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Lebai Robotics Documentation

website·Indexed 32 days ago

https://help.lebai.ltd

Developer guides and API references for Lebai robot arms and the L Master system. Includes documentation for the SDK (v3.1.8+), motion control (MoveL, MoveC, MoveJ), I/O control, and programming examples in Lua, Python, and JavaScript. Covers system services including JSON-RPC, WebSocket, and HTTP, as well as Modbus 3.0.8 integration and gripper installation.

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What's inside Lebai

  1. Overview of Cooperative Multitasking in Lua

    Lua coroutines can be used as concurrent tasks. Tasks created via async_task do not execute immediately; they only begin running when they are passed to a synchronization function such as wait_all or wait_any.

  2. Overview of Semaphore system

    Semaphores are used for communication between processes or with external systems. The system provides 256 built-in semaphores (indexed 0 to 255). Each semaphore stores a 32-bit signed integer (range: -2,147,483,648 to 2,147,483,647). All semaphores are reset to 0 upon system restart.

  3. Overview of Lebai SDK capabilities and requirements

    The Lebai SDK is based on JSON-RPC and WebSocket technology to provide a consistent development experience across multiple languages. It is available for version 3.1.8 and above. Official technical support is provided for Lua, Python, JavaScript, Rust, and C++.

  4. Overview of LMG-90 Gripper Hardware

    The LMG-90 gripper supports both force control and position control. Note that upon initial startup or power-on, the gripper automatically performs one open/close cycle to confirm its travel range; ensure the area is clear of obstacles before powering on.

  5. Overview of LMG-90 Gripper Requirements

    The gripper commands require the LMG-90 model installed on the robot flange. This gripper supports both force control and position control. Note that upon first boot or power-on, the gripper automatically opens and closes once to confirm its travel range; ensure the area around the gripper is clear of obstacles before powering on.

  6. Overview of LMG-90 Gripper Requirements

    Gripper commands require the LMG-90 model gripper installed on the robot flange. This gripper supports both force control and position control. Note: When the robot first starts or is power-cycled, the gripper will automatically open and close once to confirm its travel range. Ensure the area around the gripper is clear of obstacles before powering on.

  7. Overview of Modbus Master support in L Master 3.0

    Starting from L Master 3.0, the robot can act as a Modbus master (client) to connect with PLCs. It supports TCP/Socket network connections and RTU serial protocols.

    Important Notes:

    • Error Handling: Due to potential communication instability, it is recommended to use Lua's error handling mechanisms (e.g., pcall) to catch errors and prevent abnormal system exits.
    • Deprecation: The libmodbus open-source library used in L Master 2.x is deprecated in version 3.0 as it could cause system freezes or crashes during communication abnormalities.

  8. Overview of Semaphore system

    Semaphores are used for communication between processes or with external systems. The system provides 256 built-in semaphores (indexed 0 to 255). Each semaphore stores a 32-bit signed integer ranging from -2,147,483,648 to 2,147,483,647. All semaphores are reset to 0 upon system restart.

  9. Overview of the Semaphore system

    Semaphores are used for communication between processes or with external systems. The system provides 256 built-in semaphores, indexed from 0 to 255. Each semaphore stores a 32-bit signed integer ranging from -2,147,483,648 to 2,147,483,647. All semaphores are reset to 0 upon system reboot.

  10. Overview of Lebai SDK capabilities and requirements

    The Lebai SDK provides a consistent development experience across multiple languages using JSON-RPC and WebSocket technologies. It is available for Lua, Python, JavaScript, Rust, and C++.

    Requirement: The SDK is only compatible with version 3.1.8 and above.

  11. Overview of Lebai Robot Signals

    Signals are used for communication between processes or with external systems. The system provides 256 built-in signals (indexed 0 to 255). Each signal stores a 32-bit signed integer ranging from -2,147,483,648 to 2,147,483,647. All signals are reset to 0 upon system restart.

  12. Control Box I/O Hardware Overview

    The control box provides the following I/O capabilities: 4 Digital Inputs (DI), 4 Digital Outputs (DO), 2 Analog Inputs (AI), and 2 Analog Outputs (AO).