Collaborative robot

Product matrix

Quick start

• 1. Install and power on the robot
  • 1.1. Install the robot arm
  • 1.2. Connect the control box
  • 1.3. Know the button box and end LED
    • 1.3.1. The button box
      • 1.3.1.1. 60 Button Box (POE) (BX01)
      • 1.3.1.2. 60 Button Box (POE) (BX02)-V1.0
      • 1.3.1.3. 60 Button Box (POE) (BX02)-V2.0
    • 1.3.2. The end LED
  • 1.4. Power on enable
  • 1.5. Power Off
• 2. WebApp access login
  • 2.1. Access and log in to the WebApp interface
  • 2.2. Simple understanding of WebApp interface
    • 2.2.1. Control area
    • 2.2.2. Status Bar
• 3. Robot parameter setting
  • 3.1. Set the installation method
  • 3.2. Set end load
  • 3.3. Set tool coordinates
• 4. Robot manual teaching
  • 4.1. Manual teaching and recording of teaching points
  • 4.2. View teaching point information
• 5. Robot Quick Programming
  • 5.1. Introduction to Simple Motion Instructions
  • 5.2. Operate on program files
  • 5.3. Write and run a program

Manual

• 1. Foreword
  • 1.1. What is installed in the box
  • 1.2. Important security description
  • 1.3. How to use this manual
  • 1.4. Follow the relevant standards
• 2. Robot brief introduction
  • 2.1. Basic parameters
  • 2.2. Motion
  • 2.3. Robot coordinate system
  • 2.4. Robot Denavit–Hartenberg parameters
  • 2.5. DH parameter download
• 3. Installation
  • 3.1. Instructions for security
    • 3.1.1. Brief introduction
    • 3.1.2. Personnel safety
    • 3.1.3. Danger recognition
    • 3.1.4. Nameplate information
    • 3.1.5. Effectiveness and responsibility
    • 3.1.6. Limited responsibility
    • 3.1.7. The warning signs in this manual
    • 3.1.8. Pre-use evaluation
    • 3.1.9. Emergency stop
    • 3.1.10. Power-free movement
  • 3.2. Equipment transportation
    • 3.2.1. Transportation
    • 3.2.2. Carry
    • 3.2.3. Storage
  • 3.3. Maintenance, inspection, and scrapping
    • 3.3.1. Maintenance disposal
    • 3.3.2. Inspection Plan
      • 3.3.2.1. Preface
        • 3.3.2.1.1. Safety Notice
        • 3.3.2.1.2. Effectiveness and accountability
        • 3.3.2.1.3. Limited Liability
        • 3.3.2.1.4. Warning signs in this manual
    • 3.3.3. Digital Input/Output Description of Control Box
      • 3.3.3.1. Precautions When Switching Digital Related Functions of Control Box
      • 3.3.3.2. Digital Input Description of Control Box
        • 3.3.3.2.1. Summary of Digital Input of Control Box
        • 3.3.3.2.2. Supported Types of Digital Input of Control Box
        • 3.3.3.2.3. Wiring Diagram of Digital Input of Control Box
        • 3.3.3.2.4. Software Settings Related to Digital Input of Control Box
      • 3.3.3.3. Digital Output Description of Control Box
        • 3.3.3.3.1. Summary of Digital Output of Control Box
        • 3.3.3.3.2. Supported Types of Digital Output of Control Box
        • 3.3.3.3.3. Wiring Diagram of Digital Output of Control Box
        • 3.3.3.3.4. Software Settings Related to Digital Output of Control Box
      • 3.3.3.4. Inspection maintenance plan
        • 3.3.3.4.1. Robotic arm
        • 3.3.3.4.2. Control box, teaching device, button box
        • 3.3.3.4.3. Registration card for French-Austrian robot inspection plan
    • 3.3.4. Robot waste disposal
  • 3.4. Installation specifications
    • 3.4.1. Robot arm installation
      • 3.4.1.1. Installation requirements for FR3/FR3WMS/FR3WML/FR3C robot
      • 3.4.1.2. Installation requirements for FR5 robot
      • 3.4.1.3. Installation requirements for FR10&FR16 robot
      • 3.4.1.4. Installation requirements for FR20&FR30 robot
    • 3.4.2. Tool end installation
    • 3.4.3. Installation environment
    • 3.4.4. Floor carrier capacity
    • 3.4.5. Load curves for all FR series models
      • 3.4.5.1. Overview
      • 3.4.5.2. Parameter Description
        • 3.4.5.2.1. FR3 Model Collaborative Robot Load Curve
        • 3.4.5.2.2. FR3WMS Model Collaborative Robot Load Curve
        • 3.4.5.2.3. FR3WML Model Collaborative Robot Load Curve
        • 3.4.5.2.4. FR3C Model Collaborative Robot Load Curve
        • 3.4.5.2.5. FR5 Model Collaborative Robot Load Curve
        • 3.4.5.2.6. FR10 Model Collaborative Robot Load Curve
        • 3.4.5.2.7. FR16 Model Collaborative Robot Load Curve
        • 3.4.5.2.8. FR20 Model Collaborative Robot Load Curve
        • 3.4.5.2.9. FR30 Model Collaborative Robot Load Curve
  • 3.5. Control connection
    • 3.5.1. Controller interface
    • 3.5.2. Controller I/O panel
    • 3.5.3. RJ45 network interface group
    • 3.5.4. End plate
    • 3.5.5. Ground
    • 3.5.6. The common specifications of all digital I/O
    • 3.5.7. Safety I/O
