Python

This manual is the secondary development interface document of Python.

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 description
  • 2.1. Robot Status Feedback Structure Type
  • 2.2. Controller status feedback data packet
  • 2.3. Status of the servo controller
  • 2.4. Extended axis status
  • 2.5. Welding interruption state
  • 2.6. code example
  • 2.7. Robot Status Feedback Configuration List Enumeration Type
• 3. Robotics Basics
  • 3.1. Instantiated Robot
  • 3.2. Close the RPC connection
  • 3.3. Query SDK version number
  • 3.4. Get controller IP
  • 3.5. Controlling the robot into and out of drag-and-drop instructor mode
  • 3.6. Queries whether the robot is in drag mode
  • 3.7. Control robot up-enable or down-enable
  • 3.8. Control of robot hand-automatic mode switching
  • 3.9. Shut down the robot operating system
  • 3.10. Initialize the log parameters
  • 3.11. Setting the log filter level
  • 3.12. Robot base control code example
  • 3.13. Get the software version of the robot
  • 3.14. Getting robot hardware version information
  • 3.15. Getting robot firmware version information
  • 3.16. Get the robot software firmware version code sample
• 4. Movement
  • 4.1. jog point and click
  • 4.2. jog tap to decelerate and stop
  • 4.3. Immediate stop for jog taps
  • 4.4. Robot point control code example
  • 4.5. Joint space motion
  • 4.6. Cartesian Space Linear Motion
  • 4.7. Cartesian Space Circular Arc Motion
  • 4.8. Cartesian Space Full Circle Motion
  • 4.9. Point-to-point motion in Cartesian space
  • 4.10. Sample robot basic motion commands code
  • 4.11. Spiral motion in Cartesian space
  • 4.12. code example
  • 4.13. Servo Motion Start
  • 4.14. Servo Motion End
  • 4.15. Joint Space Servo Mode Motion
  • 4.16. UDP Communication-Based ServoJ, ServoMoveStart, ServoMoveEnd SDK Code Example
  • 4.17. Example of joint space servo mode motion code
  • 4.18. Joint Torque Control Start
  • 4.19. Joint Torque Control
  • 4.20. Joint Torque Control End
  • 4.21. UDP Communication-Based ServoJT, ServoJTStart, ServoJTEnd SDK Code Example
  • 4.22. Sample code for joint torque control
  • 4.23. Joint Torque Control Code Example with Overspeed Protection
  • 4.24. Cartesian Space Servo Mode Motion
  • 4.25. Cartesian Space Servo Mode Motion Code Example
  • 4.26. Start of spline motion
  • 4.27. Sample motion PTP
  • 4.28. End of spline motion
  • 4.29. Spline motion code example
  • 4.30. New spline movement begins
  • 4.31. New spline command point
  • 4.32. End of new spline movement
  • 4.33. Example of new spline motion code
  • 4.34. Robot termination motion
  • 4.35. Robot pause
  • 4.36. Robot resume motion
  • 4.37. Motion pause, resume, and stop code examples
  • 4.38. Overall shift in points begins
  • 4.39. Overall offset of points ends
  • 4.40. Point offset code example
  • 4.41. Control box motion AO start
  • 4.42. End of control box movement AO
  • 4.43. End Motion AO Start
  • 4.44. End movement AO end
  • 4.45. AO flyshot code example
  • 4.46. Start Ptp motion FIR filtering
  • 4.47. Disable Ptp motion FIR filtering
  • 4.48. LIN, ARC motion FIR filtering is started
  • 4.49. Turn off LIN and ARC motion FIR filtering
  • 4.50. FIR filtering code example
  • 4.51. Acceleration smooth on
  • 4.52. Acceleration smooth closing
  • 4.53. Acceleration smoothing code example
  • 4.54. Setting the machine’s specified attitude speed on
  • 4.55. Specify Attitude Velocity Off
  • 4.56. Robot specified pose velocity code example
  • 4.57. Odd-position protection on.
