11.42. Conveyor belt instruction
This instruction includes four commands: Conveyor belt IO real-time detection, position real-time detection, tracking on and tracking off. See the Robot Peripherals chapter for details.
“Conveyor belt IO real-time detection” command node, parameters:
Maximum waiting time: 0~10000
Figure 11.42-1 “Conveyor belt IO real-time detection” command node interface
“Real-time detection of conveyor belt position” command node, parameters:
Operating mode: Tracking capture/Tracking motion/TPD tracking
Figure 11.42-2 “Real-time detection of conveyor belt position” command node interface
“Conveyor tracking enabled” command node, parameters:
Operating mode: Tracking capture/Tracking movement/TPD tracking
Figure 11.42-3 “Conveyor tracking enabled” command node interface
Figure 11.42-4 “Conveyor tracking off” command node interface
11.43. Polish instruction
This command is used for polishing scenes. When using it, you need to uninstall and then load the driver, and then set the polishing device to be enabled. Then set the rotation speed, contact force, extension distance and control mode of the grinding equipment. At the same time, you can clear the grinding equipment errors and clear the equipment force sensor.
Figure 11.43-1 “Polishing communication equipment uninstallation” command node interface
Figure 11.43-2 “Polishing communication equipment loading” command node interface
“Polishing equipment enable” command node, parameters:
Device enable: Present/Descend
Figure 11.43-3 “Polishing equipment enable” command node interface
Figure 11.43-4 “Polishing equipment error clearing” command node interface
Figure 11.43-5 “Polishing equipment force sensor clear” command node interface
“Polishing speed” command node, parameters:
Polishing speed: 0~5500
Figure 11.43-6 “Speed” command node interface
“Polishing contact force” command node, parameters:
Contact force: 0~200
Figure 11.43-7 “Polishing contact force” command node interface
“Polishing protrusion distance” command node, parameters:
-Polishing protrusion distance: 0~12
Figure 11.43-8 “Polishing protrusion distance” command node interface
“Polishing control mode” command node, parameters:
Control mode: zero return mode/position mode/torque mode
Figure 11.43-9 “Polishing control mode” command node interface
11.44. Weld command
Click “Welding related command node” to enter the node graph programming interface.
This command is mainly used for welding machine peripherals. Before adding this command, please confirm whether the welding machine configuration is completed in the user peripherals. For details, see the Robot Peripherals chapter.
“Welding machine voltage” command node, parameters:
Welding machine voltage: minimum value is 0
Figure 11.44-1 “Welding machine voltage” command node interface
“Welding machine current” command node, parameters:
Welding machine current: minimum value is 0
Figure 11.44-2 “Welding machine current” command node interface
“Arc closing/arc starting” command node, parameters:
I/O type: controller IO/expansion IO
Welding process number: 0 ~ 7
Maximum waiting time (ms): 0 ~ 10000
Figure 11.44-3 “Arc closing/arc starting” command node interface
“Gas ON/OFF” command node, parameters:
I/O type: controller IO/expansion IO
Figure 11.44-4 “Gas on/off” command node interface
“Forward/Stop forward” command node, parameters:
I/O type: controller IO/expansion IO
Figure 11.44-5 “Forward/Stop forward” command node interface
“Reverse wire feed/Stop reverse” command node, parameters:
I/O type: controller IO/expansion IO
Figure 11.44-6 “Reverse wire feed/Stop reverse” command node interface
11.45. Segment instruction
This command is a special command for welding, mainly used in intermittent welding scenarios where one period of welding and one period of non-welding are cycled. Between the starting point and the end point, use this command to select the starting point and the end point, set the debugging speed, set the DO port of arc starting, execution length, non-execution length, set the function mode, swing selection and rounding rules according to the actual application scenario. Realize the segment welding function, detailed operations can be found in the segment welding instructions on the program teaching page.
“Segment welding” command node, parameters:
Segment welding mode: no change in attitude/change in attitude
Starting point: teaching point
End point: teaching point
Debugging speed (%): 0~100, default is 100
Execution length: 0~1000
Non-executable length: 0~1000
Function mode: 0~100, default is 100
Swing selection: execution section does not swing/execution section swings
Rounding rules: no rounding/circular rounding/single segment rounding
Figure 11.45-1 “Segment welding” command node interface
11.46. Laser instruction
Click the “Laser” command node to enter the node graph programming interface
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 peripheral has been configured successfully. See the Robot Peripherals chapter for details.
