API Changes Notifications

This document lists the deprecated/obsolete APIs in different SDK versions, the reasons for deprecation, and recommended alternatives.

Deprecated APIs may still be available in the current version but could be removed in future releases.

It is recommended to migrate to the suggested alternatives as soon as possible.

APIs Overview

Deprecated Interfaces

• set_compliant_type
• get_compliant_type
• set_vel_compliant_ctrl
• set_compliance_condition
• disable_force_control
• enable_admittance_ctrl
• get_admit_ctrl_config
• set_admit_ctrl_config
• set_ft_ctrl_frame
• get_ft_ctrl_frame

Note：

171 and 172 in the following table refer to the controller versions.

API List	Solutions on: 171-tcp	Solutions on: 172-tcp / 172-grpc
set_compliant_type	Supported	Replaced by: set_ft_ctrl_mode
get_compliant_type	Supported	Replaced by: get_ft_ctrl_mode
disable_force_control	Supported	Replaced by: zero_end_sensor
set_vel_compliant_ctrl	Supported	No longer supported in version 172 and above, but still available in TCP/IP
set_compliance_condition	Supported	No longer supported in version 172 and above, but still available in TCP/IP
enable_admittance_ctrl	Supported	Replaced by: enable_tool_drive
get_admit_ctrl_config	Supported	Separated as: get_tool_drive_config、get_ft_ctrl_config
set_admit_ctrl_config	Supported	Separated as: set_tool_drive_config、set_ft_ctrl_config
get_ft_ctrl_frame	Supported	Separated as: get_tool_drive_frame、get_ft_ctrl_frame
set_ft_ctrl_frame	Supported	Separated as: set_tool_drive_frame、set_ft_ctrl_frame

Obsolete Interfaces

• set_error_handler
• set_block_wait_timeout
• set_status_data_update_time_interval
• get_exist_traj_file_name
• rename_traj_file_name
• remove_traj_file
• generate_traj_exe_file
• set_errorcode_file_path
• set_debug_mode
• static_Get_SDK_filepath
• static_Set_SDK_filepath

Note：

171 and 172 in the following table refer to the controller versions.

API List	Solutions on: 171-tcp / 172-tcp / 172-grpc
set_error_handler	After disabling polling on port 10004, the SDK can no longer retrieve the controller's "real-time" error codes, resulting in the corresponding callback not being executed. Meanwhile, the SDK's return value—formerly indicating whether the controller successfully received a command—now reflects the execution success. This allows users to directly determine the result of a command. If an error occurs, it can be addressed immediately.
set_block_wait_timeout	Previously, the SDK relied on position values for judgment, requiring extended timeout settings to prevent "non-convergence" issues. Now, the SDK determines status based on the controller's inpos flag and command queue information, effectively eliminating these problems.
set_status_data_update_time_interval	The SDK's polling mechanism for port 10004 has been removed.
get_exist_traj_file_name	Replaced by FTP commands (Noted in the manual)
rename_traj_file_name	Replaced by FTP commands (Noted in the manual)
remove_traj_exe_file	Replaced by FTP commands (Noted in the manual)
generate_traj_exe_file	A JKS file is automatically generated upon the completion of trajectory recording.
set_errorcode_file_path	The SDK used to require an additional file to map error codes to their corresponding descriptions. Now, the SDK directly utilizes the error codes and messages reported by the controller, eliminating the need for extra files. (This applies only to controller errors. For SDK interface errors, users must refer to the jkerr.h file for details.)
set_debug_mode	No longer supported the modification by users
static_Get_SDK_filepath	Use get_SDK_filepath instead
static_Set_SDK_filepath	Use get_SDK_filepath instead