pylabrobot.brooks.precise_flex.PreciseFlexDriver#

class pylabrobot.brooks.precise_flex.PreciseFlexDriver(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[PreciseFlexAxis, float] | None = None, base_plate: Resource | None = None, declared_configuration_json: str | 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

closed_gripper_position

use gripper.closed_gripper_position.

configuration

The device configuration resolved at setup.

horizontal_compliance

use arm.horizontal_compliance.

horizontal_compliance_torque

use arm.horizontal_compliance_torque.

location_index

use arm.station_index.

max_gripper_width

use gripper.jaw_width_range.

min_gripper_width

use gripper.jaw_width_range.

parking_position

use arm.parking_position.

profile_index

use arm.profile_index.

Methods

__init__(host, gripper_length, ...[, port, ...])

are_grippers_closed(*args, **kwargs)

Deprecated: use gripper.sense_each_fully_closed.

attach([attach_state])

Attach or release the robot, or get attachment state.

change_config(*args, **kwargs)

Deprecated: use arm.change_elbow_orientation.

change_config2(*args, **kwargs)

Deprecated: use arm.change_elbow_orientation_by_algorithm.

connect()

Open the link and agree the response protocol.

dest_c(*args, **kwargs)

Deprecated: use arm.request_destination_joint_state.

dest_j(*args, **kwargs)

Deprecated: use arm.request_destination_joint_state.

detach()

Detach the robot.

disconnect()

Hand the arm back and close the links.

discover()

Read the controller's configuration and adopt it.

drop_at_joint_position(*args, **kwargs)

Deprecated: use arm.drop_at_joint_state.

drop_at_location(*args, **kwargs)

Deprecated: use arm.drop_at_location.

halt(*args, **kwargs)

Deprecated: use arm.halt.

here_c(*args, **kwargs)

Deprecated: use arm.set_station_to_current_joint_state.

here_j(*args, **kwargs)

Deprecated: use arm.set_station_to_current_joint_state.

home()

Home the robot associated with this thread.

home_all()

Home all robots.

initialize()

Raise high power, take control, end any freedrive, and read the configuration (discover).

is_gripper_closed(*args, **kwargs)

Deprecated: use gripper.sense_fully_closed.

move_gripper(width[, force_sensing])

Deprecated: use gripper.move_to_jaw_position.

move_gripper_joint_position(position[, ...])

Deprecated: use gripper.move_to_jaw_position_firmware_units.

move_rail(*args, **kwargs)

Deprecated: use rail.move_rail.

move_through_cartesian_poses(*args, **kwargs)

Deprecated: use arm.move_through_cartesian_poses.

move_to_joint_position(*args, **kwargs)

Deprecated: use arm.move_to_joint_state.

move_to_location(*args, **kwargs)

Deprecated: use arm.move_to_location.

nop()

No operation command.

park(*args, **kwargs)

Deprecated: use arm.park.

pick_up_at_joint_position(*args, **kwargs)

Deprecated: use arm.pick_up_at_joint_state.

pick_up_at_location(*args, **kwargs)

Deprecated: use arm.pick_up_at_location.

power_off_robot()

Power off the robot.

power_on_robot()

Power on the robot.

recover_axes_within_limits(*args, **kwargs)

Deprecated: use arm.recover_axes_within_limits.

recover_from_fault()

Recover after a collision / fault that stopped the arm and dropped power, leaving it usable.

release_brake(*args, **kwargs)

Deprecated: use arm.release_brake.

request_axis_count()

Number of servoed axes.

request_axis_mask()

Capability/option bit field (rail, dual gripper, ...).

request_base(*args, **kwargs)

Deprecated: use arm.request_base.

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(*args, **kwargs)

Deprecated: use arm.request_gripper_pose.

request_hardware_version()

request_joint_limits(*args, **kwargs)

Deprecated: use arm.request_joint_limits.

request_joint_position(*args, **kwargs)

Deprecated: use arm.request_joint_state.

request_kinematic_parameters(*args, **kwargs)

Deprecated: use arm.request_kinematic_parameters.

request_link_lengths(*args, **kwargs)

Deprecated: use arm.request_link_lengths.

request_manufacturer()

request_max_acceleration_percent(*args, **kwargs)

Deprecated: use arm.request_max_acceleration_percent.

request_max_deceleration_percent(*args, **kwargs)

Deprecated: use arm.request_max_deceleration_percent.

request_max_speed_percent(*args, **kwargs)

Deprecated: use arm.request_max_speed_percent.

request_mode()

Get the current response mode.

request_monitor_speed(*args, **kwargs)

Deprecated: use arm.request_monitor_speed.

request_motion_profile_values(*args, **kwargs)

Deprecated: use arm.request_motion_profile_values.

request_parameter(data_id[, unit_number, ...])

