11. Node graph programming

11.1. Basic information

11.1.1. Introduction

Node graph programming is programming software developed for robots. Its main functions and technical features are as follows:

The connections between nodes better present the contextual logic of the program;
Through operations such as creating nodes, connecting nodes, and editing node parameters, robot programming can be completed with just dragging operations and a small amount of parameter input;
Helps to better visualize code and script complex and repetitive tasks faster;

Figure 11.1-1 Node graph programming interface

11.2. Node graph operations

11.2.1. Node program

For node programs, you need to right-click the mouse in a blank space to open the node program selection bar. Program instructions are mainly divided into logic instructions, motion instructions, force control instructions, control instructions, Modbus instructions, expansion axis and other instructions.

The input box above the node program selection bar allows fuzzy search to quickly locate the required node instructions.

The specific node program operation process is as follows:

Click “Begin” to start the node and create the starting node programming location;
Click on the selected program instruction node, the corresponding node diagram is displayed in the workspace, and the instruction parameters can be selected and entered in the drop-down box;
The functions of the arrows on the right side of the command node: 1. A single arrow icon connects to the next node; 2. Multiple arrow icons, the first “Body” arrow icon connects to the content node, and the second “Completed” icon connects to the next node;
Connect the “Begin” start node to the completed node program to end the node programming operation;

11.3. If/Else instruction

Click the “If/Else” related command node to enter the node diagram editing interface. (This command requires a certain programming foundation. If you need help, please contact us)

“If/Else” command:

First: Connect the node instructions within the if condition
Second: If only two judgment conditions are entered on the left, it means connecting the node instructions in the else condition; if all three judgment conditions on the left exist, it means connecting the node instructions in the elseif condition.
Third: If all three judgment conditions on the left exist, it means connecting the else condition.
Completed: Connect subsequent node instructions

Figure 11.3-1 “If/Else” command node interface

11.4. While instruction

Click the “While” related command node to enter the node graph editing interface.

Enter the waiting condition in the input box behind While, enter the action instructions during the loop in the input box behind do, and click Save. (For the convenience of operation, you can enter any do content and edit other instructions in the program to insert them instead).

“While” command:

Condition: while loop condition

Figure 11.4-1 “While” command node interface

11.5. Goto instruction

Click “Goto” on the relevant command node to enter the node graph editing interface.

“Goto” command, the first “Body” arrow icon connects to the body content node, and the second “Completed” arrow icon connects to the subsequent jump position goto instruction node. (This command requires a certain programming foundation. If you need help, please contact us).

Jump name: Enter the jump name to determine the jump location

Figure 11.5-1 “Goto” command node interface

Important

Jump name cannot start with a number.

11.6. Wait instruction

Click the “Wait” related command node to enter the node diagram editing interface.

This instruction is a delay instruction, divided into four parts: “WaitMs”, “WaitDI”, “WaitMultiDI” and “WaitAI”.

“Wait” command node, parameters:

Waiting time (ms): The unit of delay waiting time is milliseconds. Enter the number of milliseconds to wait.

Figure 11.6-1 “Wait” command node interface

“WaitDI” command node, parameters:

DI port number: Ctrl-DI0 ~ Ctrl-CI7(WaitDI,[0~15]), End-DI0 ~ End-DI1(WaitToolDI,[0~1])
Status: false/true
Maximum time (ms): 0 ~ 10000
Waiting for timeout processing: stop reporting errors/continue execution/wait forever

Figure 11.6-2 “WaitMultiDI” command node interface

“WaitMultiDI” command node, parameters:

Condition: and/or
Conditional selection: Select the port number that the bit status is enabled, separated by commas, for example DI0, DI1
True value corresponding port: Select the port number of the true value, separated by commas, for example DI0, DI1
Maximum time (ms): 0 ~ 10000, maximum waiting time
Waiting for timeout processing: stop reporting errors/continue execution/wait forever

Figure 11.6-3 “WaitMultiDI” command node interface

“WaitAI” command node, parameters:

Condition: and/or
AI port number: Ctrl-AI0 ~ Ctrl-AI1(WaitAI,[0~1]), End-AI0(WaitToolAI,[0])
Condition: greater than/less than
Value (%): 1 ~ 100
Maximum time (ms): 0 ~ 10000
Waiting for timeout processing: Stop error reporting/continue execution/keep waiting. When waiting for timeout processing and keep waiting, the maximum time defaults to 0.

Figure 11.6-4 “WaitAI” command node interface

11.7. Pause instruction

Click the “Pause” command node to enter the node graph editing interface.

This command is a pause command. Insert this command in the program. When the program executes this command, the robot will be in a paused state. If you want to continue running, click the “Pause/Resume” button in the control area.

“Pause” command node, parameters:

Pause type: no function, cylinder not in place, etc.

Figure 11.7-1 “Pause” command node interface

11.8. Dofile instruction

Click the “Dofile” command node to enter the node graph editing interface.

This command is a dofile command. Insert this command in the program. When the program executes this command, the robot will be in a paused state. If you want to continue running, click the “Pause/Resume” button in the control area.

“Dofile” command node, parameters:

dofile: create the generated file name
Which layer to call: first layer/second layer
ID number: the corresponding position id of the level to which it belongs

Figure 11.8-1 “Dofile” command node interface

11.9. Set system variable command

Click the “Set system variable command” command node to enter the node graph editing interface.

This instruction is a setting system variable instruction, which is divided into setting system variables and obtaining system variables. It is used in conjunction with while, if-else and other instructions.

“Configure system variable command” command node, parameters:

Var: custom variable name
Value: Enter according to actual situation

Figure 11.9-1 “Configure system variable command” command node interface

“Obtain system variable command” command node, parameters:

Var: custom variable name

Figure 11.9-2 “Obtain system variable command” command node interface

Important

The variable name must be a defined name.

11.10. PTP instruction

Click the “PTP” command node to enter the node graph editing interface.

You can select the point you need to reach. The smooth transition time setting can realize the continuous movement from this point to the next point. Whether to set the offset, you can choose the offset based on the base coordinate system and the offset based on the tool coordinate, and x, y will pop up. z, rx, ry, rz offset settings, the specific PTP path is the optimal path automatically planned by the motion controller.

“PTP” command node, parameters:

Point name: Teaching point
Debugging speed (%): 0 ~ 100
Stop: false/true
Smooth transition (ms): smooth transition time 0 ~ 500
Whether to offset No/base coordinate offset/tool coordinate offset. When No is selected, the dx~drz parameter values will not take effect.
dx~drz: offset

Figure 11.10-1 “PTP” command node interface

11.11. LIN instruction

Click the “LIN” command node to enter the node graph editing interface.

