dobotWrapperPy.DobotApi

class documentation

class DobotApi(threading.Thread): (source)

Constructor: DobotApi(dobot_connection, verbose)

Initializes the Dobot API for communication and control of a Dobot robot arm. It manages the serial connection, command locking, and provides methods for various robot operations.

Method	`__del__`	Destructor that ensures the connection is closed when the object is deleted.
Method	`__init__`	Constructor for the DobotApi class.
Method	`clear_all_alarms_state`	Clears all alarm states of the Dobot. Immediate command. Protocol ID: 20 (rw=1). (Note: PDF Table 29 shows ID 21 for Clear, assuming ID 20 with rw=1)
Method	`close`	Closes the serial connection to the Dobot and releases the lock.
Method	`get_active_alarms`	Gets the current active alarms of the Dobot. Immediate command. Protocol ID: 20.
Method	`get_angle_sensor_static_error`	Gets static error for angle sensors. Immediate command. Protocol ID: 140.
Method	`get_arc_params`	Gets parameters for ARC movements. Immediate command. Protocol ID: 100.
Method	`get_autoleveling`	Gets automatic leveling result/status. Immediate command. Protocol ID: 32.
Method	`get_color_sensor`	Gets readings (R, G, B) from the color sensor. Immediate command. Protocol ID: 137.
Method	`get_cp_params`	Gets parameters for CP movements. Immediate command. Protocol ID: 90.
Method	`get_device_id`	Gets the device ID. Immediate command. Protocol uses ID 4 (enum GET_DEVICE_ID) in some docs, but typically distinct from GetDeviceTime. Relies on CommunicationProtocolIDs.GET_DEVICE_ID being correct. [Similar to cite: 336 context]...
Method	`get_device_name`	Gets the device name. Immediate command. Protocol ID: 1.
Method	`get_device_rail_capability`	Gets device's rail capability status. Immediate command. Protocol ID: 3.
Method	`get_device_sn`	Gets the device serial number. Immediate command. Protocol ID: 0.
Method	`get_device_time`	Gets the device's internal time (system tick). Immediate command. Protocol ID: 4.
Method	`get_device_version`	Gets the device firmware version. Immediate command. Protocol ID: 2.
Method	`get_end_effector_gripper`	Gets status of the gripper. Immediate command. Protocol ID: 63.
Method	`get_end_effector_laser`	Gets status of the laser end effector. Immediate command. Protocol ID: 61.
Method	`get_end_effector_params`	Gets parameters (bias) for the end effector. Immediate command. Protocol ID: 60.
Method	`get_end_effector_suction_cup`	Gets status of the suction cup. Immediate command. Protocol ID: 62.
Method	`get_hht_trig_mode`	Gets Hand Hold Teaching trigger mode. Immediate command. Protocol ID: 40.
Method	`get_hht_trig_output`	Gets current Hand Hold Teaching trigger output value. Immediate command. Protocol ID: 42.
Method	`get_hht_trig_output_enabled`	Checks if Hand Hold Teaching trigger output is enabled. Immediate command. Protocol ID: 41.
Method	`get_home_params`	Gets homing parameters. Immediate command. Protocol ID: 30.
Method	`get_io_adc`	Gets ADC value for an I/O. Immediate command. Protocol ID: 134. Note: GetIOADC command takes no address param; response contains address and value.
Method	`get_io_di`	Gets digital input (DI) status for an I/O. Immediate command. Protocol ID: 133. Note: GetIODI command takes no address param; response contains address and level.
Method	`get_io_do`	Gets digital output (DO) status for an I/O. Immediate command. Protocol ID: 131. Note: GetIODO command takes no address param; response contains address and level.
Method	`get_io_multiplexing`	Gets I/O multiplexing configuration. Immediate command. Protocol ID: 130. Note: Protocol implies getting config for an address, but Get command takes no address.
Method	`get_io_pwm`	Gets PWM output status for an I/O. Immediate command. Protocol ID: 132. Note: GetIOPWM command takes no address param; response contains address and PWM config.
Method	`get_ir_switch`	Gets the status of the IR switch. Immediate command. Protocol ID: 138.
Method	`get_jog_common_params`	Gets common JOG parameters. Immediate command. Protocol ID: 72.
Method	`get_jog_coordinate_params`	Gets parameters for coordinate mode JOG movements. Immediate command. Protocol ID: 71.
Method	`get_jog_joint_params`	Gets parameters for joint mode JOG movements. Immediate command. Protocol ID: 70.
Method	`get_jogl_params`	Gets parameters for JOGL (linear jog) mode. Immediate command. Protocol ID: 74.
Method	`get_pose`	Gets the real-time pose (position and joint angles) of the Dobot.
Method	`get_pose_rail`	Gets the rail pose (position of sliding rail). Immediate command. Protocol ID: 13.
Method	`get_ptp_common_params`	Gets PTP common parameters. Immediate command. Protocol ID: 83.
Method	`get_ptp_coordinate_params`	Gets PTP coordinate parameters. Immediate command. Protocol ID: 81.
Method	`get_ptp_joint_params`	Gets PTP joint parameters. Immediate command. Protocol ID: 80.
Method	`get_ptp_jump2_params`	Gets extended jump parameters for PTP movements. Immediate command. Protocol ID: 87.
Method	`get_ptp_jump_params`	Gets PTP jump parameters. Immediate command. Protocol ID: 82.
Method	`get_ptpl_params`	Gets parameters for PTPL mode. Immediate command. Protocol ID: 85.
Method	`get_queued_cmd_current_index`	Retrieves the current index of the command being executed in the queue. The Dobot protocol specifies this index is a 64-bit unsigned integer.
Method	`get_wifi_config_mode`	Gets Wi-Fi configuration mode status. Immediate command. Protocol ID: 150.
Method	`get_wifi_connect_status`	Gets Wi-Fi connection status. Immediate command. Protocol ID: 157.
Method	`get_wifi_dns`	Gets Wi-Fi DNS settings. Immediate command. Protocol ID: 156.
Method	`get_wifi_gateway`	Gets Wi-Fi gateway settings. Immediate command. Protocol ID: 155.
Method	`get_wifi_ip_address`	Gets Wi-Fi IP address settings. Immediate command. Protocol ID: 153.
Method	`get_wifi_netmask`	Gets Wi-Fi netmask settings. Immediate command. Protocol ID: 154.
Method	`get_wifi_password`	Gets the Wi-Fi password. Immediate command. Protocol ID: 152.
Method	`get_wifi_ssid`	Gets the Wi-Fi SSID. Immediate command. Protocol ID: 151.
Method	`initialize_robot`	Initializes the robot with default parameters upon connection, including clearing the command queue, setting PTP joint, coordinate, jump, and common parameters, and getting the initial pose.
