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User manual

• 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
      • 1.6. Control Box Button Battery
        • 1.6.1. Common Causes of Time Loss
        • 1.6.2. Time Anomaly Identification and Manual Calibration
        • 1.6.3. Button Battery Charging and Maintenance Precautions
        • 1.6.4. Battery Replacement and Disposal
        • 1.6.5. Technical Support
    • 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
        • 3.3.3. 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
          • 3.3.3.3. Digital Output Description of Control Box
          • 3.3.3.4. Inspection maintenance 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/FR3-WMS/FR3-WML/FR3-C/FR5-C 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&FR30L 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
      • 3.5. 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
          • 3.5.12.2. FR3MT&3C Base and Module Interface Definitions
          • 3.5.12.3. FR3MT&3C Application Scenarios
          • 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 teaching pendant
      • 4.4. Teaching pendant 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
          • 5.3.4.11. Board I/O
    • 6. Base
      • 6.1. Installation
        • 6.1.1. Robot installation method setting and display
      • 6.2. Coordinate
        • 6.2.1. TCP
        • 6.2.2. Ext. TCP
        • 6.2.3. Workpiece
      • 6.3. Payload
        • 6.3.1. End payload
      • 6.4. Joint
        • 6.4.1. Soft limit
          • 6.4.1.1. Joint Soft Limit Protection
        • 6.4.2. Collision level
          • 6.4.2.1. Post-collision response strategy function
          • 6.4.2.2. Collision strategy
          • 6.4.2.3. Static collision detection
          • 6.4.2.4. Torque Detection Function Before Dragging
          • 6.4.2.5. False Alarm Detection Function
        • 6.4.3. Friction compensation
        • 6.4.4. Friction Compensation Coefficient Adjustment Function
          • 6.4.4.1. Overview
          • 6.4.4.2. Friction Compensation Coefficient Adjustment
        • 6.4.5. Dragging Force Compensation
          • 6.4.5.1. Overview
          • 6.4.5.2. Robot Dragging Force Optimization
      • 6.5. I/O setup
        • 6.5.1. Pausing LUA Program
        • 6.5.2. I/O configuration
          • 6.5.2.1. DI Configuration
          • 6.5.2.2. DO configuration
        • 6.5.3. Control box DO high and low effective configurable function
          • 6.5.3.1. Overview
          • 6.5.3.2. Operation steps
        • 6.5.4. Alias
        • 6.5.5. Filter
        • 6.5.6. Output reset
        • 6.5.7. Pause/Resume DO Reset State Configurable Function
          • 6.5.7.1. Overview
          • 6.5.7.2. Operation Process
      • 6.6. Joint origin
      • 6.7. Photoelectric Sensor TCP Auto-Calibration Function
        • 6.7.1. Overview
        • 6.7.2. Operation Procedure
      • 6.8. TCP Calibration based on flatbed
        • 6.8.1. Overview
        • 6.8.2. 2The operation flow of TCP calibration function based on flatbed
      • 6.9. Control Box Analog Feedback Arc Tracking Function
        • 6.9.1. Overview
        • 6.9.2. Control Box Analog AI Configuration Process
        • 6.9.3. Control Box Analog AO Configuration Process
      • 6.10. Linear Rack Guideway Collision Detection
        • 6.10.1. Overview
        • 6.10.2. Linear Rack Guideway Collision Detection Function
          • 6.10.2.1. Linear Rack Guideway Parameter Setting and Enabling
          • 6.10.2.2. Enabling Linear Rack Guideway Collision Detection Function
      • 6.11. Force Sensor Loaded Zeroing and Open Posture Compliance Admittance Parameters
        • 6.11.1. Overview
        • 6.11.2. Force Sensor Loaded Zeroing
        • 6.11.3. Open Posture Compliance Admittance Parameters
    • 7. Safety
      • 7.1. Stop mode
        • 7.1.1. Configurable Dual-Channel Safety Stop + Reduced Mode
          • 7.1.1.1. Overview
          • 7.1.1.2. Operation Procedure
        • 7.1.2. Safety Speed Movement
        • 7.1.3. Safety Stop in Auto Mode Only
      • 7.2. Safe speed
        • 7.2.1. Safety Speed Function
          • 7.2.1.1. Overview
          • 7.2.1.2. Operation Procedure
      • 7.3. I/O safety
      • 7.4. Emergency stop
        • 7.4.1. Safety Stop Recovery Optional Auto Enable Function
          • 7.4.1.1. Overview
          • 7.4.1.2. Operation Process
      • 7.5. Protective stop
      • 7.6. Interference zone configuration
        • 7.6.1. Safety Callback Function for Force Sensor-Assisted Dragging into Shaft interference Zone
          • 7.6.1.1. Overview
          • 7.6.1.2. Operation Procedure
          • 7.6.1.3. Entering Shaft interference Zone with Force Sensor Assistance
          • 7.6.1.4. Cuboid Interference Configuration
          • 7.6.1.5. Safety plane
        • 7.6.2. Cube Interference Function
          • 7.6.2.1. Overview
          • 7.6.2.2. Operation Procedure
      • 7.7. Reduction Mode
      • 7.8. Safety plane
      • 7.9. Daemon
      • 7.10. Direction limit (Only used in Linux systems)
      • 7.11. Robot limit (Only used in Linux systems)
      • 7.12. Power detection (Only used in QX systems)
      • 7.13. Motion Configuration
        • 7.13.1. T-Shaped Velocity Optimization + Blending Smoothing Function
          • 7.13.1.1. Overview
          • 7.13.1.2. Operation Process
        • 7.13.2. FIR Adaptive Parameter Function + FIR Pause/Resume Function
          • 7.13.2.1. Overview
          • 7.13.2.2. Operation Process
    • 8. Peripherals
      • 8.1. End-Effector Lua Custom Open Protocol
        • 8.1.1. Overview
        • 8.1.2. Operation Steps
      • 8.2. Gripper
        • 8.2.1. Pre-Adapted Devices
          • 8.2.1.1. Gripper Program Teaching
        • 8.2.2. Gripper Lua End-Effector Protocol Configuration
          • 8.2.2.1. Example of a Gripper Peripheral’s Lua End-Effector Peripheral Protocol
          • 8.2.2.2. Device Enable
          • 8.2.2.3. Multiple Grippers
          • 8.2.2.4. Rotary Gripper
      • 8.3. Force Sensor
        • 8.3.1. Pre-Adapted Devices
        • 8.3.2. Force Sensor End-Effector Lua Protocol
        • 8.3.3. Welding Handle End Lua Protocol
          • 8.3.3.1. Automatic Generation of End Lua Protocol
          • 8.3.3.2. SmartTool Program Generation Template Import
          • 8.3.3.3. SmartTool Motion Instruction Point Configuration
          • 8.3.3.4. SmartTool Anti-Mistouch Mode
          • 8.3.3.5. Example of Lua End Peripheral Protocol for Welding Handle
        • 8.3.4. Sensor Load Identification
        • 8.3.5. Force Sensor Assisted Dragging
        • 8.3.6. Force/Torque Sensor Collision Detection
        • 8.3.7. Force/Torque Sensor Force Control Motion
        • 8.3.8. Force/Torque Sensor Spiral Insertion
        • 8.3.9. Force/Torque Sensor Rotation Insertion
        • 8.3.10. Force/Torque Sensor Linear Insertion
        • 8.3.11. Force/Torque Sensor Surface Finding
        • 8.3.12. Force/Torque Sensor Center Finding
        • 8.3.13. Custom Open Protocol
      • 8.4. Welding Pendant
        • 8.4.1. Adapted Devices
          • 8.4.1.1. Configuration Steps
        • 8.4.2. Welding Handle End-Effector Lua Protocol
          • 8.4.2.1. Protocol Management
          • 8.4.2.2. Example of Combined Device Lua End-Effector Peripheral Protocol
          • 8.4.2.3. Open Protocol Template
          • 8.4.2.4. Instructions Supported by Open Protocol
          • 8.4.2.5. Configurable Parameters in Open Protocol
      • 8.5. Spray Gun
        • 8.5.1. Spray Gun Peripheral Configuration Steps
        • 8.5.2. Spraying Program Teaching
      • 8.6. Welding Machine
        • 8.6.1. Welding Torch Installation
        • 8.6.2. Welding Machine Parameter Configuration
          • 8.6.2.1. “Controller IO” Welding Control Configuration
          • 8.6.2.2. “Digital Communication Protocol (UDP)” Welding Control Configuration
        • 8.6.3. Welding Program Writing
          • 8.6.3.1. Writing Programs Using Welding Process Curves
          • 8.6.3.2. Writing Programs Without Using Welding Process Curves
        • 8.6.4. Welding Interruption and Recovery
          • 8.6.4.1. Welding Interruption Recovery Parameter Configuration
          • 8.6.4.2. Welding Interruption Recovery Application
        • 8.6.5. Attachment 1: Robot UDP Communication Protocol
          • 8.6.5.1. Robot Controller -> PLC
          • 8.6.5.2. PLC -> Robot Controller
        • 8.6.6. Digital Communication Protocol (Modbus TCP)
          • 8.6.6.1. Protocol Configuration
          • 8.6.6.2. Welder Open Protocol
      • 8.7. Extended Axis Configuration
        • 8.7.1. Extended Axis Coordinate System
        • 8.7.2. Controller + PLC (UDP Communication)
          • 8.7.2.1. UDP Communication Configuration
          • 8.7.2.2. UDP Extended Axis
          • 8.7.2.3. Extended Axes with Laser Tracking Welding Teaching Program
          • 8.7.2.4. Positioning Completion Time
        • 8.7.3. Two-DOF Trolley Test
        • 8.7.4. Controller + Servo Drive (485 Communication)
          • 8.7.4.1. Hardware Wiring
          • 8.7.4.2. Communication Configuration
          • 8.7.4.3. Configured Servo Drives
          • 8.7.4.4. Advanced Settings
          • 8.7.4.5. Extended Axis Programming
          • 8.7.4.6. Summary
      • 8.8. Line Laser Sensor
        • 8.8.1. Hardware Connection
        • 8.8.2. Sensor Configuration
        • 8.8.3. Sensor Calibration
        • 8.8.4. Laser Sensor Application
          • 8.8.4.1. Laser Sensor Teaching Points
          • 8.8.4.2. Laser Seam Finding + Tracking
          • 8.8.4.3. Laser Trajectory Recording + Trajectory Replay
        • 8.8.5. Laser Sensor Adaptation Controller Peripheral Open Protocol
      • 8.9. Polishing
        • 8.9.1. Adapted Devices
        • 8.9.2. Peripheral Open Protocol
      • 8.10. Auxiliary Sensors
        • 8.10.1. Adapted Devices
      • 8.11. Combined Devices (SmartTool + Force Sensor Combination)
        • 8.11.1. Adapted Devices
          • 8.11.1.1. FR
        • 8.11.2. Combined Device End-Effector Lua Protocol
      • 8.12. Array Suction Cups
        • 8.12.1. Overview
          • 8.12.1.1. Hardware Description
        • 8.12.2. Function Configuration
          • 8.12.2.1. Unicast Mode Configuration
          • 8.12.2.2. Unicast Mode Protocol Download
          • 8.12.2.3. Broadcast Mode
        • 8.12.3. Array Suction Cup LUA Program Application
          • 8.12.3.1. Suction Cup Control Instruction Addition
          • 8.12.3.2. Adding Suction Cup Status Acquisition Command
          • 8.12.3.3. Adding Wait for Suction Cup Adsorption Status Command
          • 8.12.3.4. Application Example
      • 8.13. CNC Function Package Based on FOCAS (For Linux Systems Only)
        • 8.13.1. Overview
        • 8.13.2. Related Operation Instructions
          • 8.13.2.1. Establishing FOCAS Communication
          • 8.13.2.2. CNC Status Feedback Description
          • 8.13.2.3. CNC Control Description
          • 8.13.2.4. CNC Teach Program Description
      • 8.14. Virtual Wall Configuration Based on Force Sensor
        • 8.14.1. Force Sensor Installation and Configuration
        • 8.14.2. Virtual Wall Configuration
        • 8.14.3. Force Sensor Assisted Dragging
        • 8.14.4. Six-Axis Force and Joint Impedance Hybrid Dragging Function
          • 8.14.4.1. Overview
          • 8.14.4.2. Force Sensor Installation Configuration and Zeroing Operation
          • 8.14.4.3. Six-Axis Force and Joint Impedance Hybrid Dragging
      • 8.15. Extended Axis with Laser Point Tracking Function
        • 8.15.1. Robot Extended Axis with Laser Point Tracking System Composition
        • 8.15.2. Extended Axis Communication Configuration
        • 8.15.3. Weld Seam Tracking Laser Sensor Connection Configuration
        • 8.15.4. Welder Connection Configuration
        • 8.15.5. Tool Coordinate System and Laser Sensor Coordinate System Calibration
        • 8.15.6. Extended Axis and Laser Point Tracking Function
          • 8.15.6.1. Extended Axis Coordinate System Calibration
          • 8.15.6.2. Synchronized Laser Tracking of Extended Axis and Robot
      • 8.16. Laser Seam Finding Point Position Acquisition Function
        • 8.16.1. Robot Laser Seam Finding Point Position Acquisition System Composition
        • 8.16.2. Laser Sensor Communication Configuration
        • 8.16.3. Laser Seam Finding Point Position Acquisition Function
      • 8.17. DARU DFC Force Control Polishing Head Application
        • 8.17.1. Overview
          • 8.17.1.1. Hardware Description
        • 8.17.2. Function Configuration
          • 8.17.2.1. Pre-adapted Device Configuration
          • 8.17.2.2. Peripheral Open Protocol Download
        • 8.17.3. DFC Polishing Head LUA Program Application
          • 8.17.3.1. Polishing Head Control Instruction Addition
          • 8.17.3.2. Polishing Head Status Acquisition Instruction Addition
          • 8.17.3.3. Application Example
      • 8.18. End-Effector Transparent Transmission Function
        • 8.18.1. Overview
        • 8.18.2. Instructions for Use
        • 8.18.3. End-Effector Transparent Transmission Function Lua Script
          • 8.18.3.1. Overview
          • 8.18.3.2. End-Effector Lua Script Writing Instructions
    • 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
          • 9.5.1.1. Point-to-Point Relative Motion
        • 9.5.2. Lin command
          • 9.5.2.1. Linear Relative Motion
          • 9.5.2.2. LIN command joint overspeed processing function
          • 9.5.2.3. 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
          • 9.5.6.1. Uniform Speed Per Helix Circle Setting Function
        • 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
          • 9.5.11.1. Robot Trajectory Teaching and Replay TPD Function
        • 9.5.12. Offset command
        • 9.5.13. Servo Command
          • 9.5.13.1. Servo Motion in Cartesian Space
          • 9.5.13.2. Servo Motion in Joint Space
          • 9.5.13.3. Extended Axis Debugging Instructions
        • 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
          • 9.8.3.1. Laser Sensor Fixed-Point Tracking Function
        • 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
          • 9.9.1.1. Force Control Rotation Insertion Optimization Function
        • 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
          • 9.26.2.2. TCP detection threshold function setting instructions
          • 9.26.2.3. Joint and TCP detection threshold function setting instructions
          • 9.26.2.4. Recommended settings for detection thresholds
      • 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
          • 9.27.2.2. PTP-LIN Blending
          • 9.27.2.3. PTP-ARC Blending
          • 9.27.2.4. PTP-CIRCLE Blending
          • 9.27.2.5. LIN-PTP Blending
          • 9.27.2.6. LIN-LIN Blending
          • 9.27.2.7. LIN-ARC Blending
          • 9.27.2.8. LIN-CIRCLE Blending
          • 9.27.2.9. ARC-PTP Blending
          • 9.27.2.10. ARC-LIN Blending
          • 9.27.2.11. ARC-ARC Blending
          • 9.27.2.12. ARC-CIRCLE Blending
          • 9.27.2.13. CIRCLE-PTP Blending
          • 9.27.2.14. CIRCLE-LIN Blending
          • 9.27.2.15. CIRCLE-ARC Blending
          • 9.27.2.16. CIRCLE-CIRCLE Blending
          • 9.27.2.17. Blending for Extended Axis Asynchronous Motion
          • 9.27.2.18. Blending for Extended Axis Synchronous Motion
      • 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
        • 9.29.4. Swing Dwell Time Gradient Function
          • 9.29.4.1. Overview
          • 9.29.4.2. Operation Procedure
        • 9.29.5. Fixed-Point Swing Function
          • 9.29.5.1. Overview
          • 9.29.5.2. Operation Procedure
        • 9.29.6. Laser Fixed-Point Swing Function
          • 9.29.6.1. Overview
          • 9.29.6.2. Laser + Fixed-Point Swing Function Operation Procedure
          • 9.29.6.3. Laser + Extension Axis + Fixed-Point Swing Function Operation Procedure
      • 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
          • 9.30.2.4. Writing a ModbusRTU Master Program
        • 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
          • 9.30.3.3. Writing a ModbusRTU Slave Program
          • 9.30.3.4. Robot Status Feedback and Control via ModbusRTU Slave
      • 9.31. Protection Based on 6-Axis Force Sensor Posture Compliance Function
        • 9.31.1. Overview
        • 9.31.2. Operation Procedure
      • 9.32. Socket Communication Interface Function
        • 9.32.1. Socket Configuration
          • 9.32.1.1. Communication Parameter Settings
          • 9.32.1.2. Heartbeat Detection Mechanism
          • 9.32.1.3. Reconnection Mechanism
          • 9.32.1.4. Custom Protocol Parsing
        • 9.32.2. Socket Connection
          • 9.32.2.1. Interface Connection Display
          • 9.32.2.2. Connection Command Module
        • 9.32.3. Socket Communication
          • 9.32.3.1. Communication Testing
          • 9.32.3.2. Communication Command Module
      • 9.33. Impedance Control Function During Robot Motion
        • 9.33.1. Overview
        • 9.33.2. Impedance Control Function
          • 9.33.2.1. Impedance Control Configuration and Function Start/Stop in Cartesian Space
          • 9.33.2.2. Impedance Control Setting and Function Start/Stop in Joint Space
      • 9.34. Custom Weaving Welding Function
        • 9.34.1. Overview
        • 9.34.2. Operational Procedure for Custom Weaving Welding Function
      • 9.35. Teach point configuration
        • 9.35.1. End-point dot automatic overwrite update Lua program function
          • 9.35.1.1. End-point dot configuration
          • 9.35.1.2. End-button dot automatic update Lua program
          • 9.35.1.3. Function usage example
      • 9.36. Main program configuration
      • 9.37. Robot Extended Axis Intersecting Line Welding
        • 9.37.1. System Configuration
        • 9.37.2. Extended Axis Communication Configuration
        • 9.37.3. Welder Connection Configuration
        • 9.37.4. Tool Coordinate System Calibration
        • 9.37.5. Intersecting Line Welding Function
          • 9.37.5.1. Extended Axis Coordinate System Calibration
          • 9.37.5.2. Intersecting Line Trajectory Welding
    • 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. Teaching 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
        • 13.2.4. Data Filtering
    • 14. Applications
      • 14.1. Robot Packing
      • 14.2. Data Backup
        • 14.2.1. Backup Package Integrity Verification Function
          • 14.2.1.1. Backup Package MD5 Verification Function
          • 14.2.1.2. Backup Package Key Parameter Verification Function
          • 14.2.1.3. Failure/Power Failure Exception Rollback Function
      • 14.3. 10s Data Recording
      • 14.4. End-Effector LED
      • 14.5. Drag Locking
        • 14.5.1. Normal Collision Protection Triggering Under Force Sensor Assisted Dragging
          • 14.5.1.1. Overview
          • 14.5.1.2. Collision Protection
          • 14.5.1.3. Parameters Calibration of Joint Torque Sensor on the Whole Machine
          • 14.5.1.4. External Force Estimation and Torque Compensation Based on Momentum Observer
          • 14.5.1.5. Assisted Drag Optimization Function Based on Joint Torque Sensor
      • 14.6. Intersection Point Generation (Laser Point Capture Motion)
        • 14.6.1. Laser Point Capture Motion Function Operation Process
        • 14.6.2. Finding Intersection Coordinates Using Three-Point and Four-Point Seam Finding
          • 14.6.2.1. Command-based Intersection Calculation
          • 14.6.2.2. Lua Script for Intersection Seam Finding Motion
      • 14.7. Peripheral Protocol
      • 14.8. G-code to Robot Trajectory Planning Function
        • 14.8.1. Function Overview
        • 14.8.2. Operation Process
    • 15. Process Package
      • 15.1. Welding Expert Library
        • 15.1.1. Straight Welding
        • 15.1.2. Arc Welding
        • 15.1.3. Multi-Layer Multi-Pass Welding
        • 15.1.4. Posture Adjustment
          • 15.1.4.1. Posture Adaptive Configuration Steps
          • 15.1.4.2. Posture Adaptive Combined with Extended Axis and Laser Tracking Welding Teaching Program
      • 15.2. Palletizing System Configuration
        • 15.2.1. Palletizing System Configuration Steps
      • 15.3. Conveyor Tracking
        • 15.3.1. Conveyor Tracking Configuration Steps
        • 15.3.2. Conveyor Tracking Teaching Program
        • 15.3.3. Robot Conveyor Tracking System Composition
          • 15.3.3.1. Conveyor Encoder Data Communication Connection Method
          • 15.3.3.2. Conveyor Configuration
          • 15.3.3.3. Tracking Coordinate System Configuration
          • 15.3.3.4. Conveyor Tracking Chase Motion Function
          • 15.3.3.5. Conveyor Tracking Chase Motion Function Introduction
          • 15.3.3.6. Chase Motion Program Teaching
    • 16. System
      • 16.1. General settings
        • 16.1.1. Network settings
          • 16.1.1.1. No-Login Operation
        • 16.1.2. Teach pendant touch screen calibration
        • 16.1.3. Peripheral industrial computer configuration
        • 16.1.4. System Language
          • 16.1.4.1. Language Import
