SystemApi

SystemApi Provides access to system information of the AuboScope software, including software version numbers, system locale, unit types, the robot serial number, as well as robot joint position limits, velocity, acceleration, and payload parameters. More...

Functions
int	arcs::aubo_scope::SystemApi::getMajorVersion ()
	Get the version of Software.
int	arcs::aubo_scope::SystemApi::getMinorVersion ()
	Get the minor version of Software.
int	arcs::aubo_scope::SystemApi::getBugfixVersion ()
	Get the bug fix version of Software.
int	arcs::aubo_scope::SystemApi::getBuildNumber ()
	Get the build number of Software.
std::string	arcs::aubo_scope::SystemApi::getLocale ()
	Returns the Locale for the system.
std::string	arcs::aubo_scope::SystemApi::getLocaleForProgrammingLanguage ()
	Returns the Locale for the programming language used in the system.
UnitType	arcs::aubo_scope::SystemApi::getUnitType ()
	Returns the UnitType of the system as an enum.
std::string	arcs::aubo_scope::SystemApi::getSerialNumber ()
	Returns the serial number of the robot.
bool	arcs::aubo_scope::SystemApi::isRealRobot ()
	Returns true if controlling the real, physical robot and false if in simulation mode.
std::vector< double >	arcs::aubo_scope::SystemApi::getJointMaxPositions ()
	Returns the max positions of robot joints.
std::vector< double >	arcs::aubo_scope::SystemApi::getJointMinPositions ()
	Returns the min positions of robot joints.
double	arcs::aubo_scope::SystemApi::getJointDefaultVelocity ()
	Returns the default velocity of robot joints.
double	arcs::aubo_scope::SystemApi::getJointDefaultAcceleration ()
	Returns the default acceleration of robot joints.
std::vector< double >	arcs::aubo_scope::SystemApi::getJointMaxVelocity ()
	Returns the max velocity of robot joints.
std::vector< double >	arcs::aubo_scope::SystemApi::getJointMaxAcceleration ()
	Returns the max acceleration of robot joints.
double	arcs::aubo_scope::SystemApi::getTcpDefaultVelocity ()
	Returns the default velocity of TCP.
double	arcs::aubo_scope::SystemApi::getTcpDefaultAcceleration ()
	Returns the default acceleration of TCP.
double	arcs::aubo_scope::SystemApi::getTcpMaxVelocity ()
	Returns the max velocity of TCP.
double	arcs::aubo_scope::SystemApi::getTcpMaxAcceleration ()
	Returns the max acceleration of TCP.
double	arcs::aubo_scope::SystemApi::getTcpMaxDistance ()
	Returns the max distance of TCP.
double	arcs::aubo_scope::SystemApi::getMaxPayloadMass ()
	Returns the max payload mass.
double	arcs::aubo_scope::SystemApi::getMaxPayloadDistance ()
	Returns the max payload distance.
std::vector< double >	arcs::aubo_scope::SystemApi::getHomeDefaultPosition ()
	Returns the default home position.
std::vector< double >	arcs::aubo_scope::SystemApi::getHomePackagePosition ()
	Returns the package home position.
std::unordered_map< std::string, std::vector< double > >	arcs::aubo_scope::SystemApi::getRobotDhParams (bool is_real)
	Returns the robot DH parameters.
IoConfigure	arcs::aubo_scope::SystemApi::getToolDigitalIOConfigure ()
	Returns the tool digital I/O configuration.
IoConfigure	arcs::aubo_scope::SystemApi::getStandardDigitalInputConfigure ()
	Returns the standard digital input configuration.
IoConfigure	arcs::aubo_scope::SystemApi::getConfigurableDigitalInputConfigure ()
	Returns the configurable digital input configuration.
IoConfigure	arcs::aubo_scope::SystemApi::getStandardDigitalOutputConfigure ()
	Returns the standard digital output configuration.
IoConfigure	arcs::aubo_scope::SystemApi::getConfigurableDigitalOutputConfigure ()
	Returns the configurable digital output configuration.
IoConfigure	arcs::aubo_scope::SystemApi::getStandardAnalogInputConfigure ()
	Returns the standard analog input configuration.
IoConfigure	arcs::aubo_scope::SystemApi::getToolAnalogInputConfigure ()
	Returns the tool analog input configuration.
IoConfigure	arcs::aubo_scope::SystemApi::getStandardAnalogOutputConfigure ()
	Returns the standard analog output configuration.
IoConfigure	arcs::aubo_scope::SystemApi::getToolAnalogOutputConfigure ()
	Returns the tool analog output configuration.
IoConfigure	arcs::aubo_scope::SystemApi::getStaticLinkInputConfigure ()
	Returns the static link input configuration.
IoConfigure	arcs::aubo_scope::SystemApi::getStaticLinkOutputConfigure ()
	Returns the static link output configuration.
IoConfigure	arcs::aubo_scope::SystemApi::getENCConfigure ()
	Returns the encoder configuration.

