9. Coding

9.1. Introduction

Click the command on the left to add a program node to the program tree. When the program is running, the currently executed program node is highlighted in green.

In manual mode, click the first icon on the right side of the node to make the robot execute the instruction alone, and the second icon is to edit the content of the node.

Figure 9.1-1 Program tree interface

Click “⇄” to switch modes, and the teaching program text can be changed to the editing state.

Figure 9.1-2 Teaching program editing status

The icons to the right of the program name are described as follows:

Note

name: Expand/Zoom

effect: Expand/zoom the program tree interface

Note

name: Add teaching points

effect: Add a local teaching point to the current program

Note

name: Rename

effect: Rename the current program

9.2. Tool bar

Modify the program tree using the toolbar at the bottom of the program tree.

Note

name: Open

effect: Open user program file

Note

name: New build

effect: Select a template to create a new program file

Note

name: Import

effect: Import the file into the user program folder

Note

name: Export

effect: Export user program files to a local point.

Note

name: Save

effect: Save file edits

Note

name: Save as

effect: Rename the file and store it in the user program or template program folder.

Note

name: Copy

effect: Duplicates a node and allows it to be used for other operations (eg: paste it elsewhere in the program tree).

Note

name: Paste

effect: Allows you to paste previously cut or copied nodes.

Note

name: To cut

effect: Cuts a node and allows it to be used for other operations (eg: paste it elsewhere in the program tree).

Note

name: Delete

effect: Deletes a node from the program tree.

Note

name: Move up

effect: Move the node up.

Note

name: Move down

effect: Move the node down.

Note

name: Toggle edit mode

effect:The program tree mode and lua editing mode switch each other.

The icons on the top right are described as follows:

Note

name: Programming add/edit

effect: Add/edit the contents of the current program command

Note

name: Robot Model

effect: Return to the robot 3D model interface

Note

name: NewDofile subroutine

effect: When there is a NewDofile instruction in the current program command, click to enter and select the subroutine name to view the subroutine content.

Note

name: Modbus TCP Settings

effect: Configure Modbus TCP communication parameters

Note

name: Current program backup

effect: Record the changes made to the current program

Note

name: Local teaching point

effect: Applies only to the teaching points of the current program

9.3. Program command

The left side is mainly for adding program commands. Click the icon above each keyword to enter the detailed interface of adding program commands on the right. There are two main operations for adding program commands to files:

• Open the relevant command and click the Apply button to add the command to the program.

• click the “Add” button first, at this time the command is not saved in the program file, and you need to click “Apply” again to save the command in the file.

The second method often occurs when multiple commands of the same type are issued. We add an add button and display the content of the added command to this type of command. Click the Add button to add a command, and the added command displays all the added commands. , click “Apply” to save the added command to the opened file on the right.

9.4. Logic Command Interface

Figure 9.4 Logic Command Interface

9.4.1. While command

Select the loop scenario of the While command, the scenario is as follows:

• Always loop

• Limited number of cycles: Enter the number of loops and variable name

• Loop while expression is true: Click the input box to pop up the expression editor and select the corresponding expression according to the usage scenario

Figure 9.4-1-1 While command interface

Figure 9.4-1-2 While command - Always loop

Figure 9.4-1-3 While command - Limited number of cycles

Figure 9.4-1-4 While command - Expression Editor

Figure 9.4-1-5 While command - Loop while expression is true

For ease of operation, you can enter any do content and edit other instructions in the program to insert them instead.

9.4.2. if…else command

Click the “if…else” button to enter the if…else command editing interface.

This command contains the following buttons:

• Add else if: When there is no “else” expression, click this button to add an “else if” expression

• Delete else if: When an “else if” expression exists, click this button to delete the “else if” expression.

• Add else: Click this button to add an “else” expression

• Delete else: Click this button to delete the “else” expression

After clicking the corresponding button to add, click the input box to pop up the expression editor and select the corresponding expression according to the usage scenario. After adding, click “Add” and “Apply”.

This instruction requires a certain programming foundation. If you need help, please contact us.

Figure 9.4-2 if…else command interface

9.4.3. Goto command

Click the “Goto” button to enter the Goto command editing interface.

The Goto instruction is a jump instruction, enter the statement in the input box on the right, and click “Add” and “Apply” after editing. (This instruction requires a certain programming foundation, if you need help, please contact us)

Figure 9.4-3 Goto command interface

9.4.4. Wait command

Click the “Wait” icon to enter the Wait command editing interface.

This instruction is a delay instruction, which is divided into three parts: “WaitMs”, “WaitDI” and “WaitAI”.

“WaitTime” command delay waiting time unit is milliseconds, input the number of milliseconds to wait, click “Add”, “Apply”.

Figure 9.4-4 WaitTime command interface

“WaitDI” command, that is, single DI waiting, select the IO port number to be waited for, wait state, wait maximum time and wait timeout processing method, and click “Add” and “Apply”.

Figure 9.4-5 WaitDI command interface

“WaitMultiDI” command, that is, multi-DI waiting, first select the multi-DI establishment conditions, then check the DI port and status that need to wait, and finally set the maximum waiting time and waiting timeout processing method, click “Add” and “Apply”.

Figure 9.4-6 WaitMultiDI command interface

“WaitAI” command, select the analog quantity to be waited for, the value, the maximum waiting time and the waiting timeout processing method, and click “Add” and “Apply”.

Figure 9.4-7 WaitAI command interface

9.4.5. Pause command

Click the “Pause” icon to enter the Pause command editing interface.

