10.7. Peripheral graphical programming commands
Peripheral graphical programming commands include peripheral commands such as grippers, spray guns, and extended axes.
Figure 10.7 Peripheral graphical programming commands
10.7.1. Gripper commands
Drag the “gripper movement”, “gripper activation” and “gripper reset” code blocks to enter the graphical editing interface workspace.
In the command, the number of the configured and activated gripper is displayed, the settings of the gripper opening and closing, opening and closing speed, and opening and closing torque are displayed in percentages, and the blocking function option is displayed. If blocking is selected, the gripper movement needs to wait for the previous motion instruction to be executed before execution. If non-blocking is selected, the gripper movement is parallel to the previous motion instruction.
“Gripper Movement” node, parameters:
Gripper number: the number of the activated gripper
Gripper position: 0~100
Opening and closing speed: 0~100
Opening and closing torque: 0~100
Maximum time (ms): 0~30000
Blocking: false/true
Figure 10.7-1 Gripper Movement Instruction Code Block
Gripper reset instruction, display the configured gripper number, and you can add the gripper reset instruction to the program.
“Gripper reset” node, parameters:
Gripper number: the number of the activated gripper
Figure 10.7-2 Gripper reset instruction code block
Gripper activation instruction, display the configured gripper number, you can add the gripper activation instruction to the program.
“Gripper activation” node, parameters:
Gripper number: the number of the activated gripper
Figure 10.7-3 Gripper activation instruction code block
10.7.2. Spray gun instruction
Drag the “Spray gun instruction” code block to enter the graphical editing interface workspace.
This command is related to spraying, controlling the spray gun to “start spraying”, “stop spraying”, “start cleaning gun” and “stop cleaning gun”. When editing the relevant nodes of this program, you need to confirm that the spray gun peripherals have been configured, otherwise it cannot be saved. See the robot peripherals section for details.
Figure 10.7-4 Start spraying instruction code block
Figure 10.7-5 Stop spraying instruction code block
Figure 10.7-6 Start gun cleaning instruction code block
Figure 10.7-7 Stop gun cleaning instruction code block
10.7.3. Extended axis instruction (controller+PLC)
Drag the “Extended axis instruction” code block to enter the graphical editing interface workspace.
This instruction is used in combination with the PTP instruction for scenarios using external axes. It can decompose the movement of a point in the X-axis direction in space into external axis movement. Select the external axis number, select synchronous movement mode, and select the point to be reached.
It is divided into UDP communication loading/configuration, asynchronous movement, synchronous PTP/LIN movement, synchronous ARC movement, return to zero instruction and enable instruction.
“UDP communication configuration” command node, enter the IP address, port number and communication cycle;
Figure 10.7-8 UDP communication configuration command code block
“Asynchronous motion” command node, parameters:
Point name: teaching point
Debug speed (%): 0~100
Figure 10.7-9 Asynchronous motion command code block
“Synchronous PTP/LIN motion” command node, parameters:
Motion selection: PTP/LIN
Point name: teaching point
Debug speed (%): 0~100
Figure 10.7-10 “Synchronous PTP/LIN motion” instruction code block
“Synchronous ARC motion” instruction node, default motion mode is ARC, parameters:
Point name: teaching point
Debug speed (%): 0~100
Chart 10.7-11 “Synchronous ARC motion” instruction code block
“Extended axis return to zero” instruction node, parameters:
Extended axis number: 1~4
Return to zero mode: current position return to zero/negative limit return to zero/positive limit return to zero
Home speed: 0~2000, default position 5
Zero point clamp speed: 0~2000, default is 1
Chart 10.7-12 Extended axis return to zero instruction code block
“Extended axis enable” instruction node,, parameters:
Extended axis number: 1~4
Figure 10.7-13 Extended axis enable instruction code block
10.7.4. Extended axis instruction (controller+servo drive)
Drag the “Extended axis instruction” code block to enter the graphical editing interface workspace.
This instruction can configure the extended axis parameters. Set different parameters according to different control modes. The configured extended axis can set its zero point.
It is divided into servo ID, control mode, servo enable and servo return to zero; the control mode is further divided into position mode and speed mode. These two nodes need to be used in conjunction with the control mode, otherwise they cannot take effect if added separately.