Method	`reset_pose`	Resets the real-time pose of the robot. Immediate command. Protocol ID: 11.
Method	`set_angle_sensor_static_error`	Sets static error for angle sensors. Immediate command. Protocol ID: 140.
Method	`set_arc_cmd`	Executes an ARC (Arc) movement command. Protocol ID: 101. Can be queued.
Method	`set_arc_params`	Sets parameters for ARC (Arc) movements. Protocol ID: 100. Can be queued.
Method	`set_autoleveling`	Sets auto-leveling parameters and initiates auto-leveling. Protocol ID: 32. Can be queued.
Method	`set_color_sensor`	Sets parameters for the color sensor. Protocol ID: 137. Can be queued.
Method	`set_cp_cmd`	Executes a CP (Continuous Path) command. Protocol ID: 91. Can be queued.
Method	`set_cp_le_cmd`	Executes a CP command for laser engraving. Protocol ID: 92. Can be queued.
Method	`set_cp_params`	Sets parameters for CP (Continuous Path) movements. Protocol ID: 90. Can be queued.
Method	`set_device_name`	Sets the device name. Immediate command. Protocol ID: 1.
Method	`set_device_rail_capability`	Sets the device's rail capability. Immediate command. Protocol ID: 3.
Method	`set_device_sn`	Sets the device serial number. Immediate command. Protocol ID: 0.
Method	`set_e_motor`	Controls an external motor (stepper). Protocol ID: 135. Can be queued.
Method	`set_end_effector_gripper`	Sets the status of the gripper. Protocol ID: 63. Can be queued.
Method	`set_end_effector_laser`	Controls the laser end effector. Protocol ID: 61. Can be queued.
Method	`set_end_effector_params`	Sets parameters (bias) for the end effector. Protocol ID: 60. Can be queued.
Method	`set_end_effector_suction_cup`	Sets the status of the suction cup. Protocol ID: 62. Can be queued.
Method	`set_hht_trig_mode`	Sets Hand Hold Teaching trigger mode. Immediate command. Protocol ID: 40.
Method	`set_hht_trig_output_enabled`	Enables/disables Hand Hold Teaching trigger output. Immediate command. Protocol ID: 41.
Method	`set_home_cmd`	Executes the homing function. Protocol ID: 31. Can be queued.
Method	`set_home_params`	Sets homing parameters (target coordinates). Protocol ID: 30. Can be queued.
Method	`set_io_do`	Sets digital output (DO) for a specific I/O. Protocol ID: 131. Can be queued.
Method	`set_io_multiplexing`	Sets I/O multiplexing configuration. Protocol ID: 130. Can be queued.
Method	`set_io_pwm`	Sets PWM output for a specific I/O. Protocol ID: 132. Can be queued.
Method	`set_ir_switch`	Sets parameters for the IR (Infrared) switch. Protocol ID: 138. Can be queued.
Method	`set_jog_cmd`	Executes a JOG command. Protocol ID: 73. Can be queued.
Method	`set_jog_common_params`	Sets common JOG parameters (velocity/acceleration ratios). Protocol ID: 72. Can be queued.
Method	`set_jog_coordinate_params`	Sets parameters for coordinate mode JOG movements. Protocol ID: 71. Can be queued.
Method	`set_jog_joint_params`	Sets parameters for joint mode JOG movements. Protocol ID: 70. Can be queued.
Method	`set_jogl_params`	Sets parameters for JOGL (linear jog) mode. Protocol ID: 74. Can be queued.
Method	`set_lost_step_cmd`	Executes a losing-step detection command. Protocol ID: 171. Can be queued.
Method	`set_lost_step_params`	Sets parameters for losing-step detection threshold. Immediate command. Protocol ID: 170.
Method	`set_ptp_cmd`	Executes a PTP (Point-to-Point) movement command. Protocol ID: 84. Can be queued.
Method	`set_ptp_common_params`	Sets common velocity/acceleration ratios for PTP mode. Protocol ID: 83. Can be queued.
Method	`set_ptp_coordinate_params`	Sets velocity/acceleration of Cartesian axes in PTP mode. Protocol ID: 81. Can be queued.
Method	`set_ptp_joint_params`	Sets velocity/acceleration for joints in PTP mode. Protocol ID: 80. Can be queued.
Method	`set_ptp_jump2_params`	Sets extended jump parameters for PTP movements. Protocol ID: 87. Can be queued.
Method	`set_ptp_jump_params`	Sets lifting height for JUMP mode in PTP. Protocol ID: 82. Can be queued.
Method	`set_ptp_po_cmd`	Executes a PTP command with multiple PO (Point Output) commands. Protocol ID: 88. Can be queued.
Method	`set_ptp_po_with_rail_cmd`	Executes a PTP command with rail and PO commands. Protocol ID: 89. Can be queued.
Method	`set_ptp_with_rail_cmd`	Executes a PTP command with rail movement. Protocol ID: 86. Can be queued.
Method	`set_ptpl_params`	Sets parameters for PTPL (Point-to-Point Linear) mode. Protocol ID: 85. Can be queued.
Method	`set_queued_cmd_clear`	Clears the command queue. Immediate command. Protocol ID: 245.
Method	`set_queued_cmd_force_stop_exec`	Forces stop of command execution in queue. Immediate command. Protocol ID: 242.
Method	`set_queued_cmd_start_download`	Starts downloading commands to queue for offline execution. Immediate command. Protocol ID: 243.
Method	`set_queued_cmd_start_exec`	Starts execution of commands in the queue. Immediate command. Protocol ID: 240.
Method	`set_queued_cmd_stop_download`	Stops downloading commands to the queue. Immediate command. Protocol ID: 244.
Method	`set_queued_cmd_stop_exec`	Stops execution of commands in the queue. Immediate command. Protocol ID: 241.
Method	`set_trig_cmd`	Executes a TRIG (Trigger) command. Protocol ID: 120. Can be queued.
Method	`set_wait_cmd`	Adds a wait command to the queue. Protocol ID: 110. Can be queued.
Method	`set_wifi_config_mode`	Enables or disables Wi-Fi configuration mode. Immediate command. Protocol ID: 150.
Method	`set_wifi_dns`	Sets Wi-Fi DNS settings. Immediate command. Protocol ID: 156.
Method	`set_wifi_gateway`	Sets Wi-Fi gateway settings. Immediate command. Protocol ID: 155.
Method	`set_wifi_ip_address`	Sets Wi-Fi IP address settings. Immediate command. Protocol ID: 153.
Method	`set_wifi_netmask`	Sets Wi-Fi netmask settings. Immediate command. Protocol ID: 154.
Method	`set_wifi_password`	Sets the Wi-Fi password. Immediate command. Protocol ID: 152.
Method	`set_wifi_ssid`	Sets the Wi-Fi SSID. Immediate command. Protocol ID: 151.
Instance Variable	`conn`	Undocumented
Instance Variable	`lock`	Undocumented
Instance Variable	`verbose`	Undocumented
Method	`_read_message`	Reads a message from the serial connection.
Method	`_send_command`	Sends a message to the Dobot and optionally waits for its execution if queued.
Method	`_send_command_with_params`	Helper method to construct and send a command message.
Method	`_send_message`	Writes a message to the Dobot's serial connection.
Instance Variable	`_on`	Undocumented

