SDK Manual
- C++
- 1. Data structure specification
- 1.1. Interface call return value type
- 1.2. Joint position data type
- 1.3. Cartesian spatial location data type
- 1.4. Euler Angle attitude data type
- 1.5. Cartesian space pose data type
- 1.6. Extension axis position data type
- 1.7. Torque sensor data type
- 1.8. Spiral parameter data type
- 1.9. feedback packet of robot controller state
- 2. Basics
- 2.1. Instantiate Robot
- 2.2. Establish Communication with Controller
- 2.3. Close Communication with Controller
- 2.4. Query SDK Version
- 2.5. Get Controller IP
- 2.6. Control Robot to Enter/Exit Drag Teaching Mode
- 2.7. Check if Robot is in Drag Mode
- 2.8. Enable/Disable Robot
- 2.9. Switch Between Manual/Auto Mode
- 2.10. Shut Down Robot OS
- 2.11. Set Reconnection Parameters
- 2.12. Shut down the robot operating system
- 2.13. Initialize Log Parameters
- 2.14. Set Log Filter Level
- 2.15. Basic Robot Control Example
- 2.16. Get Robot Software Version Example
- 2.17. Get Robot Hardware Version
- 2.18. Get Robot Firmware Version
- 2.19. Get Robot Software/Firmware Version Example
- 3. Robot Motion
- 3.1. JOG Motion
- 3.2. JOG Deceleration Stop
- 3.3. JOG Immediate Stop
- 3.4. Robot JOG Control Example
- 3.5. Joint Space Motion
- 3.6. Cartesian Space Linear Motion
- 3.7. Cartesian Space Circular Motion
- 3.8. Cartesian Space Full Circle Motion
- 3.9. Cartesian Space Point-to-Point Motion
- 3.10. Robot Basic Motion Command Example
- 3.11. Cartesian Space Spiral Motion
- 3.12. Spiral Motion Example
- 3.13. Servo Motion Start
- 3.14. Servo Motion End
- 3.15. Joint Space Servo Mode Motion
- 3.16. Joint Space Servo Mode Motion Example
- 3.17. Joint Torque Control Start
- 3.18. Joint Torque Control
- 3.19. Joint Torque Control End
- 3.20. Joint Torque Control Example
- 3.21. Cartesian Space Servo Mode Motion
- 3.22. Cartesian Space Servo Mode Motion Example
- 3.23. Spline Motion Start
- 3.24. Spline PTP Motion
- 3.25. Spline Motion End
- 3.26. Spline Motion Example
- 3.27. New Spline Motion Start
- 3.28. New Spline Command Point
- 3.29. New Spline Motion End
- 3.30. New Spline Motion Example
- 3.31. Stop Motion
- 3.32. Pause Motion
- 3.33. Resume Motion
- 3.34. Motion Pause, Resume, Stop Example
- 3.35. Point Global Offset Start
- 3.36. Point Global Offset End
- 3.37. Point Offset Example
- 3.38. Control Box AO Flying Start
- 3.39. Control Box AO Flying Stop
- 3.40. End AO Flying Start
- 3.41. End AO Flying Stop
- 3.42. AO Flying Example
- 3.43. Start Ptp Motion FIR Filter
- 3.44. Close Ptp Motion FIR Filter
- 3.45. Start LIN, ARC Motion FIR Filter
- 3.46. Close LIN, ARC Motion FIR Filter
- 3.47. FIR Filter Example
- 3.48. Acceleration Smoothing Start
- 3.49. Acceleration Smoothing End
- 3.50. Acceleration Smoothing Example
- 3.51. Specified Pose Speed Start
- 3.52. Specified Pose Speed End
- 3.53. Robot Specified Pose Speed Example
- 3.54. Start Singular Pose Protection
- 3.55. Stop Singular Pose Protection
- 3.56. Robot Singular Pose Protection Example
- 4. IO
- 4.1. Set Control Box Digital Output
- 4.2. Set Tool Digital Output
- 4.3. Set Control Box Analog Output
- 4.4. Set Tool Analog Output
- 4.5. Code Example for Setting Digital and Analog Outputs
- 4.6. Get Control Box Digital Input
- 4.7. Get Tool Digital Input
- 4.8. Get Control Box Analog Input
- 4.9. Get Tool Analog Input
- 4.10. Get Robot End Point Record Button Status
- 4.11. Get Robot End DO Output Status
- 4.12. Get Robot Controller DO Output Status
- 4.13. Code Example for Getting Robot DI and DO Status
- 4.14. Wait for Control Box Digital Input
- 4.15. Wait for Control Box Multi-Channel Digital Input
- 4.16. Wait for Tool Digital Input
- 4.17. Wait for Control Box Analog Input
- 4.18. Wait for Tool Analog Input
- 4.19. Code Example for Waiting for Control Box Digital and Analog Input Signals
- 4.20. Set Control Box DO Output Reset on Stop/Pause
- 4.21. Set Control Box AO Output Reset on Stop/Pause
- 4.22. Set End Tool DO Output Reset on Stop/Pause
- 4.23. Set End Tool AO Output Reset on Stop/Pause
- 4.24. Set Extended DO Output Reset on Stop/Pause
- 4.25. Set Extended AO Output Reset on Stop/Pause
- 4.26. Set SmartTool Output Reset on Stop/Pause
- 4.27. Code Example for Setting LUA Program Output Reset on Stop/Pause
- 5. Common Settings
- 5.1. Set Tool Reference Point - Six-Point Method
- 5.2. Calculate Tool Coordinate System
- 5.3. Set Tool Reference Point - Four-Point Method
- 5.4. Calculate Tool Coordinate System
- 5.5. Calculate Tool Coordinate System from Points
- 5.6. Set Tool Coordinate System
- 5.7. Set Tool Coordinate System List
- 5.8. Get Current Tool Coordinate System
- 5.9. Robot Tool Coordinate System Operation Example
- 5.10. Set External Tool Reference Point - Six-Point Method
- 5.11. Calculate External Tool Coordinate System
- 5.12. Set External Tool Coordinate System
- 5.13. Set External Tool Coordinate System List
- 5.14. Robot External Tool Coordinate System Operation Example
- 5.15. Set Workpiece Reference Point - Three-Point Method
- 5.16. Calculate Workpiece Coordinate System
- 5.17. Set Workpiece Coordinate System
- 5.18. Set Workpiece Coordinate System List
- 5.19. Calculate Workpiece Coordinate System from Points
- 5.20. Get Current Workpiece Coordinate System
- 5.21. Robot Workpiece Coordinate System Operation Example
- 5.22. Set Global Speed
- 5.23. Set Robot Acceleration
- 5.24. Get Robot Default Speed
- 5.25. Set End Load Weight
- 5.26. Set End Load Center of Gravity Coordinates
- 5.27. Get Current Load Weight
- 5.28. Get Current Load Center of Gravity
- 5.29. Set Robot Installation Method
- 5.30. Set Robot Installation Angle
- 5.31. Get Robot Installation Angle
- 5.32. Set System Variable Value
- 5.33. Get System Variable Value
- 5.34. Robot Common Settings Example
- 5.35. Joint Friction Compensation Switch
- 5.36. Set Joint Friction Compensation Coefficient - Standard Installation
- 5.37. Set Joint Friction Compensation Coefficient - Wall Installation
- 5.38. Set Joint Friction Compensation Coefficient - Ceiling Installation
- 5.39. Set Joint Friction Compensation Coefficient - Free Installation
- 5.40. Robot Joint Friction Compensation Example
- 5.41. Query Robot Error Code
- 5.42. Error State Clear
- 5.43. Robot Fault State Acquisition and Error Clear Example
- 5.44. Set wide voltage control box temperature and fan current monitoring parameters
- 5.45. Obtain wide voltage control box temperature and fan current monitoring parameters
- 5.46. Wide voltage control box temperature and fan current state acquisition code example
- 6. Security settings
- 6.1. Set Collision Level
- 6.2. Set Post-Collision Strategy
- 6.3. Custom Collision Detection Threshold Start
- 6.4. Custom Collision Detection Threshold End
- 6.5. Robot Collision Level Setting Code Example
- 6.6. Set Positive Limit
- 6.7. Set Negative Limit
- 6.8. Get Joint Soft Limit Angles
- 6.9. Robot Limit Setting Code Example
- 6.10. Set Robot Collision Detection Method
- 6.11. Set Static Collision Detection On/Off
- 6.12. Robot Collision Detection Method Code Example
- 6.13. Joint Torque Power Detection
- 6.14. Joint Torque Power Detection Code Example
- 7. Status query
- 7.1. Get Current Joint Positions (Degrees)
- 7.2. Get Joint Feedback Speed
- 7.3. Get Joint Feedback Acceleration
- 7.4. Get TCP Command Composite Speed
- 7.5. Get TCP Feedback Composite Speed
- 7.6. Get TCP Command Speed
- 7.7. Get TCP Feedback Speed
- 7.8. Get Current Tool Pose
- 7.9. Get Current Tool Frame Number
- 7.10. Get Current Work Object Frame Number
- 7.11. Get Current End Flange Pose
- 7.12. Get Current Joint Torque
- 7.13. Get System Time
- 7.14. Check If Robot Motion Is Complete
- 7.15. Query Robot Motion Queue Length
- 7.16. Get Robot Emergency Stop Status
- 7.17. Get SDK-Robot Communication Status
- 7.18. Get Safety Stop Signal
- 7.19. Get Robot Joint Driver Temperature(℃)
- 7.20. Get Robot Joint Driver Torque(Nm)
- 7.21. Get Robot Real-time Status Structure
- 7.22. Robot Status Query Code Example
- 7.23. Inverse Kinematics Calculation
- 7.24. Inverse Kinematics Calculation (Reference Position)
- 7.25. Check If Inverse Kinematics Has Solution
- 7.26. Forward Kinematics Calculation
- 7.27. Robot Kinematics Calculation Code Example
- 7.28. Query Robot Teaching Point Data
- 7.29. Get Robot DH Parameter Compensation Values
- 7.30. Get Controller SN Code
- 7.31. Query Robot Teaching Point Data Code Example
- 8. Trajectory recurrence
- 8.1. Set TPD Trajectory Recording Parameters
- 8.2. Start TPD Trajectory Recording
- 8.3. Stop TPD Trajectory Recording
- 8.4. Delete TPD Trajectory Recording
- 8.5. TPD Trajectory Preload
- 8.6. TPD Trajectory Playback
- 8.7. Get TPD Start Pose
- 8.8. Robot TPD Trajectory Recording Code Example
- 8.9. Trajectory Preprocessing
- 8.10. Trajectory Playback
- 8.11. Get Trajectory Start Pose
- 8.12. Get Trajectory Point Number
- 8.13. Set Trajectory Running Speed
- 8.14. Set Trajectory Running Force and Torque
- 8.15. Set Trajectory Running Force in X Direction
- 8.16. Set Trajectory Running Force in Y Direction
- 8.17. Set Trajectory Running Force in Z Direction
- 8.18. Set Trajectory Running Torque Around X Axis
- 8.19. Set Trajectory Running Torque Around Y Axis
