11.24. Trajectory instruction
Click the “Trajectory” command node to enter the node graph editing interface.
In this command, the user first needs to have a recorded trajectory.
“Trajectory” command node, parameters:
Select track file: recorded track
Debugging speed (%): 0 ~ 100, default value is 25
Figure 11.24-1 “Trajectory” command node interface
11.25. TrajectoryJ instruction
Click the “TrajectoryJ” command node to enter the node graph editing interface.
In this command, the user first needs to have a recorded trajectory, and the trajectory file can be imported in advance in the teaching program interface. The trajectory command and trajectory J command are suitable for the general interface of the camera directly giving the trajectory. When there is a discrete trajectory point file in a fixed format, it can be imported into the system to make the robot move according to the trajectory of the imported file.
“TrajectoryJ” command node, parameters:
Select track file: recorded track
Debugging speed (%): 0 ~ 100, default value is 25
Track mode: path points/control points
Figure 11.25-1 “TrajectoryJ” command node interface
11.26. DMP instruction
Click the “DMP” command node to enter the node graph editing interface.
DMP is a trajectory imitation learning method that requires planning a reference trajectory in advance. In the command editing interface, select the teaching point as the new starting point, click “Add” and “Apply” to save the command. The specific path of DMP is a new trajectory that imitates the reference trajectory with a new starting point.
“DMP” command node, parameters:
Point name: teaching point
Debugging speed (%): 0 ~ 100, default value is 100
Figure 11.26-1 “DMP” command node interface
11.27. WPSTrsf instruction
Click the “WPSTrsf” command node to enter the node graph editing interface.
Select the workpiece coordinate system to be automatically converted, click “Add” and “Apply” to save the instruction. When adding PTP and LIN instructions, connect them to the Body to implement execution within the instruction, and the points in the workpiece coordinate system are automatically converted.
“WPSTrsf” command node, parameters:
Workpiece coordinate system: workpiece coordinate series list
Figure 11.27-1 “WPSTrsf” command node interface
11.28. ToolTrst instruction
Click the “ToolTrst” command node to enter the node graph editing interface.
Select the tool coordinate system to be automatically converted, click “Add” and “Apply” to save the instruction. When adding PTP and LIN instructions, connect them to the Body to implement execution within the instruction, and the points in the tool coordinate system are automatically converted.
“ToolTrst” command node, parameters:
Tool coordinate system: tool coordinate series list
Figure 11.28-1 “ToolTrst” command node interface
11.29. Digital IO instruction node
Click the “Set DO”/”Get DI” command node to enter the node diagram editing interface
This instruction is an IO instruction, which is divided into two parts: setting IO (SetDO/SPLCSetDO) and getting IO (GetDI/SPLCGetDI).
“SetDO” command node, parameters:
Port: Ctrl-DO0 ~ Ctrl-CO7 (blocking: SetDO, non-blocking: SPLCSetDO, [0~15]), End-DO0 ~ End-DO1 (blocking: SetToolDO, non-blocking: SPLCSetToolDO, [0~1])
Status: false/true
Whether to block: blocking/non-blocking
Smooth trajectory: Break/Serious
Whether to apply threads: No/Yes
Figure 11.29-1 “SetDO” command node interface
“GetDI” command node, parameters:
Port: Ctrl-DI0 ~ Ctrl-CI7 (blocking: GetDI, non-blocking: SPLCGetDI, [0~15]), End-DI0 ~ End-DI1 (blocking: GetToolDI, non-blocking: SPLCGetToolDI, [0~1])
Whether to block: blocking/non-blocking
Status: false/true
Maximum waiting time (ms): 0 ~ 10000
Whether to apply threads: No/Yes
Figure 11.29-2 “GetDI” command node interface
11.30. Simulate AI commands
Click the “Set AO”/”Get AI” command node to enter the node graph editing interface.
In this command, it is divided into two functions: setting analog output (SetAO/SPLCSetAO) and getting analog input (GetAI/SPLCGetAI).
“SetAO” command node, parameters:
Port: Ctrl-AO0 ~ Ctrl-AO1 (blocking: SetAO, non-blocking: SPLCSetAO, [0~1]), End-AO0 (blocking: SetToolAO, non-blocking: SPLCSetToolAO, [0])
Value (%): 0 ~ 100
Whether to block: blocking/non-blocking
Whether to apply threads: No/Yes
Figure 11.30-1 “SetAO” command node interface
“GetAI” command node, parameters:
Port: Ctrl-AI0 ~ Ctrl-DI1 (blocking: GetAI, non-blocking: SPLCGetAI, [0~1]), End-AI0 (blocking: GetToolAI, non-blocking: SPLCGetToolAI, [0])
Condition: greater than/less than
Value (%): 0 ~ 100
Maximum time (ms): 0 ~ 10000
Whether to block: blocking/non-blocking
Whether to apply threads: No/Yes
Figure 11.30-2 “GetAI” command node interface
11.31. Virtual IO command node
Click the “Configure Simulated External DI”/”Configure Simulated External AI” command node to enter the node diagram editing interface.
