AUBO-i5

Robot Python interface

Original Version 1.0

AUBO (Beijing) Robotics Technology Co., Ltd.

 Table of contents
1. Import the interface library and instantiate the robot control object .............3
2. Initialization (static method) ..............................................................3
3. Deinitialization (static method) ...........................................................3
4. Create the control context handle ....................................................... 3
5. Remove the control context handle ...................................................... 4
6. Robot system login .......................................................................... 4
7. Robot system logout ........................................................................4
8. Initialize the global properties of the robot control ...................................4
9. Set the maximum acceleration of each joint ...........................................5
10. Get the maximum joint acceleration of the robot ...................................5
11. Set the maximum velocity of each joint................................................ 5
12. Get the maximum velocity of each joint ............................................... 6
13. Set the maximum linear accele-ration of the robot end ............................. 6
14. Get the maximum linear accele-ration of the robot end ............................ 6
15. Set the maximum linear velocity of the robot end ...................................7
16. Get the maximum linear velocity of the robot end ...................................7
17. Set the maximum angular accele-ration of the robot end........................... 7
18. Get the maximum angular accele-ration of the robot end .......................... 8
19. Set the maximum angular velocity of the robot end ................................ 8
20. Get the maximum angular velocity of the robot end ................................. 8
21. The joint movement of the robot........................................................ 9
22. The Linear movement of the robot ...................................................... 9
23. Remove all the set global waypoints .................................................... 9
24. Add the global waypoint for track movement ........................................10
25. The track movement of the robot...................................................... 10
26. Set the blend radius ......................................................................11
27. Set the times of the circular move-ment .............................................11
28. Set the user coordinate system......................................................... 12
29. Set the base coordinate system ........................................................ 13
30. Check whether the user coordinate is reasonable................................... 13
31. Set the relative offset on base coordinate system .................................. 14
32. Set the relative offset on user coordinate system................................... 14
33. Forward kinematics.......................................................................15
34. Inverse kinematics ........................................................................15
35. Convert the base coordinate system to user coordinate system ..................16
36. Convert the user coordinate system to base coordinate system ..................17
37. Robot startup .............................................................................. 18
38. Shut down the robot......................................................................18
CONTENTS V1.0 （R&D） 1 ©2015-2016 AUBO. All rights reserved.
39. Stop the robot movement ............................................................... 19
40. Suspend the robot movement........................................................... 19
41. Continue the movement of robot ...................................................... 19
42. Collision recovery .........................................................................20
43. Get the service state of the robot ..................................................... 21
44. Set the working mode of the robot .................................................... 21
45. Get the current working mode of the robot ..........................................21
46. Set the collision class of the robot..................................................... 22
47. Determine whether the real robot has been linked ................................. 22
48. Get the joint state of the real robot ..................................................22
49. Get the I/O configuration of the robot interface board ............................ 23
50. Set the I/O state of the robot interface board....................................... 24
51. Get the I/O state of the robot interface board ...................................... 25
52. Get the tool power state of the robot .................................................25
53. Set the tool power state of the robot .................................................26
54. Set the tool I/O type of the robot ..................................................... 26
55. Get the tool power value of the robot ................................................26
56. Set the tool I/O state of the robot..................................................... 27
57. Set the tool I/O state of the robot..................................................... 27
58. The robot event callback function ..................................................... 28

©2015-2017 AUBO. All rights reserved. 2 V1.0

1. Import the interface library and
instantiate the robot control object
from robotcontrol import *
robot = Auboi5Robot()

2. Initialization (static method)

Name: Auboi5Robot.initialize()
Function: Dynamic library initialization

Parameters:
Success: 0
Returns:
Fail: other

3. Deinitialization (static method)

Name: Auboi5Robot.uninitialize()

Function: Dynamic library initialization

Parameters:
Success: 0
Returns:
Fail: other

4. Create the control context handle

Name: create_context()

Function: Create the control context handle

Parameters:
Success: context handle RSHD >= 0
Returns:
Fail: -1

CONTENTS V1.0 （R&D） 3 ©2015-2016 AUBO. All rights reserved.

