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USM - User Socket Message ​

Open-Source Repository

https://github.com/PhoenixZHC/Agilebot-USM-User-Socket-Message

Overview ​

USM is a Socket control plugin for Agilebot robots, developed with Agilebot.Robot.SDK.A-2.0.0.0 .
It uses TCP string commands to call the Python SDK for controlling robot registers, I/O, programs, motion, alarms, servo, and more.

Compatible SDK Version ​

This plugin is developed with SDK version Agilebot.Robot.SDK.A-2.0.0.0.
Please ensure your robot system environment is compatible with this version.

Packaging ​

After plugin development is completed, package it with the Agilebot plugin packaging tool.
For detailed packaging and installation steps, refer to:

Packaging and Installation Guide

Version ​

  • Plugin Version: v1.0
  • SDK Version: Agilebot.Robot.SDK.A-2.0.0.0

Notes ​

  • Protocol: TCP, UTF-8
  • Command format: command,arg1,arg2,...
  • Response format: success OK[,data] , failure NG,error[,detail]
  • Command names are case-insensitive
  • The only case-sensitive parameter is the program name in program_start/stop/pause/resume
  • Unless otherwise specified, fields are comma-separated

Connection and Responses ​

  • Default port: 7000
  • Single-client mode: when already connected, new connections are rejected (returns busy )

Common error codes:

  • not_connected
  • invalid_args
  • sdk_error
  • internal_error
  • unknown_command
  • busy

Command Examples ​

Registers ​

  • read_R - Read R floating-point register.
    Example: send read_R,5 -> reply OK,8.6

  • write_R - Write R register.
    Example: send write_R,5,10.5 -> reply OK

  • delete_R - Delete R register.
    Example: send delete_R,5 -> reply OK

  • read_MR - Read MR integer register.
    Example: send read_MR,1 -> reply OK,100

  • write_MR - Write MR integer register.
    Example: send write_MR,1,200 -> reply OK

  • delete_MR - Delete MR integer register.
    Example: send delete_MR,1 -> reply OK

  • read_SR - Read SR string register.
    Example: send read_SR,1 -> reply OK,hello

  • write_SR - Write SR string register.
    Example: send write_SR,1,hello -> reply OK

  • delete_SR - Delete SR string register.
    Example: send delete_SR,1 -> reply OK

  • read_MH - Read MH holding register.
    Example: send read_MH,1 -> reply OK,100

  • write_MH - Write MH holding register.
    Example: send write_MH,1,50 -> reply OK

  • read_MI - Read MI input register.
    Example: send read_MI,1 -> reply OK,50

  • write_MI - Write MI input register.
    Example: send write_MI,1,75 -> reply OK

  • read_PR - Read PR pose (comma-separated, format: OK,id,C/J,six_values ).
    Example: send read_PR,5 -> reply OK,5,C,100.000,200.000,300.000,0.000,0.000,0.000

  • write_PR - Write PR pose: id,J/C,six_values .
    Example: send write_PR,5,C,100,200,300,0,0,0 -> reply OK

  • delete_PR - Delete PR.
    Example: send delete_PR,5 -> reply OK

I/O ​

  • read_DO - Read DO ( ON/OFF ).
    Example: send read_DO,1 -> reply OK,ON

  • write_DO - Write DO.
    Example: send write_DO,1,OFF -> reply OK

  • read_DI - Read DI.
    Example: send read_DI,3 -> reply OK,OFF

  • read_AO - Read AO (supported on some models).
    Example: send read_AO,2 -> reply OK,2048

  • write_AO - Write AO (supported on some models).
    Example: send write_AO,2,1 -> reply OK

  • read_AI - Read AI (supported on some models).
    Example: send read_AI,1 -> reply OK,3276

Program and Operation Rights ​

  • program_start - Start program (program name is case-sensitive).
    Example: send program_start,test -> reply OK

  • program_stop - Stop program (program name is case-sensitive).
    Example: send program_stop,test -> reply OK

  • program_pause - Pause program (program name is case-sensitive).
    Example: send program_pause,test -> reply OK

  • program_resume - Resume program (program name is case-sensitive).
    Example: send program_resume,test -> reply OK

