Java

This document is the Java version of the secondary development interface documentation.

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 from the live robot for actual use testing.

Note

The current documentation applies to SDK-v3.8.5 and is backward compatible with v1.x/v2.x versions.

• 1. Version Update Description
• 2. Data Structure Description
  • 2.1. Joint Position Data Type
  • 2.2. Cartesian Space Position Data Type
  • 2.3. Euler Angle Attitude Data Type
  • 2.4. Cartesian Space Pose Data Type
  • 2.5. Extended Axis Position Data Type
  • 2.6. Force Torque Sensor Data Type
  • 2.7. Spiral Parameter Data Type
  • 2.8. Extended Axis Status Type
  • 2.9. Sensor Type
  • 2.10. 485 Extended Axis Configuration
  • 2.11. Servo Controller Status
  • 2.12. Welding Breakoff Status
  • 2.13. UDP Extended Axis Communication Parameters
  • 2.14. Robot State Feedback Structure Type
  • 2.15. Robot Status Feedback Configuration Result Class
  • 2.16. Robot Status Feedback Configuration Enumeration Type
• 3. Robot basics
  • 3.1. Instantiate robot
  • 3.2. Establish communication with controller
  • 3.3. Close communication with robot
  • 3.4. Query sdk version
  • 3.5. Get controller ip
  • 3.6. Control robot to enter or exit drag teaching mode
  • 3.7. Query whether robot is in drag teaching mode
  • 3.8. Control robot enable or disable
  • 3.9. Control robot manual/auto mode switch
  • 3.10. Shut down robot os
  • 3.11. Set robot communication reconnect parameters
  • 3.12. Initialize log parameters
  • 3.13. Set log filter level
  • 3.14. Robot basic control code example
  • 3.15. Get robot software version
  • 3.16. Get robot hardware version
  • 3.17. Get robot firmware version
  • 3.18. Get robot software/firmware version code example
• 4. Robot movement
  • 4.1. Jog movement
  • 4.2. Jog deceleration stop
  • 4.3. Jog immediate stop
  • 4.4. Robot jog control code example
  • 4.5. Joint space movement
  • 4.6. Joint space motion (automatic forward kinematics calculation)
  • 4.7. Cartesian space linear movement
  • 4.8. Cartesian space linear motion (automatic inverse kinematics calculation)
  • 4.9. Cartesian Space Linear Motion (Added velAccParamMode parameter for velocity and acceleration modes)
  • 4.10. Cartesian Space Linear Motion (Overload Function 1, Added blendMode)
  • 4.11. Cartesian Space Linear Motion (Overload Function 2, No Joint Position Input Required)
  • 4.12. Cartesian space circular movement
  • 4.13. Cartesian Space Arc Motion (Added velAccParamMode parameter for velocity and acceleration modes)
  • 4.14. Cartesian Space Arc Motion (Overload Function 1, No Joint Position Input Required)
  • 4.15. Cartesian space full circle movement
  • 4.16. Cartesian space full circle motion (automatic inverse kinematics calculation)
  • 4.17. Cartesian Space Full Circle Motion (Added velAccParamMode parameter for velocity and acceleration modes)
  • 4.18. Cartesian Space Full Circle Motion (Overload Function 1, No Joint Position Input Required)
  • 4.19. Cartesian space point-to-point movement
  • 4.20. Basic robot movement command code example
  • 4.21. Cartesian space spiral movement
  • 4.22. Cartesian space spiral motion (automatic inverse kinematics calculation)
  • 4.23. Spiral movement code example
  • 4.24. Servo Motion Start
  • 4.25. Servo Motion End
  • 4.26. Joint Space Servo Mode Motion
  • 4.27. UDP Communication-Based ServoJ, ServoMoveStart, ServoMoveEnd SDK Code Example
  • 4.28. Joint space servo mode movement example program
  • 4.29. Joint Torque Control Start
  • 4.30. Joint Torque Control
  • 4.31. Joint Torque Control End
  • 4.32. Joint space servo mode movement example program
  • 4.33. UDP Communication-Based ServoJT, ServoJTStart, ServoJTEnd SDK Code Example
  • 4.34. Joint Torque Control Code Example with Overspeed Protection
  • 4.35. Cartesian Space Servo Mode Motion
  • 4.36. Cartesian Space Servo Mode Motion Code Example
  • 4.37. Spline movement start
  • 4.38. Joint movement PTP
  • 4.39. Joint space spline motion (automatic forward kinematics calculation)
  • 4.40. Spline movement end
  • 4.41. Spline movement code example
