3 Data Structures

3.1 StatusCodeEnum

Description

Interface return status codes.

Note: If you encounter a return code that is not listed here, consult the robot fault-code table or interpret the value literally.

Import

from Agilebot import StatusCodeEnum

Fields

Name	Enum Value	Description
OK	0	Success
INCOMPATIBLE_VERSION	-1	Incompatible version
CONNECTION_TIMEOUT	-3	Connection timeout
INTERFACE_NOTIMPLEMENTED	-4	Interface not implemented on the current controller
INDEX_OUT_OF_RANGE	-5	Index out of range
UNSUPPORTED_FILETYPE	-6	Unsupported file type
UNSUPPORTED_PARAMETER	-7	Unsupported robot parameter
UNSUPPORTED_SIGNAL_TYPE	-8	Unsupported IO signal type
PROGRAM_NOT_FOUND	-9	Program not found
PROGRAM_POSE_NOT_FOUND	-10	Program pose not found
WRITE_PROGRAM_POSE_FAILED	-11	Failed to write program pose
GET_ALARM_CODE_FAILED	-12	Failed to retrieve alarm code
WRONG_POSITION_INFO	-13	Incorrect position information from the controller
UNSUPPORTED_TRATYPE	-14	Unsupported motion type
INVALID_DH_LIST	-15	Invalid transformation parameter list. Please contact the developer
INTERVAL_PORTS_MUST_NOTNONE	-16	Interval, port list, and level duration must not be empty
INVALID_IP_ADDRESS	-17	Invalid IP address
INVALID_DH_PARAMETERS	-18	Invalid DH parameters
INVALID_PAYLOAD_INFO	-19	Invalid payload information
INVALID_FLYSHOT_CONFIG	-20	Invalid flyshot configuration parameters
FAILED_TO_DOWNLOAD_SAME_NAME_FILE	-21	Download failed because a file with the same name already exists
FAILED_TO_CONVERT_CART_TO_JOINT	-22	Failed to convert Cartesian coordinates to joint coordinates
FAILED_TO_GET_ALL_INVERSE_KINEMATICS	-23	Failed to obtain the eight solutions within one revolution
COORDINATE_LIMIT_EXCEEDED	-24	Coordinate system limit exceeded. The maximum is 10 coordinate systems with IDs in [1, 10]
FILE_NOTEXIST	-25	File does not exist
INVALID_IO_LIST_PARAMETERS	-26	Invalid IO list parameters
INVALID_PARAMETER	-27	Invalid parameter
NOT_FOUND	-28	Requested data not found
LOCAL_PROXY_UNSUPPORTED	-29	Local proxy is not supported in the current environment
CONTROLLER_ERROR	-254	Controller error. Contact the developer for details
SERVER_ERR	-255	Other reasons

3.2 RobotStatusEnum

Description

Robot operating status.

Import

from Agilebot import RobotStatusEnum

Fields

Name	Enum Value	Description
ROBOT_UNKNOWN	-1	Unknown state
ROBOT_IDLE	0	Robot idle
ROBOT_RUNNING	1	Robot running
ROBOT_TEACHING	2	Robot teaching
ROBOT_DRAG	3	Robot in drag mode
ROBOR_FORCE_DRAG	4	Robot in force-drag mode
ROBOT_IDLE_TO_RUNNING	101	Transition from idle to running
ROBOT_IDLE_TO_TEACHING	102	Transition from idle to teaching
ROBOT_RUNNING_TO_IDLE	103	Transition from running to idle
ROBOT_TEACHING_TO_IDLE	104	Transition from teaching to idle

3.3 CtrlStatusEnum

Description

Controller operating status.