          • 16.1.4.2. Language Export
          • 16.1.4.3. Language Application
          • 16.1.4.4. System safe mode recovery
        • 16.1.5. Fault data
        • 16.1.6. Timeout Logout Time Setting
        • 16.1.7. System Settings
      • 16.2. Account settings account settings
        • 16.2.1. User Management
        • 16.2.2. Authority management
        • 16.2.3. Import/Export
      • 16.3. About
        • 16.3.1. Software Upgrade
          • 16.3.1.1. Operation Preparation
          • 16.3.1.2. Important Notes
      • 16.4. Custom information
        • 16.4.1. Robot Model
        • 16.4.2. Parameter range configuration
        • 16.4.3. Robot License Usage Time
      • 16.5. Robot model configuration
    • 17. Teach pendant
      • 17.1. Teach pendant activation
      • 17.2. Teach pendant multi-language setting
        • 17.2.1. Input method switch
        • 17.2.2. The language of the teaching pendant and webApp is inconsistent
      • 17.3. Controller and Teach Pendant IP Reset Function
        • 17.3.1. Function Overview
        • 17.3.2. Webrecovery Interface IP Reset
        • 17.3.3. Physical Teach Pendant F1 Key Custom IP Reset
        • 17.3.4. Physical Teach Pendant F2 and F4 Key Combination IP Reset
      • 17.4. Teach Pendant Key Customization Function
        • 17.4.1. Function Overview
        • 17.4.2. Operation Instructions
          • 17.4.2.1. Function Configuration
          • 17.4.2.2. Key Custom Set to Drag
          • 17.4.2.3. F1-F4 Key Function Customization
    • 18. Custom protocol slave commands
      • 18.1. Overview
      • 18.2. Industrial Bus Protocol Integration for Robot Motion Control
      • 18.3. Environment Configuration
        • 18.3.1. FRH-PCIeN-EC/EIP/CC/PN-RJ-V10 board hardware environment setup
        • 18.3.2. FRJ-PCIeN Board Hardware Setup
          • 18.3.2.1. FRJ-PCIeN-EIP/CC/PN-RJ-V10 Board Firmware Upgrade
          • 18.3.2.2. FRJ-PCIeN-EC-RJ-V10 Board Firmware Upgrade
        • 18.3.3. Software environment setup
        • 18.3.4. PLC Environment construction
          • 18.3.4.1. Siemens Profinet
          • 18.3.4.2. Mitsubishi CC-Link IEF Basic
          • 18.3.4.3. Inovance EtherCAT Configuration
        • 18.3.5. HMI setting (CC-Link IEF Basic emulation)
        • 18.3.6. HMI setting (Profinet emulation)
      • 18.4. Robot Slave Mode Operation Manual
        • 18.4.1. Loading Slave Mode
      • 18.5. Board Communication Cycle Configuration
        • 18.5.1. FRJ-PCIeN-EIP/CC/PN-RJ-V10 Board
        • 18.5.2. FRJ-PCIeN-EC-RJ-V10 Board
      • 18.6. Appendice
        • 18.6.1. Instruction List
    • 19. Appendix
      • 19.1. Appendix 1: Motion controller errors and handling methods
      • 19.2. Appendix 2: Servo driver fault code table
      • 19.3. Appendix 3: End plate 485 upgrade
      • 19.4. Appendix 4: Control Box 485 Upgrade
      • 19.5. Appendix 5: List of Spare Parts and Vulnerable Parts
    • 20. Term
  • Changelog
    • Version V3.9.5
    • Version V3.9.4
    • Version V3.9.3
    • Version V3.9.2
    • Version V3.9.1
    • Version V3.9.0
    • Version V3.8.7
    • Version V3.8.6
    • Version V3.8.5
    • Version V3.8.4.1
    • Version V3.8.4
    • 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
• SDK Manual
  • C++
    • 1. Version Update Description
    • 2. Data structure specification
      • 2.1. Interface call return value type
      • 2.2. Joint position data type
      • 2.3. Cartesian spatial location data type
      • 2.4. Euler Angle attitude data type
      • 2.5. Cartesian space pose data type
      • 2.6. Extension axis position data type
      • 2.7. Torque sensor data type
      • 2.8. Spiral parameter data type
      • 2.9. feedback packet of robot controller state
      • 2.10. Robot Status Feedback Configuration Enumeration Type
    • 3. Basics
      • 3.1. Instantiate Robot
      • 3.2. Establish Communication with Controller
      • 3.3. Close Communication with Controller
      • 3.4. Query SDK Version
      • 3.5. Get Controller IP
      • 3.6. Control Robot to Enter/Exit Drag Teaching Mode
      • 3.7. Check if Robot is in Drag Mode
      • 3.8. Enable/Disable Robot
      • 3.9. Switch Between Manual/Auto Mode
      • 3.10. Shut Down Robot OS
      • 3.11. Set Reconnection Parameters
      • 3.12. Shut down the robot operating system
      • 3.13. Initialize Log Parameters
      • 3.14. Set Log Filter Level
      • 3.15. Basic Robot Control Example
      • 3.16. Get Robot Software Version Example
      • 3.17. Get Robot Hardware Version
      • 3.18. Get Robot Firmware Version
      • 3.19. Get Robot Software/Firmware Version Example
    • 4. Robot Motion
      • 4.1. JOG Motion
      • 4.2. JOG Deceleration Stop
      • 4.3. JOG Immediate Stop
      • 4.4. Robot JOG Control Example
      • 4.5. Joint Space Motion
      • 4.6. Joint Space Motion (Automatic Forward Kinematics Calculation)
      • 4.7. Cartesian Space Linear Motion
      • 4.8. Cartesian Space Linear Motion (Automatic Inverse Kinematics Calculation)
      • 4.9. Cartesian Space Circular Motion
      • 4.10. Cartesian Space Circular Motion (Automatic Inverse Kinematics Calculation)
      • 4.11. Cartesian Space Full Circle Motion
      • 4.12. Cartesian Space Full Circle Motion (Automatic Inverse Kinematics Calculation)
      • 4.13. Cartesian Space Point-to-Point Motion
      • 4.14. Robot Basic Motion Instruction Code Example
      • 4.15. Cartesian Space Spiral Motion
      • 4.16. Cartesian Space Spiral Motion (Automatic Inverse Kinematics Calculation)
      • 4.17. Spiral Motion Code Example
      • 4.18. Servo Motion Start
      • 4.19. Servo Motion End
      • 4.20. Joint Space Servo Mode Motion
      • 4.21. Joint Space Servo Mode Motion Example Program
      • 4.22. Code Example for Robot Joint Space Servo Mode Motion Based on UDP Communication
      • 4.23. Joint Torque Control Start
      • 4.24. Joint Torque Control
      • 4.25. Joint Torque Control End
      • 4.26. Joint Torque Control
      • 4.27. Joint Torque Control End
      • 4.28. Joint Torque Control Example
      • 4.29. Joint Torque Control Code Example with Overspeed Protection
      • 4.30. Cartesian Space Servo Mode Motion
      • 4.31. Cartesian Space Servo Mode Motion Code Example
      • 4.32. Spline Motion Start
      • 4.33. Joint Space Spline Motion (Auto Forward Kinematics Calculation)
      • 4.34. Spline PTP Motion
      • 4.35. Spline Motion End
      • 4.36. Spline Motion Example
      • 4.37. New Spline Motion Start
      • 4.38. New Spline Command Point
      • 4.39. New Spline Command Point (Auto Inverse Kinematics Calculation)
      • 4.40. New Spline Motion End
      • 4.41. New Spline Motion Example
      • 4.42. Stop Motion
      • 4.43. Pause Motion
      • 4.44. Resume Motion
      • 4.45. Motion Pause, Resume, Stop Example
      • 4.46. Point Global Offset Start
      • 4.47. Point Global Offset End
      • 4.48. Point Offset Example
      • 4.49. Control Box AO Flying Start
      • 4.50. Control Box AO Flying Stop
      • 4.51. End AO Flying Start
      • 4.52. End AO Flying Stop
      • 4.53. AO Flying Example
      • 4.54. Start Ptp Motion FIR Filter
      • 4.55. Close Ptp Motion FIR Filter
      • 4.56. Start LIN, ARC Motion FIR Filter
      • 4.57. Close LIN, ARC Motion FIR Filter
      • 4.58. FIR Filter Example
      • 4.59. Acceleration Smoothing Start
      • 4.60. Acceleration Smoothing End
      • 4.61. Acceleration Smoothing Example
      • 4.62. Specified Pose Speed Start
      • 4.63. Specified Pose Speed End
      • 4.64. Robot Specified Pose Speed Example
      • 4.65. Start Singular Pose Protection
      • 4.66. Stop Singular Pose Protection
      • 4.67. Robot Singular Pose Protection Example
      • 4.68. Clear the motion command queue
      • 4.69. Move to Intersecting Line Start Point
      • 4.70. Intersecting Line Motion
      • 4.71. Robot Intersecting Line Motion Code Example
      • 4.72. Stationary Air Motion
      • 4.73. Stationary Air Motion Code Example
      • 4.74. Fixed-Point Swing Start
      • 4.75. Fixed-Point Swing End
      • 4.76. Fixed-Point Swing SDK Code Example
      • 4.77. Fixed-Point Swing (Including Laser Sensor and Extension Axis) Code Example
    • 5. IO
      • 5.1. Set Control Box Digital Output
      • 5.2. Set Tool Digital Output
      • 5.3. Set Control Box Analog Output
      • 5.4. Set Tool Analog Output
      • 5.5. Code Example for Setting Digital and Analog Outputs
      • 5.6. Get Control Box Digital Input
      • 5.7. Get Tool Digital Input
      • 5.8. Get Control Box Analog Input
      • 5.9. Get Tool Analog Input
      • 5.10. Get Robot End Point Record Button Status
      • 5.11. Get Robot End DO Output Status
      • 5.12. Get Robot Controller DO Output Status
      • 5.13. Code Example for Getting Robot DI and DO Status
      • 5.14. Wait for Control Box Digital Input
      • 5.15. Wait for Control Box Multi-Channel Digital Input
      • 5.16. Wait for Tool Digital Input
      • 5.17. Wait for Control Box Analog Input
      • 5.18. Wait for Tool Analog Input
      • 5.19. Code Example for Waiting for Control Box Digital and Analog Input Signals
      • 5.20. Set Whether to Reset Control Box DO Output After Stop/Pause
      • 5.21. Set Whether to Reset Control Box AO Output After Stop/Pause
      • 5.22. Set Whether to Reset End Tool DO Output After Stop/Pause
      • 5.23. Set Whether to Reset End Tool AO Output After Stop/Pause
      • 5.24. Set Whether to Reset Extension DO Output After Stop/Pause
      • 5.25. Set Whether to Reset Extension AO Output After Stop/Pause
      • 5.26. Set Whether to Reset SmartTool Output After Stop/Pause
      • 5.27. Example Code for Setting LUA Program Output Reset After Stop/Pause
      • 5.28. Set Configurable CI Port Functions of the Control Box
      • 5.29. Get Configurable CI Port Functions of the Control Box
      • 5.30. Set Configurable CO Port Functions of the Control Box
      • 5.31. Get Configurable CO Port Functions of the Control Box
      • 5.32. Set Configurable End-CI Port Functions of the End-Effector
      • 5.33. Get Configurable End-CI Port Functions of the End-Effector
      • 5.34. Set Configurable CI Active State of the Control Box
      • 5.35. Get Configurable CI Active State of the Control Box
      • 5.36. Set Configurable CO Active State of the Control Box
      • 5.37. Get Configurable CO Active State of the Control Box
      • 5.38. Set Configurable CI Active State of the End-Effector
      • 5.39. Get Configurable CI Active State of the End-Effector
      • 5.40. Set Standard DI Active State of the Control Box
      • 5.41. Get Standard DI Active State of the Control Box
      • 5.42. Set Standard DO Active State of the Control Box
      • 5.43. Get Standard DO Active State of the Control Box
      • 5.44. Robot IO Configuration Code Example
    • 6. Common Settings
      • 6.1. Set Tool Reference Point - Six-Point Method
      • 6.2. Calculate Tool Coordinate System
      • 6.3. Set Tool Reference Point - Four-Point Method
      • 6.4. Calculate Tool Coordinate System
      • 6.5. Calculate Tool Coordinate System from Points
      • 6.6. Set Tool Coordinate System
      • 6.7. Set Tool Coordinate System List
      • 6.8. Get Current Tool Coordinate System
      • 6.9. Robot Tool Coordinate System Operation Example
      • 6.10. Set External Tool Reference Point - Six-Point Method
      • 6.11. Calculate External Tool Coordinate System
      • 6.12. Set External Tool Coordinate System
      • 6.13. Set External Tool Coordinate System List
      • 6.14. Robot External Tool Coordinate System Operation Example
      • 6.15. Set Workpiece Reference Point - Three-Point Method
      • 6.16. Calculate Workpiece Coordinate System
      • 6.17. Set Workpiece Coordinate System
      • 6.18. Set Workpiece Coordinate System List
      • 6.19. Calculate Workpiece Coordinate System from Points
      • 6.20. Get Current Workpiece Coordinate System
      • 6.21. Robot Workpiece Coordinate System Operation Example
      • 6.22. Set Global Speed
      • 6.23. Set Robot Acceleration
      • 6.24. Get Robot Default Speed
      • 6.25. Set End Load Weight
      • 6.26. Set End Effector Payload Center of Gravity Coordinates
      • 6.27. Get Current Load Weight
      • 6.28. Get Current Load Center of Gravity
      • 6.29. Set Robot Installation Method
      • 6.30. Set Robot Installation Angle
      • 6.31. Get Robot Installation Angle
      • 6.32. Set System Variable Value
      • 6.33. Get System Variable Value
      • 6.34. Robot Common Settings Example
      • 6.35. Joint Friction Compensation Switch
      • 6.36. Set Joint Friction Compensation Coefficient - Standard Installation
      • 6.37. Set Joint Friction Compensation Coefficient - Wall Installation
      • 6.38. Set Joint Friction Compensation Coefficient - Ceiling Installation
      • 6.39. Set Joint Friction Compensation Coefficient - Free Installation
      • 6.40. Robot Joint Friction Compensation Example
      • 6.41. Query Robot Error Code
      • 6.42. Error State Clear
      • 6.43. Robot Fault State Acquisition and Error Clear Example
      • 6.44. Set wide voltage control box temperature and fan current monitoring parameters
      • 6.45. Obtain wide voltage control box temperature and fan current monitoring parameters
      • 6.46. Wide voltage control box temperature and fan current state acquisition code example
      • 6.47. Calculate Focus Calibration Results
      • 6.48. Set Focus Position
      • 6.49. Enable Focus Following
      • 6.50. Disable Focus Following
      • 6.51. Robot Focus Following Code Example
      • 6.52. Open the joint torque sensor sensitivity calibration function
      • 6.53. Data acquisition of joint torque sensor sensitivity
      • 6.54. Obtain joint torque sensor sensitivity calibration results
      • 6.55. Get Joint Torque Sensor Hysteresis Error
      • 6.56. Get Joint Torque Sensor Repeatability
      • 6.57. Set Joint Force Sensor Parameters
      • 6.58. An example of joint torque sensor sensitivity auto-calibration code
      • 6.59. Gets 8 slave error frames
      • 6.60. Error frame zeroing at slave port
      • 6.61. Gets an example of a slave port error frame code
      • 6.62. Set feed-forward coefficients for each axis
      • 6.63. Obtain the feed-forward coefficients of each axis
      • 6.64. Example of robot velocity feed-forward coefficient code
      • 6.65. Photoelectric Sensor TCP Calibration - Compute Tool RPY
      • 6.66. Photoelectric Sensor TCP Calibration - Compute Tool XYZ
      • 6.67. Photoelectric Sensor TCP Calibration - Start Recording Flange Center Position
      • 6.68. Photoelectric Sensor TCP Calibration - Stop Recording Flange Center Position
      • 6.69. Photoelectric Sensor TCP Calibration - Get Tool Center Point Position
      • 6.70. Photoelectric Sensor TCP Calibration
      • 6.71. Photoelectric Sensor TCP Calibration Code Example
    • 7. Security settings
      • 7.1. Set Collision Level
      • 7.2. Set Post-Collision Strategy
      • 7.3. Custom Collision Detection Threshold Start
      • 7.4. Custom Collision Detection Threshold End
      • 7.5. Robot Collision Level Setting Code Example
      • 7.6. Set Positive Limit
      • 7.7. Set Negative Limit
      • 7.8. Get Joint Soft Limit Angles
      • 7.9. Robot Limit Setting Code Example
      • 7.10. Set Robot Collision Detection Method
      • 7.11. Set Static Collision Detection On/Off
      • 7.12. Robot Collision Detection Method Code Example
      • 7.13. Joint Torque Power Detection
      • 7.14. Joint Torque Power Detection Code Example
      • 7.15. Set Safety Speed Parameters
      • 7.16. SDK Code Example for Setting Safety Speed Parameters
    • 8. Status query
      • 8.1. Get Current Joint Positions (Degrees)
      • 8.2. Get Joint Feedback Speed
      • 8.3. Get Joint Feedback Acceleration
      • 8.4. Get TCP Command Composite Speed
      • 8.5. Get TCP Feedback Composite Speed
      • 8.6. Get TCP Command Speed
      • 8.7. Get TCP Feedback Speed
      • 8.8. Get Current Tool Pose
      • 8.9. Get Current Tool Frame Number
      • 8.10. Get Current Work Object Frame Number
      • 8.11. Get Current End Flange Pose
      • 8.12. Get Current Joint Torque
      • 8.13. Get System Time
      • 8.14. Check If Robot Motion Is Complete
      • 8.15. Query Robot Motion Queue Length
      • 8.16. Get Robot Emergency Stop Status
      • 8.17. Get SDK-Robot Communication Status
      • 8.18. Get Safety Stop Signal
      • 8.19. Get Robot Joint Driver Temperature(℃)
      • 8.20. Get Robot Joint Driver Torque(Nm)
      • 8.21. Get Robot Real-time Status Structure
      • 8.22. Robot Status Query Code Example
      • 8.23. Inverse Kinematics Calculation
      • 8.24. Inverse Kinematics Calculation (Reference Position)
      • 8.25. Inverse Kinematics Solution, Cartesian Space Including Extended Axis Position
      • 8.26. Example Code for Inverse Kinematics Solution Including Extended Axis Position
      • 8.27. Check If Inverse Kinematics Has Solution
      • 8.28. Forward Kinematics Calculation
      • 8.29. Robot Kinematics Calculation Code Example
      • 8.30. Query Robot Teaching Point Data
      • 8.31. Get Robot DH Parameter Compensation Values
      • 8.32. Get Controller SN Code
      • 8.33. Query Robot Teaching Point Data Code Example
      • 8.34. Get Tool Coordinate System by ID
      • 8.35. Get Work Object Coordinate System by ID
      • 8.36. Get External Tool Coordinate System by ID
      • 8.37. Get Extended Axis Coordinate System by ID
      • 8.38. Get Payload Mass and Center of Gravity by ID
      • 8.39. Get Current Tool Coordinate System
      • 8.40. Get Current Work Object Coordinate System
      • 8.41. Get Current External Tool Coordinate System
      • 8.42. Get Current Extended Axis Coordinate System
      • 8.43. Get Robot Coordinate Systems and Payload Code Example
    • 9. Trajectory recurrence
      • 9.1. Set TPD Trajectory Recording Parameters
      • 9.2. Start TPD Trajectory Recording
      • 9.3. Stop TPD Trajectory Recording
      • 9.4. Delete TPD Trajectory Recording
      • 9.5. TPD Trajectory Preload
      • 9.6. TPD Trajectory Playback
      • 9.7. Get TPD Start Pose
      • 9.8. Move to TPD Trajectory Recording Start Point
      • 9.9. Robot TPD Trajectory Recording Code Example
      • 9.10. Robot TPD Trajectory Recording Code Example
      • 9.11. Trajectory Preprocessing
      • 9.12. Trajectory Playback
      • 9.13. Get Trajectory Start Pose
      • 9.14. Get Trajectory Point Number
      • 9.15. Set Speed During Trajectory Execution
      • 9.16. Code Example for Setting Robot Speed During Trajectory Execution
      • 9.17. Set Trajectory Running Force and Torque
      • 9.18. Set Trajectory Running Force in X Direction
      • 9.19. Set Trajectory Running Force in Y Direction
      • 9.20. Set Trajectory Running Force in Z Direction
      • 9.21. Set Trajectory Running Torque Around X Axis
      • 9.22. Set Trajectory Running Torque Around Y Axis
      • 9.23. Set Trajectory Running Torque Around Z Axis
      • 9.24. Upload Trajectory J File
      • 9.25. Delete Trajectory J File
      • 9.26. Robot Trajectory J File Playback Code Example
      • 9.27. Trajectory Preprocessing (Trajectory Lookahead)
      • 9.28. Trajectory Playback (Trajectory Lookahead)
      • 9.29. Trajectory Playback (Trajectory Lookahead) Code Example
    • 10. WebAPP program use
      • 10.1. Set Default Program to Load Automatically on Startup
      • 10.2. Load Specified Program
      • 10.3. Get Loaded Program Name
      • 10.4. Get Current Program Execution Line Number
      • 10.5. Run Currently Loaded Program
      • 10.6. Pause Currently Running Program
      • 10.7. Resume Currently Paused Program
      • 10.8. Stop Currently Running Program
      • 10.9. Get Program Execution State
      • 10.10. Robot LUA Program Operation Code Example
      • 10.11. Download Lua File
      • 10.12. Delete Lua File
      • 10.13. Get All Current Lua File Names
      • 10.14. Upload Lua File
      • 10.15. Robot LUA File Upload/Download Code Example
    • 11. Robot Peripheral Devices
      • 11.1. Configure Gripper
      • 11.2. Get Gripper Configuration
      • 11.3. Activate Gripper
      • 11.4. Control Gripper
      • 11.5. Get Gripper Motion Status
      • 11.6. Get Gripper Activation Status
      • 11.7. Get Gripper Position
      • 11.8. Get Gripper Speed
      • 11.9. Get Gripper Current
      • 11.10. Get Gripper Voltage
      • 11.11. Get Gripper Temperature
      • 11.12. Calculate Pre-Pick Point - Vision
      • 11.13. Calculate Retreat Point - Vision
      • 11.14. Robot Gripper Operation Code Example
      • 11.15. Get Rotation Count of Rotary Gripper
      • 11.16. Get Rotation Speed of Rotary Gripper
      • 11.17. Get Rotation Torque of Rotary Gripper
      • 11.18. Rotary Gripper Status Code Example
      • 11.19. Conveyor Start/Stop
      • 11.20. Record IO Detection Point
      • 11.21. Record Point A
      • 11.22. Record Reference Point
      • 11.23. Record Point B
      • 11.24. Conveyor Workpiece IO Detection
      • 11.25. Get Current Object Position