    • 3.5.8. Universal digital amount I/O
    • 3.5.9. Digital input from the button
    • 3.5.10. Interact with other devices or PLC
    • 3.5.11. Simulation I/O
    • 3.5.12. FR3MT&3C Optional Modules
      • 3.5.12.1. Preface
        • 3.5.12.1.1. Safety Notice
        • 3.5.12.1.2. Validity and Responsibility
        • 3.5.12.1.3. Limited Liability
        • 3.5.12.1.4. Safety Warning Signs
      • 3.5.12.2. FR3MT&3C Base and Module Interface Definitions
        • 3.5.12.2.1. Base Interface Definitions
        • 3.5.12.2.2. Power Module Interface Definitions
        • 3.5.12.2.3. Extension Module Interface Definitions
      • 3.5.12.3. FR3MT&3C Application Scenarios
        • 3.5.12.3.1. Basic Application
        • 3.5.12.3.2. Safety Extended
        • 3.5.12.3.3. Independent Power
        • 3.5.12.3.4. Full Function
      • 3.5.12.4. Optional Parts List
  • 3.6. Demonstrate and end LED
    • 3.6.1. Introduction to the button box
      • 3.6.1.1. 60 Button Box (POE) (BX01)
      • 3.6.1.2. 60 Button Box (POE) (BX02)-V1.0
      • 3.6.1.3. 60 Button Box (POE) (BX02) - V2.0
    • 3.6.2. FR-HMI Teach pendant introduction
    • 3.6.3. End LED definition
• 4. Quick start
  • 4.1. Install the robot arm and control box
  • 4.2. Demonstrate startup control robot
  • 4.3. Button box control robot movement
    • 4.3.1. Not paired with teaching pendant
    • 4.3.2. Matching the oscilloscopy
  • 4.4. Dempermaster control robot movement
• 5. Teaching pendant software
  • 5.1. Basic information
    • 5.1.1. Introduction
    • 5.1.2. Robot’s first activation
    • 5.1.3. Start software
    • 5.1.4. User login and permission update
    • 5.1.5. Multilingual settings function
  • 5.2. System initial interface
    • 5.2.1. Control area
    • 5.2.2. Status Bar
    • 5.2.3. Menu Bar
  • 5.3. 3D simulation robot
    • 5.3.1. 3D scene operation bar
      • 5.3.1.1. 3D visualization display of robot coordinate system
      • 5.3.1.2. 3D virtual trajectory and import tool model
    • 5.3.2. Robot body operation bar
      • 5.3.2.1. TCP
      • 5.3.2.2. Joint Jog
      • 5.3.2.3. Move
    • 5.3.3. Robot supporting function bar
      • 5.3.3.1. Teaching point record
      • 5.3.3.2. I/O
      • 5.3.3.3. TPD (Teach-in programming)
      • 5.3.3.4. Eaxis move
      • 5.3.3.5. FT
      • 5.3.3.6. Telecentric fixed point
    • 5.3.4. Robot and supporting function status bar
      • 5.3.4.1. Robot
      • 5.3.4.2. Program
      • 5.3.4.3. I/O
      • 5.3.4.4. ExAxis
      • 5.3.4.5. Gripper
      • 5.3.4.6. FT
      • 5.3.4.7. Convery
      • 5.3.4.8. Servo
      • 5.3.4.9. Polish
      • 5.3.4.10. Weld
    • 5.3.5. Robot installation method setting and display
• 6. Base
  • 6.1. Coordinate
    • 6.1.1. TCP
    • 6.1.2. Ext. TCP
    • 6.1.3. Workpiece
    • 6.1.4. Ext. Axis
  • 6.2. Payload
    • 6.2.1. End payload
  • 6.3. Joint
    • 6.3.1. Soft limit
      • 6.3.1.1. Joint Soft Limit Protection
        • 6.3.1.1.1. Overview
        • 6.3.1.1.2. Joint Soft Limit Protection
          • 6.3.1.1.2.1. Soft Limit Configuration and Function Control
    • 6.3.2. Collision level
    • 6.3.3. Post-collision response strategy function
      • 6.3.3.1. Collision strategy
        • 6.3.3.1.1. Gravitational moment mode
        • 6.3.3.1.2. Vibration response mode
        • 6.3.3.1.3. Collision rebound mode
        • 6.3.3.1.4. FT_Guard Command
      • 6.3.3.2. Static collision detection
    • 6.3.4. Friction compensation
    • 6.3.5. Dragging Force Compensation
      • 6.3.5.1. Overview
      • 6.3.5.2. Robot Dragging Force Optimization
        • 6.3.5.2.1. Dragging Force Optimization Configuration
  • 6.4. I/O setup
    • 6.4.1. Pausing LUA Program
    • 6.4.2. I/O configuration
      • 6.4.2.1. DI Configuration
        • 6.4.2.1.1. Terminal input valid state
      • 6.4.2.2. DO configuration
    • 6.4.3. Control box DO high and low effective configurable function
      • 6.4.3.1. Overview
      • 6.4.3.2. Operation steps
    • 6.4.4. Alias
    • 6.4.5. Filter
    • 6.4.6. Output reset
  • 6.5. Tool Tcp Automatic Calibration
    • 6.5.1. Overview
    • 6.5.2. Calibration process of coordinate system for sensor equipment
      • 6.5.2.1. Installing robots
      • 6.5.2.2. Installing sensor device
      • 6.5.2.3. Setting up the TCP automatic calibration system coordinate system
      • 6.5.2.4. Calibrate the sensor coordinate system based on the web interface
        • 6.5.2.4.1. Set I/O
        • 6.5.2.4.2. Teaching center point
        • 6.5.2.4.3. Set parameters
        • 6.5.2.4.4. Run
    • 6.5.3. Calibration process of tool coordinate system
  • 6.6. TCP Calibration based on flatbed
