Python

This manual is the secondary development interface document of Python.

Important

Robot parameter unit description: The robot position unit is millimeter (mm), and the attitude unit is degree (°).

Important

1. In code examples that are not specifically stated, the robot has been powered on and enabled by default;

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

3. Please use the data of the on-site robot in the actual use test.

Note

The current document applies to SDK-v2.0.0 version and is backward compatible with v1.x version.

• 1. Version Update Description

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• 2. Data structure description

  • 2.1. Controller status feedback data packet

  • 2.2. Status of the servo controller

  • 2.3. Extended axis status

  • 2.4. Welding interruption state

  • 2.5. code example

• 3. Robotics Basics

  • 3.1. Instantiated Robot

  • 3.2. Close the RPC connection

  • 3.3. Query SDK version number

  • 3.4. Get controller IP

  • 3.5. Controlling the robot into and out of drag-and-drop instructor mode

  • 3.6. Queries whether the robot is in drag mode

  • 3.7. Control robot up-enable or down-enable

  • 3.8. Control of robot hand-automatic mode switching

  • 3.9. Shut down the robot operating system

  • 3.10. Initialize the log parameters

  • 3.11. Setting the log filter level

  • 3.12. Robot base control code example

  • 3.13. Get the software version of the robot

  • 3.14. Getting robot hardware version information

  • 3.15. Getting robot firmware version information

  • 3.16. Get the robot software firmware version code sample

• 4. Movement

  • 4.1. jog point and click

  • 4.2. jog tap to decelerate and stop

  • 4.3. Immediate stop for jog taps

  • 4.4. Robot point control code example

  • 4.5. Joint space motion

  • 4.6. Cartesian Space Linear Motion

  • 4.7. Cartesian Space Circular Arc Motion

  • 4.8. Cartesian Space Full Circle Motion

  • 4.9. Point-to-point motion in Cartesian space

  • 4.10. Sample robot basic motion commands code

  • 4.11. Spiral motion in Cartesian space

  • 4.12. code example

  • 4.13. Start of servo motion

  • 4.14. End of servo motion

  • 4.15. Joint space servo mode motion

  • 4.16. Example of joint space servo mode motion code

  • 4.17. Joint torque control begins

  • 4.18. Joint torque control

  • 4.19. Joint torque control is completed

  • 4.20. Sample code for joint torque control

  • 4.21. Joint Torque Control Code Example with Overspeed Protection

  • 4.22. Cartesian Space Servo Mode Motion

  • 4.23. Cartesian Space Servo Mode Motion Code Example

  • 4.24. Start of spline motion

  • 4.25. Sample motion PTP

  • 4.26. End of spline motion

  • 4.27. Spline motion code example

  • 4.28. New spline movement begins

  • 4.29. New spline command point

  • 4.30. End of new spline movement

  • 4.31. Example of new spline motion code

  • 4.32. Robot termination motion

  • 4.33. Robot pause

  • 4.34. Robot resume motion

  • 4.35. Motion pause, resume, and stop code examples

  • 4.36. Overall shift in points begins

  • 4.37. Overall offset of points ends

  • 4.38. Point offset code example

  • 4.39. Control box motion AO start

  • 4.40. End of control box movement AO

  • 4.41. End Motion AO Start

  • 4.42. End movement AO end

  • 4.43. AO flyshot code example

  • 4.44. Start Ptp motion FIR filtering

  • 4.45. Disable Ptp motion FIR filtering

  • 4.46. LIN, ARC motion FIR filtering is started

  • 4.47. Turn off LIN and ARC motion FIR filtering

  • 4.48. FIR filtering code example

  • 4.49. Acceleration smooth on

  • 4.50. Acceleration smooth closing

  • 4.51. Acceleration smoothing code example

  • 4.52. Setting the machine’s specified attitude speed on

  • 4.53. Specify Attitude Velocity Off

  • 4.54. Robot specified pose velocity code example

  • 4.55. Odd-position protection on.