      • 11.26. Conveyor Tracking Start
      • 11.27. Conveyor Tracking Stop
      • 11.28. Conveyor Parameter Configuration
      • 11.29. Conveyor Capture Point Compensation
      • 11.30. Conveyor Linear Motion
      • 11.31. Conveyor Communication Input Detection
      • 11.32. Conveyor Communication Input Detection Trigger
      • 11.33. Robot Conveyor Operation Example Program
      • 11.34. End Sensor Configuration
      • 11.35. Get End Sensor Configuration
      • 11.36. End Sensor Activation
      • 11.37. End Sensor Register Write
      • 11.38. End Sensor Code Example
      • 11.39. Get Robot Peripheral Protocol
      • 11.40. Set Robot Peripheral Protocol
      • 11.41. Set Robot Peripheral Protocol Example
      • 11.42. Get End Communication Parameters
      • 11.43. Set End Communication Parameters
      • 11.44. Set End File Transfer Type
      • 11.45. Set Enable End LUA Execution
      • 11.46. End LUA File Error Recovery
      • 11.47. Get End LUA Execution Enable Status
      • 11.48. Set End LUA End Device Enable Type
      • 11.49. Get End LUA End Device Enable Type
      • 11.50. Get Currently Configured End Devices
      • 11.51. Set Enable Gripper Action Control Function
      • 11.52. Get Enable Gripper Action Control Function
      • 11.53. Robot Ethercat Slave File Write
      • 11.54. Upload End Lua Open Protocol File
      • 11.55. Robot Ethercat Slave Enter Boot Mode
      • 11.56. Robot End LUA File Operation Code Example
      • 11.57. Get SmartTool Button Status
      • 11.58. SmartTool Button Code Example
      • 11.59. Control Array Suction Cup
      • 11.60. Get Array Suction Cup Status
      • 11.61. Wait for Suction Cup Status
      • 11.62. Array Suction Cup Control Command Code Example
      • 11.63. Upload Peripheral Open Protocol LUA File
      • 11.64. Get Slave Board Parameters
      • 11.65. Write Slave DO
      • 11.66. Write Slave AO
      • 11.67. Read Slave DI
      • 11.68. Read Slave AI
      • 11.69. Wait for Extended DI Input
      • 11.70. Wait for Extended AI Input
      • 11.71. Slave Mode Related Interface Command Code Example
      • 11.72. Laser Peripheral On/Off
      • 11.73. Laser Tracking Start/Stop
      • 11.74. Laser Seam Search Start - Fixed Direction
      • 11.75. Laser Seam Search Start - Arbitrary Point Direction
      • 11.76. Laser Seam Search Stop
      • 11.77. Laser Network Parameter Configuration
      • 11.78. Laser Peripheral Sampling Period Configuration
      • 11.79. Laser Peripheral Driver Load
      • 11.80. Laser Peripheral Driver Unload
      • 11.81. Laser Seam Trajectory Recording
      • 11.82. Laser Seam Trajectory Replay
      • 11.83. Laser Tracking Replay
      • 11.84. Laser Seam Trajectory Recording and Replay
      • 11.85. Move to Laser Recorded Start Point
      • 11.86. Move to Laser Recorded End Point
      • 11.87. Move to Laser Sensor Seam Search Point
      • 11.88. Get Laser Sensor Seam Search Point Coordinates
      • 11.89. Laser Peripheral Sensor Parameter Configuration and Debugging Code Example
      • 11.90. Laser Trajectory Scanning and Trajectory Replay Code Example
      • 11.91. Laser Seam Search and Real-time Tracking Code Example
      • 11.92. Extended Axis and Robot Synchronized Laser Tracking Code Example
      • 11.93. End-Effector Transparent Transmission Function Enable/Disable
      • 11.94. End-Effector Transparent Transmission Function Non-Periodic Data Transmission and Reception
      • 11.95. Code Example for Non-Periodic Data Communication of DIO Health Care Moxibustion Head Based on End-Effector Transparent Transmission Function
      • 11.96. Download Open Protocol Lua File
      • 11.97. Delete Open Protocol Lua File
      • 11.98. Delete All Open Protocol Lua Files
      • 11.99. Code Example for Controller Peripheral Open Protocol Upload, Download, and Delete
    • 12. Force control
      • 12.1. Force sensor configuration
      • 12.2. Get the force sensor configuration
      • 12.3. Force Sensor Activation
      • 12.4. Force sensor calibration
      • 12.5. Set Force Sensor Reference Coordinate System
      • 12.6. Set Payload Weight Under Force Sensor
      • 12.7. Set Payload Center of Gravity Under Force Sensor
      • 12.8. Get Payload Weight Under Force Sensor
      • 12.9. Get Payload Center of Gravity Under Force Sensor
      • 12.10. Force Sensor Auto Zero Calibration
      • 12.11. Get Force/Torque Data in Reference Coordinate System
      • 12.12. Get Raw Force/Torque Data from Force Sensor
      • 12.13. Force Sensor Configuration and Auto Zero Calibration Code Example
      • 12.14. Payload Weight Identification Record
      • 12.15. Payload Weight Identification Calculation
      • 12.16. Payload COG Identification Record
      • 12.17. Payload COG Identification Calculation
      • 12.18. Force Sensor Payload Identification Code Example
      • 12.19. Collision Guard
      • 12.20. Collision Guard Code Example
      • 12.21. Constant force control
      • 12.22. Example of constant force control code with damping
      • 12.23. Spiral Search
      • 12.24. Rotary Insertion
      • 12.25. Example code for force sensor rotation insertion
      • 12.26. Linear Insertion
      • 12.27. Spiral Search, Linear Insertion and Other Instruction Code Examples
      • 12.28. Surface Localization
      • 12.29. Calculate Middle Plane Position - Start
      • 12.30. Calculate Middle Plane Position - End
      • 12.31. Surface Localization Code Example
      • 12.32. Compliance Control Activation
      • 12.33. Compliance Control Deactivation
      • 12.34. Compliance Control Code Example
      • 12.35. Payload Identification Initialization
      • 12.36. Payload Identification Initialization
      • 12.37. Payload Identification Main Program
      • 12.38. Get Payload Identification Result
      • 12.39. Robot Payload Identification Code Example
      • 12.40. Force Sensor Assisted Drag
      • 12.41. Get Force Sensor Drag Switch Status
      • 12.42. Force Sensor Auto Activation After Error Clear
      • 12.43. Force Sensor Assisted Drag Code Example
      • 12.44. Set Six-Dimensional Force and Joint Impedance Hybrid Drag Switch and Parameters
      • 12.45. Six-Dimensional Force and Joint Impedance Hybrid Drag Code Example
      • 12.46. Impedance Start/Stop Control
      • 12.47. Robot Impedance Start/Stop Control Code Example
      • 12.48. Enable torque compensation function and compensation coefficient
    • 13. Extended Axis
      • 13.1. Set 485 Extended Axis Parameters
      • 13.2. Get 485 Extended Axis Configuration Parameters
      • 13.3. Set 485 Extended Axis Enable/Disable
      • 13.4. Set 485 Extended Axis Control Mode
      • 13.5. Set 485 Extended Axis Target Position (Position Mode)
      • 13.6. Set 485 Extended Axis Target Torque (Torque Mode) - Temporarily Unavailable
      • 13.7. Set 485 Extended Axis Homing
      • 13.8. Clear 485 Extended Axis Error Information
      • 13.9. Get 485 Extended Axis Servo Status
      • 13.10. Set 485 Extended Axis Target Speed (Velocity Mode)
      • 13.11. Set Status Feedback 485 Extended Axis Data Axis Number
      • 13.12. Set 485 Extended Axis Motion Acceleration/Deceleration
      • 13.13. Set 485 Extended Axis Emergency Stop Acceleration/Deceleration
      • 13.14. Get 485 Extended Axis Motion Acceleration/Deceleration
      • 13.15. Get 485 Extended Axis Emergency Stop Acceleration/Deceleration
      • 13.16. Extended Axis Control Code Example
      • 13.17. UDP Extended Axis Communication Parameter Configuration
      • 13.18. Get UDP Extension Axis Communication Parameter Configuration
      • 13.19. Load UDP Communication
      • 13.20. Unload UDP Communication
      • 13.21. UDP Extended Axis Communication Exception Disconnection Recovery
      • 13.22. UDP Extended Axis Communication Exception Disconnection Close Communication
      • 13.23. UDP Extended Axis Parameter Configuration
      • 13.24. Set Extended Axis Installation Position
      • 13.25. Set Extended Axis System DH Parameter Configuration
      • 13.26. UDP Extended Axis Enable
      • 13.27. UDP Extended Axis Homing
      • 13.28. UDP Extended Axis Jog Start
      • 13.29. UDP Extended Axis Jog Stop
      • 13.30. UDP Extended Axis Configuration and Jog Code Example
      • 13.31. Set Extended Axis Coordinate System Reference Point - Four-Point Method
      • 13.32. Calculate Extended Axis Coordinate System - Four-Point Method
      • 13.33. Positioner Coordinate System Reference Point Setting
      • 13.34. Positioner Coordinate System Calculation - Four-Point Method
      • 13.35. Set Calibration Reference Point Pose in Extended Axis End Coordinate System
      • 13.36. Apply Extended Axis Coordinate System
      • 13.37. Get Extended Axis Coordinate System
      • 13.38. Extended Axis Coordinate System Calibration Code Example
      • 13.39. UDP Extended Axis Motion
      • 13.40. UDP Extended Axis Motion Code Example
      • 13.41. UDP Extended Axis and Robot Joint Motion Synchronous Motion
      • 13.42. UDP Extended Axis and Robot Joint Motion Synchronization (Automatic Forward Kinematics Calculation)
      • 13.43. UDP Extended Axis and Robot Joint Motion Synchronous Motion Code Example
      • 13.44. UDP Extended Axis and Robot Linear Motion Synchronous Motion
      • 13.45. UDP Extended Axis and Robot Linear Motion Synchronization (Automatic Inverse Kinematics Calculation)
      • 13.46. UDP Extended Axis and Robot Linear Motion Synchronous Motion Code Example
      • 13.47. UDP Extended Axis and Robot Arc Motion Synchronous Motion
      • 13.48. UDP Extended Axis and Robot Circular Motion Synchronization (Automatic Inverse Kinematics Calculation)
      • 13.49. UDP Extended Axis and Robot Arc Motion Synchronous Motion Code Example
      • 13.50. Set Extended DO
      • 13.51. Set Extended AO
      • 13.52. Set Extended DI Input Filter Time
      • 13.53. Set Extended AI Input Filter Time
      • 13.54. Wait for Extended DI Input
      • 13.55. Wait for Extended AI Input
      • 13.56. Get Extended DI Value
      • 13.57. Get Extended AI Value
      • 13.58. Extended IO Code Example
      • 13.59. Mobile Device Enable
      • 13.60. Mobile Device Homing
      • 13.61. Mobile Device Linear Motion
      • 13.62. Mobile Device Arc Motion
      • 13.63. Mobile Device Stop Motion
      • 13.64. Mobile Device Code Example
      • 13.65. UDP Extension Axis Positioning Completion Time Setting
    • 14. Robot Welding
      • 14.1. Set Welding Process Curve Parameters
      • 14.2. Get Welding Process Curve Parameters
      • 14.3. Set Welding Current to Analog Output Relationship
      • 14.4. Set Welding Voltage to Analog Output Relationship
      • 14.5. Get Welding Current to Analog Output Relationship
      • 14.6. Get Welding Voltage to Analog Output Relationship
      • 14.7. Set Welding Current
      • 14.8. Set Welding Voltage
      • 14.9. Set Weaving Parameters
      • 14.10. Welding Parameter Setup Code Example
      • 14.11. Instantaneously Set Weaving Parameters
      • 14.12. Set Robot Welding Arc Unexpected Interruption Detection Parameters
      • 14.13. Get Robot Welding Arc Unexpected Interruption Detection Parameters
      • 14.14. Set Robot Welding Interruption Recovery Parameters
      • 14.15. Get Robot Welding Interruption Recovery Parameters
      • 14.16. Set Welder Control Mode Extended DO Port
      • 14.17. Set Welder Control Mode
      • 14.18. Welding Start
      • 14.19. Welding End
      • 14.20. Weaving Start
      • 14.21. Weaving End
      • 14.22. Forward Wire Feeding
      • 14.23. Reverse Wire Feeding
      • 14.24. Gas Feeding
      • 14.25. Set Robot to Resume Welding After Interruption
      • 14.26. Set Robot to Abort Welding After Interruption
      • 14.27. Robot Welding Control Code Example
      • 14.28. Segment Welding Start
      • 14.29. Robot Segment Welding Code Example
      • 14.30. Simulation Weaving Start
      • 14.31. Simulation Weaving End
      • 14.32. Start Trajectory Detection Warning (No Movement)
      • 14.33. End Trajectory Detection Warning (No Movement)
      • 14.34. Weaving Gradual Change Start
      • 14.35. Robot Weaving Gradual Change Welding Code Example
      • 14.36. Weaving Gradual Change End
      • 14.37. Extended IO-Configure Welder Gas Detection Signal
      • 14.38. Extended IO-Configure Welder Arc Start Signal
      • 14.39. Extended IO-Configure Welder Reverse Wire Feed Signal
      • 14.40. Extended IO-Configure Welder Forward Wire Feed Signal
      • 14.41. Extended IO-Configure Welder Arc Success Signal
      • 14.42. Extended IO-Configure Welder Ready Signal
      • 14.43. Extended IO-Configure Welding Interruption Recovery Signal
      • 14.44. Set Extended IO Welding Signal Code Example
      • 14.45. Arc Tracking Control
      • 14.46. Set Arc Tracking Input Signal Port
      • 14.47. Arc Tracking + Multi-layer Multi-pass Compensation Start
      • 14.48. Arc Tracking + Multi-layer Multi-pass Compensation End
      • 14.49. Offset Coordinate Transformation - Multi-layer Multi-pass Welding
      • 14.50. Multi-layer Multi-pass Welding Arc Tracking Code Example
      • 14.51. Arc Tracking Welder Current Feedback AI Channel Selection
      • 14.52. Arc Tracking Welder Voltage Feedback AI Channel Selection
      • 14.53. Arc Tracking Welder Current Feedback Conversion Parameters
      • 14.54. Arc Tracking Welder Voltage Feedback Conversion Parameters
      • 14.55. Arc Tracking Code Example
      • 14.56. Set Wire Search Extended IO Port
      • 14.57. Example Program
      • 14.58. Wire Search Start
      • 14.59. Wire Search End
      • 14.60. Calculate Wire Search Offset
      • 14.61. Wait for Wire Search Completion
      • 14.62. Write Wire Search Contact Point to Database
      • 14.63. Robot Wire Search Code Example
      • 14.64. Set Welding Voltage Gradual Change Start
      • 14.65. Set Welding Voltage Gradual Change End
      • 14.66. Set Welding Current Gradual Change Start
      • 14.67. Set Welding Current Gradual Change End
      • 14.68. Robot Welding Current Voltage Gradual Change Code Example
      • 14.69. Set Custom Weave Parameters
      • 14.70. Get Custom Weave Parameters
      • 14.71. Custom Weave Parameters Code Example
    • 15. CNDE
      • 15.1. Configure Robot CNDE Status Feedback
      • 15.2. Add a Robot State to CNDE Status Configuration
      • 15.3. Delete a Robot State from CNDE Status Configuration
      • 15.4. Set CNDE Status Feedback Period
      • 15.5. Get Current CNDE Status Feedback All State Set and Period
      • 15.6. CNDE Status Feedback Usage Code Example
    • 16. Other Interfaces
      • 16.1. Get SSH Public Key
      • 16.2. Send SCP Command
      • 16.3. Calculate MD5 Value of Specified File
      • 16.4. Robot SSH/MD5 Command Code Example
      • 16.5. Set Robot Port 20004 Feedback Cycle
      • 16.6. Get Robot Port 20004 Feedback Cycle
      • 16.7. Robot Port 20004 State Feedback Cycle Configuration Example
      • 16.8. Robot Software Upgrade
      • 16.9. Get Robot Software Upgrade Status
      • 16.10. Robot Software Upgrade Code Example
      • 16.11. Download Point Table Database
      • 16.12. Upload Point Table Database
      • 16.13. Update Lua File for Point Table
      • 16.14. Robot Point Table Operation Code Example
      • 16.15. Controller Log Download
      • 16.16. All Data Source Download
      • 16.17. Data Backup Package Download
      • 16.18. Download Controller Data Code Example
      • 16.19. Set Joint Firmware Upgrade
      • 16.20. Set Controller Firmware Upgrade
      • 16.21. Set End-Effector Firmware Upgrade
      • 16.22. Joint Full Parameter Configuration Upgrade
      • 16.23. Robot Slave Firmware Upgrade Code Example
      • 16.24. Robot Operating System Upgrade (LA Control Box)
      • 16.25. Get Robot Operating System Upgrade Result (LA Control Box)
      • 16.26. Robot MCU log generation
      • 16.27. Set Robot to Stop Running When Port Communication is Disconnected
      • 16.28. Get Robot Stop on Communication Disconnection Parameters
      • 16.29. Robot Stop on Communication Disconnection Parameter Code Example
      • 16.30. Send UDP Instruction Frame
      • 16.31. Set Callback Function for Execution Results of Instructions Sent by SDK via UDP
      • 16.32. UDP Instruction Sending Code Example
      • 16.33. Set User-Defined Robot End-Effector LED Color
      • 16.34. Code Example for Setting User-Defined Robot End-Effector LED Color
    • 17. Appendix
      • 17.1. Source Code Download
      • 17.2. Windows Platform Compilation
      • 17.3. Linux Platform Compilation
  • C#
    • 1. Version Update Description
    • 2. Data Structure Description
      • 2.1. Joint position data type
      • 2.2. Cartesian space position data type
      • 2.3. Euler Angle Attitude data type
      • 2.4. Cartesian space position data type
      • 2.5. Extended axis position data type
      • 2.6. Torque sensor data type
      • 2.7. Helix parameter data type
      • 2.8. Extended axis state type
      • 2.9. Welding interrupt status
      • 2.10. Robot Status Feedback Structure Type
      • 2.11. Robot Configurable Status Enumeration
    • 3. Robot Basics
      • 3.1. Instantiating the Robot
      • 3.2. Establishing Communication with the Controller
      • 3.3. Disconnect from the robot
      • 3.4. Query the SDK version number
      • 3.5. Get the controller IP address
      • 3.6. Control the robot to enter or exit drag teaching mode
      • 3.7. Check if the robot is in drag mode
      • 3.8. Control robot enable or disable
      • 3.9. Control robot manual/automatic mode switching
      • 3.10. Shut down the robot operating system
      • 3.11. Code example
      • 3.12. Set robot communication reconnection parameters
      • 3.13. Code example
      • 3.14. Initialize log parameters
      • 3.15. Set log filtering level
      • 3.16. Get robot software version
      • 3.17. Get robot hardware version
      • 3.18. Get robot firmware version
      • 3.19. Code example
    • 4. Robot Motion
      • 4.1. jog point motion
      • 4.2. jog nudging deceleration stop
      • 4.3. jog pointing stops immediately
      • 4.4. Sample Robot Tap Control Code
      • 4.5. Joint space motion
      • 4.6. Joint space motion (automatic forward kinematics calculation)
      • 4.7. Linear motion in Cartesian space
      • 4.8. Cartesian space linear motion (automatic inverse kinematics calculation)
      • 4.9. Cartesian Space Linear Motion (Added velAccParamMode parameter for velocity and acceleration modes)
      • 4.10. Cartesian Space Linear Motion (Overload Function 1, Added blendMode)
      • 4.11. Cartesian Space Linear Motion (Overload Function 2, No Joint Position Input Required)
      • 4.12. Circular motion in Cartesian space
      • 4.13. Cartesian space circular motion (automatic inverse kinematics calculation)
      • 4.14. Cartesian Space Arc Motion (Added velAccParamMode parameter for velocity and acceleration modes)
      • 4.15. Cartesian Space Arc Motion (Overload Function 1, No Joint Position Input Required)
      • 4.16. Point-to-point motion in Cartesian space
      • 4.17. Whole circle motion in Cartesian space
      • 4.18. Cartesian space full circle motion (automatic inverse kinematics calculation)
      • 4.19. Cartesian Space Full Circle Motion (Added velAccParamMode parameter for velocity and acceleration modes)
      • 4.20. Cartesian Space Full Circle Motion (Overload Function 1, No Joint Position Input Required)
      • 4.21. Sample Code for Whole Circle Motion in Cartesian Space
      • 4.22. Sample code for basic robot motion instructions
      • 4.23. Spiral motion in Cartesian space
      • 4.24. Cartesian space spiral motion (automatic inverse kinematics calculation)
      • 4.25. Sample code for spiral motion
      • 4.26. Servo Motion Start
      • 4.27. Servo Motion End
      • 4.28. Joint Space Servo Mode Motion
      • 4.29. UDP Communication-Based ServoJ, ServoMoveStart, ServoMoveEnd SDK Code Example
      • 4.30. Joint space servo mode motion code example
      • 4.31. Joint Torque Control Start
      • 4.32. Joint Torque Control
      • 4.33. Joint Torque Control End
      • 4.34. UDP Communication-Based ServoJT, ServoJTStart, ServoJTEnd SDK Code Example
      • 4.35. Joint Torque Control Code Example
      • 4.36. Joint Torque Control Code Example with Overspeed Protection
      • 4.37. Servo mode motion in Cartesian space
      • 4.38. Cartesian Space Servo Mode Motion
      • 4.39. Example of servo mode motion code in Cartesian space
      • 4.40. Spline motion starts
      • 4.41. Spline motion PTP
      • 4.42. Joint space spline motion (automatic forward kinematics calculation)
      • 4.43. End of spline motion
      • 4.44. Sample code for spline motion
      • 4.45. Starting new spline motion
      • 4.46. New spline instruction point
      • 4.47. New spline command point (automatic inverse kinematics calculation)
      • 4.48. End of new spline motion
      • 4.49. Sample code for new spline motion
      • 4.50. Terminate the motion
      • 4.51. Pause the motion.
