Java

This document is the Java version of the secondary development interface documentation.

Important

Description of robot parameter units: robot position in millimeters (mm) and attitude in degrees (°).

Important

1. All code examples in the documentation default to the robot being powered on and enabled unless otherwise specified;

2. All code examples in the documentation default to no interference in the robot’s workspace;

3. Please use the data from the live robot for actual use testing.

Note

The current documentation applies to SDK-v3.8.5 and is backward compatible with v1.x/v2.x versions.

• 1. Version Update Description

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• 2. Data Structure Description

  • 2.1. Joint Position Data Type

  • 2.2. Cartesian Space Position Data Type

  • 2.3. Euler Angle Attitude Data Type

  • 2.4. Cartesian Space Pose Data Type

  • 2.5. Extended Axis Position Data Type

  • 2.6. Force Torque Sensor Data Type

  • 2.7. Spiral Parameter Data Type

  • 2.8. Extended Axis Status Type

  • 2.9. Sensor Type

  • 2.10. 485 Extended Axis Configuration

  • 2.11. Servo Controller Status

  • 2.12. Welding Breakoff Status

  • 2.13. UDP Extended Axis Communication Parameters

  • 2.14. Robot State Feedback Structure Type

• 3. Robot basics

  • 3.1. Instantiate robot

  • 3.2. Establish communication with controller

  • 3.3. Close communication with robot

  • 3.4. Query sdk version

  • 3.5. Get controller ip

  • 3.6. Control robot to enter or exit drag teaching mode

  • 3.7. Query whether robot is in drag teaching mode

  • 3.8. Control robot enable or disable

  • 3.9. Control robot manual/auto mode switch

  • 3.10. Shut down robot os

  • 3.11. Set robot communication reconnect parameters

  • 3.12. Initialize log parameters

  • 3.13. Set log filter level

  • 3.14. Robot basic control code example

  • 3.15. Get robot software version

  • 3.16. Get robot hardware version

  • 3.17. Get robot firmware version

  • 3.18. Get robot software/firmware version code example

• 4. Robot movement

  • 4.1. Jog movement

  • 4.2. Jog deceleration stop

  • 4.3. Jog immediate stop

  • 4.4. Robot jog control code example

  • 4.5. Joint space movement

  • 4.6. Joint space motion (automatic forward kinematics calculation)

  • 4.7. Cartesian space linear movement

  • 4.8. Cartesian space linear motion (automatic inverse kinematics calculation)

  • 4.9. Cartesian Space Linear Motion (Added velAccParamMode parameter for velocity and acceleration modes)

  • 4.10. Cartesian Space Linear Motion (Overload Function 1, Added blendMode)

  • 4.11. Cartesian Space Linear Motion (Overload Function 2, No Joint Position Input Required)

  • 4.12. Cartesian space circular movement

  • 4.13. Cartesian Space Arc Motion (Added velAccParamMode parameter for velocity and acceleration modes)

  • 4.14. Cartesian Space Arc Motion (Overload Function 1, No Joint Position Input Required)

  • 4.15. Cartesian space full circle movement

  • 4.16. Cartesian space full circle motion (automatic inverse kinematics calculation)

  • 4.17. Cartesian Space Full Circle Motion (Added velAccParamMode parameter for velocity and acceleration modes)

  • 4.18. Cartesian Space Full Circle Motion (Overload Function 1, No Joint Position Input Required)

  • 4.19. Cartesian space point-to-point movement

  • 4.20. Basic robot movement command code example

  • 4.21. Cartesian space spiral movement

  • 4.22. Cartesian space spiral motion (automatic inverse kinematics calculation)

  • 4.23. Spiral movement code example

  • 4.24. Servo movement start

  • 4.25. Servo movement end

  • 4.26. Joint space servo mode movement

  • 4.27. Joint space servo mode movement example program

  • 4.28. Joint torque control start

  • 4.29. Joint torque control

  • 4.30. Joint torque control end

  • 4.31. Joint space servo mode movement example program

  • 4.32. Joint Torque Control Code Example with Overspeed Protection

  • 4.33. Cartesian Space Servo Mode Motion

  • 4.34. Cartesian Space Servo Mode Motion Code Example

  • 4.35. Spline movement start

  • 4.36. Joint movement PTP

  • 4.37. Joint space spline motion (automatic forward kinematics calculation)

