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4.12 机器人示教运动 ​

概述 ​

Jogging 类提供机器人在示教模式下的点动控制接口，支持单轴步进、单轴连续点动、多轴联动及停止操作。

核心功能 ​

  • 支持机器人单轴步进示教运动
  • 支持机器人单轴连续点动示教运动
  • 支持机器人多轴连续示教运动
  • 支持停止机器人连续示教运动
  • 支持通过方向符号控制正向 / 反向点动
  • 支持设置步进长度和旋转步进角度

使用场景 ​

  • 机器人调试和示教过程
  • 位置微调和姿态修正
  • 上位机远程手动调姿
  • 机器人安装和校准
  • 复杂轨迹执行前的定位确认

4.12.1 单轴步进示教运动 ​

方法名Jogging.Move(int ajNum , MoveMode moveMode , double stepLength = 0, double stepAngle = 0)
描述控制机器人按设定步进量进行单轴示教运动（ moveMode 取 MoveMode.Stepping ）
请求参数ajNum : int 轴编号（1~6 对应当前坐标系各轴；笛卡尔坐标系下 x/y/z/rx/ry/rz 对应 1~6；数值正负表示运动方向）
moveMode : MoveMode 运动模式，单轴步进场景固定为 MoveMode.Stepping
stepLength : double 单次直线步进长度，单位 mm（步进模式下生效）
stepAngle : double 单次旋转步进角度，单位 °（步进模式下生效）
返回值StatusCode: 返回点动是否成功的状态码
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

Jogging/StepJogging.cs
cs
using Agilebot.IR;
using Agilebot.IR.Types;

public class StepJogging
{
    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($"当前机器人模式/Current robot mode: {opMode}");
                if (opMode != UserOpMode.UNLIMITED_MANUAL && opMode != UserOpMode.LIMIT_MANUAL)
                {
                    Console.WriteLine($"示教运动必须在机器人手动模式下/Jogging must be in manual mode");
                    return StatusCode.OtherReason;
                }
            }
            else
            {
                Console.WriteLine($"获取机器人模式失败/Failed to get robot mode: {opCode.GetDescription()}");
            }

            // [ZH] 设置单步示教运动参数
            // [EN] Set step jogging parameters
            int ajNum = 1; // 轴序号，正数表示正方向运动
            MoveMode moveMode = MoveMode.Stepping; // 单步运动模式
            double stepLength = 5.0; // 步长，单位为mm或角度
            double stepAngle = 5.0; // 轴旋转角度，单位为角度

            Console.WriteLine("开始单步示教运动/Starting Step Jogging");
            Console.WriteLine($"轴序号/Axis Number: {ajNum}");
            Console.WriteLine($"运动模式/Move Mode: {moveMode}");
            Console.WriteLine($"步长/Step Length: {stepLength}");

            // [ZH] 执行单步示教运动
            // [EN] Execute step jogging movement
            code = controller.Jogging.Move(ajNum, moveMode, stepLength, stepAngle);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("单步示教运动执行成功/Step Jogging Executed Successfully");
                Console.WriteLine(
                    $"轴{ajNum}向正方向移动{stepLength}单位/Axis {ajNum} moved {stepLength} units in positive direction"
                );
            }
            else
            {
                Console.WriteLine($"单步示教运动执行失败/Step Jogging Execution Failed: {code.GetDescription()}");
            }

            // [ZH] 等待一秒后执行反向运动
            // [EN] Wait one second then execute reverse movement
            Thread.Sleep(1000);

            // [ZH] 执行反向单步运动
            // [EN] Execute reverse step movement
            int reverseAjNum = -ajNum; // 负数表示负方向运动
            code = controller.Jogging.Move(reverseAjNum, moveMode, stepLength, stepAngle);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("反向单步示教运动执行成功/Reverse Step Jogging Executed Successfully");
                Console.WriteLine(
                    $"轴{Math.Abs(reverseAjNum)}向负方向移动{stepLength}单位/Axis {Math.Abs(reverseAjNum)} moved {stepLength} units in negative direction"
                );
            }
            else
            {
                Console.WriteLine(
                    $"反向单步示教运动执行失败/Reverse Step Jogging Execution Failed: {code.GetDescription()}"
                );
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"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();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.12.2 单轴连续点动示教运动 ​

方法名Jogging.Move(int ajNum , MoveMode moveMode , double stepLength = 0, double stepAngle = 0)
描述控制机器人进行单轴连续点动示教运动（ moveMode 取 MoveMode.Continuous ）
请求参数ajNum : int 轴编号（1~6 对应当前坐标系各轴；笛卡尔坐标系下 x/y/z/rx/ry/rz 对应 1~6；数值正负表示运动方向）
moveMode : MoveMode 运动模式，单轴连续点动场景固定为 MoveMode.Continuous
stepLength : double 步长参数（连续模式下通常不使用）
stepAngle : double 步角参数（连续模式下通常不使用）
返回值StatusCode: 返回点动是否成功的状态码
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

Jogging/ContinuousJogging.cs
cs
using Agilebot.IR;
using Agilebot.IR.Types;

public class ContinuousJogging
{
    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($"当前机器人模式/Current robot mode: {opMode}");
                if (opMode != UserOpMode.UNLIMITED_MANUAL && opMode != UserOpMode.LIMIT_MANUAL)
                {
                    Console.WriteLine($"示教运动必须在机器人手动模式下/Jogging must be in manual mode");
                    return StatusCode.OtherReason;
                }
            }
            else
            {
                Console.WriteLine($"获取机器人模式失败/Failed to get robot mode: {opCode.GetDescription()}");
            }