The function of this command is similar to the “point to point” command, but the path to the point reached by this command is a straight line.

“LIN” command node, parameters:

Point name: Teaching point
Debugging speed (%): 0 ~ 100
Stop: false/true. When true is selected, the smooth transition parameter value does not take effect
Smooth transition (mm): Smooth transition radius 0 ~ 1000
Whether to seek position: false/true
Position search point variables: REF0~99/RES0~99. When false is selected for position search, the parameters will not take effect
Whether to offset: No/base coordinate offset/tool coordinate offset. When No is selected, the dx~drz parameter values will not take effect
dx~drz: Offset.

Figure 11.11-1 “LIN” command node interface

11.12. LIN(seamPos) instruction

Click the “LIN(seamPos)” command node to enter the node graph editing interface.

This command function is used in welding scenarios using laser sensors.

“LIN(seamPos)” command node, parameters:

Point name: Teaching point
Debugging speed (%): 0 ~ 100
Stop: false/true. When true is selected, the smooth transition parameter value does not take effect
Smooth transition (mm): Smooth transition radius 0 ~ 1000
Weld cache data selection: execution planning data/execution record data
Board type: corrugated board/corrugated board/fence board/oil drum/corrugated shell steel
Whether to offset: No/base coordinate offset/tool coordinate offset/Laser raw data offset. When No is selected, the dx~drz parameter values will not take effect.
dx~drz: Offset.

Figure 11.12-1 “LIN(seamPos)” command node interface

11.13. ARC instruction

Click the “ARC” command node to enter the node graph editing interface.

The arc motion contains two points. The first point is the transition point in the middle of the arc, and the second point is the end point. Both the transition point and the end point can be offset or not. You can choose to offset based on the base coordinate system or offset based on the tool coordinate. Shift, set x, y, z, rx, ry, rz offset, the end point can set a smooth transition radius to achieve continuous motion effect.

“ARC” command node, parameters:

Arc middle point: teaching point
Whether to offset: No/base coordinate offset/tool coordinate offset. When No is selected, the dx~drz parameter values will not take effect
dx~drz: offset
Arc end point: teaching point
Whether to offset: No/base coordinate offset/tool coordinate offset. When No is selected, the dx~drz parameter values will not take effect
dx~drz: offset
Debugging speed (%): 0 ~ 100
Stop: false/true. When true is selected, the smooth transition parameter value does not take effect.
Smooth transition (mm): Smooth transition radius 0 ~ 1000

Figure 11.13-1 “ARC” command node interface

11.14. Circle instruction

Click the “Circle” command node to enter the node graph editing interface.

The full circle motion includes two points. The first point is the middle transition point 1 of the full circle, and the second point is the middle transition point 2 of the full circle. Transition point 2 can be set to be offset. This offset takes effect on both transition point 1 and Transition point 2.

“Circle” command node, parameters:

Middle point 1 of the whole circle: teaching point
Middle point 2 of the whole circle: teaching point
Debugging speed (%): 0 ~ 100
Whether to offset: No/base coordinate offset/tool coordinate offset. When No is selected, the dx~drz parameter values will not take effect.
dx~drz: offset

Figure 11.14-1 “Circle” command node interface

11.15. Spiral instruction

Click the “Spiral” command node to enter the node graph editing interface.

The spiral motion contains three points, which form a circle. On the third point setting page, the parameter settings include the number of spiral turns, attitude correction angle, radius increment and rotation axis direction increment. The number of spiral turns is The number of movement circles of the spiral. The attitude correction angle corrects the attitude at the end of the spiral and the attitude of the first point of the spiral. The radius increment is the increment of the radius of each circle. The rotation axis direction increment is the direction of the spiral axis. Increment. Set whether to offset, the offset takes effect on the entire spiral trajectory.

“Spiral” command node, parameters:

Spiral middle point 1: Teaching point
Spiral middle point 2: teaching point
Spiral middle point 3: teaching point
Debugging speed (%): 0 ~ 100
Whether to offset: No/base coordinate offset/tool coordinate offset. When No is selected, the dx~drz parameter values will not take effect.
dx~drz: offset
Number of spiral turns: 0 ~ 100
Attitude angle correction rx(°): -1000 ~ 1000
Attitude angle correction (°): -1000 ~ 1000
Attitude angle correction rz(°): -1000 ~ 1000
Radius increment (mm): -100 ~ 100
Increment in rotation axis direction (mm): -100 ~ 100

Figure 11.15-1 “Spiral” command node interface

11.16. N-Spiral instruction

Click the “N-Spiral” command node to enter the node graph editing interface.

The new spiral motion is an optimized version of spiral motion. This instruction only requires one point and the configuration of each parameter to achieve spiral motion. The robot takes the current position as the starting point, and the user sets the debugging speed, offset or not, the number of spiral turns, the spiral inclination angle, the initial radius, the radius increment, the rotation axis direction increment and the rotation direction. The number of spiral turns is the length of the spiral. The number of movement circles, the spiral inclination angle is the angle between the Z axis of the tool and the horizontal direction, the attitude correction angle corrects the attitude at the end of the spiral and the attitude of the first point of the spiral, the initial radius is the radius of the first circle, and the radius increment That is, the increment of the radius of each circle, the increment of the rotation axis direction is the increment of the spiral axis direction, and the rotation direction is clockwise and counterclockwise.

“N-Spiral” command node, parameters:

Starting point of spiral: teaching point
Debugging speed (%): 0 ~ 100
Whether to offset: No/base coordinate offset/tool coordinate offset. When No is selected, the dx~drz parameter values will not take effect.
dx~drz: offset
Number of spiral turns: 0 ~ 100
Helix inclination angle (°): -100 ~ 100
Initial radius: 0 ~ 100
Radius increment (mm): -100 ~ 100
Increment in rotation axis direction (mm): -100 ~ 100
Direction of rotation: clockwise/counterclockwise

Figure 11.16-1 “N-Spiral” command node interface

11.17. H-Spiral instruction

Click the “H-Spiral” icon to enter the H-Spiral command editing interface.

The “H-Spiral” command is a horizontal space spiral motion. This command is set after the single-segment motion (straight line) command.

“H-Spiral” command node, parameters:

Spiral radius: 0~100mm
Helix angular speed: 0~2rev/s
Direction of rotation: spiral clockwise/counterclockwise
Helix inclination angle: 0~40°

Figure 11.17-1 “H-Spiral” command node interface

11.18. Spline instruction

Click the “Spline” command node to enter the node graph editing interface.

