C++

This manual is the secondary development interface document of C++.

Important

Robot parameter unit description: The robot position unit is millimeter (mm), and the attitude unit is degree (°).

Important

1. In code examples that are not specifically stated, the robot has been powered on and enabled by default;

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

3. Please use the data of the on-site robot in the actual use test.

Note

The current document applies to SDK-v2.0.0 version and is backward compatible with v1.x version.

• 1. Version Update Description
• 2. Data structure specification
  • 2.1. Interface call return value type
  • 2.2. Joint position data type
  • 2.3. Cartesian spatial location data type
  • 2.4. Euler Angle attitude data type
  • 2.5. Cartesian space pose data type
  • 2.6. Extension axis position data type
  • 2.7. Torque sensor data type
  • 2.8. Spiral parameter data type
  • 2.9. feedback packet of robot controller state
  • 2.10. Robot Status Feedback Configuration Enumeration Type
• 3. Basics
  • 3.1. Instantiate Robot
  • 3.2. Establish Communication with Controller
  • 3.3. Close Communication with Controller
  • 3.4. Query SDK Version
  • 3.5. Get Controller IP
  • 3.6. Control Robot to Enter/Exit Drag Teaching Mode
  • 3.7. Check if Robot is in Drag Mode
  • 3.8. Enable/Disable Robot
  • 3.9. Switch Between Manual/Auto Mode
  • 3.10. Shut Down Robot OS
  • 3.11. Set Reconnection Parameters
  • 3.12. Shut down the robot operating system
  • 3.13. Initialize Log Parameters
  • 3.14. Set Log Filter Level
  • 3.15. Basic Robot Control Example
  • 3.16. Get Robot Software Version Example
  • 3.17. Get Robot Hardware Version
  • 3.18. Get Robot Firmware Version
  • 3.19. Get Robot Software/Firmware Version Example
• 4. Robot Motion
  • 4.1. JOG Motion
  • 4.2. JOG Deceleration Stop
  • 4.3. JOG Immediate Stop
  • 4.4. Robot JOG Control Example
  • 4.5. Joint Space Motion
  • 4.6. Joint Space Motion (Automatic Forward Kinematics Calculation)
  • 4.7. Cartesian Space Linear Motion
  • 4.8. Cartesian Space Linear Motion (Automatic Inverse Kinematics Calculation)
  • 4.9. Cartesian Space Circular Motion
  • 4.10. Cartesian Space Circular Motion (Automatic Inverse Kinematics Calculation)
  • 4.11. Cartesian Space Full Circle Motion
  • 4.12. Cartesian Space Full Circle Motion (Automatic Inverse Kinematics Calculation)
  • 4.13. Cartesian Space Point-to-Point Motion
  • 4.14. Robot Basic Motion Instruction Code Example
  • 4.15. Cartesian Space Spiral Motion
  • 4.16. Cartesian Space Spiral Motion (Automatic Inverse Kinematics Calculation)
  • 4.17. Spiral Motion Code Example
  • 4.18. Servo Motion Start
  • 4.19. Servo Motion End
  • 4.20. Joint Space Servo Mode Motion
  • 4.21. Joint Space Servo Mode Motion Example Program
  • 4.22. Code Example for Robot Joint Space Servo Mode Motion Based on UDP Communication
  • 4.23. Joint Torque Control Start
  • 4.24. Joint Torque Control
  • 4.25. Joint Torque Control End
  • 4.26. Joint Torque Control
  • 4.27. Joint Torque Control End
  • 4.28. Joint Torque Control Example
  • 4.29. Joint Torque Control Code Example with Overspeed Protection
  • 4.30. Cartesian Space Servo Mode Motion
  • 4.31. Cartesian Space Servo Mode Motion Code Example
  • 4.32. Spline Motion Start
  • 4.33. Joint Space Spline Motion (Auto Forward Kinematics Calculation)
  • 4.34. Spline PTP Motion
  • 4.35. Spline Motion End
  • 4.36. Spline Motion Example
  • 4.37. New Spline Motion Start
  • 4.38. New Spline Command Point
  • 4.39. New Spline Command Point (Auto Inverse Kinematics Calculation)
  • 4.40. New Spline Motion End
  • 4.41. New Spline Motion Example
  • 4.42. Stop Motion
  • 4.43. Pause Motion
  • 4.44. Resume Motion
  • 4.45. Motion Pause, Resume, Stop Example
  • 4.46. Point Global Offset Start
  • 4.47. Point Global Offset End
  • 4.48. Point Offset Example
  • 4.49. Control Box AO Flying Start
  • 4.50. Control Box AO Flying Stop
  • 4.51. End AO Flying Start
  • 4.52. End AO Flying Stop
  • 4.53. AO Flying Example