“Servo ID” command node, parameters:
Servo ID: 1~15
Figure 10.7-14 Servo ID command code block
“Control mode” command node, parameters:
Servo ID: 1~15
Control mode: Position mode/Speed mode
Figure 10.7-15 Control mode command code block
“Servo enable” command node, parameters:
Servo ID: 1~15
Servo enable: Servo enable/disable
Figure 10.7-16 Servo enable command code block
“Servo return to zero” command node, parameters:
Servo ID: 1~15
Return to zero mode: current position return to zero/negative limit return to zero/positive limit return to zero
Homing speed: 0~2000, default position 5
Zero point clamp speed: 0~2000, default is 1
Acceleration percentage: 1~100, default is 100
Chart 10.7-17 Servo return to zero command code block
“Position mode” command node, parameters:
Servo ID: 1~15
Target position: unlimited
Homing speed: unlimited
Acceleration percentage: 1~100, default is 100
Chart 10.7-18 Position mode command code block
“Speed mode” command node, parameters:
Servo ID: 1~15
Target speed: unlimited
Acceleration percentage: 1~100, default is 100
Chart 10.7-19 Speed mode command code block
10.7.5. Conveyor belt command
This command contains four commands: IO real-time detection, position real-time detection, tracking on and tracking off. See the robot peripherals chapter for details
“IO real-time detection” instruction node, parameters:
Maximum waiting time: 0~10000
Figure 10.7-20 IO real-time detection instruction code block
“Position real-time detection” instruction node, parameters:
Working mode: Tracking grabbing/Tracking motion/TPD tracking
Figure 10.7-21 Position real-time detection instruction code block
“Tracking on”, “Tracking off” instruction nodes, parameters:
Working mode: Tracking grabbing/Tracking motion/TPD tracking
Figure 10.7-22 Tracking on/off instruction code block
10.7.6. Polishing instruction
Drag the “Polishing instruction” code block to enter the graphical editing interface workspace.
This instruction is used for polishing scenes. When using it, you need to unload the driver first and then load the driver, and then set the polishing device to enable.
Then set the speed, contact force, extension distance and control mode of the polishing device. At the same time, you can clear the polishing device errors and clear the device force sensor.
Figure 10.7-23 Communication driver load/unload instruction code block
“Device enable” instruction node, parameters:
Device enable: up enable/down enable
Figure 10.7-24 Device enable instruction code block
Figure 10.7-25 Device error clear instruction code block
Figure 10.7-26 Device force sensor clear command code block
“Speed” command node, parameters:
Speed: 0~5500
Figure 10.7-27 Device speed command code block
“Set force” command node, parameters:
Set force: 0~200
Figure 10.7-28 Set force command code block
“Extend distance” command node, parameters:
Extend distance: 0~12
Figure 10.7-29 Extension distance instruction code block
“Polishing contact force” instruction node, parameters:
Contact force: 0~10000
Figure 10.7-30 Polishing contact force instruction code block
“Set force transition time” instruction node, parameters:
Set force transition time: 0~10000
Figure 10.7-31 Set force transition time instruction code block
“Workpiece weight” instruction node, parameters:
Workpiece weight: 0~10000
Figure 10.7-32 Workpiece weight instruction code block
“Control mode” instruction node, parameters:
Control mode: return to zero mode/position mode/torque mode
Figure 10.7-33 Control mode instruction code block
10.8. Welding Graphical Programming Commands
Welding Graphical Programming Commands include positioning, segment welding, welding, laser tracking and other welding commands.
Figure 10.8 Welding Graphical Programming Commands
10.8.1. Segment welding instructions
Drag the “Segment welding instruction” code block to enter the graphical editing interface work area.
This instruction is a special welding instruction, mainly used for cyclic intermittent welding scenarios with one section of welding and one section of non-welding.
Between the starting point and the end point, use this instruction, select the segment welding mode, select the starting point and end point, set the debugging speed, set the DO port for arc starting, execution length, non-execution length, set the function mode according to the actual application scenario, and the swing selection and rounding rules can realize the segment welding function.
For detailed operations, see the program teaching page segment welding instruction.