Import

from Agilebot import CtrlStatusEnum

Fields

Name	Enum Value	Description
CTRL_UNKNOWN	-1	Unknown controller state
CTRL_INIT	0	Controller initializing
CTRL_ENGAGED	1	Controller enabled
CTRL_ESTOP	2	Controller emergency stop
CTRL_TERMINATED	3	Controller terminated
CTRL_ANY_TO_ESTOP	101	Transition from any state to emergency stop
CTRL_ESTOP_TO_ENGAGED	102	Transition from emergency stop to enabled
CTRL_ESTOP_TO_TERMINATED	103	Transition from emergency stop to terminated

3.4 ServoStatusEnum

Description

Servo controller status.

Import

from Agilebot import ServoStatusEnum

Fields

Name	Enum Value	Description
SERVO_UNKNOWN	-1	Unknown servo controller state
SERVO_IDLE	1	Servo controller idle
SERVO_RUNNING	2	Servo controller running
SERVO_DISABLE	3	Servo controller disabled
SERVO_WAIT_READY	4	Servo controller waiting for ready
SERVO_WAIT_DOWN	5	Servo controller waiting for shutdown
SERVO_INIT	10	Servo controller initializing

3.5 SoftModeEnum

Description

Robot PC status mode.

Import

from Agilebot import SoftModeEnum

Fields

Name	Enum Value	Description
UNKNOWN	0	Unknown
AUTO	1	Automatic mode
MANUAL_LIMIT	2	Manual speed-limited mode
MANUAL	3	Manual mode

3.6 PoseType

Description

Robot pose type.

Import

from Agilebot import PoseType

Fields

Name	Enum Value	Description
JOINT	0	Joint space
CART	1	Cartesian coordinates

3.7 TCSType

Description

Coordinate system type.

Import

from Agilebot import TCSType

Fields

Name	Enum Value	Description
JOINT	0	Joint space
BASE	1	Base coordinate system
WORLD	2	World coordinate system
USER	3	User coordinate system
TOOL	4	Tool coordinate system
RTCP_USER	5	RTCP user coordinate system
RTCP_TOOL	6	RTCP tool coordinate system

3.8 Joint

Description

Data structure describing the robot joint positions.

Import

from Agilebot import Joint

Attributes

Attribute	Type	Description
j1	float	Value of joint 1
j2	float	Value of joint 2
j3	float	Value of joint 3
j4	float	Value of joint 4
j5	float	Value of joint 5
j6	float	Value of joint 6
j7	float	Value of joint 7
j8	float	Value of joint 8
j9	float	Value of joint 9

3.9 Position

Description

Data structure describing the robot Cartesian pose.

Import

from Agilebot import Position

Attributes

Attribute	Type	Description
x	float	X-axis coordinate
y	float	Y-axis coordinate
z	float	Z-axis coordinate
a	float	A-axis angle
b	float	B-axis angle
c	float	C-axis angle

3.10 Posture

Description

Data structure describing the robot posture parameters.

Import

from Agilebot import Posture

Attributes

Attribute	Type	Description
turn_cycle	int[]	Turn count for each axis. Integer range ..., -2,-1,0,1,2,... with 0 at the 0° posture. During linear/arc motions the target turn count is chosen automatically. Rotations ≥ 180° map to ≥ 1, between -179.99° and 179.99° map to 0, ≤ -180° map to ≤ -1.
wrist_flip	int	Wrist flip posture (-1/0/1). On 6-axis robots (joint 5), 1 means the wrist flips downward, -1 means it flips upward.
arm_up_down	int	Arm up/down posture (-1/0/1). On 6-axis robots (joint 3), 1 means the arm is above the line between joints 4 and 2 (with J3 < 0), -1 means it is below that line (with J3 > 0).
arm_back_front	int	Arm front/back posture (-1/0/1). On 6-axis robots (joint 1), 1 means the arm is in front (axis 2 on the left of axis 1 when facing forward), -1 means the arm is behind (axis 2 on the right of axis 1).
arm_left_right	int	Arm left/right posture (-1/0/1). On 4-axis SCARA robots (joint 2), 1 means the arm is on the right, -1 means the arm is on the left.

3.11 BaseCartData

Description

Data structure describing the robot Cartesian target pose.