  • 4.54. Start Ptp Motion FIR Filter
  • 4.55. Close Ptp Motion FIR Filter
  • 4.56. Start LIN, ARC Motion FIR Filter
  • 4.57. Close LIN, ARC Motion FIR Filter
  • 4.58. FIR Filter Example
  • 4.59. Acceleration Smoothing Start
  • 4.60. Acceleration Smoothing End
  • 4.61. Acceleration Smoothing Example
  • 4.62. Specified Pose Speed Start
  • 4.63. Specified Pose Speed End
  • 4.64. Robot Specified Pose Speed Example
  • 4.65. Start Singular Pose Protection
  • 4.66. Stop Singular Pose Protection
  • 4.67. Robot Singular Pose Protection Example
  • 4.68. Clear the motion command queue
  • 4.69. Move to Intersecting Line Start Point
  • 4.70. Intersecting Line Motion
  • 4.71. Robot Intersecting Line Motion Code Example
  • 4.72. Stationary Air Motion
  • 4.73. Stationary Air Motion Code Example
  • 4.74. Fixed-Point Swing Start
  • 4.75. Fixed-Point Swing End
  • 4.76. Fixed-Point Swing SDK Code Example
  • 4.77. Fixed-Point Swing (Including Laser Sensor and Extension Axis) Code Example
• 5. IO
  • 5.1. Set Control Box Digital Output
  • 5.2. Set Tool Digital Output
  • 5.3. Set Control Box Analog Output
  • 5.4. Set Tool Analog Output
  • 5.5. Code Example for Setting Digital and Analog Outputs
  • 5.6. Get Control Box Digital Input
  • 5.7. Get Tool Digital Input
  • 5.8. Get Control Box Analog Input
  • 5.9. Get Tool Analog Input
  • 5.10. Get Robot End Point Record Button Status
  • 5.11. Get Robot End DO Output Status
  • 5.12. Get Robot Controller DO Output Status
  • 5.13. Code Example for Getting Robot DI and DO Status
  • 5.14. Wait for Control Box Digital Input
  • 5.15. Wait for Control Box Multi-Channel Digital Input
  • 5.16. Wait for Tool Digital Input
  • 5.17. Wait for Control Box Analog Input
  • 5.18. Wait for Tool Analog Input
  • 5.19. Code Example for Waiting for Control Box Digital and Analog Input Signals
  • 5.20. Set Whether to Reset Control Box DO Output After Stop/Pause
  • 5.21. Set Whether to Reset Control Box AO Output After Stop/Pause
  • 5.22. Set Whether to Reset End Tool DO Output After Stop/Pause
  • 5.23. Set Whether to Reset End Tool AO Output After Stop/Pause
  • 5.24. Set Whether to Reset Extension DO Output After Stop/Pause
  • 5.25. Set Whether to Reset Extension AO Output After Stop/Pause
  • 5.26. Set Whether to Reset SmartTool Output After Stop/Pause
  • 5.27. Example Code for Setting LUA Program Output Reset After Stop/Pause
  • 5.28. Set Configurable CI Port Functions of the Control Box
  • 5.29. Get Configurable CI Port Functions of the Control Box
  • 5.30. Set Configurable CO Port Functions of the Control Box
  • 5.31. Get Configurable CO Port Functions of the Control Box
  • 5.32. Set Configurable End-CI Port Functions of the End-Effector
  • 5.33. Get Configurable End-CI Port Functions of the End-Effector
  • 5.34. Set Configurable CI Active State of the Control Box
  • 5.35. Get Configurable CI Active State of the Control Box
  • 5.36. Set Configurable CO Active State of the Control Box
  • 5.37. Get Configurable CO Active State of the Control Box
  • 5.38. Set Configurable CI Active State of the End-Effector
  • 5.39. Get Configurable CI Active State of the End-Effector
  • 5.40. Set Standard DI Active State of the Control Box
  • 5.41. Get Standard DI Active State of the Control Box
  • 5.42. Set Standard DO Active State of the Control Box
  • 5.43. Get Standard DO Active State of the Control Box
  • 5.44. Robot IO Configuration Code Example
• 6. Common Settings
  • 6.1. Set Tool Reference Point - Six-Point Method
  • 6.2. Calculate Tool Coordinate System
  • 6.3. Set Tool Reference Point - Four-Point Method
  • 6.4. Calculate Tool Coordinate System
  • 6.5. Calculate Tool Coordinate System from Points
  • 6.6. Set Tool Coordinate System
  • 6.7. Set Tool Coordinate System List
  • 6.8. Get Current Tool Coordinate System
  • 6.9. Robot Tool Coordinate System Operation Example
  • 6.10. Set External Tool Reference Point - Six-Point Method
  • 6.11. Calculate External Tool Coordinate System
  • 6.12. Set External Tool Coordinate System
