GentoPlatform
GentoPlatform (FX_Platform) is the host application for Tianji robots. It controls arm and torso motion, configures parameters, plans motion, and supports system debugging. This page is based on version V1004.
Get and run the software
FX_Platform ships with the SDK and is only for Gento series robots; the current version targets controller major version 1004. It is in a subdirectory of the Tianji Gento series SDK repository.
Officially tested environments are Windows and Ubuntu 20.04 x86. For other environments, download the source and build it yourself.
Before running, confirm:
- Python 3.10 or later, with pyinstaller and pillow installed
./contrlSDKand./kinematicsSDKunderSDK_PYTHONcontain the latest compiledlibMarvinSDK.soandlibKine.so
To start:
- From source:
python ui.py - Build an executable:
python setup.py, for computers without Python
Connect to the robot
First confirm the controller is powered, the Ethernet cable is secure (one end in the controller's CAT.6 port, the other in the computer or a switch), and the E-stop is released.
- In the connection area at the top left, enter the motion controller's IP (default 6.6.7.190).
- Click connect. When it succeeds, the button turns green and shows Connected.
If it fails, check that the computer and controller are on the same LAN, recheck the IP, and check power and network settings.
Status and parameters
The left status bar shows the robot state (idle, position, impedance, and so on), drag button state, whether the robot is fully stationary, and the current error code.
- Speed / acceleration: adjustable 0–100%. Use 5–10% on first use or during testing.
- Impedance: stiffness K and damping D. In force mode, set forces and torques in x, y, z from -50 to 50 and the maximum detection distance.
- Drag teaching: press Drag to enter drag mode, with X / Y / Z Cartesian and rotational dragging. Hold the physical button on the end flange to guide the arm.
Control modes
| Mode | Description |
|---|---|
| Idle (IDLE) | Disabled; ignores motion commands. For configuration, parameter changes, or mode switching |
| Position | Executes absolute position commands precisely |
| Joint impedance (JointImp) | Compliance in joint space, for physical human-robot collaboration |
| Cartesian impedance (CartImp) | Compliance at the end effector, for constant-contact tasks |
| Force (ForceImp) | Closed-loop force/torque control for grinding, polishing, and assembly |
| Drag | Hand-guided teaching |
Error handling
| Button | Function |
|---|---|
| Reset | Clears servo errors |
| Get Error | Reads detailed error codes for each axis |
| Brake / Release brake | Locks or releases the motor brakes |
| CR collaborative release | Applies force compensation to make the robot easy to release |
Process: read the error code → look it up in the manual → reset. Do not operate the robot at random when an error appears.
Joint angle commands
- Click GetCurPos to read all current joint angles into the point list.
- Or type target angles and click Add to add a point.
- Select a point from the drop-down and click run to move at the speed and acceleration set in the interface.
- To remove a point, select it, click delete, and confirm.
Tools and utilities
- Software E-stop: a backup when the physical E-stop cannot be reached; each mechanical unit has Reset to return to standby.
- Dynamics parameters (10): tool mass M; center of mass Mx, My, Mz; inertia Ixx, Ixy, Ixz, Iyy, Iyz, Izz. Setting these makes impedance control more reliable.
- Kinematics parameters (6): tool frame relative to the flange, X, Y, Z, Rx, Ry, Rz (X-Y-Z Euler angles), for TCP motion and FK/IK.
- Tool dynamics identification: More Features → Tool Dynamics Identification. Return the arms and body to zero and disable them, collect no-load (Noload) and loaded (Load) data, click Identify, then Use last result and Set Tool dynamics. Arm0 is the left arm, Arm1 the right; trajectory files are in the SDK directory.
- CAN / 485 test: More Features → CAN/485. COM1 and COM2 are 485 CH1 and CH2.
- Sensors / encoders (in IDLE only): reset the sensors if readings at the mechanical zero are 0.5 N·m or more; if zero encoder values are wrong, move the arm to mechanical zero with DriveMaster, then zero and clear the encoders; soft limits can be disabled temporarily and return on the next enable.
Motion planning
| Function | Description |
|---|---|
| Joint space motion | Interpolates each joint; the end follows a curve. Fast, for large moves. 50 Hz cycle |
| Joints to joints (linear) | Start and end joint angles; IK keeps the TCP on a straight line. Speed/acceleration range 1–1000 |
| Linear | End pose XYZABC; straight-line interpolation with smooth orientation change |
| Linear (multi-segment) | Several points in sequence along a continuous polyline; arrival tolerance and null-space constraints |
| Arms Synchronous Linear | Both arms start and finish straight-line moves together, for coordinated grasping |
System update
More Features → System Update: select the update package and ini configuration file, click update, and restart the motion controller when it succeeds.
Next: SDK & teleoperation.