    • 6.6.1. Overview
    • 6.6.2. 2The operation flow of TCP calibration function based on flatbed
  • 6.7. Control Box Analog Feedback Arc Tracking Function
    • 6.7.1. Overview
    • 6.7.2. Control Box Analog AI Configuration Process
    • 6.7.3. Control Box Analog AO Configuration Process
• 7. Safety
  • 7.1. Stop mode
  • 7.2. Safe speed
  • 7.3. I/O safety
  • 7.4. Emergency stop
  • 7.5. Protective stop
  • 7.6. Safety plane
  • 7.7. Daemon
  • 7.8. Direction limit (Only used in Linux systems)
  • 7.9. Robot limit (Only used in Linux systems)
  • 7.10. Power detection (Only used in QX systems)
  • 7.11. Motion Configuration
    • 7.11.1. T-Shaped Velocity Optimization + Blending Smoothing Function
      • 7.11.1.1. Overview
      • 7.11.1.2. Operation Process
        • 7.11.1.2.1. Using Lua Commands
        • 7.11.1.2.2. Using Motion Configuration Switch
    • 7.11.2. FIR Adaptive Parameter Function + FIR Pause/Resume Function
      • 7.11.2.1. Overview
      • 7.11.2.2. Operation Process
• 8. Peripheral
  • 8.1. Gripper Peripheral Configuration
    • 8.1.1. Gripper program teaching steps
    • 8.1.2. Gripper program teaching
  • 8.2. Lua terminal open protocol configuration
    • 8.2.1. Overview
    • 8.2.2. Procedure
  • 8.3. Terminal peripheral configuration
    • 8.3.1. Force sensor equipment
    • 8.3.2. Gripper equipment
    • 8.3.3. Multiple grippers
    • 8.3.4. Force sensors and grippers
    • 8.3.5. Rotary gripper
  • 8.4. Spray gun peripheral configuration
    • 8.4.1. Spray gun peripheral configuration steps
    • 8.4.2. Spray program teaching
  • 8.5. Peripheral configuration of welding machine
    • 8.5.1. Welding torch installation
    • 8.5.2. Welding machine parameter configuration
      • 8.5.2.1. “Controller IO” welding control configuration
        • 8.5.2.1.1. Welding function I/O configuration
        • 8.5.2.1.2. Configuration of welding process parameters
        • 8.5.2.1.3. Set the relationship diagram between welding current and voltage and analog output
        • 8.5.2.1.4. Welding machine commissioning
      • 8.5.2.2. Digital Communication Protocol welding control configuration
        • 8.5.2.2.1. Welding function I/O configuration
        • 8.5.2.2.2. Configuration of welding process parameters
        • 8.5.2.2.3. Welding machine commissioning
    • 8.5.3. Welding programming
      • 8.5.3.1. Programmed using welding process curves
      • 8.5.3.2. Welding program without the use of welding process curves
    • 8.5.4. Welding interruption and recovery
      • 8.5.4.1. Welding interrupt and resume parameter configuration
      • 8.5.4.2. Usage of welding interrupt and resume parameter configuration
    • 8.5.5. Appendix 1: UDP communication protocol for robots
      • 8.5.5.1. Robot controller -> PLC
      • 8.5.5.2. PLC -> robot controller
  • 8.6. Sensor Peripheral Configuration
    • 8.6.1. Hardware wiring
    • 8.6.2. Sensor configuration
    • 8.6.3. Sensor calibration
    • 8.6.4. laser sensor application
      • 8.6.4.1. Laser sensor teaching point
      • 8.6.4.2. Laser Positioning+Tracking
        • 8.6.4.2.1. Write the positioning command
        • 8.6.4.2.2. Write the command of moving to seek position
        • 8.6.4.2.3. Writing laser tracking commands
        • 8.6.4.2.4. Write commands for finding the starting point and tracking the ending point
        • 8.6.4.2.5. Write welding related commands
      • 8.6.4.3. Laser Track Recording+Track Reproduction
        • 8.6.4.3.1. Programming of Robot Trajectory Recording commands
        • 8.6.4.3.2. Programming the command of the robot moving to the starting point of trajectory recording
        • 8.6.4.3.3. Compilation of Laser Sensor Track Reproduction command
        • 8.6.4.3.4. Compilation of welding related commands
        • 8.6.4.3.5. Laser Sensor Adapter Controller Peripheral Open Protocol (Only for Linux Systems)
  • 8.7. Laser point picking motion function
    • 8.7.1. Operation process of laser point picking motion function
    • 8.7.2. Find the intersection coordinates of three and four points
      • 8.7.2.1. Command intersection point
        • 8.7.2.1.1. Find the coordinates of the intersection point at three points
        • 8.7.2.1.2. Find the coordinates of the intersection point at four points
      • 8.7.2.2. Lua script for finding intersection points and positioning motion
        • 8.7.2.2.1. Find the coordinates of the intersection point at three points
        • 8.7.2.2.2. Find the coordinates of the intersection point at four points
  • 8.8. Extended Axis Peripheral Configuration
    • 8.8.1. Controller + PLC (UDP communication)