  • 6.13. Set External Tool Coordinate System List
  • 6.14. Robot External Tool Coordinate System Operation Example
  • 6.15. Set Workpiece Reference Point - Three-Point Method
  • 6.16. Calculate Workpiece Coordinate System
  • 6.17. Set Workpiece Coordinate System
  • 6.18. Set Workpiece Coordinate System List
  • 6.19. Calculate Workpiece Coordinate System from Points
  • 6.20. Get Current Workpiece Coordinate System
  • 6.21. Robot Workpiece Coordinate System Operation Example
  • 6.22. Set Global Speed
  • 6.23. Set Robot Acceleration
  • 6.24. Get Robot Default Speed
  • 6.25. Set End Load Weight
  • 6.26. Set End Effector Payload Center of Gravity Coordinates
  • 6.27. Get Current Load Weight
  • 6.28. Get Current Load Center of Gravity
  • 6.29. Set Robot Installation Method
  • 6.30. Set Robot Installation Angle
  • 6.31. Get Robot Installation Angle
  • 6.32. Set System Variable Value
  • 6.33. Get System Variable Value
  • 6.34. Robot Common Settings Example
  • 6.35. Joint Friction Compensation Switch
  • 6.36. Set Joint Friction Compensation Coefficient - Standard Installation
  • 6.37. Set Joint Friction Compensation Coefficient - Wall Installation
  • 6.38. Set Joint Friction Compensation Coefficient - Ceiling Installation
  • 6.39. Set Joint Friction Compensation Coefficient - Free Installation
  • 6.40. Robot Joint Friction Compensation Example
  • 6.41. Query Robot Error Code
  • 6.42. Error State Clear
  • 6.43. Robot Fault State Acquisition and Error Clear Example
  • 6.44. Set wide voltage control box temperature and fan current monitoring parameters
  • 6.45. Obtain wide voltage control box temperature and fan current monitoring parameters
  • 6.46. Wide voltage control box temperature and fan current state acquisition code example
  • 6.47. Calculate Focus Calibration Results
  • 6.48. Set Focus Position
  • 6.49. Enable Focus Following
  • 6.50. Disable Focus Following
  • 6.51. Robot Focus Following Code Example
  • 6.52. Open the joint torque sensor sensitivity calibration function
  • 6.53. Data acquisition of joint torque sensor sensitivity
  • 6.54. Obtain joint torque sensor sensitivity calibration results
  • 6.55. Get Joint Torque Sensor Hysteresis Error
  • 6.56. Get Joint Torque Sensor Repeatability
  • 6.57. Set Joint Force Sensor Parameters
  • 6.58. An example of joint torque sensor sensitivity auto-calibration code
  • 6.59. Gets 8 slave error frames
  • 6.60. Error frame zeroing at slave port
  • 6.61. Gets an example of a slave port error frame code
  • 6.62. Set feed-forward coefficients for each axis
  • 6.63. Obtain the feed-forward coefficients of each axis
  • 6.64. Example of robot velocity feed-forward coefficient code
  • 6.65. Photoelectric Sensor TCP Calibration - Compute Tool RPY
  • 6.66. Photoelectric Sensor TCP Calibration - Compute Tool XYZ
  • 6.67. Photoelectric Sensor TCP Calibration - Start Recording Flange Center Position
  • 6.68. Photoelectric Sensor TCP Calibration - Stop Recording Flange Center Position
  • 6.69. Photoelectric Sensor TCP Calibration - Get Tool Center Point Position
  • 6.70. Photoelectric Sensor TCP Calibration
  • 6.71. Photoelectric Sensor TCP Calibration Code Example
• 7. Security settings
  • 7.1. Set Collision Level
  • 7.2. Set Post-Collision Strategy
  • 7.3. Custom Collision Detection Threshold Start
  • 7.4. Custom Collision Detection Threshold End
  • 7.5. Robot Collision Level Setting Code Example
  • 7.6. Set Positive Limit
  • 7.7. Set Negative Limit
  • 7.8. Get Joint Soft Limit Angles
  • 7.9. Robot Limit Setting Code Example
  • 7.10. Set Robot Collision Detection Method
  • 7.11. Set Static Collision Detection On/Off
  • 7.12. Robot Collision Detection Method Code Example
  • 7.13. Joint Torque Power Detection
  • 7.14. Joint Torque Power Detection Code Example
  • 7.15. Set Safety Speed Parameters
  • 7.16. SDK Code Example for Setting Safety Speed Parameters
• 8. Status query
  • 8.1. Get Current Joint Positions (Degrees)
  • 8.2. Get Joint Feedback Speed