  • 4.38. Spline movement end

  • 4.39. Spline movement code example

  • 4.40. New spline movement start

  • 4.41. New spline command point

  • 4.42. New spline command point (automatic inverse kinematics calculation)

  • 4.43. New spline movement end

  • 4.44. New spline movement code example

  • 4.45. Stop movement

  • 4.46. Pause movement

  • 4.47. Resume movement

  • 4.48. Movement pause, resume, stop code example

  • 4.49. Point global offset start

  • 4.50. Point global offset end

  • 4.51. Point offset code example

  • 4.52. Controller AO flying start

  • 4.53. Controller AO flying stop

  • 4.54. End effector AO flying start

  • 4.55. End effector AO flying stop

  • 4.56. AO flying code example

  • 4.57. Start Ptp movement FIR filtering

  • 4.58. Close Ptp movement FIR filtering

  • 4.59. Start LIN, ARC movement FIR filtering

  • 4.60. Close LIN, ARC movement FIR filtering

  • 4.61. FIR filtering code example

  • 4.62. Acceleration smoothing enable

  • 4.63. Acceleration smoothing disable

  • 4.64. Acceleration smoothing code example

  • 4.65. Specified pose speed enable

  • 4.66. Specified pose speed disable

  • 4.67. Robot specified pose speed code example

  • 4.68. Start singular pose protection

  • 4.69. Stop singular pose protection

  • 4.70. Robot singular pose protection code example

  • 4.71. Clear Motion Command Queue

  • 4.72. Move to Intersecting Line Start Point

  • 4.73. Intersecting Line Motion

  • 4.74. Robot Intersecting Line Motion Code Example

  • 4.75. Stationary Air Motion

  • 4.76. Stationary Air Motion Code Example

• 5. Robot IO

  • 5.1. Set control box digital output

  • 5.2. Set tool digital output

  • 5.3. Set control box analog output

  • 5.4. Set tool analog output

  • 5.5. Digital and analog output setting example

  • 5.6. Get control box digital input

  • 5.7. Get tool digital input

  • 5.8. Get control box analog input

  • 5.9. Get tool analog input

  • 5.10. Get robot end-point record button state

  • 5.11. Get robot end DO output state

  • 5.12. Get robot controller DO output state

  • 5.13. Get robot DI/DO state example

  • 5.14. Wait for control box digital input

  • 5.15. Wait for multiple control box digital inputs

  • 5.16. Wait for tool digital input

  • 5.17. Wait for control box analog input

  • 5.18. Wait for tool analog input

  • 5.19. Wait for digital/analog input signal example

  • 5.20. Set Whether Control Box DO Output Resets After Stop/Pause

  • 5.21. Set Whether Control Box AO Output Resets After Stop/Pause

  • 5.22. Set Whether End Tool DO Output Resets After Stop/Pause

  • 5.23. Set Whether End Tool AO Output Resets After Stop/Pause

  • 5.24. Set Whether Extended DO Output Resets After Stop/Pause

  • 5.25. Set Whether Extended AO Output Resets After Stop/Pause

  • 5.26. Set Whether SmartTool Output Resets After Stop/Pause

  • 5.27. Code Example for Setting Output Reset After Lua Program Stop/Pause

• 6. Robot common settings

  • 6.1. Set tool reference point - six point method

  • 6.2. Calculate tool coordinate system - six point method

  • 6.3. Set tool reference point - four point method

  • 6.4. Calculate tool coordinate system - four point method

  • 6.5. Calculate tool coordinate system based on point information

  • 6.6. Set tool coordinate system

  • 6.7. Set tool coordinate system list

  • 6.8. Get current tool coordinate system

  • 6.9. Robot tool coordinate system operation code example

  • 6.10. Set external tool reference point - six point method

  • 6.11. Calculate external tool coordinate system - six point method

  • 6.12. Set external tool coordinate system

  • 6.13. Set external tool coordinate system list

  • 6.14. Robot external tool coordinate system operation code example

  • 6.15. Set workpiece reference point - three point method

  • 6.16. Calculate workpiece coordinate system