  • 4.42. New spline movement start
  • 4.43. New spline command point
  • 4.44. New spline command point (automatic inverse kinematics calculation)
  • 4.45. New spline movement end
  • 4.46. New spline movement code example
  • 4.47. Stop movement
  • 4.48. Pause movement
  • 4.49. Resume movement
  • 4.50. Movement pause, resume, stop code example
  • 4.51. Point global offset start
  • 4.52. Point global offset end
  • 4.53. Point offset code example
  • 4.54. Controller AO flying start
  • 4.55. Controller AO flying stop
  • 4.56. End effector AO flying start
  • 4.57. End effector AO flying stop
  • 4.58. AO flying code example
  • 4.59. Start Ptp movement FIR filtering
  • 4.60. Close Ptp movement FIR filtering
  • 4.61. Start LIN, ARC movement FIR filtering
  • 4.62. Close LIN, ARC movement FIR filtering
  • 4.63. FIR filtering code example
  • 4.64. Acceleration smoothing enable
  • 4.65. Acceleration smoothing disable
  • 4.66. Acceleration smoothing code example
  • 4.67. Specified pose speed enable
  • 4.68. Specified pose speed disable
  • 4.69. Robot specified pose speed code example
  • 4.70. Start singular pose protection
  • 4.71. Stop singular pose protection
  • 4.72. Robot singular pose protection code example
  • 4.73. Clear Motion Command Queue
  • 4.74. Move to Intersecting Line Start Point
  • 4.75. Intersecting Line Motion
  • 4.76. Robot Intersecting Line Motion Code Example
  • 4.77. Stationary Air Motion
  • 4.78. Stationary Air Motion Code Example
  • 4.79. Fixed-Point Swing Start
  • 4.80. Fixed-Point Swing End
  • 4.81. Fixed-Point Swing SDK Code Example
  • 4.82. Fixed-Point Swing (Including Laser and Extension Axis) SDK Code Example
• 5. Robot IO
  • 5.1. Set control box digital output
  • 5.2. Set tool digital output
  • 5.3. Set control box analog output
  • 5.4. Set tool analog output
  • 5.5. Digital and analog output setting example
  • 5.6. Get control box digital input
  • 5.7. Get tool digital input
  • 5.8. Get control box analog input
  • 5.9. Get tool analog input
  • 5.10. Get robot end-point record button state
  • 5.11. Get robot end DO output state
  • 5.12. Get robot controller DO output state
  • 5.13. Get robot DI/DO state example
  • 5.14. Wait for control box digital input
  • 5.15. Wait for multiple control box digital inputs
  • 5.16. Wait for tool digital input
  • 5.17. Wait for control box analog input
  • 5.18. Wait for tool analog input
  • 5.19. Wait for digital/analog input signal example
  • 5.20. Set Whether Control Box DO Output Resets After Stop/Pause
  • 5.21. Set Whether Control Box AO Output Resets After Stop/Pause
  • 5.22. Set Whether End Tool DO Output Resets After Stop/Pause
  • 5.23. Set Whether End Tool AO Output Resets After Stop/Pause
  • 5.24. Set Whether Extended DO Output Resets After Stop/Pause
  • 5.25. Set Whether Extended AO Output Resets After Stop/Pause
  • 5.26. Set Whether SmartTool Output Resets After Stop/Pause
  • 5.27. Code Example for Setting Output Reset After Lua Program Stop/Pause
  • 5.28. Set Configurable CI Port Functions of the Control Box
  • 5.29. Get Configurable CI Port Functions of the Control Box
  • 5.30. Set Configurable CO Port Functions of the Control Box
  • 5.31. Get Configurable CO Port Functions of the Control Box
  • 5.32. Set Configurable End-CI Port Functions of the End-Effector
  • 5.33. Get Configurable End-CI Port Functions of the End-Effector
  • 5.34. Set Configurable CI Active State of the Control Box
  • 5.35. Get Configurable CI Active State of the Control Box
  • 5.36. Set Configurable CO Active State of the Control Box
  • 5.37. Get Configurable CO Active State of the Control Box
  • 5.38. Set Configurable CI Active State of the End-Effector
  • 5.39. Get Configurable CI Active State of the End-Effector
  • 5.40. Set Standard DI Active State of the Control Box
  • 5.41. Get Standard DI Active State of the Control Box
  • 5.42. Set Standard DO Active State of the Control Box
  • 5.43. Get Standard DO Active State of the Control Box
  • 5.44. Robot IO Configuration Code Example
• 6. Robot common settings