  • 8.3. Get Joint Feedback Acceleration
  • 8.4. Get TCP Command Composite Speed
  • 8.5. Get TCP Feedback Composite Speed
  • 8.6. Get TCP Command Speed
  • 8.7. Get TCP Feedback Speed
  • 8.8. Get Current Tool Pose
  • 8.9. Get Current Tool Frame Number
  • 8.10. Get Current Work Object Frame Number
  • 8.11. Get Current End Flange Pose
  • 8.12. Get Current Joint Torque
  • 8.13. Get System Time
  • 8.14. Check If Robot Motion Is Complete
  • 8.15. Query Robot Motion Queue Length
  • 8.16. Get Robot Emergency Stop Status
  • 8.17. Get SDK-Robot Communication Status
  • 8.18. Get Safety Stop Signal
  • 8.19. Get Robot Joint Driver Temperature(℃)
  • 8.20. Get Robot Joint Driver Torque(Nm)
  • 8.21. Get Robot Real-time Status Structure
  • 8.22. Robot Status Query Code Example
  • 8.23. Inverse Kinematics Calculation
  • 8.24. Inverse Kinematics Calculation (Reference Position)
  • 8.25. Inverse Kinematics Solution, Cartesian Space Including Extended Axis Position
  • 8.26. Example Code for Inverse Kinematics Solution Including Extended Axis Position
  • 8.27. Check If Inverse Kinematics Has Solution
  • 8.28. Forward Kinematics Calculation
  • 8.29. Robot Kinematics Calculation Code Example
  • 8.30. Query Robot Teaching Point Data
  • 8.31. Get Robot DH Parameter Compensation Values
  • 8.32. Get Controller SN Code
  • 8.33. Query Robot Teaching Point Data Code Example
  • 8.34. Get Tool Coordinate System by ID
  • 8.35. Get Work Object Coordinate System by ID
  • 8.36. Get External Tool Coordinate System by ID
  • 8.37. Get Extended Axis Coordinate System by ID
  • 8.38. Get Payload Mass and Center of Gravity by ID
  • 8.39. Get Current Tool Coordinate System
  • 8.40. Get Current Work Object Coordinate System
  • 8.41. Get Current External Tool Coordinate System
  • 8.42. Get Current Extended Axis Coordinate System
  • 8.43. Get Robot Coordinate Systems and Payload Code Example
• 9. Trajectory recurrence
  • 9.1. Set TPD Trajectory Recording Parameters
  • 9.2. Start TPD Trajectory Recording
  • 9.3. Stop TPD Trajectory Recording
  • 9.4. Delete TPD Trajectory Recording
  • 9.5. TPD Trajectory Preload
  • 9.6. TPD Trajectory Playback
  • 9.7. Get TPD Start Pose
  • 9.8. Move to TPD Trajectory Recording Start Point
  • 9.9. Robot TPD Trajectory Recording Code Example
  • 9.10. Robot TPD Trajectory Recording Code Example
  • 9.11. Trajectory Preprocessing
  • 9.12. Trajectory Playback
  • 9.13. Get Trajectory Start Pose
  • 9.14. Get Trajectory Point Number
  • 9.15. Set Speed During Trajectory Execution
  • 9.16. Code Example for Setting Robot Speed During Trajectory Execution
  • 9.17. Set Trajectory Running Force and Torque
  • 9.18. Set Trajectory Running Force in X Direction
  • 9.19. Set Trajectory Running Force in Y Direction
  • 9.20. Set Trajectory Running Force in Z Direction
  • 9.21. Set Trajectory Running Torque Around X Axis
  • 9.22. Set Trajectory Running Torque Around Y Axis
  • 9.23. Set Trajectory Running Torque Around Z Axis
  • 9.24. Upload Trajectory J File
  • 9.25. Delete Trajectory J File
  • 9.26. Robot Trajectory J File Playback Code Example
  • 9.27. Trajectory Preprocessing (Trajectory Lookahead)
  • 9.28. Trajectory Playback (Trajectory Lookahead)
  • 9.29. Trajectory Playback (Trajectory Lookahead) Code Example
• 10. WebAPP program use
  • 10.1. Set Default Program to Load Automatically on Startup
  • 10.2. Load Specified Program
  • 10.3. Get Loaded Program Name
  • 10.4. Get Current Program Execution Line Number
  • 10.5. Run Currently Loaded Program
  • 10.6. Pause Currently Running Program
  • 10.7. Resume Currently Paused Program
  • 10.8. Stop Currently Running Program
  • 10.9. Get Program Execution State
  • 10.10. Robot LUA Program Operation Code Example
  • 10.11. Download Lua File
  • 10.12. Delete Lua File
  • 10.13. Get All Current Lua File Names
  • 10.14. Upload Lua File
  • 10.15. Robot LUA File Upload/Download Code Example
• 11. Robot Peripheral Devices
  • 11.1. Configure Gripper
  • 11.2. Get Gripper Configuration
  • 11.3. Activate Gripper