This instruction is a pause instruction. Insert this instruction into the program. When the program executes this instruction, the robot will be in a pause state. If you want to continue running, click the “Pause/Resume” button in the control area.

Figure 9.4-8 Pause command interface

9.4.6. Dofile command

Click the “Dofile” icon to enter the Dofile command editing interface.

The Dofile command calls the internal program of the controller. When using the Dofile command, the called subroutine needs to be saved, and the main program does not need to be saved again if it has not changed. The Dofile command supports two-level calls, and two parameter settings need to be paid attention to. One is the level of the call, and the other is the ID number of the call. In principle, the same ID number cannot appear in the same program.

Figure 9.4-9 Dofile command interface

9.4.7. Var command

Click the “Var” icon to enter the Var command editing interface.

This command is a variable system command, which is divided into two parts: Lua variable definition, variable query and Sys variable renaming, getting value, and setting value. Lua variable definition can declare a variable and assign an initial value, and cooperate with while, if-else and other commands Use the Lua variable query command to query the value of the input variable name in real time and display it in the status bar. The number of Sys variables is fixed, and you can rename them, get variable values, and set variable values. The values stored in this variable will not be cleared when the system is turned off.

Figure 9.4-10 Var command interface

Important

Variable names must start with letters or underscores, not numbers or other special characters.

9.5. Motion command interface

Figure 9.5 Motion command interface

9.5.1. PTP command

Click the “PTP” icon to enter the PTP command editing interface.

You can choose the point to be reached, and the smooth transition time setting can realize that the movement from this point to the next point is continuous. Whether to set the offset, you can choose to offset based on the base coordinate system and based on the tool coordinates, and pop up x, y, z, rx, ry, rz offset settings, PTP specific path is the optimal path automatically planned by the motion controller, click “Add” and “Apply” to save this command.

Figure 9.5-1 PTP command interface

9.5.1.1. Point-to-Point Relative Motion

The robot moves a relative distance from its current position. On the PTP command addition page, select the point name as “CurrentPos”. Choose the offset coordinate system as either the base coordinate system or the tool coordinate system according to the situation, and input the offset value. This means the robot will perform a certain offset motion along the set coordinate system based on its current position. (“CurrentPos” is a system point and does not require teaching.)

Figure 9.5-1-1 PTP Relative Motion Command

Click the “Add” and “Apply” buttons to add a robot PTP relative motion command to the Lua program. Switch the robot to automatic mode and click the start button. In the example program, the robot will move 100mm along the X+ direction of the base coordinate system from its current position.

Figure 9.5-1-2 PTP Relative Motion Command Added

9.5.2. Lin command

Click the “Lin” icon to enter the Lin command editing interface.

The function of this command is similar to the “PTP” command, but the path of the point reached by this command is a straight line.

Figure 9.5-2 Lin command interface

9.5.2.1. Linear Relative Motion

The robot moves a relative distance along a straight line from its current position. On the LIN command addition page, select the point name as “CurrentPos”. Choose the offset coordinate system as either the base coordinate system or the tool coordinate system according to the situation, and input the offset value. This means the robot will perform a certain offset motion along the set coordinate system based on its current position. (“CurrentPos” is a system point and does not require teaching.)

Figure 9.5-2-1 LIN Relative Motion Command

Click the “Add” and “Apply” buttons to add a robot linear relative motion command to the Lua program. Switch the robot to automatic mode and click the start button. In the example program, the robot will move 100mm along the X+ direction of the base coordinate system from its current position.

Figure 9.5-2-2 LIN Relative Motion Command Added

Robot linear relative motion supports functions such as smoothing, physical speed, and welding wire search.

Important

When the selection point name is “seamPos”, the straight line command is applied in the welding scene using the laser sensor. Due to the accumulated operating error during welding, “whether to offset” and “offset amount” are added.

Whether to offset: No, base coordinate system offset, tool coordinate system offset, laser original data offset;

Offset: Δx, Δy, Δz, Δrx, Δry, Δrz, range: -300~300;

Figure 9.5-2-3 Lin command interface(Welding scene)

The LIN command allows selecting the motion speed mode as “Percentage” or “Physical Speed”:

• Percentage: Input the debugging speed percentage. The robot moves at a percentage of its maximum speed. The actual robot motion speed is calculated as: V = Robot Maximum Speed × Global Speed Percentage × Debugging Speed Percentage. Hover the mouse over the small eye icon to the right of the “Debugging Speed” input box to display the actual physical speed (unit: mm/s) of the robot in both manual and automatic modes under the current debugging speed setting.

Figure 9.5-2-4 Input Percentage to Display Actual Physical Speed Value

• Physical Speed: The input speed is the actual operating speed of the robot, unit mm/s; the input acceleration is usually set to twice the speed. (The maximum physical speed of the LIN command is limited by the global speed percentage. If the robot’s maximum operating speed is 1000mm/s and the global speed is 50%, then the maximum physical speed for the LIN command is 1000 × 50% = 500mm/s).

Figure 9.5-2-5 Input Actual Physical Speed

9.5.2.2. LIN command joint overspeed processing function

When using the Cartesian space linear motion command LIN, the constrained condition is the linear velocity, but the actual operation is affected by the workspace, and the angular velocity of the joint may have exceeded the limit when the linear velocity requirement is met. This function implements an optional handling strategy to deal with joint overspeed during LIN movements.

