4.2 Robot Motion Control and Status

4.2.1 Getting Robot Parameters

4.2.1.1 Getting OVC Overall Velocity Coefficient

Method Name	Motion.GetOVC()
Description	Gets the current robot's OVC (Overall Velocity Control) global velocity ratio, with a range of 0~1.
Request Parameters	None
Return Value	double: Global velocity ratio value StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.2.1.2 Getting OAC Overall Acceleration Coefficient

Method Name	Motion.GetOAC()
Description	Gets the current robot's OAC (Overall Acceleration Control) global acceleration ratio, with a range of 0~1.2.
Request Parameters	None
Return Value	double: Global acceleration ratio value StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.2.1.3 Getting the Current TF

Method Name	Motion.GetTF()
Description	Gets the current TF (Tool Frame) tool coordinate system index used by the robot, with a range of 0~10.
Request Parameters	None
Return Value	int: TF tool coordinate system index StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.2.1.4 Getting the Current UF

Method Name	Motion.GetUF()
Description	Gets the current UF (User Frame) user coordinate system index used by the robot, with a range of 0~10.
Request Parameters	None
Return Value	int: UF user coordinate system index StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.2.1.5 Getting the Current TCS Teaching Coordinate System

Method Name	Motion.GetTCS()
Description	Gets the current TCS (Teach Coordinate System) teaching coordinate system type used by the robot, see TCSType for details.
Request Parameters	None
Return Value	TCSType: TCS teaching coordinate system type enum value StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Motion/GetMotionParameters.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class GetMotionParameters
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 获取 OVC 全局速度比率
            // [EN] Get OVC global speed ratio
            double ovc;
            (ovc, code) = controller.Motion.GetOVC();
            if (code == StatusCode.OK)
            {
                Console.WriteLine($"OVC = {ovc}");
            }
            else
            {
                Console.WriteLine($"获取OVC失败: {code.GetDescription()}");
            }

            // [ZH] 获取 OAC 全局加速度比率
            // [EN] Get OAC global acceleration ratio
            double oac;
            (oac, code) = controller.Motion.GetOAC();
            if (code == StatusCode.OK)
            {
                Console.WriteLine($"OAC = {oac}");
            }
            else
            {
                Console.WriteLine($"获取OAC失败: {code.GetDescription()}");
            }

            // [ZH] 获取当前使用的 TF
            // [EN] Get current TF (Tool Frame)
            int tf;
            (tf, code) = controller.Motion.GetTF();
            if (code == StatusCode.OK)
            {
                Console.WriteLine($"TF = {tf}");
            }
            else
            {
                Console.WriteLine($"获取TF失败: {code.GetDescription()}");
            }

            // [ZH] 获取当前使用的 UF
            // [EN] Get current UF (User Frame)
            int uf;
            (uf, code) = controller.Motion.GetUF();
            if (code == StatusCode.OK)
            {
                Console.WriteLine($"UF = {uf}");
            }
            else
            {
                Console.WriteLine($"获取UF失败: {code.GetDescription()}");
            }

            // [ZH] 获取当前使用的 TCS 示教坐标系
            // [EN] Get current TCS teaching coordinate system
            TCSType tcs;
            (tcs, code) = controller.Motion.GetTCS();
            if (code == StatusCode.OK)
            {
                Console.WriteLine($"TCSType = {tcs}");
            }
            else
            {
                Console.WriteLine($"获取TCS失败: {code.GetDescription()}");
            }

            // [ZH] 获取机器人软限位
            // [EN] Get robot soft limits
            List<List<double>> softLimit;
            (softLimit, code) = controller.Motion.GetUserSoftLimit();
            if (code == StatusCode.OK)
            {
                Console.WriteLine("软限位信息:");
                for (int i = 0; i < softLimit.Count; i++)
                {
                    Console.WriteLine($"轴{i + 1}: 下限={softLimit[i][0]}, 上限={softLimit[i][1]}");
                }
            }
            else
            {
                Console.WriteLine($"获取软限位失败: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            Console.WriteLine(
                disconnectCode != StatusCode.OK ? disconnectCode.GetDescription() : "Successfully disconnected."
            );
        }

        return code;
    }
}

4.2.2 Setting Robot Parameters

4.2.2.1 Setting OVC Overall Velocity Coefficient

Method Name	Motion.SetOVC( double `value` )
Description	Sets the current robot's OVC (Overall Velocity Control) global velocity ratio.
Request Parameters	`value` : double velocity ratio, range 0~1
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.2.2.2 Setting OAC Overall Acceleration Coefficient

Method Name	Motion.SetOAC( double `value` )
Description	Sets the current robot's OAC (Overall Acceleration Control) global acceleration ratio.
Request Parameters	`value` : double acceleration ratio, range 0~1.2
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.2.2.3 Setting the Current TF Tool Coordinate System Index

Method Name	Motion.SetTF( int `value` )
Description	Sets the current TF (Tool Frame) tool coordinate system index.
Request Parameters	`value` : int TF index, range 0~10
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.2.2.4 Setting the Current UF User Coordinate System Index

Method Name	Motion.SetUF( int `value` )
Description	Sets the current UF (User Frame) user coordinate system index.
Request Parameters	`value` : int UF index, range 0~10
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.2.2.5 Setting the Current TCS Teaching Coordinate System

Method Name	Motion.SetTCS( TCSType `value` )
Description	Sets the current TCS (Teach Coordinate System) teaching coordinate system.
Request Parameters	`value` : TCSType TCS teaching coordinate system type
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Motion/SetMotionParameters.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class SetMotionParameters
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 设置 OVC 全局速度比率
            // [EN] Set OVC global speed ratio
            code = controller.Motion.SetOVC(0.5);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("设置OVC成功");
            }
            else
            {
                Console.WriteLine($"设置OVC失败: {code.GetDescription()}");
            }

