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Set motion(ws://{ip}:{port}/ws)\

1.xarm_move_step

Description: Long press: keep moving in a certain direction until the button is released. Short press: move a step in a certain direction. Button: [Live Control] -- X+ / X- / Y+ / Y- / Z+ / Z-\
URL: /ws
Request Type： Application/json
Return Type： */*
Request Parameter
Type
Must be filled
Description
isloop
bool
Yes
whether a long press or not
direction
String
Yes
Direction of movement： 'position-x-increase’;'position-x-decrease’; ’position-y-increase’;’position-y-decrease’; ’position-z-increase’;’position-z-decrease’; ’attitude-roll-increase’;'attitude-roll-decrease'; ’attitude-pitch-increase’;'attitude-pitch-decrease'; 'attitude-yaw-increase';'attitude-yaw-decrease'; Change of Joint angle： 'joint-angle-increase';'joint-angle-decrease'; Aligning the Hand(for xArm5 only)： 'set-end-level' ;
isMoveTool
bool
Yes
whether use Tool Coordinate or not(Base Coordinate by default)
isSetInitialPoint
bool
No
(Not Used)
Return Parameter
Type
Must be filled
Description
status code
int
Yes
0: success Other: Failed. Refer to xArm_Python_SDK/xarm_API_Code.md​

Background

if direction == 'position-x-increase' or direction == 'position-x-decrease':
self._xarm_sync_tcp(0)
x = GLOBAL.XArm.xarm_position_step if direction == 'position-x-increase' else -GLOBAL.XArm.xarm_position_step
if isMoveTool:
code = GLOBAL.XArm.xarm.set_tool_position(x=x, speed=tcp_speed)
else:
code = GLOBAL.XArm.xarm.set_position(x=x, relative=True, speed=tcp_speed)

Front end

moveStep(direction, isLoop) {
      window.CommandsRobotSocket.moveStep({ 'direction': direction, 'isLoop': isLoop, 'isMoveTool': this.isToolCoord });
},
​
moveStep = (data, callback) => {
  const params = window.GlobalConstant.INIT_CMD_PARAMS_COMMON_DATA();
  Object.assign(params.data, data);
  Object.assign(params.data, {
    mode: self.model.robot.state.info.xarm_mode,
  });
  self.sendCmd(window.GlobalConstant.MOVE_STEP_START, params, (dict) => {
    if (callback) {
      callback(dict);
    }
  });
}

2.xarm_move_step_over

Description: The xArm will be stopped immediately once the button is released.
URL: /ws
Request Type： Application/json
Return Type： */*
Request Parameter
Type
Must be filled
Description
/
​
​
​
Return Parameter
Type
Must be filled
Description
status code
int
Yes
0 by default

Background

if direction == 'position-x-increase' or direction == 'position-x-decrease':
self._xarm_sync_tcp(0)
x = GLOBAL.XArm.xarm_position_step if direction == 'position-x-increase' else -GLOBAL.XArm.xarm_position_step
if isMoveTool:
code = GLOBAL.XArm.xarm.set_tool_position(x=x, speed=tcp_speed)
else:
code = GLOBAL.XArm.xarm.set_position(x=x, relative=True, speed=tcp_speed)

Front end

moveStep(direction, isLoop) {
      window.CommandsRobotSocket.moveStep({ 'direction': direction, 'isLoop': isLoop, 'isMoveTool': this.isToolCoord });
},
​
moveStep = (data, callback) => {
  const params = window.GlobalConstant.INIT_CMD_PARAMS_COMMON_DATA();
  Object.assign(params.data, data);
  Object.assign(params.data, {
    mode: self.model.robot.state.info.xarm_mode,
  });
  self.sendCmd(window.GlobalConstant.MOVE_STEP_START, params, (dict) => {
    if (callback) {
      callback(dict);
    }
  });
}

3.xarm_move_joint

Description: Move with Joint Motion 1）Back to initial position 2）Joint motion in 'Live Control' interface
URL: /ws
Request Type： Application/json
Return Type： */*
Request Parameter
Type
Must be filled
Description
I
String
Yes
Joint angle of Joint1
J
String
Yes
Joint angle of Joint2
K
String
Yes
Joint angle of Joint3
M
String
Yes
Joint angle of Joint4
N
String
Yes
Joint angle of Joint5
O
String
Yes
Joint angle of Joint6
R
String
Yes
Joint angle of Joint7
wait
String
No
wait or not
isControl
bool
Yes
whether start the program by Blockly or not
isClickMove
bool
Yes
whether click 'Move' in the Blockly or not
Module
String
No
whether the wait=True in the Blockly or not
Return Parameter
Type
Must be filled
Description
/
​
​
​

