C

This document will introduce the data types and APIs defined in the JAKA SDK (C), mainly intended for software developers creating robot applications in C/C++ that communicate with virtual or real controllers. It will also be helpful for users who need to understand JAKA robot controller applications.

Interface List

Basic Robot Operations

Robot Arm Logout 

errno_t destory_handler(const JKHD *handle)

Power On Robot Arm 

errno_t power_on(const JKHD *handle)

Power Off Robot Arm 

errno_t power_off(const JKHD *handle)

Shut Down Robot Arm 

errno_t shut_down(const JKHD *handle)

Enable Robot Arm 

errno_t enable_robot(const JKHD *handle)

Disable Robot Arm 

errno_t disable_robot(const JKHD *handle)

Get DH parameters of the currently connected robot arm 

errno_t get_dh_param(const JKHD *handle, DHParam *dhParam)

Set Robot Arm Installation Angle 

errno_t set_installation_angle(const JKHD* handle, double angleX, double angleZ)

Get Robot Arm Installation Angle 

errno_t get_installation_angle(const JKHD* handle, Quaternion* quat, Rpy* appang)

Get Robot Arm Status 

errno_t get_robot_state(const JKHD *handle, RobotState *state)

Get Robot Arm Status Monitoring Data - Only Thread-Safe Interface 

errno_t get_robot_status(const JKHD *handle, RobotStatus *status)

Get Robot Arm Status Monitoring Data 

errno_t get_robot_status_simple(const JKHD *handle, RobotStatus_simple *status)

SDK

Register callback function for robot arm errors 

errno_t set_error_handler(const JKHD *handle, CallBackFuncType func)

Get SDK Version Number 

errno_t get_sdk_version(const JKHD *handle, char *version)

Set robot arm motion type to automatically stop during network exceptions 

errno_t set_network_exception_handle(const JKHD *handle, float millisecond, ProcessType mnt)

Get Controller IP 

errno_t get_controller_ip(const JKHD *handle, char *controller_name, char *ip_list)

Set file storage path for robot arm error codes 

errno_t set_errorcode_file_path(const JKHD *handle, char *path)

Set file storage path for robot arm error codes and get the most recent robot arm error code 

errno_t get_last_error(const JKHD *handle, ErrorCode *code)

Error status clear 

errno_t clear_error(const JKHD *handle)

Set whether the SDK enables debug mode 

errno_t set_debug_mode(const JKHD *handle, BOOL mode)

Set SDK log path 

errno_t set_SDK_filepath(const JKHD *handle, char *filepath)

Get SDK log path 

errno_t get_SDK_filepath(const JKHD *handle, char *filepath, int size)

Robot Moving Output

Robot arm movement in manual mode 

errno_t jog(const JKHD *handle, int aj_num, MoveMode move_mode, CoordType coord_type, double vel_cmd, double pos_cmd)

Robot arm stop movement in manual mode 

errno_t jog_stop(const JKHD *handle, int num)

Robot arm joint movement 

// The following interfaces provide the same functionality but differ in optional extended parameters. Select as needed based on actual requirements.
errno_t joint_move(const JKHD *handle, const JointValue *joint_pos, MoveMode move_mode, BOOL is_block, double speed)
errno_t joint_move_extend(const JKHD *handle, const JointValue *joint_pos, MoveMode move_mode, BOOL is_block, double speed, double acc, double tol, const OptionalCond *option_cond)

Robot arm linear movement at end effector 

// The following interfaces provide the same functionality but differ in optional extended parameters. Select as needed based on actual requirements.
errno_t linear_move(const JKHD *handle, const CartesianPose *end_pos, MoveMode move_mode, BOOL is_block, double speed)
errno_t linear_move_extend(const JKHD *handle, const CartesianPose *end_pos, MoveMode move_mode, BOOL is_block, double speed, double accel, double tol, const OptionalCond *option_cond)
errno_t linear_move_extend_ori(const JKHD *handle, const CartesianPose *end_pos, MoveMode move_mode, BOOL is_block, double speed, double accel, double tol, const OptionalCond *option_cond, double ori_vel, double ori_acc)