  • 6.17. Set workpiece coordinate system

  • 6.18. Set workpiece coordinate system list

  • 6.19. Calculate workpiece coordinate system based on point information

  • 6.20. Get current workpiece coordinate system

  • 6.21. Workpiece coordinate system operation code example

  • 6.22. Set global speed

  • 6.23. Set robot acceleration

  • 6.24. Get robot default speed

  • 6.25. Set end load weight

  • 6.26. Set end load center of mass coordinates

  • 6.27. Set End Effector Load Center of Mass Coordinates

  • 6.28. Get current load weight

  • 6.29. Get current load center of mass

  • 6.30. Set robot installation method

  • 6.31. Set robot installation angle

  • 6.32. Get robot installation angle

  • 6.33. Set system variable value

  • 6.34. Get system variable value

  • 6.35. Robot common settings code example

  • 6.36. Joint friction compensation switch

  • 6.37. Set joint friction compensation coefficient - standard installation

  • 6.38. Set joint friction compensation coefficient - side installation

  • 6.39. Set joint friction compensation coefficient - inverted installation

  • 6.40. Set joint friction compensation coefficient - free installation

  • 6.41. Robot set joint friction compensation code example

  • 6.42. Query robot error code

  • 6.43. Error state clear

  • 6.44. Robot fault state get and clear error code example

  • 6.45. Set wide voltage control box temperature and fan speed monitoring parameters

  • 6.46. Get wide voltage control box temperature and fan speed monitoring parameters

  • 6.47. Wide voltage control box temperature and fan current state get code example

  • 6.48. Set Focus Calibration Point

  • 6.49. Compute Focus Calibration Result

  • 6.50. Start focus following

  • 6.51. Stop Focus Following

  • 6.52. Set Focus Position

  • 6.53. Focus Following Code Example

  • 6.54. Joint Torque Sensor Sensitivity Calibration Function Enabled

  • 6.55. Joint Torque Sensor Sensitivity Data Acquisition

  • 6.56. Get Joint Torque Sensor Sensitivity Calibration Results

  • 6.57. Get Joint Torque Sensor Hysteresis Error

  • 6.58. Get Joint Torque Sensor Repeatability

  • 6.59. Set Joint Force Sensor Parameters

  • 6.60. Joint Torque Sensor Sensitivity Auto-Calibration Code Example

  • 6.61. Retrieve the number of error frames for the robot’s 8 slave ports

  • 6.62. Reset slave port error frames

  • 6.63. Example for retrieving slave port error frame codes

  • 6.64. Set speed feedforward coefficients for each axis

  • 6.65. Retrieve speed feedforward ratios for each axis

  • 6.66. Robot Speed Feedforward Coefficient Code Example

  • 6.67. Photoelectric Sensor TCP Calibration - Compute Tool RPY

  • 6.68. Photoelectric Sensor TCP Calibration - Compute Tool XYZ

  • 6.69. Photoelectric Sensor TCP Calibration - Start Recording Flange Center Position

  • 6.70. Photoelectric Sensor TCP Calibration - Stop Recording Flange Center Position

  • 6.71. Photoelectric Sensor TCP Calibration - Get Tool Center Point Position

  • 6.72. Photoelectric Sensor TCP Calibration

  • 6.73. Photoelectric Sensor TCP Calibration Code Example

• 7. Robot safety settings

  • 7.1. Set collision level

  • 7.2. Set post-collision strategy

  • 7.3. Custom collision detection threshold function start

  • 7.4. Custom collision detection threshold function end

  • 7.5. Robot collision level setting code example

  • 7.6. Set positive limit

  • 7.7. Set negative limit

  • 7.8. Get joint soft limit angles

  • 7.9. Robot limit setting code example

  • 7.10. Set robot collision detection method

  • 7.11. Set static collision detection on/off

  • 7.12. Robot collision detection method code example

  • 7.13. Joint torque power detection

  • 7.14. Joint torque power detection code example

• 8. Robot status inquiry

  • 8.1. Get current joint positions (degrees)

