pylabrobot.brooks.precise_flex.PreciseFlex

class pylabrobot.brooks.precise_flex.PreciseFlex(host: str, gripper_length: float, gripper_z_offset: float, closed_gripper_position: float, port: int = 10100, timeout: int = 20, is_dual_gripper: bool = False, has_rail: bool = False, read_kinematics_from_device: bool = True, recover_out_of_range: bool = True, parking_position: Dict[int, float] | None = None)

Bases: object

Driver for PreciseFlex robotic arms.

Owns the Socket I/O connection and device-level operations (power, attach, home, response mode). Exposes send_command as the generic wire method.

Documentation and error codes available at https://www2.brooksautomation.com/#Root/Welcome.htm

Attributes

PARKING_POSITION_BACK
PARKING_POSITION_FRONT
PARKING_POSITION_RIGHT
ResponseMode
configuration	The device configuration resolved at setup.
max_gripper_width
min_gripper_width
parking_position	The pose park() moves to.

Methods

__init__(host, gripper_length, ...[, port, ...])
are_grippers_closed()	(Dual Gripper Only) Tests if each gripper is fully closed by checking the end-of-travel sensors.
attach([attach_state])	Attach or release the robot, or get attachment state.
change_config([grip_mode])	Change Robot configuration from Righty to Lefty or vice versa using customizable locations.
change_config2([grip_mode])	Change Robot configuration from Righty to Lefty or vice versa using algorithm.
dest_c([arg1])	Get the destination or current Cartesian location of the robot.
dest_j([arg1])	Get the destination or current joint location of the robot.
detach()	Detach the robot.
drop_at_joint_position(position, resource_width)	Drop at the specified joint position.
drop_at_location(location, direction, ...[, ...])	Drop at the specified Cartesian location.
halt()	Stops the current robot immediately but leaves power on.
here_c(location_index)	Record the current position of the selected robot into the specified Location as Cartesian.
here_j(location_index)	Record the current position of the selected robot into the specified Location as angles.
home()	Home the robot associated with this thread.
home_all()	Home all robots.
is_gripper_closed()	(Single Gripper Only) Tests if the gripper is fully closed by checking the end-of-travel sensor.
move_gripper(width[, force_sensing])	Move the PreciseFlex gripper jaws.
move_rail(rail_position)	Move the rail to the specified position.
move_through_cartesian_poses(poses[, ...])	Move through a sequence of Cartesian poses using one planned IK route.
move_to_joint_position(position[, speed_pct])	Move the arm to the specified joint position.
move_to_location(location, direction[, ...])	Move the arm to the specified Cartesian location.
nop()	No operation command.
park()	Move to self.parking_position; defaults at setup, reassignable at runtime.
pick_up_at_joint_position(position, ...[, ...])	Pick up at the specified joint position.
pick_up_at_location(location, direction, ...)	Pick up at the specified Cartesian location.
power_off_robot()	Power off the robot.
power_on_robot()	Power on the robot.
recover_axes_within_limits([speed_pct, ...])	Bring out-of-range axes back inside their soft limits, one axis at a time.
recover_from_fault()	Recover after a collision / fault that stopped the arm and dropped power, leaving it usable.
release_brake(axis)	Release the axis brake.
request_axis_count()	Number of servoed axes.
request_axis_mask()	Capability/option bit field (rail, dual gripper, ...).
request_base()	Get the robot base offset.
request_controller_model()
request_controller_serial()
request_extra_axis_count()	Number of non-servoed (extra) axes.
request_gpl_version()	Controller firmware/runtime version (distinct from request_version, the TCS app).
request_gripper_pose()	Get the current pose using our kinematics model (no firmware wherec).
request_hardware_version()
request_joint_limits([hard])	Per-axis travel limits as {Axis: (min, max)}.
request_joint_position()	Get the current joint position of the arm.
request_kinematic_parameters()	Build PF400Params from the controller's stored geometry.
request_link_lengths()	(l1, l2) SCARA link lengths in mm: shoulder->elbow, elbow->wrist.
request_manufacturer()
request_max_acceleration_percent()	Global cap on the acceleration percentage (one value, applies to all joints).
request_max_deceleration_percent()	Global cap on the deceleration percentage (one value, applies to all joints).
request_max_speed_percent()	Global cap on the speed percentage (one value, applies to all joints).
request_mode()	Get the current response mode.
request_monitor_speed()	Get the global system (monitor) speed.