“Open/Close sensor” command node, parameters:
Select weld type: 0 ~ 49
Figure 11.46-1 “Open/Close sensor” command node interface – Weld type
Select task number: 0 ~ 255
Figure 11.46-2 “Open/Close sensor” command node interface – Task number
“Load/unload sensor” command node, parameters:
Function selection: Ruiniu RRT-SV2-BP/CXZK-RBTA4L
Figure 11.46-3 “Load/unload sensor” command node interface
“Start/Stop Tracking” command node, parameters:
Coordinate system name: Customized configuration coordinate system
Figure 11.46-4 “Start/stop tracking” command node interface
“Data Record” command node, parameters:
Function selection: stop recording/real-time tracking/start recording/track recurrence
Waiting time (ms): 0 ~ 10000
Figure 11.46-5 “Data Logging” command node interface
“Laser tracking recurrence” command node, parameters:
Figure 11.46-6 “Laser Tracking Reappearance” command node interface
“Sensor point acquisition movement” command node, parameters:
Coordinate system name: Customized configuration coordinate system
Sports mode: PTP/Lin
Debugging speed (%): 0 ~ 100
Figure 11.46-7 “Data Logging” command node interface
“Start/End locating” command node, parameters:
Coordinate system name: Customized configuration coordinate system
Direction: -x/-x/-y/-y/-z/-z/specifies the direction
Direction point: When “Specify direction” is not selected, the parameter is invalid
Speed (%): 0 ~ 100
Length (mm): 0 ~ 1000
Maximum search time (ms): 0 ~ 10000
Figure 11.46-8 “Start/End locating” command node interface
11.47. Laser recording instructions
This command implements the function of taking out the starting point and end point of laser tracking and recording, so that the robot can automatically move to the starting point. It is suitable for situations where the movement starts from outside the workpiece and laser tracking and recording is performed. At the same time, the host computer can obtain the information of the starting point and end point in the recorded data. for subsequent exercise.
Implementing the adjustable laser tracking reproduction speed function allows the robot to record at a very fast speed and then reproduce at the normal welding speed, which can improve operating efficiency.
“Weld data record” command node, parameters:
Function selection: stop recording/real-time tracking/start recording/track recurrence
Waiting time (ms): 0~10000, default is 10
Speed (%): 0~100, default is 30, this parameter takes effect when selecting trajectory recurrence
Figure 11.47-1 “Weld data record” command node interface
“Move to the starting/end point of weld” command node, parameters:
Sports mode: PTP/LIN
Speed (%): 0~100, default is 30
Figure 11.47-2 “Obtain weld starting point/end point” command node interface
11.48. W-Search instruction
This command is generally used in welding scenarios and requires the welding machine to be used in combination with robot IO and motion commands. It is divided into search start, search end, search point setting, offset calculation and contact point data writing.
“Welding wire positioning start/end” command node, parameters:
Base position: do not update/update
Position search speed: 0~100
Search distance: 0~1000
Automatic return flag: no automatic return/automatic return
Automatic return speed: 0~100
Automatic return distance: 0~1000
Positioning method: teaching point positioning/positioning with offset
Figure 11.48-1 “Welding wire positioning start/end” command node interface
The search point setting adds points based on the weld type and calculation method.
When the type is fillet weld and the calculation method is 1D (one of xyz), the point addition is selected from point a and point b
When the type is fillet weld and the calculation method is 2D (two in xyz), the point addition is selected from point a, point b, point e, and point f
When the type is fillet weld and the calculation method is 3D (xyz), the point addition is selected from point a, point b, point c, point d, point e, and point f
When the type is fillet weld and the calculation method is 2D- (two in xyz, one in rxryrz), the point addition is selected from point a, point b, point c, point d, point e, and point f
When the type is inner and outer diameter and the calculation method is 2D2D (two in xyz), the point addition is selected from point a and point b
When the type is point and the calculation method is 3D (xyz), the point addition is selected from point a, point b, point c, point d, point e, and point f
When the type is camera and the calculation method is 3D- (xyzrxryrz), the point addition is selected from point a and point b
When the type is surface and the calculation method is 3D- (xyzrxryrz), the point addition is selected from point a and point b
Figure 11.48-2 “Search point setting” command node interface
Calculate the offset to set the datum and contact points based on the weld type and calculation method.