Background

GLOBAL.XArm.xarm_printed = True
ret = yield self._wait_until_cmdnum_lt_max()
if ret is not None:
return response(client, id, ret)
self.last_move_client = client
code = GLOBAL.XArm.xarm.set_servo_angle(angle=angles, speed=mvvelo, mvacc=mvacc, mvtime=mvtime,is_radian=False, wait=False, radius=radius)

Front end

self.moveJoint = (positions, index, isWait, callback, isControl, modName, isClickMove) => {
  if (modName === 'blockly' && isControl === false && !window.Blockly.Running) {
    return;
  }
  const JOINT_LIST = ['I', 'J', 'K', 'L', 'M', 'N', 'O', 'R'];
  const sendData = isWait === true ? { wait: true } : {};
  if (index >= 0) {
    sendData[JOINT_LIST[index]] = Number(positions[0]);
  }
  else {
    JOINT_LIST.forEach((value, index) => {
      sendData[value] = Number(positions[index]);
    });
  }
  const params = window.GlobalConstant.INIT_CMD_PARAMS_COMMON_DATA();
  Object.assign(params.data, {
    F: Number(self.model.robot.state.local.angle_speed),
    Q: Number(self.model.robot.state.local.angle_acceleration),
    isControl: isControl === true ? true : false,
    module: modName,
    isClickMove: isClickMove,
    mode: self.model.robot.state.info.xarm_mode,
    wait: isWait,
  });
  Object.assign(params.data, sendData);
​
  self.sendCmd(window.GlobalConstant.MOVE_JOINT, params, (dict) => {
    self.codeHandle(dict, 'move joint', isControl !== true);
    if (callback) {
      callback(dict);
    }
  });
};

4.switch_mode_Lite6

Description: Change the mode of Lite6. Button: [Live Control] - Manual mode
URL: /ws
Request Type： Application/json
Return Type： */*
Request Parameter
Type
Must be filled
Description
mode
int
Yes
0:position mode; 2:joint teaching mode
version
String
Yes
Joint angle of Joint2
status
int
Yes
0:close joint teaching mode; 1:open joint teaching mode;
Reported
​
​
​
Lite6_record_mode
int
Yes
return 1 if the teaching mode is enabled; return 0 if the teaching mode is closed.
Return Parameter
Type
Must be filled
Description
/
​
​
​

Background

if current_tgpio == '' and value == 1:
xarm.set_mode(mode, 1)
if xarm.error_code == 0:
xarm.set_state(0)
self._xarm_sync()
elif current_tgpio != value:
GLOBAL.XArm.lite6_ti2_status = value
mode_param = (2, 1) if value == 1 else (0,)
xarm.set_mode(*mode_param)
if xarm.error_code == 0:
xarm.set_state(0)

Front end

self.switch_mode_lite6 = (mode, callback) => {
  const params = window.GlobalConstant.INIT_CMD_PARAMS_COMMON_DATA();
  Object.assign(params.data, {
    mode: mode,
    status: mode === 2 ? 1 : 0
  });
  self.sendCmd(window.GlobalConstant.SWITCH_MODE_LITE6, params, (dict) => {
    if (callback) {
      callback(dict);
    }
  });
};

5.xarm_set_blockly_init

Description: Initialize the parameter of Lite6 before runing Blockly project.
URL: /ws
Request Type： Application/json
Return Type： */*
Request Parameter
Type
Must be filled
Description
version
String
Yes
Lite by default
Return Parameter
Type
Must be filled
Description
status code
int
Yes
0 by default

Background

mode = GLOBAL.XArm.xarm.mode
if mode == 2:
return response(client, cmd_id, 105)
yield self.xarm_check_tcp(None, cmd_id, data)
yield self.xarm_set_ready(None, cmd_id, data)
self._xarm_set_params(**{
'Q': GLOBAL.XArm.xarm_tcp_acc,
'Q2': GLOBAL.XArm.xarm_joint_acc,
})

Front end

self.setBlocklyInit = (callback) => {
  window.GlobalUtil.model.robot.event.GPIOEvent.reset(true);
  window.GlobalUtil.model.robot.state.local.acceleration = window.GlobalUtil.model.robot.state.remote.defaultTcpAcc;
  window.GlobalUtil.model.robot.state.local.angle_acceleration = window.GlobalUtil.model.robot.state.remote.defaultJointAcc;
  const params = window.GlobalConstant.INIT_CMD_PARAMS_COMMON_DATA();
  Object.assign(params.data, {
    mode: self.model.robot.state.info.xarm_mode,
  });
  self.sendCmd(window.GlobalConstant.SET_BLOCKLY_INIT, params, (dict) => {
    self.codeHandle(dict, 'set blockly init', true);
    if (callback) {
      callback(dict);
    }
  });
}

