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xArm-Python-SDK

Overview

xArm Python SDK

Caution

  • Please keep away from the robot arm to avoid personal injury or equipment damage.
  • Make sure to do a safety assessment before moving to prevent collisions.
  • Protect the arm before unlocking the joint.

Installation

  you can run examples without installation.Only Python3 is supported.
  • download
    git clone https://github.com/xArm-Developer/xArm-Python-SDK.git
  • install
    python setup.py install

Doc

Update Summary

  • 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)

  • 1.11.0

    • Support transparent transmission
      • 240: set_tgpio_modbus_timeout(..., is_transparent_transmission=True)
      • 241: getset_tgpio_modbus_data(..., is_transparent_transmission=True)
    • Modified the centroid unit of the ft_sensor_iden_load and ft_sensor_cali_load interfaces to millimeters (originally meters)

  • ​More​

​Example​

   Before running the example, please modify the IP in robot.conf to corresponding IP you want to control.
  • ​0000-template​
  • ​0001-event_register​
  • ​0002-get_property​
  • ​0003-api_get​
  • ​0004-servo_attach_detach​
  • ​1001-move_line​
  • ​1002-move_line​
  • ​1003-relative_move_line​
  • ​1004-move_arc_line​
  • ​1005-move_arc_line​
  • ​1006-move_tool_line​
  • ​1007-counter​
  • ​1008-move_line_aa​
  • ​1009-cartesian_velocity_control​
  • ​1010-cartesian_online_trajectory_planning​
  • ​2000-joint_velocity_control​
  • ​2006-joint_online_trajectory_planning​
  • 2001-move_joint --> xarm5 --- xarm6 --- xarm7​
  • 2002-move_joint --> xarm5 --- xarm6 --- xarm7​
  • 2003-move_joint --> xarm5 --- xarm6 --- xarm7​
  • 2004-move_joint --> xarm5 --- xarm6 --- xarm7​
  • 2005-move_arc_joint --> xarm5 --- xarm6 --- xarm7​
  • ​3001-move_circle​
  • ​3002-record_trajectory​
  • ​3003-playback_trajectory​
  • ​3004-get_report_data​
  • ​3005-task_feedback​
  • ​3006-standard_modbus_tcp​
  • ​5000-set_tgpio_modbus​
  • ​5001-get_tgpio_digital​
  • ​5002-get_tgpio_analog​
  • ​5003-set_tgpio_digital​
  • ​5004-set_gripper​
  • ​5005-get_cgpio_digital_analog​
  • ​5006-set_cgpio_digital_analog​
  • ​5007-set_cgpio_input_output_function​
  • ​5008-get_cgpio_state​
  • ​5009-set_bio_gripper​
  • ​6001-set_reduced_mode​
  • ​6002-set_fense_mode​
  • ​7001-servo_j​
  • ​7002-servo_cartesian​
  • ​7003-servo_cartesian_aa​
  • ​8000-load_identify_current​
  • ​8001-force_tech​
  • ​8002-impedance​
  • ​8003-force_control​
  • ​8004-load_identify​
  • ​8005-read_force_data​
  • ​8006-save_force_zero​
  • ​8010-get_ft_sensor_config​
  • ​9000-set_linear_track​
  • ​blockly_to_python​
  • ​get_report_data_with_protocol​
  • Import
    from xarm.wrapper import XArmAPI
    arm = XArmAPI('COM5')
    arm = XArmAPI('192.168.1.113')
    arm = XArmAPI('192.168.1.113', do_not_open=False)
    arm = XArmAPI('192.168.1.113', is_radian=False)
  • Connect/Disconnect
    arm.connect(...)
    arm.disconnect()
  • Move
    arm.reset(...)
    arm.set_position(...)
    arm.set_servo_angle(...)
    arm.set_servo_angle_j(...)
    arm.set_servo_cartesian(...)
    arm.move_gohome(...)
    arm.move_circle(...)
    arm.emergency_stop()
    arm.set_position_aa(...)
    arm.set_servo_cartesian_aa(...)
    arm.vc_set_joint_velocity(...)
    arm.vc_set_cartesian_velocity(...)
  • Set
    arm.set_servo_attach(...)
    arm.set_servo_detach(...)
    arm.set_state(...)
    arm.set_mode(...)
    arm.motion_enable(...)
    arm.set_pause_time(...)
  • Get
    arm.get_version()
    arm.get_state()
    arm.get_is_moving()
    arm.get_cmdnum()
    arm.get_err_warn_code()
    arm.get_position(...)
    arm.get_servo_angle(...)
    arm.get_position_aa(...)
    arm.get_pose_offset(...)
  • Setting
    arm.set_tcp_offset(...)
    arm.set_tcp_jerk(...)
    arm.set_tcp_maxacc(...)
    arm.set_joint_jerk(...)
    arm.set_joint_maxacc(...)
    arm.set_tcp_load(...)
    arm.set_collision_sensitivity(...)
    arm.set_teach_sensitivity(...)
    arm.set_gravity_direction(...)
    arm.config_tgpio_reset_when_stop(...)
    arm.config_cgpio_reset_when_stop(...)
    arm.set_report_tau_or_i(...)
    arm.set_self_collision_detection(...)
    arm.set_collision_tool_model(...)
    arm.clean_conf()
    arm.save_conf()
  • Gripper
    arm.set_gripper_enable(...)
    arm.set_gripper_mode(...)