Step1: Click the Linear Motion Command button;

Figure 9.5-3-1 Click the Linear Motion Command button

Step2: Select the linear motion command target waypoint;

Figure 9.5-3-2 Select the linear motion target waypoint

Step3: Turn on the joint overspeed protection switch;

Figure 9.5-3-3 Turn on the joint overspeed protection switch button

Step4: Select the joint overspeed treatment strategy (first two options is not for joint overspeed treatment);

Figure 9.5-3-4 Joint overspeed treatment strategies

Step5: Set the processing option and processing parameters, then click the Add button to add the Lua command;

Figure 9.5-3-5 Joint overspeed treatment strategy selection and setting

Step6: The added Lua command is shown in the figure;

Figure 9.5-3-6 lua command

Joint overspeed protection begins:JointOverSpeedProtectStart(a,b);

a: strategy type number(same as the order of drop-down box)

b: threshold(0~100)

Joint overspeed protection ends:JointOverSpeedProtectEnd();

Note

For the “singularity crossing” motion protection, please refer to the description of the singularity crossing function in automatic mode.

9.5.2.3. Angular velocity adjustable function

This function can be used when encountering a workpiece that requires corner welding during the welding process, or when a specific linear line is planned (a quick transition is required when the attitude change is large and the position change is small, but the linear speed cannot be accelerated).

Step1:Set the tool coordinate system to calibrate the tool size and attitude of the welding gun.

Note

The values on the interface are examples only, and the actual tool status shall prevail.

Figure 9.5-3-7 Sets the tool coordinate system

Step2:Click on “Program”, select “Coding”, and select ” LIN” in the “Motion Command” category.

Figure 9.5-3-8 Straight line command setting interface

Step3:Set the starting point of each straight line of wrapping angle welding as the transition point, turn on the “The transition point angular velocity is adjustable” button, and set the maximum acceleration percentage (the default maximum angular velocity of 100% is 360°/s).

Figure 9.5-3-9 Transition point angular velocity adjustment parameter configuration interface

Step4:Click the “Add” button to generate a LIN command with the adjustment of the transition attitude angular velocity.

Figure 9.5-3-10 Add a transition point linear motion command

Step5:The robot completes the attitude transition at the starting point, normally executes the linear command movement to the end point of the section, closes the “The transition point angular velocity is adjustable” button, and adds a termination waypoint.

Figure 9.5-3-11 Inserts the end point of the line

Step6:Click the “Apply” button to generate the corresponding LUA command.

Figure 9.5-3-12 Generate a straight LUA instruction with transition points

A complete set of corner wrapping welds usually has more than one transition point, and in the case of corner wrapping shown in Figure 7, there are two attitude transition points with small position change and large attitude change during the welding process.

Point 1 is the starting point of the first section of welding, and point 2 is the end point of the first section of welding;

Point 3 is the starting point of the second section of welding, and point 4 is the end point of the second section of welding;

Point 5 is the starting point of the third section of welding, and point 6 is the end point of the third section of welding.

The attitude transition occurs from the end point of the previous section of welding to the starting point of the next section of welding, so it is necessary to add the attitude angular velocity adjustment instruction at the starting point of the next section of welding, so that the maximum linear velocity remains unchanged during the transition of the wrapping angle attitude, and the maximum angular velocity is increased, so that the process of wrapping angle welding process runs.

Figure 9.5-3-13 Example of a wrapping welding process

9.5.3. Arc command

Click the “Arc” icon to enter the Arc command editing interface.

The “Arc” command is an arc motion, which includes three points. The first point is the starting point of the arc, the second point is the middle transition point of the arc, and the third point is the end point.

Both the transition point and the end point can be set to offset, and you can choose to base coordinate system offset Shift and offset based on tool coordinates, and pop up x, y, z, rx, ry, rz offset settings, and the end point can set a smooth transition radius to achieve continuous motion effect.

Important

For circular motion, you need to add PTP or Lin command to move to the starting point first.

Figure 9.5-4 Arc command interface

The ARC command allows you to select the motion speed mode as either “Percentage” or “Physical Speed”:

• Percentage: Input a debugging speed percentage. The robot moves at a percentage of its maximum speed. The actual robot movement speed is calculated as: V = Robot Maximum Speed × Global Speed Percentage × Debugging Speed Percentage. Hover the mouse over the small eye icon to the right of the “Debugging Speed” input box to display the actual physical speed (in mm/s) of the robot in both manual and automatic modes under the current debugging speed settings.

Figure 9.5-4-1 Display Actual Physical Speed Value When Inputting Percentage

• Physical Speed: The input speed is the actual operating speed of the robot, in mm/s. The input acceleration is typically set to twice the speed. (The maximum physical speed of the LIN command is limited by the global speed percentage. If the robot’s maximum operating speed is 1000 mm/s and the global speed is 50%, then the maximum physical speed for the LIN command is 1000 × 50% = 500 mm/s).

Figure 9.5-4-2 Input Actual Physical Speed

9.5.4. Circle command

Click the “Circle” icon to enter the Circle command editing interface.

The cooperative robot can carry out the circle trajectory movement by adding the circle command. Before adding the circle command, it is necessary to teach three path points on the circle trajectory. Suppose that the three path points on the circle trajectory are “P1”, “P2” and “P3” respectively, where “P1” is the starting point of the circle trajectory, “P2” and “P3” are the middle point 1 and 2 of the circle trajectory.Move the robot to the above three points and add the names of the teaching points as “P1”, “P2” and “P3” respectively.

Important

For full circle trajectory motion, you need to add PTP or Lin command to move to the starting point first.

Figure 9.5-5 Circle trajectory

Figure 9.5-6 Teaching “P1”, “P2” and “P3”

9.5.4.1. Circle command addition

Step1: Create a new user program “testCircle.lua” and click the “Circle” button to open the page of adding circle commands.