      • 8.8.1.1. UDP communication configuration
      • 8.8.1.2. UDP extension axis
      • 8.8.1.3. Extended axis with laser tracking welding teaching program
      • 8.8.1.4. Positioning completion time
    • 8.8.2. Two-degree-of-freedom car test
    • 8.8.3. Controller + Servo Drive (485 communication)
      • 8.8.3.1. Hardware cable connection
      • 8.8.3.2. Communication layout
      • 8.8.3.3. Configured servo drive
        • 8.8.3.3.1. Servo control mode and enable
        • 8.8.3.3.2. Servo zero return
        • 8.8.3.3.3. Servo motion
      • 8.8.3.4. Advanced Settings
      • 8.8.3.5. Extension axis programming
        • 8.8.3.5.1. Example of cooperative motion program between extension axis and robot
      • 8.8.3.6. Summary
    • 8.8.4. Welding trolley control
      • 8.8.4.1. Welding trolley configuration
      • 8.8.4.2. The welding trolley enable and homing
      • 8.8.4.3. Welding trolley motion control
  • 8.9. Conveyor Tracking Configuration
    • 8.9.1. Conveyor Tracking Configuration Steps
    • 8.9.2. Conveyor belt tracking teaching program
  • 8.10. Attitude Adaptive Configuration
    • 8.10.1. Attitude adaptive configuration steps
    • 8.10.2. Attitude self-adaptive with extended axis and laser tracking welding teaching program
  • 8.11. Force/Torque Sensor Peripheral Configuration
    • 8.11.1. Force/Torque Sensor Configuration Steps
    • 8.11.2. Force/Torque Sensor Load Identification
    • 8.11.3. Force/Torque Sensor Assisted Drag
    • 8.11.4. Force/Torque Sensor Collision Detection
    • 8.11.5. Force/Torque Sensor Force Control Motion
    • 8.11.6. Force/Torque Transducer Screw Insertion
    • 8.11.7. Force/Torque Transducer Rotary Insertion
    • 8.11.8. Force/Torque Transducer Straight Insertion
    • 8.11.9. Force/Torque Sensor Surface Orientation
    • 8.11.10. Force/Torque Transducer Centering
  • 8.12. Extended IO device peripheral configuration
    • 8.12.1. Extended IO device configuration steps
  • 8.13. Palletizing system configuration
    • 8.13.1. Palletizing system configuration steps
  • 8.14. Polishing equipment configuration
    • 8.14.1. Polishing equipment configuration step
  • 8.15. Virtual Wall Function Based on Force Sensor
    • 8.15.1. Installation configuration of force sensor
    • 8.15.2. Virtual wall configuration
    • 8.15.3. Force sensor assisted drag
    • 8.15.4. Six -dimensional force and joint impedance hybrid drag
      • 8.15.4.1. Summary
      • 8.15.4.2. Installation configuration and zero calibration operation of force sensor
      • 8.15.4.3. Six -dimensional force and joint impedance hybrid drag
  • 8.16. Welding tracking function at fixed-point using ext-axis and laser
    • 8.16.1. 1Robot fixed-point tracking welding system using ext-axis and laser
    • 8.16.2. Ext-axis communication configuration
    • 8.16.3. Weld seam tracking laser sensor connection configuration
    • 8.16.4. Welder connection configuration
    • 8.16.5. The tool coordinate and laser sensor coordinate calibration
    • 8.16.6. Ext-axis and laser fixed-point tracking function
      • 8.16.6.1. Ext-axis coordinate system calibration
      • 8.16.6.2. Ext-axis synchronized with the robot’s laser tracking
        • 8.16.6.2.1. Transformation type laser tracking
        • 8.16.6.2.2. Non-transformation type laser tracking
  • 8.17. FOCAS-based CNC Function Package (For Linux Systems Only)
    • 8.17.1. Overview
    • 8.17.2. Operation Instructions
      • 8.17.2.1. FOCAS Communication Establishment
        • 8.17.2.1.1. Network Configuration
        • 8.17.2.1.2. Open Protocol File Configuration
      • 8.17.2.2. CNC Status Feedback Description
      • 8.17.2.3. CNC Control Description
      • 8.17.2.4. CNC Teaching Program Description
  • 8.18. Robot Conveyor Tracking System Configuration
    • 8.18.1. Conveyor Encoder Data Communication Connection Method
    • 8.18.2. Conveyor Configuration
    • 8.18.3. Tracking Coordinate System Configuration
    • 8.18.4. Conveyor Tracking Chasing Motion Function
      • 8.18.4.1. Introduction to Conveyor Tracking Chasing Motion Function
      • 8.18.4.2. Chasing Motion Program Teaching
  • 8.19. Controller Peripheral Open Protocol - Welding Machine Protocol
    • 8.19.1. Overview
    • 8.19.2. Welding Machine Open Protocol
      • 8.19.2.1. Welding Machine Open Protocol Example
      • 8.19.2.2. Welding Machine Open Protocol Breakdown
      • 8.19.2.3. Uploading and Loading the Welding Machine Open Protocol
      • 8.19.2.4. Welding Debugging and Program Writing
        • 8.19.2.4.1. Welding Debugging
        • 8.19.2.4.2. Writing a Welding Program