Import

from Agilebot import BaseCartData

Attributes

Attribute	Type	Description
position	Position	Cartesian pose data
posture	Posture	Robot posture parameters

3.12 MotionPose

Description

Data structure describing the robot pose. Distances in the XYZ directions are measured in millimeters (mm) and angle data is in degrees (deg). In some versions the angle information is returned in radians; refer to the API return description for details.

Import

from Agilebot import MotionPose

Attributes

Attribute	Type	Description
cartData	BaseCartData	Cartesian data
joint	Joint	Joint data
pt	PoseType	Pose type, default is PoseType.JOINT

3.13 DHparam

Description

Robot DH parameter list.

Import

from Agilebot import DHparam

Attributes

Attribute	Type	Description	Default Value
id	int	ID of the DH parameter	-1
d	float	Joint distance	-1.0
a	float	Link length	-1.0
alpha	float	Link twist angle	-1.0
offset	float	Joint offset	-1.0

3.14 PayloadInfo

Description

Robot payload information.

Import

from Agilebot import PayloadInfo

Attributes

Attribute	Type	Description
id	int	Payload ID
weight	float	Payload weight (kg)
comment	str	Comment
mass_center	MassCenter	Center of mass
inertia_moment	InertiaMoment	Moment of inertia

MassCenter

Field	Type	Description
x	float	X
y	float	Y
z	float	Z

InertiaMoment

Field	Type	Description
lx	float	LX
ly	float	LY
lz	float	LZ

3.15 ProgramCartData

Description

Program Cartesian data.

Import

from Agilebot import ProgramCartData

Attributes

Attribute	Type	Description
baseCart	BaseCartData	Cartesian data
uf	int	User coordinate system ID in use
tf	int	Tool coordinate system ID in use

3.16 ProgramPoseData

Description

Program pose data.

Import

from Agilebot import ProgramPoseData

Attributes

Attribute	Type	Description
cartData	ProgramCartData	Program pose data
joint	Joint	Joint data
pt	PoseType	Pose type, default is PoseType.JOINT

3.17 ProgramPose

Description

Program pose.

Import

from Agilebot import ProgramPose

Attributes

Attribute	Type	Description
poseData	ProgramPoseData	Program pose data
id	int	Pose ID
name	str	Pose name
comment	str	Pose comment

3.18 PoseRegisterData

Description

Register data class, used to represent the data stored in a register.

Import

from Agilebot import PoseRegisterData

Attributes

Attribute	Type	Description
cartData	BaseCartData	Cartesian pose data
joint	Joint	Joint data
pt	PoseType	Pose type, default is PoseType.JOINT

3.19 PoseRegister

Description

Register class, used to represent the register data stored on the controller.

Import

from Agilebot import PoseRegister

Attributes

Attribute	Type	Description
poseRegisterData	PoseRegisterData	Register pose data
id	int	Register ID
name	str	Register name
comment	str	Register comment

3.20 TransformStatusEnum

Description

Trajectory transformation status.

Import

from Agilebot import TransformStatusEnum

Fields

Name	Enum Value	Description
TRANSFORM_START	0	Transformation started
TRANSFORM_RUNNING	1	Transformation in progress
TRANSFORM_SUCCESS	2	Transformation succeeded
TRANSFORM_FAILED	3	Transformation failed
TRANSFORM_NOT_FOUND	4	Transformation not found
TRANSFORM_UNKNOWN	5	Unknown transformation status

3.21 HWState

Description

Hardware state enumeration.

Import

from Agilebot import HWState

Fields

Name	Description
TOPIC_JOINT	Publish robot joint feedback
TOPIC_CURRENT_CARTESIAN	Publish current TCP Cartesian pose
TOPIC_UF	Publish current user frame info
TOPIC_TF	Publish current tool frame info
TOPIC_VELOCITY	Publish global velocity ratio
TOPIC_RUNNING_STATUS	Publish controller running status
TOPIC_INTERPRETER_STATUS	Publish interpreter status
TOPIC_ROBOT_STATUS	Publish robot status
TOPIC_CTRL_STATUS	Publish controller state
TOPIC_SERVO_STATUS	Publish servo controller status
TOPIC_TRAJECTORY_RECORDS_STATUS	Publish trajectory record status

3.22 CoordinateSystemType

Description

Robot coordinate system type.