      • 4.52. Resumes motion.
      • 4.53. Motion Pause, Resume, Stop Code Example
      • 4.54. Start the overall point offset
      • 4.55. Points overall offset end
      • 4.56. Points Offset Code Example
      • 4.57. Control box AO flytap start
      • 4.58. Control box AO flytap stop
      • 4.59. End AO flyswatter start
      • 4.60. End AO flytap stop
      • 4.61. AO flyswatter code example
      • 4.62. Start Ptp motion FIR filtering
      • 4.63. Turn off Ptp motion FIR filtering
      • 4.64. Start LIN, ARC motion FIR filtering.
      • 4.65. Turn off LIN, ARC motion FIR filtering
      • 4.66. FIR filtering code example
      • 4.67. Acceleration smoothing on
      • 4.68. Acceleration SmoothStart(bool saveFlag); int AccSmoothStart
      • 4.69. Code example
      • 4.70. Specify the attitude speed to turn on
      • 4.71. Specifies that the attitude speed is off
      • 4.72. Robot Specify Angular Speed Code Example
      • 4.73. Starting singular position protection
      • 4.74. Stop singular attitude protection
      • 4.75. Code example
      • 4.76. Safety Stop Trigger
      • 4.77. Clear the motion command queue
      • 4.78. Move to Intersecting Line Start Point
      • 4.79. Intersecting Line Motion
      • 4.80. Robot Intersecting Line Motion Code Example
      • 4.81. Stationary Air Motion
      • 4.82. Stationary Air Motion Code Example
      • 4.83. Fixed-Point Swing Start
      • 4.84. Fixed-Point Swing End
      • 4.85. Fixed-Point Swing SDK Code Example
      • 4.86. Fixed-Point Swing (Including Laser and Extension Axis) SDK Code Example
    • 5. Robot IO
      • 5.1. Setting the control box digital outputs
      • 5.2. Set the tool digital output
      • 5.3. Set the control box analog output
      • 5.4. Set the tool analog output
      • 5.5. Set digital, analog output code example
      • 5.6. etting control box digital inputs
      • 5.7. Get tool digital input
      • 5.8. Get control box analog input
      • 5.9. Get tool analog input
      • 5.10. Get the robot end record button status
      • 5.11. Get the robot end DO output state
      • 5.12. Get the DO output state of the machine controller
      • 5.13. Get robot DI, DO state code example
      • 5.14. Wait for control box digital input
      • 5.15. Wait for multiple digital inputs to the control box
      • 5.16. Wait for tool digital input
      • 5.17. Wait for control box analog input
      • 5.18. Wait for tool analog input
      • 5.19. Wait for the control box digital, analog input signal code example
      • 5.20. Set Whether Control Box DO Output Resets After Stop/Pause
      • 5.21. Set Whether Control Box AO Output Resets After Stop/Pause
      • 5.22. Set Whether End Tool DO Output Resets After Stop/Pause
      • 5.23. Set Whether End Tool AO Output Resets After Stop/Pause
      • 5.24. Set Whether Extended DO Output Resets After Stop/Pause
      • 5.25. Set Whether Extended AO Output Resets After Stop/Pause
      • 5.26. Set Whether SmartTool Output Resets After Stop/Pause
      • 5.27. Code Example for Setting Output Reset After Lua Program Stop/Pause
      • 5.28. Set Configurable CI Port Functions of the Control Box
      • 5.29. Get Configurable CI Port Functions of the Control Box
      • 5.30. Set Configurable CO Port Functions of the Control Box
      • 5.31. Get Configurable CO Port Functions of the Control Box
      • 5.32. Set Configurable End-CI Port Functions of the End-Effector
      • 5.33. Get Configurable End-CI Port Functions of the End-Effector
      • 5.34. Set Configurable CI Active State of the Control Box
      • 5.35. Get Configurable CI Active State of the Control Box
      • 5.36. Set Configurable CO Active State of the Control Box
      • 5.37. Get Configurable CO Active State of the Control Box
      • 5.38. Set Configurable CI Active State of the End-Effector
      • 5.39. Get Configurable CI Active State of the End-Effector
      • 5.40. Set Standard DI Active State of the Control Box
      • 5.41. Get Standard DI Active State of the Control Box
      • 5.42. Set Standard DO Active State of the Control Box
      • 5.43. Get Standard DO Active State of the Control Box
      • 5.44. Robot IO Configuration Code Example
    • 6. Common Robot Settings
      • 6.1. Setting the tool reference point - six-point method
      • 6.2. Calculating the Tool Coordinate System - Six Point Method
      • 6.3. Setting the tool reference point - four-point method
      • 6.4. Calculate the tool coordinate system - four-point method
      • 6.5. Set the tool coordinate system
      • 6.6. Calculate the tool coordinate system from the point information
      • 6.7. Set the list of tool coordinate systems
      • 6.8. Get the current tool coordinate system
      • 6.9. Robot tool coordinate system operation code example
      • 6.10. Setting the external tool coordinate reference point - three-point method
      • 6.11. Calculating an external tool coordinate system - three-point method
      • 6.12. Set the external tool coordinate system
      • 6.13. Setting up a list of external tool coordinate systems
      • 6.14. Calculate the workpiece coordinate system from the point information
      • 6.15. Sample code for manipulating the robot’s external tool coordinate system
      • 6.16. Setting the reference point of the workpiece coordinate system - three-point method
      • 6.17. Calculate the work coordinate system
      • 6.18. Set the workpiece coordinate system
      • 6.19. Set the list of workpiece coordinate systems
      • 6.20. Get the current workpiece coordinate system
      • 6.21. Robot workpiece coordinate system operation code example
      • 6.22. Setting the global speed
      • 6.23. Set the robot acceleration
      • 6.24. Get the default robot speed
      • 6.25. Set the end load weight
      • 6.26. Set the center of mass of the end load
      • 6.27. Get the weight of the current load
      • 6.28. Get the center of mass of the current load
      • 6.29. Set the robot mounting method
      • 6.30. Set the robot installation angle
      • 6.31. Get the robot installation angle
      • 6.32. Sets the value of the system variable
      • 6.33. Get the value of a system variable
      • 6.34. Sample code for common robot settings
      • 6.35. Joint friction compensation switch
      • 6.36. Sets the joint friction compensation factor - proper
      • 6.37. Set joint friction compensation coefficients - side mount
      • 6.38. Set joint friction compensation coefficients - inverted
      • 6.39. Set joint friction compensation coefficients - free mounting
      • 6.40. Robot set joint friction compensation code example
      • 6.41. Querying the robot error code
      • 6.42. Error status clearing
      • 6.43. Example of getting robot fault status and clearing error code
      • 6.44. Setting the parameters for monitoring the temperature and fan speed of the wide voltage control box
      • 6.45. Get the parameters for monitoring the temperature and fan speed of the wide-voltage control box.
      • 6.46. Code example
      • 6.47. Set the focus calibration point
      • 6.48. Set the focus coordinates
      • 6.49. Enable focus following
      • 6.50. Stop focus following
      • 6.51. Focus Follow Code Example
      • 6.52. Enable joint torque sensor sensitivity calibration function
      • 6.53. Sensitivity data acquisition of joint torque sensors
      • 6.54. Get the sensitivity calibration results of the joint torque sensor
      • 6.55. Get Joint Torque Sensor Hysteresis Error
      • 6.56. Get Joint Torque Sensor Repeatability
      • 6.57. Set Joint Force Sensor Parameters
      • 6.58. Joint torque sensor sensitivity automatic calibration Code Example
      • 6.59. Get the number of 8 slave port error frames of the robot
      • 6.60. Clear the slave port error num
      • 6.61. Gets the slave port error frame code example
      • 6.62. Set the feedforward coefficients of the velocities of each axis
      • 6.63. Get the feedforward coefficients of the velocities of each axis
      • 6.64. Robot velocity feedforward coefficient code example
      • 6.65. Photoelectric Sensor TCP Calibration - Compute Tool RPY
      • 6.66. Photoelectric Sensor TCP Calibration - Compute Tool XYZ
      • 6.67. Photoelectric Sensor TCP Calibration - Start Recording Flange Center Position
      • 6.68. Photoelectric Sensor TCP Calibration - Stop Recording Flange Center Position
      • 6.69. Photoelectric Sensor TCP Calibration - Get Tool Center Point Position
      • 6.70. Photoelectric Sensor TCP Calibration
      • 6.71. Photoelectric Sensor TCP Calibration Code Example
    • 7. Robot Safety Settings
      • 7.1. Set collision level
      • 7.2. Set collision post-strategy
      • 7.3. Custom collision detection threshold function start
      • 7.4. Custom collision detection threshold function disabled
      • 7.5. Robot collision level settings code example
      • 7.6. Set positive limit
      • 7.7. Set negative limit
      • 7.8. Get joint soft limit angles
      • 7.9. Robot limit setting code example
      • 7.10. Set robot collision detection method
      • 7.11. Set collision detection start/stop in static mode
      • 7.12. Code example for setting the robot collision detection method
      • 7.13. Joint Torque Power Detection
      • 7.14. Joint torque power detection code example
      • 7.15. Set Safety Speed Parameters
      • 7.16. SDK Code Example for Setting Safety Speed Parameters
    • 8. Robot Status Check
      • 8.1. Get current joint position (angle).
      • 8.2. Get current joint position in degrees of arc.
      • 8.3. Get the joint feedback velocity
      • 8.4. Get joint feedback acceleration
      • 8.5. Get TCP command velocity - joint velocity
      • 8.6. Get TCP feedback speed-composite speed
      • 8.7. Get TCP command speed-composite speed
      • 8.8. Get TCP feedback speed-split speed
      • 8.9. Get current tool position
      • 8.10. Get the current tool coordinate system number
      • 8.11. Get the current tool coordinate system number
      • 8.12. Get the current end flange position
      • 8.13. Get the current joint torque
      • 8.14. Get System Time
      • 8.15. Queries if the robot movement is complete
      • 8.16. Queries the length of the robot motion queue cache
      • 8.17. Get the robot emergency stop state
      • 8.18. Get the state of the communication between the SDK and the robot
      • 8.19. Get safety stop signal
      • 8.20. Get robot joint actuator temperature (℃)
      • 8.21. Get robot joint driver torque(Nm).
      • 8.22. Get the Latest Frame of Robot Real-Time Status Data (Internal Mechanism Changed)
      • 8.23. Sample Robot Status Query Code
      • 8.24. Inverse kinematics solution
      • 8.25. Inverse kinematics solution (reference position)
      • 8.26. Inverse Kinematics Solution, Cartesian Space Includes Extended Axis Position
      • 8.27. Example Code for Inverse Kinematics Solution Including Extended Axis Position
      • 8.28. Example Code for Inverse Kinematics Solution Including Extended Axis Position
      • 8.29. Positive kinematics solution
      • 8.30. Robot Forward and Reverse Kinematics Calculation Code Example
      • 8.31. Querying Robot Teaching Management Point Data
      • 8.32. Get the robot DH parameter compensation value
      • 8.33. Get control box SN code
      • 8.34. Query the robot teaching management point data code example
      • 8.35. Get Tool Coordinate System by ID
      • 8.36. Get Work Object Coordinate System by ID
      • 8.37. Get External Tool Coordinate System by ID
      • 8.38. Get Extended Axis Coordinate System by ID
      • 8.39. Get Current Tool Coordinate System
      • 8.40. Get Current Work Object Coordinate System
      • 8.41. Get Current External Tool Coordinate System
      • 8.42. Get Current Extended Axis Coordinate System
      • 8.43. Get Current Extended Axis Coordinate System
    • 9. Robot trajectory reproduction
      • 9.1. Set the parameters for TPD trajectory recording
      • 9.2. Start TPD trajectory recording
      • 9.3. Stop TPD trajectory recording
      • 9.4. Delete the TPD trajectory record
      • 9.5. TPD trajectory preloading
      • 9.6. Obtain the starting pose of the TPD trajectory
      • 9.7. TPD trajectory reproduction
      • 9.8. A sample code for robot TPD trajectory recording
      • 9.9. Preprocessing of external trajectory files
      • 9.10. External trajectory file trajectory reproduction
      • 9.11. Obtain the starting position of the trajectory file’s trajectory
      • 9.12. Obtain the trajectory point number in the trajectory file
      • 9.13. Set Speed During Trajectory Execution
      • 9.14. Code Example for Setting Robot Speed During Trajectory Execution
      • 9.15. Set the force and torque during the trajectory file’s trajectory operation
      • 9.16. Set the force along the x direction during the trajectory’s operation
      • 9.17. Set the force along the y direction during the trajectory’s operation
      • 9.18. Set the force along the z direction during the trajectory’s operation
      • 9.19. Set the torque around the X-axis during the trajectory’s operation
      • 9.20. Set the torque around the Y-axis during the trajectory’s operation
      • 9.21. Set the torque around the Z-axis during the trajectory’s operation
      • 9.22. Upload the trajectory J file
      • 9.23. Delete the trajectory J file
      • 9.24. Sample code for reproducing robot trajectory J files
      • 9.25. Trajectory preprocessing (trajectory forward-looking)
      • 9.26. Trajectory reproduction (Trajectory Foresight)
      • 9.27. Trajectory reproduction (trajectory forward-looking) code example
      • 9.28. Move to TPD Trajectory Recording Start Point
      • 9.29. SDK Code Example for Moving to TPD Trajectory Recording Start Point
    • 10. The use of robot WebAPP programs
      • 10.1. Set the default job program to be automatically loaded upon startup
      • 10.2. Load the specified job program
      • 10.3. Get the name of the loaded job program
      • 10.4. Obtain the execution line number of the current robot operation program
      • 10.5. Run the currently loaded job program
      • 10.6. Pause the currently running job program
      • 10.7. Resume the currently suspended job procedure
      • 10.8. Terminate the currently running job program
      • 10.9. Obtain the execution status of the robot’s operation program
      • 10.10. Example of robot LUA program operation code
      • 10.11. Download the Lua file
      • 10.12. Upload the Lua file
      • 10.13. Delete the Lua file
      • 10.14. Get the names of all current lua files
      • 10.15. Code example for uploading and downloading robot LUA files
    • 11. Robot Peripherals
      • 11.1. Configure Gripper
      • 11.2. Get gripper configuration
      • 11.3. Activate Gripper
      • 11.4. Control gripper
      • 11.5. Get gripper motion status
      • 11.6. Get gripper activation status
      • 11.7. Get Gripper Position
      • 11.8. Get gripper speed
      • 11.9. Get gripper current
      • 11.10. Get gripper voltage
      • 11.11. Get gripper temperature
      • 11.12. Calculate pre-gripping point - vision
      • 11.13. Calculate retreat point - vision
      • 11.14. Robot Gripper Operation Code Example
      • 11.15. Get the number of rotations of the rotating gripper
      • 11.16. Get the rotation speed percentage of the rotating gripper
      • 11.17. Get the rotation torque percentage of the rotating gripper
      • 11.18. Example of retrieving the rotational gripper status code
      • 11.19. Drive belt start/stop
      • 11.20. Record IO detection points
      • 11.21. Record point A
      • 11.22. Record reference point
      • 11.23. Record Point B
      • 11.24. Conveyor belt workpiece IO detection
      • 11.25. Get Object Current Position
      • 11.26. Start conveyor tracking
      • 11.27. Conveyor tracking stop
      • 11.28. Drive Belt Parameter Configuration
      • 11.29. Set conveyor belt pickup point compensation
      • 11.30. Conveyor belt tracking linear motion
      • 11.31. Conveyor communication input detection
      • 11.32. Conveyor Communication Input Detection Trigger
      • 11.33. Conveyor Communication Input Detection Trigger Example Program
      • 11.34. Robot Conveyor Belt Operation Example Program
      • 11.35. End Sensor Configuration
      • 11.36. Get endpoint sensor configuration
      • 11.37. End-of-line sensor activation
      • 11.38. End Sensor Register Write
      • 11.39. End Sensor Code Example
      • 11.40. Obtain robot peripheral protocol
      • 11.41. Set robot peripheral protocol
      • 11.42. Example program for setting robot peripheral protocol
      • 11.43. Get end-point communication parameters
      • 11.44. Set terminal communication parameters
      • 11.45. Set terminal file transfer type
      • 11.46. Set enable terminal LUA execution
      • 11.47. End LUA file exception error recovery
      • 11.48. Get the enable status of the terminal LUA execution
      • 11.49. Set the enable type of the terminal LUA terminal device
      • 11.50. Get the enable type of the end-of-line LUA device
      • 11.51. Get the currently configured end device
      • 11.52. Set enable gripper action control functionality
      • 11.53. Get enable claw action control function
      • 11.54. Writing robot Ethercat slave file
      • 11.55. Upload terminal Lua open protocol file
      • 11.56. Robot Ethercat slave enters boot mode
      • 11.57. Robot End-of-Arm LUA File Operation Code Example
      • 11.58. Get SmartTool button status
      • 11.59. Code example
      • 11.60. Upload Open Protocol Lua File
      • 11.61. Get Slave Board Parameters
      • 11.62. Write Slave DO
      • 11.63. Write Slave AO
      • 11.64. Read Slave DI
      • 11.65. Read Slave AI
      • 11.66. Wait for Extended DI Input
      • 11.67. Wait for Extended AI Input
      • 11.68. Slave Mode Related Interface Command Code Example
      • 11.69. Control Array Sucker
      • 11.70. Get Array Sucker Status
      • 11.71. Wait for Sucker Status
      • 11.72. Array Sucker Control Command Code Example
      • 11.73. Laser peripheral on/off function
      • 11.74. Laser tracking start/stop function
      • 11.75. Laser positioning - fixed direction
      • 11.76. Laser positioning - arbitrary direction
      • 11.77. Laser positioning stop
      • 11.78. Laser IP configuration
      • 11.79. Laser peripheral sampling period configuration
      • 11.80. Laser peripheral driver loading
      • 11.81. Laser Peripheral Driver Unloading
      • 11.82. Laser Weld Seam Trajectory Recording
      • 11.83. Laser Weld Seam Trajectory Replay
      • 11.84. Laser Tracking Replay
      • 11.85. Laser Weld Seam Trajectory Recording and Replay
      • 11.86. Move to Laser Record Start Point
      • 11.87. Move to Laser Record End Point
      • 11.88. Move to Laser Sensor Positioning Point
      • 11.89. Get laser sensor positioning point coordinate information
      • 11.90. Laser Peripheral Sensor Parameter Configuration and Debugging Code Example
      • 11.91. Laser Trajectory Scanning and Trajectory Replay Code Example
      • 11.92. Laser Positioning and Real-time Tracking Code Example
      • 11.93. Extended Axis and Robot Synchronized Laser Tracking Code Example
      • 11.94. End-Effector Transparent Transmission Function Enable/Disable
      • 11.95. End-Effector Transparent Transmission Function Non-Periodic Data Transmission and Reception
      • 11.96. Code Example for Non-Periodic Data Communication of DIO Health Care Moxibustion Head Based on End-Effector Transparent Transmission Function
      • 11.97. Download Open Protocol Lua File
      • 11.98. Delete Open Protocol Lua File
      • 11.99. Delete All Open Protocol Lua Files
      • 11.100. SDK Code Example for Open Protocol Lua File Operations
    • 12. Machine Manpower Control
      • 12.1. Force Sensor Configuration
      • 12.2. Get the force transducer configuration
      • 12.3. Force sensor activation
      • 12.4. Force Transducer Zeroing
      • 12.5. Set the force transducer reference coordinate system
      • 12.6. Set the force transducer lower load weight
      • 12.7. Set the force sensor payload center of mass
      • 12.8. Get the force sensor pay load weight
      • 12.9. Get force sensor payload center of mass
      • 12.10. Automatic zeroing of the force sensor.
      • 12.11. Get force/torque data in reference coordinate system.