      • 8.19.2.5. Unloading the Welding Machine Open Protocol
  • 8.20. Using Open Protocol to Adapt Welding Handles
    • 8.20.1. Protocol Configuration
    • 8.20.2. Protocol Template
    • 8.20.3. Supported Commands
    • 8.20.4. Configurable Parameters
• 9. Coding
  • 9.1. Introduction
  • 9.2. Tool bar
  • 9.3. Program command
  • 9.4. Logic Command Interface
    • 9.4.1. While command
    • 9.4.2. if…else command
    • 9.4.3. Goto command
    • 9.4.4. Wait command
    • 9.4.5. Pause command
    • 9.4.6. Dofile command
    • 9.4.7. Var command
  • 9.5. Motion command interface
    • 9.5.1. PTP command
    • 9.5.2. Lin command
      • 9.5.2.1. LIN command joint overspeed processing function
      • 9.5.2.2. Angular velocity adjustable function
    • 9.5.3. Arc command
    • 9.5.4. Circle command
      • 9.5.4.1. Circle command addition
      • 9.5.4.2. Circle trajectory offset
    • 9.5.5. Spiral command
    • 9.5.6. N-Spiral command
    • 9.5.7. H-Spiral command
    • 9.5.8. Spline command
    • 9.5.9. N-Spline command
    • 9.5.10. Weave command
      • 9.5.10.1. Slope serration weave function
    • 9.5.11. TPD command
    • 9.5.12. Offset command
    • 9.5.13. ServoCart command
    • 9.5.14. Trajctory command
    • 9.5.15. TrajctoryJ command
    • 9.5.16. DMP command
    • 9.5.17. WPTrsf command
    • 9.5.18. Tool conversion command
  • 9.6. Control command interface
    • 9.6.1. IO command
    • 9.6.2. AI command
    • 9.6.3. Vir-IO command
    • 9.6.4. Aux-IO command
    • 9.6.5. MoveDO command
    • 9.6.6. MoveAO command
    • 9.6.7. ToolList command
    • 9.6.8. Mode command
    • 9.6.9. Collision command
    • 9.6.10. Acc command
  • 9.7. Peripheral Command Interface
    • 9.7.1. Gripper command
    • 9.7.2. Spray command
    • 9.7.3. EAxis command
    • 9.7.4. Convey command
    • 9.7.5. Polish command
  • 9.8. Welding command interface
    • 9.8.1. Weld command
    • 9.8.2. Segment command
      • 9.8.2.1. Segment welding command added
      • 9.8.2.2. Changes in segment welding motion trajectory and attitude
      • 9.8.2.3. Actual scene of segment welding
    • 9.8.3. Laser command
    • 9.8.4. LT-Rec command
    • 9.8.5. W-Search command
    • 9.8.6. Weld-Trc command
    • 9.8.7. Robot arc tracking system composition
      • 9.8.7.1. Welding machine model and setting
      • 9.8.7.2. PLC model and settings
      • 9.8.7.3. Arc tracking function
    • 9.8.8. Adjust command
  • 9.9. Force control command interface
    • 9.9.1. F/T command
    • 9.9.2. Torque command
  • 9.10. Visual command interface
    • 9.10.1. 3D command
  • 9.11. Palletizing command interface
    • 9.11.1. Pallet command
  • 9.12. Communication command interface
    • 9.12.1. Modbus command
    • 9.12.2. Xmlrpc command
  • 9.13. Auxiliary command interface
    • 9.13.1. Thread command
    • 9.13.2. Function command
    • 9.13.3. PT-Mode command
  • 9.14. Teaching program is not saved for verification
  • 9.15. Teaching program encryption
  • 9.16. Local teaching point
  • 9.17. Current program backup
  • 9.18. Modbus TCP Communication
    • 9.18.1. ModbusTCP master
      • 9.18.1.1. Add ModbusTCP master
      • 9.18.1.2. ModbusTCP master add register
      • 9.18.1.3. ModbusTCP master communication test
    • 9.18.2. Write ModbusTCP master program
    • 9.18.3. ModbusTCP slave
      • 9.18.3.1. ModbusTCP slave communication parameter configuration
      • 9.18.3.2. ModbusTCP slave communication test
      • 9.18.3.3. ModbusTCP slave programming
      • 9.18.3.4. ModbusTCP slave robot state feedback and control
  • 9.19. Robot Backgrounder Function
    • 9.19.1. Robot Backgrounder Function
      • 9.19.1.1. Save the robot background program
      • 9.19.1.2. Robot background program management
    • 9.19.2. Use of the robot user variables
      • 9.19.2.1. Robot user variable management
      • 9.19.2.2. Robot user variable use
  • 9.20. XY horizontal constant
    • 9.20.1. Overview
    • 9.20.2. Operation process of lateral constant force grinding function in XY direction
  • 9.21. Automatic Singularity Avoidance Trajectory
    • 9.21.1. Overview
    • 9.21.2. The trajectory automatically avoids the operation process of the singularity function
  • 9.22. Singularity crossing function in automatic mode
    • 9.22.1. Overview
    • 9.22.2. Operation Flow
    • 9.22.3. Precision Impact Table
  • 9.23. Real-time forward trajectory planning function
    • 9.23.1. Overview
    • 9.23.2. Operation process
  • 9.24. Swing amplitude monotonous gradual arc tracking function
    • 9.24.1. Introduction
  • 9.25. Offset arc tracking function
    • 9.25.1. Sampling bias arc tracking