Figure 9.5-7 Add the circle command button

Step2: In the full circle instruction adding page, select the starting point motion mode and the starting point as “P1”.

Figure 9.5-8 Starting point motion mode and starting point “P1”

Step3: On the Add Circle Command page, select “Circle Intermediate Point 1” as point “P2”, and “Circle Intermediate Point 2” as point “P3”.

Figure 9.33-9 Selecting Arc Intermediate Points and Endpoint

Step4: Select the speed mode and input the speed value.

The Circle command allows you to select the motion speed mode as either “Percentage” or “Physical Speed”:

• Percentage: Input a debugging speed percentage. The robot moves at a percentage of its maximum speed. The actual robot movement speed is calculated as: V = Robot Maximum Speed × Global Speed Percentage × Debugging Speed Percentage. Hover the mouse over the small eye icon to the right of the “Debugging Speed” input box to display the actual physical speed (in mm/s) of the robot in both manual and automatic modes under the current debugging speed settings.

Figure 9.33-10 Display Actual Physical Speed Value When Inputting Percentage

• Physical Speed: The input speed is the actual operating speed of the robot, in mm/s. The input acceleration is typically set to twice the speed. (The maximum physical speed of the LIN command is limited by the global speed percentage. If the robot’s maximum operating speed is 1000 mm/s and the global speed is 50%, then the maximum physical speed for the LIN command is 1000 × 50% = 500 mm/s).

Figure 9.33-11 Input Actual Physical Speed

Step5: Click the “Add” button and then the “Apply” button in sequence. At this point, the circle motion command has been added to “testCircle.lua”.

Figure 9.33-12 Addition of Circle Motion Command

Step5: At this point, the circle motion command has been added to “testCircle.lua”.

Switch the robot to automatic mode, start the program on the premise of ensuring safety, and the robot will move according to the circle trajectory shown in Figure 1.

9.5.4.2. Circle trajectory offset

The circular motion of the cooperative robot supports the offset of the positions of the middle point 1 and the middle point 2 of the circular trajectory, and the offset types include the following two types:

The middle points of the two trajectories of the circle have the same offset: the middle point 1 (P2) and the middle point 2 (P3) of the circle are offset by the same offset ∆(dx, dy, dz, drx, dry, drz).

The middle points of the two trajectories of the circle have different offsets: the middle point 1 (P2) and the middle point 2 (P3) of the circle adopt two different offsets ∆1 (dx1, dy1, dz1, drx1, dry1, drz1) and ∆2 (dx2, dy2, dz2, drx2, dry2, drz2) respectively.

The following demonstrates the usage of “same offset” and “different offset” respectively.

1. Same offset

Open the circle command addition page, select “Same Offset” for Offset Type, and also select the starting point motion mode and starting point as “P1”, and the middle point 1 of the full circle as “P2”.

Figure 9.5-12 Same offset of the circle

Select P3 for the middle point 2 of the circle, and select Base Coordinate Offset for Offset.

Note

Note: you can select Tool Coordinate Offset according to the actual work situation.

Enter the offset dx as 10mm, and then click the Add button and the Apply button at the bottom of the page.

Figure 9.5-13 Setting Offset

At this time, a full circle starting point is “P1”, and the two intermediate points “P2” and “P3” are offset by 10mm along the X-axis direction of the base coordinate system. The full circle instruction has been added to the “testCircle.lua” program.

Figure 9.5-14 Same Offset Program for Circle

Switch the robot to the automatic mode, and start the program under the condition of ensuring safety. The actual motion trajectory of the robot passes through the circles of “P1”, “P2” and “P3”, where “P2” is the point where the original “P2” is offset by 10mm in the X direction, and “P3” is the point where the original “P3” is offset by 10mm in the X direction.

Figure 9.5-15 Track with the same offset X10mm

2. Different offset

Open the circle command adding page, select “Different Offsets” for Offset Type, and also select the starting point motion mode and starting point as “P1”, and the middle point 1 of the full circle as “P2”, and select “Base coordinate offset” for “Offset”.

Note

Note: you can select “Tool coordinate offset” according to the actual work situation.

Enter the offset dy as 10mm.

Figure 9.5-16 Different offsets

Select P3 for the middle point 2 of the circle, and select Base Coordinate Offset for Offset

Note

Note: you can select Tool Coordinate Offset according to the actual work situation.

Enter the offset dx as 10mm, and then click the Add button and the Apply button at the bottom of the page.

Figure 9.5-17 Offset of middle point 2 is set with different offsets

At this time, an command that the middle point “P2” of the circle is shifted by 10mm along the Y direction of the base coordinate system and “P3” is shifted by 10mm along the X axis direction of the base coordinate system has been added to the “testCircle.lua” program; Of course, a linear motion command needs to be added before the circle motion command to make the robot move to the starting point of the circle.

Figure 9.5-18 Program for Two Different Offset Points of Circle

Switch the robot to the automatic mode, and start the program under the condition of ensuring safety. The actual motion trajectory of the robot passes through the circles of “P1”, “P2” and “P3”, where “P2” is the point where the original “P2” is offset by 10mm in the Y direction, and “P3” is the point where the original P3 is offset by 10mm in the X direction.

Figure 9.5-19 Two trajectory points of the circle are offset from the trajectory respectively

9.5.5. Spiral command

Click the “Spiral” icon to enter the Spiral command editing interface.