5. Remove the control context handle
Name: destory_context(RSHD)

Function: Remove the control context handle

Parameters: RSHD context handle

Success: 0
Returns:
Fail: other

6. Robot system login

Name: login(IP, PORT)

Function: Login robot system

IP robot IP address
Parameters: PORT robot port number
Success: 0
Returns:
Fail: other

7. Robot system logout

Name: logout()
Function: Logout robot system

Parameters: RSHD context handle

Success: 0
Returns:
Fail: other

8. Initialize the global properties of the

robot control
Name: init_profile()

Function: Initialize the global properties of the robot control

Parameters:
Success: 0
Returns:
Fail: other

©2015-2017 AUBO. All rights reserved. 4 V1.0

9. Set the maximum acceleration of
each joint
Name: set_joint_maxacc(joint_maxacc=(1.0,1.0,1.0,1.0,1.0,1.0))

Function: Set the maximum acceleration for robot

Parameters: Acc is the joint acceleration, unit: rad/s

Success: 0
Returns:
Fail: other

10. Get the maximum joint acceleration

of the robot
Name: get_joint_maxacc()

Function: Get the maximum joint acceleration of the robot

Parameters: Acc is the joint acceleration of six joints, unit: rad/s

Success: the maximum acceleration of six joints, unit: rad/s
Returns:
Fail: None

11. Set the maximum velocity of each

joint
Name: set_joint_maxvelc(joint_maxvelc=(1.0,1.0,1.0,1.0,1.0,1.0))

Function: Set the maximum velocity for robot

Parameters: Acc is the joint velocity of six joints, unit: rad/s

Success: 0
Returns:
Fail: other

CONTENTS V1.0 （R&D） 5 ©2015-2016 AUBO. All rights reserved.

12. Get the maximum velocity of each
joint
Name: get_joint_maxvelc()

Function: Get the maximum velocity for robot

Parameters: velc is the joint velocity of six joints, unit: rad/s

Success: the maximum velourity of six joints, unit: rad/s
Returns:
Fail: None

13. Set the maximum linear accele-

ration of the robot end
Name: set_end_max_line_acc(end_maxacc=0.1)

Function: Set the acceleration for robot end

Parameters: end_maxacc is the end side acceleration, unit: meter per sec
Success: 0
Returns:
Fail: other

14. Get the maximum linear accele-

ration of the robot end
Name: get_end_max_line_acc()

Function: Get the acceleration for robot end

Parameters:
Success: the maximum acceleration of the robot end, unit(m/s) Success: 0
Returns:
Fail: None

©2015-2017 AUBO. All rights reserved. 6 V1.0

15. Set the maximum linear velocity of
the robot end
Name: set_end_max_line_velc(end_maxvelc=0.1)

Function: Set the maximum linear velocity of the robot end

Parameters: end_maxacc: the maximum velocity for end side，unit(m/s)

Success: 0
Returns:
Fail: other

16. Get the maximum linear velocity of

the robot end
Name: get_end_max_line_velc()

Function: Get the maximum linear velocity of the robot end

Parameters:

Success: the maximum velocity of the robot end，unit(m/s)

Returns:
Fail: None

17. Set the maximum angular accele-

ration of the robot end
Name: set_end_max_angle_acc(end_maxacc=0.1)

Function: Set the acceleration for robot end

Parameters: end_maxacc: the maximum end side acceleration，unit: rad/s

Success: 0
Returns:
Fail: other

CONTENTS V1.0 （R&D） 7 ©2015-2016 AUBO. All rights reserved.

