Statement

This manual is applicable to atomrobot Delta model robots manufactured by Chenxing (Tianjin)
Automation Equipment Co., Ltd.

Specifications and information relating to products in this manual are subject to change without
notice. All statements, information and recommendations presented in this manual have been
carefully handled, but cannot be guaranteed to be completely correct. The user is completely
responsible for his application of any product. No responsibility is assumed for damages caused by
this manual.

The interpretation of all contents of this manual belongs to Chenxing (Tianjin) Automation
Equipment Co., Ltd.

This manual is not authorized to any party and may not be reproduced or copied in whole or in
part in any way.

Copyright: Chenxing (Tianjin) Automation Equipment

Tel: 022-65181003
Service Hotline：022-65181003
Address: No. 156 Nanhai Road, Binhai New District, Tianjin
 Contents
Contents........................................................................................................................................................ 1

Chapter1 Safety Precautions......................................................................................................................... 2

1.1 General Safety Precautions................................................................................................................. 2

1.1.1 Robot System............................................................................................................................... 2

1.1.2 Security Risks.............................................................................................................................. 2

1.1.3 Security Behavior.........................................................................................................................5

1.1.4 Emergency Stop........................................................................................................................... 8

1.2 Robot Safety Precautions.................................................................................................................... 8

1.2.1 Introduction of Security Signs..................................................................................................... 9

1.2.2 Potentially Fatal Danger...............................................................................................................9

1.2.3 Possible Dangers of Test Operations......................................................................................... 10

1.2.4 Electrical Dangers...................................................................................................................... 10

Chapter2 Login Interface............................................................................................................................ 12

Chapter3 Introduction to Main Interface.................................................................................................... 13

3.1 Operation Mode................................................................................................................................ 13

3.2 Running Status.................................................................................................................................. 14

3.3 Single /Continuous Mode................................................................................................................. 14

3.4 Robot Enable.....................................................................................................................................14

3.5 Emergency Stop Status..................................................................................................................... 15

3.6 Speed Rate.........................................................................................................................................15

3.7 Current Loader Name........................................................................................................................15

3.8 Clear Alarm.......................................................................................................................................15

3.9 Jog..................................................................................................................................................... 16

Chapter4 Project Interface.......................................................................................................................... 17

4.1 Project............................................................................................................................................... 17

4.2 Program.............................................................................................................................................17

4.3 Delete................................................................................................................................................ 18

4.4 Cancel................................................................................................................................................18

4.5 Open.................................................................................................................................................. 18
 4.6 Load.................................................................................................................................................. 18

4.7 Unload...............................................................................................................................................18

4.8 Other..................................................................................................................................................18

4.8.1 Rename.......................................................................................................................................19

4.8.2 Copy........................................................................................................................................... 19

4.8.3 Paste........................................................................................................................................... 19

4.8.4 View number..............................................................................................................................19

Chapter5 Program Interface........................................................................................................................ 20

5.1 Teach.................................................................................................................................................20

5.2 Execute Specified Line..................................................................................................................... 21

5.3 New Instruction.................................................................................................................................21

5.3.1 New Expression......................................................................................................................... 23

5.3.2 New Instruction..........................................................................................................................25

5.4 View Instruction Help.......................................................................................................................25

5.5 Modify Parameters............................................................................................................................26

5.6 Edit.................................................................................................................................................... 26

5.6.1 Copy........................................................................................................................................... 26

5.6.2 Cut..............................................................................................................................................27

5.6.3 Paste........................................................................................................................................... 27

5.6.4 Delete......................................................................................................................................... 28

5.6.5 Disable / Enable......................................................................................................................... 28

5.7 Load.................................................................................................................................................. 28

Chapter6 Variable Interface........................................................................................................................ 29

6.1 Teach.................................................................................................................................................29

6.2 New................................................................................................................................................... 30

6.3 Variable Help.................................................................................................................................... 30

6.4 Edit.................................................................................................................................................... 31

6.4.1 Copy........................................................................................................................................... 31

6.4.2 Paste........................................................................................................................................... 31

6.4.3 Rename.......................................................................................................................................32
 6.4.4 Delete......................................................................................................................................... 32

6.5 Other..................................................................................................................................................32

6.5.1 View Track.................................................................................................................................32

6.5.2 Clear Unused..............................................................................................................................32

6.5.3 Delete Element...........................................................................................................................33

6.5.4 Insert Element............................................................................................................................ 34

6.5.5 Expand....................................................................................................................................... 34

6.5.6 Collapse......................................................................................................................................34

6.6 Variables that the operator can manipulate.......................................................................................35

6.7 Load.................................................................................................................................................. 35

6.8 Variable ordering.............................................................................................................................. 35

6.8.1 Type the sorting......................................................................................................................... 35

6.8.2 Alphabetica the sorting.............................................................................................................. 35

6.9 Variable Filtering.............................................................................................................................. 36

6.9.1 Type filtering..............................................................................................................................36

6.9.2 Name filtering............................................................................................................................ 36

6.9.3 remove........................................................................................................................................36

6.10 Program storage structure versus variable value.............................................................................36

6.11 Variable number..............................................................................................................................38

6.12 Modify program variables at run time............................................................................................ 39

6.12.1 HMI controls modifying variables...........................................................................................40

6.12.2 TCP control modifies variables................................................................................................40