def __del__(self): (source) ¶

Destructor that ensures the connection is closed when the object is deleted.

def __init__(self, dobot_connection: DobotConnection, verbose: bool = False): (source) ¶

Constructor for the DobotApi class.

Parameters
dobot_connection:`DobotConnection`	An instance of DobotConnection handling the serial communication.
verbose:`bool`	If True, enables verbose output for debugging (default: False).

def clear_all_alarms_state(self): (source) ¶

Clears all alarm states of the Dobot. Immediate command. Protocol ID: 20 (rw=1). (Note: PDF Table 29 shows ID 21 for Clear, assuming ID 20 with rw=1)

def close(self): (source) ¶

Closes the serial connection to the Dobot and releases the lock.

def get_active_alarms(self) -> set[Alarm]: (source) ¶

Gets the current active alarms of the Dobot. Immediate command. Protocol ID: 20.

Returns
`set[Alarm]`	A set of Alarm enum members representing the active alarms.

def get_angle_sensor_static_error(self) -> tuple[float, float]: (source) ¶

Gets static error for angle sensors. Immediate command. Protocol ID: 140.

Returns
`tuple[float, float]`	Tuple (rear_arm_angle_error, front_arm_angle_error).

def get_arc_params(self) -> tagARCParams: (source) ¶

Gets parameters for ARC movements. Immediate command. Protocol ID: 100.

Returns
`tagARCParams`	Current ARC parameters.

def get_autoleveling(self) -> float: (source) ¶

Gets automatic leveling result/status. Immediate command. Protocol ID: 32.

