiguration.
2022/12/05: (2.2)Added move type and target type support matrix.
2022/12/05: (2.2)Added 2 cautionary statements regarding mixing RTR with non-RTR moves and robot off-roadmap behaviors for Move command.
2022/12/09: (2.2)Added 1 cautionary statement regarding mixing RTR-controlled moves with non-RTR stop commands.
2023/01/04: (2.2)SetServos command is removed.
2023/01/13: (2.2)Move command and queued move smoothing behavior description is updated.
2023/01/18: (2.2)API command string size limit is specified.
2023/01/30: (2.2)Move command trigger behavior description is updated.
2023/03/06: SetRobotPreset command description is updated
Goal
The ASCII API is a fundamental component of how a user interacts with the Realtime Controller and ultimately controls a robot. In order to effectively complete a task, the user must be able to retrieve information from the Rapidplan Create project, set behavioral characteristics of the robots, and move the robots either following the offline motion plans or with conventional move types.
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Structure |
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Argument Description |
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Function Description | This command changes the active robot preset for a specific robot. When a preset is changed, current robot motions are not re-validated, but new move commands will respect the new active preset. A robot must be stationary in order to call this command explicitly. Robot preset changes are only allowed while a robot is moving if using the queued Moves or a CombinedMove. SetRobotPreset commands will be rejected if sent between a user issuing move request to the RTR controller, and the final response being sent from the RTR controller to the user for a given bot . If a preset change is needed, it can be accomplished using the preset_name key within a queued move or combined move request. In the case of switching presets using the preset_name key, there is a requirement that changes in preset during queued moves or CombinedMoves must not change the TCP or the controllable axes. This requirement is in effect if there are any current motions that the user has issued to RTR, that RTR has not yet returned the final API response to the user. If the new preset has a different number of controlled axes than the current preset, ReleaseControl must be called for that robot prior to the SetRobotPreset command. Once the preset change has succeeded, AcquireControl can be called again. When called, the selected preset is stored to disk so upon project reload, the last active preset will be used. | ||
Response Details | This command will return a response to acknowledge the command has been received and executed successfully. | ||
Example Request |
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Example YAML Responses |
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Example CSV Responses |
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