    • 9.25.2. Percentage bias arc tracking
  • 9.26. Custom collision detection threshold function
    • 9.26.1. Overview
    • 9.26.2. Function setting description
      • 9.26.2.1. Joint detection threshold function setting instructions
        • 9.26.2.1.1. Parameter setting instructions
      • 9.26.2.2. TCP detection threshold function setting instructions
        • 9.26.2.2.1. Parameter setting instructions
      • 9.26.2.3. Joint and TCP detection threshold function setting instructions
        • 9.26.2.3.1. Parameter setting instructions
      • 9.26.2.4. Recommended settings for detection thresholds
        • 9.26.2.4.1. Joint detection thresholds
        • 9.26.2.4.2. TCP detection threshold
  • 9.27. T-Shape Velocity Characteristic Optimization + Blending Smoothing Function
    • 9.27.1. Overview
    • 9.27.2. Operation Procedures
      • 9.27.2.1. PTP-PTP Blending
        • 9.27.2.1.1. Using Lua Instruction Mode
        • 9.27.2.1.2. Using Motion Configuration Switch Mode
      • 9.27.2.2. PTP-LIN Blending
        • 9.27.2.2.1. Using Lua Instruction Mode
        • 9.27.2.2.2. Using Motion Configuration Switch Mode
      • 9.27.2.3. PTP-ARC Blending
        • 9.27.2.3.1. Using Lua Instruction Mode
        • 9.27.2.3.2. Using Motion Configuration Switch Mode
      • 9.27.2.4. PTP-CIRCLE Blending
        • 9.27.2.4.1. Using Lua Instruction Mode
        • 9.27.2.4.2. Using Motion Configuration Switch Mode
      • 9.27.2.5. LIN-PTP Blending
        • 9.27.2.5.1. Using Lua Instruction Mode
        • 9.27.2.5.2. Using Motion Configuration Switch Mode
      • 9.27.2.6. LIN-LIN Blending
        • 9.27.2.6.1. Using Lua Instruction Mode
        • 9.27.2.6.2. Using Motion Configuration Switch Mode
      • 9.27.2.7. LIN-ARC Blending
        • 9.27.2.7.1. Using Lua Instruction Mode
        • 9.27.2.7.2. Using Motion Configuration Switch Mode
      • 9.27.2.8. LIN-CIRCLE Blending
        • 9.27.2.8.1. Using Lua Instruction Mode
        • 9.27.2.8.2. Using Motion Configuration Switch Mode
      • 9.27.2.9. ARC-PTP Blending
        • 9.27.2.9.1. Using Lua Instruction Mode
        • 9.27.2.9.2. Using Motion Configuration Switch Mode
      • 9.27.2.10. ARC-LIN Blending
        • 9.27.2.10.1. Using Lua Instruction Mode
        • 9.27.2.10.2. Using Motion Configuration Switch Mode
      • 9.27.2.11. ARC-ARC Blending
        • 9.27.2.11.1. Using Lua Instruction Mode
        • 9.27.2.11.2. Using Motion Configuration Switch Mode
      • 9.27.2.12. ARC-CIRCLE Blending
        • 9.27.2.12.1. Using Lua Instruction Mode
        • 9.27.2.12.2. Using Motion Configuration Switch Mode
      • 9.27.2.13. CIRCLE-PTP Blending
        • 9.27.2.13.1. Using Lua Instruction Mode
        • 9.27.2.13.2. Using Motion Configuration Switch Mode
      • 9.27.2.14. CIRCLE-LIN Blending
        • 9.27.2.14.1. Using Lua Instruction Mode
        • 9.27.2.14.2. Using Motion Configuration Switch Mode
      • 9.27.2.15. CIRCLE-ARC Blending
        • 9.27.2.15.1. Using Lua Instruction Mode
        • 9.27.2.15.2. Using Motion Configuration Switch Mode
      • 9.27.2.16. CIRCLE-CIRCLE Blending
        • 9.27.2.16.1. Using Lua Instruction Mode
        • 9.27.2.16.2. Using Motion Configuration Switch Mode
  • 9.28. Swing Tilt Angle Function
    • 9.28.1. Overview
    • 9.28.2. Operation Procedure
  • 9.29. Welding process parameter gradient function (current, voltage, travel speed along weld seam)
    • 9.29.1. Overview
    • 9.29.2. Current/Voltage Parameter Gradual Change Process
      • 9.29.2.1. Current Parameter Gradual Change
      • 9.29.2.2. Voltage Parameter Gradual Change
    • 9.29.3. Travel Speed Gradual Change Process
  • 9.30. Robot ModbusRTU Communication
    • 9.30.1. Overview
    • 9.30.2. Robot ModbusRTU Master Operation Instructions
      • 9.30.2.1. Adding a ModbusRTU Master
      • 9.30.2.2. Adding Registers to ModbusRTU Master
      • 9.30.2.3. ModbusRTU Master Communication Test
        • 9.30.2.3.1. Master Read Register Test
        • 9.30.2.3.2. Master Write Register Test
      • 9.30.2.4. Writing a ModbusRTU Master Program
        • 9.30.2.4.1. Write Single Coil
        • 9.30.2.4.2. Write Multiple Coils
        • 9.30.2.4.3. Read Coils and Discrete Inputs
        • 9.30.2.4.4. Read Holding Registers and Input Registers
    • 9.30.3. Robot ModbusRTU Slave Operation Instructions
      • 9.30.3.1. ModbusRTU Slave Communication Parameter Configuration
      • 9.30.3.2. ModbusRTU Slave Communication Test
        • 9.30.3.2.1. General-Purpose Digital Inputs (Coils)
        • 9.30.3.2.2. General-Purpose Digital Outputs (Discrete Inputs)
        • 9.30.3.2.3. Analog Inputs (Holding Registers)