  • 11.4. Control Gripper
  • 11.5. Get Gripper Motion Status
  • 11.6. Get Gripper Activation Status
  • 11.7. Get Gripper Position
  • 11.8. Get Gripper Speed
  • 11.9. Get Gripper Current
  • 11.10. Get Gripper Voltage
  • 11.11. Get Gripper Temperature
  • 11.12. Calculate Pre-Pick Point - Vision
  • 11.13. Calculate Retreat Point - Vision
  • 11.14. Robot Gripper Operation Code Example
  • 11.15. Get Rotation Count of Rotary Gripper
  • 11.16. Get Rotation Speed of Rotary Gripper
  • 11.17. Get Rotation Torque of Rotary Gripper
  • 11.18. Rotary Gripper Status Code Example
  • 11.19. Conveyor Start/Stop
  • 11.20. Record IO Detection Point
  • 11.21. Record Point A
  • 11.22. Record Reference Point
  • 11.23. Record Point B
  • 11.24. Conveyor Workpiece IO Detection
  • 11.25. Get Current Object Position
  • 11.26. Conveyor Tracking Start
  • 11.27. Conveyor Tracking Stop
  • 11.28. Conveyor Parameter Configuration
  • 11.29. Conveyor Capture Point Compensation
  • 11.30. Conveyor Linear Motion
  • 11.31. Conveyor Communication Input Detection
  • 11.32. Conveyor Communication Input Detection Trigger
  • 11.33. Robot Conveyor Operation Example Program
  • 11.34. End Sensor Configuration
  • 11.35. Get End Sensor Configuration
  • 11.36. End Sensor Activation
  • 11.37. End Sensor Register Write
  • 11.38. End Sensor Code Example
  • 11.39. Get Robot Peripheral Protocol
  • 11.40. Set Robot Peripheral Protocol
  • 11.41. Set Robot Peripheral Protocol Example
  • 11.42. Get End Communication Parameters
  • 11.43. Set End Communication Parameters
  • 11.44. Set End File Transfer Type
  • 11.45. Set Enable End LUA Execution
  • 11.46. End LUA File Error Recovery
  • 11.47. Get End LUA Execution Enable Status
  • 11.48. Set End LUA End Device Enable Type
  • 11.49. Get End LUA End Device Enable Type
  • 11.50. Get Currently Configured End Devices
  • 11.51. Set Enable Gripper Action Control Function
  • 11.52. Get Enable Gripper Action Control Function
  • 11.53. Robot Ethercat Slave File Write
  • 11.54. Upload End Lua Open Protocol File
  • 11.55. Robot Ethercat Slave Enter Boot Mode
  • 11.56. Robot End LUA File Operation Code Example
  • 11.57. Get SmartTool Button Status
  • 11.58. SmartTool Button Code Example
  • 11.59. Control Array Suction Cup
  • 11.60. Get Array Suction Cup Status
  • 11.61. Wait for Suction Cup Status
  • 11.62. Array Suction Cup Control Command Code Example
  • 11.63. Upload Peripheral Open Protocol LUA File
  • 11.64. Get Slave Board Parameters
  • 11.65. Write Slave DO
  • 11.66. Write Slave AO
  • 11.67. Read Slave DI
  • 11.68. Read Slave AI
  • 11.69. Wait for Extended DI Input
  • 11.70. Wait for Extended AI Input
  • 11.71. Slave Mode Related Interface Command Code Example
  • 11.72. Laser Peripheral On/Off
  • 11.73. Laser Tracking Start/Stop
  • 11.74. Laser Seam Search Start - Fixed Direction
  • 11.75. Laser Seam Search Start - Arbitrary Point Direction
  • 11.76. Laser Seam Search Stop
  • 11.77. Laser Network Parameter Configuration
  • 11.78. Laser Peripheral Sampling Period Configuration
  • 11.79. Laser Peripheral Driver Load
  • 11.80. Laser Peripheral Driver Unload
  • 11.81. Laser Seam Trajectory Recording
  • 11.82. Laser Seam Trajectory Replay
  • 11.83. Laser Tracking Replay
  • 11.84. Laser Seam Trajectory Recording and Replay
  • 11.85. Move to Laser Recorded Start Point
  • 11.86. Move to Laser Recorded End Point
  • 11.87. Move to Laser Sensor Seam Search Point
  • 11.88. Get Laser Sensor Seam Search Point Coordinates
  • 11.89. Laser Peripheral Sensor Parameter Configuration and Debugging Code Example
  • 11.90. Laser Trajectory Scanning and Trajectory Replay Code Example
  • 11.91. Laser Seam Search and Real-time Tracking Code Example
  • 11.92. Extended Axis and Robot Synchronized Laser Tracking Code Example
  • 11.93. End-Effector Transparent Transmission Function Enable/Disable
  • 11.94. End-Effector Transparent Transmission Function Non-Periodic Data Transmission and Reception