The “Spiral” command is a spiral motion, which includes three points, which form a circle. On the third point setting page, there are several parameters including the number of spiral turns, attitude correction angle, radius increment and rotation axis direction increment. Setting, the number of helix circles is the number of motion circles of the helix, the attitude correction angle is the attitude at the end of the helix and the attitude of the first point of the helix, the radius increment is the increment of the radius of each circle, and the direction of the rotation axis is increased. The amount is the increment in the direction of the screw axis. set up Whether to offset, the offset takes effect on the trajectory of the entire helix.

Figure 9.5-20 Spiral command interface

9.5.6. N-Spiral command

Click the “N-Spiral” icon to enter the N-Spiral command editing interface.

The “N-Spiral” command is an optimized version of the spiral motion. This command only needs one point plus the configuration of various parameters to realize the spiral motion. The robot takes the current position as the starting point, and the user sets the debugging speed, whether to offset, the number of spiral turns, the spiral inclination, the initial radius, the radius increment, the rotation axis direction increment and the rotation direction. The number of spiral turns is the helix. The number of motion circles, the helix inclination is the angle between the Z axis of the tool and the horizontal direction, the attitude correction angle is the attitude at the end of the helix and the attitude of the first point of the helix, the initial radius is the radius of the first circle, and the radius increment That is, the increment of the radius of each circle, the increment in the direction of the rotation axis is the increment in the direction of the screw axis, and the direction of rotation is clockwise and counterclockwise.

Figure 9.5-21 N-Spiral command interface

9.5.6.1. Uniform Speed Per Helix Circle Setting Function

9.5.6.1.1. Overview

When using the helical motion command, the operating speed of the helical motion can be set, ensuring the speed of each circle maintains the set operating speed.

9.5.6.1.2. Operation Process

Step1: Select the teaching point that executes the helical motion. This manual uses “P0” as the name of the teaching point.

Step2: Click the “Teach Program” -> “Program Programming” button, select the “New Helix” command. In the “Speed Mode”, select “Physical Speed”, and set the speed value and acceleration value. This speed value is the actual operating speed of the helix. Set parameters such as “Number of Helix Circles”, “Helix Inclination Angle”, “Initial Radius”, “Radius Increment”, “Rotation Axis Direction Increment”, and “Rotation Direction” according to actual needs, as shown in Figure 2-1.

Figure 9.5-21-1 New Helix Parameter Settings

Step3: Add the motion command, generate the Lua program and run it to achieve the helical motion function at the set speed, as shown in Figure 2-2.

Figure 9.5-21-2 Typical Program for Running Helix at Set Speed

9.5.7. H-Spiral command

Click the “H-Spiral” icon to enter the H-Spiral command editing interface.

The “H-Spiral” command is a horizontal space spiral motion. This command is set after the single-segment motion (straight line) command.

Figure 9.5-22 H-Spiral command interface

9.5.8. Spline command

Click the “Spline” icon to enter the Spline command editing interface.

The command is divided into three parts: the start of the spline group, the spline segment and the end of the spline group. The start of the spline group is the start mark of the spline movement. The spline segment includes SPL, SLIN and SCIRC segments. Click the corresponding icon to enter the command Add interface, the end of spline group is the end sign of spline movement.

Figure 9.5-23 Spline command interface

9.5.9. N-Spline command

Click the “N-Spline” icon to enter the N-Spline command editing interface.

This instruction is an optimization instruction for the Spline instruction algorithm, and will replace the existing Spline instruction in the future.

This instruction is divided into three parts: the start of the multi-point trajectory, the segment of the multi-point trajectory and the end of the multi-point trajectory. The start mark, the multi-point track segment is to set each track point.

Click the icon to enter the point adding interface, the end of the multi-point track is the end mark of the multi-point track movement, here you can set the control mode and debugging speed.

• Control mode: arc transition point/given path point

• Global average connection time: integer, greater than 10, default value is 2000

Figure 9.5-24 N-Spline command interface

9.5.10. Weave command

Click the “Weave” icon to enter the Weave command editing interface. The “Weave” command consists of two parts.

• Select the weaving number with configured parameters, click “Start Weaving” and “Stop Weaving” and apply to add related commands to the program.

Figure 9.5-25 Weave command interface

• Click “Configuration and Test” to select the weaving type according to the usage scenario and configure the weaving parameters. After the configuration is completed, the weaving trajectory can be tested by pressing the start weaving test and stop weaving test buttons. The current swing types are:

  • Triangular wave swing (LIN/ARC)

  • Vertical L-shaped triangular wave swing (LIN/ARC)

  • Circular Oscillation - Clockwise (LIN)

  • Circular Oscillation - Counterclockwise (LIN)

  • Sine wave swing (LIN/ARC)

  • Vertical L-shaped sine wave swing (LIN/ARC)

  • Vertical welding triangle swing

Figure 9.5-26 Weave configuration and testing command interface

9.5.10.1. Slope serration weave function

This function allows the end of the robot tool to generate slope serration weave trajectory in Cartesian space. The weave is superimposed on the linear trajectory, and the azimuth parameter (unit deg) defines the azimuth angle of the swing welding on the specified welding plane;

When the value is positive, the left endpoint is skewed in the forward direction, and when it is negative, the right endpoint is skewed in the forward direction; If it is 90deg or -90deg, it can weave in the forward direction.

Figure 9.5-26-1 Swing azimuth effect

Step1:Edit to set up basic linear motion.

Figure 9.5-26-2 Example of a basic linear motion LUA program

Step2:Add weave command in motion command block.

Figure 9.5-26-3 Add weave command

Step3:Click the “Configure” button, select “Triangular wave swing” or “Sine wave swing” from the drop-down box, imput desired azimuth angle in “Swing direction azimuth” box and click “Apply”.