When the type is fillet weld and the calculation method is 2D (two in xyz), set datum point 1, datum point 2, contact point 1, and contact point 2
When the type is fillet weld and the calculation method is 3D (xyz), set datum point 1, datum point 2, datum point 3, contact point 1, contact point 2, and contact point 3
When the type is fillet weld and the calculation method is 2D- (two in xyz, one in rxryrz), set reference point 1, reference point 2, reference point 3, contact point 1, contact point 2, contact point 3
When the type is inner and outer diameter and the calculation method is 2D2D (two in xyz), set datum point 1, datum point 2, datum point 3, contact point 1, contact point 2, and contact point 3
When the type is point and the calculation method is 3D (xyz), set contact point 1 and contact point 2
When the type is camera and the calculation method is 3D- (xyzrxryrz), set contact point 1 and contact point 2
When the type is face and the calculation method is 3D- (xyzrxryrz), set contact point 1, contact point 2, contact point 3, contact point 4, contact point 5, and contact point 6
Figure 11.48-3 “Calculate offset” command node interface
“Contact point data write” command node, parameters:
Contact point name: RES0~99
Contact point name: The data format is {0,0,0,0,0,0}
Figure 11.48-4 “Contact Point Data Write” command node interface
11.49. Weld-Trc instruction
Click the “Weld-Trc” command node to enter the node graph programming interface
This instruction implements robot welding seam tracking using welding seam deviation detection to compensate for the trajectory. Arc sensors can be used to detect welding seam deviations.
“Arc tracking on/off” command node, parameters:
Arc tracking lag time (ms): reference value 50
Deviation compensation: off/on
Adjustment coefficient: 0 ~ 300
Compensation time (cyc): 0 ~ 300
Maximum compensation amount each time (mm): 0 ~ 300
Total maximum compensation amount (mm): 0 ~ 300
Up and down coordinate system selection: swing
Upper and lower reference current setting method: feedback/constant
Upper and lower reference current (A): 0 ~ 300
Figure 11.49-1 “Arc tracking on/off” command node interface
11.50. Attitude adjustment instructions
Click on the “Attitude Adjustment” related command node to enter the node graph programming interface.
This command adaptively adjusts the welding gun posture for welding tracking scenarios. It is necessary to teach the three points PosA, PosB, and PosC first, otherwise nodes cannot be added.
After recording the three corresponding posture points, add posture adaptive adjustment instructions according to the actual movement direction of the robot. See the Robot Peripherals chapter for details.
“Turn on attitude adjustment” command node, parameters:
Board type: corrugated board/corrugated board/fence board/corrugated shell steel
Direction of movement: left to right/right to left
Attitude adjustment time (ms): 0 ~ 1000
Length of first section (mm):
Inflection point type: top to bottom/bottom to top
Length of second section (mm):
Length of third section (mm):
Length of the fourth section (mm):
Length of the fifth section (mm):
Figure 11.50-1 “Turn on attitude adjustment” command node interface
“Turn off attitude adjustment” command node, parameters:
Board type: corrugated board/corrugated board/fence board/corrugated shell steel
Figure 11.50-2 “Turn off attitude adjustment” command node interface
11.51. F/T Instruction
Click on the command node related to the “F/T” command to enter the node graph programming interface.
This command includes FT_Guard (collision detection), FT_Control (constant force control), FT_Compliance (compliance control), FT_Spiral (spiral insertion), FT_Rot (rotation insertion), FT_Lin (linear insertion), FT_FindSurface (surface positioning), FT_CalCenter (center positioning) ), FT_Click (click force detection) nine instructions, see the robot peripherals chapter for details.