  • 4.56. Odd position protection off

  • 4.57. Example of robot singular pose protection code

  • 4.58. Clear the motor command queue

  • 4.59. Clear Motion Command Queue

  • 4.60. Intersecting Line Motion

  • 4.61. Robot Intersecting Line Motion Code Example

  • 4.62. Stationary Air Motion

  • 4.63. Stationary Air Motion Code Example

• 5. IO

  • 5.1. Setting the control box digital output

  • 5.2. Setting Tool Digital Outputs

  • 5.3. Setting the control box analog output

  • 5.4. Setting Tool Analog Outputs

  • 5.5. Set digital, analog output code example

  • 5.6. Getting control box digital inputs

  • 5.7. Get Tool Digital Inputs

  • 5.8. Getting Control Box Analog Inputs

  • 5.9. Get Tool Analog Inputs

  • 5.10. Obtain the status of the button for recording the end point of the robot

  • 5.11. Obtain the DO output status at the end of the robot

  • 5.12. Obtain the DO output status of the robot controller

  • 5.13. Get the robot DI, DO status code examples

  • 5.14. Waiting for control box digital inputs

  • 5.15. Waiting for control box with multiple digital inputs

  • 5.16. Waiting for tool digital inputs

  • 5.17. Waiting for control box analog inputs

  • 5.18. Waiting for tool analog inputs

  • 5.19. Waiting control box digital, analog input signal code 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. Common Robot Settings

  • 6.1. Setting Tool Reference Points - Six-Point Method

  • 6.2. Calculation tool coordinate system - six-point method

  • 6.3. Setting Tool Reference Points - Four Point Method

  • 6.4. Calculation Tool Coordinate System - Four Point Method

  • 6.5. Calculate the tool coordinate system based on the point information

  • 6.6. Setting the tool coordinate system

  • 6.7. Setting the tool coordinate system list

  • 6.8. Get the current tool coordinate system

  • 6.9. Robot tool coordinate system manipulation code example

  • 6.10. Setting External Tool Reference Points-Six-Point Method

  • 6.11. Calculation of the external tool coordinate system - Six-point method

  • 6.12. Setting the external tool coordinate system

  • 6.13. Setting up a list of external tool coordinate systems

  • 6.14. Example code for robot external tool coordinate system operation

  • 6.15. Setting the workpiece reference point - three-point method

  • 6.16. Calculation of the workpiece coordinate system - three-point method

  • 6.17. Setting the workpiece coordinate system

  • 6.18. Setting the list of workpiece coordinate systems

  • 6.19. Calculate the workpiece coordinate system based on the point information

  • 6.20. Get the current workpiece coordinate system

  • 6.21. Example of robot workpiece coordinate system manipulation code

  • 6.22. Setting the global speed

  • 6.23. Setting robot acceleration

  • 6.24. Getting the default speed

  • 6.25. Setting the end load weight

  • 6.26. Setting the end load center of mass coordinates

  • 6.27. Get the weight of the current load

  • 6.28. Get the center of mass of the current load

  • 6.29. Setting the robot mounting method - fixed mounting

  • 6.30. Setting the robot mounting angle - free mounting

  • 6.31. Getting the robot mounting angle

  • 6.32. Setting system variable values

  • 6.33. Getting system variable values

  • 6.34. Robot common setup code examples

  • 6.35. Joint Friction Compensation Switch

  • 6.36. Setting the joint friction compensation coefficients - positive loading

  • 6.37. Setting the joint friction compensation coefficient - side mounting

  • 6.38. Setting the Joint Friction Compensation Factor - Inverted

  • 6.39. Setting the joint friction compensation factor - free mounting

  • 6.40. Robot setup joint friction compensation code example

  • 6.41. Query Robot Error Code

  • 6.42. Error state clearing

  • 6.43. Robot fault state acquisition and clearing error code examples

  • 6.44. Set the monitoring parameters for the temperature and fan speed of the wide-voltage control box

  • 6.45. Obtain the monitoring parameters of the temperature and fan speed of the wide-voltage control box

  • 6.46. Sample code for obtaining wide voltage control box temperature and fan current status

  • 6.47. Sets the focus point

  • 6.48. Calculate the focus calibration result

  • 6.49. Enable focus following

  • 6.50. Stop focusing following

  • 6.51. Set the focus coordinates

  • 6.52. Robot focus following code example

  • 6.53. Joint torque sensor sensitivity calibration function is enabled

  • 6.54. Joint torque sensor sensitivity data acquisition

  • 6.55. The sensitivity calibration results of the joint torque sensor were obtained