  • 6.1. Set tool reference point - six point method
  • 6.2. Calculate tool coordinate system - six point method
  • 6.3. Set tool reference point - four point method
  • 6.4. Calculate tool coordinate system - four point method
  • 6.5. Calculate tool coordinate system based on point information
  • 6.6. Set tool coordinate system
  • 6.7. Set tool coordinate system list
  • 6.8. Get current tool coordinate system
  • 6.9. Robot tool coordinate system operation code example
  • 6.10. Set external tool reference point - six point method
  • 6.11. Calculate external tool coordinate system - six point method
  • 6.12. Set external tool coordinate system
  • 6.13. Set external tool coordinate system list
  • 6.14. Robot external tool coordinate system operation code example
  • 6.15. Set workpiece reference point - three point method
  • 6.16. Calculate workpiece coordinate system
  • 6.17. Set workpiece coordinate system
  • 6.18. Set workpiece coordinate system list
  • 6.19. Calculate workpiece coordinate system based on point information
  • 6.20. Get current workpiece coordinate system
  • 6.21. Workpiece coordinate system operation code example
  • 6.22. Set global speed
  • 6.23. Set robot acceleration
  • 6.24. Get robot default speed
  • 6.25. Set end load weight
  • 6.26. Set end load center of mass coordinates
  • 6.27. Set End Effector Load Center of Mass Coordinates
  • 6.28. Get current load weight
  • 6.29. Get current load center of mass
  • 6.30. Set robot installation method
  • 6.31. Set robot installation angle
  • 6.32. Get robot installation angle
  • 6.33. Set system variable value
  • 6.34. Get system variable value
  • 6.35. Robot common settings code example
  • 6.36. Joint friction compensation switch
  • 6.37. Set joint friction compensation coefficient - standard installation
  • 6.38. Set joint friction compensation coefficient - side installation
  • 6.39. Set joint friction compensation coefficient - inverted installation
  • 6.40. Set joint friction compensation coefficient - free installation
  • 6.41. Robot set joint friction compensation code example
  • 6.42. Query robot error code
  • 6.43. Error state clear
  • 6.44. Robot fault state get and clear error code example
  • 6.45. Set wide voltage control box temperature and fan speed monitoring parameters
  • 6.46. Get wide voltage control box temperature and fan speed monitoring parameters
  • 6.47. Wide voltage control box temperature and fan current state get code example
  • 6.48. Set Focus Calibration Point
  • 6.49. Compute Focus Calibration Result
  • 6.50. Start focus following
  • 6.51. Stop Focus Following
  • 6.52. Set Focus Position
  • 6.53. Focus Following Code Example
  • 6.54. Joint Torque Sensor Sensitivity Calibration Function Enabled
  • 6.55. Joint Torque Sensor Sensitivity Data Acquisition
  • 6.56. Get Joint Torque Sensor Sensitivity Calibration Results
  • 6.57. Get Joint Torque Sensor Hysteresis Error
  • 6.58. Get Joint Torque Sensor Repeatability
  • 6.59. Set Joint Force Sensor Parameters
  • 6.60. Joint Torque Sensor Sensitivity Auto-Calibration Code Example
  • 6.61. Retrieve the number of error frames for the robot’s 8 slave ports
  • 6.62. Reset slave port error frames
  • 6.63. Example for retrieving slave port error frame codes
  • 6.64. Set speed feedforward coefficients for each axis
  • 6.65. Retrieve speed feedforward ratios for each axis
  • 6.66. Robot Speed Feedforward Coefficient Code Example
  • 6.67. Photoelectric Sensor TCP Calibration - Compute Tool RPY
  • 6.68. Photoelectric Sensor TCP Calibration - Compute Tool XYZ
  • 6.69. Photoelectric Sensor TCP Calibration - Start Recording Flange Center Position
  • 6.70. Photoelectric Sensor TCP Calibration - Stop Recording Flange Center Position
  • 6.71. Photoelectric Sensor TCP Calibration - Get Tool Center Point Position
  • 6.72. Photoelectric Sensor TCP Calibration
  • 6.73. Photoelectric Sensor TCP Calibration Code Example
• 7. Robot safety settings
  • 7.1. Set collision level
  • 7.2. Set post-collision strategy
  • 7.3. Custom collision detection threshold function start
  • 7.4. Custom collision detection threshold function end
