Python IndyDCP2 Client
The Python IndyDCP client is a Python class that allows control of Indy based on the IndyDCP Protocol.
Installation
python IndyDCP client You can download the file using the following terminal command.
Connecting to and Disconnecting from Indy
All communication with Indy can be performed through the IndyDCP2 class declared in neuromeka. To initialize an IndyDCP2 object, you need to provide the type and IP address of Indy.
Warning
- Since IndyDCP2 does not allow multiple client connections, you must call disconnect() to terminate the connection after use in order to connect again.
from neuromeka import IndyDCP2
step_ip = "192.168.0.100" # IP address of the robot to connect
robot_name = "NRMK-Indy7" # Name of the robot to connect
indy = IndyDCP2(step_ip,robot_name)
indy.connect()
////////////////////////////
// Section for Indy operations //
///////////////////////////
indy.connect()
Python IndyDCP2 Command List
Below are usage examples for some of the IndyDCP commands.
| Function | Description |
|---|---|
| stop_emergency(self) | Emergency stop |
| reset_robot(self) | Reset robot |
| set_servo(self, arr) | Servo on/off depending on arr |
| set_brake(self, arr) | Brake on/off depending on arr |
| stop_motion(self) | Stop Robot Motion |
| go_home(self) | Move Indy to the home position |
| go_zero(self) | Move Indy to the Zero position |
| joint_move_to(self, q) | Move all joint angles to values of q |
| joint_move_by(self, q) | Move all joint angles relative to the value of q |
| task_move_to(self, p) | Move the robot end effector to position p with 6 degrees of freedom. |
| task_move_by(self, p) | Move the robot end effector relative to position p by the values of its 6 degrees of freedom. |
| start_current_program(self) | Start the currently loaded robot program |
| pause_current_program(self) | Pause the currently running program. |
| resume_current_program(self) | Resume the currently paused program. |
| stop_current_program(self) | Stop the current program. |
| direct_teaching(self, mode) | Enable/Disable the teach pendant based on mode. |
| moveC(self, via_p, end_p) | Move in a circular path using via_point and end_point. |
| set_movec_angle(self, angle) | Set the desired angle for moveC motion. |
| set_moveC_vel(self, velocity) | Set the desired velocity for moveC motion. |
| set_moveC_acc(self, acceleration) | Set the desired acceleration for moveC motion. |
| start_teleop(self, mode) | Execute TeleOperation based on the mode. |
| stop_teleop(self) | Stop TeleOperation |
| tele_movej(self, q) | Move all joint angles to the value of q, depending on whether it's in absolute or relative movement mode in TeleOP. |
| tele_movel(self, p) | Move the robot end effector to position p with 6 degrees of freedom, based on whether it's in absolute or relative movement mode in TeleOP. |
| set_default_tcp(self, tcp) | Set the default TCP (Tool Center Point) value to tcp |
| active_sdk(self, key, date) | Activate the SDK with key and data |
| set_custom_control_mode(self, mode) | Activate custom control with mode |
| get_custom_control_mode(self) | Retrieve the currently applied custom control mode. |
| get_control_torque_jts(self) | Retrieve the currently joint torque sensor values. |
| get_control_torque_jts_raw1(self) | Retrieve the currently joint torque sensor raw_1 values. |
| get_control_torque_jts_raw2(self) | Retrieve the currently joint torque sensor raw_2 values. |
Simple motion example
In this chapter, we introduce a simple example of robot motion. For clarity, we assume the robot is Indy7 with an IP address of 192.168.0.100.
Warning
When you run the code, the robot will move. Please ensure the area around the robot is clear!
from neuromeka import IndyDCP2
step_ip = "192.168.0.100" # IP address of the robot to connect
robot_name = "NRMK-Indy7" # Name of the robot to connect
indy = IndyDCP2(step_ip,robot_name)
indy.connect()
indy.go_home() # move home
indy.wait_for_move_finish() # Wait until Indy motion is complete
while True:
if indy.get_int_val(0) : #Check The Int0 Value
indy.joint_move_by([10,10,10,10,10,10]) # move all joint +10° relative position
indy.wait_for_move_finish() #Wait until Indy motion is complete
break
indy.go_home() # move home
indy.wait_for_move_finish() # Wait until Indy motion is complete
indy.connect()