  • 11.95. Code Example for Non-Periodic Data Communication of DIO Health Care Moxibustion Head Based on End-Effector Transparent Transmission Function
  • 11.96. Download Open Protocol Lua File
  • 11.97. Delete Open Protocol Lua File
  • 11.98. Delete All Open Protocol Lua Files
  • 11.99. Code Example for Controller Peripheral Open Protocol Upload, Download, and Delete
• 12. Force control
  • 12.1. Force sensor configuration
  • 12.2. Get the force sensor configuration
  • 12.3. Force Sensor Activation
  • 12.4. Force sensor calibration
  • 12.5. Set Force Sensor Reference Coordinate System
  • 12.6. Set Payload Weight Under Force Sensor
  • 12.7. Set Payload Center of Gravity Under Force Sensor
  • 12.8. Get Payload Weight Under Force Sensor
  • 12.9. Get Payload Center of Gravity Under Force Sensor
  • 12.10. Force Sensor Auto Zero Calibration
  • 12.11. Get Force/Torque Data in Reference Coordinate System
  • 12.12. Get Raw Force/Torque Data from Force Sensor
  • 12.13. Force Sensor Configuration and Auto Zero Calibration Code Example
  • 12.14. Payload Weight Identification Record
  • 12.15. Payload Weight Identification Calculation
  • 12.16. Payload COG Identification Record
  • 12.17. Payload COG Identification Calculation
  • 12.18. Force Sensor Payload Identification Code Example
  • 12.19. Collision Guard
  • 12.20. Collision Guard Code Example
  • 12.21. Constant force control
  • 12.22. Example of constant force control code with damping
  • 12.23. Spiral Search
  • 12.24. Rotary Insertion
  • 12.25. Example code for force sensor rotation insertion
  • 12.26. Linear Insertion
  • 12.27. Spiral Search, Linear Insertion and Other Instruction Code Examples
  • 12.28. Surface Localization
  • 12.29. Calculate Middle Plane Position - Start
  • 12.30. Calculate Middle Plane Position - End
  • 12.31. Surface Localization Code Example
  • 12.32. Compliance Control Activation
  • 12.33. Compliance Control Deactivation
  • 12.34. Compliance Control Code Example
  • 12.35. Payload Identification Initialization
  • 12.36. Payload Identification Initialization
  • 12.37. Payload Identification Main Program
  • 12.38. Get Payload Identification Result
  • 12.39. Robot Payload Identification Code Example
  • 12.40. Force Sensor Assisted Drag
  • 12.41. Get Force Sensor Drag Switch Status
  • 12.42. Force Sensor Auto Activation After Error Clear
  • 12.43. Force Sensor Assisted Drag Code Example
  • 12.44. Set Six-Dimensional Force and Joint Impedance Hybrid Drag Switch and Parameters
  • 12.45. Six-Dimensional Force and Joint Impedance Hybrid Drag Code Example
  • 12.46. Impedance Start/Stop Control
  • 12.47. Robot Impedance Start/Stop Control Code Example
  • 12.48. Enable torque compensation function and compensation coefficient
• 13. Extended Axis
  • 13.1. Set 485 Extended Axis Parameters
  • 13.2. Get 485 Extended Axis Configuration Parameters
  • 13.3. Set 485 Extended Axis Enable/Disable
  • 13.4. Set 485 Extended Axis Control Mode
  • 13.5. Set 485 Extended Axis Target Position (Position Mode)
  • 13.6. Set 485 Extended Axis Target Torque (Torque Mode) - Temporarily Unavailable
  • 13.7. Set 485 Extended Axis Homing
  • 13.8. Clear 485 Extended Axis Error Information
  • 13.9. Get 485 Extended Axis Servo Status
  • 13.10. Set 485 Extended Axis Target Speed (Velocity Mode)
  • 13.11. Set Status Feedback 485 Extended Axis Data Axis Number
  • 13.12. Set 485 Extended Axis Motion Acceleration/Deceleration
  • 13.13. Set 485 Extended Axis Emergency Stop Acceleration/Deceleration
  • 13.14. Get 485 Extended Axis Motion Acceleration/Deceleration
  • 13.15. Get 485 Extended Axis Emergency Stop Acceleration/Deceleration
  • 13.16. Extended Axis Control Code Example
  • 13.17. UDP Extended Axis Communication Parameter Configuration
  • 13.18. Get UDP Extension Axis Communication Parameter Configuration
  • 13.19. Load UDP Communication
  • 13.20. Unload UDP Communication
  • 13.21. UDP Extended Axis Communication Exception Disconnection Recovery
  • 13.22. UDP Extended Axis Communication Exception Disconnection Close Communication