            // [ZH] 设置 OAC 全局加速度比率
            // [EN] Set OAC global acceleration ratio
            code = controller.Motion.SetOAC(0.8);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("设置OAC成功");
            }
            else
            {
                Console.WriteLine($"设置OAC失败: {code.GetDescription()}");
            }

            // [ZH] 设置当前使用的 TF 用户坐标系编号
            // [EN] Set current TF (Tool Frame) user coordinate system number
            code = controller.Motion.SetTF(2);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("设置TF成功");
            }
            else
            {
                Console.WriteLine($"设置TF失败: {code.GetDescription()}");
            }

            // [ZH] 设置当前使用的 UF 工具坐标系编号
            // [EN] Set current UF (User Frame) tool coordinate system number
            code = controller.Motion.SetUF(1);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("设置UF成功");
            }
            else
            {
                Console.WriteLine($"设置UF失败: {code.GetDescription()}");
            }

            // [ZH] 设置当前使用的 TCS 示教坐标系
            // [EN] Set current TCS teaching coordinate system
            code = controller.Motion.SetTCS(TCSType.TOOL);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("设置TCS成功");
            }
            else
            {
                Console.WriteLine($"设置TCS失败: {code.GetDescription()}");
            }

            // [ZH] 设置UDP位置控制的相关参数
            // [EN] Set UDP position control related parameters
            code = controller.Motion.SetPositionTrajectoryParams(10, 20, 10, 10);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("设置位置控制参数成功");
            }
            else
            {
                Console.WriteLine($"设置位置控制参数失败: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            Console.WriteLine(
                disconnectCode != StatusCode.OK ? disconnectCode.GetDescription() : "Successfully disconnected."
            );
        }

        return code;
    }
}

4.2.3 Converting Cartesian Position to Joint Values

Method Name	Motion.ConvertCartToJoint( MotionPose `pose` , int `ufIndex` = 0, int `tfIndex` = 0 )
Description	Converts pose data from Cartesian coordinates to joint coordinates.
Request Parameters	`pose` : MotionPose Robot pose data `ufIndex` : int User coordinate system index, default is 0 `tfIndex` : int Tool coordinate system index, default is 0
Return Value	MotionPose: Converted robot pose data StatusCode: Conversion operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Motion/ConvertCartToJoint.cs

using Agilebot.IR;
using Agilebot.IR.Motion;
using Agilebot.IR.Types;

public class ConvertCartToJoint
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 创建笛卡尔位姿
            // [EN] Create Cartesian pose
            MotionPose motionPose = new MotionPose();
            motionPose.Pt = PoseType.Cart;
            motionPose.CartData.Position = new Position
            {
                X = 300,
                Y = 300,
                Z = 300,
                A = 0,
                B = 0,
                C = 0,
            };
            motionPose.CartData.Posture = new Posture
            {
                WristFlip = 1,
                ArmUpDown = 1,
                ArmBackFront = 1,
                ArmLeftRight = 1,
                TurnCircle = new List<int>(9) { 0, 0, 0, 0, 0, 0, 0, 0, 0 },
            };

            // [ZH] 将笛卡尔点位转换成关节值点位
            // [EN] Convert Cartesian pose to joint pose
            MotionPose convertPose;
            (convertPose, code) = controller.Motion.ConvertCartToJoint(motionPose);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("笛卡尔转关节成功:");
                Console.WriteLine(
                    $"关节值: J1={convertPose.Joint.J1}, J2={convertPose.Joint.J2}, J3={convertPose.Joint.J3}, J4={convertPose.Joint.J4}, J5={convertPose.Joint.J5}, J6={convertPose.Joint.J6}"
                );
            }
            else
            {
                Console.WriteLine($"笛卡尔转关节失败: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            Console.WriteLine(
                disconnectCode != StatusCode.OK ? disconnectCode.GetDescription() : "Successfully disconnected."
            );
        }

        return code;
    }
}

4.2.4 Converting Joint Values to Cartesian Position

Method Name	Motion.ConvertJointToCart( MotionPose `pose` , int `ufIndex` = 0, int `tfIndex` = 0 )
Description	Converts pose data from joint coordinates to Cartesian coordinates.
Request Parameters	`pose` : MotionPose Robot pose data `ufIndex` : int User coordinate system index, default is 0 `tfIndex` : int Tool coordinate system index, default is 0
Return Value	MotionPose: Converted robot pose data StatusCode: Conversion operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Motion/ConvertJointToCart.cs

using Agilebot.IR;
using Agilebot.IR.Motion;
using Agilebot.IR.Types;

public class ConvertJointToCart
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 创建关节位姿
            // [EN] Create joint pose
            MotionPose motionPose = new MotionPose();
            motionPose.Pt = PoseType.Joint;
            motionPose.Joint = new Joint
            {
                J1 = 0,
                J2 = 0,
                J3 = 60,
                J4 = 60,
                J5 = 0,
                J6 = 0,
            };