      • 12.12. Get force sensor raw force/torque data
      • 12.13. Force Transducer Configuration and Auto-Zero Code Example
      • 12.14. Load Weight Recognition Record
      • 12.15. Load weight recognition calculation
      • 12.16. Load center of mass identification record
      • 12.17. Load center of mass identification calculation
      • 12.18. Force Transducer Load Recognition Code Example
      • 12.19. Collision Guard
      • 12.20. Collision Guard Code Example
      • 12.21. Constant force control
      • 12.22. Constant force control with damping code example
      • 12.23. Rotational Insertion
      • 12.24. Robot Force Sensor Rotational Insertion Code Example
      • 12.25. Flex control on
      • 12.26. Flex control off
      • 12.27. Sample Flex Control Code
      • 12.28. Load recognition initialization
      • 12.29. Load identification variable initialization
      • 12.30. Load Identification Main Program
      • 12.31. Get the load identification result
      • 12.32. Robot Load Identification Code Example
      • 12.33. Force sensor assisted drag
      • 12.34. Get the state of the force sensor drag switch
      • 12.35. The force sensor is automatically turned on after the error is cleared
      • 12.36. Force Sensor Assisted Drag Code Example
      • 12.37. Setting up the six-dimensional force and joint impedance hybrid drag switch and parameters
      • 12.38. Force Sensor Assisted Drag Code Example
      • 12.39. Setting up the Wire Seek Expansion IO Port
      • 12.40. Impedance Control Start/Stop
      • 12.41. Robot Impedance Control Start/Stop Code Example
      • 12.42. Enable torque compensation function and compensation coefficient
    • 13. Extended axis
      • 13.1. Set 485 extended axis parameters
      • 13.2. Get 485 extended axis configuration parameters
      • 13.3. Set 485 extended axis enable/disable
      • 13.4. Set 485 extension axis control mode
      • 13.5. Set the target position of the 485 extended axis (position mode)
      • 13.6. Set the target speed of the 485 extended axis (speed mode)
      • 13.7. Set the target torque of the 485 extended axis (torque mode) – Not available yet
      • 13.8. Set 485 extended axis zero
      • 13.9. Clear 485 extended axis error information
      • 13.10. Get 485 extended axis servo status
      • 13.11. Set the 485 extended axis data axis number in the status feedback
      • 13.12. Set the acceleration and deceleration of the 485 extended axis
      • 13.13. Set 485 extended axis emergency stop acceleration and deceleration
      • 13.14. Get 485 extended axis movement acceleration and deceleration
      • 13.15. Get 485 extended axis emergency stop acceleration and deceleration
      • 13.16. Extended axis control code example
      • 13.17. UDP extended axis communication parameter configuration
      • 13.18. Get UDP Extension Axis Communication Parameter Configuration
      • 13.19. Load UDP communication
      • 13.20. Unload UDP communication
      • 13.21. Restore connection after abnormal disconnection of UDP extended axis communication
      • 13.22. Close communication after abnormal disconnection of UDP extended axis communication
      • 13.23. UDP extended axis parameter configuration
      • 13.24. Set the installation position of the extended axis
      • 13.25. Set extended axis system DH parameter configuration
      • 13.26. UDP extended axis enable
      • 13.27. UDP extended axis reset
      • 13.28. UDP extended axis jog start
      • 13.29. UDP extended axis jog stop
      • 13.30. UDP extended axis configuration and jog code example
      • 13.31. Set the reference point of the extended axis coordinate system - four-point method
      • 13.32. Calculate extended axis coordinate system - four-point method
      • 13.33. Apply extended axis coordinate system
      • 13.34. Set the calibration reference point in the end coordinate system of the positioner
      • 13.35. Set the reference point of the positioner coordinate system
      • 13.36. Positioner coordinate system calculation - four-point method
      • 13.37. Get extended axis coordinate system
      • 13.38. Extended axis coordinate system calibration code example
      • 13.39. Extended axis motion via UDP
      • 13.40. UDP extended axis movement code example
      • 13.41. UDP extended axis and robot joint motion synchronization
      • 13.42. Code example
      • 13.43. UDP extended axis and robot linear motion synchronization
      • 13.44. Code example
      • 13.45. UDP extended axis and robot arc motion synchronization
      • 13.46. Code example
      • 13.47. Set extended DO
      • 13.48. Set extended AO
      • 13.49. Set extended DI input filter time
      • 13.50. Set extended AI input filter time
      • 13.51. Wait for extended DI input
      • 13.52. Wait for extended AI input
      • 13.53. Get extended DI value
      • 13.54. Get extended AI value
      • 13.55. Extended IO code example
      • 13.56. Enable movable device
      • 13.57. Stop movable device movement
      • 13.58. Reset the movable device
      • 13.59. Movable device moves in a straight line
      • 13.60. Circular motion of a movable device
      • 13.61. Code example
      • 13.62. Set the synchronous motion strategy of the extension axis and the robot
      • 13.63. Code example for setting up the extended axis to move synchronously with the robot
      • 13.64. UDP Extension Axis Positioning Completion Time Setting
    • 14. Robotic Welding
      • 14.1. Setting the welding process parameters
      • 14.2. Get weld process curve parameters
      • 14.3. Setting the weld current in relation to the output analog
      • 14.4. Set Welding Voltage and Output Analog Relation
      • 14.5. Get the relationship between the welding current and the output analog
      • 14.6. Get Welding Voltage Relation to Output Analog
      • 14.7. Set weld current
      • 14.8. Set Welding Voltage
      • 14.9. Set the swing parameter
      • 14.10. Sample code for setting welding parameters
      • 14.11. Setting the swing parameters on the fly
      • 14.12. Set parameters for detecting unexpected interruptions of the robot’s welding arc
      • 14.13. Get parameters for detecting accidental interruptions of the robot’s welding arc
      • 14.14. Set the robot welding interruption recovery parameter
      • 14.15. Get the robot welding break recovery parameter
      • 14.16. Set welder control mode extension DO port
      • 14.17. Set Welding Machine Control Mode
      • 14.18. Weld start
      • 14.19. Weld End
      • 14.20. Oscillation start
      • 14.21. WeaveStart(int weaveNum); int WeaveStart(int weaveNum).
      • 14.22. Forward Wire Feed
      • 14.23. Reverse wire feed
      • 14.24. Wire Feed
      • 14.25. Setting the robot to resume welding after an interruption
      • 14.26. Sets the robot to exit welding after a weld break
      • 14.27. Code example
      • 14.28. Start of segment welding
      • 14.29. Robot segment welding code example
      • 14.30. Simulate the start of the swing
      • 14.31. End of swing simulation
      • 14.32. Start trajectory detection warning (no motion)
      • 14.33. End trajectory detection warning (no motion)
      • 14.34. Weave fading start
      • 14.35. Weave fade end
      • 14.36. Sample Welding Code for Robot Weave Change
      • 14.37. Extended IO-Configuration of Welder Gas Detection Signal
      • 14.38. Extended IO-Configuration of the welder arc start signal
      • 14.39. Extended IO-Configuring the Welder Reverse Wire Feed Signal
      • 14.40. Extended IO-Configuration Welder Forward Wire Feed Signal
      • 14.41. Extended IO-Configuration Welder Arc Start Success Signal
      • 14.42. Extended IO-Configuration Welder Ready Signal
      • 14.43. Extended IO-Configure weld interrupt recovery signal
      • 14.44. Set Extended IO Weld Signal Code Example
      • 14.45. Arc tracking control
      • 14.46. Arc tracking AI passband selection
      • 14.47. Arc Trace + Multi-Layer Multi-Channel Compensation on
      • 14.48. ArcWeldTrace + MultiLayerMultiChannelCompensation OFF
      • 14.49. Offset Coordinate Change - Multi-Layer Multi-Pass Welding
      • 14.50. Multi-layer multi-pass welding arc tracking code example
      • 14.51. Arc Tracking Welder Current Feedback AI Channel Selection
      • 14.52. Arc tracking welder voltage feedback AI channel selection
      • 14.53. Arc tracking welder current feedback conversion parameters
      • 14.54. Arc Trace Welder Voltage Feedback Conversion Parameters
      • 14.55. Arc Trace Code Example
      • 14.56. Start of wire position finding
      • 14.57. End of wire search
      • 14.58. Calculate the wire seek offset
      • 14.59. Wait for the wire search to complete
      • 14.60. Write wire search contact to database.
      • 14.61. Robot Welding Wire Position Finding Code Example
      • 14.62. Setting the end of the welding voltage gradient
      • 14.63. Set weld voltage gradual change end
      • 14.64. Sets the weld current gradual change end
      • 14.65. Set weld current gradual change end
      • 14.66. Robot Welding Current Voltage Gradual Change Code Example
      • 14.67. Set custom weaving parameters
      • 14.68. Get custom weaving parameters
      • 14.69. Custom Weaving Parameters Code Example
    • 15. CNDE
      • 15.1. Configure Robot CNDE Data List and Update Period
      • 15.2. Add a Status Item to the Existing Status Feedback List
      • 15.3. Delete a Status Item from the Existing Status Feedback List
      • 15.4. Modify Only the Update Period of Status Feedback
      • 15.5. Get the Currently Configured Status Feedback List and Update Period
      • 15.6. CNDE Configuration Related SDK Code Example
      • 15.7. CNDE Add/Delete Configuration Status and Set Communication Period SDK Code Example
    • 16. Other interfaces
      • 16.1. Get SSH public key
      • 16.2. Send SCP command
      • 16.3. Calculate the MD5 value of a file in a specified path
      • 16.4. Robot SSH and MD5 command code example
      • 16.5. Set robot 20004 port feedback cycle
      • 16.6. Get the robot’s 20004 port feedback period
      • 16.7. Robot 20004 port status feedback period configuration code example
      • 16.8. Robot Software Upgrade
      • 16.9. Get robot software upgrade status
      • 16.10. Robot software upgrade code example
      • 16.11. Download point table
      • 16.12. Upload point table
      • 16.13. Point Table Update Lua Program
      • 16.14. Switch point tables and apply
      • 16.15. Robot point table operation code example
      • 16.16. Controller log download
      • 16.17. All Data Source Download
      • 16.18. Data backup package download
      • 16.19. Download controller data code example
      • 16.20. Robot Operating System Upgrade (LA Control Box)
      • 16.21. Get Robot Operating System Upgrade Result (LA Control Box)
      • 16.22. Set encoder upgrade
      • 16.23. Set joint firmware upgrade
      • 16.24. Set firmware upgrade for control box
      • 16.25. Set end firmware upgrade
      • 16.26. Upgrade of the joint full parameter configuration file
      • 16.27. Example of upgrading code for robot from firmware
      • 16.28. Robot MCU log generation
      • 16.29. Set Robot to Stop Running When Port Communication is Disconnected
      • 16.30. Get Robot Stop on Communication Disconnection Parameters
      • 16.31. Robot Stop on Communication Disconnection Parameter Code Example
      • 16.32. Send UDP Instruction Frame
      • 16.33. UDP Communication-Based SDK Code Example
      • 16.34. Set User-Defined Robot End-Effector LED Color
      • 16.35. SDK Code Example for Setting User-Defined Robot End-Effector LED Color
    • 17. Appendix
      • 17.1. Source Code Download
      • 17.2. Windows Platform Source Code Compilation
        • 17.2.1. C# SDK Compilation
        • 17.2.2. C# SDK Usage
      • 17.3. Notes
        • 17.3.1. Potential Issues
          • 17.3.1.1. Handling No Effect After Code Updates
          • 17.3.1.2. Error Codes
  • Java
    • 1. Version Update Description
    • 2. Data Structure Description
      • 2.1. Joint Position Data Type
      • 2.2. Cartesian Space Position Data Type
      • 2.3. Euler Angle Attitude Data Type
      • 2.4. Cartesian Space Pose Data Type
      • 2.5. Extended Axis Position Data Type
      • 2.6. Force Torque Sensor Data Type
      • 2.7. Spiral Parameter Data Type
      • 2.8. Extended Axis Status Type
      • 2.9. Sensor Type
      • 2.10. 485 Extended Axis Configuration
      • 2.11. Servo Controller Status
      • 2.12. Welding Breakoff Status
      • 2.13. UDP Extended Axis Communication Parameters
      • 2.14. Robot State Feedback Structure Type
      • 2.15. Robot Status Feedback Configuration Result Class
      • 2.16. Robot Status Feedback Configuration Enumeration Type
    • 3. Robot basics
      • 3.1. Instantiate robot
      • 3.2. Establish communication with controller
      • 3.3. Close communication with robot
      • 3.4. Query sdk version
      • 3.5. Get controller ip
      • 3.6. Control robot to enter or exit drag teaching mode
      • 3.7. Query whether robot is in drag teaching mode
      • 3.8. Control robot enable or disable
      • 3.9. Control robot manual/auto mode switch
      • 3.10. Shut down robot os
      • 3.11. Set robot communication reconnect parameters
      • 3.12. Initialize log parameters
      • 3.13. Set log filter level
      • 3.14. Robot basic control code example
      • 3.15. Get robot software version
      • 3.16. Get robot hardware version
      • 3.17. Get robot firmware version
      • 3.18. Get robot software/firmware version code example
    • 4. Robot movement
      • 4.1. Jog movement
      • 4.2. Jog deceleration stop
      • 4.3. Jog immediate stop
      • 4.4. Robot jog control code example
      • 4.5. Joint space movement
      • 4.6. Joint space motion (automatic forward kinematics calculation)
      • 4.7. Cartesian space linear movement
      • 4.8. Cartesian space linear motion (automatic inverse kinematics calculation)
      • 4.9. Cartesian Space Linear Motion (Added velAccParamMode parameter for velocity and acceleration modes)
      • 4.10. Cartesian Space Linear Motion (Overload Function 1, Added blendMode)
      • 4.11. Cartesian Space Linear Motion (Overload Function 2, No Joint Position Input Required)
      • 4.12. Cartesian space circular movement
      • 4.13. Cartesian Space Arc Motion (Added velAccParamMode parameter for velocity and acceleration modes)
      • 4.14. Cartesian Space Arc Motion (Overload Function 1, No Joint Position Input Required)
      • 4.15. Cartesian space full circle movement
      • 4.16. Cartesian space full circle motion (automatic inverse kinematics calculation)
      • 4.17. Cartesian Space Full Circle Motion (Added velAccParamMode parameter for velocity and acceleration modes)
      • 4.18. Cartesian Space Full Circle Motion (Overload Function 1, No Joint Position Input Required)
      • 4.19. Cartesian space point-to-point movement
      • 4.20. Basic robot movement command code example
      • 4.21. Cartesian space spiral movement
      • 4.22. Cartesian space spiral motion (automatic inverse kinematics calculation)
      • 4.23. Spiral movement code example
      • 4.24. Servo Motion Start
      • 4.25. Servo Motion End
      • 4.26. Joint Space Servo Mode Motion
      • 4.27. UDP Communication-Based ServoJ, ServoMoveStart, ServoMoveEnd SDK Code Example
      • 4.28. Joint space servo mode movement example program
      • 4.29. Joint Torque Control Start
      • 4.30. Joint Torque Control
      • 4.31. Joint Torque Control End
      • 4.32. Joint space servo mode movement example program
      • 4.33. UDP Communication-Based ServoJT, ServoJTStart, ServoJTEnd SDK Code Example
      • 4.34. Joint Torque Control Code Example with Overspeed Protection
      • 4.35. Cartesian Space Servo Mode Motion
      • 4.36. Cartesian Space Servo Mode Motion Code Example
      • 4.37. Spline movement start
      • 4.38. Joint movement PTP
      • 4.39. Joint space spline motion (automatic forward kinematics calculation)
      • 4.40. Spline movement end
      • 4.41. Spline movement code example
      • 4.42. New spline movement start
      • 4.43. New spline command point
      • 4.44. New spline command point (automatic inverse kinematics calculation)
      • 4.45. New spline movement end
      • 4.46. New spline movement code example
      • 4.47. Stop movement
      • 4.48. Pause movement
      • 4.49. Resume movement
      • 4.50. Movement pause, resume, stop code example
      • 4.51. Point global offset start
      • 4.52. Point global offset end
      • 4.53. Point offset code example
      • 4.54. Controller AO flying start
      • 4.55. Controller AO flying stop
      • 4.56. End effector AO flying start
      • 4.57. End effector AO flying stop
      • 4.58. AO flying code example
      • 4.59. Start Ptp movement FIR filtering
      • 4.60. Close Ptp movement FIR filtering
      • 4.61. Start LIN, ARC movement FIR filtering
      • 4.62. Close LIN, ARC movement FIR filtering
      • 4.63. FIR filtering code example
      • 4.64. Acceleration smoothing enable
      • 4.65. Acceleration smoothing disable
      • 4.66. Acceleration smoothing code example
      • 4.67. Specified pose speed enable
      • 4.68. Specified pose speed disable
      • 4.69. Robot specified pose speed code example
      • 4.70. Start singular pose protection
      • 4.71. Stop singular pose protection
      • 4.72. Robot singular pose protection code example
      • 4.73. Clear Motion Command Queue
      • 4.74. Move to Intersecting Line Start Point
      • 4.75. Intersecting Line Motion
      • 4.76. Robot Intersecting Line Motion Code Example
      • 4.77. Stationary Air Motion
      • 4.78. Stationary Air Motion Code Example
      • 4.79. Fixed-Point Swing Start
      • 4.80. Fixed-Point Swing End
      • 4.81. Fixed-Point Swing SDK Code Example
      • 4.82. Fixed-Point Swing (Including Laser and Extension Axis) SDK Code Example
    • 5. Robot IO
      • 5.1. Set control box digital output
      • 5.2. Set tool digital output
      • 5.3. Set control box analog output
      • 5.4. Set tool analog output
      • 5.5. Digital and analog output setting example
      • 5.6. Get control box digital input
      • 5.7. Get tool digital input
      • 5.8. Get control box analog input
      • 5.9. Get tool analog input
      • 5.10. Get robot end-point record button state
      • 5.11. Get robot end DO output state
      • 5.12. Get robot controller DO output state
      • 5.13. Get robot DI/DO state example
      • 5.14. Wait for control box digital input
      • 5.15. Wait for multiple control box digital inputs
      • 5.16. Wait for tool digital input
      • 5.17. Wait for control box analog input
      • 5.18. Wait for tool analog input
      • 5.19. Wait for digital/analog input signal example
      • 5.20. Set Whether Control Box DO Output Resets After Stop/Pause
      • 5.21. Set Whether Control Box AO Output Resets After Stop/Pause
      • 5.22. Set Whether End Tool DO Output Resets After Stop/Pause
      • 5.23. Set Whether End Tool AO Output Resets After Stop/Pause
      • 5.24. Set Whether Extended DO Output Resets After Stop/Pause
      • 5.25. Set Whether Extended AO Output Resets After Stop/Pause
      • 5.26. Set Whether SmartTool Output Resets After Stop/Pause
      • 5.27. Code Example for Setting Output Reset After Lua Program Stop/Pause
      • 5.28. Set Configurable CI Port Functions of the Control Box
      • 5.29. Get Configurable CI Port Functions of the Control Box
      • 5.30. Set Configurable CO Port Functions of the Control Box
      • 5.31. Get Configurable CO Port Functions of the Control Box
      • 5.32. Set Configurable End-CI Port Functions of the End-Effector
      • 5.33. Get Configurable End-CI Port Functions of the End-Effector
      • 5.34. Set Configurable CI Active State of the Control Box
      • 5.35. Get Configurable CI Active State of the Control Box
      • 5.36. Set Configurable CO Active State of the Control Box
      • 5.37. Get Configurable CO Active State of the Control Box
      • 5.38. Set Configurable CI Active State of the End-Effector
      • 5.39. Get Configurable CI Active State of the End-Effector
      • 5.40. Set Standard DI Active State of the Control Box
      • 5.41. Get Standard DI Active State of the Control Box
      • 5.42. Set Standard DO Active State of the Control Box
      • 5.43. Get Standard DO Active State of the Control Box
      • 5.44. Robot IO Configuration Code Example
    • 6. Robot common settings
      • 6.1. Set tool reference point - six point method
      • 6.2. Calculate tool coordinate system - six point method
      • 6.3. Set tool reference point - four point method
      • 6.4. Calculate tool coordinate system - four point method
      • 6.5. Calculate tool coordinate system based on point information
      • 6.6. Set tool coordinate system
      • 6.7. Set tool coordinate system list
      • 6.8. Get current tool coordinate system
      • 6.9. Robot tool coordinate system operation code example
      • 6.10. Set external tool reference point - six point method
      • 6.11. Calculate external tool coordinate system - six point method
      • 6.12. Set external tool coordinate system
      • 6.13. Set external tool coordinate system list
      • 6.14. Robot external tool coordinate system operation code example
      • 6.15. Set workpiece reference point - three point method
      • 6.16. Calculate workpiece coordinate system
      • 6.17. Set workpiece coordinate system
      • 6.18. Set workpiece coordinate system list
      • 6.19. Calculate workpiece coordinate system based on point information
      • 6.20. Get current workpiece coordinate system
      • 6.21. Workpiece coordinate system operation code example
      • 6.22. Set global speed
      • 6.23. Set robot acceleration
      • 6.24. Get robot default speed
      • 6.25. Set end load weight
      • 6.26. Set end load center of mass coordinates
      • 6.27. Set End Effector Load Center of Mass Coordinates
      • 6.28. Get current load weight
      • 6.29. Get current load center of mass
      • 6.30. Set robot installation method
      • 6.31. Set robot installation angle
      • 6.32. Get robot installation angle
      • 6.33. Set system variable value
      • 6.34. Get system variable value
      • 6.35. Robot common settings code example
      • 6.36. Joint friction compensation switch
      • 6.37. Set joint friction compensation coefficient - standard installation
      • 6.38. Set joint friction compensation coefficient - side installation
      • 6.39. Set joint friction compensation coefficient - inverted installation
      • 6.40. Set joint friction compensation coefficient - free installation
      • 6.41. Robot set joint friction compensation code example
      • 6.42. Query robot error code
      • 6.43. Error state clear
      • 6.44. Robot fault state get and clear error code example
      • 6.45. Set wide voltage control box temperature and fan speed monitoring parameters
      • 6.46. Get wide voltage control box temperature and fan speed monitoring parameters
      • 6.47. Wide voltage control box temperature and fan current state get code example
      • 6.48. Set Focus Calibration Point
      • 6.49. Compute Focus Calibration Result
      • 6.50. Start focus following
      • 6.51. Stop Focus Following
      • 6.52. Set Focus Position
      • 6.53. Focus Following Code Example
      • 6.54. Joint Torque Sensor Sensitivity Calibration Function Enabled
      • 6.55. Joint Torque Sensor Sensitivity Data Acquisition
      • 6.56. Get Joint Torque Sensor Sensitivity Calibration Results
      • 6.57. Get Joint Torque Sensor Hysteresis Error
      • 6.58. Get Joint Torque Sensor Repeatability
      • 6.59. Set Joint Force Sensor Parameters
      • 6.60. Joint Torque Sensor Sensitivity Auto-Calibration Code Example
      • 6.61. Retrieve the number of error frames for the robot’s 8 slave ports
      • 6.62. Reset slave port error frames
      • 6.63. Example for retrieving slave port error frame codes
      • 6.64. Set speed feedforward coefficients for each axis
      • 6.65. Retrieve speed feedforward ratios for each axis
      • 6.66. Robot Speed Feedforward Coefficient Code Example
      • 6.67. Photoelectric Sensor TCP Calibration - Compute Tool RPY
      • 6.68. Photoelectric Sensor TCP Calibration - Compute Tool XYZ
      • 6.69. Photoelectric Sensor TCP Calibration - Start Recording Flange Center Position
      • 6.70. Photoelectric Sensor TCP Calibration - Stop Recording Flange Center Position
      • 6.71. Photoelectric Sensor TCP Calibration - Get Tool Center Point Position
      • 6.72. Photoelectric Sensor TCP Calibration
      • 6.73. Photoelectric Sensor TCP Calibration Code Example
    • 7. Robot safety settings
      • 7.1. Set collision level
      • 7.2. Set post-collision strategy
      • 7.3. Custom collision detection threshold function start
      • 7.4. Custom collision detection threshold function end
      • 7.5. Robot collision level setting code example
      • 7.6. Set positive limit
      • 7.7. Set negative limit
      • 7.8. Get joint soft limit angles
      • 7.9. Robot limit setting code example
      • 7.10. Set robot collision detection method
      • 7.11. Set static collision detection on/off
      • 7.12. Robot collision detection method code example
      • 7.13. Joint torque power detection
      • 7.14. Joint torque power detection code example
      • 7.15. Set Safety Speed Parameters