  • 7.5. Robot collision level setting code example
  • 7.6. Set positive limit
  • 7.7. Set negative limit
  • 7.8. Get joint soft limit angles
  • 7.9. Robot limit setting code example
  • 7.10. Set robot collision detection method
  • 7.11. Set static collision detection on/off
  • 7.12. Robot collision detection method code example
  • 7.13. Joint torque power detection
  • 7.14. Joint torque power detection code example
  • 7.15. Set Safety Speed Parameters
  • 7.16. SDK Code Example for Setting Safety Speed Parameters
• 8. Robot status inquiry
  • 8.1. Get current joint positions (degrees)
  • 8.2. Get joint feedback speed (deg/s)
  • 8.3. Get joint feedback acceleration
  • 8.4. Get TCP command composite speed
  • 8.5. Get TCP feedback composite speed
  • 8.6. Get TCP command speed
  • 8.7. Get TCP feedback speed
  • 8.8. Get current tool pose
  • 8.9. Get current tool coordinate system number
  • 8.10. Get current workpiece coordinate system number
  • 8.11. Get current end flange pose
  • 8.12. Get current joint torque
  • 8.13. Get system time
  • 8.14. Check if robot motion is completed
  • 8.15. Query robot motion queue buffer length
  • 8.16. Get robot emergency stop state
  • 8.17. Get SDK-robot communication state
  • 8.18. Get safety stop signal
  • 8.19. Get robot joint driver temperature (°C)
  • 8.20. Get robot joint driver torque (Nm)
  • 8.21. Get robot real-time state structure
  • 8.22. Robot status inquiry code example
  • 8.23. Inverse kinematics calculation
  • 8.24. Inverse kinematics calculation (reference position)
  • 8.25. Inverse Kinematics Solution, Cartesian Space Includes Extended Axis Position
  • 8.26. Inverse Kinematics Solution Including Extended Axis Position Code Example
  • 8.27. Check if inverse kinematics has solution
  • 8.28. Forward kinematics calculation
  • 8.29. Robot forward/inverse kinematics calculation code example
  • 8.30. Query robot teaching management point data
  • 8.31. Get robot DH parameter compensation values
  • 8.32. Get controller SN code
  • 8.33. Query robot teaching management point data code example
  • 8.34. Get Tool Coordinate System by ID
  • 8.35. Get Work Object Coordinate System by ID
  • 8.36. Get External Tool Coordinate System by ID
  • 8.37. Get Extended Axis Coordinate System by ID
  • 8.38. Get Current Tool Coordinate System
  • 8.39. Get Current Work Object Coordinate System
  • 8.40. Get Current External Tool Coordinate System
  • 8.41. Get Current Extended Axis Coordinate System
  • 8.42. Get Robot Coordinate System and Payload Code Example
• 9. Robot trajectory playback
  • 9.1. Set TPD trajectory recording parameters
  • 9.2. Start TPD trajectory recording
  • 9.3. Stop TPD trajectory recording
  • 9.4. Delete TPD trajectory recording
  • 9.5. TPD trajectory preloading
  • 9.6. TPD trajectory playback
  • 9.7. Get TPD starting pose
  • 9.8. Robot TPD trajectory recording code example
  • 9.9. Trajectory preprocessing
  • 9.10. Trajectory playback
  • 9.11. Get trajectory starting pose
  • 9.12. Get trajectory point number
  • 9.13. Set trajectory playback speed
  • 9.14. Set force/torque during trajectory playback
  • 9.15. Set x-direction force during trajectory playback
  • 9.16. Set y-direction force during trajectory playback
  • 9.17. Set z-direction force during trajectory playback
  • 9.18. Set x-axis torque during trajectory playback
  • 9.19. Set y-axis torque during trajectory playback
  • 9.20. Set z-axis torque during trajectory playback
  • 9.21. Upload trajectory J file
  • 9.22. Delete trajectory J file
  • 9.23. Robot trajectory J file playback code example
  • 9.24. Code example for setting the speed during robot trajectory execution
  • 9.25. Trajectory preprocessing (lookahead)
  • 9.26. Trajectory playback (lookahead)
  • 9.27. Trajectory playback (lookahead) code example
  • 9.28. Move to TPD Trajectory Recording Start Point
  • 9.29. SDK Code Example for Moving to TPD Trajectory Recording Start Point
• 10. Robot WebAPP program usage
  • 10.1. Set default program to load automatically on startup
  • 10.2. Load specified program