This command is divided into three parts: the start of the spline group, the spline segment and the end of the spline group. The start of the spline group is the starting mark of the spline movement. The current node graph of the spline segment only contains the SPL segment. The end of the spline group is The end mark of the spline movement.

“Spline-SPTP” command node, parameters:

Point name: Teaching point
Debugging speed (%): 0 ~ 100

Figure 11.18-1 “Spline” command node interface

11.19. N-Spline instruction

Click the “N-Spline” command node to enter the node graph editing interface.

This instruction is a spline instruction algorithm optimization instruction. It will replace the existing spline instruction later. This instruction is divided into three parts: multi-point trajectory start, multi-point trajectory segment and multi-point trajectory end. The multi-point trajectory starts with multi-point trajectory. The starting mark of the movement. The multi-point track segment means setting each track point. Click the icon to enter the point adding interface. The end of the multi-point track is the end mark of the multi-point track movement. Here you can set the control mode and debugging speed. The control mode is divided into for a given control point and a given path point.

“N-Spline” command node, parameters:

Control mode: teaching point
Global average connection time: integer, greater than 10, default value is 2000 ms

“N-Spline-SPL” command node, parameters:

Point name: Teaching point
Debugging speed (%): 0 ~ 100
Smooth transition radius: 0 ~ 1000
whether last point: no/yes

Figure 11.19-1 “N-Spline” command node interface

11.20. Weave instruction

Click the “Weave” command node to enter the node graph editing interface.

This command consists of two parts. The first part selects the weaving number of the configured parameters. The program for connecting the Body to represent the connection node is executed between “Start Weaving” and “Stop Weaving”.

“Weave” command node, parameters:

Number: 0~7

Figure 11.20-1 “Weave” command node interface

11.21. TPD instruction

Click the “TPD” command node to enter the node graph editing interface.

In this command, the user first needs to have a recorded trajectory.

When programming, first use the point-to-point command to reach the starting point of the corresponding trajectory, then select the trajectory in the trajectory recurrence command, select the smooth trajectory, and set the debugging speed. The trajectory loading command is mainly used to read the trajectory file in advance and extract it into trajectory instructions, which can be better applied to conveyor belt tracking scenarios.

“TPD” command node, parameters:

Track name: recorded track
Smooth trajectory: No/Yes
Debugging speed (%): 0 ~ 100, default value is 25

Figure 11.21-1 “TPD” command node interface

11.22. Offset instruction

Click the “Offset” command node to enter the node graph editing interface.

This command is an overall offset command. Enter each offset. The program connecting the Body to represent the connection node is executed between start and close. The motion command in the middle will be offset based on the base coordinates (or workpiece coordinates).

“Offset” command node, parameters:

Δx: offset, -300~300
Δy: offset, -300~300
Δz: offset, -300~300
Δrx: offset, -300~300
Δry: offset, -300~300
Δrz: offset, -300~300

Figure 11.22-1 “Offset” command node interface

11.23. ServoCart instruction

Click the “ServoCart” command node to enter the node diagram editing interface.

Servo control (Cartesian space motion) instruction, which can control robot movement through absolute pose control or based on the current pose offset.

“ServoCart” command node, parameters:

Movement mode: absolute position/base coordinate offset/tool coordinate offset
x: offset, -300~300
y: offset, -300~300
z: offset, -300~300
rx: offset, -300~300
ry: offset, -300~300
rz: offset, -300~300
Proportional coefficient x: 0~1
Proportional coefficient y: 0~1
Proportional coefficient z: 0~1
Proportional coefficient rx: 0~1
Proportional coefficient ry: 0~1
Proportional coefficient rz: 0~1
Acceleration (%): 0~100
Speed (%): 0~100
Instruction cycle (s): 0.001~0.016
Filter time (s): 0~1
Scale up: 0~100

Figure 11.23-1 “ServoCart” command node interface

11.24. Trajectory instruction

Click the “Trajectory” command node to enter the node graph editing interface.

In this command, the user first needs to have a recorded trajectory.

“Trajectory” command node, parameters:

Select track file: recorded track
Debugging speed (%): 0 ~ 100, default value is 25

Figure 11.24-1 “Trajectory” command node interface

11.25. TrajectoryJ instruction

Click the “TrajectoryJ” command node to enter the node graph editing interface.

In this command, the user first needs to have a recorded trajectory, and the trajectory file can be imported in advance in the teaching program interface. The trajectory command and trajectory J command are suitable for the general interface of the camera directly giving the trajectory. When there is a discrete trajectory point file in a fixed format, it can be imported into the system to make the robot move according to the trajectory of the imported file.

“TrajectoryJ” command node, parameters:

Select track file: recorded track
Debugging speed (%): 0 ~ 100, default value is 25
Track mode: path points/control points

Figure 11.25-1 “TrajectoryJ” command node interface

11.26. DMP instruction

Click the “DMP” command node to enter the node graph editing interface.

DMP is a trajectory imitation learning method that requires planning a reference trajectory in advance. In the command editing interface, select the teaching point as the new starting point, click “Add” and “Apply” to save the command. The specific path of DMP is a new trajectory that imitates the reference trajectory with a new starting point.

“DMP” command node, parameters:

Point name: teaching point
Debugging speed (%): 0 ~ 100, default value is 100

Figure 11.26-1 “DMP” command node interface

11.27. WPSTrsf instruction

Click the “WPSTrsf” command node to enter the node graph editing interface.

Select the workpiece coordinate system to be automatically converted, click “Add” and “Apply” to save the instruction. When adding PTP and LIN instructions, connect them to the Body to implement execution within the instruction, and the points in the workpiece coordinate system are automatically converted.

“WPSTrsf” command node, parameters:

Workpiece coordinate system: workpiece coordinate series list

Figure 11.27-1 “WPSTrsf” command node interface

11.28. ToolTrst instruction

Click the “ToolTrst” command node to enter the node graph editing interface.

Select the tool coordinate system to be automatically converted, click “Add” and “Apply” to save the instruction. When adding PTP and LIN instructions, connect them to the Body to implement execution within the instruction, and the points in the tool coordinate system are automatically converted.

“ToolTrst” command node, parameters:

Tool coordinate system: tool coordinate series list

Figure 11.28-1 “ToolTrst” command node interface

11.29. Digital IO instruction node

Click the “Set DO”/”Get DI” command node to enter the node diagram editing interface

This instruction is an IO instruction, which is divided into two parts: setting IO (SetDO/SPLCSetDO) and getting IO (GetDI/SPLCGetDI).