- 8.20. Set Trajectory Running Torque Around Z Axis
- 8.21. Upload Trajectory J File
- 8.22. Delete Trajectory J File
- 8.23. Robot Trajectory J File Playback Code Example
- 8.24. Trajectory Preprocessing (Trajectory Lookahead)
- 8.25. Trajectory Playback (Trajectory Lookahead)
- 8.26. Trajectory Playback (Trajectory Lookahead) Code Example
- 9. WebAPP program use
- 9.1. Set Default Program to Load Automatically on Startup
- 9.2. Load Specified Program
- 9.3. Get Loaded Program Name
- 9.4. Get Current Program Execution Line Number
- 9.5. Run Currently Loaded Program
- 9.6. Pause Currently Running Program
- 9.7. Resume Currently Paused Program
- 9.8. Stop Currently Running Program
- 9.9. Get Program Execution State
- 9.10. Robot LUA Program Operation Code Example
- 9.11. Download Lua File
- 9.12. Delete Lua File
- 9.13. Get All Current Lua File Names
- 9.14. Upload Lua File
- 9.15. Robot LUA File Upload/Download Code Example
- 10. Robot Peripheral Devices
- 10.1. Configure Gripper
- 10.2. Get Gripper Configuration
- 10.3. Activate Gripper
- 10.4. Control Gripper
- 10.5. Get Gripper Motion Status
- 10.6. Get Gripper Activation Status
- 10.7. Get Gripper Position
- 10.8. Get Gripper Speed
- 10.9. Get Gripper Current
- 10.10. Get Gripper Voltage
- 10.11. Get Gripper Temperature
- 10.12. Calculate Pre-Pick Point - Vision
- 10.13. Calculate Retreat Point - Vision
- 10.14. Robot Gripper Operation Code Example
- 10.15. Get Rotation Count of Rotary Gripper
- 10.16. Get Rotation Speed of Rotary Gripper
- 10.17. Get Rotation Torque of Rotary Gripper
- 10.18. Rotary Gripper Status Code Example
- 10.19. Conveyor Start/Stop
- 10.20. Record IO Detection Point
- 10.21. Record Point A
- 10.22. Record Reference Point
- 10.23. Record Point B
- 10.24. Conveyor Workpiece IO Detection
- 10.25. Get Current Object Position
- 10.26. Conveyor Tracking Start
- 10.27. Conveyor Tracking Stop
- 10.28. Conveyor Parameter Configuration
- 10.29. Conveyor Capture Point Compensation
- 10.30. Conveyor Linear Motion
- 10.31. Conveyor Communication Input Detection
- 10.32. Conveyor Communication Input Detection Trigger
- 10.33. Robot Conveyor Operation Example Program
- 10.34. End Sensor Configuration
- 10.35. Get End Sensor Configuration
- 10.36. End Sensor Activation
- 10.37. End Sensor Register Write
- 10.38. End Sensor Code Example
- 10.39. Get Robot Peripheral Protocol
- 10.40. Set Robot Peripheral Protocol
- 10.41. Set Robot Peripheral Protocol Example
- 10.42. Get End Communication Parameters
- 10.43. Set End Communication Parameters
- 10.44. Set End File Transfer Type
- 10.45. Set Enable End LUA Execution
- 10.46. End LUA File Error Recovery
- 10.47. Get End LUA Execution Enable Status
- 10.48. Set End LUA End Device Enable Type
- 10.49. Get End LUA End Device Enable Type
- 10.50. Get Currently Configured End Devices
- 10.51. Set Enable Gripper Action Control Function
- 10.52. Get Enable Gripper Action Control Function
- 10.53. Robot Ethercat Slave File Write
- 10.54. Upload End Lua Open Protocol File
- 10.55. Robot Ethercat Slave Enter Boot Mode
- 10.56. Robot End LUA File Operation Code Example
- 10.57. Get SmartTool Button Status
- 10.58. SmartTool Button Code Example
- 11. Force control
- 11.1. Force sensor configuration
- 11.2. Get the force sensor configuration
- 11.3. Force Sensor Activation
- 11.4. Force sensor calibration
- 11.5. Set Force Sensor Reference Coordinate System
- 11.6. Set Payload Weight Under Force Sensor
- 11.7. Set Payload Center of Gravity Under Force Sensor
- 11.8. Get Payload Weight Under Force Sensor
- 11.9. Get Payload Center of Gravity Under Force Sensor
- 11.10. Force Sensor Auto Zero Calibration
- 11.11. Get Force/Torque Data in Reference Coordinate System
- 11.12. Get Raw Force/Torque Data from Force Sensor
- 11.13. Force Sensor Configuration and Auto Zero Calibration Code Example
- 11.14. Payload Weight Identification Record
- 11.15. Payload Weight Identification Calculation
- 11.16. Payload COG Identification Record
- 11.17. Payload COG Identification Calculation
- 11.18. Force Sensor Payload Identification Code Example
- 11.19. Collision Guard
- 11.20. Collision Guard Code Example
- 11.21. Constant Force Control
- 11.22. Constant Force Control Code Example
- 11.23. Spiral Search
- 11.24. Rotary Insertion
- 11.25. Linear Insertion
- 11.26. Spiral Search, Linear Insertion and Other Instruction Code Examples
- 11.27. Surface Localization
- 11.28. Calculate Middle Plane Position - Start
- 11.29. Calculate Middle Plane Position - End
- 11.30. Surface Localization Code Example
- 11.31. Compliance Control Activation
- 11.32. Compliance Control Deactivation
- 11.33. Compliance Control Code Example
- 11.34. Payload Identification Initialization
- 11.35. Payload Identification Initialization
- 11.36. Payload Identification Main Program
- 11.37. Get Payload Identification Result
- 11.38. Robot Payload Identification Code Example
- 11.39. Force Sensor Assisted Drag
- 11.40. Get Force Sensor Drag Switch Status
- 11.41. Force Sensor Auto Activation After Error Clear
- 11.42. Force Sensor Assisted Drag Code Example
- 11.43. Set Six-Dimensional Force and Joint Impedance Hybrid Drag Switch and Parameters
- 11.44. Six-Dimensional Force and Joint Impedance Hybrid Drag Code Example
- 11.45. Set Wire Search Extended IO Port
- 11.46. Example Program
- 12. Extended Axis
- 12.1. Set 485 Extended Axis Parameters
- 12.2. Get 485 Extended Axis Configuration Parameters
- 12.3. Set 485 Extended Axis Enable/Disable
- 12.4. Set 485 Extended Axis Control Mode
- 12.5. Set 485 Extended Axis Target Position (Position Mode)
- 12.6. Set 485 Extended Axis Target Torque (Torque Mode) - Temporarily Unavailable
- 12.7. Set 485 Extended Axis Homing
- 12.8. Clear 485 Extended Axis Error Information
- 12.9. Get 485 Extended Axis Servo Status
- 12.10. Set 485 Extended Axis Target Speed (Velocity Mode)
- 12.11. Set Status Feedback 485 Extended Axis Data Axis Number
- 12.12. Set 485 Extended Axis Motion Acceleration/Deceleration
- 12.13. Set 485 Extended Axis Emergency Stop Acceleration/Deceleration
- 12.14. Get 485 Extended Axis Motion Acceleration/Deceleration
- 12.15. Get 485 Extended Axis Emergency Stop Acceleration/Deceleration
- 12.16. Extended Axis Control Code Example
- 12.17. UDP Extended Axis Communication Parameter Configuration
- 12.18. Get UDP Extended Axis Communication Parameter Configuration
- 12.19. Load UDP Communication
- 12.20. Unload UDP Communication
- 12.21. UDP Extended Axis Communication Exception Disconnection Recovery
- 12.22. UDP Extended Axis Communication Exception Disconnection Close Communication
- 12.23. UDP Extended Axis Parameter Configuration
- 12.24. Set Extended Axis Installation Position
- 12.25. Set Extended Axis System DH Parameter Configuration
- 12.26. UDP Extended Axis Enable
- 12.27. UDP Extended Axis Homing
- 12.28. UDP Extended Axis Jog Start
- 12.29. UDP Extended Axis Jog Stop
- 12.30. UDP Extended Axis Configuration and Jog Code Example
- 12.31. Set Extended Axis Coordinate System Reference Point - Four-Point Method
- 12.32. Calculate Extended Axis Coordinate System - Four-Point Method
- 12.33. Positioner Coordinate System Reference Point Setting
- 12.34. Positioner Coordinate System Calculation - Four-Point Method
- 12.35. Set Calibration Reference Point Pose in Extended Axis End Coordinate System
- 12.36. Apply Extended Axis Coordinate System
- 12.37. Get Extended Axis Coordinate System
- 12.38. Extended Axis Coordinate System Calibration Code Example
- 12.39. UDP Extended Axis Motion
- 12.40. UDP Extended Axis Motion Code Example
- 12.41. UDP Extended Axis and Robot Joint Motion Synchronous Motion
- 12.42. UDP Extended Axis and Robot Joint Motion Synchronous Motion Code Example
- 12.43. UDP Extended Axis and Robot Linear Motion Synchronous Motion
- 12.44. UDP Extended Axis and Robot Linear Motion Synchronous Motion Code Example
- 12.45. UDP Extended Axis and Robot Arc Motion Synchronous Motion
- 12.46. UDP Extended Axis and Robot Arc Motion Synchronous Motion Code Example
- 12.47. Set Extended DO
- 12.48. Set Extended AO
- 12.49. Set Extended DI Input Filter Time
- 12.50. Set Extended AI Input Filter Time
- 12.51. Wait for Extended DI Input
- 12.52. Wait for Extended AI Input
- 12.53. Get Extended DI Value
- 12.54. Get Extended AI Value
- 12.55. Extended IO Code Example
- 12.56. Mobile Device Enable
- 12.57. Mobile Device Homing
- 12.58. Mobile Device Linear Motion
- 12.59. Mobile Device Arc Motion
- 12.60. Mobile Device Stop Motion
- 12.61. Mobile Device Code Example
- 13. Instantaneously Set Weaving Parameters
- 14. Set Robot Welding Arc Unexpected Interruption Detection Parameters
- 15. Get Robot Welding Arc Unexpected Interruption Detection Parameters
- 16. Set Robot Welding Interruption Recovery Parameters
- 17. Get Robot Welding Interruption Recovery Parameters
- 18. Set Welder Control Mode Extended DO Port
- 19. Set Welder Control Mode
- 20. Welding Start
- 21. Welding End
- 22. Weaving Start
- 23. Weaving End
- 24. Forward Wire Feeding
- 25. Reverse Wire Feeding
- 26. Gas Feeding
- 27. Set Robot to Resume Welding After Interruption