        • 9.30.3.2.4. Analog Outputs (Input Registers)
      • 9.30.3.3. Writing a ModbusRTU Slave Program
        • 9.30.3.3.1. Write Single Digital Output DO (Discrete Input)
        • 9.30.3.3.2. Write Multiple Digital Outputs DO (Discrete Inputs)
        • 9.30.3.3.3. Read Single Digital Output DO (Discrete Input)
        • 9.30.3.3.4. Read Multiple Digital Outputs DO (Discrete Inputs)
        • 9.30.3.3.5. Read Digital Input DI (Coils)
        • 9.30.3.3.6. Read/Write Operations for Analog Output AO (Input Registers) and Analog Input AI (Holding Registers)
        • 9.30.3.3.7. Wait for Digital Input
        • 9.30.3.3.8. Wait for Analog Input
      • 9.30.3.4. Robot Status Feedback and Control via ModbusRTU Slave
• 10. Graphical programming
  • 10.1. Introduction
  • 10.2. Logic Graphical Programming Commands
    • 10.2.1. If/Else Judgment Instruction
    • 10.2.2. While Instruction
    • 10.2.3. Jump instruction
  • 10.3. Variable class graphical programming command
    • 10.3.1. Variable instruction
  • 10.4. Function class graphical programming command
    • 10.4.1. Function method instruction
  • 10.5. Motion graphic programming commands
    • 10.5.1. Point-to-point instruction
    • 10.5.2. Straight line instruction
    • 10.5.3. Straight line (adjustable angular velocity at transition point) instruction
    • 10.5.4. Straight line (seamPos) command
    • 10.5.5. Arc command
    • 10.5.6. Full circle command
    • 10.5.7. Spiral instruction
    • 10.5.8. New spiral instruction
    • 10.5.9. Horizontal spiral instruction
    • 10.5.10. Spline instruction
    • 10.5.11. New spline instruction
    • 10.5.12. Swing Instruction
    • 10.5.13. Point offset instruction
    • 10.5.14. Servo command
    • 10.5.15. Trajectory command
    • 10.5.16. TrajectoryJ command
    • 10.5.17. Track reproduction command
    • 10.5.18. DMP Command
    • 10.5.19. Tool conversion instruction
    • 10.5.20. Workpiece conversion instruction
  • 10.6. Control class graphical programming commands
    • 10.6.1. Wait Command
    • 10.6.2. Mode switching command
    • 10.6.3. Pause instruction
    • 10.6.4. Coordinate system command
    • 10.6.5. Simulation AI instruction
    • 10.6.6. Digital IO Instructions
    • 10.6.7. Motion DO instruction
    • 10.6.8. Motion AO instruction
    • 10.6.9. Collision level command
    • 10.6.10. Acceleration command
  • 10.7. Peripheral graphical programming commands
    • 10.7.1. Gripper commands
    • 10.7.2. Spray gun instruction
    • 10.7.3. Extended axis instruction (controller+PLC)
    • 10.7.4. Extended axis instruction (controller+servo drive)
    • 10.7.5. Conveyor belt command
    • 10.7.6. Polishing instruction
  • 10.8. Welding Graphical Programming Commands
    • 10.8.1. Segment welding instructions
    • 10.8.2. Welding instruction
    • 10.8.3. Laser tracking command
    • 10.8.4. Laser recording instruction
    • 10.8.5. Welding wire positioning instruction
    • 10.8.6. Arc tracking instruction
    • 10.8.7. Posture adjustment instruction
  • 10.9. Force control graphical programming commands
    • 10.9.1. Force control commands
    • 10.9.2. Torque recording instruction
  • 10.10. Communication graphic programming commands
    • 10.10.1. Modbus Commands
  • 10.11. Advanced Graphical Programming Commands
    • 10.11.1. Folding Instructions
    • 10.11.2. Call subroutine instruction
    • 10.11.3. Auxiliary thread instruction
    • 10.11.4. Point table instruction
    • 10.11.5. Focus follow instruction
  • 10.12. Graphical programming command usage example
    • 10.12.1. Modularization of graphical programming code blocks
    • 10.12.2. Graphical programming same name overwrite
    • 10.12.3. Graphical programming program not saved verification
• 11. Node graph programming
  • 11.1. Basic information
    • 11.1.1. Introduction
    • 11.1.2. Toolbar
  • 11.2. Node graph operations
    • 11.2.1. Node program
  • 11.3. If/Else instruction
  • 11.4. While instruction
  • 11.5. Goto instruction
  • 11.6. Wait instruction
  • 11.7. Pause instruction
  • 11.8. Dofile instruction
  • 11.9. Set system variable command
  • 11.10. PTP instruction
  • 11.11. LIN instruction
  • 11.12. LIN(seamPos) instruction
  • 11.13. ARC instruction
  • 11.14. Circle instruction
  • 11.15. Spiral instruction
  • 11.16. N-Spiral instruction
  • 11.17. H-Spiral instruction
  • 11.18. Spline instruction
  • 11.19. N-Spline instruction
  • 11.20. Weave instruction
  • 11.21. TPD instruction
  • 11.22. Offset instruction
  • 11.23. ServoCart instruction
  • 11.24. Trajectory instruction
  • 11.25. TrajectoryJ instruction
  • 11.26. DMP instruction