      • 7.16. SDK Code Example for Setting Safety Speed Parameters
    • 8. Robot status inquiry
      • 8.1. Get current joint positions (degrees)
      • 8.2. Get joint feedback speed (deg/s)
      • 8.3. Get joint feedback acceleration
      • 8.4. Get TCP command composite speed
      • 8.5. Get TCP feedback composite speed
      • 8.6. Get TCP command speed
      • 8.7. Get TCP feedback speed
      • 8.8. Get current tool pose
      • 8.9. Get current tool coordinate system number
      • 8.10. Get current workpiece coordinate system number
      • 8.11. Get current end flange pose
      • 8.12. Get current joint torque
      • 8.13. Get system time
      • 8.14. Check if robot motion is completed
      • 8.15. Query robot motion queue buffer length
      • 8.16. Get robot emergency stop state
      • 8.17. Get SDK-robot communication state
      • 8.18. Get safety stop signal
      • 8.19. Get robot joint driver temperature (°C)
      • 8.20. Get robot joint driver torque (Nm)
      • 8.21. Get robot real-time state structure
      • 8.22. Robot status inquiry code example
      • 8.23. Inverse kinematics calculation
      • 8.24. Inverse kinematics calculation (reference position)
      • 8.25. Inverse Kinematics Solution, Cartesian Space Includes Extended Axis Position
      • 8.26. Inverse Kinematics Solution Including Extended Axis Position Code Example
      • 8.27. Check if inverse kinematics has solution
      • 8.28. Forward kinematics calculation
      • 8.29. Robot forward/inverse kinematics calculation code example
      • 8.30. Query robot teaching management point data
      • 8.31. Get robot DH parameter compensation values
      • 8.32. Get controller SN code
      • 8.33. Query robot teaching management point data code example
      • 8.34. Get Tool Coordinate System by ID
      • 8.35. Get Work Object Coordinate System by ID
      • 8.36. Get External Tool Coordinate System by ID
      • 8.37. Get Extended Axis Coordinate System by ID
      • 8.38. Get Current Tool Coordinate System
      • 8.39. Get Current Work Object Coordinate System
      • 8.40. Get Current External Tool Coordinate System
      • 8.41. Get Current Extended Axis Coordinate System
      • 8.42. Get Robot Coordinate System and Payload Code Example
    • 9. Robot trajectory playback
      • 9.1. Set TPD trajectory recording parameters
      • 9.2. Start TPD trajectory recording
      • 9.3. Stop TPD trajectory recording
      • 9.4. Delete TPD trajectory recording
      • 9.5. TPD trajectory preloading
      • 9.6. TPD trajectory playback
      • 9.7. Get TPD starting pose
      • 9.8. Robot TPD trajectory recording code example
      • 9.9. Trajectory preprocessing
      • 9.10. Trajectory playback
      • 9.11. Get trajectory starting pose
      • 9.12. Get trajectory point number
      • 9.13. Set trajectory playback speed
      • 9.14. Set force/torque during trajectory playback
      • 9.15. Set x-direction force during trajectory playback
      • 9.16. Set y-direction force during trajectory playback
      • 9.17. Set z-direction force during trajectory playback
      • 9.18. Set x-axis torque during trajectory playback
      • 9.19. Set y-axis torque during trajectory playback
      • 9.20. Set z-axis torque during trajectory playback
      • 9.21. Upload trajectory J file
      • 9.22. Delete trajectory J file
      • 9.23. Robot trajectory J file playback code example
      • 9.24. Code example for setting the speed during robot trajectory execution
      • 9.25. Trajectory preprocessing (lookahead)
      • 9.26. Trajectory playback (lookahead)
      • 9.27. Trajectory playback (lookahead) code example
      • 9.28. Move to TPD Trajectory Recording Start Point
      • 9.29. SDK Code Example for Moving to TPD Trajectory Recording Start Point
    • 10. Robot WebAPP program usage
      • 10.1. Set default program to load automatically on startup
      • 10.2. Load specified program
      • 10.3. Get loaded program name
      • 10.4. Get current program execution line number
      • 10.5. Run currently loaded program
      • 10.6. Pause current running program
      • 10.7. Resume paused program
      • 10.8. Stop current running program
      • 10.9. Get robot program execution state
      • 10.10. Robot LUA program operation code example
      • 10.11. Download Lua program
      • 10.12. Delete Lua program
      • 10.13. Get all current Lua file names
      • 10.14. Upload Lua program
      • 10.15. Robot LUA file upload/download code example
    • 11. Robot peripherals
      • 11.1. Configure gripper
      • 11.2. Get gripper configuration
      • 11.3. Activate gripper
      • 11.4. Control gripper
      • 11.5. Get gripper motion status
      • 11.6. Get gripper activation status
      • 11.7. Get gripper position
      • 11.8. Get gripper speed
      • 11.9. Get gripper current
      • 11.10. Get gripper voltage
      • 11.11. Get gripper temperature
      • 11.12. Calculate pre-grasp point - vision
      • 11.13. Calculate retreat point - vision
      • 11.14. Robot gripper operation code example
      • 11.15. Get rotary gripper rotation turns
      • 11.16. Get rotary gripper rotation speed percentage
      • 11.17. Get rotary gripper rotation torque percentage
      • 11.18. Code example for getting rotary gripper status
      • 11.19. Conveyor start/stop
      • 11.20. Record IO detection point
      • 11.21. Record point A
      • 11.22. Record reference point
      • 11.23. Record point B
      • 11.24. Conveyor workpiece IO detection
      • 11.25. Get object current position
      • 11.26. Conveyor tracking start
      • 11.27. Conveyor tracking stop
      • 11.28. Conveyor parameter configuration
      • 11.29. Set conveyor grasp point compensation
      • 11.30. Conveyor linear motion
      • 11.31. Conveyor communication input detection
      • 11.32. Conveyor communication input detection trigger
      • 11.33. Robot conveyor operation example program
      • 11.34. End sensor configuration
      • 11.35. Get end sensor configuration
      • 11.36. End sensor activation
      • 11.37. End sensor register write
      • 11.38. End sensor code example
      • 11.39. Get robot peripheral protocol
      • 11.40. Set robot peripheral protocol
      • 11.41. Set robot peripheral protocol example program
      • 11.42. Get end communication parameters
      • 11.43. Set end communication parameters
      • 11.44. Set end file transfer type
      • 11.45. Set enable end LUA execution
      • 11.46. End LUA file error recovery
      • 11.47. Get end LUA execution enable status
      • 11.48. Set end LUA end device enable type
      • 11.49. Get end LUA end device enable type
      • 11.50. Get currently configured end devices
      • 11.51. Set enable gripper action control function
      • 11.52. Get enable gripper action control function
      • 11.53. Robot Ethercat slave file write
      • 11.54. Upload end Lua open protocol file
      • 11.55. Robot Ethercat slave enter boot mode
      • 11.56. Robot end LUA file operation code example
      • 11.57. Get SmartTool button status
      • 11.58. SmartTool button code example
      • 11.59. Upload Open Protocol Lua File
      • 11.60. Get Slave Board Parameters
      • 11.61. Write Slave DO
      • 11.62. Write Slave AO
      • 11.63. Read Slave DI
      • 11.64. Read Slave AI
      • 11.65. Wait for Extended DI Input
      • 11.66. Wait for Extended AI Input
      • 11.67. Slave Mode Related Interface Command Code Example
      • 11.68. Control Array Sucker
      • 11.69. Get Array Sucker Status
      • 11.70. Wait for Sucker Status
      • 11.71. Array Sucker Control Command Code Example
      • 11.72. Laser Peripheral On/Off Function
      • 11.73. Laser Tracking Start/Stop Function
      • 11.74. Laser Positioning - Fixed Direction
      • 11.75. Laser Positioning - Arbitrary Direction
      • 11.76. Laser Positioning Stop
      • 11.77. Laser IP Configuration
      • 11.78. Laser Peripheral Sampling Period Configuration
      • 11.79. Laser Peripheral Driver Loading
      • 11.80. Laser Peripheral Driver Unloading
      • 11.81. Laser Weld Seam Trajectory Recording
      • 11.82. Laser Weld Seam Trajectory Replay
      • 11.83. Laser Tracking Replay
      • 11.84. Laser Weld Seam Trajectory Recording and Replay
      • 11.85. Move to Laser Record Start Point
      • 11.86. Move to Laser Record End Point
      • 11.87. Move to Laser Sensor Positioning Point
      • 11.88. Get Laser Sensor Positioning Point Coordinate Information
      • 11.89. Laser Peripheral Sensor Parameter Configuration and Debugging Code Example
      • 11.90. Laser Trajectory Scanning and Trajectory Replay Code Example
      • 11.91. Laser Positioning and Real-time Tracking Code Example
      • 11.92. Extended Axis and Robot Synchronized Laser Tracking Code Example
      • 11.93. End-Effector Transparent Transmission Function Enable/Disable SDK Interface
      • 11.94. End-Effector Transparent Transmission Function Non-Periodic Data Transmission and Reception SDK Interface
      • 11.95. Code Example for Non-Periodic Data Communication of DIO Health Care Moxibustion Head Based on End-Effector Transparent Transmission Function
      • 11.96. Download Open Protocol Lua File
      • 11.97. Delete Open Protocol Lua File
      • 11.98. Delete All Open Protocol Lua Files
      • 11.99. Code Example for Controller Peripheral Open Protocol Upload, Download, and Delete
    • 12. Robot Force Control
      • 12.1. Configure Force Sensor
      • 12.2. Get Force Sensor Configuration
      • 12.3. Activate Force Sensor
      • 12.4. Zero Calibration for Force Sensor
      • 12.5. Set Force Sensor Reference Coordinate System
      • 12.6. Set Load Weight Under Force Sensor
      • 12.7. Set Load Center of Gravity Under Force Sensor
      • 12.8. Get Load Weight Under Force Sensor
      • 12.9. Get Load Center of Gravity Under Force Sensor
      • 12.10. Automatic Zero Calibration for Force Sensor
      • 12.11. Get Force/Torque Data in Reference Coordinate System
      • 12.12. Get Raw Force/Torque Data from Force Sensor
      • 12.13. Force Sensor Configuration and Automatic Zero Calibration Example
      • 12.14. Load Weight Identification Record
      • 12.15. Load Weight Identification Calculation
      • 12.16. Load Center of Gravity Identification Record
      • 12.17. Load Center of Gravity Identification Calculation
      • 12.18. Force Sensor Load Identification Example
      • 12.19. Collision Guard
      • 12.20. Collision Guard Example
      • 12.21. Constant Force Control
      • 12.22. Constant Force Control
      • 12.23. Example Code for Constant Force Control with Damping
      • 12.24. Rotational Insertion
      • 12.25. Robot Force Sensor Rotational Insertion Code Example
      • 12.26. Constant Force Control Example
      • 12.27. Compliance Control Start
      • 12.28. Compliance Control Stop
      • 12.29. Compliance Control Example
      • 12.30. Load Identification Initialization
      • 12.31. Load Identification Variable Initialization
      • 12.32. Load Identification Main Program
      • 12.33. Get Load Identification Result
      • 12.34. Robot Load Identification Example
      • 12.35. Force Sensor Assisted Dragging
      • 12.36. Get Force Sensor Dragging Switch Status
      • 12.37. Force Sensor Auto-Enable After Error Clearance
      • 12.38. Force Sensor Assisted Dragging Example
      • 12.39. Set Six-Dimensional Force and Joint Impedance Hybrid Dragging Switch and Parameters
      • 12.40. Six-Dimensional Force and Joint Impedance Hybrid Dragging Example
      • 12.41. Example Program
      • 12.42. Impedance Control Start/Stop
      • 12.43. Robot Impedance Control Start/Stop Code Example
      • 12.44. Enable Torque Compensation Function and Compensation Coefficients
    • 13. Extended Axis
      • 13.1. Set 485 Extended Axis Parameters
      • 13.2. Get 485 Extended Axis Parameters
      • 13.3. Set 485 Extended Axis Enable/Disable
      • 13.4. Set 485 Extended Axis Control Mode
      • 13.5. Set 485 Extended Axis Target Position (Position Mode)
      • 13.6. Set 485 Extended Axis Target Torque (Torque Mode) - Not Yet Available
      • 13.7. Set 485 Extended Axis
      • 13.8. Clear 485 Extended Axis Error Information
      • 13.9. Get 485 Extended Axis Servo Status
      • 13.10. Set 485 Extended Axis Target Speed (Speed Mode)
      • 13.11. Set Axis Number for Status Feedback of 485 Extended Axis
      • 13.12. Set 485 Extended Axis Motion Acceleration/Deceleration
      • 13.13. Set 485 Extended Axis Emergency Stop Acceleration/Deceleration
      • 13.14. Get 485 Extended Axis Motion Acceleration/Deceleration
      • 13.15. Get 485 Extended Axis Emergency Stop Acceleration/Deceleration
      • 13.16. Extended Axis Control Code Example
      • 13.17. UDP Extended Axis Communication Parameter Configuration
      • 13.18. Get UDP Extended Axis Communication Parameter Configuration
      • 13.19. Load UDP Communication
      • 13.20. Unload UDP Communication
      • 13.21. Reconnect After UDP Extended Axis Communication Exception Disconnection
      • 13.22. Close Communication After UDP Extended Axis Communication Exception Disconnection
      • 13.23. UDP Extended Axis Parameter Configuration
      • 13.24. Set Extended Axis Installation Position
      • 13.25. Set Extended Axis System DH Parameter Configuration
      • 13.26. UDP Extended Axis Enable
      • 13.27. UDP Extended Axis Homing
      • 13.28. UDP Extended Axis Jog Start
      • 13.29. UDP Extended Axis Jog Stop
      • 13.30. UDP Extended Axis Configuration and Jog Code Example
      • 13.31. Set Extended Axis Coordinate System Reference Point - Four-Point Method
      • 13.32. Calculate Extended Axis Coordinate System - Four-Point Method
      • 13.33. Positioner Coordinate System Reference Point Setting
      • 13.34. Positioner Coordinate System Calculation - Four-Point Method
      • 13.35. Set Calibration Reference Point Pose in Extended Axis End Coordinate System
      • 13.36. Apply Extended Axis Coordinate System
      • 13.37. Get Extended Axis Coordinate System
      • 13.38. Extended Axis Coordinate System Calibration Code Example
      • 13.39. UDP Extended Axis Motion
      • 13.40. UDP Extended Axis Motion Code Example
      • 13.41. UDP Extended Axis and Robot Joint Motion Synchronous Motion
      • 13.42. UDP extended axis and robot joint motion synchronous motion (automatic forward kinematics calculation)
      • 13.43. UDP Extended Axis and Robot Joint Motion Synchronous Motion Code Example
      • 13.44. UDP Extended Axis and Robot Linear Motion Synchronous Motion
      • 13.45. UDP extended axis and robot linear motion synchronous motion (automatic inverse kinematics calculation)
      • 13.46. UDP Extended Axis and Robot Linear Motion Synchronous Motion Code Example
      • 13.47. UDP Extended Axis and Robot Arc Motion Synchronous Motion
      • 13.48. UDP extended axis and robot circular motion synchronous motion (automatic inverse kinematics calculation)
      • 13.49. UDP Extended Axis and Robot Arc Motion Synchronous Motion Code Example
      • 13.50. Set Extended DO
      • 13.51. Set Extended AO
      • 13.52. Set Extended DI Input Filter Time
      • 13.53. Set Extended AI Input Filter Time
      • 13.54. Wait for Extended DI Input
      • 13.55. Wait for Extended AI Input
      • 13.56. Get Extended DI Value
      • 13.57. Get Extended AI Value
      • 13.58. Extended IO Code Example
      • 13.59. Movable Device Enable
      • 13.60. Movable Device Homing
      • 13.61. Movable Device Linear Motion
      • 13.62. Movable Device Arc Motion
      • 13.63. Movable Device Stop Motion
      • 13.64. Movable Device Code Example
      • 13.65. UDP Extension Axis Positioning Completion Time Setting
    • 14. Robot Welding
      • 14.1. Set welding process curve parameters
      • 14.2. Get welding process curve parameters
      • 14.3. Set welding current to analog output relation
      • 14.4. Set welding voltage to analog output relation
      • 14.5. Get welding current to analog output relation
      • 14.6. Get welding voltage to analog output relation
      • 14.7. Set welding current
      • 14.8. Set welding voltage
      • 14.9. Set weaving parameters
      • 14.10. Welding parameter setting code example
      • 14.11. Real-time weaving parameter setting
      • 14.12. Set welding arc interruption detection parameters
      • 14.13. Get welding arc interruption detection parameters
      • 14.14. Set welding interruption recovery parameters
      • 14.15. Get welding interruption recovery parameters
      • 14.16. Set welder control mode extension DO port
      • 14.17. Set welder control mode
      • 14.18. Welding start
      • 14.19. Welding end
      • 14.20. Weaving start
      • 14.21. Weaving end
      • 14.22. Forward wire feeding
      • 14.23. Reverse wire feeding
      • 14.24. Gas feeding
      • 14.25. Set robot to resume welding after interruption
      • 14.26. Set robot to abort welding after interruption
      • 14.27. Robot welding control code example
      • 14.28. Segment welding start
      • 14.29. Robot segment welding code example
      • 14.30. Simulation weaving start
      • 14.31. Simulation weaving end
      • 14.32. Start trajectory inspection warning (no movement)
      • 14.33. End trajectory inspection warning (no movement)
      • 14.34. Weaving transition start
      • 14.35. Robot weaving transition welding code example
      • 14.36. Weaving transition end
      • 14.37. Extension IO - Configure welder gas detection signal
      • 14.38. Extension IO - Configure welder arc start signal
      • 14.39. Extension IO - Configure welder reverse wire feed signal
      • 14.40. Extension IO - Configure welder forward wire feed signal
      • 14.41. Extension IO - Configure welder arc success signal
      • 14.42. Extension IO - Configure welder ready signal
      • 14.43. Extension IO - Configure welding interruption recovery signal
      • 14.44. Set extension IO welding signal code example
      • 14.45. Arc tracking control
      • 14.46. Arc tracking AI channel selection
      • 14.47. Arc tracking + multi-layer multi-pass compensation start
      • 14.48. Arc tracking + multi-layer multi-pass compensation end
      • 14.49. Offset coordinate transformation - multi-layer multi-pass welding
      • 14.50. Multi-layer multi-pass welding arc tracking code example
      • 14.51. Arc tracking welder current feedback AI channel selection
      • 14.52. Arc tracking welder voltage feedback AI channel selection
      • 14.53. Arc tracking welder current feedback conversion parameters
      • 14.54. Arc tracking welder voltage feedback conversion parameters
      • 14.55. Arc tracking code example
      • 14.56. Set Wire Search Extension IO Ports
      • 14.57. Wire search start
      • 14.58. Wire search end
      • 14.59. Calculate wire search offset
      • 14.60. Wait for wire search completion
      • 14.61. Write wire search contact point to database
      • 14.62. Robot wire search code example
      • 14.63. Set welding voltage gradual change start
      • 14.64. Set welding voltage gradual change end
      • 14.65. Set welding current gradual change start
      • 14.66. Set welding current gradual change end
      • 14.67. Robot welding current/voltage gradual change code example
      • 14.68. Set Custom Weaving Parameters
      • 14.69. Get Custom Weaving Parameters
      • 14.70. Custom Weaving Parameters Code Example
    • 15. CNDE
      • 15.1. Configure Robot Status Feedback
      • 15.2. Add a Robot Status to CNDE Status Configuration
      • 15.3. Delete a Robot Status from CNDE Status Configuration
      • 15.4. Set CNDE Status Feedback Period
      • 15.5. Get Current CNDE Status Feedback All State Set and Period
      • 15.6. CNDE Status Feedback Usage Code Example
    • 16. Other interfaces
      • 16.1. Get SSH public key
      • 16.2. Issue SCP command
      • 16.3. Calculate MD5 value of specified file
      • 16.4. Robot SSH and MD5 command code example
      • 16.5. Set robot port 20004 feedback period
      • 16.6. Get robot port 20004 feedback period
      • 16.7. Robot port 20004 status feedback period configuration example
      • 16.8. Robot software upgrade
      • 16.9. Get robot software upgrade status
      • 16.10. Robot software upgrade code example
      • 16.11. Download point table database
      • 16.12. Upload point table database
      • 16.13. Point table update lua file
      • 16.14. Robot point table operation code example
      • 16.15. Controller log download
      • 16.16. All data source download
      • 16.17. Data backup package download
      • 16.18. Download controller data code example
      • 16.19. Set Encoder Upgrade
      • 16.20. Set Joint Firmware Upgrade
      • 16.21. Set Controller Firmware Upgrade
      • 16.22. Set End-Effector Firmware Upgrade
      • 16.23. Joint Complete Parameter Configuration Upgrade
      • 16.24. Robot Slave Firmware Upgrade Code Example
      • 16.25. Robot Operating System Upgrade (LA Control Box)
      • 16.26. Get Robot Operating System Upgrade Result (LA Control Box)
      • 16.27. Robot MCU Log Generation
      • 16.28. Set Robot to Stop Running When Port Communication is Disconnected
      • 16.29. Get Robot Stop on Communication Disconnection Parameters
      • 16.30. Robot Stop on Communication Disconnection Parameter Code Example
      • 16.31. Send UDP Instruction Frame
      • 16.32. SDK Code Example for UDP Communication
      • 16.33. Set User-Defined Robot End-Effector LED Color
      • 16.34. SDK Code Example for Setting User-Defined Robot End-Effector LED Color
    • 17. Appendix
      • 17.1. Source Code Download
      • 17.2. Windows Platform Source Code Compilation
  • Python
    • 1. Version Update Description
    • 2. Data structure description
      • 2.1. Robot Status Feedback Structure Type
      • 2.2. Controller status feedback data packet
      • 2.3. Status of the servo controller
      • 2.4. Extended axis status
      • 2.5. Welding interruption state
      • 2.6. code example
      • 2.7. Robot Status Feedback Configuration List Enumeration Type
    • 3. Robotics Basics
      • 3.1. Instantiated Robot
      • 3.2. Close the RPC connection
      • 3.3. Query SDK version number
      • 3.4. Get controller IP
      • 3.5. Controlling the robot into and out of drag-and-drop instructor mode
      • 3.6. Queries whether the robot is in drag mode
      • 3.7. Control robot up-enable or down-enable
      • 3.8. Control of robot hand-automatic mode switching
      • 3.9. Shut down the robot operating system
      • 3.10. Initialize the log parameters
      • 3.11. Setting the log filter level
      • 3.12. Robot base control code example
      • 3.13. Get the software version of the robot
      • 3.14. Getting robot hardware version information
      • 3.15. Getting robot firmware version information
      • 3.16. Get the robot software firmware version code sample
    • 4. Movement
      • 4.1. jog point and click
      • 4.2. jog tap to decelerate and stop
      • 4.3. Immediate stop for jog taps
      • 4.4. Robot point control code example
      • 4.5. Joint space motion
      • 4.6. Cartesian Space Linear Motion
      • 4.7. Cartesian Space Circular Arc Motion
      • 4.8. Cartesian Space Full Circle Motion
      • 4.9. Point-to-point motion in Cartesian space
      • 4.10. Sample robot basic motion commands code
      • 4.11. Spiral motion in Cartesian space
      • 4.12. code example
      • 4.13. Servo Motion Start
      • 4.14. Servo Motion End
      • 4.15. Joint Space Servo Mode Motion
      • 4.16. UDP Communication-Based ServoJ, ServoMoveStart, ServoMoveEnd SDK Code Example
      • 4.17. Example of joint space servo mode motion code
      • 4.18. Joint Torque Control Start
      • 4.19. Joint Torque Control
      • 4.20. Joint Torque Control End
      • 4.21. UDP Communication-Based ServoJT, ServoJTStart, ServoJTEnd SDK Code Example
      • 4.22. Sample code for joint torque control
      • 4.23. Joint Torque Control Code Example with Overspeed Protection
      • 4.24. Cartesian Space Servo Mode Motion
      • 4.25. Cartesian Space Servo Mode Motion Code Example
      • 4.26. Start of spline motion
      • 4.27. Sample motion PTP
      • 4.28. End of spline motion
      • 4.29. Spline motion code example
      • 4.30. New spline movement begins
      • 4.31. New spline command point
      • 4.32. End of new spline movement
      • 4.33. Example of new spline motion code
      • 4.34. Robot termination motion
      • 4.35. Robot pause
      • 4.36. Robot resume motion
      • 4.37. Motion pause, resume, and stop code examples
      • 4.38. Overall shift in points begins
      • 4.39. Overall offset of points ends
      • 4.40. Point offset code example
      • 4.41. Control box motion AO start
      • 4.42. End of control box movement AO
      • 4.43. End Motion AO Start
      • 4.44. End movement AO end
      • 4.45. AO flyshot code example
      • 4.46. Start Ptp motion FIR filtering
      • 4.47. Disable Ptp motion FIR filtering
      • 4.48. LIN, ARC motion FIR filtering is started
      • 4.49. Turn off LIN and ARC motion FIR filtering
      • 4.50. FIR filtering code example
      • 4.51. Acceleration smooth on
      • 4.52. Acceleration smooth closing
      • 4.53. Acceleration smoothing code example
      • 4.54. Setting the machine’s specified attitude speed on
      • 4.55. Specify Attitude Velocity Off
      • 4.56. Robot specified pose velocity code example
      • 4.57. Odd-position protection on.