  • 8.2. Get joint feedback speed (deg/s)

  • 8.3. Get joint feedback acceleration

  • 8.4. Get TCP command composite speed

  • 8.5. Get TCP feedback composite speed

  • 8.6. Get TCP command speed

  • 8.7. Get TCP feedback speed

  • 8.8. Get current tool pose

  • 8.9. Get current tool coordinate system number

  • 8.10. Get current workpiece coordinate system number

  • 8.11. Get current end flange pose

  • 8.12. Get current joint torque

  • 8.13. Get system time

  • 8.14. Check if robot motion is completed

  • 8.15. Query robot motion queue buffer length

  • 8.16. Get robot emergency stop state

  • 8.17. Get SDK-robot communication state

  • 8.18. Get safety stop signal

  • 8.19. Get robot joint driver temperature (°C)

  • 8.20. Get robot joint driver torque (Nm)

  • 8.21. Get robot real-time state structure

  • 8.22. Robot status inquiry code example

  • 8.23. Inverse kinematics calculation

  • 8.24. Inverse kinematics calculation (reference position)

  • 8.25. Inverse Kinematics Solution, Cartesian Space Includes Extended Axis Position

  • 8.26. Inverse Kinematics Solution Including Extended Axis Position Code Example

  • 8.27. Check if inverse kinematics has solution

  • 8.28. Forward kinematics calculation

  • 8.29. Robot forward/inverse kinematics calculation code example

  • 8.30. Query robot teaching management point data

  • 8.31. Get robot DH parameter compensation values

  • 8.32. Get controller SN code

  • 8.33. Query robot teaching management point data code example

  • 8.34. Get Tool Coordinate System by ID

  • 8.35. Get Work Object Coordinate System by ID

  • 8.36. Get External Tool Coordinate System by ID

  • 8.37. Get Extended Axis Coordinate System by ID

  • 8.38. Get Current Tool Coordinate System

  • 8.39. Get Current Work Object Coordinate System

  • 8.40. Get Current External Tool Coordinate System

  • 8.41. Get Current Extended Axis Coordinate System

  • 8.42. Get Robot Coordinate System and Payload Code Example

• 9. Robot trajectory playback

  • 9.1. Set TPD trajectory recording parameters

  • 9.2. Start TPD trajectory recording

  • 9.3. Stop TPD trajectory recording

  • 9.4. Delete TPD trajectory recording

  • 9.5. TPD trajectory preloading

  • 9.6. TPD trajectory playback

  • 9.7. Get TPD starting pose

  • 9.8. Robot TPD trajectory recording code example

  • 9.9. Trajectory preprocessing

  • 9.10. Trajectory playback

  • 9.11. Get trajectory starting pose

  • 9.12. Get trajectory point number

  • 9.13. Set trajectory playback speed

  • 9.14. Set force/torque during trajectory playback

  • 9.15. Set x-direction force during trajectory playback

  • 9.16. Set y-direction force during trajectory playback

  • 9.17. Set z-direction force during trajectory playback

  • 9.18. Set x-axis torque during trajectory playback

  • 9.19. Set y-axis torque during trajectory playback

  • 9.20. Set z-axis torque during trajectory playback

  • 9.21. Upload trajectory J file

  • 9.22. Delete trajectory J file

  • 9.23. Robot trajectory J file playback code example

  • 9.24. Trajectory preprocessing (lookahead)

  • 9.25. Trajectory playback (lookahead)