- 28. Set Robot to Abort Welding After Interruption
- 29. Robot Welding Control Code Example
- 30. Segment Welding Start
- 31. Robot Segment Welding Code Example
- 32. Simulation Weaving Start
- 33. Simulation Weaving End
- 34. Start Trajectory Detection Warning (No Movement)
- 35. End Trajectory Detection Warning (No Movement)
- 36. Weaving Gradual Change Start
- 37. Robot Weaving Gradual Change Welding Code Example
- 38. Weaving Gradual Change End
- 39. Extended IO-Configure Welder Gas Detection Signal
- 40. Extended IO-Configure Welder Arc Start Signal
- 41. Extended IO-Configure Welder Reverse Wire Feed Signal
- 42. Extended IO-Configure Welder Forward Wire Feed Signal
- 43. Extended IO-Configure Welder Arc Success Signal
- 44. Extended IO-Configure Welder Ready Signal
- 45. Extended IO-Configure Welding Interruption Recovery Signal
- 46. Set Extended IO Welding Signal Code Example
- 47. Arc Tracking Control
- 48. Set Arc Tracking Input Signal Port
- 49. Arc Tracking + Multi-layer Multi-pass Compensation Start
- 50. Arc Tracking + Multi-layer Multi-pass Compensation End
- 51. Offset Coordinate Transformation - Multi-layer Multi-pass Welding
- 52. Multi-layer Multi-pass Welding Arc Tracking Code Example
- 53. Arc Tracking Welder Current Feedback AI Channel Selection
- 54. Arc Tracking Welder Voltage Feedback AI Channel Selection
- 55. Arc Tracking Welder Current Feedback Conversion Parameters
- 56. Arc Tracking Welder Voltage Feedback Conversion Parameters
- 57. Arc Tracking Code Example
- 58. Wire Search Start
- 59. Wire Search End
- 60. Calculate Wire Search Offset
- 61. Wait for Wire Search Completion
- 62. Write Wire Search Contact Point to Database
- 63. Robot Wire Search Code Example
- 64. Set Welding Voltage Gradual Change Start
- 65. Set Welding Voltage Gradual Change End
- 66. Set Welding Current Gradual Change Start
- 67. Set Welding Current Gradual Change End
- 68. Robot Welding Current Voltage Gradual Change Code Example
- 69. Other Interfaces
- 69.1. Get SSH Public Key
- 69.2. Send SCP Command
- 69.3. Calculate MD5 Value of Specified File
- 69.4. Robot SSH/MD5 Command Code Example
- 69.5. Set Robot Port 20004 Feedback Cycle
- 69.6. Get Robot Port 20004 Feedback Cycle
- 69.7. Robot Port 20004 State Feedback Cycle Configuration Example
- 69.8. Robot Software Upgrade
- 69.9. Get Robot Software Upgrade Status
- 69.10. Robot Software Upgrade Code Example
- 69.11. Download Point Table Database
- 69.12. Upload Point Table Database
- 69.13. Update Lua File for Point Table
- 69.14. Robot Point Table Operation Code Example
- 69.15. Controller Log Download
- 69.16. All Data Source Download
- 69.17. Data Backup Package Download
- 69.18. Download Controller Data Code Example
- 70. Appendix
- 1. Data structure specification
- C#
- 1. Data Structure Description
- 1.1. Joint position data type
- 1.2. Cartesian space position data type
- 1.3. Euler Angle Attitude data type
- 1.4. Cartesian space position data type
- 1.5. Extended axis position data type
- 1.6. Torque sensor data type
- 1.7. Helix parameter data type
- 1.8. Extended axis state type
- 1.9. Welding interrupt status
- 1.10. Robot State Feedback Structures Types
- 2. Robotics Basics
- 2.1. Instantiated Robot
- 2.2. Establish communication with the controller
- 2.3. Disconnect communication with the robot
- 2.4. Query SDK version number
- 2.5. Get controller IP
- 2.6. Controls the robot into and out of drag-and-drop instructor mode
- 2.7. Queries whether the robot is in drag mode
- 2.8. Control robot up-enable or down-enable
- 2.9. Control of robot hand-automatic mode switching
- 2.10. Disconnection reconnects
- 2.11. Code Example
- 3. RobotMovement
- 3.1. Jog point and click
- 3.2. Jog tap to decelerate and stop
- 3.3. Jog tapping stops immediately
- 3.4. Code Example
- 3.5. Joint space motion
- 3.6. Cartesian linear motion in space
- 3.7. Circular motion in Cartesian space
- 3.8. Whole circle motion in Cartesian space
- 3.9. Code Example
- 3.10. Spiral motion in Cartesian space
- 3.11. Code Example
- 3.12. Start of servo motion
- 3.13. End of servo motion
- 3.14. Joint space servo mode motion
- 3.15. Code Example
- 3.16. Servo-mode motion in Cartesian space
- 3.17. Code Example
- 3.18. Point-to-point motion in Cartesian space
- 3.19. Code Example
- 3.20. Start of spline motion
- 3.21. Sample motion PTP
- 3.22. End of spline motion
- 3.23. Code Example
- 3.24. New Sample Campaign Begins
- 3.25. new spline command point
- 3.26. End of new spline movement
- 3.27. Ending the campaign
- 3.28. pause
- 3.29. Resumption of movement
- 3.30. Overall shift in points begins
- 3.31. Overall point shift ends
- 3.32. Code Example
- 3.33. Control box AO fly shooting start
- 3.34. Control Box AO Flying Racket Stop
- 3.35. End AO Fly Shot Begins
- 3.36. End AO Flying Racket Stop
- 3.37. Code Example
- 3.38. Starting odd position protection
- 3.39. Stop odd position protection
- 3.40. Code Example
- 3.41. Safety Stop Trigger
- 3.42. Start ptp motion FIR filtering
- 3.43. Start LIN, ARC motion FIR filtering
- 3.44. Disable ptp motion FIR filtering
- 3.45. Disable LIN, ARC motion FIR filtering
- 3.46. Code Example
- 3.47. Acceleration Smoothing Enable
- 3.48. Acceleration Smoothing Disable
- 3.49. Code Example
- 4. Robotics IO
- 4.1. Setting up the control box digital outputs
- 4.2. Set the digital output of the tool
- 4.3. Set the control box analog output
- 4.4. Set the tool analog output
- 4.5. Get the control box digital input
- 4.6. Get tool digital input
- 4.7. Wait for control box digital input
- 4.8. Wait for multiple digital inputs to the control box
- 4.9. Wait for tool digital input
- 4.10. Get the control box analog input
- 4.11. Get tool analog input
- 4.12. Get robot end record button status
- 4.13. Wait for control box analog input
- 4.14. Waiting for tool analog inputs
- 4.15. Get the status of the DO output at the end of the robot
- 4.16. Get the DO output state of the machine controller
- 4.17. Code Example
- 4.18. Get the robot software version
- 4.19. Get the robot hardware version
- 4.20. Get the firmware version of the robot
- 4.21. Code Example
- 5. Common Robot Settings
- 5.1. Setting the global speed
- 5.2. Setting system variable values
- 5.3. Setting Tool Reference Points - Six Point Method
- 5.4. Calculation Tool Coordinate System - Six Point Method
- 5.5. Setting Tool Reference Points - Four Point Method
- 5.6. Calculation Tool Coordinate System - Four Point Method
- 5.7. Setting the tool coordinate system
- 5.8. Setting up a list of tool coordinate systems
- 5.9. Setting the external tool coordinate reference point - three-point method
- 5.10. Calculation of the external tool coordinate system - three-point method
- 5.11. Setting the external tool coordinate system
- 5.12. Setting up a list of external tool coordinate systems
- 5.13. Setting the reference point of the workpiece coordinate system - three-point method
- 5.14. Calculation of the workpiece coordinate system
- 5.15. Setting the workpiece coordinate system
- 5.16. Setting the list of workpiece coordinate systems
- 5.17. Setting the end load weight
- 5.18. Setting the end-load centre-of-mass coordinates
- 5.19. Setting the robot installation method
- 5.20. Setting the robot mounting angle
- 5.21. Code Example
- 5.22. Waiting for a specified time
- 5.23. Setting robot acceleration
- 5.24. Calculate the tool coordinate system from the point information
- 5.25. Calculate the workpiece coordinate system from the point information
- 5.26. code example
- 6. Robot Security Settings
- 6.1. Setting the collision level
- 6.2. Setting the post-collision strategy
- 6.3. Setting the positive limit
- 6.4. Setting the negative limit
- 6.5. error state clearing
- 6.6. Joint Friction Compensation Switch
- 6.7. Setting the joint friction compensation coefficients - positive loading
- 6.8. Setting the joint friction compensation coefficient - side mounting
- 6.9. Setting the joint friction compensation factor - inverted
- 6.10. Setting the joint friction compensation factor - free mounting
- 6.11. Code Example
- 6.12. Customized Collision Detection Thresholds Feature Begins
- 6.13. Customize collision detection threshold function off
- 6.14. Code Example
- 7. Robot Status Enquiry
- 7.1. Getting the robot mounting angle
- 7.2. Getting system variable values
- 7.3. Get current joint position (angle)
- 7.4. Get the current joint position (in radians)
- 7.5. Getting joint feedback speed
- 7.6. Getting joint feedback acceleration
- 7.7. Get TCP command speed-combination speed
- 7.8. Get TCP feedback speed-combination speed
- 7.9. Get TCP command speed-split speed
- 7.10. Get TCP feedback speed-split speed
- 7.11. Get current tool position
- 7.12. Get the current tool coordinate system number
- 7.13. Get the current workpiece coordinate system number
- 7.14. Get the current end flange position
- 7.15. Inverse kinematics solution
- 7.16. Inverse kinematics solution
- 7.17. Inverse kinematics solution (with reference to specified joint positions)
- 7.18. Determining whether inverse kinematics has a solution
- 7.19. Positive kinematics solution
- 7.20. Get current joint torque
- 7.21. Get the weight of the current load