Robot arm arc movement 

// The following interfaces provide the same functionality but differ in optional extended parameters. Select as needed based on actual requirements.
errno_t circular_move(const JKHD *handle, const CartesianPose *end_pos, const CartesianPose *mid_pos, MoveMode move_mode, BOOL is_block, double speed, double accel, double tol, const OptionalCond *option_cond)
errno_t circular_move_extend(const JKHD *handle, const CartesianPose *end_pos, const CartesianPose *mid_pos, MoveMode move_mode, BOOL is_block, double speed, double accel, double tol, const OptionalCond *option_cond, double circle_cnt)

Robot arm arc movement 

errno_t circular_move_extend_mode(const JKHD *handle, const CartesianPose *end_pos, const CartesianPose *mid_pos, MoveMode move_mode, BOOL is_block, double speed, double accel, double tol, const OptionalCond *option_cond, double circle_cnt, int circle_mode)

Set robot arm speed multiplier 

errno_t set_rapidrate(const JKHD *handle, double rapid_rate)

Get robot arm speed multiplier 

errno_t get_rapidrate(const JKHD *handle, double *rapid_rate)

Set tool information 

errno_t set_tool_data(const JKHD *handle, int id, const CartesianPose *tcp, const char *name)

Get tool information 

errno_t get_tool_data(const JKHD *handle, int id, CartesianPose *tcp)

Set the tool ID currently in use 

errno_t set_tool_id(const JKHD *handle, const int id)

Query the tool ID currently in use 

errno_t get_tool_id(const JKHD *handle, int *id)

Set user coordinate system information 

errno_t set_user_frame_data(const JKHD *handle, int id, const CartesianPose *user_frame, const char *name)

Get user coordinate system information 

errno_t get_user_frame_data(const JKHD *handle, int id, CartesianPose *user_frame)

Set the user coordinate system ID currently in use 

errno_t set_user_frame_id(const JKHD *handle, const int id)

Query the user coordinate system ID currently in use 

errno_t get_user_frame_id(const JKHD *handle, int *id)

Control robot arm to enter or exit drag mode 

errno_t drag_mode_enable(const JKHD *handle, BOOL enable)

Query whether the robot arm is in drag mode 

errno_t is_in_drag_mode(const JKHD *handle, BOOL *in_drag)

Get joint friction compensation coefficient 

errno_t get_drag_friction_compensation_gain(const JKHD* handle, DragFrictionCompensationGainList* list)

Get current robot arm joint angles — servo feedback 

errno_t get_actual_joint_position(const JKHD *handle, JointValue *joint_position)

Get joint angles under current settings 

errno_t get_joint_position(const JKHD *handle, JointValue *joint_position)

Set manual or automatic mode 

errno_t set_auto_manual_mode(const JKHD *handle, int mode, int robot_id);

Get the current robot arm operation mode 

errno_t get_auto_manual_mode(const JKHD *handle, int *mode, int robot_id);

Get the pose of the tool endpoint under the current settings — servo feedback 

errno_t get_actual_tcp_position(const JKHD *handle, CartesianPose *tcp_position)

Get the pose of the tool endpoint under the current settings 

errno_t get_tcp_position(const JKHD *handle, CartesianPose *tcp_position)

Check if the robot arm exceeds the limit 

errno_t is_on_limit(const JKHD *handle, BOOL *on_limit)

Check if the robot arm movement has stopped 

errno_t is_in_pos(const JKHD *handle, BOOL *in_pos)

Check if the robot arm is in an emergency stop state 

errno_t is_in_estop(const JKHD *handle, BOOL *in_estop)

Set the robot arm motion planner type 

errno_t set_motion_planner(const JKHD* handle, MotionPlannerType type)

Terminate robot arm movement 

errno_t motion_abort(const JKHD *handle)