  • 6.56. Get Joint Torque Sensor Hysteresis Error

  • 6.57. Get Joint Torque Sensor Repeatability

  • 6.58. Set Joint Force Sensor Parameters

  • 6.59. Sample code for automatic calibration of joint torque sensor sensitivity

  • 6.60. The number of error frames at eight slave ports of the robot is obtained

  • 6.61. Slave port error frame reset

  • 6.62. Get sample slave port error frame code

  • 6.63. Set the feed-forward coefficient of each axis speed

  • 6.64. The velocity feedforward coefficients of each axis are obtained

  • 6.65. Robot velocity feedforward coefficient code example

  • 6.66. Photoelectric Sensor TCP Calibration - Compute Tool RPY

  • 6.67. Photoelectric Sensor TCP Calibration - Compute Tool XYZ

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

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

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

  • 6.71. Photoelectric Sensor TCP Calibration

  • 6.72. Photoelectric Sensor TCP Calibration Code Example

• 7. Security Settings

  • 7.1. Setting the collision level

  • 7.2. Setting the post-collision strategy

  • 7.3. The Custom collision detection threshold function starts to set the collision detection thresholds of the joint end and TCP end

  • 7.4. The custom collision detection threshold function is disabled

  • 7.5. Robot collision level setting code example

  • 7.6. Setting the positive limit

  • 7.7. Setting the negative limit

  • 7.8. Obtaining the soft limiting angle of a joint

  • 7.9. Robot limit setting code example

  • 7.10. Setting up a robot collision detection method

  • 7.11. Set static undercollision detection to start off

  • 7.12. Set up the robot collision detection method code example

  • 7.13. Joint torque and power detection

  • 7.14. Sample code for joint torque power detection

• 8. Status query

  • 8.1. Get the current joint position (angle).

  • 8.2. Get the current joint position in radians.

  • 8.3. Get joint feedback speed -deg/s

  • 8.4. Obtain joint feedback acceleration-deg/s^2

  • 8.5. Get TCP command synthesis speed

  • 8.6. Getting TCP Feedback Hopping Speed

  • 8.7. Get TCP command speed

  • 8.8. Getting TCP feedback speed

  • 8.9. Get current tool position

  • 8.10. Get the current tool coordinate system number

  • 8.11. Get the current workpiece coordinate system number

  • 8.12. Get the current end flange position

  • 8.13. Get current joint torque

  • 8.14. Get system time

  • 8.15. Queries whether robot motion is complete

  • 8.16. Query the cache length of the robot motion queue

  • 8.17. Obtain the emergency stop status of the robot

  • 8.18. Obtain the communication status between the SDK and the robot

  • 8.19. Obtain the safety stop signal

  • 8.20. Obtain the current temperature of the joint drive(℃)

  • 8.21. Obtain the current torque of the joint drive(Nm)