            // [ZH] 将关节值点位转换成笛卡尔点位
            // [EN] Convert joint pose to Cartesian pose
            MotionPose convertPose;
            (convertPose, code) = controller.Motion.ConvertJointToCart(motionPose);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("关节转笛卡尔成功:");
                Console.WriteLine(
                    $"位置: X={convertPose.CartData.Position.X}, Y={convertPose.CartData.Position.Y}, Z={convertPose.CartData.Position.Z}"
                );
                Console.WriteLine(
                    $"姿态: A={convertPose.CartData.Position.A}, B={convertPose.CartData.Position.B}, C={convertPose.CartData.Position.C}"
                );
            }
            else
            {
                Console.WriteLine($"关节转笛卡尔失败: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            Console.WriteLine(
                disconnectCode != StatusCode.OK ? disconnectCode.GetDescription() : "Successfully disconnected."
            );
        }

        return code;
    }
}

4.2.5 Moving the Robot End Effector to a Specified Position

Method Name	Motion.MoveJoint( MotionPose `pose` , double `vel` = 1, double `acc` = 1 )
Description	Moves the robot end effector to a specified position, using the fastest path (joint motion).
Request Parameters	`pose` : MotionPose Target position coordinates in Cartesian space or joint coordinate system `vel` : double Motion speed, range 0~1, representing multiple of maximum speed `acc` : double Acceleration, range 0~1.2, representing multiple of maximum acceleration
Return Value	StatusCode: Motion command execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Motion/MoveJoint.cs

using Agilebot.IR;
using Agilebot.IR.Motion;
using Agilebot.IR.Types;

public class MoveJoint
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 创建关节位姿
            // [EN] Create joint pose
            MotionPose motionPose = new MotionPose();
            motionPose.Pt = PoseType.Joint;
            motionPose.Joint = new Joint
            {
                J1 = 10,
                J2 = 30,
                J3 = 30,
                J4 = 0,
                J5 = 0,
                J6 = 0,
            };

            // [ZH] 让机器人末端移动到指定的位置
            // [EN] Move robot end to specified position
            code = controller.Motion.MoveJoint(motionPose, 0.5, 0.8);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("关节运动请求成功");
            }
            else
            {
                Console.WriteLine($"关节运动失败: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            Console.WriteLine(
                disconnectCode != StatusCode.OK ? disconnectCode.GetDescription() : "Successfully disconnected."
            );
        }

        return code;
    }
}

4.2.6 Moving the Robot End Effector Along a Straight Line to a Specified Position

Method Name	Motion.MoveLine( MotionPose `pose` , double `vel` = 100, double `acc` = 1 )
Description	Moves the robot end effector along a straight line to a specified position, using a linear path between two points.
Request Parameters	`pose` : MotionPose Target position coordinates in Cartesian space or joint coordinate system `vel` : double Motion speed, range 0~5000mm/s, representing robot end effector movement speed `acc` : double Acceleration, range 0~1.2, representing multiple of maximum acceleration
Return Value	StatusCode: Motion command execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Motion/MoveLine.cs

using Agilebot.IR;
using Agilebot.IR.Motion;
using Agilebot.IR.Types;

public class MoveLine
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 创建关节位姿
            // [EN] Create joint pose
            MotionPose motionPose = new MotionPose();
            motionPose.Pt = PoseType.Joint;
            motionPose.Joint = new Joint
            {
                J1 = 20,
                J2 = 40,
                J3 = 40,
                J4 = 5,
                J5 = 5,
                J6 = 5,
            };

            // [ZH] 让机器人末端沿直线移动到指定的位置
            // [EN] Move robot end in straight line to specified position
            code = controller.Motion.MoveLine(motionPose, 100, 1.0);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("直线运动请求成功");
            }
            else
            {
                Console.WriteLine($"直线运动失败: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            Console.WriteLine(
                disconnectCode != StatusCode.OK ? disconnectCode.GetDescription() : "Successfully disconnected."
            );
        }

        return code;
    }
}

4.2.7 Moving the Robot End Effector Along an Arc to a Specified Position

Method Name	Motion.MoveCircle( MotionPose `pose1` , MotionPose `pose2` , double `vel` = 100, double `acc` = 1 )
Description	Moves the robot end effector along an arc to a specified position.
Request Parameters	`pose1` : MotionPose Robot motion intermediate pose `pose2` : MotionPose Robot motion final pose `vel` : double Motion speed, range 0~5000mm/s, representing robot end effector movement speed `acc` : double Acceleration, range 0~1.2, representing multiple of maximum acceleration
Return Value	StatusCode: Motion command execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Motion/MoveCircle.cs

using Agilebot.IR;
using Agilebot.IR.Motion;
using Agilebot.IR.Types;

public class MoveCircle
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 创建第一个位姿（途径点）
            // [EN] Create first pose (waypoint)
            MotionPose motionPose1 = new MotionPose();
            motionPose1.Pt = PoseType.Joint;
            motionPose1.Joint = new Joint
            {
                J1 = 0,
                J2 = 0,
                J3 = 60,
                J4 = 60,
                J5 = 0,
                J6 = 0,
            };

            // [ZH] 创建第二个位姿（终点）
            // [EN] Create second pose (endpoint)
            MotionPose motionPose2 = new MotionPose();
            motionPose2.Pt = PoseType.Joint;
            motionPose2.Joint = new Joint
            {
                J1 = 0,
                J2 = 30,
                J3 = 70,
                J4 = 40,
                J5 = 0,
                J6 = 0,
            };