Check the robot arm motion status 

errno_t get_motion_status(const JKHD* handle, MotionStatus *status)

Set the robot arm load 

errno_t set_payload(const JKHD *handle, const PayLoad *payload)

Get robot arm load data 

errno_t get_payload(const JKHD *handle, PayLoad *payload)

IO

Set digital output variable 

errno_t set_digital_output(const JKHD *handle, IOType type, int index, BOOL value)

Set analog output variable 

errno_t set_analog_output(const JKHD *handle, IOType type, int index, float value)

Set digital output variable during movement 

errno_t set_motion_digital_output(const JKHD *handle, IOType type, int index, BOOL value, BOOL rel, double distance)

Set analog output variable during movement 

errno_t set_motion_analog_output(const JKHD *handle, IOType type, int index, float value, BOOL rel, double distance)

Check digital input status 

errno_t get_digital_input(const JKHD *handle, IOType type, int index, BOOL *result)

Check digital output status 

errno_t get_digital_output(const JKHD *handle, IOType type, int index, BOOL *result)

Get the value of the analog input variable 

errno_t get_analog_input(const JKHD *handle, IOType type, int index, float *result)

Get the value of the analog output variable 

errno_t get_analog_output(const JKHD *handle, IOType type, int index, float *result)

Check if the extended IO is running 

errno_t is_extio_running(const JKHD *handle, BOOL *is_running)

TIO

Set the tiov3 voltage parameters 

errno_t set_tio_vout_param(const JKHD* handle, int vout_enable, int vout_vol)

Get the tiov3 voltage parameters 

errno_t get_tio_vout_param(const JKHD* handle, int* vout_enable, int* vout_vol)

Add or modify TIO semaphore 

errno_t add_tio_rs_signal(const JKHD* handle, SignInfo sign_info)

TIO delete semaphore 

errno_t del_tio_rs_signal(const JKHD* handle, const char* sig_name)

TIO RS485 send command 

errno_t send_tio_rs_command(const JKHD* handle, int chn_id, uint8_t* cmdbuf, int bufsize)

TIO refresh semaphore information 

errno_t update_tio_rs_signal(const JKHD* handle, SignInfo_simple sign_info);

TIO get semaphore information 

errno_t get_rs485_signal_info(const JKHD* handle, SignInfo* sign_info_array, int *array_len)

Set TIO mode 

errno_t set_tio_pin_mode(const JKHD* handle, int pin_type, int pin_mode)

Get TIO mode 

errno_t get_tio_pin_mode(const JKHD* handle, int pin_type, int* pin_mode)

TIO RS485 communication parameter configuration 

errno_t set_rs485_chn_comm(const JKHD* handle, ModRtuComm mod_rtu_com)

TIO RS485 communication parameter query 

errno_t get_rs485_chn_comm(const JKHD* handle, int chn_id, ModRtuComm* mod_rtu_com)

TIO RS485 communication mode configuration 

errno_t set_rs485_chn_mode(const JKHD* handle, int chn_id, int chn_mode)

TIO RS485 communication mode query 

errno_t get_rs485_chn_mode(const JKHD* handle, int chn_id, int* chn_mode)

Servo

Query whether the robot arm is in servo motion state 

errno_t is_in_servomove(const JKHD *handle, BOOL *in_servo)

Enable robot arm servo position control mode 

// The following interfaces provide the same functionality but differ in optional extended parameters. Select as needed based on actual requirements.
errno_t servo_move_enable(const JKHD *handle, BOOL enable)
errno_t servo_move_enable_extend(const JKHD *handle, BOOL enable, BOOL is_block, int robot_id)

Robot arm joint space servo mode motion 

// The following interfaces provide the same functionality but differ in optional extended parameters. Select as needed based on actual requirements.
errno_t servo_j(const JKHD *handle, const JointValue *joint_pos, MoveMode move_mode)
errno_t servo_j_extend(const JKHD *handle, const JointValue *joint_pos, MoveMode move_mode, unsigned int step_num)
errno_t servo_j_extend_queue(const JKHD *handle, const JointValue *joint_pos, MoveMode move_mode, unsigned int step_num, int *queue_num, DOInfo *do_info, int robot_id)