  • 8.22. Obtain the status of the robot

  • 8.23. Robot status query code example

  • 8.24. Inverse kinematics solution

  • 8.25. Inverse Kinematics Solution - Specifying Reference Positions

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

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

  • 8.28. Inverse kinematics solving-whether there is a solution

  • 8.29. Positive kinematics solving

  • 8.30. Example code for robot forward and inverse kinematics calculation

  • 8.31. Query Robot Teaching Management Points Data

  • 8.32. Get DH compensation parameters

  • 8.33. Obtain the SN code of the control box

  • 8.34. Query robot teaching management point data code example

  • 8.35. Get the tool coordinate system according to the number

  • 8.36. The workpiece coordinate system is obtained according to the No

  • 8.37. The external tool coordinate system is obtained according to the number

  • 8.38. The extended axis coordinate system is obtained according to the No

  • 8.39. Get the load mass and centroid according to the number

  • 8.40. Gets the current tool coordinate system

  • 8.41. Gets the current workpiece coordinate system

  • 8.42. Gets the current external tool coordinate system

  • 8.43. Gets the current extended axis coordinate system

  • 8.44. Get robot coordinate system and load code sample

• 9. Trajectory recurrence

  • 9.1. Setting Track Recording Parameters

  • 9.2. Start Track Recording

  • 9.3. Stop Track Recording

  • 9.4. Deleting track records

  • 9.5. code example

  • 9.6. Trajectory preloading

  • 9.7. Trajectory Reproduction

  • 9.8. Get the starting position of the trajectory

  • 9.9. Example of robot TPD trajectory recording code

  • 9.10. Trajectory preprocessing

  • 9.11. Trajectory Reproduction

  • 9.12. Getting the starting position of the trajectory

  • 9.13. Get track point number

  • 9.14. Setting the speed of the trajectory in operation

  • 9.15. Setting the force and torque during trajectory operation

  • 9.16. Setting the force along the x-direction in the trajectory run

  • 9.17. Setting the force along the y-direction in the trajectory run

  • 9.18. Setting the force along the z-direction in a trajectory run

  • 9.19. Setting the torque around the x-axis in a trajectory run

  • 9.20. Setting the torque around the y-axis in trajectory operation

  • 9.21. Setting the torque around the z-axis in trajectory operation

  • 9.22. Upload trace J file

  • 9.23. Delete the track J file

  • 9.24. Robot trajectory J file reproduction code example

  • 9.25. Trajectory preprocessing(Trajectory foresight)

  • 9.26. Trajectory reproduction(Trajectory foresight)

  • 9.27. Code example for trajectory reproduction

• 10. WebAPP program use

  • 10.1. Setting the default job program to load automatically on boot

  • 10.2. Load the specified job program

  • 10.3. Get the name of the loaded job program

  • 10.4. Get the line number of the current robot job program

  • 10.5. Run the currently loaded job program

  • 10.6. Suspend the currently running job program

  • 10.7. Resuming a currently suspended program

  • 10.8. Terminate the currently running job program

  • 10.9. Obtaining robot job program execution status

  • 10.10. Robot LUA program operation code example

  • 10.11. Download Lua files

  • 10.12. Deleting Lua files

  • 10.13. Get the names of all current lua files

  • 10.14. Uploading Lua files

  • 10.15. Robot LUA file upload and download code examples

• 11. Peripherals

  • 11.1. Configuration of jaws

  • 11.2. Get Jaw Configuration

  • 11.3. Activate jaws

  • 11.4. Control jaws

  • 11.5. Getting the jaw movement status

  • 11.6. Obtain the activated status of the gripper

  • 11.7. Obtain the position of the gripper

  • 11.8. Obtain the gripper speed

  • 11.9. Obtain the gripper current

  • 11.10. Obtain the gripper voltage

  • 11.11. Obtain the temperature of the gripper

  • 11.12. Calculate pre-capture point-visual

  • 11.13. Calculate retreat point-visual

  • 11.14. Robot claw operation code example

  • 11.15. Get the number of rotation turns of the rotary gripper

  • 11.16. Gets the percentage of rotation speed of the rotating gripper

  • 11.17. Obtains the percentage of rotating torque of the rotating gripper

  • 11.18. Get the rotary gripper status code example

  • 11.19. Drive belt start and stop

  • 11.20. Record IO detection points

  • 11.21. Record point A

  • 11.22. Recording reference points

  • 11.23. Record point B

  • 11.24. Conveyorized workpiece IO inspection

  • 11.25. Get the current position of the object

  • 11.26. Drive belt tracking started

  • 11.27. Belt tracking stop

  • 11.28. Drive Belt Parameter Configuration

  • 11.29. Belt Grip Point Compensation

  • 11.30. linear motion

  • 11.31. Conveyor communication input detection

  • 11.32. Conveyor communication input detection triggered

  • 11.33. Robot conveyor operation code example

  • 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. Obtaining Robot Peripheral Protocols