Returns
`float`	AutoLevelingResult (float, accuracy or status).

def get_color_sensor(self, port: int) -> tuple[int, int, int]: (source) ¶

Gets readings (R, G, B) from the color sensor. Immediate command. Protocol ID: 137.

Returns
`tuple[int, int, int]`	Tuple (r, g, b) color values (uint8_t each).

def get_cp_params(self) -> tagCPParams: (source) ¶

Gets parameters for CP movements. Immediate command. Protocol ID: 90.

Returns
`tagCPParams`	Current CP parameters.

def get_device_id(self) -> tuple[int, int, int]: (source) ¶

Gets the device ID. Immediate command. Protocol uses ID 4 (enum GET_DEVICE_ID) in some docs, but typically distinct from GetDeviceTime. Relies on CommunicationProtocolIDs.GET_DEVICE_ID being correct. [Similar to cite: 336 context]

Returns
`tuple[int, int, int]`	Device ID as a tuple of 3 uint32_t values.

def get_device_name(self) -> str: (source) ¶

Gets the device name. Immediate command. Protocol ID: 1.

Returns
`str`	Device Name as a string.

def get_device_rail_capability(self) -> bool: (source) ¶

Gets device's rail capability status. Immediate command. Protocol ID: 3.

Returns
`bool`	True if rail enabled/present, False otherwise.

def get_device_sn(self) -> str: (source) ¶

Gets the device serial number. Immediate command. Protocol ID: 0.

Returns
`str`	Device Serial Number as a string.

def get_device_time(self) -> int: (source) ¶

Gets the device's internal time (system tick). Immediate command. Protocol ID: 4.

Returns
`int`	System Tick (uint32_t).

def get_device_version(self) -> tuple[int, int, int]: (source) ¶

Gets the device firmware version. Immediate command. Protocol ID: 2.

Returns
`tuple[int, int, int]`	Tuple (Major version, Minor version, Revision version).

def get_end_effector_gripper(self) -> tuple[bool, bool]: (source) ¶

Gets status of the gripper. Immediate command. Protocol ID: 63.

Returns
`tuple[bool, bool]`	Tuple (isCtrlEnabled, isGripped).

def get_end_effector_laser(self) -> tuple[bool, bool]: (source) ¶

Gets status of the laser end effector. Immediate command. Protocol ID: 61.

Returns
`tuple[bool, bool]`	Tuple (isCtrlEnabled, isOn).

def get_end_effector_params(self) -> tagEndEffectorParams: (source) ¶

Gets parameters (bias) for the end effector. Immediate command. Protocol ID: 60.

Returns
`tagEndEffectorParams`	Current end effector parameters.

def get_end_effector_suction_cup(self) -> tuple[bool, bool]: (source) ¶

Gets status of the suction cup. Immediate command. Protocol ID: 62.

Returns
`tuple[bool, bool]`	Tuple (isCtrlEnabled, isSucked).

def get_hht_trig_mode(self) -> HHTTrigMode: (source) ¶

Gets Hand Hold Teaching trigger mode. Immediate command. Protocol ID: 40.

Returns
`HHTTrigMode`	Current HHTTrigMode.

def get_hht_trig_output(self) -> bool: (source) ¶

Gets current Hand Hold Teaching trigger output value. Immediate command. Protocol ID: 42.

Returns
`bool`	True if triggered, False otherwise.

def get_hht_trig_output_enabled(self) -> bool: (source) ¶

Checks if Hand Hold Teaching trigger output is enabled. Immediate command. Protocol ID: 41.

Returns
`bool`	True if enabled, False otherwise.

def get_home_params(self) -> tagHomeParams: (source) ¶

Gets homing parameters. Immediate command. Protocol ID: 30.

Returns
`tagHomeParams`	Current homing parameters.

def get_io_adc(self, address: int) -> int: (source) ¶

Gets ADC value for an I/O. Immediate command. Protocol ID: 134. Note: GetIOADC command takes no address param; response contains address and value.

Parameters
address:`int`	The EIO address (1-20) user is interested in. (Not sent to Dobot)

Returns
`int`	ADC value (0-4095). Caller should check response address.

def get_io_di(self, address: int) -> Level: (source) ¶

Gets digital input (DI) status for an I/O. Immediate command. Protocol ID: 133. Note: GetIODI command takes no address param; response contains address and level.

Parameters
address:`int`	The EIO address (1-20) user is interested in. (Not sent to Dobot)

Returns
`Level`	The Level of the DI. Caller should check response address.

def get_io_do(self, address: int) -> Level: (source) ¶

Gets digital output (DO) status for an I/O. Immediate command. Protocol ID: 131. Note: GetIODO command takes no address param; response contains address and level.

Parameters
address:`int`	The EIO address (1-20) user is interested in. (Not sent to Dobot)

Returns
`Level`	The Level of the DO. Caller should check response address if specific one is needed.

def get_io_multiplexing(self, address: int) -> tagIOMultiplexing: (source) ¶

Gets I/O multiplexing configuration. Immediate command. Protocol ID: 130. Note: Protocol implies getting config for an address, but Get command takes no address.

