HansRobot SDK Document

HansRobot SDK
Install SDK
Users can install the Java SDK through maven ：
<dependency>
<groupId>com.hansrobot</groupId>
<artifactId>robot-sdk</artifactId>
<version>1.0.0</version>
</dependency>
//为 common
<dependency>
<groupId>com.hansrobot</groupId>
<artifactId>common</artifactId>
<version>1.0.0</version>
</dependency>
Uninstall SDK
Uninstall the SDK by removing pom dependencies or source code。
Import Class Name
COS Java SDK class name is com.hansrobot.robotsdk.*，You can import the classes
required for program execution through IDE tools such as Eclipse or Intellij.
Callback Type Interface
There are two situations when executing an action, one is that the status
will be returned synchronously, and the other is that the status will be
returned asynchronously. The asynchronous state is that when the interface
is called, it will immediately return a call state of the interface, and
then asynchronously return an execution state; For example, navigation
interface: Calling a navigation interface will immediately return a status
indicating whether the call was successful or not (immediately), and then
return a status indicating whether the AGV navigation was successful or not
(asynchronously)
。
Connecting robots
Before operating a robot, you need to connect the robot
HansRobotSDK api = new HansRobotSDK();

//robotIp is robot ip ，At this point, you need to connect
to the network segment of the robot
//32000 Request port for robot
//32001 For the push port for the robot
CallResult cr = api.connectRobot(robotIp, 32000, 32001);
//Determine whether the connection is successfully connected
Assert.assertEquals(cr.getError(),
HansRobotError.SUCCESS);
Some enumeration field descriptions
//Robots subscription data

public enum SubscribeTopic{
ROBOT_DATA, //Robot data
LASER_DATA, //Laser data
REQUEST_RESULT_ASYNC, //Notification of the requested
asynchronous results
ROBOT_INFO //Robot information, push RobotInfo
class
}
//Robot action description

public static enum RunCmdEnum {
START, //Start the action
PAUSE, //Pause an action, used only after the action begins
CONTINUE, //Continue to use this state only after a pause
STOP; //Stop the action, which can be requested during the
execution process
}
Subscribe to bot messages
Subscribe the bot message is

returned
subscribe(SubscribeTopic.ROBOT_DATA.name(), true,null);
Interface call instructions
When calling the robot, you need to confirm two things: 1. Before the robot
confirms the positioning, it needs to confirm whether the robot is in the normal
position, or is not moved in the case of shutdown 2. Before calling, you need to seize
the control of the robot, otherwise the action cannot be executed (the control can
be seized repeatedly)
AGV navigation
The AGV can navigate to a certain site of the map based on the built
parameters

if (CallResult.check(cr)) {
CallResult finalResult = CallResult.success();
NavigateRequestParam param = new
NavigateRequestParam();
//
param.setCmd(CommonTypes.RunCmdEnum.START);
//Site name
param.setDestPosition("LM30");
//Map name
param.setDestMap("0823");
//result For pullback parameters
cr = api.navigate(param, result -> {
if (CallResult.check(result))
System.out.println("navigate successfully");
else
System.out.println("navigate failed");
finalResult.fromOther(result);
finalResult.setData("");
System.out.println("error:" + result.getError() + "
msg:" + result.getMessage());
});
Assert.assertEquals(HansRobotError.SUCCESS,
cr.getError());
while (finalResult.getData() == null) {
CommonClass.sleep(1000);
}
}
NavigateRequestParam:
Member name describe type

Site information
destPosition String
within the map
destMap Map name String
cmd executing state Enum
Whether the accurate

noNeedPrecision arrival is generally Boolean
false
AGV Navigation (Sync Method)
AGV can navigate to a certain site in the map based on the built parameters,
and since the method is a synchronous method, there is no need to wait for
a callback
NavigateRequestParam param = new
NavigateRequestParam();
param.setDestPosition("LM1");
param.setDestMap("testMap");
cr = api.navigateForSync(param);
Assert.assertEquals(HansRobotError.SUCCESS,
cr.getError());
}
NavigateRequestParam:
Site information
destPosition String
within the map
destMap map name String
cmd executing state Enum
Whether the accurate

noNeedPrecision arrival is generally Boolean
false
The ARM performs the robotic arm action
ARM can perform actions already preset in the robotic arm, simply passing
the script name, or transfer parameters to perform IF conditions
RunArmFunctionRequestParam param = new
RunArmFunctionRequestParam();
param.setFunctionName("Func_test");
cr = api.runArmFunction(param, result -> {
if (CallResult.check(result))
System.out.println("run arm script function
successfully");
else
System.out.println("run arm script function
failed");
finalResult.setData("");
System.out.println("error:" + result.getError() + "

msg:" + result.getMessage());
});
RunArmFunctionRequestParam ：
scriptName Script name String
Name of the function

functionName String
being executed
The incoming
functionParams Enum
parameters
cmd executing state Boolean
Timeout time, -1 is no
timeout int
timeout
ARM performs robotic arm action (synchronization method)
The ARM can perform actions that are already preset in the robotic arm, and
only need to transmit Script name, or transmit parameters to perform IF
conditions