  • 4.58. Odd position protection off
  • 4.59. Example of robot singular pose protection code
  • 4.60. Clear the motor command queue
  • 4.61. Clear Motion Command Queue
  • 4.62. Intersecting Line Motion
  • 4.63. Robot Intersecting Line Motion Code Example
  • 4.64. Stationary Air Motion
  • 4.65. Stationary Air Motion Code Example
  • 4.66. Fixed-Point Swing Start
  • 4.67. Fixed-Point Swing End
  • 4.68. Fixed-Point Swing SDK Code Example
  • 4.69. Fixed-Point Swing (Including Laser and Extension Axis) SDK Code Example
• 5. IO
  • 5.1. Setting the control box digital output
  • 5.2. Setting Tool Digital Outputs
  • 5.3. Setting the control box analog output
  • 5.4. Setting Tool Analog Outputs
  • 5.5. Set digital, analog output code example
  • 5.6. Getting control box digital inputs
  • 5.7. Get Tool Digital Inputs
  • 5.8. Getting Control Box Analog Inputs
  • 5.9. Get Tool Analog Inputs
  • 5.10. Obtain the status of the button for recording the end point of the robot
  • 5.11. Obtain the DO output status at the end of the robot
  • 5.12. Obtain the DO output status of the robot controller
  • 5.13. Get the robot DI, DO status code examples
  • 5.14. Waiting for control box digital inputs
  • 5.15. Waiting for control box with multiple digital inputs
  • 5.16. Waiting for tool digital inputs
  • 5.17. Waiting for control box analog inputs
  • 5.18. Waiting for tool analog inputs
  • 5.19. Waiting control box digital, analog input signal code example
  • 5.20. Set Whether Control Box DO Output Resets After Stop/Pause
  • 5.21. Set Whether Control Box AO Output Resets After Stop/Pause
  • 5.22. Set Whether End Tool DO Output Resets After Stop/Pause
  • 5.23. Set Whether End Tool AO Output Resets After Stop/Pause
  • 5.24. Set Whether Extended DO Output Resets After Stop/Pause
  • 5.25. Set Whether Extended AO Output Resets After Stop/Pause
  • 5.26. Set Whether SmartTool Output Resets After Stop/Pause
  • 5.27. Code Example for Setting Output Reset After Lua Program Stop/Pause
  • 5.28. Set Configurable CI Port Functions
  • 5.29. Get Configurable CI Port Functions of the Control Box
  • 5.30. Set Configurable CO Port Functions
  • 5.31. Get Configurable CO Port Functions
  • 5.32. Set Configurable End-CI Port Functions of the End-Effector
  • 5.33. Get Configurable End-CI Port Functions of the End-Effector
  • 5.34. Set Configurable CI Active State of the Control Box
  • 5.35. Get Configurable CI Active State of the Control Box
  • 5.36. Set Configurable CO Active State of the Control Box
  • 5.37. Get Configurable CO Active State of the Control Box
  • 5.38. Set Configurable CI Active State of the End-Effector
  • 5.39. Get Configurable CI Active State of the End-Effector
  • 5.40. Set Standard DI Active State of the Control Box
  • 5.41. Get Standard DI Active State of the Control Box
  • 5.42. Set Standard DO Active State of the Control Box
  • 5.43. Get Standard DO Active State of the Control Box
  • 5.44. IO Configuration Related SDK Code Example
• 6. Common Robot Settings
  • 6.1. Setting Tool Reference Points - Six-Point Method
  • 6.2. Calculation tool coordinate system - six-point method
  • 6.3. Setting Tool Reference Points - Four Point Method
  • 6.4. Calculation Tool Coordinate System - Four Point Method
  • 6.5. Calculate the tool coordinate system based on the point information
  • 6.6. Setting the tool coordinate system
  • 6.7. Setting the tool coordinate system list
  • 6.8. Get the current tool coordinate system
  • 6.9. Robot tool coordinate system manipulation code example
  • 6.10. Setting External Tool Reference Points-Six-Point Method
  • 6.11. Calculation of the external tool coordinate system - Six-point method
  • 6.12. Setting the external tool coordinate system
  • 6.13. Setting up a list of external tool coordinate systems
  • 6.14. Example code for robot external tool coordinate system operation
  • 6.15. Setting the workpiece reference point - three-point method
  • 6.16. Calculation of the workpiece coordinate system - three-point method
  • 6.17. Setting the workpiece coordinate system
  • 6.18. Setting the list of workpiece coordinate systems