Robot arm Cartesian space servo mode motion extension 

// The following interfaces provide the same functionality but differ in optional extended parameters. Select as needed based on actual requirements.
errno_t servo_p(const JKHD *handle, const CartesianPose *cartesian_pose, MoveMode move_mode)
errno_t servo_p_extend(const JKHD *handle, const CartesianPose *cartesian_pose, MoveMode move_mode, unsigned int step_num)
errno_t servo_p_extend_queue(const JKHD *handle, const CartesianPose *cartesian_pose, MoveMode move_mode, unsigned int step_num, int *queue_num, DOInfo *do_info, int robot_id)

Disable filter in robot arm servo mode 

errno_t servo_move_use_none_filter(const JKHD *handle)

First-order low-pass filtering in robot arm joint space servo mode 

errno_t servo_move_use_joint_LPF(const JKHD *handle, double cutoffFreq)

Nonlinear filtering in robot arm joint space servo mode 

errno_t servo_move_use_joint_NLF(const JKHD *handle, double max_vr, double max_ar, double max_jr)

Nonlinear filtering in robot arm Cartesian space servo mode 

// The following interfaces provide the same functionality but differ in optional extended parameters. Select as needed based on actual requirements.
errno_t servo_move_use_carte_NLF(const JKHD *handle, double max_vp, double max_ap, double max_jp, double max_vr, double max_ar, double max_jr)
errno_t servo_move_use_carte_NLF_extend(const JKHD *handle, double max_vp, double max_ap, double max_jp, double max_vr, double max_ar, double max_jr, int ori_quat,  int robot_id)

Multi-stage mean filtering in robot arm joint space servo mode 

errno_t servo_move_use_joint_MMF(const JKHD *handle, int max_buf, double kp, double kv, double ka)

Set velocity feedforward parameters in robot arm servo mode 

// The following interfaces provide the same functionality but differ in optional extended parameters. Select as needed based on actual requirements.
errno_t servo_speed_foresight(const JKHD *handle, int max_buf, double kp)
errno_t servo_speed_foresight_extend(const JKHD *handle, int max_buf, double kp, int ori_quat, int robot_id)

Filter joint space in robot arm SERVO mode 

errno_t servo_move_use_joint_PCM(const JKHD *handle, int max_buf, double kp, int robot_id)

Filter Cartesian space in robot arm SERVO mode 

errno_t servo_move_use_carte_PCM(const JKHD *handle, int max_buf, double kp, int robot_id)

Execute servo trajectory file in robot arm SERVO mode 

errno_t start_servo_traj(const JKHD *handle, const char* filename)

Get servo trajectory execution status 

errno_t get_traj_status(const JKHD *handle, int* is_running, int* whole_points, int* progress)

Stop running servo trajectory file 

errno_t stop_servo_traj(const JKHD *handle)

EDG

Robot arm EDG enable 

// The following interfaces provide the same functionality but differ in optional extended parameters. Select as needed based on actual requirements.
errno_t edg_init(const JKHD *handle, BOOL en, const char* edg_stat_ip)
errno_t edg_init_extend(const JKHD *handle, BOOL en, const char* edg_stat_ip, int edg_port, unsigned int edg_mode)

Robot arm high-speed acquisition of EDG feedback data 

errno_t edg_get_stat(const JKHD *handle, EDGState *edg_state, unsigned char robot_index)

Robot arm acquisition of EDG feedback data issuance timestamp 

errno_t edg_stat_details(const JKHD *handle, unsigned long int details[3]);