  • 11.40. Setting up robot peripheral protocols

  • 11.41. Example of setup robot peripheral protocol code

  • 11.42. Getting end communication parameters

  • 11.43. Setting the end communication parameters

  • 11.44. Setting the end file transfer type

  • 11.45. Setting Enable End LUA Execution

  • 11.46. End LUA file exception error recovery

  • 11.47. Get end LUA execution enable status

  • 11.48. Setting the end LUA end device enable type

  • 11.49. Get End LUA End Device Enablement Type

  • 11.50. Get the currently configured end device

  • 11.51. Setting to enable the jaw movement control function

  • 11.52. Getting to Enable Jaw Motion Control

  • 11.53. The Ethercat slave file is written by the robot

  • 11.54. Upload the end Lua open protocol file

  • 11.55. The robot Ethercat enters boot mode from the station

  • 11.56. Example of LUA file manipulation code at the end of the robot

  • 11.57. Obtain the status of the SmartTool button

  • 11.58. SmartTool button code example

  • 11.59. Set the load detection before drag is started

  • 11.60. Laser peripheral open and close function

  • 11.61. Laser tracking start-end function

  • 11.62. Laser positioning - Fixed direction

  • 11.63. Laser positioning - in any direction

  • 11.64. Laser IP configuration

  • 11.65. Configuration of sampling period for laser peripherals

  • 11.66. Laser peripheral driver loading

  • 11.67. Laser peripheral driver unloading

  • 11.68. Laser weld seam trajectory recording

  • 11.69. Laser weld seam trajectory reproduction

  • 11.70. Laser tracking reproduction

  • 11.71. Laser weld seam trajectory reproduction

  • 11.72. Movement to the starting point of weld record

  • 11.73. Movement to the end of the weld record

  • 11.74. Move to the laser sensor to find the site

  • 11.75. Obtain the coordinate information of the laser sensor location

  • 11.76. Example of laser peripheral sensor parameter configuration and debugging code

  • 11.77. Code example of laser trajectory scanning and trajectory reproduction

  • 11.78. Code examples for laser locating and real-time tracking

  • 11.79. Code example of the extended axis synchronized with the robot for laser tracking

• 12. Force Control

  • 12.1. Force Sensor Configuration

  • 12.2. Get Force Sensor Configuration

  • 12.3. Force sensor activation

  • 12.4. Force Sensor Zeroing

  • 12.5. Setting the force transducer reference coordinate system

  • 12.6. Setting the load weight under the force transducer

  • 12.7. Setting the load center of mass under the force transducer

  • 12.8. Getting the load weight under the force transducer

  • 12.9. Obtaining the center of mass of the load under the force transducer

  • 12.10. Automatic zeroing of force sensors

  • 12.11. Obtaining force/torque data in the reference coordinate system

  • 12.12. Obtaining Force Sensor Raw Force/Torque Data

  • 12.13. Force sensor configuration and automatic zero correction code example

  • 12.14. Load weight identification records

  • 12.15. Load weight identification calculation

  • 12.16. Load center of mass identification records

  • 12.17. Load center of mass identification calculation

  • 12.18. Force sensor load identification code example

  • 12.19. Collision Guard

  • 12.20. Collision guard code example

  • 12.21. constant force control

  • 12.22. A code example of constant force control with damping

  • 12.23. Helix Exploration

  • 12.24. Rotational Insertion

  • 12.25. Code Example for Spiral Search, Linear Insertion, and Other Commands

  • 12.26. Linear insertion

  • 12.27. Examples of instruction code for spiral exploration, straight line insertion, etc

  • 12.28. Surface positioning

  • 12.29. Calculation of the center plane position begins

  • 12.30. Calculate end of mid-plane position

  • 12.31. Sample code for surface localization

  • 12.32. Soft control on

  • 12.33. Soft control off

  • 12.34. Soft control code example

  • 12.35. Load recognition filter initialization

  • 12.36. Initialization of load recognition variables

  • 12.37. Load Recognition Main Program

  • 12.38. Getting Load Recognition Results

  • 12.39. Robot load identification code example

  • 12.40. Force Sensor Assisted Drag

  • 12.41. Get force sensor drag switch status

  • 12.42. The force sensor turns on automatically after the error is cleared.

  • 12.43. Force sensor assisted drag code example

  • 12.44. Setting up hybrid drag switches and parameters for six-dimensional force and joint impedance

  • 12.45. Six dimensional force and joint impedance mixed drag code example

  • 12.46. Impedance start and stop control

  • 12.47. Example code for impedance start and stop control

  • 12.48. Enable Torque Compensation Function and Compensation Coefficients

• 13. Extended Axis

  • 13.1. Setting the 485 Extended Axis Parameters

  • 13.2. Getting 485 Expansion Axis Configuration Parameters

  • 13.3. Setting the 485 expansion axis enable/disable

  • 13.4. Setting the 485 Extended Axis Control Mode

  • 13.5. Setting the 485 extended axis target position (position mode)

  • 13.6. Setting the 485 extended axis target torque (torque mode)-not yet available

  • 13.7. Setting the 485 extended axis back to zero

  • 13.8. Clearing 485 Expansion Axis Error Messages

  • 13.9. Get 485 extended axis servo status

  • 13.10. Setting the 485 extended axis target speed (velocity mode)

  • 13.11. Setting the 485 extended axis data axis number in the status feedback

  • 13.12. Setting the 485 Extended Axis Motion Acceleration and Deceleration Speed

  • 13.13. Setting the 485 extended axis emergency stop acceleration and deceleration speeds

  • 13.14. Get 485 Extended Axis Motion Acceleration and Deceleration

  • 13.15. Get 485 extended axis emergency stop acceleration and deceleration speeds

  • 13.16. Extended axis control code example

  • 13.17. Parameter configuration for UDP extended axis communication

  • 13.18. Get UDP extended axis communication parameters

  • 13.19. Load UDP communication

  • 13.20. Offloading UDP communication

  • 13.21. UDP Extended Axis Communication Recovery after Abnormal Disconnection

  • 13.22. UDP extension axis communication is closed after abnormal disconnection.