  • 6.19. Calculate the workpiece coordinate system based on the point information
  • 6.20. Get the current workpiece coordinate system
  • 6.21. Example of robot workpiece coordinate system manipulation code
  • 6.22. Setting the global speed
  • 6.23. Setting robot acceleration
  • 6.24. Getting the default speed
  • 6.25. Setting the end load weight
  • 6.26. Setting the end load center of mass coordinates
  • 6.27. Get the weight of the current load
  • 6.28. Get the center of mass of the current load
  • 6.29. Setting the robot mounting method - fixed mounting
  • 6.30. Setting the robot mounting angle - free mounting
  • 6.31. Getting the robot mounting angle
  • 6.32. Setting system variable values
  • 6.33. Getting system variable values
  • 6.34. Robot common setup code examples
  • 6.35. Joint Friction Compensation Switch
  • 6.36. Setting the joint friction compensation coefficients - positive loading
  • 6.37. Setting the joint friction compensation coefficient - side mounting
  • 6.38. Setting the Joint Friction Compensation Factor - Inverted
  • 6.39. Setting the joint friction compensation factor - free mounting
  • 6.40. Robot setup joint friction compensation code example
  • 6.41. Query Robot Error Code
  • 6.42. Error state clearing
  • 6.43. Robot fault state acquisition and clearing error code examples
  • 6.44. Set the monitoring parameters for the temperature and fan speed of the wide-voltage control box
  • 6.45. Obtain the monitoring parameters of the temperature and fan speed of the wide-voltage control box
  • 6.46. Sample code for obtaining wide voltage control box temperature and fan current status
  • 6.47. Sets the focus point
  • 6.48. Calculate the focus calibration result
  • 6.49. Enable focus following
  • 6.50. Stop focusing following
  • 6.51. Set the focus coordinates
  • 6.52. Robot focus following code example
  • 6.53. Joint torque sensor sensitivity calibration function is enabled
  • 6.54. Joint torque sensor sensitivity data acquisition
  • 6.55. The sensitivity calibration results of the joint torque sensor were obtained
  • 6.56. Get Joint Torque Sensor Hysteresis Error
  • 6.57. Get Joint Torque Sensor Repeatability
  • 6.58. Set Joint Force Sensor Parameters
  • 6.59. Sample code for automatic calibration of joint torque sensor sensitivity
  • 6.60. The number of error frames at eight slave ports of the robot is obtained
  • 6.61. Slave port error frame reset
  • 6.62. Get sample slave port error frame code
  • 6.63. Set the feed-forward coefficient of each axis speed
  • 6.64. The velocity feedforward coefficients of each axis are obtained
  • 6.65. Robot velocity feedforward coefficient code example
  • 6.66. Photoelectric Sensor TCP Calibration - Compute Tool RPY
  • 6.67. Photoelectric Sensor TCP Calibration - Compute Tool XYZ
  • 6.68. Photoelectric Sensor TCP Calibration - Start Recording Flange Center Position
  • 6.69. Photoelectric Sensor TCP Calibration - Stop Recording Flange Center Position
  • 6.70. Photoelectric Sensor TCP Calibration - Get Tool Center Point Position
  • 6.71. Photoelectric Sensor TCP Calibration
  • 6.72. Photoelectric Sensor TCP Calibration Code Example
• 7. Security Settings
  • 7.1. Setting the collision level
  • 7.2. Setting the post-collision strategy
  • 7.3. The Custom collision detection threshold function starts to set the collision detection thresholds of the joint end and TCP end
  • 7.4. The custom collision detection threshold function is disabled
  • 7.5. Robot collision level setting code example
  • 7.6. Setting the positive limit
  • 7.7. Setting the negative limit
  • 7.8. Obtaining the soft limiting angle of a joint
  • 7.9. Robot limit setting code example
  • 7.10. Setting up a robot collision detection method
  • 7.11. Set static undercollision detection to start off
  • 7.12. Set up the robot collision detection method code example
  • 7.13. Joint torque and power detection
  • 7.14. Sample code for joint torque power detection
  • 7.15. Set Safety Speed Parameters
  • 7.16. SDK Code Example for Setting Safety Speed Parameters
• 8. Status query
  • 8.1. Get the current joint position (angle).
  • 8.2. Get the current joint position in radians.