Figure 9.5-26-4 Weave parameter configuration

Step4:Click the “Start Swing” button to add the swing command above the linear motion; Click the “Stop Swing” button to add the swing command below the linear motion.

Figure 9.5-26-5 Add the lua program after the swing command

Step5:Click “Start Running”buttom, and the end trajectory of the robot is shown in the figure.

Figure 9.5-26-6 Zigzag weave (left) slope serration weave (right)

9.5.11. TPD command

Click the “TPD” button to enter the TPD command editing interface.

In this command, the user first needs to have a recorded track.

About track recording: Before preparing to record the track, first save the starting point of the track. When the robot is in the dragging mode, input the file name, select the period (assuming the value is x, that is, record a point every x milliseconds, it is recommended to record a point every 4 milliseconds), the point starts recording, and the user can drag the robot to specify Movement, after the recording is completed, click to stop recording, and the previous movement track of the robot can be saved. When a movement cannot be fully recorded, a A reminder that the number of recording points exceeds the limit is displayed, and the user needs to record the exercise in several times.

When programming, first use the PTP instruction to reach the starting point of the corresponding trajectory, then select the trajectory in the TPD trajectory reproduction instruction, select whether it is smooth, set the debugging speed, and click “Add” and “Apply” in sequence to insert the program. The trajectory loading command is mainly used to pre-read the trajectory file and extract it into a trajectory command, which is better applied to the conveyor belt tracking scene.

Note

For the detailed operation of TPD, please refer to the teaching programming (TPD) function operation instruction module.

Figure 9.5-27 TPD command interface

9.5.12. Offset command

Click the “Offset” icon to enter the Offset command editing interface.

This command is an overall offset command. Input each offset, add the opening command and closing command to the program, and the motion command between the start and close will be offset based on the base coordinates (or workpiece coordinates).

Figure 9.5-28 Offset command interface

9.5.13. Servo Command

Click the “Servo” icon to enter the servoMotion command editing interface. Servo motion includes servo motion in Cartesian space and servo motion in joint space.

Figure 9.5-29-1 Servo Motion Command Interface

9.5.13.1. Servo Motion in Cartesian Space

ServoCart servo control (Cartesian space motion) command. This command can control robot motion through absolute pose control or offset control based on the current pose.

Figure 9.5-29-2 ServoCart Command Interface

Example of absolute pose control program:

Figure 9.5-29-3 ServoCart Absolute Motion

In this example, x, y, z, rx, ry, rz (Cartesian position) are the acquired current robot position. Additionally, users can control robot motion by reading trajectory data files, sending trajectory data via socket communication, etc.

Example of control program based on offset from current pose (base coordinate offset):

Figure 9.5-29-4 ServoCart Relative Motion

9.5.13.2. Servo Motion in Joint Space

ServoJ servo control (joint space motion) command. This command can control robot motion through absolute robot joint positions.

Click “Teaching Program”, “Program Programming”, “Servo Motion” in sequence. On the servoMotion command page, select “Joint Space Motion”.

Figure 9.5-29-5 ServoJ Command Editing

The parameters in the command are explained as follows:

• Joint Position: The target joint position for ServoJ motion. The motion from the current position to the target position needs to be completed within the set command cycle. If the deviation between the target position and the current position command is too large, the robot may report errors such as joint overspeed.

• Extended Axis Position: The target extended axis position for ServoJ motion.

• Acceleration: Acceleration percentage for ServoJ motion (currently not available).

• Speed: Speed percentage for ServoJ motion (currently not available; the actual robot operating speed currently depends on the position difference between two ServoJ commands and the command cycle).

• Command Cycle: Execution time interval between two ServoJ commands.

Input the corresponding target position, speed, acceleration, and command cycle. Click the “Add” and “Apply” buttons to add a ServoJ command to the LUA program.

Figure 9.5-29-6 ServoJ Command Added to Lua Program

In practice, it is often necessary to continuously send multiple ServoJ commands according to the set command cycle. The target joint positions of these ServoJ commands form a continuous robot motion curve, enabling flexible robot motion control. The sending cycle of the commands must match the set command cycle.

ServoJ motion control can be implemented in the LUA program through loops or by adding multiple commands consecutively.

Figure 9.5-29-7 Example of Continuous ServoJ Motion

Figure 9.5-29-8 Example of Continuous ServoJ Motion 1

9.5.13.3. Extended Axis Debugging Instructions

9.5.13.3.1. Overview

The GetInverseKinExaxis instruction interface for the inverse kinematics of extended axis target positions and the ServoCart instruction interface with extended axis positions support various scenarios where extended axes and robots are used simultaneously.

9.5.13.3.2. Operation Process

Step1: The parameters and return value of the inverse kinematics GetInverseKinExaxis instruction interface are shown in the tables below.

Table 9.5-1 GetInverseKinExaxis Parameters

Table 9.5-2 GetInverseKinExaxis Return Value

Step2: The calling format of the inverse kinematics GetInverseKinExaxis instruction in a Lua program is shown in the figure below. By simply inputting the parameters listed in the table, the corresponding joint values can be obtained. For calls in the SDK, refer to the corresponding SDK documentation.

Figure 9.5-29-9 GetInverseKinExaxis Call in Lua

Step3: The ServoCart instruction interface with extended axis positions is shown in the table below, with no return value.

Table 9.5-3 ServoCart Parameters

Step4: The calling format of the ServoCart instruction with extended axis positions in a Lua program is shown in the figure below. By simply inputting the parameters listed in the table, the robot can execute ServoCart motion with extended axis positions. For calls in the SDK, refer to the corresponding SDK documentation.