Returns
`tagIOMultiplexing`	Current I/O multiplexing configuration (likely for a default/first address).

def get_io_pwm(self, address: int) -> tagIOPWM: (source) ¶

Gets PWM output status for an I/O. Immediate command. Protocol ID: 132. Note: GetIOPWM command takes no address param; response contains address and PWM config.

Parameters
address:`int`	The EIO address (1-20) user is interested in. (Not sent to Dobot)

Returns
`tagIOPWM`	PWM configuration. Caller should check response address.

def get_ir_switch(self, port: int) -> bool: (source) ¶

Gets the status of the IR switch. Immediate command. Protocol ID: 138.

Returns
`bool`	True if IR switch is triggered/active, False otherwise.

def get_jog_common_params(self) -> tagJOGCommonParams: (source) ¶

Gets common JOG parameters. Immediate command. Protocol ID: 72.

Returns
`tagJOGCommonParams`	Current common JOG parameters.

def get_jog_coordinate_params(self) -> tagJOGCoordinateParams: (source) ¶

Gets parameters for coordinate mode JOG movements. Immediate command. Protocol ID: 71.

Returns
`tagJOGCoordinateParams`	Current JOG coordinate parameters.

def get_jog_joint_params(self) -> tagJOGJointParams: (source) ¶

Gets parameters for joint mode JOG movements. Immediate command. Protocol ID: 70.

Returns
`tagJOGJointParams`	Current JOG joint parameters.

def get_jogl_params(self) -> tagJOGLParams: (source) ¶

Gets parameters for JOGL (linear jog) mode. Immediate command. Protocol ID: 74.

Returns
`tagJOGLParams`	Current JOGL parameters.

def get_pose(self) -> tagPose: (source) ¶

Gets the real-time pose (position and joint angles) of the Dobot.

Returns
`tagPose`	Pose data.

def get_pose_rail(self) -> float: (source) ¶

Gets the rail pose (position of sliding rail). Immediate command. Protocol ID: 13.

Returns
`float`	Position of rail (float).

def get_ptp_common_params(self) -> tagPTPCommonParams: (source) ¶

Gets PTP common parameters. Immediate command. Protocol ID: 83.

Returns
`tagPTPCommonParams`	Current PTP common parameters.

def get_ptp_coordinate_params(self) -> tagPTPCoordinateParams: (source) ¶

Gets PTP coordinate parameters. Immediate command. Protocol ID: 81.

Returns
`tagPTPCoordinateParams`	Current PTP coordinate parameters.

def get_ptp_joint_params(self) -> tagPTPJointParams: (source) ¶

Gets PTP joint parameters. Immediate command. Protocol ID: 80.

Returns
`tagPTPJointParams`	Current PTP joint parameters.

def get_ptp_jump2_params(self) -> tagPTPJump2Params: (source) ¶

Gets extended jump parameters for PTP movements. Immediate command. Protocol ID: 87.

Returns
`tagPTPJump2Params`	Current PTP jump2 parameters.

def get_ptp_jump_params(self) -> tagPTPJumpParams: (source) ¶

Gets PTP jump parameters. Immediate command. Protocol ID: 82.

Returns
`tagPTPJumpParams`	Current PTP jump parameters.

def get_ptpl_params(self) -> tagPTPLParams: (source) ¶

Gets parameters for PTPL mode. Immediate command. Protocol ID: 85.

Returns
`tagPTPLParams`	Current PTPL parameters.

def get_queued_cmd_current_index(self) -> int: (source) ¶

Retrieves the current index of the command being executed in the queue. The Dobot protocol specifies this index is a 64-bit unsigned integer.

Returns
`int`	The current command index (int).

def get_wifi_config_mode(self) -> bool: (source) ¶

Gets Wi-Fi configuration mode status. Immediate command. Protocol ID: 150.

Returns
`bool`	True if Wi-Fi config mode enabled, False otherwise.

def get_wifi_connect_status(self) -> bool: (source) ¶

Gets Wi-Fi connection status. Immediate command. Protocol ID: 157.

Returns
`bool`	True if connected, False otherwise.

def get_wifi_dns(self) -> tagWIFIDNS: (source) ¶

Gets Wi-Fi DNS settings. Immediate command. Protocol ID: 156.

Returns
`tagWIFIDNS`	WIFIDNS structure.

def get_wifi_gateway(self) -> tagWIFIGateway: (source) ¶

Gets Wi-Fi gateway settings. Immediate command. Protocol ID: 155.

Returns
`tagWIFIGateway`	WIFIGateway structure.

def get_wifi_ip_address(self) -> tagWIFIIPAddress: (source) ¶

Gets Wi-Fi IP address settings. Immediate command. Protocol ID: 153.

Returns
`tagWIFIIPAddress`	WIFIIPAddress structure.

def get_wifi_netmask(self) -> tagWIFINetmask: (source) ¶

Gets Wi-Fi netmask settings. Immediate command. Protocol ID: 154.

Returns
`tagWIFINetmask`	WIFINetmask structure.

def get_wifi_password(self) -> str: (source) ¶

Gets the Wi-Fi password. Immediate command. Protocol ID: 152.

Returns
`str`	Wi-Fi password as string.

def get_wifi_ssid(self) -> str: (source) ¶

Gets the Wi-Fi SSID. Immediate command. Protocol ID: 151.