  • 8.3. Get joint feedback speed -deg/s
  • 8.4. Obtain joint feedback acceleration-deg/s^2
  • 8.5. Get TCP command synthesis speed
  • 8.6. Getting TCP Feedback Hopping Speed
  • 8.7. Get TCP command speed
  • 8.8. Getting TCP feedback speed
  • 8.9. Get current tool position
  • 8.10. Get the current tool coordinate system number
  • 8.11. Get the current workpiece coordinate system number
  • 8.12. Get the current end flange position
  • 8.13. Get current joint torque
  • 8.14. Get system time
  • 8.15. Queries whether robot motion is complete
  • 8.16. Query the cache length of the robot motion queue
  • 8.17. Obtain the emergency stop status of the robot
  • 8.18. Obtain the communication status between the SDK and the robot
  • 8.19. Obtain the safety stop signal
  • 8.20. Obtain the current temperature of the joint drive(℃)
  • 8.21. Obtain the current torque of the joint drive(Nm)
  • 8.22. Obtain the status of the robot
  • 8.23. Robot status query code example
  • 8.24. Inverse kinematics solution
  • 8.25. Inverse Kinematics Solution - Specifying Reference Positions
  • 8.26. Inverse Kinematics Solution, Cartesian Space Includes Extended Axis Position
  • 8.27. Inverse Kinematics Solution Including Extended Axis Position Code Example
  • 8.28. Inverse kinematics solving-whether there is a solution
  • 8.29. Positive kinematics solving
  • 8.30. Example code for robot forward and inverse kinematics calculation
  • 8.31. Query Robot Teaching Management Points Data
  • 8.32. Get DH compensation parameters
  • 8.33. Obtain the SN code of the control box
  • 8.34. Query robot teaching management point data code example
  • 8.35. Get the tool coordinate system according to the number
  • 8.36. The workpiece coordinate system is obtained according to the No
  • 8.37. The external tool coordinate system is obtained according to the number
  • 8.38. The extended axis coordinate system is obtained according to the No
  • 8.39. Get the load mass and centroid according to the number
  • 8.40. Gets the current tool coordinate system
  • 8.41. Gets the current workpiece coordinate system
  • 8.42. Gets the current external tool coordinate system
  • 8.43. Gets the current extended axis coordinate system
  • 8.44. Get robot coordinate system and load code sample
• 9. Trajectory recurrence
  • 9.1. Setting Track Recording Parameters
  • 9.2. Start Track Recording
  • 9.3. Stop Track Recording
  • 9.4. Deleting track records
  • 9.5. code example
  • 9.6. Trajectory preloading
  • 9.7. Trajectory Reproduction
  • 9.8. Get the starting position of the trajectory
  • 9.9. Example of robot TPD trajectory recording code
  • 9.10. Trajectory preprocessing
  • 9.11. Trajectory Reproduction
  • 9.12. Getting the starting position of the trajectory
  • 9.13. Get track point number
  • 9.14. Set Speed During Trajectory Execution
  • 9.15. Code Example for Setting Speed During Trajectory Execution
  • 9.16. Setting the force and torque during trajectory operation
  • 9.17. Setting the force along the x-direction in the trajectory run
  • 9.18. Setting the force along the y-direction in the trajectory run
  • 9.19. Setting the force along the z-direction in a trajectory run
  • 9.20. Setting the torque around the x-axis in a trajectory run
  • 9.21. Setting the torque around the y-axis in trajectory operation
  • 9.22. Setting the torque around the z-axis in trajectory operation
  • 9.23. Upload trace J file
  • 9.24. Delete the track J file
  • 9.25. Robot trajectory J file reproduction code example
  • 9.26. Trajectory preprocessing(Trajectory foresight)
  • 9.27. Trajectory reproduction(Trajectory foresight)
  • 9.28. Code example for trajectory reproduction
  • 9.29. Move to TPD Trajectory Recording Start Point
  • 9.30. SDK Code Example for Moving to TPD Trajectory Recording Start Point
• 10. WebAPP program use
  • 10.1. Setting the default job program to load automatically on boot
  • 10.2. Load the specified job program
  • 10.3. Get the name of the loaded job program
  • 10.4. Get the line number of the current robot job program
  • 10.5. Run the currently loaded job program
  • 10.6. Suspend the currently running job program
  • 10.7. Resuming a currently suspended program
  • 10.8. Terminate the currently running job program
  • 10.9. Obtaining robot job program execution status
  • 10.10. Robot LUA program operation code example
  • 10.11. Download Lua files
  • 10.12. Deleting Lua files
  • 10.13. Get the names of all current lua files