Figure 9.5-29-10 ServoCart Call in Lua

9.5.14. Trajctory command

Click the “Trajctory” icon to enter the Trajctory command editing interface.

Figure 9.5-30 Trajctory command interface

9.5.15. TrajctoryJ command

Click the “TrajctoryJ” icon to enter the TrajctoryJ command editing interface.

1. Trajectory file import function: select a local computer file to import to the robot control system.

2. Track preloading: select the imported track file and load it by command.

3. Trajectory movement: Send the robot movement through the combination command of the preloaded trajectory file and the selected debugging speed.

4. Print the track point number: print the track point number during the robot running track, so as to check the progress of the current movement.

Figure 9.5-31 TrajctoryJ command interface

9.5.16. DMP command

Click the “DMP” icon to enter the DMP command editing interface.

DMP is a trajectory imitation learning method that requires prior planning of reference trajectories. In the command editing interface. , select the teaching point as the new starting point, click “Add” and “Apply” to save the command. The DMP specific path is a new trajectory that mimics the reference trajectory with a new starting point.

Figure 9.5-32 DMP command interface

9.5.17. WPTrsf command

Click the “WPTrsf” icon to enter the WPTrsf command editing interface.

Select the workpiece coordinate system to be automatically converted, and click “Add” and “Apply” to save the instruction. This instruction realizes automatic conversion of points in the workpiece coordinate system when executing internal PTP and LIN instructions. Use the example area to show and prompt the correct combination of instructions. After adding specific instructions, you can adjust the combination according to the actual scene.

Figure 9.5-33 WPTrsf command interface

9.5.18. Tool conversion command

Click the “Tool conversion” icon to enter the ToolTrsf command editing interface.

After adding PTP and Lin instructions, select the tool coordinate system to be automatically converted, click “Add” and “Apply” to save the instruction, and the Cartesian coordinates of the points in the instruction will be automatically converted according to the currently set workpiece coordinate system.

Note

The usage example area shows and prompts the correct combination of instructions. After adding specific instructions, you can adjust the combination according to the actual scenario.

Figure 9.5-34 ToolTrsf command interface

9.6. Control command interface

Figure 9.6 Control command interface

9.6.1. IO command

Click the “IO” icon to enter the IO command editing interface.

The “IO” command is divided into two parts: setting IO (SetDO/SPLCSetDO) and getting IO (GetDI/SPLCGetDI).

“SetDO/SPLCSetDO” This command can set the specified output DO state, including 16 digital outputs of the control box and 2 digital outputs of the tool. The state option “False” is closed, “True” is open, and whether to block the option selects “blocked”. “Indicates that the DO state is set after the movement stops, and selecting the “non-blocking” option means that the DO state is set during the last movement. Selecting “Break” for the smooth trajectory option means setting the DO state after the smooth transition radius ends, and selecting “Serious” means setting the DO state during the smooth transition radius movement. When this instruction is added in the auxiliary thread, whether the application thread needs to select yes, and other places use this instruction to select no. Click “Add”, “Apply”.

Figure 9.6-1 SetDO command interface

In the “GetDI/SPLCGetDI” command, select the value of the port number you want to get, whether to block or not, select “block” to get the DI status after the movement stops, and select the “non-blocking” option to get the DI state during the last movement. When this instruction is added in the auxiliary thread, whether the application thread needs to select yes, and other places use this instruction to select no. After selection, click the “Add” and “Apply” buttons.

Figure 9.6-2 GetDI command interface

9.6.2. AI command

Click the “AI” icon to enter the AI command editing interface.

In this instruction, it is divided into two functions: setting analog output (SetAO/SPLCSetAO) and obtaining analog input (GetAI/SPLCGetAI).

“SetAO/SPLCSetAO” select the analog output that needs to be set, input the value that needs to be set, the range is 0-10, whether to block or not select “block” means to set the AO state after the movement stops, select “non-block” means to set the AO state after the last movement Set the AO state in the process. When this instruction is added in the auxiliary thread, whether the application thread needs to select yes, and other places use this instruction to select no. Click “Add”, “Apply”.

Figure 9.6-3 SetAO command interface

“GetAI/SPLCGetAI” selects the analog input that needs to be obtained, whether to block or not selects “blocked” to obtain the AI state after the movement stops, and selects the “non-blocked” option to obtain the AI state during the last movement. When this instruction is added in the auxiliary thread, whether the application thread needs to select yes, and other places use this instruction to select no. Click “Add”, “Apply”.

Figure 9.6-4 GetAI command interface

9.6.3. Vir-IO command

Click the “Vir-IO” icon to enter the Vir-IO command editing interface.

This command is a virtual IO control command, which can realize the setting of the simulated external DI and AI status, and obtain the simulated DI and AI status.

Figure 9.6-5 Vir-IO command interface

9.6.4. Aux-IO command

Click the “Aux-IO” icon to enter the Aux-IO command editing interface.

Aux-IO is the instruction function for the robot to communicate with the PLC to control the external expansion IO. It is necessary for the robot to establish UDP communication with the PLC. On the basis of the original 16-channel input and output, 128-channel input and output can be expanded. The usage of this command is the same as that mentioned above. IO usage is similar. There are certain technical difficulties in using this function, please contact us for consultation beforehand.

Figure 9.6-6 Aux-IO command interface

9.6.5. MoveDO command

Click the “MoveDO” icon to enter the MoveDO command editing interface.