“Turn on/off collision detection” command node, parameters:
Coordinate system name: Custom configured coordinate system
Fx-Tx truth value: true/false
Fx-Tx current value: input according to actual situation
Fx-Tx maximum threshold: input according to actual situation
Fx-Tx minimum threshold: input according to actual situation
Figure 11.51-1 “Turn on/off collision detection” command node interface
“Turn on/off control” command node, parameters:
Coordinate system name: Custom configured coordinate system
Fx-Tx truth value: true/false
Current value of Fx-Tx: adjusted according to actual situation
F_P_gain - F_D_gain: adjusted according to actual situation, cannot be 0
Adaptive start and stop status: stop/start
ILC control start and stop status: stop/training/practical operation
Maximum adjustment distance (mm): 0 ~ 1000
Maximum adjustment angle (°): 0 ~ 1000
Figure 11.51-2 “Turn on/off control” command node interface
“FT_Compliance Start/End” command node, parameters:
Delivery position adjustment coefficient: 0 ~ 1
Compliant opening force threshold (N): 0 ~ 100
Figure 11.51-3 “FT_Compliance Start/End” command node interface
“FT_Spiral” command node, parameters:
Coordinate system name: tool coordinate system/base coordinate
Radius feed per revolution (mm): 0 ~ 100, reference value: 0.7
Force or torque threshold (N/Nm): 0 ~ 100, reference value: 50
Maximum exploration time (ms): 0 ~ 60000, reference value: 60000
Maximum linear speed (mm/s): 0 ~ 100, reference value: 5
Figure 11.51-4 “FT_Spiral” command node interface
“FT_Rot” command node, parameters:
Coordinate system name: tool coordinate system/base coordinate
Rotation angular speed (°/s): 0 ~ 100, reference value: 0.7
Trigger force or final torque (N/Nm): 0 ~ 100, reference value: 50
Maximum rotation angle (°): 0 ~ 100, reference value: 5
Direction of force: direction z/direction mz
Maximum rotation angle acceleration (°/s^2): 0 ~ 100
Insertion direction: positive/negative
Figure 11.51-5 “FT_Rot” command node interface
“FT_Lin” command node, parameters:
Coordinate system name: tool coordinate system/base coordinate
Action termination force threshold (N): 0 ~ 100
Linear speed (mm/s): 0 ~ 100, reference value: 1
Linear acceleration (°/s^2): 0 ~ 100
Maximum insertion distance (mm): 0 ~ 100
Insertion direction: positive/negative
Figure 11.51-6 “FT_Lin” command node interface
“FT_FindSurface” command node, parameters:
Coordinate system name: tool coordinate system/base coordinate
Movement direction: positive/negative
Moving axis: X/Y/Z
Explore linear speed (mm/s): 0 ~ 100
Exploration acceleration (mm/s^2): 0 ~ 100
Maximum exploration distance (mm): 0 ~ 100
Action termination force threshold (N): 0 ~ 100
Figure 11.51-7 “FT_FindSurface” command node interface
“FT_CalCenter Start/End” command node
Figure 11.51-8 “FT_CalCenter Start/End” command node interface
11.52. Torque recording command
Click on the “Torque Record” related command node to enter the node graph programming interface.
This command is a torque recording command, which includes three commands: “Start Torque Recording/”Stop Torque Recording” and “Reset Torque Recording”.
Real-time torque recording and collision detection function.
Click the “Torque Record Start” button to continuously record the collision situation during the operation of the motion command. The recorded real-time torque is used as the theoretical value for collision detection judgment to reduce the probability of false alarms.
When the set threshold range is exceeded, the collision detection duration is recorded.
Click the “Torque Record Stop” button to stop recording. Click “Torque Record Reset” to restore the status to the default state.
“Torque recording start” command node, parameters:
Smoothing selection: unsmoothed (original data)/smoothed (smoothed data)
Joint negative threshold (Nm): -100 ~ 0
Joint positive threshold (Nm): 0 ~ 100
Joint continuous detection collision time (ms): 0 ~ 1000
Figure 11.52-1 “Torque recording start” command node interface
“Torque recording end” command node
Figure 11.52-2 “Torque recording end” command node interface
“Torque record reset” command node
Figure 11.52-3 “Torque record reset” command node interface
11.53. Modbus instruction
Click the “Mobus” related command node to enter the node graph programming interface.
This instruction function is a bus function based on the ModbusTCP protocol. Users can control the robot to communicate with the ModbusTCP client or server (master station and slave station communication) through relevant instructions, and read and write Digital Output, Digital Input, and registers. For more operating functions of ModbusTCP, please contact us for consultation.