18. Get the maximum angular accele-
ration of the robot end
Name: get_end_max_angle_acc()

Function: Get the maximum end side acceleration of the robot

Parameters:

Success: the maximum of the robot end，unit: rad/s

Returns:
Fail: None

19. Set the maximum angular velocity

of the robot end
Name: set_end_max_angle_velc(end_maxvelc=0.1)

Function: Set the velocity for robot end

Parameters: end_maxacc: the maximum end side velocity, unit: rad/s

Success: 0
Returns:
Fail: other

20. Get the maximum angular velocity

of the robot end
Name: get_end_max_angle_velc()

Function: Get the maximum end side velocity of the robot

Parameters:
Success: the maximum velocity of the robot end, unit: rad/s
Returns:
Fail: None

©2015-2017 AUBO. All rights reserved. 8 V1.0

21. The joint movement of the robot
move_joint(joint_radian=(0.000000,0.000000,0.000000,0.000000,0.0000
Name: 00,0.000000))

Function: The joint movement of the robot

Parameters: Joint_radian: the joint angle of six joints, unit: radian
Result:
Returns:
Success: RobotErrorType.RobotError_SUCC

22. The Linear movement of the robot

Name: move_line(joint_radian(1.0,1.0,1.0,1.0,1.0,1.0))
Function: The robot linearly moves to target position form the current position

Parameters: RSHD context handle

Joint_radian: the joint angle of six joints, unit: radian
Returns:
Success: 0

23. Remove all the set global waypoints

Name: remove_all_waypoint()

Function: Remove all the set global waypoints

Parameters:

Returns: Joint_radian: the joint angle of six joints, unit: radian

CONTENTS V1.0 （R&D） 9 ©2015-2016 AUBO. All rights reserved.

24. Add the global waypoint for track
movement
Name: add_waypoint(joint_radian(1.0,1.0,1.0,1.0,1.0,1.0))

Function: Add the global waypoint for track movement

Parameters: Joint_radian: the joint angle of six joints, unit: radian

Success: 0
Returns:
Fail: other

25. The track movement of the robot

Name: move_track(track_type)
After adding the waypoint by using add_waypoint, proceed the track
Function: movement
track_type: type of the track movement
Parameters: Arc movement: RobotMoveTrackType.ARC_CIR
Track movement: RobotMoveTrackType.CARTESIAN_MOVEP
2:ARC_CIR
At least 3 points, circle or arc, use circular number to separate, 0 is
arc, greater than 0 is circle.
3:CARTESIAN_MOVEP
At least 3 points, must to set blend radius,
The blend radius must be less than 1/2 of the length of the shortest line
segment, and the speed should not be high
The following methods are not available:
The following four kinds of three-order spline interpolation curves have
Track the beginning and end point acceleration discontinuities, not available for
movement the new joint drive version
type: 4:CARTESIAN_CUBICSPLINE
Cubic spline interpolation (over control point), automatically optimize
the track running time. Changing attitude is currently not available.
5:CARTESIAN_UBSPLINEINTP
It is necessary to set the time interval of cubic uniform b-spline
interpolation (over control points). Changing attitude is currently not
available.
6:JIONT_CUBICSPLINE
7:JOINT_UBSPLINEINTP
Used for track playback
Success: 0
Returns：
Fail: other

©2015-2017 AUBO. All rights reserved. 10 V1.0

26. Set the blend radius
Name: set_blend_radius(blend_radius=0.01)

Function: Set the blend radius, unit: meter

Parameters: blend_radius: blend radius, unit(m)

Result:

Returns: Success: 0
Fail: other

27. Set the times of the circular move-

ment
Name: set_circular_loop_times(circular_count=1)

Function: Set the times of the circular movement

When circular_count is greater than 0, the robot is proceeding circular
movement circular_count times.
Parameters: When circular_count is equal to 0, the robot is proceeding arc track
movement.
Result:
Returns: Success: 0
Fail: other

CONTENTS V1.0 （R&D） 11 ©2015-2016 AUBO. All rights reserved.