  • 10.14. Uploading Lua files
  • 10.15. Robot LUA file upload and download code examples
• 11. Peripherals
  • 11.1. Configuration of jaws
  • 11.2. Get Jaw Configuration
  • 11.3. Activate jaws
  • 11.4. Control jaws
  • 11.5. Getting the jaw movement status
  • 11.6. Obtain the activated status of the gripper
  • 11.7. Obtain the position of the gripper
  • 11.8. Obtain the gripper speed
  • 11.9. Obtain the gripper current
  • 11.10. Obtain the gripper voltage
  • 11.11. Obtain the temperature of the gripper
  • 11.12. Calculate pre-capture point-visual
  • 11.13. Calculate retreat point-visual
  • 11.14. Robot claw operation code example
  • 11.15. Get the number of rotation turns of the rotary gripper
  • 11.16. Gets the percentage of rotation speed of the rotating gripper
  • 11.17. Obtains the percentage of rotating torque of the rotating gripper
  • 11.18. Get the rotary gripper status code example
  • 11.19. Drive belt start and stop
  • 11.20. Record IO detection points
  • 11.21. Record point A
  • 11.22. Recording reference points
  • 11.23. Record point B
  • 11.24. Conveyorized workpiece IO inspection
  • 11.25. Get the current position of the object
  • 11.26. Drive belt tracking started
  • 11.27. Belt tracking stop
  • 11.28. Drive Belt Parameter Configuration
  • 11.29. Belt Grip Point Compensation
  • 11.30. linear motion
  • 11.31. Conveyor communication input detection
  • 11.32. Conveyor communication input detection triggered
  • 11.33. Robot conveyor operation code example
  • 11.34. End Sensor Configuration
  • 11.35. Get End Sensor Configuration
  • 11.36. End sensor activation
  • 11.37. End Sensor Register Write
  • 11.38. End sensor code example
  • 11.39. Obtaining Robot Peripheral Protocols
  • 11.40. Setting up robot peripheral protocols
  • 11.41. Example of setup robot peripheral protocol code
  • 11.42. Getting end communication parameters
  • 11.43. Setting the end communication parameters
  • 11.44. Setting the end file transfer type
  • 11.45. Setting Enable End LUA Execution
  • 11.46. End LUA file exception error recovery
  • 11.47. Get end LUA execution enable status
  • 11.48. Setting the end LUA end device enable type
  • 11.49. Get End LUA End Device Enablement Type
  • 11.50. Get the currently configured end device
  • 11.51. Setting to enable the jaw movement control function
  • 11.52. Getting to Enable Jaw Motion Control
  • 11.53. The Ethercat slave file is written by the robot
  • 11.54. Upload the end Lua open protocol file
  • 11.55. The robot Ethercat enters boot mode from the station
  • 11.56. Example of LUA file manipulation code at the end of the robot
  • 11.57. Obtain the status of the SmartTool button
  • 11.58. SmartTool button code example
  • 11.59. Set the load detection before drag is started
  • 11.60. Laser peripheral open and close function
  • 11.61. Laser tracking start-end function
  • 11.62. Laser positioning - Fixed direction
  • 11.63. Laser positioning - in any direction
  • 11.64. Laser IP configuration
  • 11.65. Configuration of sampling period for laser peripherals
  • 11.66. Laser peripheral driver loading
  • 11.67. Laser peripheral driver unloading
  • 11.68. Laser weld seam trajectory recording
  • 11.69. Laser weld seam trajectory reproduction
  • 11.70. Laser tracking reproduction
  • 11.71. Laser weld seam trajectory reproduction
  • 11.72. Movement to the starting point of weld record
  • 11.73. Movement to the end of the weld record
  • 11.74. Move to the laser sensor to find the site
  • 11.75. Obtain the coordinate information of the laser sensor location
  • 11.76. Example of laser peripheral sensor parameter configuration and debugging code
  • 11.77. Code example of laser trajectory scanning and trajectory reproduction
  • 11.78. Code examples for laser locating and real-time tracking
  • 11.79. Code example of the extended axis synchronized with the robot for laser tracking
  • 11.80. Control Array Suction Cup
  • 11.81. Get Array Suction Cup Status
  • 11.82. Wait for Suction Cup Status
  • 11.83. Array Suction Cup Control Command Code Example
  • 11.84. Upload Open Protocol Lua File
  • 11.85. Get Slave Station Board Parameters
  • 11.86. Write Slave Station DO
  • 11.87. Write Slave Station AO
  • 11.88. Read Slave Station DI
  • 11.89. Read Slave Station AI
  • 11.90. Wait for Extended DI Input
  • 11.91. Wait for Extended AI Input
  • 11.92. Slave Station Mode Related Interface Command Code Example