  • 9.26. Trajectory playback (lookahead) code example

• 10. Robot WebAPP program usage

  • 10.1. Set default program to load automatically on startup

  • 10.2. Load specified program

  • 10.3. Get loaded program name

  • 10.4. Get current program execution line number

  • 10.5. Run currently loaded program

  • 10.6. Pause current running program

  • 10.7. Resume paused program

  • 10.8. Stop current running program

  • 10.9. Get robot program execution state

  • 10.10. Robot LUA program operation code example

  • 10.11. Download Lua program

  • 10.12. Delete Lua program

  • 10.13. Get all current Lua file names

  • 10.14. Upload Lua program

  • 10.15. Robot LUA file upload/download code example

• 11. Robot peripherals

  • 11.1. Configure gripper

  • 11.2. Get gripper configuration

  • 11.3. Activate gripper

  • 11.4. Control gripper

  • 11.5. Get gripper motion status

  • 11.6. Get gripper activation status

  • 11.7. Get gripper position

  • 11.8. Get gripper speed

  • 11.9. Get gripper current

  • 11.10. Get gripper voltage

  • 11.11. Get gripper temperature

  • 11.12. Calculate pre-grasp point - vision

  • 11.13. Calculate retreat point - vision

  • 11.14. Robot gripper operation code example

  • 11.15. Get rotary gripper rotation turns

  • 11.16. Get rotary gripper rotation speed percentage

  • 11.17. Get rotary gripper rotation torque percentage

  • 11.18. Code example for getting rotary gripper status

  • 11.19. Conveyor start/stop

  • 11.20. Record IO detection point

  • 11.21. Record point A

  • 11.22. Record reference point

  • 11.23. Record point B

  • 11.24. Conveyor workpiece IO detection

  • 11.25. Get object current position

  • 11.26. Conveyor tracking start

  • 11.27. Conveyor tracking stop

  • 11.28. Conveyor parameter configuration

  • 11.29. Set conveyor grasp point compensation

  • 11.30. Conveyor linear motion

  • 11.31. Conveyor communication input detection

  • 11.32. Conveyor communication input detection trigger

  • 11.33. Robot conveyor operation example program

  • 11.34. End sensor configuration

  • 11.35. Get end sensor configuration

  • 11.36. End sensor activation

  • 11.37. End sensor register write

  • 11.38. End sensor code example

  • 11.39. Get robot peripheral protocol

  • 11.40. Set robot peripheral protocol

  • 11.41. Set robot peripheral protocol example program

  • 11.42. Get end communication parameters

  • 11.43. Set end communication parameters

  • 11.44. Set end file transfer type

  • 11.45. Set enable end LUA execution

  • 11.46. End LUA file error recovery

  • 11.47. Get end LUA execution enable status

  • 11.48. Set end LUA end device enable type

  • 11.49. Get end LUA end device enable type

  • 11.50. Get currently configured end devices

  • 11.51. Set enable gripper action control function

  • 11.52. Get enable gripper action control function

  • 11.53. Robot Ethercat slave file write

  • 11.54. Upload end Lua open protocol file

  • 11.55. Robot Ethercat slave enter boot mode

  • 11.56. Robot end LUA file operation code example

  • 11.57. Get SmartTool button status

  • 11.58. SmartTool button code example

  • 11.59. Upload Open Protocol Lua File

  • 11.60. Get Slave Board Parameters

  • 11.61. Write Slave DO

  • 11.62. Write Slave AO

  • 11.63. Read Slave DI

  • 11.64. Read Slave AI

  • 11.65. Wait for Extended DI Input

  • 11.66. Wait for Extended AI Input

  • 11.67. Slave Mode Related Interface Command Code Example

  • 11.68. Control Array Sucker

  • 11.69. Get Array Sucker Status

  • 11.70. Wait for Sucker Status

  • 11.71. Array Sucker Control Command Code Example

  • 11.72. Laser Peripheral On/Off Function

  • 11.73. Laser Tracking Start/Stop Function

  • 11.74. Laser Positioning - Fixed Direction

  • 11.75. Laser Positioning - Arbitrary Direction

  • 11.76. Laser Positioning Stop

  • 11.77. Laser IP Configuration

  • 11.78. Laser Peripheral Sampling Period Configuration

  • 11.79. Laser Peripheral Driver Loading

  • 11.80. Laser Peripheral Driver Unloading

  • 11.81. Laser Weld Seam Trajectory Recording

  • 11.82. Laser Weld Seam Trajectory Replay

  • 11.83. Laser Tracking Replay

  • 11.84. Laser Weld Seam Trajectory Recording and Replay

  • 11.85. Move to Laser Record Start Point

  • 11.86. Move to Laser Record End Point

  • 11.87. Move to Laser Sensor Positioning Point

  • 11.88. Get Laser Sensor Positioning Point Coordinate Information

  • 11.89. Laser Peripheral Sensor Parameter Configuration and Debugging Code Example

