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Summary of Contents for Dobot M1
- Page 1 API Description Dobot M1 Script Description Issue: V1.4.3 Date: 2019-10-30 Shenzhen Yuejiang Technology Co., Ltd...
- Page 2 Even if follow this document or any other related instructions, Damages or losses will be happen in the using process, Dobot shall not be considered as a guarantee regarding to all security information contained in this document.
- Page 3 Dobot M1 Script Description Preface Preface Purpose The document is aiming to have a detailed description of Dobot script API and general process of Dobot script API development program. Intended Audience This document is intended for: Customer Engineer ...
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Page 4: Table Of Contents
Executing the CIRCLE Command Synchronously ........... 10 Setting Arm Orientation ..................10 Setting Arm Orientation Synchronously ............11 Getting the Real-time Pose of the Dobot M1 ............ 11 WAITING ........................12 Executing the Waiting Command ..............12 Executing the Waiting Command Synchronously ..........12 Delay Command .................... -
Page 5: Overview
Dobot M1 Script Description 1 Overview Overview You can control a Dobot M1 over scripting. Dobot M1 supports various script API, such as velocity/acceleration setting, motion mode setting, and I/O configuration, which uses Python language for secondary development. Issue V1.4.3 (2019-10-30) API Description Copyright ©... -
Page 6: Script Api Interface Description
Asynchronous mode: Namely, upper-computer software sends queue command or immediate command. After the upper-computer software sends a command, it will send the next command immediately regardless of whether the Dobot M1 system executes the current command. PTP mode supports MOVJ, MOVL, and JUMP, which is point-to-point movement. The trajectory of playback depends on the motion mode. - Page 7 Dobot M1 Script Description 2 Script API Interface Description JUMP: From point A to point B, The joints will move in MOVJ mode, of which the trajectory looks like a door, as shown in Figure 2.2. Move up to the lifting Height (Height) in MOVJ mode.
- Page 8 Dobot M1 Script Description 2 Script API Interface Description Point A is higher than Limit, but point B is lower than Limit. Limit The height of point A is the same as that of point B, but both are higher than Limit.
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Page 9: Setting The Lifting Height And The Maximum Lifting Height In Jump Mode
If you use the motion command when writing a program in Cartesian coordinate system, please add the orientation command before this motion command, which indicates the arm orientation of Dobot M1. Setting the Lifting Height and the Maximum Lifting Height in JUMP mode Table 2.1 Set the lifting height and the maximum lifting height in JUMP mode... -
Page 10: Getting The Lifting Height And The Maximum Lifting Height In Jump Mode
Table 2.3 Get the lifting height and the maximum lifting height in JUMP mode Prototype dType.GetPTPJumpParams(api) Description Get the lifting height and the maximum height in JUMP mode Parameter api: Dobot DLL object, cannot be modified Return jumpHeight (List[0]): Lifting height zLimit (List[1]): Maximum lifting height Example None Setting the Velocity Ratio and Acceleration Ratio in PTP Mode Table 2.4 Set the velocity ratio and the acceleration ratio in PTP mode... -
Page 11: Getting The Velocity Ratio And Acceleration Ratio In Ptp Mode
Description Execute a PTP command. Please call this API after setting the related parameters in PTP mode to make the Dobot move to the target point Parameter api: Dobot DLL object, cannot be modified ptpMode: PTP mode. -
Page 12: Executing A Ptp Command Synchronously
Description In synchronously mode, Execute a PTP command. Please call this API after setting the related parameters in PTP mode to make the Dobot move to the target point Parameter api: Dobot DLL object, cannot be modified ptpMode: PTP mode. -
Page 13: Executing The Arc Command
In synchronous mode, execute the ARC command. Please call this API after setting the related parameters in ARC mode to make Dobot move to the target point. In ARC mode, it is necessary to confirm the three points with other motion modes. -
Page 14: Executing The Circle Command
In synchronous mode, execute the CIRCLE command. Please call this API after setting the related parameters of playback in CIRCLE mode to make Dobot move to the target point. In CIRCLE mode, it is necessary to confirm the three points with other motion modes. -
Page 15: Setting Arm Orientation Synchronously
Dobot DLL object, cannot be modified armOrientation: Arm orientation. 0: Lefty hand; 1: Righty hand Return None Example None Getting the Real-time Pose of the Dobot M1 Table 2.15 Get the real-time pose of Dobot Prototype int GetPose(Pose *pose) Description... -
Page 16: Waiting
If not, the parameter waitTime of Waiting command in the command queue being executed may be changed because the WAITCmd memory is shared Parameter api: Dobot DLL object, cannot be modified waitTime: Wait time. Unit: ms isQueued: Whether to add this command to the queue. Value range: 0, immediate command;... -
Page 17: Triggering
TRIGCmd memory is shared Parameter api: Dobot DLL object, cannot be modified address：I/O address: If mode is set to 0, the value range is 1 to 24. If mode is set to 1, the value range is 1 to 6 mode: Triggering mode. -
Page 18: I/O Command
Triggering threshold. Level : 0,1 .A/D : 0-4095 Return None Example None I/O Command In the Dobot controller, the addresses of the I/O interfaces are unified. Here, you can see as follows: High-low level output. Read High-low level output. -
Page 19: Getting Digital Output
Table 2.22 Set ditial output synchronously Prototype dType.SetIODOSync(api, address, level) Description In synchronous mode, set the digital output Parameter api: Dobot DLL object, cannot be modified address: Digital output address. Value range: 1-22 level: Output level. 0: Low level; 1: High level Return None Example dType.SetIODO(api, 1, 1) -
Page 20: Getting Analog Input
2 Script API Interface Description Description Get digital inputs in succession Parameter api: Dobot DLL object, cannot be modified startAddr : Start address of digital inputs. Value range: 1-24 endAddr : End address of digital inputs. Value range: 1-24 Return Level values of the right digital input addresses. -
Page 21: Setting Pallet Name
Dobot M1 Script Description 2 Script API Interface Description Parameter rowName: Row name in playback file. Format: string Return Point data (x,y,z,r) in the right row Example Please see Program 2.1 Program 2.1 Load playback data demo playbackData.load("playbackDemo") for i in range(0,5): pose = playbackData.get("first") -
Page 22: Getting Pallet Points Data
Namely, when setting the pallet parameters, you must use the network cable to connect the Dobot M1 and the PC. Otherwise, the pallet information cannot be loaded into the Dobot M1 system. - Page 23 Dobot M1 Script Description 2 Script API Interface Description for point in palletPoint: #go to ready point print("ready Point:", readyPoint) dType.SetPTPCmd(api, 1, readyPoint[0], readyPoint[1], readyPoint[2], readyPoint[3], isQueued=1) #go to transition point print("trans Point:", transPoint) dType.SetPTPCmd(api, 1, transPoint[0], transPoint[1], transPoint[2], transPoint[3], isQueued=1) #go to pallet point print("pallet point:", point)
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