  • 13.23. UDP Extended Axis Parameter Configuration

  • 13.24. Setting the extended robot position relative to the extended axis

  • 13.25. Setting the extended axis system DH parameter configuration

  • 13.26. UDP Extended Axis Enable

  • 13.27. UDP Extended Axis Zero Return

  • 13.28. UDP Extended Axis Tap Start

  • 13.29. UDP Extended Axis Tap Stop

  • 13.30. Example of UDP extension axis configuration and tapping code

  • 13.31. Setting the reference point of the extended axis coordinate system - four-point method

  • 13.32. Calculating the Extended Axis Coordinate System - Four Point Method

  • 13.33. Reference Point Setting for the Shifter Coordinate System - Four-Point Method

  • 13.34. Shifter Coordinate System Calculation - Four Point Method

  • 13.35. Setting of the calibration reference point in the position in the coordinate system of the end of the translator

  • 13.36. Applying the Extended Axis Coordinate System

  • 13.37. Obtain the 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 extension axes synchronized with robot joint motion

  • 13.42. UDP extension axes synchronized with robot joint motion code example

  • 13.43. UDP extension axes synchronized with robot linear motion

  • 13.44. UDP extension axes synchronized with robot linear motion code example

  • 13.45. UDP extension axes synchronized with robot circular motion

  • 13.46. UDP extension axes synchronized with robot circular motion code example

  • 13.47. Setting the Extended DO

  • 13.48. Setting up Extended AO

  • 13.49. Setting the Extended DI Input Filter Time

  • 13.50. Setting the Extended AI Input Filter Time

  • 13.51. Waiting for extended DI input

  • 13.52. Waiting for extended AI input

  • 13.53. Get Extended DI Value

  • 13.54. Get Extended AI Value

  • 13.55. Extended IO code examples

  • 13.56. Removable Device Enable

  • 13.57. Zeroing of removable units

  • 13.58. Movable unit linear motion

  • 13.59. Movable unit circular motion

  • 13.60. Stopping motion of movable devices

  • 13.61. Portable device code example

  • 13.62. Laser sensor recording points

  • 13.63. Sample code for laser sensor recording points

  • 13.64. Set the synchronous movement strategy of the extended axis and the robot

  • 13.65. Code example for setting the synchronous motion strategy of the extended axis and the robot

  • 13.66. Control array type sucker

  • 13.67. Get the state of the array suction cup

  • 13.68. Wait for the sucker state

  • 13.69. Array type sucker control command code example

  • 13.70. Upload an open protocol Lua file

  • 13.71. Get the slave board parameters

  • 13.72. Write the slave DO

  • 13.73. Write the slave AO

  • 13.74. Read the slave DI

  • 13.75. Read the slave AI

  • 13.76. Wait for the extension DI input

  • 13.77. Wait for extended AI input

  • 13.78. Example of slave mode related interface instruction code

• 14. Weld

  • 14.1. Setting Welding Process Curve Parameters

  • 14.2. Obtaining Welding Process Curve Parameters

  • 14.3. Setting of welding current and output analog correspondences

  • 14.4. Setting the welding voltage and output analog correspondence

  • 14.5. Acquiring the correspondence between welding current and output analog quantity

  • 14.6. Getting welding voltage and output analog correspondence

  • 14.7. Setting the welding current

  • 14.8. Setting the welding voltage

  • 14.9. Setting Oscillation Parameters

  • 14.10. Example code for setting welding parameters

  • 14.11. Instant setup of swing parameters

  • 14.12. The detection parameters of unexpected interruption of robot welding arc were obtained

  • 14.13. Set the detection parameters of robot welding arc unexpected interruption

  • 14.14. Obtain the robot welding interrupt recovery parameters

  • 14.15. Set the robot welding interrupt recovery parameters

  • 14.16. Set welder control mode to expand DO port

  • 14.17. Setting the welder control mode

  • 14.18. Welding Start

  • 14.19. End of welding

  • 14.20. swing start

  • 14.21. end of swing (math.)