  • 11.90. Laser Trajectory Scanning and Trajectory Replay Code Example

  • 11.91. Laser Positioning and Real-time Tracking Code Example

  • 11.92. Extended Axis and Robot Synchronized Laser Tracking Code Example

• 12. Robot Force Control

  • 12.1. Configure Force Sensor

  • 12.2. Get Force Sensor Configuration

  • 12.3. Activate Force Sensor

  • 12.4. Zero Calibration for Force Sensor

  • 12.5. Set Force Sensor Reference Coordinate System

  • 12.6. Set Load Weight Under Force Sensor

  • 12.7. Set Load Center of Gravity Under Force Sensor

  • 12.8. Get Load Weight Under Force Sensor

  • 12.9. Get Load Center of Gravity Under Force Sensor

  • 12.10. Automatic Zero Calibration for Force Sensor

  • 12.11. Get Force/Torque Data in Reference Coordinate System

  • 12.12. Get Raw Force/Torque Data from Force Sensor

  • 12.13. Force Sensor Configuration and Automatic Zero Calibration Example

  • 12.14. Load Weight Identification Record

  • 12.15. Load Weight Identification Calculation

  • 12.16. Load Center of Gravity Identification Record

  • 12.17. Load Center of Gravity Identification Calculation

  • 12.18. Force Sensor Load Identification Example

  • 12.19. Collision Guard

  • 12.20. Collision Guard Example

  • 12.21. Constant Force Control

  • 12.22. Constant Force Control

  • 12.23. Example Code for Constant Force Control with Damping

  • 12.24. Rotational Insertion

  • 12.25. Robot Force Sensor Rotational Insertion Code Example

  • 12.26. Constant Force Control Example

  • 12.27. Compliance Control Start

  • 12.28. Compliance Control Stop

  • 12.29. Compliance Control Example

  • 12.30. Load Identification Initialization

  • 12.31. Load Identification Variable Initialization

  • 12.32. Load Identification Main Program

  • 12.33. Get Load Identification Result

  • 12.34. Robot Load Identification Example

  • 12.35. Force Sensor Assisted Dragging

  • 12.36. Get Force Sensor Dragging Switch Status

  • 12.37. Force Sensor Auto-Enable After Error Clearance

  • 12.38. Force Sensor Assisted Dragging Example

  • 12.39. Set Six-Dimensional Force and Joint Impedance Hybrid Dragging Switch and Parameters

  • 12.40. Six-Dimensional Force and Joint Impedance Hybrid Dragging Example

  • 12.41. Example Program

  • 12.42. Impedance Control Start/Stop

  • 12.43. Robot Impedance Control Start/Stop Code Example

  • 12.44. Enable Torque Compensation Function and Compensation Coefficients

• 13. Extended Axis

  • 13.1. Set 485 Extended Axis Parameters

  • 13.2. Get 485 Extended Axis Parameters

  • 13.3. Set 485 Extended Axis Enable/Disable

  • 13.4. Set 485 Extended Axis Control Mode

  • 13.5. Set 485 Extended Axis Target Position (Position Mode)

  • 13.6. Set 485 Extended Axis Target Torque (Torque Mode) - Not Yet Available

  • 13.7. Set 485 Extended Axis

  • 13.8. Clear 485 Extended Axis Error Information

  • 13.9. Get 485 Extended Axis Servo Status

  • 13.10. Set 485 Extended Axis Target Speed (Speed Mode)