Import

from Agilebot import CoordinateSystemType

Fields

Name	Enum Value	Description
UserFrame	0	User coordinate system
ToolFrame	1	Tool coordinate system

3.23 Coordinate

Description

Coordinate system data, including tool and user frames.

Import

from Agilebot import Coordinate

Attributes

Attribute	Type	Description
id	int	Coordinate system ID
name	str	Coordinate system name
comment	str	Coordinate system comment
data	Position	Coordinate pose data

3.24 DragStatus

Description

Robot drag status.

Import

from Agilebot import DragStatus

Attributes

Attribute	Type	Description
cart_status	CartStatus	Cartesian axis drag/lock status
joint_status	JointStatus	Joint axis drag/lock status
is_continuous_drag	bool	Continuous drag flag

3.24.1 CartStatus

Description

Cartesian status class representing Cartesian axis drag state.

Import

from Agilebot import CartStatus

Attributes

Attribute	Type	Description
x	bool	X-axis status
y	bool	Y-axis status
z	bool	Z-axis status
a	bool	A-axis status
b	bool	B-axis status
c	bool	C-axis status

3.24.2 JointStatus

Description

Joint status class representing the status of each robot joint. All joints default to True (available).

Import

from Agilebot import JointStatus

Attributes

Attribute	Type	Description
j1	bool	Status of J1
j2	bool	Status of J2
j3	bool	Status of J3
j4	bool	Status of J4
j5	bool	Status of J5
j6	bool	Status of J6
j7	bool	Status of J7
j8	bool	Status of J8
j9	bool	Status of J9

3.25 ModbusChannel

Description

Modbus channel type.

Import

from Agilebot import ModbusChannel

Fields

Name	Enum Value	Description
CONTROLLER_TCP_TO_485	2	TCP-to-RS485 module channel
WRIST_485_0	3	Wrist AI channel
WRIST_485_1	4	Wrist DO channel
CONTROLLER_485	5	Controller 485 channel

3.26 PayloadIdentifyState

Description

Payload identification state.

Import

from Agilebot import PayloadIdentifyState

Fields

Name	Enum Value	Description
PAYLOAD_CHECK_INIT	0	Payload check initialization in progress
PAYLOAD_CHECK_RUNNING	1	Payload check running
PAYLOAD_CHECK_SUCCESS	2	Payload check succeeded
PAYLOAD_CHECK_FAILED	3	Payload check failed
PAYLOAD_IDENTIFY_INIT	4	Payload identification initialization
PAYLOAD_IDENTIFY_RUNNING	5	Payload identification running
PAYLOAD_IDENTIFY_SUCCESS	6	Payload identification succeeded
PAYLOAD_IDENTIFY_FAILED	7	Payload identification failed
WRONG_DATA	-1	Invalid data

3.27 MoveMode

Description

Jog move mode.

Import

from Agilebot import MoveMode

Fields

Name	Enum Value	Description
Continuous	0	Continuous motion
Stepping	1	Step motion

3.28 SignalType

Description

SignalType is an enumeration class that distinguishes between digital, user, robot, group, and analog IO signals so the robot control system can correctly identify and manage each signal type.

Import

from Agilebot import SignalType

Fields

Name	Enum Value	Description
DI	1	Digital input signal
DO	2	Digital output signal
UI	3	User input signal
UO	4	User output signal
RI	5	Remote-control input signal
RO	6	Remote-control output signal
GI	7	Group input signal
GO	8	Group output signal
TAI	9	Tool analog input signal
TDI	10	Tool digital input signal
TDO	11	Tool digital output signal
AI	12	Analog input signal
AO	13	Analog output signal

3.29 SignalValue

Description

SignalValue defines signal on/off values using two constants, OFF and ON , which represent the off and on states of a signal.