  • 11.93. End-Effector Transparent Transmission Function Enable/Disable SDK Interface
  • 11.94. End-Effector Transparent Transmission Function Non-Periodic Data Transmission and Reception SDK Interface
  • 11.95. Code Example for Non-Periodic Data Communication of DIO Health Care Moxibustion Head Based on End-Effector Transparent Transmission Function
  • 11.96. Download Open Protocol Lua File
  • 11.97. Delete Specified Open Protocol Lua File
  • 11.98. Delete All Open Protocol Lua Files
  • 11.99. Open Protocol Lua File Operation SDK Code Example
• 12. Force Control
  • 12.1. Force Sensor Configuration
  • 12.2. Get Force Sensor Configuration
  • 12.3. Force sensor activation
  • 12.4. Force Sensor Zeroing
  • 12.5. Setting the force transducer reference coordinate system
  • 12.6. Setting the load weight under the force transducer
  • 12.7. Setting the load center of mass under the force transducer
  • 12.8. Getting the load weight under the force transducer
  • 12.9. Obtaining the center of mass of the load under the force transducer
  • 12.10. Automatic zeroing of force sensors
  • 12.11. Obtaining force/torque data in the reference coordinate system
  • 12.12. Obtaining Force Sensor Raw Force/Torque Data
  • 12.13. Force sensor configuration and automatic zero correction code example
  • 12.14. Load weight identification records
  • 12.15. Load weight identification calculation
  • 12.16. Load center of mass identification records
  • 12.17. Load center of mass identification calculation
  • 12.18. Force sensor load identification code example
  • 12.19. Collision Guard
  • 12.20. Collision guard code example
  • 12.21. constant force control
  • 12.22. A code example of constant force control with damping
  • 12.23. Helix Exploration
  • 12.24. Rotational Insertion
  • 12.25. Code Example for Spiral Search, Linear Insertion, and Other Commands
  • 12.26. Linear insertion
  • 12.27. Examples of instruction code for spiral exploration, straight line insertion, etc
  • 12.28. Surface positioning
  • 12.29. Calculation of the center plane position begins
  • 12.30. Calculate end of mid-plane position
  • 12.31. Sample code for surface localization
  • 12.32. Soft control on
  • 12.33. Soft control off
  • 12.34. Soft control code example
  • 12.35. Load recognition filter initialization
  • 12.36. Initialization of load recognition variables
  • 12.37. Load Recognition Main Program
  • 12.38. Getting Load Recognition Results
  • 12.39. Robot load identification code example
  • 12.40. Force Sensor Assisted Drag
  • 12.41. Get force sensor drag switch status
  • 12.42. The force sensor turns on automatically after the error is cleared.
  • 12.43. Force sensor assisted drag code example
  • 12.44. Setting up hybrid drag switches and parameters for six-dimensional force and joint impedance
  • 12.45. Six dimensional force and joint impedance mixed drag code example
  • 12.46. Impedance start and stop control
  • 12.47. Example code for impedance start and stop control
  • 12.48. Enable Torque Compensation Function and Compensation Coefficients
• 13. Extended Axis
  • 13.1. Setting the 485 Extended Axis Parameters
  • 13.2. Getting 485 Expansion Axis Configuration Parameters
  • 13.3. Setting the 485 expansion axis enable/disable
  • 13.4. Setting the 485 Extended Axis Control Mode
  • 13.5. Setting the 485 extended axis target position (position mode)
  • 13.6. Setting the 485 extended axis target torque (torque mode)-not yet available
  • 13.7. Setting the 485 extended axis back to zero
  • 13.8. Clearing 485 Expansion Axis Error Messages
  • 13.9. Get 485 extended axis servo status
  • 13.10. Setting the 485 extended axis target speed (velocity mode)
  • 13.11. Setting the 485 extended axis data axis number in the status feedback
  • 13.12. Setting the 485 Extended Axis Motion Acceleration and Deceleration Speed
  • 13.13. Setting the 485 extended axis emergency stop acceleration and deceleration speeds
  • 13.14. Get 485 Extended Axis Motion Acceleration and Deceleration
  • 13.15. Get 485 extended axis emergency stop acceleration and deceleration speeds
  • 13.16. Extended axis control code example
  • 13.17. Parameter configuration for UDP extended axis communication
  • 13.18. Get UDP extended axis communication parameters
  • 13.19. Load UDP communication
  • 13.20. Offloading UDP communication
  • 13.21. UDP Extended Axis Communication Recovery after Abnormal Disconnection
  • 13.22. UDP extension axis communication is closed after abnormal disconnection.