Returns
`str`	Wi-Fi SSID as string.

def initialize_robot(self): (source) ¶

Initializes the robot with default parameters upon connection, including clearing the command queue, setting PTP joint, coordinate, jump, and common parameters, and getting the initial pose.

def reset_pose(self, manual: int, rear_arm_angle: float, front_arm_angle: float): (source) ¶

Resets the real-time pose of the robot. Immediate command. Protocol ID: 11.

Parameters
manual:`int`	Manual reset flag (0=auto, 1=manual with angles).
rear_arm_angle:`float`	Rear arm angle for reset (if manual=1).
front_arm_angle:`float`	Front arm angle for reset (if manual=1).

def set_angle_sensor_static_error(self, rear_arm_angle_error: float, front_arm_angle_error: float) -> Message: (source) ¶

Sets static error for angle sensors. Immediate command. Protocol ID: 140.

Parameters
rear_arm_angle_error:`float`	Static error for rear arm angle sensor.
front_arm_angle_error:`float`	Static error for front arm angle sensor.

Returns
`Message`	The response message from the Dobot.

def set_arc_cmd(self, cmd: tagARCCmd, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Executes an ARC (Arc) movement command. Protocol ID: 101. Can be queued.

Parameters
cmd:`tagARCCmd`	ARC command parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_arc_params(self, params: tagARCParams, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets parameters for ARC (Arc) movements. Protocol ID: 100. Can be queued.

Parameters
params:`tagARCParams`	ARC parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_autoleveling(self, params: tagAutoLevelingParams, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets auto-leveling parameters and initiates auto-leveling. Protocol ID: 32. Can be queued.

Parameters
params:`tagAutoLevelingParams`	Auto-leveling parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_color_sensor(self, params: tagDevice, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets parameters for the color sensor. Protocol ID: 137. Can be queued.

Parameters
params:`tagDevice`	Device parameters for color sensor (isEnable, port, version).
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_cp_cmd(self, cmd: tagCPCmd, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Executes a CP (Continuous Path) command. Protocol ID: 91. Can be queued.

Parameters
cmd:`tagCPCmd`	CP command parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_cp_le_cmd(self, cmd: tagCPCmd, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Executes a CP command for laser engraving. Protocol ID: 92. Can be queued.

Parameters
cmd:`tagCPCmd`	CP command (used for laser engraving context).
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_cp_params(self, params: tagCPParams, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets parameters for CP (Continuous Path) movements. Protocol ID: 90. Can be queued.

Parameters
params:`tagCPParams`	CP parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_device_name(self, device_name: str): (source) ¶

Sets the device name. Immediate command. Protocol ID: 1.

Parameters
device_name:`str`	The name to set.

def set_device_rail_capability(self, params: tagWithL): (source) ¶

Sets the device's rail capability. Immediate command. Protocol ID: 3.

Parameters
params:`tagWithL`	Rail version and enable status.

def set_device_sn(self, device_serial_number: str): (source) ¶

Sets the device serial number. Immediate command. Protocol ID: 0.

Parameters
device_serial_number:`str`	The serial number to set.

def set_e_motor(self, params: tagEMOTOR, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Controls an external motor (stepper). Protocol ID: 135. Can be queued.

Parameters
params:`tagEMOTOR`	External motor parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_end_effector_gripper(self, enable: bool = True, grip: bool = False, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets the status of the gripper. Protocol ID: 63. Can be queued.

Parameters
enable:`bool`	True to enable (grip), False to disable (release).
grip:`bool`	Undocumented
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_end_effector_laser(self, enable_ctrl: bool, on: bool, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Controls the laser end effector. Protocol ID: 61. Can be queued.

Parameters
enable_ctrl:`bool`	True to enable laser control (typically True for setting).
on:`bool`	True to turn laser on, False to turn off.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_end_effector_params(self, params: tagEndEffectorParams, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets parameters (bias) for the end effector. Protocol ID: 60. Can be queued.

Parameters
params:`tagEndEffectorParams`	End effector parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_end_effector_suction_cup(self, enable: bool = False, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets the status of the suction cup. Protocol ID: 62. Can be queued.

Parameters
enable:`bool`	True to turn on suction, False to turn off.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_hht_trig_mode(self, mode: HHTTrigMode): (source) ¶

Sets Hand Hold Teaching trigger mode. Immediate command. Protocol ID: 40.

Parameters
mode:`HHTTrigMode`	The HHT trigger mode.

def set_hht_trig_output_enabled(self, is_enabled: bool): (source) ¶

Enables/disables Hand Hold Teaching trigger output. Immediate command. Protocol ID: 41.

Parameters
is_enabled:`bool`	True to enable, False to disable.

def set_home_cmd(self, params: tagHomeCmd, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Executes the homing function. Protocol ID: 31. Can be queued.

Parameters
params:`tagHomeCmd`	Homing command options (reserved).
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_home_params(self, params: tagHomeParams, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets homing parameters (target coordinates). Protocol ID: 30. Can be queued.

Parameters
params:`tagHomeParams`	Homing parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_io_do(self, params: tagIODO, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets digital output (DO) for a specific I/O. Protocol ID: 131. Can be queued.