This instruction is a virtual IO control instruction that can set the simulated external DI and AI status and obtain the simulated DI and AI status.
“Configure simulated external DI” command node, parameters:
Port: Vir-Ctrl-DI0 ~ Vir-Ctrl-DI15(SetVirtualDI,[0~15]), Vir-End-DI0 ~ Vir-End-DI1(SetVirtualToolDI,[1~2])
Status: false/true
Figure 11.31-1 “Configure simulated external DI” command node interface
“Configure simulated external AI” command node, parameters:
Port: Vir-Ctrl-AI0 ~ Vir-Ctrl-AI0(SetVirtualAI,[0~1]), Vir-End-AI0(SetVirtualToolAI,[0])
Value (v/ma): 0 ~ 20
Figure 11.31-2 “Configure simulated external AI” command node interface
11.32. Extended IO command node
Click the “Obtain simulated external DI”/”Obtain simulated external AI” command node to enter the node diagram editing interface.
Aux-IO is a command function used by the robot to communicate with the PLC to control external expansion IO. It requires the robot to establish UDP communication with the PLC.
“Obtain simulated external DI” command node, parameters:
Port: Vir-Ctrl-DI0 ~ Vir-Ctrl-DI15(GetVirtualDI,[0~15]), Vir-End-DI0 ~ Vir-End-DI1(GetVirtualToolDI,[1~2])
Figure 11.32-1 “Obtain simulated external DI” command node interface
“Obtain simulated external AI” command node, parameters:
Port: Vir-Ctrl-AI0 ~ Vir-Ctrl-AI0(GetVirtualAI,[0~1]), Vir-End-AI0(GetVirtualToolAI,[0])
Figure 11.32-2 “Obtain simulated external AI” command node interface
“Configure UDP communication” command node, parameters:
ip: ip address
port: port number
Communication cycle (ms): 0 ~ 10000
Figure 11.32-3 “Configure UDP Communication” command node interface
11.33. MoveDO instruction
Click the “MoveDO” command node to enter the node graph editing interface.
This instruction implements the function of continuously outputting DO signals according to the set interval during linear motion.
“Motion DO continuous output” command node, parameters:
Port: Ctrl-DO0 ~ Ctrl-DO0(MoveDOStart,[0~15]), End-DO1(MoveDOStart,[0~1])
Setting interval (mm): 0 ~ 500
Output pulse duty cycle (%): 0 ~ 99
“Motion DO single output” command node, parameters:
Port: Ctrl-DO0 ~ Ctrl-DO0(MoveDOOnceStart,[0~15]), End-DO1(MoveDOOnceStart,[0~1])
Output mode: constant speed section output/free configuration
Setting time (ms): 0 ~ 1000 (The default output mode of the constant speed segment is -1)
Reset time (ms): 0 ~ 1000 (The default output mode of the constant speed segment is -1)
Figure 11.33-1 “Motion DO single/continuous output” command node interface
11.34. ToolList instruction
Click the “SetToolList”/”SetWobToolList” related command node to enter the node diagram editing interface.
In this command, it is divided into two functions: “SetToolList” and “SetWobToolList”.
Select the tool coordinate system name and click “Apply” to add this instruction to the program. When the program runs this statement, the tool coordinate system of the robot will be set.
“SetToolList” command node, parameters:
Tool coordinate system name: toolcoord1 ~ toolcoord19(SetToolList, [0~19]), etoolcoord0 ~ etoolcoord14(SetExToolList, [0~14])
Figure 11.34-1 “SetToolList” command node interface
“SetWobToolList” command node, parameters:
Workpiece coordinate system name: wobjcoord1 ~ wobjcoord14
Figure 11.34-2 “SetWobToolList” command node interface
11.35. Mode instruction
Click the “Mode” command node to enter the node graph programming interface
This instruction can switch the robot to manual mode. It is usually added at the end of a program so that the user can automatically switch the robot to manual mode and drag the robot after the program is finished.
“Mode” command node, parameters:
Mode switch: manual mode
Figure 11.35-1 “Mode” command node interface
11.36. Collision instruction
Click the “Collision” command node to enter the node graph programming interface
This command sets the collision level. Through this command, the collision level of each axis can be adjusted in real time while the program is running, allowing for more flexible deployment of application scenarios.
“Collision” command node, parameters:
Standard Level: Standard Level/Customized Percentage
joint1-joint6(N): 0 ~ 100, collision threshold, array type
Figure 11.36-1 “Collision” command node interface
11.37. Acc instruction
Click the “Acc” command node to enter the node graph programming interface
The “Acc” command is a function that allows the robot’s acceleration to be set independently. By adjusting the motion command acceleration scaling factor, the acceleration and deceleration time can be increased or decreased, and the robot’s action beat time can be adjusted.