  • 13.11. Set Axis Number for Status Feedback of 485 Extended Axis

  • 13.12. Set 485 Extended Axis Motion Acceleration/Deceleration

  • 13.13. Set 485 Extended Axis Emergency Stop Acceleration/Deceleration

  • 13.14. Get 485 Extended Axis Motion Acceleration/Deceleration

  • 13.15. Get 485 Extended Axis Emergency Stop Acceleration/Deceleration

  • 13.16. Extended Axis Control Code Example

  • 13.17. UDP Extended Axis Communication Parameter Configuration

  • 13.18. Get UDP Extended Axis Communication Parameter Configuration

  • 13.19. Load UDP Communication

  • 13.20. Unload UDP Communication

  • 13.21. Reconnect After UDP Extended Axis Communication Exception Disconnection

  • 13.22. Close Communication After UDP Extended Axis Communication Exception Disconnection

  • 13.23. UDP Extended Axis Parameter Configuration

  • 13.24. Set Extended Axis Installation Position

  • 13.25. Set Extended Axis System DH Parameter Configuration

  • 13.26. UDP Extended Axis Enable

  • 13.27. UDP Extended Axis Homing

  • 13.28. UDP Extended Axis Jog Start

  • 13.29. UDP Extended Axis Jog Stop

  • 13.30. UDP Extended Axis Configuration and Jog Code Example

  • 13.31. Set Extended Axis Coordinate System Reference Point - Four-Point Method

  • 13.32. Calculate Extended Axis Coordinate System - Four-Point Method

  • 13.33. Positioner Coordinate System Reference Point Setting

  • 13.34. Positioner Coordinate System Calculation - Four-Point Method

  • 13.35. Set Calibration Reference Point Pose in Extended Axis End Coordinate System

  • 13.36. Apply Extended Axis Coordinate System

  • 13.37. Get Extended Axis Coordinate System

  • 13.38. Extended Axis Coordinate System Calibration Code Example

  • 13.39. UDP Extended Axis Motion

  • 13.40. UDP Extended Axis Motion Code Example

  • 13.41. UDP Extended Axis and Robot Joint Motion Synchronous Motion

  • 13.42. UDP extended axis and robot joint motion synchronous motion (automatic forward kinematics calculation)

  • 13.43. UDP Extended Axis and Robot Joint Motion Synchronous Motion Code Example

  • 13.44. UDP Extended Axis and Robot Linear Motion Synchronous Motion

  • 13.45. UDP extended axis and robot linear motion synchronous motion (automatic inverse kinematics calculation)

  • 13.46. UDP Extended Axis and Robot Linear Motion Synchronous Motion Code Example

  • 13.47. UDP Extended Axis and Robot Arc Motion Synchronous Motion

  • 13.48. UDP extended axis and robot circular motion synchronous motion (automatic inverse kinematics calculation)

  • 13.49. UDP Extended Axis and Robot Arc Motion Synchronous Motion Code Example

  • 13.50. Set Extended DO

  • 13.51. Set Extended AO

  • 13.52. Set Extended DI Input Filter Time

  • 13.53. Set Extended AI Input Filter Time

  • 13.54. Wait for Extended DI Input

  • 13.55. Wait for Extended AI Input

  • 13.56. Get Extended DI Value

  • 13.57. Get Extended AI Value

  • 13.58. Extended IO Code Example

  • 13.59. Movable Device Enable

  • 13.60. Movable Device Homing

  • 13.61. Movable Device Linear Motion

  • 13.62. Movable Device Arc Motion

  • 13.63. Movable Device Stop Motion

  • 13.64. Movable Device Code Example

• 14. Robot Welding

  • 14.1. Set welding process curve parameters

  • 14.2. Get welding process curve parameters

  • 14.3. Set welding current to analog output relation

  • 14.4. Set welding voltage to analog output relation

  • 14.5. Get welding current to analog output relation

  • 14.6. Get welding voltage to analog output relation

  • 14.7. Set welding current

  • 14.8. Set welding voltage

  • 14.9. Set weaving parameters

  • 14.10. Welding parameter setting code example

  • 14.11. Real-time weaving parameter setting

  • 14.12. Set welding arc interruption detection parameters

  • 14.13. Get welding arc interruption detection parameters

  • 14.14. Set welding interruption recovery parameters

  • 14.15. Get welding interruption recovery parameters

  • 14.16. Set welder control mode extension DO port

  • 14.17. Set welder control mode

  • 14.18. Welding start

  • 14.19. Welding end

  • 14.20. Weaving start

  • 14.21. Weaving end

  • 14.22. Forward wire feeding

  • 14.23. Reverse wire feeding

  • 14.24. Gas feeding

  • 14.25. Set robot to resume welding after interruption

  • 14.26. Set robot to abort welding after interruption

  • 14.27. Robot welding control code example

  • 14.28. Segment welding start

  • 14.29. Robot segment welding code example

  • 14.30. Simulation weaving start

  • 14.31. Simulation weaving end

  • 14.32. Start trajectory inspection warning (no movement)