Detailed Description

SystemApi Provides access to system information of the AuboScope software, including software version numbers, system locale, unit types, the robot serial number, as well as robot joint position limits, velocity, acceleration, and payload parameters.

Function Documentation

getBugfixVersion()

int arcs::aubo_scope::SystemApi::getBugfixVersion

(

)

Get the bug fix version of Software.

Returns

the bug fix version of Software.

getBuildNumber()

int arcs::aubo_scope::SystemApi::getBuildNumber

(

)

Get the build number of Software.

Returns

the build number of Software.

getConfigurableDigitalInputConfigure()

IoConfigure arcs::aubo_scope::SystemApi::getConfigurableDigitalInputConfigure

(

)

Returns the configurable digital input configuration.

Returns

the configurable digital input configuration.

getConfigurableDigitalOutputConfigure()

IoConfigure arcs::aubo_scope::SystemApi::getConfigurableDigitalOutputConfigure

(

)

Returns the configurable digital output configuration.

Returns

the configurable digital output configuration.

getENCConfigure()

IoConfigure arcs::aubo_scope::SystemApi::getENCConfigure

(

)

Returns the encoder configuration.

Returns

the encoder configuration.

getHomeDefaultPosition()

std::vector< double > arcs::aubo_scope::SystemApi::getHomeDefaultPosition

(

)

Returns the default home position.

Returns

the default home position.

getHomePackagePosition()

std::vector< double > arcs::aubo_scope::SystemApi::getHomePackagePosition

(

)

Returns the package home position.

Returns

the package home position.

getJointDefaultAcceleration()

double arcs::aubo_scope::SystemApi::getJointDefaultAcceleration

(

)

Returns the default acceleration of robot joints.

Returns

the default acceleration of robot joints.

getJointDefaultVelocity()

double arcs::aubo_scope::SystemApi::getJointDefaultVelocity

(

)

Returns the default velocity of robot joints.

Returns

the default velocity of robot joints.

getJointMaxAcceleration()

std::vector< double > arcs::aubo_scope::SystemApi::getJointMaxAcceleration

(

)

Returns the max acceleration of robot joints.

Returns

the max acceleration of robot joints.

getJointMaxPositions()

std::vector< double > arcs::aubo_scope::SystemApi::getJointMaxPositions

(

)

Returns the max positions of robot joints.

Returns

Max Positions of robot joints in radian.

getJointMaxVelocity()

std::vector< double > arcs::aubo_scope::SystemApi::getJointMaxVelocity

(

)

Returns the max velocity of robot joints.

Returns

the max velocity of robot joints.

getJointMinPositions()

std::vector< double > arcs::aubo_scope::SystemApi::getJointMinPositions

(

)

Returns the min positions of robot joints.

Returns

Min Positions of robot joints in radian.

getLocale()

std::string arcs::aubo_scope::SystemApi::getLocale

(

)

Returns the Locale for the system.

Returns

Locale.

getLocaleForProgrammingLanguage()

std::string arcs::aubo_scope::SystemApi::getLocaleForProgrammingLanguage

(

)

Returns the Locale for the programming language used in the system.

Returns

Locale.

getMajorVersion()

int arcs::aubo_scope::SystemApi::getMajorVersion

(

)

Get the version of Software.

Returns

the major version of Software.

getMaxPayloadDistance()

double arcs::aubo_scope::SystemApi::getMaxPayloadDistance

(

)

Returns the max payload distance.