Master station register information: Master station register information includes type (DI, DO, AI, AO), address number, name and address value (DI and AI types cannot be entered), which can be edited and deleted.
Master station Digital Output settings, parameters:
Modbus master station name: configured according to actual situation
DO name: configured according to actual situation
Number of registers: integer type 0 ~ 128
Register value: Determined according to the number of registers, multiple values can be entered. For example, the quantity is 3 and the values are 1,0,1
Figure 11.53-1 Master station “read/write Digital Output” command node interface
Master station Digital Input setting, parameters:
Modbus master station name: configured according to actual situation
DI name: configured according to actual situation
Number of registers: integer type 0 ~ 128
Figure 11.53-2 Master station “read Digital Input” command node interface
Master station analog output settings, parameters:
Modbus master station name: configured according to actual situation
AO name: configured according to actual situation
Number of registers: integer type 0 ~ 128
Register value: Determined according to the number of registers, multiple values can be entered. For example, the quantity is 3 and the values are 1,0,1
Figure 11.53-3 Master station “read/write analog output” command node interface
Master station analog input settings, parameters:
Modbus master station name: configured according to actual situation
AI name: Configure according to actual situation
Number of registers: integer type 0 ~ 128
Figure 11.53-4 Master station “read analog input” command node interface
The master station waits for digital input settings, parameters:
Modbus master station name: configured according to actual situation
DI name: configured according to actual situation
Waiting status: true/false
Timeout (ms): integer
Figure 11.53-5 Master station “waiting for digital input” command node interface
The master station waits for analog word input settings, parameters:
Modbus master station name: configured according to actual situation
AI name: Configure according to actual situation
Waiting status: greater than/less than
Number of registers: integer type 0 ~ 128
Register value: Determined according to the number of registers, multiple values can be entered.
Figure 11.53-6 Master station “wait for analog input” command node interface
Slave Digital Output settings, parameters:
DO name: configured according to actual situation
Number of registers: integer type 0 ~ 128
Register value: Determined according to the number of registers, multiple values can be entered. For example, the quantity is 3 and the values are 1,0,1
Figure 11.53-7 Slave “read/write Digital Output” command node interface
Slave station Digital Input setting, parameters:
DI name: configured according to actual situation
Number of registers: integer type 0 ~ 128
Figure 11.53-8 Slave station “read Digital Input” command node interface
Slave station analog output settings, parameters:
AO name: configured according to actual situation
Number of registers: integer type 0 ~ 128
Register value: Determined according to the number of registers, multiple values can be entered. For example, the quantity is 3 and the values are 1,0,1
Figure 11.53-9 Slave “read/write analog output” command node interface
The slave station waits for digital input settings, parameters:
DI name: configured according to actual situation
Waiting status: true/false
Timeout (ms): integer
Figure 11.53-10 Slave “wait for digital input” command node interface
The slave station waits for analog word input settings, parameters:
AI name: Configure according to actual situation
Waiting status: greater than/less than
Number of registers: integer type 0 ~ 128
Register value: Determined according to the number of registers, multiple values can be entered.
Figure 11.53-11 Master station “wait for analog input” command node interface
Slave station analog input settings, parameters:
AI name: Configure according to actual situation
Number of registers: integer type 0 ~ 128
Figure 11.53-12 Slave “read analog input” command node interface
11.54. Application scenario usage examples
For example, install a tip on the end of the robot and drag it to a position near the hole of the pallet. You want to perform spiral, rotational and linear insertion operations of the force sensor.
First, right-click the mouse button and select the “Begin”, “Start/End Control”, “Spiral Insertion”, “Rotation Insertion”, and “Linear Insertion” command nodes;
Connect as follows and configure relevant parameters.
Figure 11.54-1 “Force Control” command node application configuration interface
Enter the file name. If the correct parameters are not entered, the save will fail and a prompt will appear indicating that the command node parameter configuration is incorrect.
Figure 11.54-2 Command node parameter configuration error interface
After clicking Run, the robot will explore in a spiral plus straight line motion. After exploring the correct hole position, use linear and rotational insertion movements until the hole is correctly inserted.