  • 14.33. End trajectory inspection warning (no movement)

  • 14.34. Weaving transition start

  • 14.35. Robot weaving transition welding code example

  • 14.36. Weaving transition end

  • 14.37. Extension IO - Configure welder gas detection signal

  • 14.38. Extension IO - Configure welder arc start signal

  • 14.39. Extension IO - Configure welder reverse wire feed signal

  • 14.40. Extension IO - Configure welder forward wire feed signal

  • 14.41. Extension IO - Configure welder arc success signal

  • 14.42. Extension IO - Configure welder ready signal

  • 14.43. Extension IO - Configure welding interruption recovery signal

  • 14.44. Set extension IO welding signal code example

  • 14.45. Arc tracking control

  • 14.46. Arc tracking AI channel selection

  • 14.47. Arc tracking + multi-layer multi-pass compensation start

  • 14.48. Arc tracking + multi-layer multi-pass compensation end

  • 14.49. Offset coordinate transformation - multi-layer multi-pass welding

  • 14.50. Multi-layer multi-pass welding arc tracking code example

  • 14.51. Arc tracking welder current feedback AI channel selection

  • 14.52. Arc tracking welder voltage feedback AI channel selection

  • 14.53. Arc tracking welder current feedback conversion parameters

  • 14.54. Arc tracking welder voltage feedback conversion parameters

  • 14.55. Arc tracking code example

  • 14.56. Set Wire Search Extension IO Ports

  • 14.57. Wire search start

  • 14.58. Wire search end

  • 14.59. Calculate wire search offset

  • 14.60. Wait for wire search completion

  • 14.61. Write wire search contact point to database

  • 14.62. Robot wire search code example

  • 14.63. Set welding voltage gradual change start

  • 14.64. Set welding voltage gradual change end

  • 14.65. Set welding current gradual change start

  • 14.66. Set welding current gradual change end

  • 14.67. Robot welding current/voltage gradual change code example

  • 14.68. Set Custom Weaving Parameters

  • 14.69. Get Custom Weaving Parameters

  • 14.70. Custom Weaving Parameters Code Example

• 15. Other interfaces

  • 15.1. Get SSH public key

  • 15.2. Issue SCP command

  • 15.3. Calculate MD5 value of specified file

  • 15.4. Robot SSH and MD5 command code example

  • 15.5. Set robot port 20004 feedback period

  • 15.6. Get robot port 20004 feedback period

  • 15.7. Robot port 20004 status feedback period configuration example

  • 15.8. Robot software upgrade

  • 15.9. Get robot software upgrade status

  • 15.10. Robot software upgrade code example

  • 15.11. Download point table database

  • 15.12. Upload point table database

  • 15.13. Point table update lua file

  • 15.14. Robot point table operation code example

  • 15.15. Controller log download

  • 15.16. All data source download

  • 15.17. Data backup package download

  • 15.18. Download controller data code example

  • 15.19. Set Encoder Upgrade

  • 15.20. Set Joint Firmware Upgrade

  • 15.21. Set Controller Firmware Upgrade

  • 15.22. Set End-Effector Firmware Upgrade

  • 15.23. Joint Complete Parameter Configuration Upgrade

  • 15.24. Robot Slave Firmware Upgrade Code Example

  • 15.25. Robot Operating System Upgrade (LA Control Box)

  • 15.26. Get Robot Operating System Upgrade Result (LA Control Box)

  • 15.27. Robot MCU Log Generation

• 16. Appendix

  • 16.1. Source Code Download

  • 16.2. Windows Platform Source Code Compilation