  • 13.23. UDP Extended Axis Parameter Configuration
  • 13.24. Setting the extended robot position relative to the extended axis
  • 13.25. Setting the extended axis system DH parameter configuration
  • 13.26. UDP Extended Axis Enable
  • 13.27. UDP Extended Axis Zero Return
  • 13.28. UDP Extended Axis Tap Start
  • 13.29. UDP Extended Axis Tap Stop
  • 13.30. Example of UDP extension axis configuration and tapping code
  • 13.31. Setting the reference point of the extended axis coordinate system - four-point method
  • 13.32. Calculating the Extended Axis Coordinate System - Four Point Method
  • 13.33. Reference Point Setting for the Shifter Coordinate System - Four-Point Method
  • 13.34. Shifter Coordinate System Calculation - Four Point Method
  • 13.35. Setting of the calibration reference point in the position in the coordinate system of the end of the translator
  • 13.36. Applying the Extended Axis Coordinate System
  • 13.37. Obtain the extended axis coordinate system
  • 13.38. Extended axis coordinate system calibration code example
  • 13.39. UDP Extended Axis Motion
  • 13.40. UDP Extended axis motion code example
  • 13.41. UDP extension axes synchronized with robot joint motion
  • 13.42. UDP extension axes synchronized with robot joint motion code example
  • 13.43. UDP extension axes synchronized with robot linear motion
  • 13.44. UDP extension axes synchronized with robot linear motion code example
  • 13.45. UDP extension axes synchronized with robot circular motion
  • 13.46. UDP extension axes synchronized with robot circular motion code example
  • 13.47. Setting the Extended DO
  • 13.48. Setting up Extended AO
  • 13.49. Setting the Extended DI Input Filter Time
  • 13.50. Setting the Extended AI Input Filter Time
  • 13.51. Waiting for extended DI input
  • 13.52. Waiting for extended AI input
  • 13.53. Get Extended DI Value
  • 13.54. Get Extended AI Value
  • 13.55. Extended IO code examples
  • 13.56. Removable Device Enable
  • 13.57. Zeroing of removable units
  • 13.58. Movable unit linear motion
  • 13.59. Movable unit circular motion
  • 13.60. Stopping motion of movable devices
  • 13.61. Portable device code example
  • 13.62. Laser sensor recording points
  • 13.63. Sample code for laser sensor recording points
  • 13.64. Set the synchronous movement strategy of the extended axis and the robot
  • 13.65. Code example for setting the synchronous motion strategy of the extended axis and the robot
• 14. Weld
  • 14.1. Setting Welding Process Curve Parameters
  • 14.2. Obtaining Welding Process Curve Parameters
  • 14.3. Setting of welding current and output analog correspondences
  • 14.4. Setting the welding voltage and output analog correspondence
  • 14.5. Acquiring the correspondence between welding current and output analog quantity
  • 14.6. Getting welding voltage and output analog correspondence
  • 14.7. Setting the welding current
  • 14.8. Setting the welding voltage
  • 14.9. Setting Oscillation Parameters
  • 14.10. Example code for setting welding parameters
  • 14.11. Instant setup of swing parameters
  • 14.12. The detection parameters of unexpected interruption of robot welding arc were obtained
  • 14.13. Set the detection parameters of robot welding arc unexpected interruption
  • 14.14. Obtain the robot welding interrupt recovery parameters
  • 14.15. Set the robot welding interrupt recovery parameters
  • 14.16. Set welder control mode to expand DO port
  • 14.17. Setting the welder control mode
  • 14.18. Welding Start
  • 14.19. End of welding
  • 14.20. swing start
  • 14.21. end of swing (math.)