“SetDO” command node, parameters:

Port: Ctrl-DO0 ~ Ctrl-CO7 (blocking: SetDO, non-blocking: SPLCSetDO, [0~15]), End-DO0 ~ End-DO1 (blocking: SetToolDO, non-blocking: SPLCSetToolDO, [0~1])
Status: false/true
Whether to block: blocking/non-blocking
Smooth trajectory: Break/Serious
Whether to apply threads: No/Yes

Figure 11.29-1 “SetDO” command node interface

“GetDI” command node, parameters:

Port: Ctrl-DI0 ~ Ctrl-CI7 (blocking: GetDI, non-blocking: SPLCGetDI, [0~15]), End-DI0 ~ End-DI1 (blocking: GetToolDI, non-blocking: SPLCGetToolDI, [0~1])
Whether to block: blocking/non-blocking
Status: false/true
Maximum waiting time (ms): 0 ~ 10000
Whether to apply threads: No/Yes

Figure 11.29-2 “GetDI” command node interface

11.30. Simulate AI commands

Click the “Set AO”/”Get AI” command node to enter the node graph editing interface.

In this command, it is divided into two functions: setting analog output (SetAO/SPLCSetAO) and getting analog input (GetAI/SPLCGetAI).

“SetAO” command node, parameters:

Port: Ctrl-AO0 ~ Ctrl-AO1 (blocking: SetAO, non-blocking: SPLCSetAO, [0~1]), End-AO0 (blocking: SetToolAO, non-blocking: SPLCSetToolAO, [0])
Value (%): 0 ~ 100
Whether to block: blocking/non-blocking
Whether to apply threads: No/Yes

Figure 11.30-1 “SetAO” command node interface

“GetAI” command node, parameters:

Port: Ctrl-AI0 ~ Ctrl-DI1 (blocking: GetAI, non-blocking: SPLCGetAI, [0~1]), End-AI0 (blocking: GetToolAI, non-blocking: SPLCGetToolAI, [0])
Condition: greater than/less than
Value (%): 0 ~ 100
Maximum time (ms): 0 ~ 10000
Whether to block: blocking/non-blocking
Whether to apply threads: No/Yes

Figure 11.30-2 “GetAI” command node interface

11.31. Virtual IO command node

Click the “Configure Simulated External DI”/”Configure Simulated External AI” command node to enter the node diagram editing interface.

This instruction is a virtual IO control instruction that can set the simulated external DI and AI status and obtain the simulated DI and AI status.

“Configure simulated external DI” command node, parameters:

Port: Vir-Ctrl-DI0 ~ Vir-Ctrl-DI15(SetVirtualDI,[0~15]), Vir-End-DI0 ~ Vir-End-DI1(SetVirtualToolDI,[1~2])
Status: false/true

Figure 11.31-1 “Configure simulated external DI” command node interface

“Configure simulated external AI” command node, parameters:

Port: Vir-Ctrl-AI0 ~ Vir-Ctrl-AI0(SetVirtualAI,[0~1]), Vir-End-AI0(SetVirtualToolAI,[0])
Value (v/ma): 0 ~ 20

Figure 11.31-2 “Configure simulated external AI” command node interface

11.32. Extended IO command node

Click the “Obtain simulated external DI”/”Obtain simulated external AI” command node to enter the node diagram editing interface.

Aux-IO is a command function used by the robot to communicate with the PLC to control external expansion IO. It requires the robot to establish UDP communication with the PLC.

“Obtain simulated external DI” command node, parameters:

Port: Vir-Ctrl-DI0 ~ Vir-Ctrl-DI15(GetVirtualDI,[0~15]), Vir-End-DI0 ~ Vir-End-DI1(GetVirtualToolDI,[1~2])

Figure 11.32-1 “Obtain simulated external DI” command node interface

“Obtain simulated external AI” command node, parameters:

Port: Vir-Ctrl-AI0 ~ Vir-Ctrl-AI0(GetVirtualAI,[0~1]), Vir-End-AI0(GetVirtualToolAI,[0])

Figure 11.32-2 “Obtain simulated external AI” command node interface

“Configure UDP communication” command node, parameters:

ip: ip address
port: port number
Communication cycle (ms): 0 ~ 10000

Figure 11.32-3 “Configure UDP Communication” command node interface

11.33. MoveDO instruction

Click the “MoveDO” command node to enter the node graph editing interface.

This instruction implements the function of continuously outputting DO signals according to the set interval during linear motion.

“Motion DO continuous output” command node, parameters:

Port: Ctrl-DO0 ~ Ctrl-DO0(MoveDOStart,[0~15]), End-DO1(MoveDOStart,[0~1])
Setting interval (mm): 0 ~ 500
Output pulse duty cycle (%): 0 ~ 99

“Motion DO single output” command node, parameters:

Port: Ctrl-DO0 ~ Ctrl-DO0(MoveDOOnceStart,[0~15]), End-DO1(MoveDOOnceStart,[0~1])
Output mode: constant speed section output/free configuration
Setting time (ms): 0 ~ 1000 (The default output mode of the constant speed segment is -1)
Reset time (ms): 0 ~ 1000 (The default output mode of the constant speed segment is -1)

Figure 11.33-1 “Motion DO single/continuous output” command node interface

11.34. ToolList instruction

Click the “SetToolList”/”SetWobToolList” related command node to enter the node diagram editing interface.

In this command, it is divided into two functions: “SetToolList” and “SetWobToolList”.

Select the tool coordinate system name and click “Apply” to add this instruction to the program. When the program runs this statement, the tool coordinate system of the robot will be set.

“SetToolList” command node, parameters:

Tool coordinate system name: toolcoord1 ~ toolcoord19(SetToolList, [0~19]), etoolcoord0 ~ etoolcoord14(SetExToolList, [0~14])

Figure 11.34-1 “SetToolList” command node interface

“SetWobToolList” command node, parameters:

Workpiece coordinate system name: wobjcoord1 ~ wobjcoord14

Figure 11.34-2 “SetWobToolList” command node interface

11.35. Mode instruction

Click the “Mode” command node to enter the node graph programming interface

This instruction can switch the robot to manual mode. It is usually added at the end of a program so that the user can automatically switch the robot to manual mode and drag the robot after the program is finished.

“Mode” command node, parameters:

Mode switch: manual mode

Figure 11.35-1 “Mode” command node interface

11.36. Collision instruction

Click the “Collision” command node to enter the node graph programming interface

This command sets the collision level. Through this command, the collision level of each axis can be adjusted in real time while the program is running, allowing for more flexible deployment of application scenarios.

