API manual(V1.30)
Preface
The Doosan Robotics API was developed with the programming language C/C++, and can be used to directly control the Doosan robot controller from a user application, not from a teach pendant. This API manual describes the API functions.
The contents of this manual are current as of the date this manual was written, and product-related information may be modified without prior notification to the user.
For more information on the revised manual, please visit our Robot LAB website. (https://robotlab.doosanrobotics.com/)
Copyright
The copyright and intellectual property rights of the contents of this manual are held by Doosan Robotics. It is therefore prohibited to use, copy, or distribute the contents without written approval from Doosan Robotics. In the event of abuse or modification of the patent right, the user will be fully accountable for the consequences.
While the information in this manual is reliable, Doosan Robotics will not be held accountable for any damage that occurs due to errors or typos. The contents of this manual may be modified according to product improvement without prior notification.
© Doosan Robotics Inc., All rights reserved
History of Document Creation/Revision
Revision No. | Creation/Revision Pages and Contents | Revision Date |
|---|---|---|
1.0 | Initial Creation and Distribution | 2018-06-29 |
1.1 | Update new commands | 2020-05-20 |
1.11 | Update function name(DRL style) | 2020-05-28 |
1.12 | Split the header(add DRCFEx class) | 2020-06-08 |
1.13 | Add flange_serial function, etc. | 2020-10-19 |
1.14 | Correction of typos / Correction of some functions (movesj/set_safe_stop_reset_type/ close_connection, etc.) | 2020-10-19 |
1.15 | Add missing function set_user_home / Flange_serial_read parameter added (timeout) | 2021-03-19 |
1.16 | Add missing function servo_off function | 2021-03-24 |
1.17 | Modify version information : GL010110 | 2021-06-09 |
1.18 | Modify version information : GL010111 Add new function : get_override_speed | 2021-09-15 |
1.19 | Modify version information : GL010112 Add new function . ikin(extension) . set_monitoring_robot_system . change_collision_detection . add_sw_module . del_sw_module . update_sw_module . release_protective_stop . set_on_monitoring_update_module | 2021-11-22 |
1.2 | Modifyversion information : GL010112 Add new function . add new function for real-time control(refer to the other manual). . set_safety_mode . set_on_monitoring_state | 2021-12-16 |
1.23 | 3.3.21: Change the argument part TOnMonitoringSafetyState -> TOnMonitoringSafetyStateCB Add strcut.MESSAGE_PROGRESS 3.7.14: Argument part TYPE_TYPE -> change to DATA_TYPE Added enum constants SAFETY_MODE / SAFETY_EVENT 3.8.11 Modify the argument to enum -> enum.MODBUS_REGISTER_TYPE Add enum constant COORDINATE_SYSTEM Resolve enum constant ROBOT_STATE notation error delete get_override_speed add realtime control(chapter 4) | 2022-03-10 |
1.24 | Edited content related to enum.SAFETY_MODE_EVENT Fixed content related to SAFETY_MODE_EVENT parameter in set_safety_mode example Add port parameter to flange_serial related command (specify available for new flange) Change version information -> GL010115 Add new function - set_workpiece_weight - set_mode_tool_analog_input - set_tool_digital_output_type - set_tool_digital_output_level - get_tool_analog_input Add enum.COG_REFERNCE Add enum.ADD_UP Add enum.OUTPUT_TYPE | 2022-04-29 |
1.25 | delete port parameter in flange_serial_open / close function add cause sentence for set_tool / set_workpiece_weight function | 2022-05-04 |
1.26 | Fixed enum.CONTROL_SPACE fixed set_on_monitoring_safety_state fixed enum.MOVE_REFERENCE fixed change_operation_speed fixed TOnRobotSystemCB add new property function get_current_posj get_control_space get_current_velj get_desired_posj get_current_tool_flange_posx get_current_velx get_desired_velx get_joint_torque get_external_torque get_tool_force add enum.ROBOT_SPACE add struct.ROBOT_VEL / struct.ROBOT_FORCE | 2022-06-02 |
1.27 | fixed drl_stop function parameter : enum.STOP_TYPE -> unsigned char | 2022-07-04 |
1.28 | Fix enum.ROBOT_STATE description Add contents of enum.ROBOT_MODE delete enum.ROBOT_SPACE duplicates Add set_palletizing_mode command add move_home notice | 2023-02-20 |
| 1.29 | Add query_modbus_data_list | 2023-03-24 |
| 1.30 | Update Features
Update Definition
Update Function
| 2024-11-27 |