“Acc” command node, parameters:
Acceleration percentage (%): 0 ~ 100
Figure 11.37-1 “Acc” command node interface
11.38. Gripper instruction
The command is divided into “gripper movement”, “gripper activation” and “gripper reset”.
In the command, the number of the gripper that has been configured and activated is displayed. The settings for the opening and closing, opening and closing speed and opening and closing torque of the gripper. The value is a percentage. Whether to block the function option. If blocking is selected, the gripper movement needs to wait for the previous one. The motion command is executed only after it is executed. Select non-blocking, that is, the gripper motion is parallel to the previous motion command.
“Gripper Movement” node, parameters:
Gripper number: The number of the activated gripper
Clamp position: 0~100
Opening and closing speed: 0~100
Opening and closing torque: 0~100
Maximum time (ms): 0~30000
Whether to block: false/true
Figure 11.38-1 “Gripper Movement” node interface
The gripper reset command displays the configured gripper number. You can add the gripper reset command to the program.
“Gripper reset” node, parameters:
Gripper number: The number of the activated gripper
Figure 11.38-2 “Gripper reset” node interface
The gripper activation command displays the configured gripper number. You can add the gripper activation command to the program.
“Gripper activation” node, parameters:
Gripper number: The number of the activated gripper
Figure 11.38-3 “Gripper activation” node interface
11.39. Spray instruction
This command is a spray-related command that controls the spray gun to “start spraying”, “stop spraying”, “start clearing the gun” and “stop clearing the 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 chapter for details.
Figure 11.39-1 “Start spraying” command node interface
Figure 11.39-2 “Stop spraying” command node interface
Figure 11.39-3 “Clearing gun” command node interface
Figure 11.39-4 “Stop clearing” command node interface
11.40. Extended axis instructions (controller + PLC)
This instruction is aimed at scenarios where external axes are used. Used in combination with the PTP instruction, it can decompose the movement of a point in space in the X-axis direction into external axis motion. Select the external axis number, select synchronization as the motion mode, and select the point you want to reach.
It is divided into UDP communication loading/configuration, asynchronous movement, synchronous PTP/LIN movement, synchronous ARC movement, zero return command and enable command.
“Extended axis UDP communication configuration” command node, enter the IP address, port number and communication cycle.
Figure 11.40-1 “Extended axis UDP communication configuration” command node interface
“Extended axis asynchronous motion” command node, parameters:
Point name: Teaching point
Debugging speed (%): 0~100
Figure 11.40-2 “Extended axis asynchronous motion” command node interface
“Synchronized PTP/LIN motion” command node, parameters:
Sport selection: PTP/LIN
Point name: Teaching point
Debugging speed (%): 0~100
Figure 11.40-3 “Synchronized PTP/LIN motion” command node interface
“Synchronized ARC motion” command node, the default motion mode is ARC, parameters:
Point name: Teaching point
Debugging speed (%): 0~100
Figure 11.40-4 “Synchronized ARC motion” command node interface
“Return to zero” command node, parameters:
Expansion axis number: 1~4
Zero return method: current position zero return/negative limit zero return/positive limit zero return
Homing speed: 0~2000, default bit 5
Zero point hoop speed: 0~2000, default is 1
Figure 11.40-5 “Return to zero” command node interface
“Enable” command node,,parameters:
Expansion axis number: 1~4
Figure 11.40-6 “Enable” command node interface
11.41. Extended axis instructions (controller + servo drive)
This command can configure extended axis parameters. Set different parameters according to different control modes. The configured expansion axis can be set to its zero point.
It is divided into servo ID, control mode, servo enable and servo zero return; 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 adding them separately will not take effect.
“Servo ID” command node, parameters:
Servo ID: 1~15
Figure 11.41-1 “Servo ID” command node interface
“Control mode” command node, parameters:
Servo ID: 1~15
Control mode: position mode/speed mode
Figure 11.41-2 “Control Mode” command node interface
“Servo enable” command node, parameters:
Servo ID: 1~15
Servo enable: servo enable/remove enable
Figure 11.41-3 “Servo enable” command node interface
“Servo return to zero” command node, parameters:
Servo ID: 1~15
Zero return method: current position zero return/negative limit zero return/positive limit zero return
Homing speed: 0~2000, default bit 5
Zero point hoop speed: 0~2000, default is 1
Acceleration percentage: 1-100
Figure 11.41-4 “Servo return to zero” command node interface
“Position mode” command node, parameters:
Servo ID: 1~15
Target location: unlimited
Homing speed: unlimited
Acceleration percentage: 1-100
Figure 11.41-5 “Position Mode” command node interface
“Speed mode” command node, parameters:
Servo ID: 1~15
Target speed: unlimited
Acceleration percentage: 1-100
Figure 11.41-6 “Speed Mode” command node interface