28. Set the user coordinate system
Name: set_user_coord(user_coord)

Function: Set the user coordinate system

RSHD context handle
user_coord user coordinate system
user_coord = {'coord_type': 2, coordinate system type: must be 2，
assign the user coordinate system
'calibrate_method': 0, coordinate system calibration
method
'calibrate_points': coordinate system calibration point
{"point1": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
Parameters: "point2": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
"point3": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0)},
'tool_desc': tool description
{"pos": (0.0, 0.0, 0.0), the tool position corresponding to
the terminal coordinate system
"ori": (1.0, 0.0, 0.0, 0.0)} the tool attitude
corresponding to the terminal coordinate system
}

Result:

Returns: Success: 0
Fail: other

©2015-2017 AUBO. All rights reserved. 12 V1.0

29. Set the base coordinate system
Name: set_base_coord()

Function: Set the base coordinate system

Parameters:
Result:

Returns: Success: 0
Fail: other

30. Check whether the user coordinate

is reasonable
Name: check_user_coord(user_coord)

Function: Set the user coordinate system

user_coord user coordinate system
user_coord = {'coord_type': 2, coordinate system type: must be 2，assign
the user coordinate system
'calibrate_method': 0, coordinate system calibration method
'calibrate_points': coordinate system calibration point
{"point1": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
Parameters: "point2": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
"point3": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0)},
'tool_desc': tool description
{"pos": (0.0, 0.0, 0.0), the tool position corresponding to the
terminal coordinate system
"ori": (1.0, 0.0, 0.0, 0.0)} the tool attitude corresponding to the
terminal coordinate system
}
Result:

Returns: Success: 0
Fail: other

CONTENTS V1.0 （R&D） 13 ©2015-2016 AUBO. All rights reserved.

31. Set the relative offset on base
coordinate system
Name: set_relative_offset_on_base(relative(x,y,z))

Function: Set the relative offset on base coordinate system

Parameters: Relative x,y,z relative shift, unit: meter

Result:

Returns: Success: 0
Fail: other

32. Set the relative offset on user

coordinate system
Name: set_relative_offset_on_user(relative(x,y,z),user_coord)

Function: Set the relative offset on user coordinate system

RSHD: context handle
Relative x,y,z: relative shift, unit: meter
user_coord: user coordinate system
user_coord = {'coord_type': 2, coordinate system type: must be 2，
assign the user coordinate system
'calibrate_method': 0, coordinate system calibration method
'calibrate_points': coordinate system calibration point
Parameters: {"point1": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
"point2": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
"point3": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0)},
'tool_desc': tool description
{"pos": (0.0, 0.0, 0.0), the tool position corresponding to the
terminal coordinate system
"ori": (1.0, 0.0, 0.0, 0.0)} the tool attitude corresponding to the
terminal coordinate system
}
Result:
Returns: Success: 0
Fail: other

©2015-2017 AUBO. All rights reserved. 14 V1.0

33. Forward kinematics
Name: forward_kin(joint_radian(1.0,1.0,1.0,1.0,1.0,1.0))

Function: Forward kinematics

Parameters: Joint_radian: the joint angle of six joints unit: radian

Forward kinematics result: waypoint
{'joint': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
'pos':[-0.06403157614989634,-0.4185973810159096,
Returns: 0.816883228463401],
'ori':
[-0.11863209307193756,0.3820514380931854,0.0,0.9164950251579285
]}

34. Inverse kinematics

Name: inverse_kin(joint_radian(1.0, 1.0, 1.0, 1.0, 1.0, 1.0)，pos(x,y,z),

ori(w,x,y,z))

Function: Inverse kinematics

joint_radian The joint angles of the six joints at the starting point,
unit(rad)
Parameters: Pos position information
Ori attitude information
Result:
Returns: Success: 0
Fail: other
waypoint
{'joint':[1.0,1.0,1.0,1.0,1.0,1.0],
Forward ‘pos':
kinematics [-0.06403157614989634,-0.4185973810159096,0.816883228463401],
result: 'ori':
[-0.11863209307193756,0.3820514380931854,0.0,0.9164950251579285
]}

CONTENTS V1.0 （R&D） 15 ©2015-2016 AUBO. All rights reserved.