            // [ZH] 让机器人末端沿弧线移动到指定的位置
            // [EN] Move robot end in arc to specified position
            code = controller.Motion.MoveCircle(motionPose1, motionPose2, 100, 1.0);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("弧线运动请求成功");
            }
            else
            {
                Console.WriteLine($"弧线运动失败: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            Console.WriteLine(
                disconnectCode != StatusCode.OK ? disconnectCode.GetDescription() : "Successfully disconnected."
            );
        }

        return code;
    }
}

4.2.8 Getting the Current Pose of the Robot

Method Name	Motion.GetCurrentPose( PoseType `pt` , int `ufIndex` = 0, int `tfIndex` = 0 )
Description	Gets the current pose of the robot, which can be pose information in Cartesian space or joint coordinate system.
Request Parameters	`pt` : PoseType Pose type `ufIndex` : int When using PoseType.CART, user coordinate system index must be provided, default is 0 `tfIndex` : int When using PoseType.CART, tool coordinate system index must be provided, default is 0
Return Value	MotionPose: Robot pose data StatusCode: Get operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Motion/GetCurrentPose.cs

using Agilebot.IR;
using Agilebot.IR.Motion;
using Agilebot.IR.Types;

public class GetCurrentPose
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 获取机器人的当前位姿（笛卡尔坐标）
            // [EN] Get robot current pose (Cartesian coordinates)
            MotionPose cartPose;
            (cartPose, code) = controller.Motion.GetCurrentPose(PoseType.Cart, 0, 0);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("当前笛卡尔位姿:");
                Console.WriteLine(
                    $"位置: X={cartPose.CartData.Position.X}, Y={cartPose.CartData.Position.Y}, Z={cartPose.CartData.Position.Z}"
                );
                Console.WriteLine(
                    $"姿态: A={cartPose.CartData.Position.A}, B={cartPose.CartData.Position.B}, C={cartPose.CartData.Position.C}"
                );
            }
            else
            {
                Console.WriteLine($"获取笛卡尔位姿失败: {code.GetDescription()}");
            }

            // [ZH] 获取机器人的当前位姿（关节坐标）
            // [EN] Get robot current pose (joint coordinates)
            MotionPose jointPose;
            (jointPose, code) = controller.Motion.GetCurrentPose(PoseType.Joint, 0, 0);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("当前关节位姿:");
                Console.WriteLine(
                    $"关节值: J1={jointPose.Joint.J1}, J2={jointPose.Joint.J2}, J3={jointPose.Joint.J3}, J4={jointPose.Joint.J4}, J5={jointPose.Joint.J5}, J6={jointPose.Joint.J6}"
                );
            }
            else
            {
                Console.WriteLine($"获取关节位姿失败: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            Console.WriteLine(
                disconnectCode != StatusCode.OK ? disconnectCode.GetDescription() : "Successfully disconnected."
            );
        }

        return code;
    }
}

4.2.9 Getting the Robot's DH Parameters

Method Name	Motion.GetDHParam()
Description	Gets the robot's DH (Denavit-Hartenberg) parameters.
Request Parameters	None
Return Value	List<DHparam>: DH parameter list StatusCode: Get operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): Not supported

Example Code

Motion/GetDHParam.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class GetDHParam
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 获取机器人的DH参数
            // [EN] Get robot DH parameters
            List<DHparam> dhParamsList;
            (dhParamsList, code) = controller.Motion.GetDHParam(1);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("获取DH参数成功:");
                for (int i = 0; i < dhParamsList.Count; i++)
                {
                    var dh = dhParamsList[i];
                    Console.WriteLine($"轴{i + 1}: Alpha={dh.alpha}, A={dh.a}, D={dh.d}, Offset={dh.offset}");
                }
            }
            else
            {
                Console.WriteLine($"获取DH参数失败: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            Console.WriteLine(
                disconnectCode != StatusCode.OK ? disconnectCode.GetDescription() : "Successfully disconnected."
            );
        }

        return code;
    }
}

4.2.10 Setting the Robot's DH Parameters

Method Name	Motion.SetDHParam( List<DHparam> `dHparams` )
Description	Sets the robot's DH (Denavit-Hartenberg) parameters.
Request Parameters	`dHparams` : List<DHparam> DH parameter list
Return Value	StatusCode: Set operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): Not supported

Example Code

Motion/SetDHParam.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class SetDHParam
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 先获取当前的DH参数
            // [EN] First get current DH parameters
            List<DHparam> dhParamsList;
            (dhParamsList, code) = controller.Motion.GetDHParam(1);
            if (code != StatusCode.OK)
            {
                Console.WriteLine($"获取DH参数失败: {code.GetDescription()}");
                return code;
            }

            Console.WriteLine("获取DH参数成功，准备设置相同的参数...");

            // [ZH] 设置DH参数（这里设置为相同的参数作为示例）
            // [EN] Set DH parameters (set same parameters as example)
            code = controller.Motion.SetDHParam(dhParamsList);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("设置DH参数成功");
            }
            else
            {
                Console.WriteLine($"设置DH参数失败: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            Console.WriteLine(
                disconnectCode != StatusCode.OK ? disconnectCode.GetDescription() : "Successfully disconnected."
            );
        }

        return code;
    }
}

4.2.11 Getting the Robot Axis Lock Status

Method Name	Motion.GetDragSet()
Description	Gets the current robot axis lock status, which only applies to teaching movements.
Request Parameters	None
Return Value	DragStatus: Axis lock status, True indicates the axis is movable, False indicates it is locked StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): Not supported

4.2.12 Setting the Robot Axis Lock Status

Method Name	Motion.SetDragSet( DragStatus `dragStatus` )
Description	Sets the current robot axis lock status, which only applies to teaching movements.
Request Parameters	`dragStatus` : DragStatus Axis lock status, default is all True: unlocked state
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): Not supported

4.2.13 Enabling Drag Teaching for the Robot

Method Name	Motion.EnableDrag( bool `dragState` )
Description	Enables or disables drag teaching for the robot.
Request Parameters	`dragState` : bool The drag state of the robot, true indicates entering drag mode, false indicates exiting drag mode
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): Not supported