- 7.22. Get the centre of mass of the current load
- 7.23. Get the current tool coordinate system
- 7.24. Get the current workpiece coordinate system
- 7.25. Obtaining the soft limiting angle of a joint
- 7.26. Get system time
- 7.27. Get the current joint configuration of the robot
- 7.28. Get current speed
- 7.29. Queries whether robot motion is complete
- 7.30. Code Example
- 7.31. Query Robot Error Code
- 7.32. Query Robot Teaching Management Point Data
- 7.33. Querying the robot motion queue cache length
- 7.34. Code Example
- 7.35. Get robot real-time status structure
- 7.36. Code Example
- 7.37. Get the status of the SmartTool button
- 7.38. Code example
- 7.39. Obtain the extended axis coordinate system
- 8. Robot trajectory replication
- 8.1. Setting up track recording parameters
- 8.2. Start Track Recording
- 8.3. Stop Track Recording
- 8.4. Deleting track records
- 8.5. Code Example
- 8.6. Trajectory preloading
- 8.7. Get the start position of the trajectory
- 8.8. Trajectory Reproduction
- 8.9. Code Example
- 8.10. External track file preprocessing
- 8.11. External track file track reproduction
- 8.12. Get track file track start position
- 8.13. Get track file track point number
- 8.14. Setting Track File Track Run Speed
- 8.15. Setting forces and moments in trajectory file trajectory operation
- 8.16. Setting the force along the x-direction in the trajectory run
- 8.17. Setting the force along the y-direction in the trajectory run
- 8.18. Setting the force along the z-direction in a trajectory run
- 8.19. Setting the torque around the x-axis in a trajectory run
- 8.20. Setting the torque around the y-axis in trajectory operation
- 8.21. Setting the torque around the z-axis in trajectory operation
- 8.22. Code Example
- 8.23. Uploading the track J file
- 8.24. Delete the track J file
- 8.25. Code Example
- 8.26. Trajectory Preprocessing (trajectory Foresight)
- 8.27. Track reproduction (track outlook)
- 8.28. Code example
- 9. Robot WebAPP application use
- 9.1. Setting the default job program to load automatically on boot
- 9.2. Load the specified job program
- 9.3. Get the name of the loaded job program
- 9.4. Get the line number of the current robot job program
- 9.5. Run the currently loaded job program
- 9.6. Suspend the currently running job program
- 9.7. Resumption of the currently suspended operating procedure
- 9.8. Terminate the currently running job program
- 9.9. Getting the robot’s job program execution status
- 9.10. Code Example
- 9.11. Downloading of operating procedures
- 9.12. Uploading of operational procedures
- 9.13. Deletion of operational procedures
- 9.14. Get the names of all current job programs
- 9.15. Code Example
- 10. Robot Peripherals
- 10.1. Configuring the gripper
- 10.2. Get the gripper configuration
- 10.3. Activate the gripper
- 10.4. Controls the gripper.
- 10.5. Get the movement status of the gripper
- 10.6. Get Gripper Motion Done(ref fault, ref status)
- 10.7. Get gripper position
- 10.8. Get the gripper cur speed
- 10.9. Get the gripper current
- 10.10. Get the gripper voltage
- 10.11. Get the temperature of the gripper
- 10.12. Code Example
- 10.13. Calculate pre-capture point-visual
- 10.14. Calculate retreat point-visual
- 10.15. Get the number of revolutions of the rotating jaws
- 10.16. Get the rotational speed percentage of the rotating jaws
- 10.17. Get the percentage of rotational torque of the rotating jaws
- 10.18. Code Example
- 11. Machine Human Control
- 11.1. Force Sensor Configuration
- 11.2. Get the force transducer configuration
- 11.3. Force sensor activation
- 11.4. Force Transducer Zeroing
- 11.5. Code Example
- 11.6. Set the force sensor reference coordinate system
- 11.7. Load Weight Recognition Record
- 11.8. Load weight recognition calculation
- 11.9. Load center of mass identification record
- 11.10. Load center of mass identification calculation
- 11.11. Code Samples
- 11.12. Get force/torque data in reference coordinate system
- 11.13. Get force sensor raw force/torque data
- 11.14. Collision guard
- 11.15. Code Samples
- 11.16. Constant force control
- 11.17. Code Example
- 11.18. Smooth control on
- 11.19. Flex control off
- 11.20. Code Example
- 11.21. Load recognition initialization
- 11.22. Initialize load identifying variables
- 11.23. Load identification main program
- 11.24. Get the load identification result
- 11.25. Force Sensor Assisted Drag
- 11.26. Code example
- 11.27. Get force sensor drag switch status
- 11.28. Force sensor auto-zeroing
- 11.29. Setting up hybrid drag switches and parameters for six-dimensional force and joint impedance
- 11.30. Set the force sensor under load weight
- 11.31. Set the force sensor payload center of mass
- 11.32. Setting the load center of mass under a force transducer
- 11.33. Get the force sensor pay load weight
- 11.34. Get force sensor payload center of mass
- 11.35. Conveyor Communication Input Detection
- 11.36. Conveyor Communication Input Detection Trigger
- 11.37. Code Example
- 12. Robotic welding
- 12.1. Start of welding
- 12.2. End of welding
- 12.3. Setting of welding current and output analogue correspondence
- 12.4. Setting the welding voltage and output analogue correspondence
- 12.5. Getting the correspondence between welding current and output analogue
- 12.6. Getting welding voltage and output analogue correspondence
- 12.7. Setting the welding current
- 12.8. Setting the welding voltage
- 12.9. Setting the oscillation parameters
- 12.10. Code Example
- 12.11. Instant setting of swing parameters
- 12.12. swing start
- 12.13. end of swing
- 12.14. Positive wire feed
- 12.15. Reverse wire feed
- 12.16. Aspiration (phonetics, explosion of breath on consonants distinguishing Chinese p, t from b, d)
- 12.17. Segment welding
- 12.18. Code Example
- 12.19. Welding Wire Finding Position Begins
- 12.20. End of wire search
- 12.21. Calculating wire finding offsets
- 12.22. Wait for the wire search to complete
- 12.23. Write wire search contact to database
- 12.24. Arc tracking control
- 12.25. Code example
- 12.26. Arc tracking control
- 12.27. Arc tracking AI passband selection
- 12.28. Simulated Swing Start
- 12.29. End of simulation
- 12.30. Start trajectory detection warning (no motion)
- 12.31. End trajectory detection warning (no motion)
- 12.32. Extended IO-Configuration Welder Gas Detection Signal
- 12.33. Extended IO-Configuration Welder Arc Start Signal
- 12.34. Extended IO-Configuring the Welder Reverse Wire Feed Signal
- 12.35. Extended IO-Configuration Welder Forward Wire Feed Signal
- 12.36. Extended IO-Configuration Welder Arc Start Success Signal
- 12.37. Extended IO-Configuration Welder Ready Signal
- 12.38. Extended IO-Configure weld interrupt recovery signal
- 12.39. Arc Tracking + Multi-Layer Multi-Pass Compensation On
- 12.40. ArcWeldTrace + MultiLayerMultiChannelCompensation OFF
- 12.41. Offset Coordinate Change - Multi-Layer Multi-Pass Welding
- 12.42. Setting parameters for detecting unexpected interruptions of the robotic welding arc
- 12.43. Get parameters for detecting unexpected interruptions of the robotic welding arc
- 12.44. Setting the robot weld interrupt recovery parameters
- 12.45. Get robot weld interrupt recovery parameters
- 12.46. Setting the robot to resume welding after a welding interruption
- 12.47. Setting the robot to exit welding after a weld interruption
- 12.48. code example
- 12.49. Swing gradient begins
- 12.50. Swing gradient ends
- 12.51. Code example
- 12.52. Arc Tracking Welding machine Current Feedback AI Channel selection
- 12.53. Arc Tracking Welding Machine Voltage Feedback AI Channel Selection
- 12.54. Current feedback Conversion parameters of Arc tracking Welding machine
- 12.55. Voltage feedback Conversion Parameters of Arc Tracking Welding machine
- 12.56. Code example
- 12.57. Set the welding voltage to start gradually
- 12.58. Set the welding voltage gradient to end
- 12.59. Set the welding current to start gradually
- 12.60. Set the welding current gradient to end
- 12.61. Code example
- 13. extended axis
- 13.1. Setting the 485 extension axis parameters
- 13.2. Getting 485 Extended Axis Parameters
- 13.3. Setting the 485 expansion axis enable/disable
- 13.4. Setting the 485 extended axis control mode
- 13.5. Code Example
- 13.6. Setting the 485 extended axis back to zero
- 13.7. Setting the 485 extended axis target position (position mode)
- 13.8. Setting the 485 extended axis target speed (velocity mode)
- 13.9. Code Example
- 13.10. Setting the 485 extended axis target torque (torque mode) - not yet available
- 13.11. Clearing 485 Expansion Axis Error Messages
- 13.12. Get 485 Extended Axis Servo Status
- 13.13. Setting the 485 Extended Axis Data Axis Number in Status Feedback
- 13.14. Code Example
- 13.15. Configuration of UDP extended axis communication parameters
- 13.16. Get UDP extended axis communication parameter configuration
- 13.17. Load UDP communication
- 13.18. Offloading UDP communication
- 13.19. Code Example
- 13.20. Recovering connection after abnormal disconnection of UDP extension axis communication
- 13.21. UDP extension axis communication is closed after abnormal disconnection.