“Collision” command node, parameters:

Standard Level: Standard Level/Customized Percentage
joint1-joint6(N): 0 ~ 100, collision threshold, array type

Figure 11.36-1 “Collision” command node interface

11.37. Acc instruction

Click the “Acc” command node to enter the node graph programming interface

The “Acc” command is a function that allows the robot’s acceleration to be set independently. By adjusting the motion command acceleration scaling factor, the acceleration and deceleration time can be increased or decreased, and the robot’s action beat time can be adjusted.

“Acc” command node, parameters:

Acceleration percentage (%): 0 ~ 100

Figure 11.37-1 “Acc” command node interface

11.38. Gripper instruction

The command is divided into “gripper movement”, “gripper activation” and “gripper reset”.

In the command, the number of the gripper that has been configured and activated is displayed. The settings for the opening and closing, opening and closing speed and opening and closing torque of the gripper. The value is a percentage. Whether to block the function option. If blocking is selected, the gripper movement needs to wait for the previous one. The motion command is executed only after it is executed. Select non-blocking, that is, the gripper motion is parallel to the previous motion command.

“Gripper Movement” node, parameters:

Gripper number: The number of the activated gripper
Clamp position: 0~100
Opening and closing speed: 0~100
Opening and closing torque: 0~100
Maximum time (ms): 0~30000
Whether to block: false/true

Figure 11.38-1 “Gripper Movement” node interface

The gripper reset command displays the configured gripper number. You can add the gripper reset command to the program.

“Gripper reset” node, parameters:

Gripper number: The number of the activated gripper

Figure 11.38-2 “Gripper reset” node interface

The gripper activation command displays the configured gripper number. You can add the gripper activation command to the program.

“Gripper activation” node, parameters:

Gripper number: The number of the activated gripper

Figure 11.38-3 “Gripper activation” node interface

11.39. Spray instruction

This command is a spray-related command that controls the spray gun to “start spraying”, “stop spraying”, “start clearing the gun” and “stop clearing the gun”. When editing the relevant nodes of this program, you need to confirm that the spray gun peripherals have been configured, otherwise it cannot be saved. See the Robot Peripherals chapter for details.

Figure 11.39-1 “Start spraying” command node interface

Figure 11.39-2 “Stop spraying” command node interface

Figure 11.39-3 “Clearing gun” command node interface

Figure 11.39-4 “Stop clearing” command node interface

11.40. Extended axis instructions (controller + PLC)

This instruction is aimed at scenarios where external axes are used. Used in combination with the PTP instruction, it can decompose the movement of a point in space in the X-axis direction into external axis motion. Select the external axis number, select synchronization as the motion mode, and select the point you want to reach.

It is divided into UDP communication loading/configuration, asynchronous movement, synchronous PTP/LIN movement, synchronous ARC movement, zero return command and enable command.

“Extended axis UDP communication configuration” command node, enter the IP address, port number and communication cycle.

Figure 11.40-1 “Extended axis UDP communication configuration” command node interface

“Extended axis asynchronous motion” command node, parameters:

Point name: Teaching point
Debugging speed (%): 0~100

Figure 11.40-2 “Extended axis asynchronous motion” command node interface

“Synchronized PTP/LIN motion” command node, parameters:

Sport selection: PTP/LIN
Point name: Teaching point
Debugging speed (%): 0~100

Figure 11.40-3 “Synchronized PTP/LIN motion” command node interface

“Synchronized ARC motion” command node, the default motion mode is ARC, parameters:

Point name: Teaching point
Debugging speed (%): 0~100

Figure 11.40-4 “Synchronized ARC motion” command node interface

“Return to zero” command node, parameters:

Expansion axis number: 1~4
Zero return method: current position zero return/negative limit zero return/positive limit zero return
Homing speed: 0~2000, default bit 5
Zero point hoop speed: 0~2000, default is 1

Figure 11.40-5 “Return to zero” command node interface

“Enable” command node,,parameters:

Expansion axis number: 1~4

Figure 11.40-6 “Enable” command node interface

11.41. Extended axis instructions (controller + servo drive)

This command can configure extended axis parameters. Set different parameters according to different control modes. The configured expansion axis can be set to its zero point.

It is divided into servo ID, control mode, servo enable and servo zero return; the control mode is further divided into position mode and speed mode. These two nodes need to be used in conjunction with the control mode, otherwise adding them separately will not take effect.

“Servo ID” command node, parameters:

Servo ID: 1~15

Figure 11.41-1 “Servo ID” command node interface

“Control mode” command node, parameters:

Servo ID: 1~15
Control mode: position mode/speed mode

Figure 11.41-2 “Control Mode” command node interface

“Servo enable” command node, parameters:

Servo ID: 1~15
Servo enable: servo enable/remove enable

Figure 11.41-3 “Servo enable” command node interface

“Servo return to zero” command node, parameters:

Servo ID: 1~15
Zero return method: current position zero return/negative limit zero return/positive limit zero return
Homing speed: 0~2000, default bit 5
Zero point hoop speed: 0~2000, default is 1
Acceleration percentage: 1-100

Figure 11.41-4 “Servo return to zero” command node interface

“Position mode” command node, parameters:

Servo ID: 1~15
Target location: unlimited
Homing speed: unlimited
Acceleration percentage: 1-100

Figure 11.41-5 “Position Mode” command node interface

“Speed mode” command node, parameters:

Servo ID: 1~15
Target speed: unlimited
Acceleration percentage: 1-100

Figure 11.41-6 “Speed Mode” command node interface

11.42. Conveyor belt instruction

This instruction includes four commands: Conveyor belt IO real-time detection, position real-time detection, tracking on and tracking off. See the Robot Peripherals chapter for details.

“Conveyor belt IO real-time detection” command node, parameters:

Maximum waiting time: 0~10000

Figure 11.42-1 “Conveyor belt IO real-time detection” command node interface

“Real-time detection of conveyor belt position” command node, parameters:

Operating mode: Tracking capture/Tracking motion/TPD tracking

Figure 11.42-2 “Real-time detection of conveyor belt position” command node interface

“Conveyor tracking enabled” command node, parameters:

Operating mode: Tracking capture/Tracking movement/TPD tracking

Figure 11.42-3 “Conveyor tracking enabled” command node interface

Figure 11.42-4 “Conveyor tracking off” command node interface

11.43. Polish instruction

This command is used for polishing scenes. When using it, you need to uninstall and then load the driver, and then set the polishing device to be enabled. Then set the rotation speed, contact force, extension distance and control mode of the grinding equipment. At the same time, you can clear the grinding equipment errors and clear the equipment force sensor.

Figure 11.43-1 “Polishing communication equipment uninstallation” command node interface

Figure 11.43-2 “Polishing communication equipment loading” command node interface

“Polishing equipment enable” command node, parameters:

Device enable: Present/Descend

Figure 11.43-3 “Polishing equipment enable” command node interface

Figure 11.43-4 “Polishing equipment error clearing” command node interface

Figure 11.43-5 “Polishing equipment force sensor clear” command node interface

“Polishing speed” command node, parameters:

Polishing speed: 0~5500

Figure 11.43-6 “Speed” command node interface

“Polishing contact force” command node, parameters:

Contact force: 0~200

Figure 11.43-7 “Polishing contact force” command node interface

“Polishing protrusion distance” command node, parameters:

-Polishing protrusion distance: 0~12

Figure 11.43-8 “Polishing protrusion distance” command node interface

“Polishing control mode” command node, parameters:

Control mode: zero return mode/position mode/torque mode

Figure 11.43-9 “Polishing control mode” command node interface

11.44. Weld command

Click “Welding related command node” to enter the node graph programming interface.

This command is mainly used for welding machine peripherals. Before adding this command, please confirm whether the welding machine configuration is completed in the user peripherals. For details, see the Robot Peripherals chapter.

“Welding machine voltage” command node, parameters:

Welding machine voltage: minimum value is 0

Figure 11.44-1 “Welding machine voltage” command node interface

“Welding machine current” command node, parameters:

Welding machine current: minimum value is 0

Figure 11.44-2 “Welding machine current” command node interface

“Arc closing/arc starting” command node, parameters:

I/O type: controller IO/expansion IO
Welding process number: 0 ~ 7
Maximum waiting time (ms): 0 ~ 10000

Figure 11.44-3 “Arc closing/arc starting” command node interface

“Gas ON/OFF” command node, parameters:

I/O type: controller IO/expansion IO

Figure 11.44-4 “Gas on/off” command node interface

“Forward/Stop forward” command node, parameters:

I/O type: controller IO/expansion IO

Figure 11.44-5 “Forward/Stop forward” command node interface

“Reverse wire feed/Stop reverse” command node, parameters:

I/O type: controller IO/expansion IO

Figure 11.44-6 “Reverse wire feed/Stop reverse” command node interface

11.45. Segment instruction

This command is a special command for welding, mainly used in intermittent welding scenarios where one period of welding and one period of non-welding are cycled. Between the starting point and the end point, use this command to select the starting point and the end point, set the debugging speed, set the DO port of arc starting, execution length, non-execution length, set the function mode, swing selection and rounding rules according to the actual application scenario. Realize the segment welding function, detailed operations can be found in the segment welding instructions on the program teaching page.

“Segment welding” command node, parameters:

Segment welding mode: no change in attitude/change in attitude
Starting point: teaching point
End point: teaching point
Debugging speed (%): 0~100, default is 100
Execution length: 0~1000
Non-executable length: 0~1000
Function mode: 0~100, default is 100
Swing selection: execution section does not swing/execution section swings
Rounding rules: no rounding/circular rounding/single segment rounding

Figure 11.45-1 “Segment welding” command node interface

11.46. Laser instruction

Click the “Laser” command node to enter the node graph programming interface

This command contains three parts: laser command, tracking command and positioning command. Before adding this command, please confirm whether the laser tracking sensor in the user peripheral has been configured successfully. See the Robot Peripherals chapter for details.

“Open/Close sensor” command node, parameters:

Select weld type: 0 ~ 49

Figure 11.46-1 “Open/Close sensor” command node interface – Weld type

Select task number: 0 ~ 255

Figure 11.46-2 “Open/Close sensor” command node interface – Task number

“Load/unload sensor” command node, parameters:

Function selection: Ruiniu RRT-SV2-BP/CXZK-RBTA4L

Figure 11.46-3 “Load/unload sensor” command node interface

“Start/Stop Tracking” command node, parameters:

Coordinate system name: Customized configuration coordinate system

Figure 11.46-4 “Start/stop tracking” command node interface

“Data Record” command node, parameters:

Function selection: stop recording/real-time tracking/start recording/track recurrence
Waiting time (ms): 0 ~ 10000

Figure 11.46-5 “Data Logging” command node interface

“Laser tracking recurrence” command node, parameters:

Figure 11.46-6 “Laser Tracking Reappearance” command node interface

“Sensor point acquisition movement” command node, parameters:

Coordinate system name: Customized configuration coordinate system
Sports mode: PTP/Lin
Debugging speed (%): 0 ~ 100

Figure 11.46-7 “Data Logging” command node interface

“Start/End locating” command node, parameters:

Coordinate system name: Customized configuration coordinate system
Direction: -x/-x/-y/-y/-z/-z/specifies the direction
Direction point: When “Specify direction” is not selected, the parameter is invalid
Speed (%): 0 ~ 100
Length (mm): 0 ~ 1000
Maximum search time (ms): 0 ~ 10000

Figure 11.46-8 “Start/End locating” command node interface

11.47. Laser recording instructions

This command implements the function of taking out the starting point and end point of laser tracking and recording, so that the robot can automatically move to the starting point. It is suitable for situations where the movement starts from outside the workpiece and laser tracking and recording is performed. At the same time, the host computer can obtain the information of the starting point and end point in the recorded data. for subsequent exercise.

Implementing the adjustable laser tracking reproduction speed function allows the robot to record at a very fast speed and then reproduce at the normal welding speed, which can improve operating efficiency.

“Weld data record” command node, parameters:

Function selection: stop recording/real-time tracking/start recording/track recurrence
Waiting time (ms): 0~10000, default is 10
Speed (%): 0~100, default is 30, this parameter takes effect when selecting trajectory recurrence

Figure 11.47-1 “Weld data record” command node interface

“Move to the starting/end point of weld” command node, parameters:

Sports mode: PTP/LIN
Speed (%): 0~100, default is 30

Figure 11.47-2 “Obtain weld starting point/end point” command node interface

11.48. W-Search instruction

This command is generally used in welding scenarios and requires the welding machine to be used in combination with robot IO and motion commands. It is divided into search start, search end, search point setting, offset calculation and contact point data writing.

“Welding wire positioning start/end” command node, parameters:

Base position: do not update/update
Position search speed: 0~100
Search distance: 0~1000
Automatic return flag: no automatic return/automatic return
Automatic return speed: 0~100
Automatic return distance: 0~1000
Positioning method: teaching point positioning/positioning with offset

Figure 11.48-1 “Welding wire positioning start/end” command node interface

The search point setting adds points based on the weld type and calculation method.

When the type is fillet weld and the calculation method is 1D (one of xyz), the point addition is selected from point a and point b
When the type is fillet weld and the calculation method is 2D (two in xyz), the point addition is selected from point a, point b, point e, and point f
When the type is fillet weld and the calculation method is 3D (xyz), the point addition is selected from point a, point b, point c, point d, point e, and point f
When the type is fillet weld and the calculation method is 2D- (two in xyz, one in rxryrz), the point addition is selected from point a, point b, point c, point d, point e, and point f
When the type is inner and outer diameter and the calculation method is 2D2D (two in xyz), the point addition is selected from point a and point b
When the type is point and the calculation method is 3D (xyz), the point addition is selected from point a, point b, point c, point d, point e, and point f
When the type is camera and the calculation method is 3D- (xyzrxryrz), the point addition is selected from point a and point b
When the type is surface and the calculation method is 3D- (xyzrxryrz), the point addition is selected from point a and point b

Figure 11.48-2 “Search point setting” command node interface

Calculate the offset to set the datum and contact points based on the weld type and calculation method.

When the type is fillet weld and the calculation method is 2D (two in xyz), set datum point 1, datum point 2, contact point 1, and contact point 2
When the type is fillet weld and the calculation method is 3D (xyz), set datum point 1, datum point 2, datum point 3, contact point 1, contact point 2, and contact point 3
When the type is fillet weld and the calculation method is 2D- (two in xyz, one in rxryrz), set reference point 1, reference point 2, reference point 3, contact point 1, contact point 2, contact point 3
When the type is inner and outer diameter and the calculation method is 2D2D (two in xyz), set datum point 1, datum point 2, datum point 3, contact point 1, contact point 2, and contact point 3
When the type is point and the calculation method is 3D (xyz), set contact point 1 and contact point 2
When the type is camera and the calculation method is 3D- (xyzrxryrz), set contact point 1 and contact point 2
When the type is face and the calculation method is 3D- (xyzrxryrz), set contact point 1, contact point 2, contact point 3, contact point 4, contact point 5, and contact point 6

Figure 11.48-3 “Calculate offset” command node interface

“Contact point data write” command node, parameters:

Contact point name: RES0~99
Contact point name: The data format is {0,0,0,0,0,0}

Figure 11.48-4 “Contact Point Data Write” command node interface

11.49. Weld-Trc instruction

Click the “Weld-Trc” command node to enter the node graph programming interface

This instruction implements robot welding seam tracking using welding seam deviation detection to compensate for the trajectory. Arc sensors can be used to detect welding seam deviations.

“Arc tracking on/off” command node, parameters:

Arc tracking lag time (ms): reference value 50
Deviation compensation: off/on
Adjustment coefficient: 0 ~ 300
Compensation time (cyc): 0 ~ 300
Maximum compensation amount each time (mm): 0 ~ 300
Total maximum compensation amount (mm): 0 ~ 300
Up and down coordinate system selection: swing
Upper and lower reference current setting method: feedback/constant
Upper and lower reference current (A): 0 ~ 300

Figure 11.49-1 “Arc tracking on/off” command node interface

11.50. Attitude adjustment instructions

Click on the “Attitude Adjustment” related command node to enter the node graph programming interface.

This command adaptively adjusts the welding gun posture for welding tracking scenarios. It is necessary to teach the three points PosA, PosB, and PosC first, otherwise nodes cannot be added.

After recording the three corresponding posture points, add posture adaptive adjustment instructions according to the actual movement direction of the robot. See the Robot Peripherals chapter for details.

“Turn on attitude adjustment” command node, parameters:

Board type: corrugated board/corrugated board/fence board/corrugated shell steel
Direction of movement: left to right/right to left
Attitude adjustment time (ms): 0 ~ 1000
Length of first section (mm):
Inflection point type: top to bottom/bottom to top
Length of second section (mm):
Length of third section (mm):
Length of the fourth section (mm):
Length of the fifth section (mm):

Figure 11.50-1 “Turn on attitude adjustment” command node interface

“Turn off attitude adjustment” command node, parameters:

Board type: corrugated board/corrugated board/fence board/corrugated shell steel

Figure 11.50-2 “Turn off attitude adjustment” command node interface

11.51. F/T Instruction

Click on the command node related to the “F/T” command to enter the node graph programming interface.

This command includes FT_Guard (collision detection), FT_Control (constant force control), FT_Compliance (compliance control), FT_Spiral (spiral insertion), FT_Rot (rotation insertion), FT_Lin (linear insertion), FT_FindSurface (surface positioning), FT_CalCenter (center positioning) ), FT_Click (click force detection) nine instructions, see the robot peripherals chapter for details.

“Turn on/off collision detection” command node, parameters:

Coordinate system name: Custom configured coordinate system
Fx-Tx truth value: true/false
Fx-Tx current value: input according to actual situation
Fx-Tx maximum threshold: input according to actual situation
Fx-Tx minimum threshold: input according to actual situation

Figure 11.51-1 “Turn on/off collision detection” command node interface

“Turn on/off control” command node, parameters:

Coordinate system name: Custom configured coordinate system
Fx-Tx truth value: true/false
Current value of Fx-Tx: adjusted according to actual situation
F_P_gain - F_D_gain: adjusted according to actual situation, cannot be 0
Adaptive start and stop status: stop/start
ILC control start and stop status: stop/training/practical operation
Maximum adjustment distance (mm): 0 ~ 1000
Maximum adjustment angle (°): 0 ~ 1000

Figure 11.51-2 “Turn on/off control” command node interface

“FT_Compliance Start/End” command node, parameters:

Delivery position adjustment coefficient: 0 ~ 1
Compliant opening force threshold (N): 0 ~ 100

Figure 11.51-3 “FT_Compliance Start/End” command node interface

“FT_Spiral” command node, parameters:

Coordinate system name: tool coordinate system/base coordinate
Radius feed per revolution (mm): 0 ~ 100, reference value: 0.7
Force or torque threshold (N/Nm): 0 ~ 100, reference value: 50
Maximum exploration time (ms): 0 ~ 60000, reference value: 60000
Maximum linear speed (mm/s): 0 ~ 100, reference value: 5

Figure 11.51-4 “FT_Spiral” command node interface

“FT_Rot” command node, parameters:

Coordinate system name: tool coordinate system/base coordinate
Rotation angular speed (°/s): 0 ~ 100, reference value: 0.7
Trigger force or final torque (N/Nm): 0 ~ 100, reference value: 50
Maximum rotation angle (°): 0 ~ 100, reference value: 5
Direction of force: direction z/direction mz
Maximum rotation angle acceleration (°/s^2): 0 ~ 100
Insertion direction: positive/negative

Figure 11.51-5 “FT_Rot” command node interface

“FT_Lin” command node, parameters:

Coordinate system name: tool coordinate system/base coordinate
Action termination force threshold (N): 0 ~ 100
Linear speed (mm/s): 0 ~ 100, reference value: 1
Linear acceleration (°/s^2): 0 ~ 100
Maximum insertion distance (mm): 0 ~ 100
Insertion direction: positive/negative

Figure 11.51-6 “FT_Lin” command node interface

“FT_FindSurface” command node, parameters:

Coordinate system name: tool coordinate system/base coordinate
Movement direction: positive/negative
Moving axis: X/Y/Z
Explore linear speed (mm/s): 0 ~ 100
Exploration acceleration (mm/s^2): 0 ~ 100
Maximum exploration distance (mm): 0 ~ 100
Action termination force threshold (N): 0 ~ 100

Figure 11.51-7 “FT_FindSurface” command node interface

“FT_CalCenter Start/End” command node

Figure 11.51-8 “FT_CalCenter Start/End” command node interface

11.52. Torque recording command

Click on the “Torque Record” related command node to enter the node graph programming interface.

This command is a torque recording command, which includes three commands: “Start Torque Recording/”Stop Torque Recording” and “Reset Torque Recording”.

Real-time torque recording and collision detection function.

Click the “Torque Record Start” button to continuously record the collision situation during the operation of the motion command. The recorded real-time torque is used as the theoretical value for collision detection judgment to reduce the probability of false alarms.

When the set threshold range is exceeded, the collision detection duration is recorded.

Click the “Torque Record Stop” button to stop recording. Click “Torque Record Reset” to restore the status to the default state.

“Torque recording start” command node, parameters:

Smoothing selection: unsmoothed (original data)/smoothed (smoothed data)
Joint negative threshold (Nm): -100 ~ 0
Joint positive threshold (Nm): 0 ~ 100
Joint continuous detection collision time (ms): 0 ~ 1000

Figure 11.52-1 “Torque recording start” command node interface

“Torque recording end” command node

Figure 11.52-2 “Torque recording end” command node interface

“Torque record reset” command node

Figure 11.52-3 “Torque record reset” command node interface

11.53. Modbus instruction

Click the “Mobus” related command node to enter the node graph programming interface.

This instruction function is a bus function based on the ModbusTCP protocol. Users can control the robot to communicate with the ModbusTCP client or server (master station and slave station communication) through relevant instructions, and read and write Digital Output, Digital Input, and registers. For more operating functions of ModbusTCP, please contact us for consultation.

Master station register information: Master station register information includes type (DI, DO, AI, AO), address number, name and address value (DI and AI types cannot be entered), which can be edited and deleted.

Master station Digital Output settings, parameters:

Modbus master station name: configured according to actual situation
DO name: configured according to actual situation
Number of registers: integer type 0 ~ 128
Register value: Determined according to the number of registers, multiple values can be entered. For example, the quantity is 3 and the values are 1,0,1

Figure 11.53-1 Master station “read/write Digital Output” command node interface

Master station Digital Input setting, parameters:

Modbus master station name: configured according to actual situation
DI name: configured according to actual situation
Number of registers: integer type 0 ~ 128

Figure 11.53-2 Master station “read Digital Input” command node interface

Master station analog output settings, parameters:

Modbus master station name: configured according to actual situation
AO name: configured according to actual situation
Number of registers: integer type 0 ~ 128
Register value: Determined according to the number of registers, multiple values can be entered. For example, the quantity is 3 and the values are 1,0,1

Figure 11.53-3 Master station “read/write analog output” command node interface

Master station analog input settings, parameters:

Modbus master station name: configured according to actual situation
AI name: Configure according to actual situation
Number of registers: integer type 0 ~ 128

Figure 11.53-4 Master station “read analog input” command node interface

The master station waits for digital input settings, parameters:

Modbus master station name: configured according to actual situation
DI name: configured according to actual situation
Waiting status: true/false
Timeout (ms): integer

Figure 11.53-5 Master station “waiting for digital input” command node interface

The master station waits for analog word input settings, parameters:

Modbus master station name: configured according to actual situation
AI name: Configure according to actual situation
Waiting status: greater than/less than
Number of registers: integer type 0 ~ 128
Register value: Determined according to the number of registers, multiple values can be entered.

Figure 11.53-6 Master station “wait for analog input” command node interface

Slave Digital Output settings, parameters:

DO name: configured according to actual situation
Number of registers: integer type 0 ~ 128
Register value: Determined according to the number of registers, multiple values can be entered. For example, the quantity is 3 and the values are 1,0,1

Figure 11.53-7 Slave “read/write Digital Output” command node interface

Slave station Digital Input setting, parameters:

DI name: configured according to actual situation
Number of registers: integer type 0 ~ 128

Figure 11.53-8 Slave station “read Digital Input” command node interface

Slave station analog output settings, parameters:

AO name: configured according to actual situation
Number of registers: integer type 0 ~ 128
Register value: Determined according to the number of registers, multiple values can be entered. For example, the quantity is 3 and the values are 1,0,1

Figure 11.53-9 Slave “read/write analog output” command node interface

The slave station waits for digital input settings, parameters:

DI name: configured according to actual situation
Waiting status: true/false
Timeout (ms): integer

Figure 11.53-10 Slave “wait for digital input” command node interface

The slave station waits for analog word input settings, parameters:

AI name: Configure according to actual situation
Waiting status: greater than/less than
Number of registers: integer type 0 ~ 128
Register value: Determined according to the number of registers, multiple values can be entered.

Figure 11.53-11 Master station “wait for analog input” command node interface

Slave station analog input settings, parameters:

AI name: Configure according to actual situation
Number of registers: integer type 0 ~ 128

Figure 11.53-12 Slave “read analog input” command node interface

11.54. Application scenario usage examples

For example, install a tip on the end of the robot and drag it to a position near the hole of the pallet. You want to perform spiral, rotational and linear insertion operations of the force sensor.

First, right-click the mouse button and select the “Begin”, “Start/End Control”, “Spiral Insertion”, “Rotation Insertion”, and “Linear Insertion” command nodes;
Connect as follows and configure relevant parameters.

Figure 11.54-1 “Force Control” command node application configuration interface

Enter the file name. If the correct parameters are not entered, the save will fail and a prompt will appear indicating that the command node parameter configuration is incorrect.

Figure 11.54-2 Command node parameter configuration error interface

After clicking Run, the robot will explore in a spiral plus straight line motion. After exploring the correct hole position, use linear and rotational insertion movements until the hole is correctly inserted.