Returns

the max payload distance.

getMaxPayloadMass()

double arcs::aubo_scope::SystemApi::getMaxPayloadMass

(

)

Returns the max payload mass.

Returns

the max payload mass.

getMinorVersion()

int arcs::aubo_scope::SystemApi::getMinorVersion

(

)

Get the minor version of Software.

Returns

the minor version of Software.

getRobotDhParams()

std::unordered_map< std::string, std::vector< double > > arcs::aubo_scope::SystemApi::getRobotDhParams

(

bool

is_real

)

Returns the robot DH parameters.

Parameters

is_real

whether to get the real parameters.

Returns

the DH parameters.

getSerialNumber()

std::string arcs::aubo_scope::SystemApi::getSerialNumber

(

)

Returns the serial number of the robot.

Returns

the serial number of the robot.

getStandardAnalogInputConfigure()

IoConfigure arcs::aubo_scope::SystemApi::getStandardAnalogInputConfigure

(

)

Returns the standard analog input configuration.

Returns

the standard analog input configuration.

getStandardAnalogOutputConfigure()

IoConfigure arcs::aubo_scope::SystemApi::getStandardAnalogOutputConfigure

(

)

Returns the standard analog output configuration.

Returns

the standard analog output configuration.

getStandardDigitalInputConfigure()

IoConfigure arcs::aubo_scope::SystemApi::getStandardDigitalInputConfigure

(

)

Returns the standard digital input configuration.

Returns

the standard digital input configuration.

getStandardDigitalOutputConfigure()

IoConfigure arcs::aubo_scope::SystemApi::getStandardDigitalOutputConfigure

(

)

Returns the standard digital output configuration.

Returns

the standard digital output configuration.

getStaticLinkInputConfigure()

IoConfigure arcs::aubo_scope::SystemApi::getStaticLinkInputConfigure

(

)

Returns the static link input configuration.

Returns

the static link input configuration.

getStaticLinkOutputConfigure()

IoConfigure arcs::aubo_scope::SystemApi::getStaticLinkOutputConfigure

(

)

Returns the static link output configuration.

Returns

the static link output configuration.

getTcpDefaultAcceleration()

double arcs::aubo_scope::SystemApi::getTcpDefaultAcceleration

(

)

Returns the default acceleration of TCP.

Returns

the default acceleration of TCP.

getTcpDefaultVelocity()

double arcs::aubo_scope::SystemApi::getTcpDefaultVelocity

(

)

Returns the default velocity of TCP.

Returns

the default velocity of TCP.

getTcpMaxAcceleration()

double arcs::aubo_scope::SystemApi::getTcpMaxAcceleration

(

)

Returns the max acceleration of TCP.

Returns

the max acceleration of TCP.

getTcpMaxDistance()

double arcs::aubo_scope::SystemApi::getTcpMaxDistance

(

)

Returns the max distance of TCP.

Returns

the max distance of TCP.

getTcpMaxVelocity()

double arcs::aubo_scope::SystemApi::getTcpMaxVelocity

(

)

Returns the max velocity of TCP.

Returns

the max velocity of TCP.

getToolAnalogInputConfigure()

IoConfigure arcs::aubo_scope::SystemApi::getToolAnalogInputConfigure

(

)

Returns the tool analog input configuration.

Returns

the tool analog input configuration.

getToolAnalogOutputConfigure()

IoConfigure arcs::aubo_scope::SystemApi::getToolAnalogOutputConfigure

(

)

Returns the tool analog output configuration.

Returns

the tool analog output configuration.

getToolDigitalIOConfigure()

IoConfigure arcs::aubo_scope::SystemApi::getToolDigitalIOConfigure

(

)

Returns the tool digital I/O configuration.

Returns

the tool digital I/O configuration.

getUnitType()

UnitType arcs::aubo_scope::SystemApi::getUnitType

(

)

Returns the UnitType of the system as an enum.

Returns

UnitType.

isRealRobot()

bool arcs::aubo_scope::SystemApi::isRealRobot

(

)

Returns true if controlling the real, physical robot and false if in simulation mode.

Returns

true if controlling the real, physical robot and false if in simulation mode.