35. Convert the base coordinate
system to user coordinate system
Name: base_to_user( pos(x,y,z), ori(w,x,y,z), user_coord, tool(x,y,z))

Function: Convert the base coordinate system to user coordinate system

Pos (x,y,z): the position information on base coordinate system
Ori (w,x,y,z): the attitude information on base coordinate system
user_coord: user coordinate system
user_coord = {'coord_type': 2, coordinate system type: must be 2, assign
the user coordinate system
'calibrate_method': 0, coordinate system calibration method
'calibrate_points': coordinate system calibration point
{"point1": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
Parameters: "point2": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
"point3": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0)},
'tool_desc': tool description
{"pos": (0.0, 0.0, 0.0), the tool position corresponding to the
terminal coordinate system
"ori": (1.0, 0.0, 0.0, 0.0)} the tool attitude corresponding to the
terminal coordinate system
}
Tool (pos(x,y,z), ori(w,x,y,z)): the position and attitude of the user tool
the position and attitude of the user coordinate system:
Returns: {"pos":(1,2,3),
"ori":(1,2,3,4)}

©2015-2017 AUBO. All rights reserved. 16 V1.0

36. Convert the user coordinate system
to base coordinate system
Name: user_to_base(pos(x,y,z), ori(w,x,y,z), user_coord, tool(x,y,z))

Function: Convert the user coordinate system to base coordinate system

Pos (x,y,z): the position information on base coordinate system

Ori (w,x,y,z): the attitude information on base coordinate system
user_coord: user coordinate system
user_coord = {'coord_type': 2, coordinate system type: must be 2, assign
the user coordinate system
'calibrate_method': 0, coordinate system calibration method
'calibrate_points': coordinate system calibration point
{"point1": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
Parameters: "point2": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
"point3": (0.0, 0.0, 0.0, 0.0, 0.0, 0.0)},
'tool_desc': tool description
{"pos": (0.0, 0.0, 0.0), the tool position corresponding to the
terminal coordinate system
"ori": (1.0, 0.0, 0.0, 0.0)} the tool attitude corresponding to the
terminal coordinate system
}
Tool (pos(x,y,z), ori(w,x,y,z)): the position and attitude of the user tool
the position and attitude of the base coordinate system:

Returns: {"pos":(1,2,3),
"ori":(1,2,3,4)}

CONTENTS V1.0 （R&D） 17 ©2015-2016 AUBO. All rights reserved.

37. Robot startup
Name: robot_startup(collision, tool_dynamics)

Function: Robot startup

Collision collision class(0~10)
tool_dynamics dynamics parameter
Parameters: {"position": (x, y, z), tool’s centre of gravity
"payload": 1.5 load, (0~5)kilograms
"inertia": (xx,xy,xz,yy,yz,zz) inertia}
Result:
Returns: Success: 0
Fail: other
state
0 ROBOT_SERVICE_READY ready
1 ROBOT_SERVICE_STARTING starting
Startup 2 ROBOT_SERVICE_WORKING working
state of 3 ROBOT_SERVICE_CLOSING closing
robot: 4 ROBOT_SERVICE_CLOSED closed
5 ROBOT_SETVICE_FAULT_POWER power fault
6 ROBOT_SETVICE_FAULT_BRAKE, brake fault
7 ROBOT_SETVICE_FAULT_NO_ROBOT no robot

38. Shut down the robot

Name: robot_shutdown()
Function: Shut down the robot

Parameters:
Result:
Returns: Success: 0
Fail: other

©2015-2017 AUBO. All rights reserved. 18 V1.0

39. Stop the robot movement
Name: move_stop()

Function: Stop the movement of robot

Parameters:
Result:

Returns: Success: 0
Fail: other

40. Suspend the robot movement

Name: move_pause()

Function: Suspend the movement of robot

Parameters:
Result:

Returns: Success: 0
Fail: other

41. Continue the movement of robot

Name: move_continue()

Function: Continue the movement of robot

Parameters:
Result:
Returns: Success: 0
Fail: other

CONTENTS V1.0 （R&D） 19 ©2015-2016 AUBO. All rights reserved.