Example Code

Motion/DragControl.cs

using Agilebot.IR;
using Agilebot.IR.Motion;
using Agilebot.IR.Types;

public class DragControl
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 获取当前机器人的轴锁定状态
            // [EN] Get current robot axis lock status
            DragStatus dragStatus;
            (dragStatus, code) = controller.Motion.GetDragSet();
            if (code == StatusCode.OK)
            {
                Console.WriteLine("获取轴锁定状态成功:");
                Console.WriteLine(
                    $"X轴: {dragStatus.CartStatus.X}, Y轴: {dragStatus.CartStatus.Y}, Z轴: {dragStatus.CartStatus.Z}"
                );
                Console.WriteLine($"连续拖动: {dragStatus.IsContinuousDrag}");
            }
            else
            {
                Console.WriteLine($"获取轴锁定状态失败: {code.GetDescription()}");
            }

            // [ZH] 修改当前机器人的轴锁定状态
            // [EN] Modify current robot axis lock status
            if (code == StatusCode.OK)
            {
                dragStatus.CartStatus.X = false;
                dragStatus.IsContinuousDrag = true;
                code = controller.Motion.SetDragSet(dragStatus);
                if (code == StatusCode.OK)
                {
                    Console.WriteLine("设置轴锁定状态成功");
                }
                else
                {
                    Console.WriteLine($"设置轴锁定状态失败: {code.GetDescription()}");
                }
            }

            // [ZH] 启动拖动（注意：实际使用中需要谨慎）
            // [EN] Enable drag (Note: use with caution in practice)
            if (code == StatusCode.OK)
            {
                Console.WriteLine("注意：启动拖动功能，请确保安全！");
                code = controller.Motion.EnableDrag(true);
                if (code == StatusCode.OK)
                {
                    Console.WriteLine("启动拖动成功");

                    // [ZH] 等待一段时间后停止拖动
                    // [EN] Wait for a while then stop drag
                    Console.WriteLine("等待3秒后停止拖动...");
                    Thread.Sleep(3000);

                    code = controller.Motion.EnableDrag(false);
                    if (code == StatusCode.OK)
                    {
                        Console.WriteLine("停止拖动成功");
                    }
                    else
                    {
                        Console.WriteLine($"停止拖动失败: {code.GetDescription()}");
                    }
                }
                else
                {
                    Console.WriteLine($"启动拖动失败: {code.GetDescription()}");
                }
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            Console.WriteLine(
                disconnectCode != StatusCode.OK ? disconnectCode.GetDescription() : "Successfully disconnected."
            );
        }

        return code;
    }
}

4.2.14 Entering Real-Time Position Control Mode

Method Name	Motion.EnterPositionControl()
Description	Enters real-time position control mode, allowing precise position control of the robot.
Request Parameters	None
Return Value	StatusCode: Result of function execution
Note	After entering real-time control mode, control commands must be sent via UDP.
Compatible robot software version	Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported

4.2.15 Exiting Real-Time Position Control Mode

Method Name	Motion.ExitPositionControl()
Description	Exits real-time position control mode, returning to the default robot control state.
Request Parameters	None
Return Value	StatusCode: Result of function execution
Note	After exiting, the robot will no longer accept real-time control commands.
Compatible robot software version	Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported

4.2.16 Setting Subscription Parameters

Method Name	Motion.SetUDPFeedbackParams( bool `flag` , string `ip` , int `interval` , int `feedbackType` , List<int> `DOList` = null )
Description	Configures the subscription parameters for the robot to push data to a specified IP address.
Request Parameters	`flag` : bool Whether to enable UDP data pushing; `ip` : string IP address of the recipient; `interval` : int Interval for sending data (unit: milliseconds); `feedbackType` : int Feedback data format (0: XML format); `DOList` : List<int> List of DO signals to be obtained (up to ten, optional)
Return Value	StatusCode: Result of function execution
Note	The parameter settings are only effective when the UDP data pushing function is enabled.
Compatible robot software version	Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported

Example Code

Motion/PositionControl.cs

using Agilebot.IR;
using Agilebot.IR.Motion;
using Agilebot.IR.Types;

public class PositionControl
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 设置UDP反馈参数
            // [EN] Set UDP feedback parameters
            code = controller.Motion.SetUDPFeedbackParams(true, "192.168.1.1", 10, 0);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("设置UDP反馈参数成功");
            }
            else
            {
                Console.WriteLine($"设置UDP反馈参数失败: {code.GetDescription()}");
            }

            // [ZH] 进入实时位置控制模式
            // [EN] Enter real-time position control mode
            code = controller.Motion.EnterPositionControl();
            if (code == StatusCode.OK)
            {
                Console.WriteLine("进入实时位置控制模式成功");

                // [ZH] 在此可以插入发送UDP数据控制机器人的代码
                // [EN] Insert UDP data control code here
                Console.WriteLine("注意：在实时位置控制模式下，需要通过UDP发送控制指令");
                Console.WriteLine("等待2秒...");
                Thread.Sleep(2000);

                // [ZH] 退出实时位置控制模式
                // [EN] Exit real-time position control mode
                code = controller.Motion.ExitPositionControl();
                if (code == StatusCode.OK)
                {
                    Console.WriteLine("退出实时位置控制模式成功");
                }
                else
                {
                    Console.WriteLine($"退出实时位置控制模式失败: {code.GetDescription()}");
                }
            }
            else
            {
                Console.WriteLine($"进入实时位置控制模式失败: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            Console.WriteLine(
                disconnectCode != StatusCode.OK ? disconnectCode.GetDescription() : "Successfully disconnected."
            );
        }

        return code;
    }
}

Data Push Description

Name	Field	Description
RIst: Cartesian Position	X	Value in the X direction in the tool coordinate system, unit is millimeters
	Y	Value in the Y direction in the tool coordinate system, unit is millimeters
	Z	Value in the Z direction in the tool coordinate system, unit is millimeters
	A	Rotation around the X axis in the tool coordinate system, unit is degrees
	B	Rotation around the Y axis in the tool coordinate system, unit is degrees
	C	Rotation around the Z axis in the tool coordinate system, unit is degrees
AIPos: Joint Position	A1-A6	Values of the six joints, unit is degrees
EIPos: Additional Axis Data	EIPos	Additional axis data
WristBtnState: Wrist Button State	Button State	1 = Button pressed, 0 = Button released
	DragModel	Drag button state
	RcordJoint	Teach record button state
	PauseResume	Pause/resume button state
Digout: DO Output	Digout	State of digital output (DO)
ProgramStatus: Program Status	ProgId	Program ID
	Status	Interpreter execution status: 0 = INTERPRETER_IDLE 1 = INTERPRETER_EXECUTE 2 = INTERPRETER_PAUSED
	Xpath	Program segment return value, format is `program name: line number`
IPOC: Timestamp	IPOC	Timestamp