  • 10.3. Get loaded program name
  • 10.4. Get current program execution line number
  • 10.5. Run currently loaded program
  • 10.6. Pause current running program
  • 10.7. Resume paused program
  • 10.8. Stop current running program
  • 10.9. Get robot program execution state
  • 10.10. Robot LUA program operation code example
  • 10.11. Download Lua program
  • 10.12. Delete Lua program
  • 10.13. Get all current Lua file names
  • 10.14. Upload Lua program
  • 10.15. Robot LUA file upload/download code example
• 11. Robot peripherals
  • 11.1. Configure gripper
  • 11.2. Get gripper configuration
  • 11.3. Activate gripper
  • 11.4. Control gripper
  • 11.5. Get gripper motion status
  • 11.6. Get gripper activation status
  • 11.7. Get gripper position
  • 11.8. Get gripper speed
  • 11.9. Get gripper current
  • 11.10. Get gripper voltage
  • 11.11. Get gripper temperature
  • 11.12. Calculate pre-grasp point - vision
  • 11.13. Calculate retreat point - vision
  • 11.14. Robot gripper operation code example
  • 11.15. Get rotary gripper rotation turns
  • 11.16. Get rotary gripper rotation speed percentage
  • 11.17. Get rotary gripper rotation torque percentage
  • 11.18. Code example for getting rotary gripper status
  • 11.19. Conveyor start/stop
  • 11.20. Record IO detection point
  • 11.21. Record point A
  • 11.22. Record reference point
  • 11.23. Record point B
  • 11.24. Conveyor workpiece IO detection
  • 11.25. Get object current position
  • 11.26. Conveyor tracking start
  • 11.27. Conveyor tracking stop
  • 11.28. Conveyor parameter configuration
  • 11.29. Set conveyor grasp point compensation
  • 11.30. Conveyor linear motion
  • 11.31. Conveyor communication input detection
  • 11.32. Conveyor communication input detection trigger
  • 11.33. Robot conveyor operation example program
  • 11.34. End sensor configuration
  • 11.35. Get end sensor configuration
  • 11.36. End sensor activation
  • 11.37. End sensor register write
  • 11.38. End sensor code example
  • 11.39. Get robot peripheral protocol
  • 11.40. Set robot peripheral protocol
  • 11.41. Set robot peripheral protocol example program
  • 11.42. Get end communication parameters
  • 11.43. Set end communication parameters
  • 11.44. Set end file transfer type
  • 11.45. Set enable end LUA execution
  • 11.46. End LUA file error recovery
  • 11.47. Get end LUA execution enable status
  • 11.48. Set end LUA end device enable type
  • 11.49. Get end LUA end device enable type
  • 11.50. Get currently configured end devices
  • 11.51. Set enable gripper action control function
  • 11.52. Get enable gripper action control function
  • 11.53. Robot Ethercat slave file write
  • 11.54. Upload end Lua open protocol file
  • 11.55. Robot Ethercat slave enter boot mode
  • 11.56. Robot end LUA file operation code example
  • 11.57. Get SmartTool button status
  • 11.58. SmartTool button code example
  • 11.59. Upload Open Protocol Lua File
  • 11.60. Get Slave Board Parameters
  • 11.61. Write Slave DO
  • 11.62. Write Slave AO
  • 11.63. Read Slave DI
  • 11.64. Read Slave AI
  • 11.65. Wait for Extended DI Input
  • 11.66. Wait for Extended AI Input
  • 11.67. Slave Mode Related Interface Command Code Example
  • 11.68. Control Array Sucker
  • 11.69. Get Array Sucker Status
  • 11.70. Wait for Sucker Status
  • 11.71. Array Sucker Control Command Code Example
  • 11.72. Laser Peripheral On/Off Function
  • 11.73. Laser Tracking Start/Stop Function
  • 11.74. Laser Positioning - Fixed Direction
  • 11.75. Laser Positioning - Arbitrary Direction
  • 11.76. Laser Positioning Stop
  • 11.77. Laser IP Configuration
  • 11.78. Laser Peripheral Sampling Period Configuration
  • 11.79. Laser Peripheral Driver Loading
  • 11.80. Laser Peripheral Driver Unloading
  • 11.81. Laser Weld Seam Trajectory Recording
  • 11.82. Laser Weld Seam Trajectory Replay
  • 11.83. Laser Tracking Replay
  • 11.84. Laser Weld Seam Trajectory Recording and Replay
  • 11.85. Move to Laser Record Start Point
  • 11.86. Move to Laser Record End Point
  • 11.87. Move to Laser Sensor Positioning Point