6.run_blockly

Description: Run the Blockly project.
URL: /ws
Request Type： Application/json
Return Type： */*
Request Parameter
Type
Must be filled
Description
userId
String
No
test by default
version
String
No
Lite6 by default
category
String
No
myapp by default
appName
String
Yes
The name of the Blockly project
Return Parameter
Type
Must be filled
Description
status code
int
​
0:success; 1:Initialization exception; -12: failed; -11: covert failed; -3: parameter error;

Background

user_id = data.get('userId', 'test')
xarm_version = data.get('version', GLOBAL.XArm.xarm_type)
category = data.get('category', 'myapp')
app_name = data.get('appName', '')
app_name = convert_path(app_name)
path = os.path.join(projects_path, user_id, xarm_version, 'app', category, app_name)
check_is_pause = GLOBAL.XArm.xarm._arm._check_is_pause
check_cmdnum_limit = GLOBAL.XArm.xarm._arm._check_cmdnum_limit
try:
GLOBAL.XArm.xarm._arm._check_is_pause = True
GLOBAL.XArm.xarm._arm._check_cmdnum_limit = True
logger.info('start run blockly')
GLOBAL.Connect.blockly_task_client = client
code = yield self._run_blockly(path, client, cmd_id)
logger.info('run blockly finish, code={}'.format(code))
except:
code = 1
finally:
GLOBAL.XArm.xarm._arm._check_is_pause = check_is_pause
GLOBAL.XArm.xarm._arm._check_cmdnum_limit = check_cmdnum_limit
GLOBAL.Connect.blockly_task_client = None
if client:
response(client, cmd_id, code)
else:
return code

Front end

self.runBlockly = (name, callback) => {
  const params = window.GlobalConstant.INIT_CMD_PARAMS_COMMON_DATA();
  Object.assign(params.data, {
    category: 'myapp', // 'myapp',
    appName: name,
  });
  window.GlobalUtil.model.localAppsMgr.taskId = self.sendCmd(window.GlobalConstant.RUN_BLOCKLY, params, (dict) => {
    if (callback) {
      callback(dict);
    }
  })
};

7.xarm_urgent_stop

Description: Emergency Stop
URL: /ws
Request Type： Application/json
Return Type： */*
Request Parameter
Type
Must be filled
Description
/
​
​
​
Return Parameter
Type
Must be filled
Description
status code
int
Yes
0 by default

Background

GLOBAL.XArm.xarm_paused = False
GLOBAL.XArm.xarm_printed = False
GLOBAL.XArm.xarm_print_client = None
self.move_enable = False
GLOBAL.XArm.xarm_print_send_count = 0
GLOBAL.XArm.xarm_print_total_count = 0
GLOBAL.XArm.xarm.emergency_stop()
​
if GLOBAL.Core.is_xarm and os.path.exists('/home/uf/.UFACTORY/projects/test/task.pid'):
try:
with open('/home/uf/.UFACTORY/projects/test/task.pid', 'r') as f:
pid = f.read()
os.system('echo "{}" | sudo -S kill -9 {}'.format(GLOBAL.XArm.get_ssh_config()['password'], pid))
except Exception as e:
logger.error('read pid error, {}'.format(e))
finally:
try:
os.remove('/home/uf/.UFACTORY/projects/test/task.pid')
except Exception as e:
logger.error('remove pid error, {}'.format(e))
​
if GLOBAL.Core.jedi_ws and GLOBAL.Core.jedi_ws.connected:
GLOBAL.Core.jedi_ws.send({
'id': -1,
'client_id': client._id(),
'cmd': 'stop_python_script',
'data': {}
})

Front end

self.urgentStop = (data, callback) => {
  self.model.robot.state.status.error = data;
  self.model.commonStatusMgr.blocklyCanUpdate = false;
  self.model.commonStatusMgr.UrgentStopRecord = true;
  const params = window.GlobalConstant.INIT_CMD_PARAMS_COMMON_DATA();
  self.sendCmd(window.GlobalConstant.URGENT_STOP, params, (response) => {
    if (data === false) {
      window.Blockly.Running = false;
      window.Blockly.AppRunning = false;
      window.Blockly.DisabledToRun = false;
​
      let len = 0;
      if (BlocklyCom.BlockWorkspace) {
        len = BlocklyCom.BlockWorkspace.getAllBlocks().length;
      }
      window.GlobalUtil.model.localAppsMgr.enableRun = len > 0 ? true : false;
​
      setTimeout(() => {
        self.model.commonStatusMgr.blocklyCanUpdate = true;
      }, 500);
    }
​
    const stop = response.data;
    if (stop && (stop.length > 0)) {
      console.log('stop', stop);
    }
    else {
      console.log('urgent stop fail', response);
    }
    if (callback) {
      callback(response);
    }
  });
};