42. Collision recovery
Name: collision_recover()

Function: The recovery after collision

Parameters:
Result:

Returns: Success: 0
Fail: other

©2015-2017 AUBO. All rights reserved. 20 V1.0

43. Get the service state of the robot
Name: get_robot_state()

Function: Get the service state of the robot

Parameters:
Result:

Returns: Success: 0
Fail: other
state
0 ROBOT_SERVICE_READY ready
1 ROBOT_SERVICE_STARTING starting
Startup the 2 ROBOT_SERVICE_WORKING working
state of 3 ROBOT_SERVICE_CLOSING closing
robot: 4 ROBOT_SERVICE_CLOSED closed
5 ROBOT_SETVICE_FAULT_POWER power fault
6 ROBOT_SETVICE_FAULT_BRAKE, brake fault
7 ROBOT_SETVICE_FAULT_NO_ROBOT no robot

44. Set the working mode of the robot

Name: set_work_mode(mode)

Function: Set the working mode of the robot

Mode 0 simulation mode
Parameters: 1 real robot
Result:
Returns: Success: 0
Fail: other

45. Get the current working mode of

the robot
Name: get_work_mode()

Function: Get the current working mode of the robot

Parameters:
Mode 0 simulation mode
Returns: 1 real robot

CONTENTS V1.0 （R&D） 21 ©2015-2016 AUBO. All rights reserved.

46. Set the collision class of the robot
Name: set_collision_class(collision)

Function: Set the collision class of the robot

Parameters: Collision collision class(0~10)

Result:
Returns:
Success: 0

47. Determine whether the real robot

has been linked
Name: is_have_real_robot()

Function: Determine whether the real robot has been linked

Parameters:
The real robot exists or not
Returns: Not-exist: 0
Exist :1

48. Get the joint state of the real robot

Name: get_joint_status()

Function: Get the joint state of the real robot

Parameters:
Joint state
{‘joint1’:
{‘current':current(mA),'voltage':voltage(Volts),'temperature':temperature(
Celsius)},
Returns: 'joint2':{'current':0,'voltage':0.0,'temperature':0},
'joint3':{'current':0,'voltage':0.0,'temperature':0},
'joint4':{'current':0,'voltage':0.0,'temperature':0},
'joint5':{'current':0,'voltage':0.0,'temperature':0},
'joint6':{'current':0,'voltage':0.0,'temperature':0}}

©2015-2017 AUBO. All rights reserved. 22 V1.0

49. Get the I/O configuration of the
robot interface board
Name: get_board_io_config(iotype)

Function: Get the I/O configuration of the robot interface board

RSHD context handle
Iotype: IO type:
0:ControllerDI,
1:ControllerDO,
2:ControllerAI,
3:ControllerAO,
4:UserDI,
Parameters: 5:UserDO,
6:UserAI,
7:UserAO,
8:ToolPower,
9:ToolDI,
10:ToolDO,
11:ToolAI,
12:ToolAO,
IO configuration:
({"id": ID
"name": “IO name"
"addr": IO address
"type": IO type
"valu": IO current value},
Returns: {"id": ID
"name": “IO name"
"addr": IO address
"type": IO type
"valu": IO current value},
...}

CONTENTS V1.0 （R&D） 23 ©2015-2016 AUBO. All rights reserved.