  • 11.88. Get Laser Sensor Positioning Point Coordinate Information
  • 11.89. Laser Peripheral Sensor Parameter Configuration and Debugging Code Example
  • 11.90. Laser Trajectory Scanning and Trajectory Replay Code Example
  • 11.91. Laser Positioning and Real-time Tracking Code Example
  • 11.92. Extended Axis and Robot Synchronized Laser Tracking Code Example
  • 11.93. End-Effector Transparent Transmission Function Enable/Disable SDK Interface
  • 11.94. End-Effector Transparent Transmission Function Non-Periodic Data Transmission and Reception SDK Interface
  • 11.95. Code Example for Non-Periodic Data Communication of DIO Health Care Moxibustion Head Based on End-Effector Transparent Transmission Function
  • 11.96. Download Open Protocol Lua File
  • 11.97. Delete Open Protocol Lua File
  • 11.98. Delete All Open Protocol Lua Files
  • 11.99. Code Example for Controller Peripheral Open Protocol Upload, Download, and Delete
• 12. Robot Force Control
  • 12.1. Configure Force Sensor
  • 12.2. Get Force Sensor Configuration
  • 12.3. Activate Force Sensor
  • 12.4. Zero Calibration for Force Sensor
  • 12.5. Set Force Sensor Reference Coordinate System
  • 12.6. Set Load Weight Under Force Sensor
  • 12.7. Set Load Center of Gravity Under Force Sensor
  • 12.8. Get Load Weight Under Force Sensor
  • 12.9. Get Load Center of Gravity Under Force Sensor
  • 12.10. Automatic Zero Calibration for Force Sensor
  • 12.11. Get Force/Torque Data in Reference Coordinate System
  • 12.12. Get Raw Force/Torque Data from Force Sensor
  • 12.13. Force Sensor Configuration and Automatic Zero Calibration Example
  • 12.14. Load Weight Identification Record
  • 12.15. Load Weight Identification Calculation
  • 12.16. Load Center of Gravity Identification Record
  • 12.17. Load Center of Gravity Identification Calculation
  • 12.18. Force Sensor Load Identification Example
  • 12.19. Collision Guard
  • 12.20. Collision Guard Example
  • 12.21. Constant Force Control
  • 12.22. Constant Force Control
  • 12.23. Example Code for Constant Force Control with Damping
  • 12.24. Rotational Insertion
  • 12.25. Robot Force Sensor Rotational Insertion Code Example
  • 12.26. Constant Force Control Example
  • 12.27. Compliance Control Start
  • 12.28. Compliance Control Stop
  • 12.29. Compliance Control Example
  • 12.30. Load Identification Initialization
  • 12.31. Load Identification Variable Initialization
  • 12.32. Load Identification Main Program
  • 12.33. Get Load Identification Result
  • 12.34. Robot Load Identification Example
  • 12.35. Force Sensor Assisted Dragging
  • 12.36. Get Force Sensor Dragging Switch Status
  • 12.37. Force Sensor Auto-Enable After Error Clearance
  • 12.38. Force Sensor Assisted Dragging Example
  • 12.39. Set Six-Dimensional Force and Joint Impedance Hybrid Dragging Switch and Parameters
  • 12.40. Six-Dimensional Force and Joint Impedance Hybrid Dragging Example
  • 12.41. Example Program
  • 12.42. Impedance Control Start/Stop
  • 12.43. Robot Impedance Control Start/Stop Code Example
  • 12.44. Enable Torque Compensation Function and Compensation Coefficients
• 13. Extended Axis
  • 13.1. Set 485 Extended Axis Parameters
  • 13.2. Get 485 Extended Axis Parameters
  • 13.3. Set 485 Extended Axis Enable/Disable
  • 13.4. Set 485 Extended Axis Control Mode
  • 13.5. Set 485 Extended Axis Target Position (Position Mode)
  • 13.6. Set 485 Extended Axis Target Torque (Torque Mode) - Not Yet Available
  • 13.7. Set 485 Extended Axis
  • 13.8. Clear 485 Extended Axis Error Information
  • 13.9. Get 485 Extended Axis Servo Status
  • 13.10. Set 485 Extended Axis Target Speed (Speed Mode)
  • 13.11. Set Axis Number for Status Feedback of 485 Extended Axis
  • 13.12. Set 485 Extended Axis Motion Acceleration/Deceleration
  • 13.13. Set 485 Extended Axis Emergency Stop Acceleration/Deceleration
  • 13.14. Get 485 Extended Axis Motion Acceleration/Deceleration
  • 13.15. Get 485 Extended Axis Emergency Stop Acceleration/Deceleration
  • 13.16. Extended Axis Control Code Example
  • 13.17. UDP Extended Axis Communication Parameter Configuration
