37.xarm_set_reduced_joint_range

1. Introduction

Setting the Joint Range of Motion for Reduced Mode Interface.

Sets the joint range of motion for reduced mode.

2.Request & Response

Message

{
    "cmd": "xarm_set_reduced_joint_range",
    "data": {
        'save': true, 
        'boundary': [-360, 360, -117.97, 120, -225, 11, -360, 360, -97, 180, -360, 360, 0, 0]
    },
    "id": "1"
}

Request

data	type	Required filed	Description	example value
save	bool	no	Whether to save the setting to the firmware	true
boundary	int	yes	J1 to J6 joint motion ranges, e.g. J1 range is -360 ~ 360, J2 range is -117.97 ~ 120, and so on	[-360, 360, -117.97, 120, -225, 11, -360, 360, -97, 180, -360, 360, 0, 0]

Response:

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