50. Set the I/O state of the robot
interface board
Name: set_board_io_status(Iotype, name, value)

Function: Set the I/O state of the robot interface board

IoType:
0:ControllerDI,
1:ControllerDO,
2:ControllerAI,
3:ControllerAO,
4:UserDI,
5:UserDO,
6:UserAI,
Parameters: 7:UserAO,
8:ToolPower,
9:ToolDI,
10:ToolDO,
11:ToolAI,
12:ToolAO
Name: IO name
Value: IO state
Result:
Returns:
Success: 0

©2015-2017 AUBO. All rights reserved. 24 V1.0

51. Get the I/O state of the robot
interface board
Name: get_board_io_status(Iotype, name)

Function: Get the I/O state of the robot interface board

IoType:
0:ControllerDI,
1:ControllerDO,
2:ControllerAI,
3:ControllerAO,
4:UserDI,
5:UserDO,
Parameters: 6:UserAI,
7:UserAO,
8:ToolPower,
9:ToolDI,
10:ToolDO,
11:ToolAI,
12:ToolAO
Name: IO name

Returns: Value:IO state

52. Get the tool power state of the robot

Name: get_tool_power_type()

Function: Get the power state of the robot on tool

Parameters:
Power_type:
OUT_0V = 0,
Returns: OUT_12V = 1,
OUT_24V = 2

CONTENTS V1.0 （R&D） 25 ©2015-2016 AUBO. All rights reserved.

53. Set the tool power state of the robot
Name: set_tool_power_type(power_type)

Function: Set the tool power state of the robot

Power_type:
OUT_0V = 0,
Parameters: OUT_12V = 1,
OUT_24V = 2
Result:
Returns: Success: 0

54. Set the tool I/O type of the robot

Name: set_tool_io_type(addr, iotype)

Function: Set the tool I/O type of the robot

Addr: I/O address at the tool
TOOL_DIGITAL_IO_0 = 0,
TOOL_DIGITAL_IO_1 = 1,
TOOL_DIGITAL_IO_2 = 2,
TOOL_DIGITAL_IO_3 = 3
Parameters: IoType: IO type
9:ToolDI,
10:ToolDO,
11:ToolAI,
12:ToolAO
Result:
Returns: Success: 0

55. Get the tool power value of the robot

Name: get_tool_power_voltage()

Function: Get the tool power value of the robot

Parameters:
Returns: Voltage value: voltage

©2015-2017 AUBO. All rights reserved. 26 V1.0

56. Set the tool I/O state of the robot
Name: set_tool_io_status(name, status)

Function: Set the tool I/O state of the robot

Addr: I/O address at tool
TOOL_DIGITAL_IO_0 = 0,
TOOL_DIGITAL_IO_1 = 1,
TOOL_DIGITAL_IO_2 = 2,
TOOL_DIGITAL_IO_3 = 3
Parameters: IoType: IO type
9:ToolDI,
10:ToolDO,
11:ToolAI,
12:ToolAO
status:IO data (0 or 1)
Result:
Returns: Success: 0

57. Set the tool I/O state of the robot

Name: get_tool_io_status(name)

Function: Get the tool I/O state of the robot

Addr: I/O address at tool
TOOL_DIGITAL_IO_0=0,
TOOL_DIGITAL_IO_1=1,
TOOL_DIGITAL_IO_2=2,
TOOL_DIGITAL_IO_3=3
Parameters: IoType: IO type:
9:ToolDI,
10:ToolDO,
11:ToolAI,
12:ToolAO
Returns: status:IO data (0 or 1)

CONTENTS V1.0 （R&D） 27 ©2015-2016 AUBO. All rights reserved.

58. The robot event callback function

©2015-2017 AUBO. All rights reserved. 28 V1.0

 Name: setcallback_robot_event(robot_event_callback)

Function: Set the callback function of the robot event

Parameters: robot_event_callback callback function name under the Python

Result:
Returns: Success: 0

CONTENTS V1.0 （R&D） 29 ©2015-2016 AUBO. All rights reserved.