  • 13.18. Get UDP Extended Axis Communication Parameter Configuration
  • 13.19. Load UDP Communication
  • 13.20. Unload UDP Communication
  • 13.21. Reconnect After UDP Extended Axis Communication Exception Disconnection
  • 13.22. Close Communication After UDP Extended Axis Communication Exception Disconnection
  • 13.23. UDP Extended Axis Parameter Configuration
  • 13.24. Set Extended Axis Installation Position
  • 13.25. Set Extended Axis System DH Parameter Configuration
  • 13.26. UDP Extended Axis Enable
  • 13.27. UDP Extended Axis Homing
  • 13.28. UDP Extended Axis Jog Start
  • 13.29. UDP Extended Axis Jog Stop
  • 13.30. UDP Extended Axis Configuration and Jog Code Example
  • 13.31. Set Extended Axis Coordinate System Reference Point - Four-Point Method
  • 13.32. Calculate Extended Axis Coordinate System - Four-Point Method
  • 13.33. Positioner Coordinate System Reference Point Setting
  • 13.34. Positioner Coordinate System Calculation - Four-Point Method
  • 13.35. Set Calibration Reference Point Pose in Extended Axis End Coordinate System
  • 13.36. Apply Extended Axis Coordinate System
  • 13.37. Get Extended Axis Coordinate System
  • 13.38. Extended Axis Coordinate System Calibration Code Example
  • 13.39. UDP Extended Axis Motion
  • 13.40. UDP Extended Axis Motion Code Example
  • 13.41. UDP Extended Axis and Robot Joint Motion Synchronous Motion
  • 13.42. UDP extended axis and robot joint motion synchronous motion (automatic forward kinematics calculation)
  • 13.43. UDP Extended Axis and Robot Joint Motion Synchronous Motion Code Example
  • 13.44. UDP Extended Axis and Robot Linear Motion Synchronous Motion
  • 13.45. UDP extended axis and robot linear motion synchronous motion (automatic inverse kinematics calculation)
  • 13.46. UDP Extended Axis and Robot Linear Motion Synchronous Motion Code Example
  • 13.47. UDP Extended Axis and Robot Arc Motion Synchronous Motion
  • 13.48. UDP extended axis and robot circular motion synchronous motion (automatic inverse kinematics calculation)
  • 13.49. UDP Extended Axis and Robot Arc Motion Synchronous Motion Code Example
  • 13.50. Set Extended DO
  • 13.51. Set Extended AO
  • 13.52. Set Extended DI Input Filter Time
  • 13.53. Set Extended AI Input Filter Time
  • 13.54. Wait for Extended DI Input
  • 13.55. Wait for Extended AI Input
  • 13.56. Get Extended DI Value
  • 13.57. Get Extended AI Value
  • 13.58. Extended IO Code Example
  • 13.59. Movable Device Enable
  • 13.60. Movable Device Homing
  • 13.61. Movable Device Linear Motion
  • 13.62. Movable Device Arc Motion
  • 13.63. Movable Device Stop Motion
  • 13.64. Movable Device Code Example
  • 13.65. UDP Extension Axis Positioning Completion Time Setting
• 14. Robot Welding
  • 14.1. Set welding process curve parameters
  • 14.2. Get welding process curve parameters
  • 14.3. Set welding current to analog output relation
  • 14.4. Set welding voltage to analog output relation
  • 14.5. Get welding current to analog output relation
  • 14.6. Get welding voltage to analog output relation
  • 14.7. Set welding current
  • 14.8. Set welding voltage
  • 14.9. Set weaving parameters
  • 14.10. Welding parameter setting code example
  • 14.11. Real-time weaving parameter setting
  • 14.12. Set welding arc interruption detection parameters
  • 14.13. Get welding arc interruption detection parameters
  • 14.14. Set welding interruption recovery parameters
  • 14.15. Get welding interruption recovery parameters
  • 14.16. Set welder control mode extension DO port
  • 14.17. Set welder control mode
  • 14.18. Welding start
  • 14.19. Welding end
  • 14.20. Weaving start
  • 14.21. Weaving end
  • 14.22. Forward wire feeding
  • 14.23. Reverse wire feeding
  • 14.24. Gas feeding
  • 14.25. Set robot to resume welding after interruption
  • 14.26. Set robot to abort welding after interruption
  • 14.27. Robot welding control code example
  • 14.28. Segment welding start
  • 14.29. Robot segment welding code example
  • 14.30. Simulation weaving start
  • 14.31. Simulation weaving end
  • 14.32. Start trajectory inspection warning (no movement)