            // [ZH] 设置示教运动参数
            // [EN] Set jogging parameters
            int ajNum = 3; // 轴序号，正数表示正方向运动
            MoveMode moveMode = MoveMode.Continuous; // 连续运动模式

            Console.WriteLine("开始连续示教运动/Starting Continuous Jogging");
            Console.WriteLine($"轴序号/Axis Number: {ajNum}");
            Console.WriteLine($"运动模式/Move Mode: {moveMode}");

            // [ZH] 启动连续示教运动
            // [EN] Start continuous jogging movement
            code = controller.Jogging.Move(ajNum, moveMode);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("连续示教运动启动成功/Continuous Jogging Started Successfully");
                Console.WriteLine("运动3秒后自动停止/Moving for 3 seconds then auto stop");

                // [ZH] 运动3秒
                // [EN] Move for 3 seconds
                Thread.Sleep(3000);

                // [ZH] 停止示教运动
                // [EN] Stop jogging movement
                controller.Jogging.Stop();
                Console.WriteLine("示教运动已停止/Jogging Movement Stopped");
            }
            else
            {
                Console.WriteLine($"连续示教运动启动失败/Continuous Jogging Start Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"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();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.12.3 多轴连续示教运动 ​

方法名Jogging.MultiMove(int[] ajNums )
描述控制机器人多轴同时进行连续示教运动
请求参数ajNums : int [] 轴编号列表（1~6 对应当前坐标系各轴；笛卡尔坐标系下 x/y/z/rx/ry/rz 对应 1~6；数值正负表示各轴运动方向）
返回值StatusCode: 返回点动是否成功的状态码
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

Jogging/MultiJogging.cs
cs
using Agilebot.IR;
using Agilebot.IR.Jogging;
using Agilebot.IR.Types;

public class MultiJogging
{
    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($"当前机器人模式/Current robot mode: {opMode}");
                if (opMode != UserOpMode.UNLIMITED_MANUAL && opMode != UserOpMode.LIMIT_MANUAL)
                {
                    Console.WriteLine($"示教运动必须在机器人手动模式下/Jogging must be in manual mode");
                    return StatusCode.OtherReason;
                }
            }
            else
            {
                Console.WriteLine($"获取机器人模式失败/Failed to get robot mode: {opCode.GetDescription()}");
            }

            Console.WriteLine("开始多轴示教运动/Starting Multi-axis Jogging");
            Console.WriteLine("演示多轴运动/Demo multi-axis step movements");

            // [ZH] 多轴运动
            // [EN] Multi-axis step movement
            Console.WriteLine("\n=== 多轴运动/Multi-axis Step Movement ===");
            int[] axes = { 1, 2, 3 }; // 正方向运动

            code = controller.Jogging.MultiMove(axes);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("连续示教运动启动成功/Continuous Jogging Started Successfully");
                Console.WriteLine("运动3秒后自动停止/Moving for 3 seconds then auto stop");

                // [ZH] 运动3秒
                // [EN] Move for 3 seconds
                Thread.Sleep(3000);

                // [ZH] 停止示教运动
                // [EN] Stop jogging movement
                controller.Jogging.Stop();
                Console.WriteLine("示教运动已停止/Jogging Movement Stopped");
            }
            else
            {
                Console.WriteLine($"连续示教运动启动失败/Continuous Jogging Start Failed: {code.GetDescription()}");
            }

            Console.WriteLine("\n多轴示教运动完成/Multi-axis Jogging Completed");
        }
        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;
    }
}

4.12.4 停止机器人连续运动 ​

方法名Jogging.Stop()
描述终止机器人当前示教点动（JOG）连续运动
请求参数无
返回值void
备注仅在连续点动模式下需要调用此方法停止运动
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

Jogging/ContinuousJogging.cs
cs
using Agilebot.IR;
using Agilebot.IR.Types;

public class ContinuousJogging
{
    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($"当前机器人模式/Current robot mode: {opMode}");
                if (opMode != UserOpMode.UNLIMITED_MANUAL && opMode != UserOpMode.LIMIT_MANUAL)
                {
                    Console.WriteLine($"示教运动必须在机器人手动模式下/Jogging must be in manual mode");
                    return StatusCode.OtherReason;
                }
            }
            else
            {
                Console.WriteLine($"获取机器人模式失败/Failed to get robot mode: {opCode.GetDescription()}");
            }

            // [ZH] 设置示教运动参数
            // [EN] Set jogging parameters
            int ajNum = 3; // 轴序号，正数表示正方向运动
            MoveMode moveMode = MoveMode.Continuous; // 连续运动模式

            Console.WriteLine("开始连续示教运动/Starting Continuous Jogging");
            Console.WriteLine($"轴序号/Axis Number: {ajNum}");
            Console.WriteLine($"运动模式/Move Mode: {moveMode}");

            // [ZH] 启动连续示教运动
            // [EN] Start continuous jogging movement
            code = controller.Jogging.Move(ajNum, moveMode);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("连续示教运动启动成功/Continuous Jogging Started Successfully");
                Console.WriteLine("运动3秒后自动停止/Moving for 3 seconds then auto stop");

                // [ZH] 运动3秒
                // [EN] Move for 3 seconds
                Thread.Sleep(3000);

                // [ZH] 停止示教运动
                // [EN] Stop jogging movement
                controller.Jogging.Stop();
                Console.WriteLine("示教运动已停止/Jogging Movement Stopped");
            }
            else
            {
                Console.WriteLine($"连续示教运动启动失败/Continuous Jogging Start Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"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();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

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