4.2.17 Getting the Robot's Soft Limits

Method Name	Motion.GetUserSoftLimit()
Description	Gets the current soft limits of the robot.
Request Parameters	None
Return Value	List<List<double>>: Robot's soft limits, the first layer of the list represents each axis, and the second layer represents the lower and upper limit values of each axis StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.2.18 Specifying UDP Position Control Parameters

Method Name	Motion.SetPositionTrajectoryParams( int `maxTimeoutCount` , int `timeout` , double `wristElbowThreshold` , double `shoulderThreshold` )
Description	Specifies the parameters related to UDP position control.
Request Parameters	`maxTimeoutCount` : Maximum number of timeouts; `timeout` : Timeout period (i.e., send interval, default is 20ms); `wristElbowThreshold` : Threshold for wrist/elbow approaching singularity; `shoulderThreshold` : Threshold for approaching shoulder singularity;
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.2.19 Payload-Related Interfaces

4.2.19.1 Getting the Current Active Payload

Method Name	Motion.Payload.GetCurrentPayload()
Description	Gets the currently active payload information.
Request Parameters	None
Return Value	int: Index of the currently active payload StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.2.19.2 Getting the Corresponding Payload

Method Name	Motion.Payload.GetPayloadById( int `index` )
Description	Gets the corresponding payload.
Request Parameters	`index` : Payload index
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.2.19.3 Activating the Corresponding Payload

Method Name	Motion.Payload.SetCurrentPayload( int `index` )
Description	Activates the corresponding payload.
Request Parameters	`index` : Payload index
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+
Note	The payload ID must exist in the current device.

4.2.19.4 Getting All Payload Information

Method Name	Motion.Payload.GetAllPayloadInfo()
Description	Gets detailed information of all payloads.
Request Parameters	None
Return Value	Dictionary<uint, string>: Returns a dictionary of payload information StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.2.19.5 Adding a Payload

Method Name	Motion.Payload.AddPayload( PayloadInfo `payload` )
Description	Adds a new payload.
Request Parameters	`payload` : PayloadInfo Payload object
Return Value	StatusCode: Result of function execution
Note	The new payload ID must not exist in the current device and must be between 1 and 10.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.2.19.6 Deleting a Specified Payload

Method Name	Motion.Payload.DeletePayload( int `index` )
Description	Deletes the payload with the specified index.
Request Parameters	`index` : int Payload index
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+
Note	Note: The currently active payload cannot be deleted. If you want to delete the active payload, please activate another payload first and then delete the current one.

4.2.19.7 Updating a Specified Payload

Method Name	Motion.Payload.UpdatePayload( PayloadInfo `payload` )
Description	Updates the information of the specified payload.
Request Parameters	`payload` : PayloadInfo Payload object
Return Value	StatusCode: Result of function execution
Note	The payload ID must exist in the current device.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Motion/PayloadControl.cs

using Agilebot.IR;
using Agilebot.IR.Motion;

public class PayloadControl
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 获取负载列表
            // [EN] Get payload list
            Dictionary<int, string> payloadList;
            (payloadList, code) = controller.Motion.Payload.GetAllPayloadInfo();
            if (code == StatusCode.OK)
            {
                Console.WriteLine("获取负载列表成功:");
                foreach (var p in payloadList)
                {
                    Console.WriteLine($"负载ID: {p.Key}, 描述: {p.Value}");
                }
            }
            else
            {
                Console.WriteLine($"获取负载列表失败: {code.GetDescription()}");
            }

            // [ZH] 获取当前激活的负载
            // [EN] Get current active payload
            int currentPayload;
            (currentPayload, code) = controller.Motion.Payload.GetCurrentPayload();
            if (code == StatusCode.OK)
            {
                Console.WriteLine($"当前激活的负载ID: {currentPayload}");
            }
            else
            {
                Console.WriteLine($"获取当前负载失败: {code.GetDescription()}");
            }

            // [ZH] 添加新负载
            // [EN] Add new payload
            PayloadInfo payload = new()
            {
                Id = 3,
                Comment = "测试负载",
                Weight = 1.0,
                MassCenter = new()
                {
                    X = 1,
                    Y = 2,
                    Z = 3,
                },
                InertiaMoment = new()
                {
                    LX = 10,
                    LY = 20,
                    LZ = 30,
                },
            };

            code = controller.Motion.Payload.AddPayload(payload);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("添加负载成功");
            }
            else
            {
                Console.WriteLine($"添加负载失败: {code.GetDescription()}");
            }

            // [ZH] 设置当前激活的负载
            // [EN] Set current active payload
            if (code == StatusCode.OK)
            {
                code = controller.Motion.Payload.SetCurrentPayload(3);
                if (code == StatusCode.OK)
                {
                    Console.WriteLine("设置当前负载成功");
                }
                else
                {
                    Console.WriteLine($"设置当前负载失败: {code.GetDescription()}");
                }
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            Console.WriteLine(
                disconnectCode != StatusCode.OK ? disconnectCode.GetDescription() : "Successfully disconnected."
            );
        }

        return code;
    }
}

4.2.19.8 Checking if Axis 3 is Horizontal

Method Name	Motion.Payload.CheckAxisThreeHorizontal()
Description	Checks if Axis 3 is horizontal.
Request Parameters	None
Return Value	double: The horizontal angle of Axis 3 StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported
Note	The horizontal angle must be between -1 and 1 to perform payload identification.