8.xarm_set_simulation_robot

Description: Enable/Disable simulated robot
URL: /ws
Request Type： Application/json
Return Type： */*
Request Parameter
Type
Must be filled
Description
on_off
bool
yes
True: enable; False: disable
Return Parameter
Type
Must be filled
Description
status code
int
Yes
0: success Other: Failed. Refer to xArm_Python_SDK/xarm_API_Code.md​

Background

on_off = data.get('on_off')
code = GLOBAL.XArm.xarm.set_simulation_robot(on_off)
GLOBAL.XArm.xarm.get_position()
GLOBAL.XArm.xarm.get_servo_angle()
yield self._xarm_sync()
response(client, cmd_id, code)

Front end

self.set_simulation_robot = (on_off, callback) => {
  const params = window.GlobalConstant.INIT_CMD_PARAMS_COMMON_DATA();
  Object.assign(params.data, {
    on_off: on_off,
  });
  self.sendCmd(window.GlobalConstant.SET_SIMULATION_ROBOT, params, (dict) => {
    if (callback) {
      callback(dict);
    }
  });
}

9.xarm_set_speed

Description: Set the speed percent of Arm Button:[Live Control]- Speed
URL: /ws
Request Type： Application/json
Return Type： */*
Request Parameter
Type
Must be filled
Description
percent
int
yes
set the speed percent of the Arm 0.01-1(1-100%)
Return Parameter
Type
Must be filled
Description
status code
int
Yes
0 by default

Background

percent = float(data.get('percent')) # percent
if percent > 1:
percent = 1
max_tcp_speed = GLOBAL.XArm.xarm_params.get('LIMIT_VELO', GLOBAL.Config.LIMIT_VELO)[1]
# max_joint_speed = GLOBAL.XArm.xarm_params.get('LIMIT_ANGLE_VELO', GLOBAL.Config.LIMIT_ANGLE_VELO)[1]
max_joint_speed = GLOBAL.XArm.xarm_max_joint_speed
tcp_speed = max_tcp_speed * percent * GLOBAL.XArm.xarm_speed_factor
joint_speed = max_joint_speed * percent * GLOBAL.XArm.xarm_speed_factor
GLOBAL.XArm.xarm_speed_percent = percent
GLOBAL.XArm.save()
self._xarm_set_params(**{
'F': tcp_speed,
'F2': joint_speed
}, is_radian=False)
GLOBAL.XArm.xarm_params = self._xarm_get_params(is_radian=False)
return response(client, cmd_id, 0, 'ok')

Front end

self.setSpeedPercent = (percent, callback) => {
  const params = window.GlobalConstant.INIT_CMD_PARAMS_COMMON_DATA();
  Object.assign(params.data, {
    percent: percent
  });
  self.sendCmd(window.GlobalConstant.SET_SPEED_PERCENT, params, (dict) => {
    if (callback) {
      callback(dict);
    }
  });
}

10.xarm_set_lite6_gripper

Description: Open/close/stop the lite6 gripper Button:[Live Control] - [open/close/stop]
URL: /ws
Request Type： Application/json
Return Type： */*
Request Parameter
Type
Must be filled
Description
op
String
yes
open: Open the gripper Lite; close: Close the gripper Lite; stop: Stop the gripper Lite
Return Parameter
Type
Must be filled
Description
status code
int
Yes
0: success Other: Failed. Refer to xArm_Python_SDK/xarm_API_Code.md​

Background

op = data.get('op')
if op == 'open':
code = GLOBAL.XArm.xarm.open_lite6_gripper()
response(client, cmd_id, code)
elif op == 'close':
code = GLOBAL.XArm.xarm.close_lite6_gripper()
response(client, cmd_id, code)
elif op == 'stop':
code = GLOBAL.XArm.xarm.stop_lite6_gripper()
response(client, cmd_id, code)

Front end

type ofself.setLite6Gripper = (op, callback) => {
  // control lite6 gripper
  const params = window.GlobalConstant.INIT_CMD_PARAMS_COMMON_DATA();
  Object.assign(params.data, {
    op: typeof op === 'function' ? op.name : op,
  });
  self.sendCmd(window.GlobalConstant.XARM_SET_LITE6_GRIPPER, params, (dict) => {
    if (callback) {
      callback(dict);
    }
  });
}

11.xarm_move_arc_line

Description: Linear Motion Button:[Blockly]- [linear motion]- [move]
URL: /ws
Request Type： Application/json
Return Type： */*
Request Parameter
Type
Must be filled
Description
X
String
Yes
X
Y
String
Yes
Y
Z
String
Yes