  • 13.23. UDP Extended Axis Parameter Configuration
  • 13.24. Set Extended Axis Installation Position
  • 13.25. Set Extended Axis System DH Parameter Configuration
  • 13.26. UDP Extended Axis Enable
  • 13.27. UDP Extended Axis Homing
  • 13.28. UDP Extended Axis Jog Start
  • 13.29. UDP Extended Axis Jog Stop
  • 13.30. UDP Extended Axis Configuration and Jog Code Example
  • 13.31. Set Extended Axis Coordinate System Reference Point - Four-Point Method
  • 13.32. Calculate Extended Axis Coordinate System - Four-Point Method
  • 13.33. Positioner Coordinate System Reference Point Setting
  • 13.34. Positioner Coordinate System Calculation - Four-Point Method
  • 13.35. Set Calibration Reference Point Pose in Extended Axis End Coordinate System
  • 13.36. Apply Extended Axis Coordinate System
  • 13.37. Get Extended Axis Coordinate System
  • 13.38. Extended Axis Coordinate System Calibration Code Example
  • 13.39. UDP Extended Axis Motion
  • 13.40. UDP Extended Axis Motion Code Example
  • 13.41. UDP Extended Axis and Robot Joint Motion Synchronous Motion
  • 13.42. UDP Extended Axis and Robot Joint Motion Synchronization (Automatic Forward Kinematics Calculation)
  • 13.43. UDP Extended Axis and Robot Joint Motion Synchronous Motion Code Example
  • 13.44. UDP Extended Axis and Robot Linear Motion Synchronous Motion
  • 13.45. UDP Extended Axis and Robot Linear Motion Synchronization (Automatic Inverse Kinematics Calculation)
  • 13.46. UDP Extended Axis and Robot Linear Motion Synchronous Motion Code Example
  • 13.47. UDP Extended Axis and Robot Arc Motion Synchronous Motion
  • 13.48. UDP Extended Axis and Robot Circular Motion Synchronization (Automatic Inverse Kinematics Calculation)
  • 13.49. UDP Extended Axis and Robot Arc Motion Synchronous Motion Code Example
  • 13.50. Set Extended DO
  • 13.51. Set Extended AO
  • 13.52. Set Extended DI Input Filter Time
  • 13.53. Set Extended AI Input Filter Time
  • 13.54. Wait for Extended DI Input
  • 13.55. Wait for Extended AI Input
  • 13.56. Get Extended DI Value
  • 13.57. Get Extended AI Value
  • 13.58. Extended IO Code Example
  • 13.59. Mobile Device Enable
  • 13.60. Mobile Device Homing
  • 13.61. Mobile Device Linear Motion
  • 13.62. Mobile Device Arc Motion
  • 13.63. Mobile Device Stop Motion
  • 13.64. Mobile Device Code Example
  • 13.65. UDP Extension Axis Positioning Completion Time Setting
• 14. Robot Welding
  • 14.1. Set Welding Process Curve Parameters
  • 14.2. Get Welding Process Curve Parameters
  • 14.3. Set Welding Current to Analog Output Relationship
  • 14.4. Set Welding Voltage to Analog Output Relationship
  • 14.5. Get Welding Current to Analog Output Relationship
  • 14.6. Get Welding Voltage to Analog Output Relationship
  • 14.7. Set Welding Current
  • 14.8. Set Welding Voltage
  • 14.9. Set Weaving Parameters
  • 14.10. Welding Parameter Setup Code Example
  • 14.11. Instantaneously Set Weaving Parameters
  • 14.12. Set Robot Welding Arc Unexpected Interruption Detection Parameters
  • 14.13. Get Robot Welding Arc Unexpected Interruption Detection Parameters
  • 14.14. Set Robot Welding Interruption Recovery Parameters
  • 14.15. Get Robot Welding Interruption Recovery Parameters
  • 14.16. Set Welder Control Mode Extended DO Port
  • 14.17. Set Welder Control Mode
  • 14.18. Welding Start
  • 14.19. Welding End
  • 14.20. Weaving Start
  • 14.21. Weaving End
  • 14.22. Forward Wire Feeding
  • 14.23. Reverse Wire Feeding
  • 14.24. Gas Feeding
  • 14.25. Set Robot to Resume Welding After Interruption
  • 14.26. Set Robot to Abort Welding After Interruption
  • 14.27. Robot Welding Control Code Example
  • 14.28. Segment Welding Start
  • 14.29. Robot Segment Welding Code Example
  • 14.30. Simulation Weaving Start
  • 14.31. Simulation Weaving End
  • 14.32. Start Trajectory Detection Warning (No Movement)
  • 14.33. End Trajectory Detection Warning (No Movement)
  • 14.34. Weaving Gradual Change Start
  • 14.35. Robot Weaving Gradual Change Welding Code Example
  • 14.36. Weaving Gradual Change End