  • 11.27. WPSTrsf instruction
  • 11.28. ToolTrst instruction
  • 11.29. Digital IO instruction node
  • 11.30. Simulate AI commands
  • 11.31. Virtual IO command node
  • 11.32. Extended IO command node
  • 11.33. MoveDO instruction
  • 11.34. ToolList instruction
  • 11.35. Mode instruction
  • 11.36. Collision instruction
  • 11.37. Acc instruction
  • 11.38. Gripper instruction
  • 11.39. Spray instruction
  • 11.40. Extended axis instructions (controller + PLC)
  • 11.41. Extended axis instructions (controller + servo drive)
  • 11.42. Conveyor belt instruction
  • 11.43. Polish instruction
  • 11.44. Weld command
  • 11.45. Segment instruction
  • 11.46. Laser instruction
  • 11.47. Laser recording instructions
  • 11.48. W-Search instruction
  • 11.49. Weld-Trc instruction
  • 11.50. Attitude adjustment instructions
  • 11.51. F/T Instruction
  • 11.52. Torque recording command
  • 11.53. Modbus instruction
  • 11.54. Application scenario usage examples
• 12. Points
• 13. Status
  • 13.1. System log
  • 13.2. Status Query
    • 13.2.1. Function Usage
    • 13.2.2. Chart Export
    • 13.2.3. Data View Display
• 14. Application
  • 14.1. Robot packaging
  • 14.2. System Upgrade
  • 14.3. Data backup
    • 14.3.1. Backup Package Import Verification Function
  • 14.4. 10s data record
  • 14.5. Teach point configuration
    • 14.5.1. End-point dot automatic overwrite update Lua program function
      • 14.5.1.1. End-point dot configuration
      • 14.5.1.2. End-button dot automatic update Lua program
      • 14.5.1.3. Function usage example
  • 14.6. Work origin
  • 14.7. Terminal LED configuration
  • 14.8. Peripheral protocol
  • 14.9. Main program configuration
  • 14.10. Drag lock
    • 14.10.1. Force Sensor-Assisted Dragging with Normal Collision Protection Triggering
  • 14.11. Smart Tool
  • 14.12. SmartTool + Force Sensor Combination
    • 14.12.1. NSR
    • 14.12.2. FR
  • 14.13. Interference zone configuration
    • 14.13.1. Safety Callback Function for Force Sensor-Assisted Dragging into Axis Interference Zone
      • 14.13.1.1. Overview
      • 14.13.1.2. Operation Procedure
        • 14.13.1.2.1. Joint Limit Ring
        • 14.13.1.2.2. Axis Interference Configuration
      • 14.13.1.3. Entering Axis Interference Zone with Force Sensor Assistance
      • 14.13.1.4. Cuboid Interference Configuration
      • 14.13.1.5. Safety Wall Configuration
  • 14.14. Welding Expert
    • 14.14.1. Linear Welding
    • 14.14.2. Arc Welding
    • 14.14.3. Multi-layer welding
• 15. System
  • 15.1. General settings
    • 15.1.1. Network settings
    • 15.1.2. Teach pendant touch screen calibration
    • 15.1.3. Peripheral industrial computer configuration
    • 15.1.4. System Language
      • 15.1.4.1. Language Import
      • 15.1.4.2. Language Export
      • 15.1.4.3. Language Application
      • 15.1.4.4. System safe mode recovery
    • 15.1.5. Log Management
    • 15.1.6. Fault data
    • 15.1.7. Timeout Logout Time Setting
    • 15.1.8. System Settings
  • 15.2. Account settings account settings
    • 15.2.1. User Management
    • 15.2.2. Authority management
    • 15.2.3. Import/Export
  • 15.3. About
  • 15.4. Custom information
    • 15.4.1. Robot Model
    • 15.4.2. Parameter range configuration
    • 15.4.3. WEB interface locked
  • 15.5. Robot model configuration
• 16. Teach pendant
  • 16.1. Teach pendant activation
  • 16.2. Teach pendant multi-language setting
    • 16.2.1. Input method switch
    • 16.2.2. The language of the teaching pendant and webApp is inconsistent
• 17. Custom protocol slave commands
  • 17.1. Overview
  • 17.2. Environment Configuration
    • 17.2.1. Hilscher board hardware environment setup
    • 17.2.2. EnTalk Board Hardware Setup
    • 17.2.3. Software environment setup
    • 17.2.4. PLC Environment construction
      • 17.2.4.1. Siemens Profinet
      • 17.2.4.2. Mitsubishi CC-link
    • 17.2.5. HMI setting (CC-link emulation)
    • 17.2.6. HMI setting (Profinet emulation)
  • 17.3. Robot Slave Mode Operation Manual
    • 17.3.1. Loading Slave Mode
  • 17.4. Appendice
    • 17.4.1. Instruction List
• 18. Appendix
  • 18.1. Appendix 1: Motion controller errors and handling methods
  • 18.2. Appendix 2: Servo driver fault code table
  • 18.3. Appendix 3: End plate 485 upgrade
  • 18.4. Appendix 4: Control Box 485 Upgrade
  • 18.5. Appendix 5: List of Spare Parts and Vulnerable Parts
• 19. Term

Changelog

• Version V3.8.3
• Version V3.8.2
• Version V3.8.1
• Version V3.8.0
• Version V3.7.8
• Version V3.7.7
• Version V3.7.6
• Version V3.7.5
• Version V3.7.4
• Version V3.7.3
• Version V3.7.2
• Version V3.7.1