捷勃特机器人 SDK
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外观

4.1 机器人基础操作 ​

方法名Arm( string controllerIP , string teachPanelIP = null, bool localProxy = true )
描述捷勃特机器人类构造函数，包含所有可用的机器人控制接口。需要先初始化并连接机器人后才能使用其他功能
请求参数controllerIP : string 机器人控制器 IP 地址
teachPanelIP : string 可选，示教器侧 IP；不提供时回退到 controllerIP
localProxy : bool 是否使用本地控制器代理服务，默认为 true。当为 true 时将在本地启动控制器代理服务；当为 false 时则需要机器人控制器中已安装代理服务（需要机器人软件版本 7.7 及以上）
返回值StatusCode: 构造函数执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

4.1.1 连接机器人 ​

方法名ConnectSync()
描述建立与捷勃特机器人的网络连接。必须先调用 Arm 构造函数初始化机器人实例
请求参数无参数
返回值StatusCode: 连接操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

4.1.2 判断与机械臂的连接是否有效 ​

方法名IsConnected()
描述检查与机器人的网络连接状态是否有效
请求参数无参数
返回值bool: 连接状态，true 表示连接有效，false 表示连接失效或未连接
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

4.1.3 与机器人断开连接 ​

方法名DisconnectSync()
描述断开与捷勃特机器人的网络连接，释放相关资源
请求参数无参数
返回值StatusCode: 断开连接操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

示例代码

Arm/Connect.cs
cs
using Agilebot.IR;

public class Connect
{
    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] 连接到捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 检查连接状态
            // [EN] Check the connection status
            var state = controller.IsConnected();
            Console.WriteLine("Connected: " + state);
        }
        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();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.4 获取当前机器人型号 ​

方法名GetArmModelInfo()
描述获取当前连接的捷勃特机器人型号信息
请求参数无参数
返回值string: 机器人型号字符串，例如 "GBT-C5A"
StatusCode: 获取操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

示例代码

Arm/GetArmModelInfo.cs
cs
using Agilebot.IR;

public class GetArmModelInfo
{
    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] 连接到捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 获取机器人型号信息
            // [EN] Get the robot model information
            (string info, code) = controller.GetArmModelInfo();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Get Robot Model Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Model: " + info);
            }
        }
        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();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.5 获取机器人运行状态 ​

方法名GetRobotState()
描述获取捷勃特机器人的当前运行状态
请求参数无参数
返回值RobotState: 机器人运行状态枚举值
StatusCode: 获取操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

示例代码

Arm/GetRobotState.cs
cs
using Agilebot.IR;
using Agilebot.IR.Types;

public class GetRobotState
{
    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();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 获取机器人运行状态
            // [EN] Get the robot running state
            (RobotState state, code) = controller.GetRobotState();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Get RobotState Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("RobotState: " + state);
            }
        }
        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();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.6 获取当前控制器运行状态 ​

方法名GetCtrlState()
描述获取捷勃特机器人控制器的当前运行状态
请求参数无参数
返回值CtrlState: 控制器运行状态枚举值
StatusCode: 获取操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

示例代码

Arm/GetCtrlState.cs
cs
using Agilebot.IR;
using Agilebot.IR.Types;

public class GetCtrlState
{
    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();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 获取控制器运行状态
            // [EN] Get the controller running state
            (CtrlState state, code) = controller.GetCtrlState();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Get CtrlState Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("CtrlState: " + state);
            }
        }
        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();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.7 获取当前伺服状态 ​

方法名GetServoState()
描述获取捷勃特机器人伺服系统的当前状态
请求参数无参数
返回值ServoState: 伺服系统状态枚举值
StatusCode: 获取操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

示例代码

Arm/GetServoState.cs
cs
using Agilebot.IR;
using Agilebot.IR.Types;

public class GetServoState
{
    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();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 获取伺服运行状态
            // [EN] Get the servo operating state
            (ServoState state, code) = controller.GetServoState();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Get ServoState Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("ServoState: " + state);
            }
        }
        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();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.8 获取机器人控制器版本 ​

方法名GetVersion()
描述获取捷勃特机器人控制器的软件版本信息
请求参数无参数
返回值string: 控制器软件版本字符串
StatusCode: 获取操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

示例代码

Arm/GetVersion.cs
cs
using Agilebot.IR;

public class GetVersion
{
    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();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 获取机器人控制器版本
            // [EN] Get the robot controller version
            string version;
            (version, code) = controller.GetVersion();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Get version Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Version: " + version);
            }
        }
        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();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.9 设置机器人的 LED 指示灯 ​

方法名SwitchLedLight( bool mode )
描述控制捷勃特机器人 LED 指示灯的开关状态
请求参数mode : bool LED 指示灯控制模式，true 表示开启，false 表示关闭
返回值StatusCode: 操作执行结果
兼容性仅支持协作机器人，需要控制器版本 1.3.6 及以上，工业机器人不支持
兼容的机器人软件版本协作 (Copper): v7.5.1.3+
工业 (Bronze): 不支持

示例代码

Arm/SwitchLedLight.cs
cs
using Agilebot.IR;

public class SwitchLedLight
{
    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();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 关闭灯光
            // [EN] Turn off the LED light
            code = controller.SwitchLedLight(false);
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Switch Led Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Switch Led Light Off.");
            }

            Thread.Sleep(2000);

            // [ZH] 打开灯光
            // [EN] Turn on the LED light
            code = controller.SwitchLedLight(true);
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Switch Led Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Switch Led Light On.");
            }
        }
        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] Disconnect from the robot
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.10 机器人伺服启动 ​

方法名ServoOn()
描述启动捷勃特机器人的伺服系统，使机器人进入可控制状态
请求参数无参数
返回值StatusCode: 伺服启动操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

4.1.11 机器人伺服关闭 ​

方法名ServoOff()
描述关闭捷勃特机器人的伺服系统，使机器人进入安全停止状态
请求参数无参数
返回值StatusCode: 伺服关闭操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

4.1.12 让机器人伺服重置 ​

方法名ServoReset()
描述重置捷勃特机器人的伺服系统，清除错误状态并准备重新启动
请求参数无参数
返回值StatusCode: 伺服重置操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

示例代码

Arm/ServoOperation.cs
cs
using Agilebot.IR;

public class ServoOperation
{
    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();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 机械臂伺服重置
            // [EN] Reset the robot arm servo
            code = controller.ServoReset();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Servo Reset Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Servo Reset Success.");
            }

            Thread.Sleep(3000);

            // [ZH] 机械臂伺服关闭
            // [EN] Turn off the robot arm servo
            code = controller.ServoOff();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Servo Off Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Servo Off Success.");
            }

            Thread.Sleep(3000);

            // [ZH] 机械臂伺服打开
            // [EN] Turn on the robot arm servo
            code = controller.ServoOn();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Servo On Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Servo On Success.");
            }

            Thread.Sleep(3000);
        }
        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();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.13 机器人紧急停止 ​

方法名Estop()
描述执行捷勃特机器人的紧急停止，立即停止所有运动并进入安全状态
请求参数无参数
返回值StatusCode: 紧急停止操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

示例代码

Arm/Estop.cs
cs
using Agilebot.IR;

public class Estop
{
    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] 连接到捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 触发机器人急停
            // [EN] Trigger the robot emergency stop
            code = controller.Estop();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Emergency Stop Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Emergency Stop Success");
            }
        }
        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();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

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