 {'code': event ID, 'type': event type}
Event types as shown below：
typedef enum{
RobotEvent_armCanbusError, //robot CAN bus error
RobotEvent_remoteHalt, //robot stop
RobotEvent_remoteEmergencyStop, //robot remote emergency stop
RobotEvent_jointError, //joint error
RobotEvent_forceControl, //force control
RobotEvent_exitForceControl, //quit the force control
RobotEvent_softEmergency, //soft scram
RobotEvent_exitSoftEmergency, //quit the soft emergency stop
RobotEvent_collision, //collision
RobotEvent_collisionStatusChanged, //collision status changed
RobotEvent_tcpParametersSucc, //tool dynamic parameters set
successfully
RobotEvent_powerChanged, //the robot power switch state
changed
RobotEvent_ArmPowerOff, //robot power off
RobotEvent_mountingPoseChanged, //the installation location has
changed
RobotEvent_encoderError, //encoder error
RobotEvent_encoderLinesError, //the number of encoders are not
equivalent
RobotEvent_singularityOverspeed, //singularity overspeed
RobotEvent_currentAlarm, //abnormal robot current
RobotEvent_toolioError, //robot tool error
RobotEvent_robotStartupPhase, //robot startup stage
RobotEvent_robotStartupDoneResult, //the result of completing
startup
Python RobotEvent_robotShutdownDone, //the result of completing
callback shutdown
function RobotEvent_atTrackTargetPos, //the signal notification of robot
parameters moving to the target position (track movement)
RobotSetPowerOnDone, //Setting power state has completed
RobotReleaseBrakeDone, //releasing the robot brake has
completed
RobotEvent_robotControllerStateChaned, //the control state of the
robot has changed
RobotEvent_robotControllerError, //robot control error----It usually
comes back when there are
problems with algorithmic
planning
RobotEvent_socketDisconnected, //socket disconnected
RobotEvent_overSpeed, //overspeed
RobotEvent_algorithmException, //robot arithmetic
exceptions
//interface board io event
RobotEvent_boardIoPoweron, //external power-on signal
RobotEvent_boardIoRunmode, //linkage/manual
RobotEvent_boardIoPause, //external pause signal
RobotEvent_boardIoStop, //external stop signal
RobotEvent_boardIoHalt, //external halt signal
RobotEvent_boardIoEmergency, //external emergency stop
signal
RobotEvent_boardIoRelease_alarm, //external all-clear signal
RobotEvent_boardIoOrigin_pose, //external back-to-original
position signal
RobotEvent_boardIoAutorun, //external autorun signal
//interface board safety io event
RobotEvent_safetyIoExternalEmergencyStope, //external emergency
stop input 01

©2015-2017 AUBO. All rights reserved. 30 V1.0

 RobotEvent_safetyIoExternalSafeguardStope, //external safeguard
stop input 02
RobotEvent_safetyIoReduced_mode, //reduced mode input
RobotEvent_safetyIoSafeguard_reset, //reset safeguard
RobotEvent_safetyIo3PositionSwitch, //three position switch 1
RobotEvent_safetyIoOperationalMode, //operation mode
RobotEvent_safetyIoManualEmergencyStop, //demonstrator
emergency stop 01
RobotEvent_safetyIoSystemStop, //system stop input
//robot working event
RobotEvent_alreadySuspended, //robot suspended
RobotEvent_alreadyStopped, //robot stopped
RobotEvent_alreadyRunning, //robot running
RobotEvent_exceptEvent = 100,
//unknown event
robot_event_unknown,
//user event
RobotEvent_User = 1000, // first user event id
RobotEvent_MaxUser = 65535 // last user event id
}RobotEventType;

import libpyauboi5
# robot event
def robot_event(event):
Example print(event)
# set the robot event callback function
libpyauboi5.setcallback_robot_event(robot_event)

CONTENTS V1.0 （R&D） 31 ©2015-2016 AUBO. All rights reserved.