Get the value of a numeric parameter database item.

request_payload(*args, **kwargs)

Deprecated: use arm.request_payload.

request_power_state()

Get the current robot power state.

request_profile_acceleration(*args, **kwargs)

Deprecated: use arm.request_profile_acceleration.

request_profile_acceleration_ramp(*args, ...)

Deprecated: use arm.request_profile_acceleration_ramp.

request_profile_deceleration(*args, **kwargs)

Deprecated: use arm.request_profile_deceleration.

request_profile_deceleration_ramp(*args, ...)

Deprecated: use arm.request_profile_deceleration_ramp.

request_profile_in_range(*args, **kwargs)

Deprecated: use arm.request_profile_in_range.

request_profile_speed(*args, **kwargs)

Deprecated: use arm.request_profile_speed.

request_profile_speed2(*args, **kwargs)

Deprecated: use arm.request_profile_speed2.

request_profile_straight(*args, **kwargs)

Deprecated: use arm.request_profile_straight.

request_reference_acceleration(*args, **kwargs)

Deprecated: use arm.request_reference_acceleration.

request_reference_cartesian_acceleration(...)

Deprecated: use arm.request_reference_cartesian_acceleration.

request_reference_cartesian_speed(*args, ...)

Deprecated: use arm.request_reference_cartesian_speed.

request_reference_speed(*args, **kwargs)

Deprecated: use arm.request_reference_speed.

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(*args, **kwargs)

Deprecated: use arm.request_state.

request_system_state()

Controller power/system-state word (the sysState command, == DataID 234).

request_tool_length(*args, **kwargs)

Deprecated: use arm.request_tool_length.

request_tool_transformation_values(*args, ...)

Deprecated: use arm.request_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.

save_configuration(path[, indent])

Write what this device reported to a file, to be declared from later.

select_robot(robot_number)

Change the robot associated with this communications link.

send_command(command)

Send a command and return the accepted <code> <data> payload.

set_axis_parameter(data_id, axis, value[, ...])

Change one joint's element of a per-axis parameter array (pc); the rest are untouched.

set_base(*args, **kwargs)

Deprecated: use arm.set_base.

set_brake(*args, **kwargs)

Deprecated: use arm.reengage_brake.

set_monitor_speed(*args, **kwargs)

Deprecated: use arm.set_monitor_speed.

set_motion_profile_values(*args, **kwargs)

Deprecated: use arm.set_motion_profile_values.

set_parameter(data_id, value[, unit_number, ...])

Change a value in the controller's parameter database.

set_payload(*args, **kwargs)

Deprecated: use arm.set_payload.

set_power(enable[, timeout])

Enable or disable robot high power.

set_profile_acceleration(*args, **kwargs)

Deprecated: use arm.set_profile_acceleration.

set_profile_acceleration_ramp(*args, **kwargs)

Deprecated: use arm.set_profile_acceleration_ramp.

set_profile_deceleration(*args, **kwargs)

Deprecated: use arm.set_profile_deceleration.

set_profile_deceleration_ramp(*args, **kwargs)

Deprecated: use arm.set_profile_deceleration_ramp.

set_profile_in_range(*args, **kwargs)

Deprecated: use arm.set_profile_in_range.

set_profile_speed(*args, **kwargs)

Deprecated: use arm.set_profile_speed.

set_profile_speed2(*args, **kwargs)

Deprecated: use arm.set_profile_speed2.

set_profile_straight(*args, **kwargs)

Deprecated: use arm.set_profile_straight.

set_response_mode(mode)

Set the response mode.

set_signal(signal_number, value)

Set the specified digital input or output signal.

setup([skip_home])

Bring the arm fully up: connect, initialize, then home unless skipped.

start_freedrive_mode(*args, **kwargs)

Deprecated: use arm.start_freedrive_mode.

stop()

Hand the arm back and close the link (disconnect).

stop_freedrive_mode(*args, **kwargs)

Deprecated: use arm.stop_freedrive_mode.

zero_torque(enable[, axis_mask])

Deprecated: use arm.start_zero_torque or arm.stop_zero_torque.
Parameters: