C#

This document is the C# version of the secondary development interface document.

Important

Description of robot parameter units: robot position in millimeters (mm) and attitude in degrees (°).

Important

1. All code examples in the documentation default to the robot being powered on and enabled unless otherwise specified;

2. All code examples in the documentation default to no interference in the robot’s workspace;

3. Please use the data of the robot in the field for actual use testing.

4. Before using this SDK, you need to find the “xmlrpcnet” package through NuGet and add it to the project reference;

• 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