  • 14.37. Extended IO-Configure Welder Gas Detection Signal
  • 14.38. Extended IO-Configure Welder Arc Start Signal
  • 14.39. Extended IO-Configure Welder Reverse Wire Feed Signal
  • 14.40. Extended IO-Configure Welder Forward Wire Feed Signal
  • 14.41. Extended IO-Configure Welder Arc Success Signal
  • 14.42. Extended IO-Configure Welder Ready Signal
  • 14.43. Extended IO-Configure Welding Interruption Recovery Signal
  • 14.44. Set Extended IO Welding Signal Code Example
  • 14.45. Arc Tracking Control
  • 14.46. Set Arc Tracking Input Signal Port
  • 14.47. Arc Tracking + Multi-layer Multi-pass Compensation Start
  • 14.48. Arc Tracking + Multi-layer Multi-pass Compensation End
  • 14.49. Offset Coordinate Transformation - Multi-layer Multi-pass Welding
  • 14.50. Multi-layer Multi-pass Welding Arc Tracking Code Example
  • 14.51. Arc Tracking Welder Current Feedback AI Channel Selection
  • 14.52. Arc Tracking Welder Voltage Feedback AI Channel Selection
  • 14.53. Arc Tracking Welder Current Feedback Conversion Parameters
  • 14.54. Arc Tracking Welder Voltage Feedback Conversion Parameters
  • 14.55. Arc Tracking Code Example
  • 14.56. Set Wire Search Extended IO Port
  • 14.57. Example Program
  • 14.58. Wire Search Start
  • 14.59. Wire Search End
  • 14.60. Calculate Wire Search Offset
  • 14.61. Wait for Wire Search Completion
  • 14.62. Write Wire Search Contact Point to Database
  • 14.63. Robot Wire Search Code Example
  • 14.64. Set Welding Voltage Gradual Change Start
  • 14.65. Set Welding Voltage Gradual Change End
  • 14.66. Set Welding Current Gradual Change Start
  • 14.67. Set Welding Current Gradual Change End
  • 14.68. Robot Welding Current Voltage Gradual Change Code Example
  • 14.69. Set Custom Weave Parameters
  • 14.70. Get Custom Weave Parameters
  • 14.71. Custom Weave Parameters Code Example
• 15. CNDE
  • 15.1. Configure Robot CNDE Status Feedback
  • 15.2. Add a Robot State to CNDE Status Configuration
  • 15.3. Delete a Robot State from CNDE Status Configuration
  • 15.4. Set CNDE Status Feedback Period
  • 15.5. Get Current CNDE Status Feedback All State Set and Period
  • 15.6. CNDE Status Feedback Usage Code Example
• 16. Other Interfaces
  • 16.1. Get SSH Public Key
  • 16.2. Send SCP Command
  • 16.3. Calculate MD5 Value of Specified File
  • 16.4. Robot SSH/MD5 Command Code Example
  • 16.5. Set Robot Port 20004 Feedback Cycle
  • 16.6. Get Robot Port 20004 Feedback Cycle
  • 16.7. Robot Port 20004 State Feedback Cycle Configuration Example
  • 16.8. Robot Software Upgrade
  • 16.9. Get Robot Software Upgrade Status
  • 16.10. Robot Software Upgrade Code Example
  • 16.11. Download Point Table Database
  • 16.12. Upload Point Table Database
  • 16.13. Update Lua File for Point Table
  • 16.14. Robot Point Table Operation Code Example
  • 16.15. Controller Log Download
  • 16.16. All Data Source Download
  • 16.17. Data Backup Package Download
  • 16.18. Download Controller Data Code Example
  • 16.19. Set Joint Firmware Upgrade
  • 16.20. Set Controller Firmware Upgrade
  • 16.21. Set End-Effector Firmware Upgrade
  • 16.22. Joint Full Parameter Configuration Upgrade
  • 16.23. Robot Slave Firmware Upgrade Code Example
  • 16.24. Robot Operating System Upgrade (LA Control Box)
  • 16.25. Get Robot Operating System Upgrade Result (LA Control Box)
  • 16.26. Robot MCU log generation
  • 16.27. Set Robot to Stop Running When Port Communication is Disconnected
  • 16.28. Get Robot Stop on Communication Disconnection Parameters
  • 16.29. Robot Stop on Communication Disconnection Parameter Code Example
  • 16.30. Send UDP Instruction Frame
  • 16.31. Set Callback Function for Execution Results of Instructions Sent by SDK via UDP
  • 16.32. UDP Instruction Sending Code Example
  • 16.33. Set User-Defined Robot End-Effector LED Color
  • 16.34. Code Example for Setting User-Defined Robot End-Effector LED Color
• 17. Appendix
  • 17.1. Source Code Download
  • 17.2. Windows Platform Compilation
  • 17.3. Linux Platform Compilation