RunArmFunctionRequestParam param = new
RunArmFunctionRequestParam();
param.setFunctionName("Func_test");
cr = api.runArmFunctionForSync(param);
}
RunArmFunctionRequestParam ：
Name of the function

functionName String
being executed
The incoming
functionParams Enum
parameters
cmd executing state Boolean
Timeout time, -1 is no
timeout int
timeout
Set the profile parameters
Set the profile parameters

SubscribeDataCallback callback = new
SubscribeDataCallback() {
SetParamsForSdkParam sdk = new SetParamsForSdkParam();
sdk.setQuitChargePowerLevel("0.95");
sdk.setChargeMap("chargeMap");
sdk.setHomeMap("A1-5F");
CallResult result = api.setRobotParams(sdk);
SetParamsForSdkParam：
Whether the automatic

enableAutoCharge String
charge is turned on
Need to be charged
needChargePowerLevel (automatically charged String
when less than how much)
Exit charge power (exit

quitChargePowerLevel charge after the power String
power is reached)
chargeMap Charging map String
chargePoint Charging point String
homeMap On standby point String
homePoint On call map String
maxLinearSpeed AGV straight speed String
Mechanical arm movement

armSpeedRatio String
speed
The working mode of the robot,

0: single, 1: multi-machine
workMode String
callable, 2: multi-machine
uncallable
maxAngularSpeed The AGV turning speed String
Gets the profile parameters
Obtain the built-in parameters of the robot

CallResult result = api.getPropertiesData();
System.out.println(result.getData());
The available data are as follows：
Whether the automatic

enableAutoCharge String
charge is turned on
Need to be charged
needChargePowerLevel (automatically charged String
when less than how much)
Exit charge power (exit

quitChargePowerLevel charge after the power String
power is reached)
chargeMap Charging map String
chargePoint Charging point String
homeMap On standby point String
homePoint On call map String
maxLinearSpeed AGV straight speed String
Mechanical arm movement

armSpeedRatio String
speed
The working mode of the robot,

0: single, 1: multi-machine
workMode String
callable, 2: multi-machine
uncallable
maxAngularSpeed The AGV turning speed String
Set the emergency stop state of the robot

EmergencyStopRequestParam param = new
EmergencyStopRequestParam();
param.setEstop(true);
CallResult result = api.estop(param);
System.out.println(result.getError());
System.out.println(result.getMessage());
EmergencyStopRequestParam ：
Whether to open the emergency

estop String
stop
Reposition request
Robot relocation request

RelocateRequestParam param = new RelocateRequestParam();
param.setUseHomePose(false);
param.setCancel(true);
param.setRange(0);
param.setRobotX(0);
param.setRobotY(0);
param.setRobotAngle(0);
CallResult result = api.relocation(param, callResult -> {
});
System.out.println(result.getError());
System.out.println(result.getMessage());
RelocateRequestParam ：
True: cancel reset, false: ignored,
cancel other parameters required when boolean
false
Repositioning range, the radius
range of the circle centered on the float
repoint
Repositioning point orientation,

robotAngle float
in rad
Relocation x coordinates in
robotX float
meters
Rethe location point y

robotY float
coordinates, in m
Whether to use the configured
useHomePose home points of the agv interface boolean
for relocation, if true, ignore the

relocation coordinates and
radius parameters.
Confirm the location request
The robot confirms the positioning request, the robot needs to manually
confirm the positioning, and cannot automatically confirm the positioning,
because it cannot be determined whether the robot is moved when it is shut
down

CallResult result = api.locationConfirm();
Preemption of control
The robot takes control, and before you can control the robot, you need to
seize control, otherwise it can't executive command
CallResult result = api.takeControl();
Release of control
The robot releases control, which can release after seizing

CallResult result = api.releaseControl();
Query of the control of the robot
Query of the control of the robot