- 13.22. UDP Extended Axis Parameter Configuration
- 13.23. Setting the Extension Shaft Mounting Position
- 13.24. Setting the extended axis system DH parameter configuration
- 13.25. Code example
- 13.26. Setting the reference point of the extended axis coordinate system - four-point method
- 13.27. Calculating Extended Axis Coordinate Systems - Four Point Method
- 13.28. Applying the Extended Axis Coordinate System
- 13.29. Code Example
- 13.30. Setting of the calibration reference point in the position in the coordinate system of the end of the translator
- 13.31. Setting of reference points for the coordinate system of the indexing machine
- 13.32. Shifter Coordinate System Calculation - Four Point Method
- 13.33. Code Example
- 13.34. UDP Extended Axis Enable
- 13.35. UDP extension axis back to zero
- 13.36. UDP Extended Axis Tap Start
- 13.37. UDP Extended Axis Tap Stop
- 13.38. Code Example
- 13.39. UDP Extended Axis Motion
- 13.40. Code Example
- 13.41. Synchronised motion of UDP extension axes with robot joint motion
- 13.42. Code Example
- 13.43. Synchronised motion of the UDP extension axes with the linear motion of the robot
- 13.44. Code Example
- 13.45. UDP extension axes synchronised with robot circular motion
- 13.46. Code Example
- 13.47. Removable Device Enable
- 13.48. Stopping motion of movable units
- 13.49. Zeroing of removable units
- 13.50. Movable unit linear motion
- 13.51. Movable unit circular motion
- 13.52. Code Example
- 13.53. Setting the Extended DO
- 13.54. Setting up Extended AO
- 13.55. Code Example
- 13.56. Setting the Extended DI Input Filter Time
- 13.57. Setting the extended AI input filter time
- 13.58. Waiting for extended DI input
- 13.59. Waiting for extended AI input
- 13.60. Get Extended DI Value
- 13.61. Get Extended AI Value
- 13.62. Code Example
- 13.63. Setting the 485 Extended Axis Motion Acceleration and Deceleration
- 13.64. Sets the acceleration and deceleration of the 485 extended axis.
- 13.65. Get the acceleration and deceleration of the 485 extended axis motion
- 13.66. Get the acceleration and deceleration of the 485 extended axis.
- 14. Other interfaces
- 14.1. Belt start and stop
- 14.2. Record IO detection points
- 14.3. Record point A
- 14.4. Recording reference points
- 14.5. Record point B
- 14.6. Conveyor workpiece IO inspection
- 14.7. Get the current position of the object
- 14.8. Drive belt tracking started
- 14.9. Belt tracking stop
- 14.10. Drive Belt Parameter Configuration
- 14.11. Setting the drive belt gripping point compensation
- 14.12. Conveyor tracking linear motion
- 14.13. Code Example
- 14.14. Get SSH public key
- 14.15. Calculate the MD5 value of a file in a specified path
- 14.16. Getting robot emergency stop status
- 14.17. Get the communication status of the SDK with the robot
- 14.18. Obtaining a safety stop signal
- 14.19. Getting the robot DH parameter compensation value
- 14.20. Code Example
- 14.21. Upload Points List
- 14.22. Download Points List
- 14.23. Points Table Update Lua Program
- 14.24. Code Example
- 14.25. Initialising logging parameters
- 14.26. Setting the log filter level
- 14.27. Code Example
- 14.28. Setting up robot peripheral protocols
- 14.29. Obtaining Robot Peripheral Protocols
- 14.30. Code Example
- 14.31. End Sensor Configuration
- 14.32. Get the end sensor configuration
- 14.33. End sensor activation
- 14.34. End Sensor Register Write
- 14.35. Code example
- 14.36. Controller Log Download
- 14.37. Code Example
- 14.38. All Data Source Download
- 14.39. Code Example
- 14.40. Data Backup Package Download
- 14.41. Code Example
- 14.42. Get Controller SN Code
- 14.43. Code Example
- 14.44. Shutdown Robot OS
- 14.45. Code Example
- 15. Appendix
- 1. Data Structure Description
- Java
- 1. Data Structure Description
- 1.1. Joint Position Data Type
- 1.2. Cartesian spatial position data types
- 1.3. Eulerian angle pose data type
- 1.4. Cartesian space position data types
- 1.5. Extended Axis Position Data Type
- 1.6. Torque Sensor Data Type
- 1.7. Spiral Parameter Data Type
- 1.8. Extended Axis State Type
- 1.9. Sensor type
- 1.10. 485 Extended Axis Configuration
- 1.11. Servo controller status
- 1.12. Welding interrupt status
- 1.13. Robot Status Feedback Structure Type
- 2. Robotics Basics
- 2.1. Instantiated Robot
- 2.2. Establish communication with the controller
- 2.3. Disconnect communication with the robot
- 2.4. Query SDK version number
- 2.5. Get controller IP
- 2.6. Controlling the robot into and out of drag-and-drop instructor mode
- 2.7. Control robot up-enable or down-enable
- 2.8. Control of robot hand-automatic mode switching
- 2.9. Code example
- 2.10. Get control box SN code
- 2.11. Shutdown Robot Operating System
- 2.12. code example
- 3. robotics
- 3.1. jog point and click
- 3.2. jog tap to decelerate and stop
- 3.3. Immediate stop for jog taps
- 3.4. Code example
- 3.5. Joint space motion
- 3.6. Cartesian linear motion in space
- 3.7. Circular motion in Cartesian space
- 3.8. Whole circle motion in Cartesian space
- 3.9. Code example
- 3.10. Spiral motion in Cartesian space
- 3.11. Code example
- 3.12. Start of servo motion
- 3.13. End of servo motion
- 3.14. Joint space servo mode motion
- 3.15. Code example
- 3.16. Servo-mode motion in Cartesian space
- 3.17. Code example
- 3.18. Point-to-point motion in Cartesian space
- 3.19. Code example
- 3.20. Start of spline motion
- 3.21. Joint space spline motion
- 3.22. End of spline motion
- 3.23. Code example
- 3.24. New spline movement begins
- 3.25. new spline command point
- 3.26. End of new spline movement
- 3.27. Termination campaigns
- 3.28. pause
- 3.29. Resumption of movement
- 3.30. Overall shift in points begins
- 3.31. Overall offset of points ends
- 3.32. Code example
- 3.33. Control box AO fly shooting start
- 3.34. Control Box AO Flying Racket Stop
- 3.35. End AO Fly Shot Starts
- 3.36. End AO Fly Tap Stop
- 3.37. Code example
- 3.38. Start Ptp motion FIR filtering
- 3.39. Turn off Ptp Motion FIR Filtering
- 3.40. Code example
- 3.41. Started LIN, ARC motion FIR filtering
- 3.42. Turn off LIN, ARC motion FIR filtering
- 3.43. Code example
- 3.44. Acceleration Smoothing Enable
- 3.45. Acceleration Smoothing Disable
- 3.46. Code Example
- 4. Robot IO
- 4.1. Setting the control box digital output
- 4.2. Setting Tool Digital Outputs
- 4.3. Setting the control box analog output
- 4.4. Setting Tool Analog Outputs
- 4.5. Waiting for control box digital inputs
- 4.6. Waiting for control box with multiple digital inputs
- 4.7. Waiting for tool digital inputs
- 4.8. Waiting for control box analog inputs
- 4.9. Waiting for tool analog inputs
- 4.10. Code example
- 4.11. Setting whether the output is reset after the control box DO stop/pause
- 4.12. Setting whether the output is reset after the control box AO stop/pause
- 4.13. Sets whether the output is reset after the end tool DO stops/pause.
- 4.14. Set whether the output is reset after the end tool AO stops/pauses
- 4.15. Sets whether the outputs are reset after an extended DO stop/pause.
- 4.16. Sets whether the output is reset after the expansion AO stops/pause.
- 4.17. Code example
- 5. Common Robot Settings
- 5.1. Setting the global speed
- 5.2. Setting system variable values
- 5.3. Setting Tool Reference Points - Six-Point Method
- 5.4. Calculation tool coordinate system - six-point method
- 5.5. Setting Tool Reference Points - Four Point Method
- 5.6. Calculation Tool Coordinate System - Four Point Method
- 5.7. Setting the tool coordinate system
- 5.8. Setting the tool coordinate system list
- 5.9. Code example
- 5.10. Calculation of tool coordinate system from point information
- 5.11. Compute the tool coordinate system from the point information
- 5.12. Code example
- 5.13. Setting External Tool Coordinate Reference Points
- 5.14. Calculation of the external tool coordinate system
- 5.15. Setting the external tool coordinate system
- 5.16. Setting up a list of external tool coordinate systems
- 5.17. Code example
- 5.18. Setting the reference point of the workpiece coordinate system
- 5.19. Calculation of the workpiece coordinate system
- 5.20. Setting the workpiece coordinate system
- 5.21. Setting the list of workpiece coordinate systems
- 5.22. Code example
- 5.23. Setting the end load weight
- 5.24. Setting the end load center of mass coordinates
- 5.25. Setting the robot installation method
- 5.26. Setting the robot mounting angle
- 5.27. Code example
- 5.28. Waiting for a specified time
- 5.29. Setting robot acceleration
- 6. Robot Security Settings
- 6.1. Setting the collision level
- 6.2. Setting the post-collision strategy
- 6.3. Setting the positive limit
- 6.4. Setting the negative limit
- 6.5. error state clearing
- 6.6. Code example
- 6.7. Joint Friction Compensation Switch
- 6.8. Setting the joint friction compensation coefficients - positive loading
- 6.9. Setting the joint friction compensation coefficient - side mounting
- 6.10. Setting the Joint Friction Compensation Factor - Inverted
- 6.11. Setting the joint friction compensation factor - free mounting
- 6.12. Code example
- 6.13. Starting odd position protection
- 6.14. Stop odd position protection
- 6.15. Code example
- 7. Robot Status Inquiry
- 7.1. Getting the robot mounting angle
- 7.2. Getting system variable values
- 7.3. Get the current joint position (angle).