    arm.set_gripper_speed(...)
    arm.set_gripper_position(...)
    arm.get_gripper_position()
    arm.get_gripper_err_code()
    arm.clean_gripper_error()
  • BIO Gripper
    arm.set_bio_gripper_enable(...)
    arm.set_bio_gripper_speed(...)
    arm.open_bio_grippe(...)
    arm.close_bio_gripper(...)
    arm.get_bio_gripper_status()
    arm.get_bio_gripper_error()
    arm.clean_bio_gripper_error()
  • RobotIQ Gripper
    arm.robotiq_reset()
    arm.robotiq_set_activate(...)
    arm.robotiq_set_position(...)
    arm.robotiq_open(...)
    arm.robotiq_close(...)
    arm.robotiq_get_status(...)
  • Modbus of the end tools
    arm.set_tgpio_modbus_timeout(...)
    arm.set_tgpio_modbus_baudrate(...)
    arm.get_tgpio_modbus_baudrate(...)
    arm.getset_tgpio_modbus_data(...)
  • GPIO
    # Tool GPIO
    arm.get_tgpio_digital(...)
    arm.set_tgpio_digital(...)
    arm.get_tgpio_analog(...)
    arm.set_tgpio_digital_with_xyz(...)
    # Controller GPIO
    arm.get_cgpio_digital(...)
    arm.get_cgpio_analog(...)
    arm.set_cgpio_digital(...)
    arm.set_cgpio_analog(...)
    arm.set_cgpio_digital_input_function(...)
    arm.set_cgpio_digital_output_function(...)
    arm.get_cgpio_state()
    arm.set_cgpio_digital_with_xyz(...)
    arm.set_cgpio_analog_with_xyz(...)
  • Linear Track
    arm.get_linear_track_pos()
    arm.get_linear_track_status()
    arm.get_linear_track_error()
    arm.get_linear_track_is_enabled()
    arm.get_linear_track_on_zero()
    arm.get_linear_track_sci()
    arm.get_linear_track_sco()
    ​
    arm.clean_linear_track_error(...)
    arm.set_linear_track_enable(...)
    arm.set_linear_track_speed(...)
    arm.set_linear_track_back_origin(...)
    arm.set_linear_track_pos(...)
    arm.set_linear_track_stop(...)
  • FT Sensor
    arm.set_impedance(...)
    arm.set_impedance_mbk(...)
    arm.set_impedance_config(...)
    arm.config_force_control(...)
    arm.set_force_control_pid(...)
    arm.ft_sensor_set_zero(...)
    arm.ft_sensor_iden_load(...)
    arm.ft_sensor_cali_load(...)
    arm.ft_sensor_enable(...)
    arm.ft_sensor_app_set(...)
    arm.ft_sensor_app_get(...)
    arm.get_ft_sensor_data(...)
    arm.get_ft_senfor_config(...)
    arm.get_ft_sensor_error(...)
  • Other
    arm.set_pause_time(...)
    arm.system_control(...)
    arm.clean_error()
    arm.clean_warn()
    arm.set_counter_reset()
    arm.set_counter_increase(...)
  • Register/Release
    arm.register_report_callback(...)
    arm.register_report_location_callback(...)
    arm.register_connect_changed_callback(callback)
    arm.register_state_changed_callback(callback)
    arm.register_mode_changed_callback(callback)
    arm.register_mtable_mtbrake_changed_callback(callback)
    arm.register_error_warn_changed_callback(callback)
    arm.register_cmdnum_changed_callback(callback)
    arm.register_temperature_changed_callback(callback)
    arm.register_count_changed_callback(callback)
    arm.release_report_callback(callback)
    arm.release_report_location_callback(callback)
    arm.release_connect_changed_callback(callback)
    arm.release_state_changed_callback(callback)
    arm.release_mode_changed_callback(callback)
    arm.release_mtable_mtbrake_changed_callback(callback)
    arm.release_error_warn_changed_callback(callback)
    arm.release_cmdnum_changed_callback(callback)
    arm.release_temperature_changed_callback(callback)
    arm.release_count_changed_callback(callback)
  • Property
    arm.connected
    arm.default_is_radian
    arm.version
    arm.position
    arm.last_used_position
    arm.tcp_speed_limit
    arm.tcp_acc_limit
    arm.last_used_tcp_speed
    arm.last_used_tcp_acc
    arm.angles
    arm.joint_speed_limit
    arm.joint_acc_limit
    arm.last_used_angles
    arm.last_used_joint_speed
    arm.last_used_joint_acc
    arm.tcp_offset
    arm.state
    arm.mode
    arm.joints_torque
    arm.tcp_load
    arm.collision_sensitivity
    arm.teach_sensitivity
    arm.motor_brake_states
    arm.motor_enable_states
    arm.has_err_warn
    arm.has_error
    arm.has_warn
    arm.error_code
    arm.warn_code
    arm.cmd_num
    arm.device_type
    arm.axis
    arm.gravity_direction
    arm.gpio_reset_config
    arm.count
    arm.temperatures
    arm.voltages
    arm.currents
    arm.cgpio_states
Next
xArm-Python-SDK Release Notes
Last modified 1mo ago