CallResult result = api.queryControl();
Initialize the claw
Initialize the clamp claw of the mechanical arm 485type, which cannot hang
articles on the clamp claw, and the mechanical arm needs to be at the home
point

CallResult result = api.initGripper();
Control claw
The claw of control arm 485type, true is closed and false is open
CtrlGripperRequestParam params = new
CtrlGripperRequestParam();
params.setClose(false);
CallResult result = api.ctrlGripper(params);
The robotic arm returns to the origin
The mechanical arm back to the preset home point, call this interface need
to pay attention to the safety of the mechanical arm, there is anyone around
CallResult result = api.armGoHomePose(callResult -> {
});
The robotic arm opens the zero-force instruction
The mechanical arm opens zero force teaching, at this time the mechanical
arm can swing at will

BooleanRequestParam params = new BooleanRequestParam();
params.setParam(false);
CallResult result = api.startArmZeroForce(params);
BooleanRequestParam ：
Whether to open the

param Boolean
zero-force instruction
Control of the robotic arm movement control

RunCmdRequest params = new RunCmdRequest();
params.setCmd(CommonTypes.RunCmdEnum.STOP);
CallResult result = api.armMoveCtrl(params);
System.out.println(result.getData());。
RunCmdRequest ：
The robotic arm moves, uses,

cmd enumerate
continues, and stops
AGV cleanup exception information

CallResult result = api.clearErrors();
Get the AGV map collection information

CallResult result = api.getMaps();
Query the site information in the map
To obtain the site information in the map, it can be used with the acquisition
map information interface
GetPositionsRequestParam param = new
GetPositionsRequestParam();
//map name
param.setMapName("0823");
CallResult result = api.getPositions(param);
GetPositionsRequestParam ：
mapName map name String
Get map information
To obtain the site information in the map, it can be used with the acquisition
map information interface
GetMapInfoRequestParam param = new
GetMapInfoRequestParam();
param.setContainPixelData(false);
CallResult result = api.getMapInfo(param);
System.out.println("4" + result.getData());
GetMapInfoRequestParam ：
containPixelData Don't fill Boolean
The mechanical arm moves continuously
The mechanical arm moves continuously, but it needs to be used with another
interface
longMoveEvent

ArmCtrlLongJogL param = new ArmCtrlLongJogL();

param.setAxisId(2);
param.setDerection(0);
param.setnState(1);
param.setMoveMode(1);
param.setKeep(true);
CallResult result = api.ctrlArmLongJogL(param, callResult ->
{
System.out.println("test ctrlArmLongJogL");
});
System.out.println("4" + result.getData());
System.out.println("5" + result.getError());
System.out.println("6" + result.getMessage());
for (int i = 0; i < 10; i++) {
Thread.sleep(300);
//Only for testing, when the real use, you need to call
separately
api.longMoveEvent(true);
}
param.setnState(0);
result = api.ctrlArmLongJogL(param, callResult -> {
System.out.println("test ctrlArmLongJogL11111");
});
//When the mechanical arm is required to move at a fixed distance,

only the following three parameters need to be passed through
// param.setAxisId(2);
// param.setDerection(0);
// param.setMoveMode(2);
// CallResult result = api.ctrlArmLongJogL(param,callResult
-> {
// System.out.println("test ctrlArmLongJogL");
// });
// System.out.println("" + result.getData());
ArmCtrlLongJogL ：
axisId
Point axis ID(0-5) int
(0:X,1:Y,2:Z,3:RX,4:RY,5:RZ)
derection Movement direction: 0= int

negative; 1= positive；
nState Movement start / stop: 0= stop; int

1= start；
keep Do you want to move on Boolean
Movement mode: 1.
moveMode Continuous movement, and 2. int
Fixed movement
Inform the robotic arm to continue moving
When the above interface is moving, it needs to be called once every 500
milliseconds, otherwise the mechanical arm will stop, only need to pass the
true parameter directly can be, need to stop, can pass false can
api.longMoveEvent(true);
The AGV rotates in situ
The interface allows the AGV to rotate at an Angle and the speed can be
controlled

//AGV 原地旋转
RotateRequestParam param = new RotateRequestParam();
param.setRotateSpeed(0.1);
param.setAngle(0.1);
CallResult result = api.rotate(param, callResult -> {
});
RotateRequestParam ：
rotateSpeed spin velocity double
angle point of view int
The AGV travels at a fixed distance
Drive the AGV a distance