- 7.4. Get joint feedback speed -deg/s
- 7.5. Get current tool position
- 7.6. Inverse kinematics solution
- 7.7. Inverse kinematics solution
- 7.8. Inverse kinematics solution
- 7.9. Positive kinematics solving
- 7.10. Get current joint torque
- 7.11. Get the weight of the current load
- 7.12. Get the center of mass of the current load
- 7.13. Code example
- 7.14. Get the current tool coordinate system
- 7.15. Get the current workpiece coordinate system
- 7.16. Obtaining the soft limiting angle of a joint
- 7.17. Code example
- 7.18. Get system time
- 7.19. Get the current joint configuration of the robot
- 7.20. Get the default speed of the robot
- 7.21. Code example
- 7.22. Query Robot Teaching Management Point Data
- 7.23. Get SSH public key
- 7.24. Calculate the MD5 value of a file in a specified path
- 7.25. Code example
- 7.26. Getting the robot software version
- 7.27. Getting the robot hardware version
- 7.28. Getting the robot firmware version
- 7.29. Code example
- 8. Robot trajectory replication
- 8.1. Setting Track Recording Parameters
- 8.2. Start Track Recording
- 8.3. Stop Track Recording
- 8.4. Deleting track records
- 8.5. Code example
- 8.6. Trajectory preloading
- 8.7. Get the starting position of the trajectory
- 8.8. Trajectory Reproduction
- 8.9. Setting the speed of the trajectory in operation
- 8.10. Code example
- 8.11. External track file preprocessing
- 8.12. External Trace File Trace Replication
- 8.13. External track file preprocessing (track look-ahead)
- 8.14. External trajectory file trajectory reproduction (trajectory look-ahead)
- 8.15. code example
- 8.16. Get the trajectory file trajectory start position
- 8.17. Setting forces and moments in trajectory file trajectory operation
- 8.18. Setting the force along the x-direction in the trajectory run
- 8.19. Setting the force along the y-direction in the trajectory run
- 8.20. Setting the force along the z-direction in a trajectory run
- 8.21. Setting the torque around the x-axis in a trajectory run
- 8.22. Setting the torque around the y-axis in trajectory operation
- 8.23. Setting the torque around the z-axis in trajectory operation
- 8.24. Code example
- 8.25. Uploading Track J files
- 8.26. Deletion of Track J files
- 8.27. Code example
- 9. Robot WebAPP program use
- 9.1. Setting the default job program to load automatically on boot
- 9.2. Code example
- 9.3. Load the specified job program
- 9.4. Get the name of the loaded job program
- 9.5. Get the line number of the current robot job program
- 9.6. Run the currently loaded job program
- 9.7. Code example
- 9.8. pause-for-pause campaign
- 9.9. Resumption of movement
- 9.10. Terminate the currently running job program
- 9.11. Code example
- 9.12. Download Lua Programs
- 9.13. Uploading a Lua program
- 9.14. Deleting Lua Programs
- 9.15. Get the names of all current job programs
- 9.16. Code example
- 10. Robotics peripherals
- 10.1. Configuration of jaws
- 10.2. Get Jaw Configuration
- 10.3. Activate jaws
- 10.4. Control jaws
- 10.5. Getting the jaw movement status
- 10.6. Code example
- 10.7. Get the number of revolutions of the rotary gripper
- 10.8. Get the rotational speed percentage of the rotating gripper
- 10.9. Get the percentage of rotational torque of the rotating jaws
- 10.10. Code example
- 10.11. Calculate pre-capture point-visual
- 10.12. Calculate retreat point-visual
- 10.13. code example
- 11. human control of machinery
- 11.1. Config force sensor
- 11.2. Get Force Sensor Configuration
- 11.3. Force sensor activation
- 11.4. Force Sensor Zeroing
- 11.5. Code example
- 11.6. Setting the force transducer reference coordinate system
- 11.7. Load weight identification records
- 11.8. Load weight identification calculation
- 11.9. Load center of mass identification records
- 11.10. Load center of mass identification calculation
- 11.11. Code example
- 11.12. Obtaining force/torque data in the reference coordinate system
- 11.13. Obtaining Force Sensor Raw Force/Torque Data
- 11.14. Collision Guard
- 11.15. Code example
- 11.16. Customized collision detection threshold function starts
- 11.17. Customized collision detection threshold function off
- 11.18. code example
- 11.19. constant force control
- 11.20. Code example
- 11.21. Soft control on
- 11.22. Soft Control Off
- 11.23. Code example
- 11.24. Load recognition initialization
- 11.25. Initialization of load recognition variables
- 11.26. Load Recognition Main Program
- 11.27. Getting Load Recognition Results
- 11.28. Get force sensor drag switch status
- 11.29. Force Sensor Assisted Drag
- 11.30. Code example
- 11.31. Setting up hybrid drag switches and parameters for six-dimensional force and joint impedance
- 11.32. Code example
- 11.33. Setting the load weight under the force transducer
- 11.34. Setting the load center of mass under the force transducer
- 11.35. Getting the load weight under the force transducer
- 11.36. Obtaining the center of mass of the load under the force transducer
- 11.37. Code example
- 11.38. Automatic zeroing of force sensors
- 11.39. Set robot collision detection method
- 12. conveyor belts
- 12.1. Drive belt start and stop
- 12.2. Record IO detection points
- 12.3. Record point A
- 12.4. Recording reference points
- 12.5. Record point B
- 12.6. Drive Belt Parameter Configuration
- 12.7. Setting the drive belt gripping point compensation
- 12.8. Conveyorized workpiece IO inspection
- 12.9. Get the current position of the object
- 12.10. Drive belt tracking started
- 12.11. Belt tracking stop
- 12.12. linear motion
- 12.13. Code example
- 12.14. Conveyor Communication Input Detection
- 12.15. Conveyor Communication Input Trigger
- 13. Robotic welding
- 13.1. Welding Start
- 13.2. End of welding
- 13.3. Setting of welding current and output analog correspondences
- 13.4. Setting the welding voltage and output analog correspondence
- 13.5. Acquiring the correspondence between welding current and output analog quantity
- 13.6. Getting welding voltage and output analog correspondence
- 13.7. Code example
- 13.8. Setting the welding current
- 13.9. Setting the welding voltage
- 13.10. Setting Oscillation Parameters
- 13.11. Instant setup of swing parameters
- 13.12. swing start
- 13.13. end of swing (math.)
- 13.14. Code example
- 13.15. swing fade start
- 13.16. Oscillating Fade End
- 13.17. Positive wire feed
- 13.18. Reverse wire feed
- 13.19. aspiration (phonetics, explosion of breath on consonants distinguishing Chinese p, t from b, d)
- 13.20. Code example
- 13.21. segment welding
- 13.22. Code example
- 13.23. Welding wire position finding start
- 13.24. End of wire position finding
- 13.25. Calculate the wire finding offset
- 13.26. Waiting for wire finding to complete
- 13.27. Welding wire seek contact points written to database
- 13.28. Code example
- 13.29. Arc tracking control
- 13.30. Simulated swing start
- 13.31. End of simulation swing
- 13.32. Start trajectory detection warning (no movement)
- 13.33. End trajectory detection warning (no movement)
- 13.34. Setting Welding Process Curve Parameters
- 13.35. Obtaining Welding Process Curve Parameters
- 13.36. Code example
- 13.37. Extended IO-Configuration Welder Gas Detection Signal
- 13.38. Extended IO-Configuration of welder arc start signal
- 13.39. Extended IO-Configuration of the welder’s reverse wire feed signal
- 13.40. Extended IO-Configuration of the welder’s forward wire feed signal
- 13.41. Extended IO-Configuration of the welder arc start success signal
- 13.42. Extended IO-Configuration Welder Ready Signal
- 13.43. Extended IO-Configuration Weld Interrupt Recovery Signal
- 13.44. Code example
- 13.45. Setting up the Weld Wire Seek Expansion IO Port
- 13.46. Set welder control mode to expand DO port
- 13.47. Setting the welder control mode
- 13.48. Code example
- 13.49. Setting parameters for detecting unexpected interruptions of robotic welding arcs
- 13.50. Get the parameters for detecting accidental interruptions of the robot’s welding arc
- 13.51. Set the robot welding interruption recovery parameter
- 13.52. Get the robot welding break recovery parameter
- 13.53. Setting up a robot to resume welding after an interruption
- 13.54. Sets the robot to exit welding after a weld break
- 13.55. Code example
- 13.56. Arc Tracking Welder Current Feedback AI Channel Selection
- 13.57. Arc tracking welder voltage feedback AI channel selection
- 13.58. Arc tracking welder current feedback conversion parameters
- 13.59. Arc Trace Welder Voltage Feedback Conversion Parameters
- 13.60. code example
- 13.61. Setting the welding voltage gradient to start
- 13.62. Set weld voltage gradual change start
- 13.63. Sets the weld current gradual change end
- 13.64. Set weld current gradual change end
- 13.65. code example
- 14. extended axis
- 14.1. Setting the 485 Extended Axis Parameters
- 14.2. Getting 485 Extended Axis Parameters
- 14.3. Setting the 485 expansion axis enable/disable
- 14.4. Setting the 485 Extended Axis Control Mode
- 14.5. Setting the 485 extended axis back to zero
- 14.6. Setting the 485 extended axis target position (position mode)
- 14.7. Setting the 485 extended axis target speed (velocity mode)
- 14.8. Code example
- 14.9. Setting the 485 extended axis target torque (torque mode)
- 14.10. Clearing 485 Expansion Axis Error Messages
- 14.11. Setting the 485 Extended Axis Data Axis Number in Status Feedback
- 14.12. Code example
- 14.13. Parameter configuration for UDP extended axis communication
- 14.14. Get UDP extended axis communication parameter configuration
- 14.15. Load UDP communication
- 14.16. Offloading UDP communication
- 14.17. Code example
- 14.18. UDP Extended Axis Communication Recovery after Abnormal Disconnection
- 14.19. UDP extension axis communication is closed after abnormal disconnection.