      • 4.58. Odd position protection off
      • 4.59. Example of robot singular pose protection code
      • 4.60. Clear the motor command queue
      • 4.61. Clear Motion Command Queue
      • 4.62. Intersecting Line Motion
      • 4.63. Robot Intersecting Line Motion Code Example
      • 4.64. Stationary Air Motion
      • 4.65. Stationary Air Motion Code Example
      • 4.66. Fixed-Point Swing Start
      • 4.67. Fixed-Point Swing End
      • 4.68. Fixed-Point Swing SDK Code Example
      • 4.69. Fixed-Point Swing (Including Laser and Extension Axis) SDK Code Example
    • 5. IO
      • 5.1. Setting the control box digital output
      • 5.2. Setting Tool Digital Outputs
      • 5.3. Setting the control box analog output
      • 5.4. Setting Tool Analog Outputs
      • 5.5. Set digital, analog output code example
      • 5.6. Getting control box digital inputs
      • 5.7. Get Tool Digital Inputs
      • 5.8. Getting Control Box Analog Inputs
      • 5.9. Get Tool Analog Inputs
      • 5.10. Obtain the status of the button for recording the end point of the robot
      • 5.11. Obtain the DO output status at the end of the robot
      • 5.12. Obtain the DO output status of the robot controller
      • 5.13. Get the robot DI, DO status code examples
      • 5.14. Waiting for control box digital inputs
      • 5.15. Waiting for control box with multiple digital inputs
      • 5.16. Waiting for tool digital inputs
      • 5.17. Waiting for control box analog inputs
      • 5.18. Waiting for tool analog inputs
      • 5.19. Waiting control box digital, analog input signal code example
      • 5.20. Set Whether Control Box DO Output Resets After Stop/Pause
      • 5.21. Set Whether Control Box AO Output Resets After Stop/Pause
      • 5.22. Set Whether End Tool DO Output Resets After Stop/Pause
      • 5.23. Set Whether End Tool AO Output Resets After Stop/Pause
      • 5.24. Set Whether Extended DO Output Resets After Stop/Pause
      • 5.25. Set Whether Extended AO Output Resets After Stop/Pause
      • 5.26. Set Whether SmartTool Output Resets After Stop/Pause
      • 5.27. Code Example for Setting Output Reset After Lua Program Stop/Pause
      • 5.28. Set Configurable CI Port Functions
      • 5.29. Get Configurable CI Port Functions of the Control Box
      • 5.30. Set Configurable CO Port Functions
      • 5.31. Get Configurable CO Port Functions
      • 5.32. Set Configurable End-CI Port Functions of the End-Effector
      • 5.33. Get Configurable End-CI Port Functions of the End-Effector
      • 5.34. Set Configurable CI Active State of the Control Box
      • 5.35. Get Configurable CI Active State of the Control Box
      • 5.36. Set Configurable CO Active State of the Control Box
      • 5.37. Get Configurable CO Active State of the Control Box
      • 5.38. Set Configurable CI Active State of the End-Effector
      • 5.39. Get Configurable CI Active State of the End-Effector
      • 5.40. Set Standard DI Active State of the Control Box
      • 5.41. Get Standard DI Active State of the Control Box
      • 5.42. Set Standard DO Active State of the Control Box
      • 5.43. Get Standard DO Active State of the Control Box
      • 5.44. IO Configuration Related SDK Code Example
    • 6. Common Robot Settings
      • 6.1. Setting Tool Reference Points - Six-Point Method
      • 6.2. Calculation tool coordinate system - six-point method
      • 6.3. Setting Tool Reference Points - Four Point Method
      • 6.4. Calculation Tool Coordinate System - Four Point Method
      • 6.5. Calculate the tool coordinate system based on the point information
      • 6.6. Setting the tool coordinate system
      • 6.7. Setting the tool coordinate system list
      • 6.8. Get the current tool coordinate system
      • 6.9. Robot tool coordinate system manipulation code example
      • 6.10. Setting External Tool Reference Points-Six-Point Method
      • 6.11. Calculation of the external tool coordinate system - Six-point method
      • 6.12. Setting the external tool coordinate system
      • 6.13. Setting up a list of external tool coordinate systems
      • 6.14. Example code for robot external tool coordinate system operation
      • 6.15. Setting the workpiece reference point - three-point method
      • 6.16. Calculation of the workpiece coordinate system - three-point method
      • 6.17. Setting the workpiece coordinate system
      • 6.18. Setting the list of workpiece coordinate systems
      • 6.19. Calculate the workpiece coordinate system based on the point information
      • 6.20. Get the current workpiece coordinate system
      • 6.21. Example of robot workpiece coordinate system manipulation code
      • 6.22. Setting the global speed
      • 6.23. Setting robot acceleration
      • 6.24. Getting the default speed
      • 6.25. Setting the end load weight
      • 6.26. Setting the end load center of mass coordinates
      • 6.27. Get the weight of the current load
      • 6.28. Get the center of mass of the current load
      • 6.29. Setting the robot mounting method - fixed mounting
      • 6.30. Setting the robot mounting angle - free mounting
      • 6.31. Getting the robot mounting angle
      • 6.32. Setting system variable values
      • 6.33. Getting system variable values
      • 6.34. Robot common setup code examples
      • 6.35. Joint Friction Compensation Switch
      • 6.36. Setting the joint friction compensation coefficients - positive loading
      • 6.37. Setting the joint friction compensation coefficient - side mounting
      • 6.38. Setting the Joint Friction Compensation Factor - Inverted
      • 6.39. Setting the joint friction compensation factor - free mounting
      • 6.40. Robot setup joint friction compensation code example
      • 6.41. Query Robot Error Code
      • 6.42. Error state clearing
      • 6.43. Robot fault state acquisition and clearing error code examples
      • 6.44. Set the monitoring parameters for the temperature and fan speed of the wide-voltage control box
      • 6.45. Obtain the monitoring parameters of the temperature and fan speed of the wide-voltage control box
      • 6.46. Sample code for obtaining wide voltage control box temperature and fan current status
      • 6.47. Sets the focus point
      • 6.48. Calculate the focus calibration result
      • 6.49. Enable focus following
      • 6.50. Stop focusing following
      • 6.51. Set the focus coordinates
      • 6.52. Robot focus following code example
      • 6.53. Joint torque sensor sensitivity calibration function is enabled
      • 6.54. Joint torque sensor sensitivity data acquisition
      • 6.55. The sensitivity calibration results of the joint torque sensor were obtained
      • 6.56. Get Joint Torque Sensor Hysteresis Error
      • 6.57. Get Joint Torque Sensor Repeatability
      • 6.58. Set Joint Force Sensor Parameters
      • 6.59. Sample code for automatic calibration of joint torque sensor sensitivity
      • 6.60. The number of error frames at eight slave ports of the robot is obtained
      • 6.61. Slave port error frame reset
      • 6.62. Get sample slave port error frame code
      • 6.63. Set the feed-forward coefficient of each axis speed
      • 6.64. The velocity feedforward coefficients of each axis are obtained
      • 6.65. Robot velocity feedforward coefficient code example
      • 6.66. Photoelectric Sensor TCP Calibration - Compute Tool RPY
      • 6.67. Photoelectric Sensor TCP Calibration - Compute Tool XYZ
      • 6.68. Photoelectric Sensor TCP Calibration - Start Recording Flange Center Position
      • 6.69. Photoelectric Sensor TCP Calibration - Stop Recording Flange Center Position
      • 6.70. Photoelectric Sensor TCP Calibration - Get Tool Center Point Position
      • 6.71. Photoelectric Sensor TCP Calibration
      • 6.72. Photoelectric Sensor TCP Calibration Code Example
    • 7. Security Settings
      • 7.1. Setting the collision level
      • 7.2. Setting the post-collision strategy
      • 7.3. The Custom collision detection threshold function starts to set the collision detection thresholds of the joint end and TCP end
      • 7.4. The custom collision detection threshold function is disabled
      • 7.5. Robot collision level setting code example
      • 7.6. Setting the positive limit
      • 7.7. Setting the negative limit
      • 7.8. Obtaining the soft limiting angle of a joint
      • 7.9. Robot limit setting code example
      • 7.10. Setting up a robot collision detection method
      • 7.11. Set static undercollision detection to start off
      • 7.12. Set up the robot collision detection method code example
      • 7.13. Joint torque and power detection
      • 7.14. Sample code for joint torque power detection
      • 7.15. Set Safety Speed Parameters
      • 7.16. SDK Code Example for Setting Safety Speed Parameters
    • 8. Status query
      • 8.1. Get the current joint position (angle).
      • 8.2. Get the current joint position in radians.
      • 8.3. Get joint feedback speed -deg/s
      • 8.4. Obtain joint feedback acceleration-deg/s^2
      • 8.5. Get TCP command synthesis speed
      • 8.6. Getting TCP Feedback Hopping Speed
      • 8.7. Get TCP command speed
      • 8.8. Getting TCP feedback speed
      • 8.9. Get current tool position
      • 8.10. Get the current tool coordinate system number
      • 8.11. Get the current workpiece coordinate system number
      • 8.12. Get the current end flange position
      • 8.13. Get current joint torque
      • 8.14. Get system time
      • 8.15. Queries whether robot motion is complete
      • 8.16. Query the cache length of the robot motion queue
      • 8.17. Obtain the emergency stop status of the robot
      • 8.18. Obtain the communication status between the SDK and the robot
      • 8.19. Obtain the safety stop signal
      • 8.20. Obtain the current temperature of the joint drive(℃)
      • 8.21. Obtain the current torque of the joint drive(Nm)
      • 8.22. Obtain the status of the robot
      • 8.23. Robot status query code example
      • 8.24. Inverse kinematics solution
      • 8.25. Inverse Kinematics Solution - Specifying Reference Positions
      • 8.26. Inverse Kinematics Solution, Cartesian Space Includes Extended Axis Position
      • 8.27. Inverse Kinematics Solution Including Extended Axis Position Code Example
      • 8.28. Inverse kinematics solving-whether there is a solution
      • 8.29. Positive kinematics solving
      • 8.30. Example code for robot forward and inverse kinematics calculation
      • 8.31. Query Robot Teaching Management Points Data
      • 8.32. Get DH compensation parameters
      • 8.33. Obtain the SN code of the control box
      • 8.34. Query robot teaching management point data code example
      • 8.35. Get the tool coordinate system according to the number
      • 8.36. The workpiece coordinate system is obtained according to the No
      • 8.37. The external tool coordinate system is obtained according to the number
      • 8.38. The extended axis coordinate system is obtained according to the No
      • 8.39. Get the load mass and centroid according to the number
      • 8.40. Gets the current tool coordinate system
      • 8.41. Gets the current workpiece coordinate system
      • 8.42. Gets the current external tool coordinate system
      • 8.43. Gets the current extended axis coordinate system
      • 8.44. Get robot coordinate system and load code sample
    • 9. Trajectory recurrence
      • 9.1. Setting Track Recording Parameters
      • 9.2. Start Track Recording
      • 9.3. Stop Track Recording
      • 9.4. Deleting track records
      • 9.5. code example
      • 9.6. Trajectory preloading
      • 9.7. Trajectory Reproduction
      • 9.8. Get the starting position of the trajectory
      • 9.9. Example of robot TPD trajectory recording code
      • 9.10. Trajectory preprocessing
      • 9.11. Trajectory Reproduction
      • 9.12. Getting the starting position of the trajectory
      • 9.13. Get track point number
      • 9.14. Set Speed During Trajectory Execution
      • 9.15. Code Example for Setting Speed During Trajectory Execution
      • 9.16. Setting the force and torque during trajectory operation
      • 9.17. Setting the force along the x-direction in the trajectory run
      • 9.18. Setting the force along the y-direction in the trajectory run
      • 9.19. Setting the force along the z-direction in a trajectory run
      • 9.20. Setting the torque around the x-axis in a trajectory run
      • 9.21. Setting the torque around the y-axis in trajectory operation
      • 9.22. Setting the torque around the z-axis in trajectory operation
      • 9.23. Upload trace J file
      • 9.24. Delete the track J file
      • 9.25. Robot trajectory J file reproduction code example
      • 9.26. Trajectory preprocessing(Trajectory foresight)
      • 9.27. Trajectory reproduction(Trajectory foresight)
      • 9.28. Code example for trajectory reproduction
      • 9.29. Move to TPD Trajectory Recording Start Point
      • 9.30. SDK Code Example for Moving to TPD Trajectory Recording Start Point
    • 10. WebAPP program use
      • 10.1. Setting the default job program to load automatically on boot
      • 10.2. Load the specified job program
      • 10.3. Get the name of the loaded job program
      • 10.4. Get the line number of the current robot job program
      • 10.5. Run the currently loaded job program
      • 10.6. Suspend the currently running job program
      • 10.7. Resuming a currently suspended program
      • 10.8. Terminate the currently running job program
      • 10.9. Obtaining robot job program execution status
      • 10.10. Robot LUA program operation code example
      • 10.11. Download Lua files
      • 10.12. Deleting Lua files
      • 10.13. Get the names of all current lua files
      • 10.14. Uploading Lua files
      • 10.15. Robot LUA file upload and download code examples
    • 11. Peripherals
      • 11.1. Configuration of jaws
      • 11.2. Get Jaw Configuration
      • 11.3. Activate jaws
      • 11.4. Control jaws
      • 11.5. Getting the jaw movement status
      • 11.6. Obtain the activated status of the gripper
      • 11.7. Obtain the position of the gripper
      • 11.8. Obtain the gripper speed
      • 11.9. Obtain the gripper current
      • 11.10. Obtain the gripper voltage
      • 11.11. Obtain the temperature of the gripper
      • 11.12. Calculate pre-capture point-visual
      • 11.13. Calculate retreat point-visual
      • 11.14. Robot claw operation code example
      • 11.15. Get the number of rotation turns of the rotary gripper
      • 11.16. Gets the percentage of rotation speed of the rotating gripper
      • 11.17. Obtains the percentage of rotating torque of the rotating gripper
      • 11.18. Get the rotary gripper status code example
      • 11.19. Drive belt start and stop
      • 11.20. Record IO detection points
      • 11.21. Record point A
      • 11.22. Recording reference points
      • 11.23. Record point B
      • 11.24. Conveyorized workpiece IO inspection
      • 11.25. Get the current position of the object
      • 11.26. Drive belt tracking started
      • 11.27. Belt tracking stop
      • 11.28. Drive Belt Parameter Configuration
      • 11.29. Belt Grip Point Compensation
      • 11.30. linear motion
      • 11.31. Conveyor communication input detection
      • 11.32. Conveyor communication input detection triggered
      • 11.33. Robot conveyor operation code example
      • 11.34. End Sensor Configuration
      • 11.35. Get End Sensor Configuration
      • 11.36. End sensor activation
      • 11.37. End Sensor Register Write
      • 11.38. End sensor code example
      • 11.39. Obtaining Robot Peripheral Protocols
      • 11.40. Setting up robot peripheral protocols
      • 11.41. Example of setup robot peripheral protocol code
      • 11.42. Getting end communication parameters
      • 11.43. Setting the end communication parameters
      • 11.44. Setting the end file transfer type
      • 11.45. Setting Enable End LUA Execution
      • 11.46. End LUA file exception error recovery
      • 11.47. Get end LUA execution enable status
      • 11.48. Setting the end LUA end device enable type
      • 11.49. Get End LUA End Device Enablement Type
      • 11.50. Get the currently configured end device
      • 11.51. Setting to enable the jaw movement control function
      • 11.52. Getting to Enable Jaw Motion Control
      • 11.53. The Ethercat slave file is written by the robot
      • 11.54. Upload the end Lua open protocol file
      • 11.55. The robot Ethercat enters boot mode from the station
      • 11.56. Example of LUA file manipulation code at the end of the robot
      • 11.57. Obtain the status of the SmartTool button
      • 11.58. SmartTool button code example
      • 11.59. Set the load detection before drag is started
      • 11.60. Laser peripheral open and close function
      • 11.61. Laser tracking start-end function
      • 11.62. Laser positioning - Fixed direction
      • 11.63. Laser positioning - in any direction
      • 11.64. Laser IP configuration
      • 11.65. Configuration of sampling period for laser peripherals
      • 11.66. Laser peripheral driver loading
      • 11.67. Laser peripheral driver unloading
      • 11.68. Laser weld seam trajectory recording
      • 11.69. Laser weld seam trajectory reproduction
      • 11.70. Laser tracking reproduction
      • 11.71. Laser weld seam trajectory reproduction
      • 11.72. Movement to the starting point of weld record
      • 11.73. Movement to the end of the weld record
      • 11.74. Move to the laser sensor to find the site
      • 11.75. Obtain the coordinate information of the laser sensor location
      • 11.76. Example of laser peripheral sensor parameter configuration and debugging code
      • 11.77. Code example of laser trajectory scanning and trajectory reproduction
      • 11.78. Code examples for laser locating and real-time tracking
      • 11.79. Code example of the extended axis synchronized with the robot for laser tracking
      • 11.80. Control Array Suction Cup
      • 11.81. Get Array Suction Cup Status
      • 11.82. Wait for Suction Cup Status
      • 11.83. Array Suction Cup Control Command Code Example
      • 11.84. Upload Open Protocol Lua File
      • 11.85. Get Slave Station Board Parameters
      • 11.86. Write Slave Station DO
      • 11.87. Write Slave Station AO
      • 11.88. Read Slave Station DI
      • 11.89. Read Slave Station AI
      • 11.90. Wait for Extended DI Input
      • 11.91. Wait for Extended AI Input
      • 11.92. Slave Station Mode Related Interface Command Code Example
      • 11.93. End-Effector Transparent Transmission Function Enable/Disable SDK Interface
      • 11.94. End-Effector Transparent Transmission Function Non-Periodic Data Transmission and Reception SDK Interface
      • 11.95. Code Example for Non-Periodic Data Communication of DIO Health Care Moxibustion Head Based on End-Effector Transparent Transmission Function
      • 11.96. Download Open Protocol Lua File
      • 11.97. Delete Specified Open Protocol Lua File
      • 11.98. Delete All Open Protocol Lua Files
      • 11.99. Open Protocol Lua File Operation SDK Code Example
    • 12. Force Control
      • 12.1. Force Sensor Configuration
      • 12.2. Get Force Sensor Configuration
      • 12.3. Force sensor activation
      • 12.4. Force Sensor Zeroing
      • 12.5. Setting the force transducer reference coordinate system
      • 12.6. Setting the load weight under the force transducer
      • 12.7. Setting the load center of mass under the force transducer
      • 12.8. Getting the load weight under the force transducer
      • 12.9. Obtaining the center of mass of the load under the force transducer
      • 12.10. Automatic zeroing of force sensors
      • 12.11. Obtaining force/torque data in the reference coordinate system
      • 12.12. Obtaining Force Sensor Raw Force/Torque Data
      • 12.13. Force sensor configuration and automatic zero correction code example
      • 12.14. Load weight identification records
      • 12.15. Load weight identification calculation
      • 12.16. Load center of mass identification records
      • 12.17. Load center of mass identification calculation
      • 12.18. Force sensor load identification code example
      • 12.19. Collision Guard
      • 12.20. Collision guard code example
      • 12.21. constant force control
      • 12.22. A code example of constant force control with damping
      • 12.23. Helix Exploration
      • 12.24. Rotational Insertion
      • 12.25. Code Example for Spiral Search, Linear Insertion, and Other Commands
      • 12.26. Linear insertion
      • 12.27. Examples of instruction code for spiral exploration, straight line insertion, etc
      • 12.28. Surface positioning
      • 12.29. Calculation of the center plane position begins
      • 12.30. Calculate end of mid-plane position
      • 12.31. Sample code for surface localization
      • 12.32. Soft control on
      • 12.33. Soft control off
      • 12.34. Soft control code example
      • 12.35. Load recognition filter initialization
      • 12.36. Initialization of load recognition variables
      • 12.37. Load Recognition Main Program
      • 12.38. Getting Load Recognition Results
      • 12.39. Robot load identification code example
      • 12.40. Force Sensor Assisted Drag
      • 12.41. Get force sensor drag switch status
      • 12.42. The force sensor turns on automatically after the error is cleared.