  • program_list - List running programs (names only, comma-separated).
    Example: send program_list -> reply OK,test,t

  • program_prepare - Pre-start status check for program launch.
    Example: send program_prepare -> reply OK,soft_mode=ok

  • acquire_access - Acquire PC operation rights.
    Example: send acquire_access -> reply OK

  • release_access - Release PC operation rights.
    Example: send release_access -> reply OK

Motion ​

  • move_joint - Joint motion.
    Format: move_joint,J,j1,j2,j3,j4,j5,j6,vel,acc / move_joint,C,x,y,z,a,b,c,vel,acc / move_joint,PR,id[,vel,acc]
    Notes: vel must be xx% (0-100%), acc must be xx% (1-120%).
    Example: send move_joint,J,0,0,60,60,0,0,50%,100% -> reply OK
    Example: send move_joint,C,0,0,60,60,0,0,50%,100% -> reply OK
    Example: send move_joint,PR,1,50%,100% -> reply OK

  • move_line - Linear motion.
    Format: move_line,J,j1,j2,j3,j4,j5,j6,vel,acc / move_line,C,x,y,z,a,b,c,vel,acc / move_line,PR,id[,vel,acc]
    Notes: vel unit is mm/s, acc must be xx% (1-120%).
    Example: send move_line,J,-63,127,-106,36,0,0,500,60% -> reply OK
    Example: send move_line,C,0,0,60,60,0,0,500,60% -> reply OK
    Example: send move_line,PR,1,500,60% -> reply OK

  • get_current_pose - Current pose in J/C coordinates (comma-separated).
    Example: send get_current_pose,J -> reply OK,J,0.000,0.000,60.000,60.000,0.000,0.000

Jog / Speed / Coordinate System ​

  • jog_step - Step jog ( 1 means + , 2 means - ).
    Example: send jog_step,1,1,0.5 -> reply OK

  • get_ovc / set_ovc - Global speed override (percentage).
    Example: send get_ovc -> reply OK,100% ; send set_ovc,30% -> reply OK

  • get_oac / set_oac - Global acceleration override.
    Example: send get_oac -> reply OK,100%

  • get_tf / set_tf - Tool frame index (0-50).
    Example: send set_tf,2 -> reply OK

  • get_uf / set_uf - User frame index (0-50).
    Example: send set_uf,1 -> reply OK

  • get_tcs / set_tcs - Reference coordinate system.
    set_tcs supports: JOINT/BASE/WORLD/UF/TF/RTCP_UF/RTCP_TF (case-insensitive).
    Example: send set_tcs,WORLD -> reply OK

Status ​

  • robot_status - Robot runtime status.
    Example: send robot_status -> reply OK,Robot idle

  • ctrl_status - Controller status.
    Example: send ctrl_status -> reply OK,Controller enabled

  • servo_status - Servo status.
    Example: send servo_status -> reply OK,Servo controller idle

  • ready_check - One-click pre-start check ( alarm/robot/ctrl/servo/op/soft ).
    Example: send ready_check -> reply OK,alarm=none,robot=...,ctrl=...,servo=...,op=...,soft=...

Alarms ​

  • get_alarms - Active alarm list.
    Example: send get_alarms -> sequential replies: OK,<alarm_message_1> , OK,<alarm_message_2>

  • get_top_alarm - Highest-priority alarm.
    Example: send get_top_alarm -> reply OK,<alarm_message>

Servo and Emergency Stop ​

  • servo_on - Servo ON.
    Example: send servo_on -> reply OK

  • servo_off - Servo OFF.
    Example: send servo_off -> reply OK

  • servo_reset - Servo reset.
    Example: send servo_reset -> reply OK

  • estop - Emergency stop.
    Example: send estop -> reply OK

Payload ​

  • get_payload - Current payload, format mass,x,y,z (comma-separated, 3 decimals).
    Example: send get_payload -> reply OK,2.500,0.000,0.000,50.000

Common On-Site Issues ​

  • Pendant shows "No operation rights": check whether acquire_access has been called; call release_access when needed
  • Garbled text in NetAssist: set receive encoding to UTF-8
  • program_start fails with start-condition error: send program_prepare first

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