4.2.19.9 Getting the Payload Identification State

Method Name	Motion.Payload.GetPayloadIdentifyState()
Description	Gets the state of payload identification.
Request Parameters	None
Return Value	PayloadIdentifyState: Payload identification state StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported

4.2.19.10 Starting Payload Identification

Method Name	Motion.Payload.StartPayloadIdentify( double `weight` , double `angle` )
Description	Starts payload identification.
Request Parameters	`weight` : double Payload weight (use -1 for unknown weight) `angle` : double Allowed rotation angle of Axis 6 (30-90 degrees)
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported
Note	You must enter the payload identification state before starting payload identification.

4.2.19.11 Getting the Payload Identification Result

Method Name	Motion.Payload.PayloadIdentifyResult()
Description	Gets the result of payload identification.
Request Parameters	None
Return Value	PayloadInfo: Payload identification result StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported

4.2.19.12 Starting Interference Check for Payload Identification

Method Name	Motion.Payload.InterferenceCheckForPayloadIdentify( double `weight` , double `angle` )
Description	Starts interference check for payload identification to check for potential collisions.
Request Parameters	`weight` : double Payload weight (use -1 for unknown weight) `angle` : double Allowed rotation angle of Axis 6 (30-90 degrees)
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported

4.2.19.13 Entering Payload Identification State

Method Name	Motion.Payload.PayloadIdentifyStart()
Description	Enters the payload identification state.
Request Parameters	None
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported

4.2.19.14 Exiting Payload Identification State

Method Name	Motion.Payload.PayloadIdentifyDone()
Description	Exits the payload identification state.
Request Parameters	None
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported

4.2.19.15 Full Payload Identification Process

Method Name	Motion.Payload.PayloadIdentify( double `weight` = -1, double `angle` = 90 )
Description	Complete payload identification process, including all the interfaces mentioned above. For general payload identification, this interface is sufficient.
Request Parameters	`weight` : double Payload weight (use -1 for unknown weight) `angle` : double Allowed rotation angle of Axis 6 (30-90 degrees)
Return Value	PayloadInfo: Payload identification result StatusCode: Result of function execution
Note	The returned payload can be added to the robot or saved to an existing payload in the robot. The full process steps are: 1. Enter payload identification state 2. Start payload identification 3. Get payload identification result 4. Exit payload identification state
Compatible robot software version	Collaborative (Copper): v7.5.2.0+ Industrial (Bronze): Not supported

Example Code

Motion/PayloadIdentify.cs

using Agilebot.IR;
using Agilebot.IR.Motion;
using Agilebot.IR.Types;

public class PayloadIdentify
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 获取机器人模式
            // [EN] Get robot mode
            (UserOpMode opMode, StatusCode opCode) = controller.GetOpMode();
            if (opCode == StatusCode.OK)
            {
                Console.WriteLine($"当前机器人模式/Current robot mode: {opMode}");
                if (opMode != UserOpMode.AUTO)
                {
                    Console.WriteLine(
                        $"负载测定执行必须在机器人自动模式下/Payload identification execution must be in automatic mode"
                    );
                    return StatusCode.OtherReason;
                }
            }
            else
            {
                Console.WriteLine($"获取机器人模式失败/Failed to get robot mode: {opCode.GetDescription()}");
            }

            // [ZH] 检测3轴是否水平
            // [EN] Check if axis 3 is horizontal
            double horizontalAngle;
            (horizontalAngle, code) = controller.Motion.Payload.CheckAxisThreeHorizontal();
            if (code == StatusCode.OK)
            {
                Console.WriteLine($"3轴水平角度: {horizontalAngle}");
                if (Math.Abs(horizontalAngle) > 1)
                {
                    Console.WriteLine("警告：3轴水平角度超出范围(-1~1)，无法进行负载测定");
                    return StatusCode.OtherReason;
                }
            }
            else
            {
                Console.WriteLine($"检测3轴水平失败: {code.GetDescription()}");
            }

            // [ZH] 获取负载测定状态
            // [EN] Get payload identification state
            PayloadIdentifyState identifyState;
            (identifyState, code) = controller.Motion.Payload.GetPayloadIdentifyState();
            if (code == StatusCode.OK)
            {
                Console.WriteLine($"负载测定状态: {identifyState}");
            }
            else
            {
                Console.WriteLine($"获取负载测定状态失败: {code.GetDescription()}");
            }

            // [ZH] 执行完整的负载测定流程
            // [EN] Execute complete payload identification process
            PayloadInfo payload;
            (payload, code) = controller.Motion.Payload.PayloadIdentify(-1, 90);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("负载测定成功:");
                Console.WriteLine($"负载重量: {payload.Weight}");
                Console.WriteLine(
                    $"质心位置: X={payload.MassCenter.X}, Y={payload.MassCenter.Y}, Z={payload.MassCenter.Z}"
                );
                Console.WriteLine(
                    $"惯性矩: LX={payload.InertiaMoment.LX}, LY={payload.InertiaMoment.LY}, LZ={payload.InertiaMoment.LZ}"
                );