Parameters
params:`tagIODO`	I/O DO parameters (address, level).
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_io_multiplexing(self, params: tagIOMultiplexing, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets I/O multiplexing configuration. Protocol ID: 130. Can be queued.

Parameters
params:`tagIOMultiplexing`	I/O multiplexing parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_io_pwm(self, params: tagIOPWM, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets PWM output for a specific I/O. Protocol ID: 132. Can be queued.

Parameters
params:`tagIOPWM`	I/O PWM parameters (address, frequency, dutyCycle).
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_ir_switch(self, params: tagDevice, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets parameters for the IR (Infrared) switch. Protocol ID: 138. Can be queued.

Parameters
params:`tagDevice`	Device parameters for IR switch (isEnable, port, version).
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_jog_cmd(self, cmd: tagJOGCmd, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Executes a JOG command. Protocol ID: 73. Can be queued.

Parameters
cmd:`tagJOGCmd`	JOG command parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_jog_common_params(self, params: tagJOGCommonParams, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets common JOG parameters (velocity/acceleration ratios). Protocol ID: 72. Can be queued.

Parameters
params:`tagJOGCommonParams`	Common JOG parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_jog_coordinate_params(self, params: tagJOGCoordinateParams, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets parameters for coordinate mode JOG movements. Protocol ID: 71. Can be queued.

Parameters
params:`tagJOGCoordinateParams`	JOG coordinate parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_jog_joint_params(self, params: tagJOGJointParams, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets parameters for joint mode JOG movements. Protocol ID: 70. Can be queued.

Parameters
params:`tagJOGJointParams`	JOG joint parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_jogl_params(self, params: tagJOGLParams, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets parameters for JOGL (linear jog) mode. Protocol ID: 74. Can be queued.

Parameters
params:`tagJOGLParams`	JOGL parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_lost_step_cmd(self, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Executes a losing-step detection command. Protocol ID: 171. Can be queued.

Parameters
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_lost_step_params(self, value: float) -> Message: (source) ¶

Sets parameters for losing-step detection threshold. Immediate command. Protocol ID: 170.

Parameters
value:`float`	Threshold value for lost step parameters (float).

Returns
`Message`	The response message from the Dobot.

def set_ptp_cmd(self, cmd: tagPTPCmd, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Executes a PTP (Point-to-Point) movement command. Protocol ID: 84. Can be queued.

Parameters
cmd:`tagPTPCmd`	PTP command parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_ptp_common_params(self, params: tagPTPCommonParams, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets common velocity/acceleration ratios for PTP mode. Protocol ID: 83. Can be queued.

Parameters
params:`tagPTPCommonParams`	Common PTP parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_ptp_coordinate_params(self, params: tagPTPCoordinateParams, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets velocity/acceleration of Cartesian axes in PTP mode. Protocol ID: 81. Can be queued.

Parameters
params:`tagPTPCoordinateParams`	Coordinate PTP parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_ptp_joint_params(self, params: tagPTPJointParams, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets velocity/acceleration for joints in PTP mode. Protocol ID: 80. Can be queued.

Parameters
params:`tagPTPJointParams`	Joint PTP parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_ptp_jump2_params(self, params: tagPTPJump2Params, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets extended jump parameters for PTP movements. Protocol ID: 87. Can be queued.

Parameters
params:`tagPTPJump2Params`	PTP jump2 parameters (start/end jump heights).
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_ptp_jump_params(self, params: tagPTPJumpParams, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets lifting height for JUMP mode in PTP. Protocol ID: 82. Can be queued.

Parameters
params:`tagPTPJumpParams`	Jump PTP parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_ptp_po_cmd(self, ptp_cmd: tagPTPCmd, po_cmds: list[tagPOCmd], wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Executes a PTP command with multiple PO (Point Output) commands. Protocol ID: 88. Can be queued.

Parameters
ptp_cmd:`tagPTPCmd`	The PTP command.
po_cmds:`list[tagPOCmd]`	A list of PO commands.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_ptp_po_with_rail_cmd(self, ptp_cmd: tagPTPWithLCmd, po_cmds: list[tagPOCmd], wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Executes a PTP command with rail and PO commands. Protocol ID: 89. Can be queued.

Parameters
ptp_cmd:`tagPTPWithLCmd`	PTP command with rail.
po_cmds:`list[tagPOCmd]`	A list of PO commands.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_ptp_with_rail_cmd(self, cmd: tagPTPWithLCmd, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Executes a PTP command with rail movement. Protocol ID: 86. Can be queued.

Parameters
cmd:`tagPTPWithLCmd`	PTP command with rail parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_ptpl_params(self, params: tagPTPLParams, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Sets parameters for PTPL (Point-to-Point Linear) mode. Protocol ID: 85. Can be queued.

Parameters
params:`tagPTPLParams`	PTPL parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_queued_cmd_clear(self) -> Message: (source) ¶

Clears the command queue. Immediate command. Protocol ID: 245.

Returns
`Message`	The response message from the Dobot.

def set_queued_cmd_force_stop_exec(self) -> Message: (source) ¶

Forces stop of command execution in queue. Immediate command. Protocol ID: 242.

Returns
`Message`	The response message from the Dobot.

def set_queued_cmd_start_download(self, total_loop: int, line_per_loop: int) -> Message: (source) ¶

Starts downloading commands to queue for offline execution. Immediate command. Protocol ID: 243.