request_motion_profile_values(profile)	Get the current motion profile values for the specified profile index on the PreciseFlex robot.
request_parameter(data_id[, unit_number, ...])	Get the value of a numeric parameter database item.
request_payload()	Get the payload percent value for the current robot.
request_power_state()	Get the current robot power state.
request_profile_acceleration(profile_index)	Get the acceleration property of the specified profile.
request_profile_acceleration_ramp(profile_index)	Get the acceleration ramp property of the specified profile.
request_profile_deceleration(profile_index)	Get the deceleration property of the specified profile.
request_profile_deceleration_ramp(profile_index)	Get the deceleration ramp property of the specified profile.
request_profile_in_range(profile_index)	Get the InRange property of the specified profile.
request_profile_speed(profile_index)	Get the speed property of the specified profile.
request_profile_speed2(profile_index)	Get the speed2 property of the specified profile.
request_profile_straight(profile_index)	Get the Straight property of the specified profile.
request_reference_acceleration()	Per-axis rated acceleration at 100%.
request_reference_cartesian_acceleration()	Rated Cartesian (translational) acceleration at 100%, in mm/s^2.
request_reference_cartesian_speed()	Rated Cartesian (translational) speed at 100%, in mm/s.
request_reference_speed()	Per-axis rated speed at 100%; J1/J5 in mm/s, J2-J4 in deg/s.
request_robot_name()
request_robot_type()	Built-in kinematic model id (PF400 = 12).
request_selected_robot()	Get the number of the currently selected robot.
request_signal(signal_number)	Get the value of the specified digital input or output signal.
request_state()	Return state of motion.
request_system_state()	Controller power/system-state word (the sysState command, == DataID 234).
request_tool_length()	Wrist->TCP distance in mm (z of the tool-offset transform).
request_tool_transformation_values()	Get the current tool transformation values.
request_version()	Get the current version of TCS and any installed plug-ins.
reset(robot_number)	Reset the threads associated with the specified robot.
select_robot(robot_number)	Change the robot associated with this communications link.
send_command(command)
set_axis_parameter(data_id, axis, value[, ...])	Change one joint's element of a per-axis parameter array (pc).
set_base(x_offset, y_offset, z_offset, ...)	Set the robot base offset.
set_brake(axis)	Set the axis brake.
set_monitor_speed(speed_pct)	Set the global system (monitor) speed.
set_motion_profile_values(profile, ...)	Set motion profile values for the specified profile index on the PreciseFlex robot.
set_parameter(data_id, value[, unit_number, ...])	Change a value in the controller's parameter database.
set_payload(payload_pct)	Set the payload percent of maximum for the currently selected or attached robot.
set_power(enable[, timeout])	Enable or disable robot high power.
set_profile_acceleration(profile_index, ...)	Set the acceleration property of the specified profile.
set_profile_acceleration_ramp(profile_index, ...)	Set the acceleration ramp property of the specified profile.
set_profile_deceleration(profile_index, ...)	Set the deceleration property of the specified profile.
set_profile_deceleration_ramp(profile_index, ...)	Set the deceleration ramp property of the specified profile.
set_profile_in_range(profile_index, ...)	Set the InRange property of the specified profile.
set_profile_speed(profile_index, speed_pct)	Set the speed property of the specified profile.
set_profile_speed2(profile_index, speed2_pct)	Set the speed2 property of the specified profile.
set_profile_straight(profile_index, ...)	Set the Straight property of the specified profile.
set_response_mode(mode)	Set the response mode.
set_signal(signal_number, value)	Set the specified digital input or output signal.
setup([skip_home])	Initialize the PreciseFlex driver.
start_freedrive_mode([free_axes])	Enter freedrive mode, allowing manual movement of the specified joints.
stop()	Stop the PreciseFlex driver.
stop_freedrive_mode()	Exit freedrive mode for all axes.
zero_torque(enable[, axis_mask])	Sets or clears zero torque mode for the selected robot.

Parameters:

• host (str)

• gripper_length (float)

• gripper_z_offset (float)

• closed_gripper_position (float)

• port (int)

• timeout (int)

• is_dual_gripper (bool)

• has_rail (bool)

• read_kinematics_from_device (bool)

• recover_out_of_range (bool)

• parking_position (Dict[int, float] | None)