Robot arm EDG joint space servo mode motion 

// The following interfaces provide the same functionality but differ in optional extended parameters. Select as needed based on actual requirements.
errno_t edg_servo_j(const JKHD *handle, const JointValue *joint_pos, MoveMode move_mode)
errno_t edg_servo_j_extend(const JKHD *handle, const JointValue *joint_pos, MoveMode move_mode, unsigned int step_num, unsigned char robot_index)

Robot arm EDG Cartesian space servo mode motion 

// The following interfaces provide the same functionality but differ in optional extended parameters. Select as needed based on actual requirements.
errno_t edg_servo_p(const JKHD *handle, const CartesianPose *cartesian_pose, MoveMode move_mode)
errno_t edg_servo_p_extend(const JKHD *handle, const CartesianPose *cartesian_pose, MoveMode move_mode, unsigned int step_num, unsigned char robot_index)

Trajectory

Set trajectory reproduction configuration parameters 

errno_t set_traj_config(const JKHD *handle, const TrajTrackPara *para)

Collect trajectory reproduction data control switch 

errno_t set_traj_sample_mode(const JKHD *handle, const BOOL mode, char *filename)

Get trajectory reproduction configuration parameters 

errno_t get_traj_config(const JKHD *handle, TrajTrackPara *para)

Query status of collected trajectory reproduction data 

errno_t get_traj_sample_status(const JKHD *handle, BOOL *sample_status)

Query file names of already existing trajectory reproduction data in the controller 

errno_t get_exist_traj_file_name(const JKHD *handle, MultStrStorType *filename)

Rename file names of trajectory reproduction data 

errno_t rename_traj_file_name(const JKHD *handle, const char *src, const char *dest)

Delete trajectory reproduction data files in the controller 

errno_t remove_traj_file(const JKHD *handle, const char *filename)

Generate controller execution script from trajectory reproduction data files in the controller 

errno_t generate_traj_exe_file(const JKHD *handle, const char *filename)

Program

Run the currently loaded job program 

errno_t program_run(const JKHD *handle)

Pause the currently running job program 

errno_t program_pause(const JKHD *handle)

Continue running the currently paused job program 

errno_t program_resume(const JKHD *handle)

Terminate the currently executing job program 

errno_t program_abort(const JKHD *handle)

Load the specified job program 

errno_t program_load(const JKHD *handle, const char *file)

Get execution status of robot arm job program 

errno_t get_program_state(const JKHD *handle, ProgramState *status)

Get information of robot arm job program 

errno_t get_program_info(const JKHD *handle, ProgramInfo* info)

Get the name of the loaded job program 

errno_t get_loaded_program(const JKHD *handle, char *file)

Get the execution line number of the current robot arm operation program 

errno_t get_current_line(const JKHD *handle, int *curr_line)

Get system variable 

errno_t get_user_var(const JKHD *handle, UserVariableList* vlist)

Set system variable 

errno_t set_user_var(const JKHD *handle, UserVariable v)

FTP

Initialize FTP client 

errno_t init_ftp_client(const JKHD *handle)

Close FTP client 

errno_t close_ftp_client(const JKHD *handle)

FTP download 

errno_t download_file(const JKHD *handle, char *local, char *remote, int opt)

FTP upload 

errno_t upload_file(const JKHD *handle, char *local, char *remote, int opt)

FTP delete 

errno_t del_ftp_file(const JKHD *handle, char *remote, int opt)

FTP rename 

errno_t rename_ftp_file(const JKHD *handle, char *remote, char *des, int opt)

FTP directory query 

errno_t get_ftp_dir(const JKHD *handle, const char *remotedir, int type, char *ret)

Tool Drag

Get force compliance control parameters 

errno_t get_admit_ctrl_config(const JKHD *handle, RobotAdmitCtrl *admit_ctrl_cfg)

Force control admittance enable 

errno_t enable_admittance_ctrl(const JKHD *handle, const int enable_flag)

Enable tool dragging 

errno_t enable_tool_drive(const JKHD *handle, const int enable_flag)

Get tool dragging enable status 

errno_t get_tool_drive_state(const JKHD *handle, int* enable, int *state)