Import

from Agilebot import SignalValue

Attributes

Name	Value	Description
OFF	0	Signal off
ON	1	Signal on

3.30 SerialParams

Description

Serial communication configuration. Used when performing Modbus-RTU/TCP to 485 communication. The instance can be passed directly to the lower-level communication interface to describe connection parameters.

Import

from Agilebot import SerialParams, ModbusChannel, ModbusParity

Constructor

SerialParams(
    id: int = 1,
    channel: ModbusChannel = ModbusChannel.CONTROLLER_TCP_TO_485,
    ip: str = "10.27.1.80",
    port: int = 502,
    baud: int = 9600,
    data_bit: int = 8,
    stop_bit: int = 1,
    parity: ModbusParity = ModbusParity.NONE,
    timeout: int = 1000
)

Attributes

Attribute	Type	Description
id	int	Device station / slave ID
channel	ModbusChannel	Communication channel enumeration, defaults to CONTROLLER_TCP_TO_485
ip	str	Gateway IP address when using TCP-to-485
port	int	Gateway port when using TCP-to-485
baud	int	Baud rate, default 9600 bps
data_bit	int	Data bits, default 8
stop_bit	int	Stop bits, default 1
parity	ModbusParity	Parity setting, default ModbusParity.NONE
timeout	int	Read/write timeout in milliseconds, default 1000

3.31 SubPub Topic Types

3.31.1 RobotTopicType

Description

Robot real-time topic enumeration used for subscribing or publishing robot status.

Import

from Agilebot import RobotTopicType

Enum Values

Name	Description
JOINT_POSITION	Joint feedback (rad)
CARTESIAN_POSITION	TCP pose under the active user/tool frames
TCP_WORLD_CARTESIAN	TCP pose in the world frame
TCP_BASE_CARTESIAN	TCP pose in the base frame
USER_FRAME	Current user frame
TOOL_FRAME	Current tool frame
VELOCITY_RATIO	Global speed ratio (0-100%)
GLOBAL_ACC_RATIO	Global acceleration ratio (0-100%)
CALIBRATE_STATUS	Axis-group calibration status
TRAJECTORY_RECORD	Trajectory recording status
RUNNING_STATUS	Controller running status
INTERPRETER_STATUS	Interpreter status (running/paused/stopped/error)
ROBOT_STATUS	Robot overall status
CTRL_STATUS	Controller readiness status
SERVO_STATUS	Servo enable status
USER_OP_MODE	User operation mode
SOFT_OP_MODE	Soft operation mode
OPERATION_STATUS	Operation status
PERFORMANCE_GEAR	Performance gear
POWER_STATUS	Power status
POWER_ON_STATUS	Power-on status
SAFETY_ALARM	Safety alarm status
SAFETY_PLANE_STATUS	Safety plane status
TOOL_POSTURE_LIMIT_STATUS	Tool posture limit status
JOINTS_RECORD	Joint record
TP_PROGRAM_STATUS	TP program status

---

3.31.2 RegTopicType

Description

Register subscription topic enumeration for accessing internal R / MR / SR / PR registers.

Import

from Agilebot import RegTopicType

Enum Values

Name	Value	Description
R	R	Generic register
MR	MR	Motion register
SR	SR	String register
PR	PR	Position register

---

3.31.3 IOTopicType

Description

IO subscription topic enumeration covering digital, group, analog, robot, and tool IO.

Import

from Agilebot import IOTopicType

Enum Values

Name	Value	Description
DI	DI	Digital input
DO	DO	Digital output
GI	GI	Group input
GO	GO	Group output
RI	RI	Remote-control input
RO	RO	Remote-control output
UI	UI	User input
UO	UO	User output
TDI	TDI	Tool digital input
TDO	TDO	Tool digital output
TAI	TAI	Tool analog input
AI	AI	Analog input
AO	AO	Analog output