13.xarm_check_valid

Checks the validity of the specified tcp position and joint angle with the xarm_move_step_over interface. In case of long-press move interface, it needs to be linked with xarm_move_step_over (stop moving robot arm) interface.

Message

{
    "cmd": "xarm_check_valid",
    "data": {
        "istcp": true,
        "tcp_angle_value": [320, -50, 175.3, -179.1, 0.2, 9.6],
        "only_check_type": 1
    },
    "id": "1"
}

Request：

data	type	Required fields	Description	example
istcp	bool	yes	Whether tcp position motion and vice versa is joint angle motion	true
tcp_angle_value	array	yes	tcp position array or joint angle array	[320, -50, 175.3, -179.1, 0.2, 9.6]
only_check_type	int	yes	1 for checking the validity of the position, 0 for long press movement at the position, stopping the long press requests the xarm_move_step_over interface.	1

Response:

code=0->success;
code!=0->Failed, refer to xarm_api_code;