  • 14.22. Positive wire feed
  • 14.23. Reverse wire feed
  • 14.24. aspiration
  • 14.25. Set the robot to resume welding after welding interruption
  • 14.26. Set the robot to exit welding after welding interruption
  • 14.27. Sample code for robot welding control
  • 14.28. Segmented welding startup
  • 14.29. Sample robot segment welding code
  • 14.30. Simulated swing start
  • 14.31. End of simulation swing
  • 14.32. Start trajectory detection warning (no movement)
  • 14.33. End trajectory detection warning (no movement)
  • 14.34. Wobble start
  • 14.35. Robot swing gradient welding code example
  • 14.36. Wobble end
  • 14.37. Extended IO-Configuration Welder Gas Detection Signal
  • 14.38. Extended IO-Configuration of welder arc start signal
  • 14.39. Extended IO-Configuration of the welder’s reverse wire feed signal
  • 14.40. Extended IO-Configuration of the welder’s forward wire feed signal
  • 14.41. Extended IO-Configuration of the welder’s arc start success signal
  • 14.42. Extended IO-Configuration Welder Ready Signal
  • 14.43. Extended IO-Configuration Weld Interrupt Recovery Signal
  • 14.44. Example code for setting up extended IO solder signals
  • 14.45. Arc tracking control
  • 14.46. Arc tracking AI passband selection
  • 14.47. Arc tracking + multi-layer multi-channel compensation on
  • 14.48. Arc Tracking + Multi-Layer Multi-Channel Compensation Off
  • 14.49. Offset Coordinate Change - Multi-layer Multi-pass Welding
  • 14.50. Example code for multi-layer multi-pass welding arc tracking
  • 14.51. Selection of AI channels for current feedback in arc tracking welding machines
  • 14.52. Selection of AI channel for voltage feedback of arc tracking welding machine
  • 14.53. Current feedback conversion parameters of arc tracking welding machine
  • 14.54. Voltage feedback conversion parameters of arc tracking welding machine
  • 14.55. Example arc tracking code
  • 14.56. Setting Up the Weld Wire Seek Expansion IO Port
  • 14.57. code example
  • 14.58. Welding wire position finding start
  • 14.59. End of wire position finding
  • 14.60. Calculate the wire finding offset
  • 14.61. Waiting for wire seek to complete
  • 14.62. Wire seek contact points written to database
  • 14.63. Example of robot wire locating code
  • 14.64. Set the welding voltage to start gradually
  • 14.65. Set the welding voltage gradient to end
  • 14.66. Set the welding current to start gradually
  • 14.67. Set the welding current to gradually end
  • 14.68. Robot welding current voltage gradient code example
  • 14.69. Set custom swing parameters
  • 14.70. Gets custom swing parameters
  • 14.71. Custom swing parameter code example
• 15. CNDE
  • 15.1. Configure Robot CNDE Status Feedback
  • 15.2. Add Robot Status to CNDE Status Configuration
  • 15.3. Delete Robot Status from CNDE Status Configuration
  • 15.4. Set CNDE Status Feedback Period
  • 15.5. Get Current CNDE Status Feedback All State Set
  • 15.6. CNDE Status Feedback Usage Code Example
• 16. Others
  • 16.1. Get SSH public key
  • 16.2. Issue the SCP command
  • 16.3. Calculate the MD5 value of a file in a specified path
  • 16.4. Robot SSH, MD5 instruction code example
  • 16.5. Setting the Robot 20004 Port Feedback Cycle
  • 16.6. Get robot 20004 port feedback cycle
  • 16.7. Robot 20004 port state feedback cycle configuration code example
  • 16.8. Robot software upgrade
  • 16.9. Get robot software upgrade status
  • 16.10. Robot software upgrade code example
  • 16.11. Download Point Table Database
  • 16.12. Upload point table database
  • 16.13. Point table update lua file
  • 16.14. Robot point table operation code example
  • 16.15. Controller log download
  • 16.16. Download all data sources
  • 16.17. Data backup package download
  • 16.18. Download the controller data code example
  • 16.19. Set up encoder upgrade
  • 16.20. Set up joint firmware upgrade
  • 16.21. Set up control box firmware upgrade
  • 16.22. Set up the end firmware upgrade
  • 16.23. Joint full parameter profile upgrade
  • 16.24. Example of robot slave firmware upgrade code
  • 16.25. Robot Operating System upgrade (LA control box)
  • 16.26. Obtain upgrade results of robot operating system (LA control box)
  • 16.27. Robot MCU log generation
  • 16.28. Set Robot to Stop Running When Port Communication is Disconnected
  • 16.29. Get Robot Stop on Communication Disconnection Parameters
  • 16.30. Robot Stop on Communication Disconnection Parameter Code Example
  • 16.31. Send UDP Instruction Frame
  • 16.32. UDP Communication-Based SDK Code Example
  • 16.33. Set User-Defined Robot End-Effector LED Color
  • 16.34. SDK Code Example for Setting User-Defined Robot End-Effector LED Color
• 17. Appendix
  • 17.1. Source Code Download
  • 17.2. Source Code Compilation
    • 17.2.1. Windows Platform Python SDK Compilation
    • 17.2.2. Linux Platform Python SDK Compilation
  • 17.3. Notes
    • 17.3.1. Potential Issues
      • 17.3.1.1. Version Compatibility
      • 17.3.1.2. Error Codes