Get tool dragging parameters 

errno_t get_tool_drive_config(const JKHD *handle, RobotToolDriveCtrl* cfg)

Set force control drag feel parameters 

errno_t set_tool_drive_config(const JKHD *handle, ToolDriveConfig cfg)

Get tool drag coordinate system 

errno_t get_tool_drive_frame(const JKHD *handle, FTFrameType *ftFrame)

Set tool drag coordinate system 

errno_t set_tool_drive_frame(const JKHD *handle, FTFrameType ftFrame)

Get fusion drag sensitivity 

errno_t get_fusion_drive_sensitivity_level(const JKHD *handle, int *level)

Set fusion drag sensitivity 

errno_t set_fusion_drive_sensitivity_level(const JKHD *handle, int level)

Get motion limit (singularity and joint limit) warning range 

errno_t get_motion_limit_warning_range(const JKHD *handle, int *warning_range)

Set motion limit (singularity and joint limit) warning range 

errno_t set_motion_limit_warning_range(const JKHD *handle, int warning_range)

Force control

Set constant-force compliance control coordinate system 

errno_t set_ft_ctrl_frame(const JKHD *handle, FTFrameType ftFrame)

Get constant-force compliance control coordinate system 

errno_t get_ft_ctrl_frame(const JKHD *handle, FTFrameType *ftFrame)

Set constant-force control tolerance 

errno_t set_ft_tolerance(const JKHD *handle, double force, double torque)

Get constant-force control tolerance 

errno_t get_ft_tolerance(const JKHD *handle, double* force, double* torque)

Activate/Deactivate Constant Force Compliant Control 

errno_t set_ft_ctrl_mode(const JKHD *handle, BOOL mode)

Get constant-force compliance enable status 

errno_t get_ft_ctrl_mode(const JKHD *handle, BOOL* mode)

Set constant-force compliance control parameters 

errno_t set_ft_ctrl_config(const JKHD *handle, AdmitCtrlType cfg)

Get constant-force compliance control parameters 

errno_t get_ft_ctrl_config(const JKHD *handle, RobotAdmitCtrl* cfg)

Set force control type and zero calibration (initialization) options 

errno_t set_compliant_type(const JKHD *handle, int sensor_compensation, int compliance_type)

Get force control type and reading display (initialization) status 

errno_t get_compliant_type(const JKHD *handle, int *sensor_compensation, int *compliance_type)

Set speed compliance control force condition 

errno_t set_compliance_condition(const JKHD *handle, const FTxyz *ft)

Set approach speed limit 

errno_t set_approach_speed_limit(const JKHD *handle, double vel, double angularVel)

Get approach speed limit 

errno_t get_approach_speed_limit(const JKHD *handle, double* vel, double* angularVel)

Collision

Query whether the robot arm is in collision protection mode 

errno_t is_in_collision(const JKHD *handle, BOOL *in_collision)

Set robot arm collision level 

errno_t set_collision_level(const JKHD *handle, const int level)

Get collision level set by machine 

errno_t get_collision_level(const JKHD *handle, int *level)

Recover from collision protection mode after collision 

errno_t collision_recover(const JKHD *handle)

Kinematics

Robot arm inverse kinematics solution 

errno_t kine_inverse(const JKHD *handle, const JointValue *ref_pos, const CartesianPose *cartesian_pose, JointValue *joint_pos)
// Optional extended parameters allow inverse kinematics to be computed in the selected user frame and tool frame.
errno_t kine_inverse_extend(const JKHD *handle, const JointValue *ref_pos, const CartesianPose *cartesian_pose, JointValue *joint_pos, const CartesianPose *tool, const CartesianPose *userFrame)

Robot arm forward kinematics solution 

errno_t kine_forward(const JKHD *handle, const JointValue *joint_pos, CartesianPose *cartesian_pose)
// Optional extended parameters allow forward kinematics to be computed in the selected user frame and tool frame.
errno_t kine_forward_extend(const JKHD *handle, const JointValue *joint_pos, CartesianPose *cartesian_pose, const CartesianPose *tool, const CartesianPose *userFrame)