      • 12.43. Force sensor assisted drag code example
      • 12.44. Setting up hybrid drag switches and parameters for six-dimensional force and joint impedance
      • 12.45. Six dimensional force and joint impedance mixed drag code example
      • 12.46. Impedance start and stop control
      • 12.47. Example code for impedance start and stop control
      • 12.48. Enable Torque Compensation Function and Compensation Coefficients
    • 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 torque (torque mode)-not yet available
      • 13.7. Setting the 485 extended axis back to zero
      • 13.8. Clearing 485 Expansion Axis Error Messages
      • 13.9. Get 485 extended axis servo status
      • 13.10. Setting the 485 extended axis target speed (velocity mode)
      • 13.11. Setting the 485 extended axis data axis number in the status feedback
      • 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 Motion Acceleration and Deceleration
      • 13.15. Get 485 extended axis emergency stop acceleration and deceleration speeds
      • 13.16. Extended axis control code example
      • 13.17. Parameter configuration for UDP extended axis communication
      • 13.18. Get UDP extended axis communication parameters
      • 13.19. Load UDP communication
      • 13.20. Offloading UDP communication
      • 13.21. UDP Extended Axis Communication Recovery after Abnormal Disconnection
      • 13.22. UDP extension axis communication is closed after abnormal disconnection.
      • 13.23. UDP Extended Axis Parameter Configuration
      • 13.24. Setting the extended robot position relative to the extended axis
      • 13.25. Setting the extended axis system DH parameter configuration
      • 13.26. UDP Extended Axis Enable
      • 13.27. UDP Extended Axis Zero Return
      • 13.28. UDP Extended Axis Tap Start
      • 13.29. UDP Extended Axis Tap Stop
      • 13.30. Example of UDP extension axis configuration and tapping code
      • 13.31. Setting the reference point of the extended axis coordinate system - four-point method
      • 13.32. Calculating the Extended Axis Coordinate System - Four Point Method
      • 13.33. Reference Point Setting for the Shifter Coordinate System - Four-Point Method
      • 13.34. Shifter Coordinate System Calculation - Four Point Method
      • 13.35. Setting of the calibration reference point in the position in the coordinate system of the end of the translator
      • 13.36. Applying the Extended Axis Coordinate System
      • 13.37. Obtain the extended axis coordinate system
      • 13.38. Extended axis coordinate system calibration code example
      • 13.39. UDP Extended Axis Motion
      • 13.40. UDP Extended axis motion code example
      • 13.41. UDP extension axes synchronized with robot joint motion
      • 13.42. UDP extension axes synchronized with robot joint motion code example
      • 13.43. UDP extension axes synchronized with robot linear motion
      • 13.44. UDP extension axes synchronized with robot linear motion code example
      • 13.45. UDP extension axes synchronized with robot circular motion
      • 13.46. UDP extension axes synchronized with robot circular motion code example
      • 13.47. Setting the Extended DO
      • 13.48. Setting up Extended AO
      • 13.49. Setting the Extended DI Input Filter Time
      • 13.50. Setting the Extended AI Input Filter Time
      • 13.51. Waiting for extended DI input
      • 13.52. Waiting for extended AI input
      • 13.53. Get Extended DI Value
      • 13.54. Get Extended AI Value
      • 13.55. Extended IO code examples
      • 13.56. Removable Device Enable
      • 13.57. Zeroing of removable units
      • 13.58. Movable unit linear motion
      • 13.59. Movable unit circular motion
      • 13.60. Stopping motion of movable devices
      • 13.61. Portable device code example
      • 13.62. Laser sensor recording points
      • 13.63. Sample code for laser sensor recording points
      • 13.64. Set the synchronous movement strategy of the extended axis and the robot
      • 13.65. Code example for setting the synchronous motion strategy of the extended axis and the robot
    • 14. Weld
      • 14.1. Setting Welding Process Curve Parameters
      • 14.2. Obtaining Welding Process Curve Parameters
      • 14.3. Setting of welding current and output analog correspondences
      • 14.4. Setting the welding voltage and output analog correspondence
      • 14.5. Acquiring the correspondence between welding current and output analog quantity
      • 14.6. Getting welding voltage and output analog correspondence
      • 14.7. Setting the welding current
      • 14.8. Setting the welding voltage
      • 14.9. Setting Oscillation Parameters
      • 14.10. Example code for setting welding parameters
      • 14.11. Instant setup of swing parameters
      • 14.12. The detection parameters of unexpected interruption of robot welding arc were obtained
      • 14.13. Set the detection parameters of robot welding arc unexpected interruption
      • 14.14. Obtain the robot welding interrupt recovery parameters
      • 14.15. Set the robot welding interrupt recovery parameters
      • 14.16. Set welder control mode to expand DO port
      • 14.17. Setting the welder control mode
      • 14.18. Welding Start
      • 14.19. End of welding
      • 14.20. swing start
      • 14.21. end of swing (math.)
      • 14.22. Positive wire feed
      • 14.23. Reverse wire feed
      • 14.24. aspiration
      • 14.25. Set the robot to resume welding after welding interruption
      • 14.26. Set the robot to exit welding after welding interruption
      • 14.27. Sample code for robot welding control
      • 14.28. Segmented welding startup
      • 14.29. Sample robot segment welding code
      • 14.30. Simulated swing start
      • 14.31. End of simulation swing
      • 14.32. Start trajectory detection warning (no movement)
      • 14.33. End trajectory detection warning (no movement)
      • 14.34. Wobble start
      • 14.35. Robot swing gradient welding code example
      • 14.36. Wobble end
      • 14.37. Extended IO-Configuration Welder Gas Detection Signal
      • 14.38. Extended IO-Configuration of welder arc start signal
      • 14.39. Extended IO-Configuration of the welder’s reverse wire feed signal
      • 14.40. Extended IO-Configuration of the welder’s forward wire feed signal
      • 14.41. Extended IO-Configuration of the welder’s arc start success signal
      • 14.42. Extended IO-Configuration Welder Ready Signal
      • 14.43. Extended IO-Configuration Weld Interrupt Recovery Signal
      • 14.44. Example code for setting up extended IO solder signals
      • 14.45. Arc tracking control
      • 14.46. Arc tracking AI passband selection
      • 14.47. Arc tracking + multi-layer multi-channel compensation on
      • 14.48. Arc Tracking + Multi-Layer Multi-Channel Compensation Off
      • 14.49. Offset Coordinate Change - Multi-layer Multi-pass Welding
      • 14.50. Example code for multi-layer multi-pass welding arc tracking
      • 14.51. Selection of AI channels for current feedback in arc tracking welding machines
      • 14.52. Selection of AI channel for voltage feedback of arc tracking welding machine
      • 14.53. Current feedback conversion parameters of arc tracking welding machine
      • 14.54. Voltage feedback conversion parameters of arc tracking welding machine
      • 14.55. Example arc tracking code
      • 14.56. Setting Up the Weld Wire Seek Expansion IO Port
      • 14.57. code example
      • 14.58. Welding wire position finding start
      • 14.59. End of wire position finding
      • 14.60. Calculate the wire finding offset
      • 14.61. Waiting for wire seek to complete
      • 14.62. Wire seek contact points written to database
      • 14.63. Example of robot wire locating code
      • 14.64. Set the welding voltage to start gradually
      • 14.65. Set the welding voltage gradient to end
      • 14.66. Set the welding current to start gradually
      • 14.67. Set the welding current to gradually end
      • 14.68. Robot welding current voltage gradient code example
      • 14.69. Set custom swing parameters
      • 14.70. Gets custom swing parameters
      • 14.71. Custom swing parameter code example
    • 15. CNDE
      • 15.1. Configure Robot CNDE Status Feedback
      • 15.2. Add Robot Status to CNDE Status Configuration
      • 15.3. Delete Robot Status from CNDE Status Configuration
      • 15.4. Set CNDE Status Feedback Period
      • 15.5. Get Current CNDE Status Feedback All State Set
      • 15.6. CNDE Status Feedback Usage Code Example
    • 16. Others
      • 16.1. Get SSH public key
      • 16.2. Issue the SCP command
      • 16.3. Calculate the MD5 value of a file in a specified path
      • 16.4. Robot SSH, MD5 instruction code example
      • 16.5. Setting the Robot 20004 Port Feedback Cycle
      • 16.6. Get robot 20004 port feedback cycle
      • 16.7. Robot 20004 port state feedback cycle configuration code example
      • 16.8. Robot software upgrade
      • 16.9. Get robot software upgrade status
      • 16.10. Robot software upgrade code example
      • 16.11. Download Point Table Database
      • 16.12. Upload point table database
      • 16.13. Point table update lua file
      • 16.14. Robot point table operation code example
      • 16.15. Controller log download
      • 16.16. Download all data sources
      • 16.17. Data backup package download
      • 16.18. Download the controller data code example
      • 16.19. Set up encoder upgrade
      • 16.20. Set up joint firmware upgrade
      • 16.21. Set up control box firmware upgrade
      • 16.22. Set up the end firmware upgrade
      • 16.23. Joint full parameter profile upgrade
      • 16.24. Example of robot slave firmware upgrade code
      • 16.25. Robot Operating System upgrade (LA control box)
      • 16.26. Obtain upgrade results of robot operating system (LA control box)
      • 16.27. Robot MCU log generation
      • 16.28. Set Robot to Stop Running When Port Communication is Disconnected
      • 16.29. Get Robot Stop on Communication Disconnection Parameters
      • 16.30. Robot Stop on Communication Disconnection Parameter Code Example
      • 16.31. Send UDP Instruction Frame
      • 16.32. UDP Communication-Based SDK Code Example
      • 16.33. Set User-Defined Robot End-Effector LED Color
      • 16.34. SDK Code Example for Setting User-Defined Robot End-Effector LED Color
    • 17. Appendix
      • 17.1. Source Code Download
      • 17.2. Source Code Compilation
        • 17.2.1. Windows Platform Python SDK Compilation
        • 17.2.2. Linux Platform Python SDK Compilation
      • 17.3. Notes
        • 17.3.1. Potential Issues
          • 17.3.1.1. Version Compatibility
          • 17.3.1.2. Error Codes
  • Error Code Comparison Table
• FAIRINO SimMachine
  • 1. Virtual Machine
    • 1.1. Overview
    • 1.2. Operating Instructions
      • 1.2.1. Installing VMware Workstation
      • 1.2.2. Opening the Virtual Machine Image
      • 1.2.3. Accessing WebApp from Windows
  • 2. Virtual Machine - Docker
    • 2.1. Linux Docker Image Deployment
      • 2.1.1. Operating Environment
      • 2.1.2. Install Docker
      • 2.1.3. Image Configuration
        • 2.1.3.1. Import Docker Image
        • 2.1.3.2. Create Custom Bridge Network
        • 2.1.3.3. First-time Docker Container Startup
    • 2.2. Web Operation of Virtual Robot
      • 2.2.1. Container Normal Startup
      • 2.2.2. Operating the Virtual Robot
      • 2.2.3. User IP Address Modification
    • 2.3. Virtual Machine Version Upgrade/Downgrade
      • 2.3.1. Overview
      • 2.3.2. Upgrade/Downgrade Preparation and Considerations
        • 2.3.2.1. Operation Preparation
        • 2.3.2.2. Considerations
  • 3. Appendix
    • 3.1. Appendix 1: Enabling Virtualization in the BIOS
    • 3.2. Appendix 2: Adding a Virtual NIC (Loopback Network Adapter)
    • 3.3. Appendix 3: Root Permissions
    • 3.4. Appendix 4: Docker Basic Commands
• FRCap Plug-in system
  • 1. Introduction
  • 2. Quick start
    • 2.1. I don’t have FRCap
    • 2.2. I already have FRCap
    • 2.3. Build FRCap
    • 2.4. Hello FRCap
  • 3. Create wizard
    • 3.1. Parameter configuration
      • 3.1.1. Basic information
    • 3.2. Advanced configuration
    • 3.3. Download
  • 4. Backstage management
    • 4.1. Backend upgrade
    • 4.2. Modules version
  • 5. Development guidance
    • 5.1. Development environment and conditions
    • 5.2. Development tools
    • 5.3. FRCap project structure
    • 5.4. Front-end frcap-ui and frcap-api use
    • 5.5. Backend Custom Command Development
      • 5.5.1. Database Operation Example (LA)
      • 5.5.2. Database Operation Example (QX)
      • 5.5.3. Socket Communication Example
  • 6. FRCap in WebApp
    • 6.1. FRCap management
    • 6.2. Configuration class usage
    • 6.3. Application class use
  • 7. FRCap case
    • 7.1. FAIRINO Palletizer
      • 7.1.1. Palletizing workpiece configuration
      • 7.1.2. Palletizing pallet configuration
      • 7.1.3. Advanced palletizing configuration
      • 7.1.4. Palletizing equipment size configuration
      • 7.1.5. Palletizing mode configuration
      • 7.1.6. Palletizing program generation
      • 7.1.7. Get palletizing recipe
      • 7.1.8. Get the list of existing formula names for palletizing
  • 8. API description
    • 8.1. act command
      • 8.1.1. Save teaching points
    • 8.2. sta command
      • 8.2.1. Get robot status data
    • 8.3. get command
      • 8.3.1. Get teaching points
      • 8.3.2. Get system configuration
    • 8.4. set command
      • 8.4.1. Issue system variable instructions
      • 8.4.2. Get system variable instructions
    • 8.5. better-sqlite3 directive
      • 8.5.1. Query the first row of records in the database
      • 8.5.2. Query all records in the database
      • 8.5.3. Execute database statements
    • 8.6. socket command
      • 8.6.1. socket send
      • 8.6.2. socket recv
    • 8.7. File Operation Commands
      • 8.7.1. Write File Content
      • 8.7.2. Read File Content
      • 8.7.3. Modify File Permissions
      • 8.7.4. Read Directory Contents (Including Subdirectories)
    • 8.8. Compression/Decompression Commands
      • 8.8.1. Create tar.gz Archive
      • 8.8.2. Extract tar.gz File
  • 9. Version update instructions
  • 10. Palletizing FRCap
    • 10.1. Palletizing FRCap plug-in package management
    • 10.2. Recipe management
      • 10.2.1. Obtain
      • 10.2.2. New
      • 10.2.3. Rename
      • 10.2.4. Export
      • 10.2.5. Copy
      • 10.2.6. Delete
      • 10.2.7. Edit
      • 10.2.8. Import
    • 10.3. Recipe configuration
      • 10.3.1. Workstation Settings
      • 10.3.2. Palletizing Function I/O Wiring Configuration
      • 10.3.3. Palletizing Function I/O Communication Test
      • 10.3.4. Box operation
      • 10.3.5. Box parameters
      • 10.3.6. Pallet configuration
        • 10.3.6.1. Pattern configuration
      • 10.3.7. Pattern operation
      • 10.3.8. Pattern parameters
        • 10.3.8.1. Advanced configuration
    • 10.4. Program Generation
      • 10.4.1. Single Pick Point Program
      • 10.4.2. Dual Pick Point Program
• FR LUA Programming Script
  • PDF Download
• Robot Communication
  • 1. Introduction to CNDE
  • 2. CNDE data frame protocol format
  • 3. CNDE function operation
    • 3.1. Input configuration and input data
    • 3.2. Output configuration and output data
      • 3.2.1. Output configuration
      • 3.2.2. Output start and stop
      • 3.2.3. The client receives the output data
    • 3.3. CNDE auxiliary function
      • 3.3.1. Messages
      • 3.3.2. Switch the version number of CNDE protocol of robot
      • 3.3.3. Acquire that version information of the robot soft firmware
    • 3.4. End-Effector Transparent Transmission Function Periodic Data Acquisition (CNDE)
      • 3.4.1. CNDE Configuration Description
  • 4. Robot input and output register
    • 4.1. Read input register
    • 4.2. Write output register
    • 4.3. CNDE input,output register interactive application

Open platform

• frcobot_ros
  • 1. Overview
  • 2. Install
    • 2.1. Environmental requirements
    • 2.2. ROS installation & requirements
    • 2.3. Compile
  • 3. Quick start
    • 3.1. frcobot_hw
• frcobot_ros2
  • 1. Introduction
  • 2. fairino_hardware
    • 2.1. Basic Environment Installation
    • 2.2. Compile and build fairino_hardware
  • 3. Quick start
    • 3.1. Starting the process
    • 3.2. View the manipulator state feedback process
    • 3.3. Process for issuing instructions
    • 3.4. Modifying the parameter flow
  • 4. API Description
• moveIt2
  • 1. Plug-in Introduction
  • 2. Rapid Access
    • 2.1. MoveIt2 Installation
      • 2.1.1. Clone Fairino MoveIt2 Plugin
      • 2.1.2. Compile Feature Packs
    • 2.2. Configuring the Moveit2 model of the Fairino robotic arm
      • 2.2.1. Creating A Workspace
      • 2.2.2. Configuration Robot
        • Launching the configuration interface
        • Configuring Self-Collisions
        • Configuring Virtual Joints
        • Configuring Planning Groups
        • Configuring Robot Poses
        • Configuring End Effectors
        • ros2_control URDF Modifications
        • ROS 2 Controllers
        • Moveit Controllers
        • Launch Files
        • Author Information
        • Generate Launch File
      • 2.2.3. Launch
      • 2.2.4. Moveit2 Usage
    • 2.3. Fairino_hardware Plugin (custom robot moveit configuration package)
      • 2.3.1. Fairino_hardware Plugin Compilation
      • 2.3.2. Fairino_hardware Plugin Usage
      • 2.3.3. Running Plug-ins
      • 2.3.4. Running Result
    • 2.4. Fairino_hardware Plugin (official robot moveit configuration package)
  • 3. MTC Sample Code Package
    • 3.1. MTC Sample Code Package Introduction
    • 3.2. MTC Sample Code Package Compilation
      • 3.2.1. MTC Sample Code Package Cloning
      • 3.2.2. Robot Model Selection
      • 3.2.3. MTC Sample Code Package Compilation
        • Compiling the fairino_description function package
        • Compile robot function packs
        • Compile fairino_mtc_demo function package
    • 3.3. The MTC Sample Code Package Runs
      • 3.3.1. Rviz2 Interface
      • 3.3.2. Robot Motion
  • 4. Caveat
    • 4.1. Fairino_hardware Plugin Version Synchronization
    • 4.2. Problems Likely To Be Encountered
      • 4.2.1. The robot model may not be loaded on the right side of the Configure Robot Feature Pack.
      • 4.2.2. After generating the package, there is an error running it.
  • 5. Summarize

Download

• Brochure
• Qualification Certification
• Secondary Development
• Ontology & Dimensional Drawings
• 2D CAD Files
• 3D Models
• FAIRINO SimMachine
• Palletizer frcap
• CPP SDK
• C# SDK
• Python SDK
• Java SDK
• Status Feedback Protocol
• Communication Command Protocol
• Robot software