Parameters
total_loop:`int`	Total number of loops for command download.
line_per_loop:`int`	Number of lines per loop for command download.

Returns
`Message`	The response message from the Dobot.

def set_queued_cmd_start_exec(self) -> Message: (source) ¶

Starts execution of commands in the queue. Immediate command. Protocol ID: 240.

Returns
`Message`	The response message from the Dobot.

def set_queued_cmd_stop_download(self) -> Message: (source) ¶

Stops downloading commands to the queue. Immediate command. Protocol ID: 244.

Returns
`Message`	The response message from the Dobot.

def set_queued_cmd_stop_exec(self) -> Message: (source) ¶

Stops execution of commands in the queue. Immediate command. Protocol ID: 241.

Returns
`Message`	The response message from the Dobot.

def set_trig_cmd(self, cmd: tagTRIGCmd, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Executes a TRIG (Trigger) command. Protocol ID: 120. Can be queued.

Parameters
cmd:`tagTRIGCmd`	TRIG command parameters.
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_wait_cmd(self, params: tagWAITCmd, wait: bool = False, is_queued: bool = False) -> int | None: (source) ¶

Adds a wait command to the queue. Protocol ID: 110. Can be queued.

Parameters
params:`tagWAITCmd`	Wait command parameters (timeout in ms).
wait:`bool`	If True and command is queued, waits for execution.
is_queued:`bool`	If True, command is added to the queue.

Returns
`int \| None`	Queued command index if is_queued is True, else None.

def set_wifi_config_mode(self, enable: bool) -> Message: (source) ¶

Enables or disables Wi-Fi configuration mode. Immediate command. Protocol ID: 150.

Parameters
enable:`bool`	True to enable, False to disable.

Returns
`Message`	The response message from the Dobot.

def set_wifi_dns(self, params: tagWIFIDNS) -> Message: (source) ¶

Sets Wi-Fi DNS settings. Immediate command. Protocol ID: 156.

Parameters
params:`tagWIFIDNS`	WIFIDNS structure.

Returns
`Message`	The response message from the Dobot.

def set_wifi_gateway(self, params: tagWIFIGateway) -> Message: (source) ¶

Sets Wi-Fi gateway settings. Immediate command. Protocol ID: 155.

Parameters
params:`tagWIFIGateway`	WIFIGateway structure.

Returns
`Message`	The response message from the Dobot.

def set_wifi_ip_address(self, params: tagWIFIIPAddress) -> Message: (source) ¶

Sets Wi-Fi IP address settings. Immediate command. Protocol ID: 153.

Parameters
params:`tagWIFIIPAddress`	WIFIIPAddress structure.

Returns
`Message`	The response message from the Dobot.

def set_wifi_netmask(self, params: tagWIFINetmask) -> Message: (source) ¶

Sets Wi-Fi netmask settings. Immediate command. Protocol ID: 154.

Parameters
params:`tagWIFINetmask`	WIFINetmask structure.

Returns
`Message`	The response message from the Dobot.

def set_wifi_password(self, password: str) -> Message: (source) ¶

Sets the Wi-Fi password. Immediate command. Protocol ID: 152.

Parameters
password:`str`	The Wi-Fi password.

Returns
`Message`	The response message from the Dobot.

def set_wifi_ssid(self, ssid: str) -> Message: (source) ¶

Sets the Wi-Fi SSID. Immediate command. Protocol ID: 151.

Parameters
ssid:`str`	The Wi-Fi SSID.

Returns
`Message`	The response message from the Dobot.

conn: DobotConnection = (source) ¶

Undocumented

lock: threading.Lock = (source) ¶

Undocumented

verbose: bool = (source) ¶

Undocumented

def _read_message(self) -> Message | None: (source) ¶

Reads a message from the serial connection.

Returns
`Message \| None`	The received Message object, or None if no message is read.

def _send_command(self, msg: Message, wait: bool = False) -> Message: (source) ¶

Sends a message to the Dobot and optionally waits for its execution if queued.

Parameters
msg:`Message`	The message object to send. msg.ctrl indicates if queued.
wait:`bool`	If True AND command was queued, waits for execution.

Returns
`Message`	The response message from the Dobot.

Raises
`TypeError`	If no response is received.
`ValueError`	If waiting for a queued command and response is malformed.

def _send_command_with_params(self, command_id: CommunicationProtocolIDs, control_value: ControlValues, params: bytes | None = None, wait: bool = False, put_on_queue: bool = False) -> Message: (source) ¶

Helper method to construct and send a command message.

Parameters
command_id:`CommunicationProtocolIDs`	The ID of the command.
control_value:`ControlValues`	The base control value (e.g., ReadWrite for set, Zero for get).
params:`bytes \| None`	Optional byte string of parameters.
wait:`bool`	If True and command is queued, waits for execution.
put_on_queue:`bool`	If True, command is added to Dobot's queue.

Returns
`Message`	The response message from the Dobot.

def _send_message(self, msg: Message): (source) ¶

Writes a message to the Dobot's serial connection.

Parameters
msg:`Message`	The message object to send.

_on: bool = (source) ¶

Undocumented