- 14.20. UDP Extended Axis Parameter Configuration
- 14.21. Getting Extended Axis Drive Configuration Information
- 14.22. Setting the Extension Shaft Mounting Position
- 14.23. Setting the extended axis system DH parameter configuration
- 14.24. Code example
- 14.25. Setting the reference point of the extended axis coordinate system
- 14.26. Calculating the Extended Axis Coordinate System - Four Point Method
- 14.27. Applying the Extended Axis Coordinate System
- 14.28. Setting of the calibration reference point in the position in the coordinate system of the end of the translator
- 14.29. Shifter coordinate system reference point setting
- 14.30. Shifter Coordinate System Calculation - Four Point Method
- 14.31. End Sensor Register Write
- 14.32. UDP Extended Axis Enable
- 14.33. UDP Extended Axis Zero Return
- 14.34. UDP Extended Axis Tap Start
- 14.35. UDP Extended Axis Tap Stop
- 14.36. Code example
- 14.37. Setting the Extended DO
- 14.38. Setting up Extended AO
- 14.39. Setting the Extended DI Input Filter Time
- 14.40. Setting the Extended AI Input Filter Time
- 14.41. Waiting for extended DI input
- 14.42. Waiting for extended AI input
- 14.43. Get Extended AI Value
- 14.44. UDP Extended Axis Motion
- 14.45. UDP extension axes synchronized with robot joint motion
- 14.46. UDP extension axes synchronized with robot linear motion
- 14.47. UDP extension axes synchronized with robot circular motion
- 14.48. Code example
- 14.49. Removable Device Enable
- 14.50. Zeroing of removable devices
- 14.51. Movable unit linear motion
- 14.52. Movable unit circular motion
- 14.53. Stopping motion of movable devices
- 14.54. Code example
- 14.55. Get Extended Axis Coordinate System
- 15. Other interfaces
- 15.1. Download Point Table Database
- 15.2. Upload point table database
- 15.3. Toggle point table and apply
- 15.4. Point table update lua file
- 15.5. Code example
- 15.6. Initialize Logging Parameters
- 15.7. Setting the log filter level
- 15.8. Code example
- 15.9. Setting up robot peripheral protocols
- 15.10. Obtaining robot peripheral protocols
- 15.11. Code example
- 15.12. End Sensor Configuration
- 15.13. Get End Sensor Configuration
- 15.14. End sensor activation
- 15.15. End Sensor Register Write
- 15.16. Code example
- 15.17. Controller log download
- 15.18. All Data Source Download
- 15.19. Data Package Download
- 15.20. Code Example
- 15.21. Issue SCP commands
- 15.22. code example
- 15.23. Set wide voltage control box temperature and fan speed monitoring parameters
- 15.24. Retrieve wide voltage control box temperature and fan speed monitoring parameters
- 16. Appendix
- 1. Data Structure Description
- Python
- 1. Robotics Basics
- 1.1. Instantiated Robot
- 1.2. Close the RPC connection
- 1.3. Query SDK version number
- 1.4. Get controller IP
- 1.5. Control of robot hand-automatic mode switching
- 1.6. Robot Drag Mode
- 1.7. Control robot up-enable or down-enable
- 1.8. Joint Torque Power Detection
- 1.9. Setting the Robot 20004 Port Feedback Cycle
- 1.10. Get robot 20004 port feedback cycle
- 1.11. Robot software upgrade
- 1.12. Get robot software upgrade status
- 1.13. Get robot state
- 1.14. Obtain the SN code of the control box
- 1.15. Shut down the robot operating system
- 1.16. Obtain the status of the SmartTool button
- 2. Movement
- 2.1. robot spotting
- 2.2. Joint space motion
- 2.3. Cartesian linear motion in space
- 2.4. Circular motion in Cartesian space
- 2.5. Whole circle motion in Cartesian space
- 2.6. Spiral motion in Cartesian space
- 2.7. Start of servo motion
- 2.8. End of servo motion
- 2.9. Joint space servo mode motion
- 2.10. Servo-mode motion in Cartesian space
- 2.11. Point-to-point motion in Cartesian space
- 2.12. Robot spline motion
- 2.13. Robotics new spline motion
- 2.14. Robot termination motion
- 2.15. Robot pause
- 2.16. Robot resume motion
- 2.17. Robot points are shifted overall
- 2.18. Control box motion AO start
- 2.19. End of control box movement AO
- 2.20. End Motion AO Start
- 2.21. End movement AO end
- 2.22. Start Ptp motion FIR filtering
- 2.23. Disable Ptp motion FIR filtering
- 2.24. LIN, ARC motion FIR filtering is started
- 2.25. Turn off LIN and ARC motion FIR filtering
- 2.26. Stop Motion
- 2.27. Acceleration Smooth Start
- 2.28. Acceleration Smooth End
- 3. IO
- 3.1. Setting the control box digital output
- 3.2. Setting Tool Digital Outputs
- 3.3. Setting the control box analog output
- 3.4. Setting Tool Analog Outputs
- 3.5. Getting control box digital inputs
- 3.6. Get Tool Digital Inputs
- 3.7. Waiting for control box digital inputs
- 3.8. Waiting for control box with multiple digital inputs
- 3.9. Waiting for tool digital inputs
- 3.10. Getting Control Box Analog Inputs
- 3.11. Get Tool Analog Inputs
- 3.12. Waiting for control box analog inputs
- 3.13. Waiting for tool analog inputs
- 3.14. Setting whether the output is reset after the control box DO stop/pause
- 3.15. Setting whether the output is reset after the control box AO stop/pause
- 3.16. Sets whether the output is reset after the end tool DO stops/pause.
- 3.17. Set whether the output is reset after the end tool AO stops/pauses
- 3.18. Sets whether the outputs are reset after an extended DO stop/pause.
- 3.19. Sets whether the output is reset after the expansion AO stops/pause.
- 4. Common Robot Settings
- 4.1. Setting the global speed
- 4.2. Setting system variable values
- 4.3. Setting Tool Reference Points - Six-Point Method
- 4.4. Calculation tool coordinate system - six-point method
- 4.5. Setting Tool Reference Points - Four Point Method
- 4.6. Calculation Tool Coordinate System - Four Point Method
- 4.7. Setting the tool coordinate system
- 4.8. Setting the tool coordinate system list
- 4.9. Setting External Tool Reference Points-Three-Point Method
- 4.10. Calculation of the external tool coordinate system - three-point method
- 4.11. Setting the external tool coordinate system
- 4.12. Setting up a list of external tool coordinate systems
- 4.13. Setting the workpiece reference point - three-point method
- 4.14. Calculation of the workpiece coordinate system - three-point method
- 4.15. Setting the workpiece coordinate system
- 4.16. Setting the list of workpiece coordinate systems
- 4.17. Setting the end load weight
- 4.18. Setting the robot mounting method - fixed mounting
- 4.19. Setting the robot mounting angle - free mounting
- 4.20. Setting the end load center of mass coordinates
- 4.21. Waiting for a specified time
- 4.22. Setting robot acceleration
- 4.23. Setting the machine’s specified attitude speed on
- 4.24. Specify Attitude Velocity Off
- 4.25. Tool coordinate system transition begins
- 4.26. Tool coordinate system conversion is complete
- 4.27. Calculate the tool coordinate system based on the point information
- 4.28. Calculate the workpiece coordinate system based on the point information
- 5. Security Settings
- 5.1. Setting the collision level
- 5.2. Setting the post-collision strategy
- 5.3. Setting the positive limit
- 5.4. Setting the negative limit
- 5.5. error state clearing
- 5.6. Joint Friction Compensation Switch
- 5.7. Setting the joint friction compensation coefficients - positive loading
- 5.8. Setting the joint friction compensation coefficient - side mounting
- 5.9. Setting the Joint Friction Compensation Factor - Inverted
- 5.10. Setting the joint friction compensation factor - free mounting
- 5.11. Download Point Table Database
- 5.12. Upload point table database
- 5.13. Point table switching
- 5.14. Point table update lua file
- 5.15. Setting up a robot collision detection method
- 5.16. Set static undercollision detection to start off
- 5.17. Set collision detection start off
- 5.18. Odd-position protection on.
- 5.19. Odd position protection off
- 5.20. The Custom collision detection threshold function starts to set the collision detection thresholds of the joint end and TCP end
- 5.21. The custom collision detection threshold function is disabled
- 6. Status query
- 6.1. Getting the robot mounting angle
- 6.2. Getting system variable values
- 6.3. Get the current joint position (angle).
- 6.4. Get the current joint position in radians.
- 6.5. Get joint feedback speed -deg/s
- 6.6. Get TCP command synthesis speed
- 6.7. Getting TCP Feedback Hopping Speed
- 6.8. Get TCP command speed
- 6.9. Getting TCP feedback speed
- 6.10. Get current tool position
- 6.11. Get the current tool coordinate system number
- 6.12. Get the current workpiece coordinate system number
- 6.13. Get the current end flange position
- 6.14. Inverse kinematics solution
- 6.15. Inverse Kinematics Solution - Specifying Reference Positions
- 6.16. Inverse kinematics solving-whether there is a solution
- 6.17. Positive kinematics solving
- 6.18. Get current joint torque
- 6.19. Get the weight of the current load
- 6.20. Get the center of mass of the current load
- 6.21. Get the current tool coordinate system
- 6.22. Get the current workpiece coordinate system
- 6.23. Obtaining the soft limiting angle of a joint
- 6.24. Get system time
- 6.25. Get the current joint configuration of the robot
- 6.26. Getting the default speed
- 6.27. Queries whether robot motion is complete
- 6.28. Query Robot Error Code
- 6.29. Query Robot Teaching Management Points Data
- 6.30. Get SSH public key
- 6.31. Calculate the MD5 value of a file in a specified path
- 6.32. Getting robot version information
- 6.33. Getting robot hardware version information
- 6.34. Getting robot firmware version information
- 6.35. Get DH compensation parameters
- 6.36. Getting the current torque of a joint actuator
- 6.37. Get the current temperature of the joint drive
- 7. Trajectory recurrence
- 7.1. Setting Track Recording Parameters
- 7.2. Start Track Recording
- 7.3. Stop Track Recording
- 7.4. Deleting track records
- 7.5. Trajectory preloading
- 7.6. Get the starting position of the trajectory
- 7.7. Trajectory Reproduction
- 7.8. Trajectory preprocessing
- 7.9. Trajectory Reproduction
- 7.10. Getting the starting position of the trajectory
- 7.11. Get track point number
- 7.12. Setting the speed of the trajectory in operation
- 7.13. Setting the force and torque during trajectory operation
- 7.14. Setting the force along the x-direction in the trajectory run
- 7.15. Setting the force along the y-direction in the trajectory run
- 7.16. Setting the force along the z-direction in a trajectory run
- 7.17. Setting the torque around the x-axis in a trajectory run
- 7.18. Setting the torque around the y-axis in trajectory operation
- 7.19. Setting the torque around the z-axis in trajectory operation
- 7.20. Upload trace J file
- 7.21. Delete the track J file
- 7.22. Trajectory preprocessing(Trajectory foresight)
- 7.23. Trajectory reproduction(Trajectory foresight)
- 8. WebAPP program use
- 8.1. Setting the default job program to load automatically on boot
- 8.2. Load the specified job program
- 8.3. Get the line number of the current robot job program
- 8.4. Run the currently loaded job program
- 8.5. Suspend the currently running job program
- 8.6. Resuming a currently suspended program
- 8.7. Terminate the currently running job program
- 8.8. Obtaining robot job program execution status
- 8.9. Get the name of the loaded job program
- 8.10. Download Lua files
- 8.11. Uploading Lua files
- 8.12. Deleting Lua files
- 8.13. Get the names of all current lua files
- 9. Peripherals
- 9.1. Get Jaw Configuration
- 9.2. Activate jaws
- 9.3. Control jaws
- 9.4. Getting the jaw movement status
- 9.5. Configuration of jaws
- 9.6. Calculate pre-capture point-visual
- 9.7. Calculate retreat point-visual
- 9.8. Setting to enable the jaw movement control function
- 9.9. Getting to Enable Jaw Motion Control
- 9.10. Get the number of rotation turns of the rotary gripper
- 9.11. Gets the percentage of rotation speed of the rotating gripper
- 9.12. Obtains the percentage of rotating torque of the rotating gripper
- 9.13. Obtain the activated status of the gripper
- 9.14. Obtain the position of the gripper
- 9.15. Obtain the gripper current
- 9.16. Obtain the gripper voltage
- 9.17. Obtain the temperature of the gripper
- 9.18. Obtain the gripper speed
- 10. Force Control
- 10.1. Get Force Sensor Configuration
- 10.2. Force Sensor Configuration
- 10.3. Force sensor activation
- 10.4. Force Sensor Zeroing
- 10.5. Setting the force transducer reference coordinate system
- 10.6. Load weight identification calculation
- 10.7. Load weight identification records
- 10.8. Load center of mass identification calculation
- 10.9. Load center of mass identification records
- 10.10. Obtaining force/torque data in the reference coordinate system
- 10.11. Obtaining Force Sensor Raw Force/Torque Data
- 10.12. Collision Guard
- 10.13. constant force control
- 10.14. Helix Exploration
- 10.15. Rotary insertion
- 10.16. Linear insertion
- 10.17. Calculation of the center plane position begins
- 10.18. Calculate end of mid-plane position
- 10.19. Surface positioning
- 10.20. Soft control off
- 10.21. Soft control on
- 10.22. Load recognition filter initialization
- 10.23. Initialization of load recognition variables
- 10.24. Load Recognition Main Program
- 10.25. Getting Load Recognition Results
- 10.26. Force Sensor Assisted Drag
- 10.27. The force sensor turns on automatically after the error is cleared.