MoveLineRequestParam param = new MoveLineRequestParam();
param.setxSpeed(0.1);
param.setySpeed(0);
param.setDistance(0.1);
CallResult result = api.agvMoveLine(param, callResult -> {
});
MoveLineRequestParam：
Forward or backward speed,

xSpeed parameter is positive, double
move forward, and move
backward when negative
ySpeed Fixed to 0 double
distance Forward distance double
The AGV toggle map
The AGV switches over the map function

SwitchMapRequestParam param = new SwitchMapRequestParam();
CallResult result = api.agvSwitchMap(param);
SwitchMapRequestParam ：
The AGV moves continuously
The AGV is continuously moving the interface

ManualMoveRequestParam param = new

ManualMoveRequestParam();
param.setW(0);
param.setVx(1);
param.setVy(0);
for (int i = 0; i < 3; i++) {
CallResult result = api.ctrlAgvMove(param);
}
ManualMoveRequestParam 类，主要成员属性如下：
w translational speed float
Keep moving the distance,

with positive numbers
vx moving forward and float
negative numbers moving
backward
vy Pass 0 float
Execute the robotic arm script
The preset robotic arm script can be programmed in the robotic arm and then
used
here

//Execute the robotic arm script
RunArmScriptRequestParam param = new RunArmScriptRequestParam();
param.setFunctionParams(null);
param.setScriptName("");
param.setFunctionName("Func_1");
param.setTimeout(-1);
CallResult result = api.executeArmScript(param, callResult
-> {
});
RunArmScriptRequestParam ：
functionName function name String
functionParams Function parameters String[]
cmd executive command enum
timeout Timeout time, -1 is never int

timeout
Execute the robotic arm script
The preset robotic arm script can be programmed in the robotic arm and then
used here
CtrlArmRequestParam param = new CtrlArmRequestParam();
param.setArmIndex(0);
param.setArmSpeed(0);
param.setValidParam(CtrlArmRequestParam.ValidParamEnum.STOP_VALID
);
param.setEnable(false);
param.setStop(false);
param.setClearFaults(false);
param.setClearFaults(false);
CallResult result = api.ctrlArm(param);
CtrlArmRequestParam ：
Specifies which parameters are
valid。
0：powerOn
validParam 1:enable int
2:stop
3:clearFaults
4：armSpeed
powerOn Whether on the electricity Boolean
enable Whether to open Boolean
stop Whether to suspend Boolean
Whether to clear the robotic arm

clearFaults error, when the robotic arm error, Boolean
can be set to true clear error
armIndex Mechanical arm id, with the int

default to 0
armSpeed Mechanical arm speed float
If you have any questions, please contact me via email;
My message: zouzk10410r@hanslaser.com thanks

HansRobot SDK Document

Uploaded by

Copyright:

Available Formats

You might also like

HansRobot SDK Document

Uploaded by

Document Information

Original Description:

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

HansRobot SDK Document

Uploaded by

Copyright:

Available Formats

HansRobot SDK

Users can install the Java SDK through maven ：

Uninstall the SDK by removing pom dependencies or source code。

Import Class Name

Callback Type Interface

HansRobotSDK api = new HansRobotSDK();

//Robots subscription data

//Robot action description

Subscribe to bot messages

Subscribe the bot message is

HansRobotSDK api = new HansRobotSDK();

Member name describe type

destMap Map name String

cmd executing state Enum

Whether the accurate

AGV Navigation (Sync Method)

Member name describe type

destMap map name String

cmd executing state Enum

Whether the accurate

The ARM performs the robotic arm action

System.out.println("error:" + result.getError() + "

Member name describe type

scriptName Script name String

Name of the function

cmd executing state Boolean

HansRobotSDK api = new HansRobotSDK();

Member name describe type

scriptName Script name String

Name of the function

cmd executing state Boolean

Set the profile parameters

Set the profile parameters

CallResult result = api.setRobotParams(sdk);

Member name describe type

Whether the automatic

Exit charge power (exit

chargeMap Charging map String

chargePoint Charging point String

homeMap On standby point String

homePoint On call map String

maxLinearSpeed AGV straight speed String

Mechanical arm movement

The working mode of the robot,

Gets the profile parameters

Obtain the built-in parameters of the robot

HansRobotSDK api = new HansRobotSDK();

The available data are as follows：

Member name describe type

Whether the automatic

Exit charge power (exit

chargeMap Charging map String

chargePoint Charging point String

homeMap On standby point String

homePoint On call map String

maxLinearSpeed AGV straight speed String

Mechanical arm movement

The working mode of the robot,