  • 14.22. Positive wire feed

  • 14.23. Reverse wire feed

  • 14.24. aspiration

  • 14.25. Set the robot to resume welding after welding interruption

  • 14.26. Set the robot to exit welding after welding interruption

  • 14.27. Sample code for robot welding control

  • 14.28. Segmented welding startup

  • 14.29. Sample robot segment welding code

  • 14.30. Simulated swing start

  • 14.31. End of simulation swing

  • 14.32. Start trajectory detection warning (no movement)

  • 14.33. End trajectory detection warning (no movement)

  • 14.34. Wobble start

  • 14.35. Robot swing gradient welding code example

  • 14.36. Wobble end

  • 14.37. Extended IO-Configuration Welder Gas Detection Signal

  • 14.38. Extended IO-Configuration of welder arc start signal

  • 14.39. Extended IO-Configuration of the welder’s reverse wire feed signal

  • 14.40. Extended IO-Configuration of the welder’s forward wire feed signal

  • 14.41. Extended IO-Configuration of the welder’s arc start success signal

  • 14.42. Extended IO-Configuration Welder Ready Signal

  • 14.43. Extended IO-Configuration Weld Interrupt Recovery Signal

  • 14.44. Example code for setting up extended IO solder signals

  • 14.45. Arc tracking control

  • 14.46. Arc tracking AI passband selection

  • 14.47. Arc tracking + multi-layer multi-channel compensation on

  • 14.48. Arc Tracking + Multi-Layer Multi-Channel Compensation Off

  • 14.49. Offset Coordinate Change - Multi-layer Multi-pass Welding

  • 14.50. Example code for multi-layer multi-pass welding arc tracking

  • 14.51. Selection of AI channels for current feedback in arc tracking welding machines

  • 14.52. Selection of AI channel for voltage feedback of arc tracking welding machine

  • 14.53. Current feedback conversion parameters of arc tracking welding machine

  • 14.54. Voltage feedback conversion parameters of arc tracking welding machine

  • 14.55. Example arc tracking code

  • 14.56. Setting Up the Weld Wire Seek Expansion IO Port

  • 14.57. code example

  • 14.58. Welding wire position finding start

  • 14.59. End of wire position finding

  • 14.60. Calculate the wire finding offset

  • 14.61. Waiting for wire seek to complete

  • 14.62. Wire seek contact points written to database

  • 14.63. Example of robot wire locating code

  • 14.64. Set the welding voltage to start gradually

  • 14.65. Set the welding voltage gradient to end

  • 14.66. Set the welding current to start gradually

  • 14.67. Set the welding current to gradually end

  • 14.68. Robot welding current voltage gradient code example

  • 14.69. Set custom swing parameters

  • 14.70. Gets custom swing parameters

  • 14.71. Custom swing parameter code example

• 15. Others

  • 15.1. Get SSH public key

  • 15.2. Issue the SCP command

  • 15.3. Calculate the MD5 value of a file in a specified path

  • 15.4. Robot SSH, MD5 instruction code example

  • 15.5. Setting the Robot 20004 Port Feedback Cycle

  • 15.6. Get robot 20004 port feedback cycle

  • 15.7. Robot 20004 port state feedback cycle configuration code 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. Download all data sources

  • 15.17. Data backup package download

  • 15.18. Download the controller data code example

  • 15.19. Set up encoder upgrade

  • 15.20. Set up joint firmware upgrade

  • 15.21. Set up control box firmware upgrade

  • 15.22. Set up the end firmware upgrade

  • 15.23. Joint full parameter profile upgrade

  • 15.24. Example of robot slave firmware upgrade code

  • 15.25. Robot Operating System upgrade (LA control box)

  • 15.26. Obtain upgrade results of robot operating system (LA control box)

  • 15.27. Robot MCU log generation

• 16. Appendix

  • 16.1. Source Code Download

  • 16.2. Source Code Compilation

    • 16.2.1. Windows Platform Python SDK Compilation

    • 16.2.2. Linux Platform Python SDK Compilation

  • 16.3. Notes

    • 16.3.1. Potential Issues

      • 16.3.1.1. Version Compatibility

      • 16.3.1.2. Error Codes