- 10.28. Setting up hybrid drag switches and parameters for six-dimensional force and joint impedance
- 10.29. Get force sensor drag switch status
- 10.30. Setting the load weight under the force transducer
- 10.31. Setting the load center of mass under the force transducer
- 10.32. Getting the load weight under the force transducer
- 10.33. Obtaining the center of mass of the load under the force transducer
- 10.34. Automatic zeroing of force sensors
- 10.35. Sensor auto-zero data logging
- 10.36. Automatic sensor zeroing calculation
- 11. Conveyor
- 11.1. Drive belt start and stop
- 11.2. Record IO detection points
- 11.3. Record point A
- 11.4. Recording reference points
- 11.5. Record point B
- 11.6. Conveyor Parameter Configuration
- 11.7. Belt Grip Point Compensation
- 11.8. Conveyorized workpiece IO inspection
- 11.9. Get the current position of the object
- 11.10. Drive belt tracking started
- 11.11. Belt tracking stop
- 11.12. linear motion
- 11.13. Conveyor Communication Input Detection
- 11.14. Conveyor Communication Input Detection Trigger
- 12. Weld
- 12.1. Welding Start
- 12.2. End of welding
- 12.3. Setting of welding current and output analog correspondences
- 12.4. Setting the welding voltage and output analog correspondence
- 12.5. Acquiring the correspondence between welding current and output analog quantity
- 12.6. Getting welding voltage and output analog correspondence
- 12.7. Setting the welding current
- 12.8. Setting the welding voltage
- 12.9. Setting Oscillation Parameters
- 12.10. Instant setup of swing parameters
- 12.11. swing start
- 12.12. end of swing (math.)
- 12.13. Positive wire feed
- 12.14. Reverse wire feed
- 12.15. aspiration (phonetics, explosion of breath on consonants distinguishing Chinese p, t from b, d)
- 12.16. Segment welding for position and attitude acquisition
- 12.17. Segmented welding startup
- 12.18. Segmented welding termination
- 12.19. Welding wire position finding start
- 12.20. End of wire position finding
- 12.21. Calculate the wire finding offset
- 12.22. Waiting for wire seek to complete
- 12.23. Wire seek contact points written to database
- 12.24. Arc tracking control
- 12.25. Arc tracking AI passband selection
- 12.26. Simulated swing start
- 12.27. End of simulation swing
- 12.28. Start trajectory detection warning (no movement)
- 12.29. End trajectory detection warning (no movement)
- 12.30. Setting Welding Process Curve Parameters
- 12.31. Obtaining Welding Process Curve Parameters
- 12.32. Extended IO-Configuration Welder Gas Detection Signal
- 12.33. Extended IO-Configuration of welder arc start signal
- 12.34. Extended IO-Configuration of the welder’s reverse wire feed signal
- 12.35. Extended IO-Configuration of the welder’s forward wire feed signal
- 12.36. Extended IO-Configuration of the welder’s arc start success signal
- 12.37. Extended IO-Configuration Welder Ready Signal
- 12.38. Extended IO-Configuration Weld Interrupt Recovery Signal
- 12.39. Setting Up the Weld Wire Seek Expansion IO Port
- 12.40. Welder control mode switching
- 12.41. Arc tracking + multi-layer multi-channel compensation on
- 12.42. Arc Tracking + Multi-Layer Multi-Channel Compensation Off
- 12.43. Offset Coordinate Change - Multi-layer Multi-pass Welding
- 12.44. Set the detection parameters of robot welding arc unexpected interruption
- 12.45. The detection parameters of unexpected interruption of robot welding arc were obtained
- 12.46. Set the robot welding interrupt recovery parameters
- 12.47. Obtain the robot welding interrupt recovery parameters
- 12.48. Set the robot to resume welding after welding interruption
- 12.49. Set the robot to exit welding after welding interruption
- 12.50. Wobble start
- 12.51. Wobble end
- 12.52. Selection of AI channels for current feedback in arc tracking welding machines
- 12.53. Selection of AI channel for voltage feedback of arc tracking welding machine
- 12.54. Current feedback conversion parameters of arc tracking welding machine
- 12.55. Voltage feedback conversion parameters of arc tracking welding machine
- 12.56. Set the welding voltage to start gradually
- 12.57. Set the welding voltage gradient to end
- 12.58. Set the welding current to start gradually
- 12.59. Set the welding current to gradually end
- 13. Extended Axis
- 13.1. Setting the 485 Extended Axis Parameters
- 13.2. Getting 485 Expansion Axis Configuration Parameters
- 13.3. Setting the 485 expansion axis enable/disable
- 13.4. Setting the 485 Extended Axis Control Mode
- 13.5. Setting the 485 extended axis target position (position mode)
- 13.6. Setting the 485 extended axis target speed (velocity mode)
- 13.7. Setting the 485 extended axis target torque (torque mode)-not yet available
- 13.8. Setting the 485 extended axis back to zero
- 13.9. Clearing 485 Expansion Axis Error Messages
- 13.10. Get 485 extended axis servo status
- 13.11. Setting the 485 extended axis data axis number in the status feedback - not open yet
- 13.12. Setting the 485 Extended Axis Motion Acceleration and Deceleration Speed
- 13.13. Setting the 485 extended axis emergency stop acceleration and deceleration speeds
- 13.14. Get 485 extended axis emergency stop acceleration and deceleration speeds
- 13.15. Get 485 Extended Axis Motion Acceleration and Deceleration
- 13.16. Parameter configuration for UDP extended axis communication
- 13.17. Get UDP extended axis communication parameters
- 13.18. Load UDP communication
- 13.19. Offloading UDP communication
- 13.20. UDP Extended Axis Communication Recovery after Abnormal Disconnection
- 13.21. UDP extension axis communication is closed after abnormal disconnection.
- 13.22. Setting the extended robot position relative to the extended axis
- 13.23. Setting the extended axis system DH parameter configuration
- 13.24. UDP Extended Axis Parameter Configuration
- 13.25. Setting the reference point of the extended axis coordinate system - four-point method
- 13.26. Calculating the Extended Axis Coordinate System - Four Point Method
- 13.27. Applying the Extended Axis Coordinate System
- 13.28. Setting of the calibration reference point in the position in the coordinate system of the end of the translator
- 13.29. Reference Point Setting for the Shifter Coordinate System - Four-Point Method
- 13.30. Shifter Coordinate System Calculation - Four Point Method
- 13.31. End Sensor Register Write
- 13.32. UDP Extended Axis Enable
- 13.33. UDP Extended Axis Zero Return
- 13.34. UDP Extended Axis Tap Start
- 13.35. UDP Extended Axis Tap Stop
- 13.36. Setting the Extended DO
- 13.37. Setting up Extended AO
- 13.38. Setting the Extended DI Input Filter Time
- 13.39. Setting the Extended AI Input Filter Time
- 13.40. Waiting for extended DI input
- 13.41. Waiting for extended AI input
- 13.42. Get Extended DI Value
- 13.43. Get Extended AI Value
- 13.44. UDP Extended Axis Motion
- 13.45. UDP extension axes synchronized with robot joint motion
- 13.46. UDP extension axes synchronized with robot linear motion
- 13.47. UDP extension axes synchronized with robot circular motion
- 13.48. Removable unit control
- 13.49. Obtain the extended axis coordinate system
- 14. Others
- 14.1. Download Point Table Database
- 14.2. Upload point table database
- 14.3. Point table switching
- 14.4. Point table update lua file
- 14.5. Initialize Logging Parameters
- 14.6. Setting the log filter level
- 14.7. Setting up robot peripheral protocols
- 14.8. Obtaining Robot Peripheral Protocols
- 14.9. End Sensor Configuration
- 14.10. Get End Sensor Configuration
- 14.11. End sensor activation
- 14.12. End Sensor Register Write
- 14.13. Sets whether the output is reset after the SmartTool is stopped/paused.
- 14.14. Getting end communication parameters
- 14.15. Setting the end communication parameters
- 14.16. Setting the end file transfer type
- 14.17. Setting Enable End LUA Execution
- 14.18. End LUA file exception error recovery
- 14.19. Get end LUA execution enable status
- 14.20. Setting the end LUA end device enable type
- 14.21. Get End LUA End Device Enablement Type
- 14.22. Get the currently configured end device
- 14.23. Controller Log Download
- 14.24. All Data Source Download
- 14.25. Data Backup Package Download
- 14.26. Issue the SCP command
- 14.27. Set the monitoring parameters for the temperature and fan speed of the wide-voltage control box
- 14.28. Obtain the monitoring parameters of the temperature and fan speed of the wide-voltage control box
- 15. Status feedback information
- 16. Appendix
- 1. Robotics Basics
- Error Code Comparison Table