  • 14.33. End trajectory inspection warning (no movement)
  • 14.34. Weaving transition start
  • 14.35. Robot weaving transition welding code example
  • 14.36. Weaving transition end
  • 14.37. Extension IO - Configure welder gas detection signal
  • 14.38. Extension IO - Configure welder arc start signal
  • 14.39. Extension IO - Configure welder reverse wire feed signal
  • 14.40. Extension IO - Configure welder forward wire feed signal
  • 14.41. Extension IO - Configure welder arc success signal
  • 14.42. Extension IO - Configure welder ready signal
  • 14.43. Extension IO - Configure welding interruption recovery signal
  • 14.44. Set extension IO welding signal code example
  • 14.45. Arc tracking control
  • 14.46. Arc tracking AI channel selection
  • 14.47. Arc tracking + multi-layer multi-pass compensation start
  • 14.48. Arc tracking + multi-layer multi-pass compensation end
  • 14.49. Offset coordinate transformation - multi-layer multi-pass welding
  • 14.50. Multi-layer multi-pass welding arc tracking code example
  • 14.51. Arc tracking welder current feedback AI channel selection
  • 14.52. Arc tracking welder voltage feedback AI channel selection
  • 14.53. Arc tracking welder current feedback conversion parameters
  • 14.54. Arc tracking welder voltage feedback conversion parameters
  • 14.55. Arc tracking code example
  • 14.56. Set Wire Search Extension IO Ports
  • 14.57. Wire search start
  • 14.58. Wire search end
  • 14.59. Calculate wire search offset
  • 14.60. Wait for wire search completion
  • 14.61. Write wire search contact point to database
  • 14.62. Robot wire search code example
  • 14.63. Set welding voltage gradual change start
  • 14.64. Set welding voltage gradual change end
  • 14.65. Set welding current gradual change start
  • 14.66. Set welding current gradual change end
  • 14.67. Robot welding current/voltage gradual change code example
  • 14.68. Set Custom Weaving Parameters
  • 14.69. Get Custom Weaving Parameters
  • 14.70. Custom Weaving Parameters Code Example
• 15. CNDE
  • 15.1. Configure Robot Status Feedback
  • 15.2. Add a Robot Status to CNDE Status Configuration
  • 15.3. Delete a Robot Status from CNDE Status Configuration
  • 15.4. Set CNDE Status Feedback Period
  • 15.5. Get Current CNDE Status Feedback All State Set and Period
  • 15.6. CNDE Status Feedback Usage Code Example
• 16. Other interfaces
  • 16.1. Get SSH public key
  • 16.2. Issue SCP command
  • 16.3. Calculate MD5 value of specified file
  • 16.4. Robot SSH and MD5 command code example
  • 16.5. Set robot port 20004 feedback period
  • 16.6. Get robot port 20004 feedback period
  • 16.7. Robot port 20004 status feedback period configuration example
  • 16.8. Robot software upgrade
  • 16.9. Get robot software upgrade status
  • 16.10. Robot software upgrade code example
  • 16.11. Download point table database
  • 16.12. Upload point table database
  • 16.13. Point table update lua file
  • 16.14. Robot point table operation code example
  • 16.15. Controller log download
  • 16.16. All data source download
  • 16.17. Data backup package download
  • 16.18. Download controller data code example
  • 16.19. Set Encoder Upgrade
  • 16.20. Set Joint Firmware Upgrade
  • 16.21. Set Controller Firmware Upgrade
  • 16.22. Set End-Effector Firmware Upgrade
  • 16.23. Joint Complete Parameter Configuration Upgrade
  • 16.24. Robot Slave Firmware Upgrade Code Example
  • 16.25. Robot Operating System Upgrade (LA Control Box)
  • 16.26. Get Robot Operating System Upgrade Result (LA Control Box)
  • 16.27. Robot MCU Log Generation
  • 16.28. Set Robot to Stop Running When Port Communication is Disconnected
  • 16.29. Get Robot Stop on Communication Disconnection Parameters
  • 16.30. Robot Stop on Communication Disconnection Parameter Code Example
  • 16.31. Send UDP Instruction Frame
  • 16.32. SDK Code Example for UDP Communication
  • 16.33. Set User-Defined Robot End-Effector LED Color
  • 16.34. SDK Code Example for Setting User-Defined Robot End-Effector LED Color
• 17. Appendix
  • 17.1. Source Code Download
  • 17.2. Windows Platform Source Code Compilation