Convert Euler angles to rotation matrix 

errno_t rpy_to_rot_matrix(const JKHD *handle, const Rpy *rpy, RotMatrix *rot_matrix)

Convert rotation matrix to Euler angles 

errno_t rot_matrix_to_rpy(const JKHD *handle, const RotMatrix *rot_matrix, Rpy *rpy)

Convert rotation matrix to quaternion 

errno_t rot_matrix_to_quaternion(const JKHD *handle, const RotMatrix *rot_matrix, Quaternion *quaternion)

Convert quaternion to rotation matrix 

errno_t quaternion_to_rot_matrix(const JKHD *handle, const Quaternion *quaternion, RotMatrix *rot_matrix)

Interface call return value list and troubleshooting

Error codes	Description	Handling suggestions
0	success	null
2	interface error or controller not supported	Check the controller and SDK version information, upgrade or use another interface
-1	invalid handler	Please check whether login is done before calling the interface
-2	invalid parameter	Please check whether the parameters are correct
-3	failed to connect	Please check the network connection status, or whether the robot IP is correct
-4	inverse kinematics error	Inverse kinematics failed, please check the current coordinate system, or whether the reference joint angles are reasonable
-5	emergency stop	Emergency stop state, status retained
-6	not powered on	Not powered on
-7	not enabled	Not enabled
-8	not in servo mode	Not in servo mode. When executing servoJP, you must first enter servo mode. Please check whether the corresponding interface is called
-9	must disable enable before powering off	Must disable enable before powering off
-10	cannot operate, program is running	Cannot operate, a program is currently running. Please close the program first
-11	cannot open file, or file does not exist	Cannot open file, or file does not exist
-12	motion abnormal	Abnormal movement, possibly near a singularity point or exceeding robot movement limits
-14	ftp error	ftp abnormal
-15	socket msg or value oversize	Exceeding limit abnormal
-16	kine_forward error	Forward kinematics failed
-17	not support empty folder	Empty folders are not supported
-20	protective stop	Safeguard (Protective) Stop
-21	emergency stop	Emergency stop
-22	on soft limit	In soft limit position, manual drag of the robot is not possible; use the teaching function in the APP to approach the soft limit
-30	fail to encode cmd string	Command encoding failed, usually due to an error while parsing the message returned by the controller
-31	fail to decode cmd string	Command decoding failed, usually due to an error while parsing the message returned by the controller
-32	fail to uncompress port 10004 string	Failed to decompress data from port 10004, possibly due to network fluctuations or excessive data size
-40	move linear error	Linear movement failed, please check if there are any singular regions in the path
-41	move joint error	Joint movement failed, please check the set joint angles
-42	move circular error	Arc motion failed, please check the set parameters
-50	block_wait timeout	Blocking wait timeout
-51	power on timeout	Power-on timeout
-52	power off timeout	Power-off timeout
-53	enable timeoff	Enable timeout
-54	disable timeout	Disable timeout
-55	set userframe timeout	Setting user coordinate system timeout
-56	set tool timeout	Setting tool coordinate system timeout
-57	edg init failed	EDG function initialization failed
-58	edg is running, cannot use servo_j or servo_p	EDG function is running, cannot use servo_j or servo_p interface
-59	Current EDG mode does not support using edg_servo_j or edg_servo_p.	EDG function is running, cannot use edg_servo_j or edg_servo_p interface
-60	set io timeout	Setting IO timeout
-61	operation timeout	Interface timeout
-62	servo queue is full	Servo queue is full
-63	servo is not running	Servo mode is not started
-9997	not implement	Interface not implemented
-9998	deprecated interface	Interface will be removed in the future (function still available)
-9999	obsolete interface	Interface will be removed in the future (function unavailable)

Issue feedback

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