                // [ZH] 保存负载到机器人中
                // [EN] Save payload to robot
                payload.Id = 6;
                code = controller.Motion.Payload.AddPayload(payload);
                if (code == StatusCode.OK)
                {
                    Console.WriteLine("保存负载到机器人成功");
                }
                else
                {
                    Console.WriteLine($"保存负载失败: {code.GetDescription()}");
                }
            }
            else
            {
                Console.WriteLine($"负载测定失败: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            Console.WriteLine(
                disconnectCode != StatusCode.OK ? disconnectCode.GetDescription() : "Successfully disconnected."
            );
        }

        return code;
    }
}

4.2 Robot Motion Control and Status ​

4.2.1 Getting Robot Parameters ​

4.2.1.1 Getting OVC Overall Velocity Coefficient ​

4.2.1.2 Getting OAC Overall Acceleration Coefficient ​

4.2.1.3 Getting the Current TF ​

4.2.1.4 Getting the Current UF ​

4.2.1.5 Getting the Current TCS Teaching Coordinate System ​

4.2.2 Setting Robot Parameters ​

4.2.2.1 Setting OVC Overall Velocity Coefficient ​

4.2.2.2 Setting OAC Overall Acceleration Coefficient ​

4.2.2.3 Setting the Current TF Tool Coordinate System Index ​

4.2.2.4 Setting the Current UF User Coordinate System Index ​

4.2.2.5 Setting the Current TCS Teaching Coordinate System ​

4.2.3 Converting Cartesian Position to Joint Values ​

4.2.4 Converting Joint Values to Cartesian Position ​

4.2.5 Moving the Robot End Effector to a Specified Position ​

4.2.6 Moving the Robot End Effector Along a Straight Line to a Specified Position ​

4.2.7 Moving the Robot End Effector Along an Arc to a Specified Position ​

4.2.8 Getting the Current Pose of the Robot ​

4.2.9 Getting the Robot's DH Parameters ​

4.2.10 Setting the Robot's DH Parameters ​

4.2.11 Getting the Robot Axis Lock Status ​

4.2.12 Setting the Robot Axis Lock Status ​

4.2.13 Enabling Drag Teaching for the Robot ​

4.2.14 Entering Real-Time Position Control Mode ​

4.2.15 Exiting Real-Time Position Control Mode ​

4.2.16 Setting Subscription Parameters ​

Data Push Description ​

4.2.17 Getting the Robot's Soft Limits ​

4.2.18 Specifying UDP Position Control Parameters ​

4.2.19 Payload-Related Interfaces ​

4.2.19.1 Getting the Current Active Payload ​

4.2.19.2 Getting the Corresponding Payload ​

4.2.19.3 Activating the Corresponding Payload ​

4.2.19.4 Getting All Payload Information ​

4.2.19.5 Adding a Payload ​

4.2.19.6 Deleting a Specified Payload ​

4.2.19.7 Updating a Specified Payload ​

4.2.19.8 Checking if Axis 3 is Horizontal ​

4.2.19.9 Getting the Payload Identification State ​

4.2.19.10 Starting Payload Identification ​

4.2.19.11 Getting the Payload Identification Result ​

4.2.19.12 Starting Interference Check for Payload Identification ​

4.2.19.13 Entering Payload Identification State ​

4.2.19.14 Exiting Payload Identification State ​

4.2.19.15 Full Payload Identification Process ​

4.2 Robot Motion Control and Status

4.2.1 Getting Robot Parameters

4.2.1.1 Getting OVC Overall Velocity Coefficient

4.2.1.2 Getting OAC Overall Acceleration Coefficient

4.2.1.3 Getting the Current TF

4.2.1.4 Getting the Current UF

4.2.1.5 Getting the Current TCS Teaching Coordinate System

4.2.2 Setting Robot Parameters

4.2.2.1 Setting OVC Overall Velocity Coefficient

4.2.2.2 Setting OAC Overall Acceleration Coefficient

4.2.2.3 Setting the Current TF Tool Coordinate System Index

4.2.2.4 Setting the Current UF User Coordinate System Index

4.2.2.5 Setting the Current TCS Teaching Coordinate System

4.2.3 Converting Cartesian Position to Joint Values

4.2.4 Converting Joint Values to Cartesian Position

4.2.5 Moving the Robot End Effector to a Specified Position

4.2.6 Moving the Robot End Effector Along a Straight Line to a Specified Position

4.2.7 Moving the Robot End Effector Along an Arc to a Specified Position

4.2.8 Getting the Current Pose of the Robot

4.2.9 Getting the Robot's DH Parameters

4.2.10 Setting the Robot's DH Parameters

4.2.11 Getting the Robot Axis Lock Status

4.2.12 Setting the Robot Axis Lock Status

4.2.13 Enabling Drag Teaching for the Robot

4.2.14 Entering Real-Time Position Control Mode

4.2.15 Exiting Real-Time Position Control Mode

4.2.16 Setting Subscription Parameters

Data Push Description

4.2.17 Getting the Robot's Soft Limits

4.2.18 Specifying UDP Position Control Parameters

4.2.19 Payload-Related Interfaces

4.2.19.1 Getting the Current Active Payload

4.2.19.2 Getting the Corresponding Payload

4.2.19.3 Activating the Corresponding Payload

4.2.19.4 Getting All Payload Information

4.2.19.5 Adding a Payload

4.2.19.6 Deleting a Specified Payload

4.2.19.7 Updating a Specified Payload

4.2.19.8 Checking if Axis 3 is Horizontal

4.2.19.9 Getting the Payload Identification State

4.2.19.10 Starting Payload Identification

4.2.19.11 Getting the Payload Identification Result

4.2.19.12 Starting Interference Check for Payload Identification

4.2.19.13 Entering Payload Identification State

4.2.19.14 Exiting Payload Identification State

4.2.19.15 Full Payload Identification Process