“Arc off/arc on” command node, parameters:
I/O type: controller IO/extension IO
Welding process number: 0 ~ 7
Maximum waiting time (ms): 0 ~ 10000
Figure 10.8-1 “Arc off/arc on” command code block
“Segment welding” command node, parameters:
Segment welding mode: no change of posture/change of posture
Starting point: teaching point
End point: teaching point
Debug speed (%): 0~100, default is 100
Execution length: 0~1000
Non-execution length: 0~1000
Function mode: 0~100, default is 100
Swing selection: execute segment without swing/execute segment swing
Rounding rules: no rounding/loop rounding/single-segment rounding
Figure 10.8-2 Segment welding instruction code block
10.8.2. Welding instruction
Drag the “welding instruction” code block to enter the graphical editing interface workspace.
This instruction is mainly used for welding machine peripherals. Before adding this instruction, please confirm whether the welding machine configuration in the user peripherals is complete. For details, see the robot peripherals chapter.
“Welding Voltage” Command Node, Parameters:
I/O Type: Controller IO / Extended IO
Welding Voltage: Minimum value is 0
Welding Current Control AO: Ctrl-AO0 / Ctrl-AO1
Smoothing Selection: Break / Serious
Figure 10.8-3 Welding Voltage Command Code Block
“Welding Current” Command Node, Parameters:
I/O Type: Controller IO / Extended IO
Welding Current: Minimum value is 0
Welding Current Control AO: Ctrl-AO0 / Ctrl-AO1
Smoothing Selection: Break / Serious
Figure 10.8-4 Welding machine current command code block
“Gas supply/gas off” command node, parameters:
I/O type: controller IO/extension IO
Figure 10.8-5 “Gas supply/gas off” command code block
“Forward wire feeding/stop forward wire feeding” command node, parameters:
I/O type: controller IO/extension IO
Figure 10.8-6 “Forward wire feeding/stop forward wire feeding” command code block
“Reverse wire feeding/stop reverse wire feeding” command node, parameters:
I/O type: controller IO/extension IO
Figure 10.8-7 “Reverse wire feeding/stop reverse wire feeding” command code block
10.8.3. Laser tracking command
Drag the “Laser tracking command” code block to enter the graphical editing interface workspace.
This command contains three parts: laser command, tracking command and positioning command. Before adding this command, please confirm whether the laser tracking sensor in the user’s peripherals has been successfully configured. See the robot peripherals section for details.
“Turn sensor on/off” command node, parameters:
Select weld type: 0 ~ 49
Figure 10.8-8 “Turn sensor on/off—weld type” command code block
Select task number: 0 ~ 255
Figure 10.8-9 “Turn sensor on/off—task number” command code block
Solution: 0 ~ 5
Figure 10.8-10 “Turn sensor on/off—solution” command code block
“Load/unload sensor” command node, parameters:
Function selection: Ruiniu RRT-SV2-BP/Chuangxiang CXZK-RBTA4L
Figure 10.8-11 “Load/unload sensor” instruction code block
“Start/stop laser tracking” instruction node, parameters:
Coordinate system name: custom configuration coordinate system
Figure 10.8-12 “Start/stop laser tracking” instruction code block
“Laser Sensor Record” Command Node, Parameters:
Function Selection: Stop Recording / Real-time Tracking / Start Recording / Path Playback
Function Selection: Delay Time / Delay Distance
Time: 0 ~ 10000
Extended Axis Number: 1 ~ 4
Distance: 0 ~ 10000
Compensation Sensitivity Coefficient: 0 ~ 1
Speed: 0 ~ 100
Figure 10.8-13 “Laser Sensor Record” Command Code Block
“Sensor Point Movement” instruction node, parameters:
Coordinate system name: Custom configuration coordinate system
Movement mode: PTP/Lin
Debug speed (%): 0 ~ 100
State reference point: Teaching Point
Figure 10.8-14 “Sensor Point Movement” instruction code block
“Laser Tracking Reappearance” instruction node, parameters:
Figure 10.8-15 “Laser Tracking Reappearance” instruction code block
“Positioning Start/End” instruction node, parameters:
Coordinate system name: Custom configuration coordinate system
Direction: -x/-x/-y/-y/-z/-z/Specify direction
Direction point: If “Specify direction” is not selected, the parameter is invalid
Speed (%): 0 ~ 100
Length (mm): 0 ~ 1000
Maximum position seeking time (ms): 0 ~ 10000
Figure 10.8-16 “Position seeking start/end” instruction code block