This instruction is divided into continuous output mode and single output mode.

• Continuous output mode: During linear motion, the DO signal function is continuously output according to the set interval.

Figure 9.6-7 MoveDO command continuous output interface

• Single output mode: There are two options: constant speed segment output and free configuration. The setting time is output after the movement starts, and the reset time is output before the movement ends, ranging from [0, 1000].

Figure 9.6-8 MoveDO instruction single output interface

9.6.6. MoveAO command

Click the “MoveAO” icon to enter the MoveAO command editing interface.

1. Summary

When used in conjunction with motion commands, this instruction can output AO signals proportionally based on real-time TCP speed during the motion process.

2. Description of Motion AO Command

The motion AO command is located in the teaching simulation program teaching command editing area, and the icon is Control Command-Motion AO.

Figure 9.6-9 Motion AO Instruction

Figure 9.6-10 Details of Motion AO Instructions

• AO number: dropdown list selection, Ctrl-AO0 corresponds to control box AO0, Ctrl-AO1 corresponds to control box AO1, and End AO0 corresponds to end AO0.

• Maximum TCP speed: The maximum TCP speed value of the robot; Function: Proportional to real-time TCP speed.

• Maximum TCP speed AO percentage: The AO percentage corresponding to the maximum TCP speed value of the robot; Function: Set the upper limit value of AO output.

• Dead zone compensation value AO percentage: When there is a dead zone in the proportional valve, this parameter can be set to ensure AO output; Function: Set the lower limit value of AO output.

Important

Calculation formula:Output AO percentage=Real time TCP speed/Set maximum TCP speed * Set maximum TCP speed AO percentage.

The accompanying motion commands for this command are as follows:PTP/LIN/ARC/CIRCLE/SPLINE/NSPLINE/SERVOJ.

9.6.7. ToolList command

Click the “ToolList” icon to enter the ToolList command editing interface.

Select the tool coordinate system name and click “Apply” to add this command to the program. When the program runs this statement, the tool coordinate system of the robot will be set.

Figure 9.6-11 ToolList command interface

9.6.8. Mode command

Click the “Mode” icon to enter the Mode command editing interface.

This command can switch the robot to manual mode, and 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 runs.

Figure 9.6-12 Mode command interface

9.6.9. Collision command

Click the “Collision” icon to enter the Collision command editing interface.

This command is used to set the collision level. Through this command, the collision level of each axis can be adjusted in real time during program operation, and the application scenario can be deployed more flexibly.

Figure 9.6-13 Collision command interface

9.6.10. Acc command

Click the “Acc” icon to enter the Acc command editing interface.

The Acc command is to realize the function that the acceleration of the robot can be set separately. By adjusting the acceleration scaling factor of the motion command, the acceleration and deceleration time can be increased or decreased, and the takt time of the robot action can be adjusted.

Figure 9.6-14 Acc command interface

9.7. Peripheral Command Interface

Figure 9.7 Peripheral Command Interface

9.7.1. Gripper command

Click the “Gripper” icon to enter the Gripper command editing interface.

In this command, it is divided into the gripper motion control command and the gripper activation/reset command. In the gripper control command, the number of the gripper that has been configured and activated is displayed. The user can edit through the edit box, or slide the slider to The required value is used to complete the setting of jaw opening and closing, opening and closing speed and opening and closing torque. Blocking means that the gripper moves in parallel with the previous movement command. Click the “Add” and “Apply” buttons to save the set value to the teaching file. The gripper reset/activation command displays the number of the grippers that have been configured, and the reset/activation command can be added to the program.

Figure 9.7-1 Gripper command interface

9.7.2. Spray command

Click the “Spray” icon to enter the Spray command editing interface.

This command is a spraying-related command, which controls the spray gun to “start spraying”, “stop spraying”, “start cleaning the gun” and “stop the light gun”. When editing the program command, it is necessary to confirm that the peripherals of the spray gun have been configured. For details, see the chapter on peripherals of the robot.

Figure 9.7-2 Spray command interface

9.7.3. EAxis command

Click the “EAxis” icon to enter the EAxis command editing interface., Select the combination mode:

• Controller + servo drive (485)

• Controller + PLC (UDP)

Select controller + PLC(UDP),this command is used in combination with the PTP command for scenarios using external axes, and can decompose the movement of a point in space in the X-axis direction to the movement of external axes. Select the external axis number, select synchronous motion mode, select the point to be reached, and click “Add” and “Apply” to save the command.

Figure 9.7-3 EAxis command interface

Select controller + servo drive(485),This command can configure the extended axis parameters. Set different parameters according to different control modes. The zero point of the configured expansion axis can be set.

Figure 3.7-4 Servo command interface

9.7.4. Convey command

Click the “Convey” icon to enter the Convey command editing interface.

This command includes four commands: position real-time detection, IO real-time detection, tracking on and tracking off. See Robot Peripherals chapter for details.

Figure 9.7-5 Conveyor command interface

9.7.5. Polish command

Click the “Polishing” icon to enter the Polish command editing interface.

This command can set the rotation speed, contact force, extension distance and control mode of the grinding equipment.

Figure 9.7-6 Polish command interface

9.8. Welding command interface

Figure 9.8 Welding command interface

9.8.1. Weld command

Click the “Weld” icon to enter the Weld command editing 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 chapter on robot peripherals.

• welding voltage range: 0~700V

• welding current range: 0~1000A

Important

When configuring the output AO, welding current, and welding voltage, you need to select the I/O type. If you select controller I/O, you need to select the corresponding output AO.

Figure 9.8-1 Weld command interface