Chapter7 I/O Monitoring Interface............................................................................................................. 43

7.1 Digital IO.......................................................................................................................................... 43

7.1.1 Set the digital output value.........................................................................................................43

7.2 Analog IO..........................................................................................................................................44

7.2.1 Set the analog output value........................................................................................................ 44

7.3 Other..................................................................................................................................................45

7.3.1 Set other output value................................................................................................................ 45

7.4 Custom Name....................................................................................................................................46

 7.5 IO that the operator can manipulate..................................................................................................46

Chapter8 Conveyor..................................................................................................................................... 47

8.1 Conveyor Configuration................................................................................................................... 47

8.1.1 Encoder...................................................................................................................................... 48

8.1.2 Work Area..................................................................................................................................48

8.1.3 Conveyor Coordinate System.................................................................................................... 48

8.2 Teach.................................................................................................................................................49

8.2.1 Teaching Method....................................................................................................................... 49

8.2.2 Five Point Teach........................................................................................................................ 49

8.2.3 Three Point Teach...................................................................................................................... 54

8.2.4 Center of Circle Teach............................................................................................................... 54

8.2.5 Static Teach................................................................................................................................56

8.2.6 Senior Teach.............................................................................................................................. 57

8.3 Data Buffer........................................................................................................................................60

8.4 Data History...................................................................................................................................... 61

8.5 Statistics............................................................................................................................................ 62

Chapter9 Function Block Interface............................................................................................................. 63

9.1 Zero Setting.......................................................................................................................................63

9.1.1 Set axis zero............................................................................................................................... 63

9.1.2 Set joint zero.............................................................................................................................. 65

9.2 Filter.................................................................................................................................................. 66

9.2.1 Restore Default Configuration................................................................................................... 67

9.3 Regional Monitoring......................................................................................................................... 67

9.4 PLC Control...................................................................................................................................... 68

9.5 External Axis.....................................................................................................................................69

9.5.1 Jog.............................................................................................................................................. 69

9.5.2 New............................................................................................................................................ 70

9.5.3 Edit............................................................................................................................................. 70

9.5.4 External axis motion conditions and stop conditions.................................................................71

9.5.5 Send............................................................................................................................................71
 9.5.6 Instruction execution sequence description............................................................................... 71

9.6 TCP Monitor..................................................................................................................................... 71

9.7 Tracking Parameters......................................................................................................................... 73

9.7.1 Configuration Item Description................................................................................................. 73

9.7.2 Configuration Button Description..............................................................................................73

9.8 Object Source Management.............................................................................................................. 74

9.8.1 Camera....................................................................................................................................... 74

9.8.2 Sensor.........................................................................................................................................79

9.8.3 Position Change......................................................................................................................... 79

9.8.4 Virtual object source.................................................................................................................. 79

9.9 Object Allot.......................................................................................................................................80

9.10 Status Monitoring............................................................................................................................82

9.11 Handwheel Function....................................................................................................................... 82

9.12 Variable Cache Configuration........................................................................................................ 83

9.13 Yield................................................................................................................................................84

9.14 Drag and teach................................................................................................................................ 85

9.14.1 Point teach................................................................................................................................85

9.14.2 Trajectory teaching.................................................................................................................. 86

9.15 Watchdog........................................................................................................................................ 87

Chapter10 Control Power............................................................................................................................88

10.1 IO Control....................................................................................................................................... 88

10.1.1 Input / Output Configuration....................................................................................................88

10.1.2 Loader Configuration...............................................................................................................89

10.2 TCP Control.................................................................................................................................... 90

10.2.1 TCP Communication Configuration........................................................................................ 90

10.2.2 TCP Communication Protocol................................................................................................. 91

10.3 ModbusTcp Control........................................................................................................................ 91

10.3.1 Introduction..............................................................................................................................91

10.3.2 Packet Format.......................................................................................................................... 92

10.3.3 Robot Related Functions..........................................................................................................96

 10.3.4 Shared variable operation.......................................................................................................102

Chapter11 Alarm Management.................................................................................................................104

11.1 Current Alarms..............................................................................................................................104

11.2 Historical Alarms.......................................................................................................................... 104

Chapter12 System Interface...................................................................................................................... 106

12.1 User Management Interface.......................................................................................................... 106

12.2 Setting........................................................................................................................................... 106

12.2.1 Shut Down............................................................................................................................. 107

12.2.2 Update System....................................................................................................................... 107

12.2.3 Modification Date and Time.................................................................................................. 108

12.2.4 Communication IP settings.................................................................................................... 108

12.2.5 Lock Screen............................................................................................................................108

12.2.6 Controller IP settings............................................................................................................. 108

12.2.7 MacLicense Setting................................................................................................................108

12.2.8 Control Power Setting............................................................................................................109

12.3 Import/Export................................................................................................................................110

12.4 Version.......................................................................................................................................... 111

Chapter13 Appendix I Instruction System Introduction........................................................................... 112

13.1 Motion Command......................................................................................................................... 112

13.1.1 Ptp.......................................................................................................................................... 112

13.1.2 Line........................................................................................................................................ 113

13.1.3 Circle......................................................................................................................................114

13.1.4 PtpRel.....................................................................................................................................115

13.1.5 LineRel...................................................................................................................................116

13.1.6 LineAbs..................................................................................................................................117

13.1.7 ReturnHome........................................................................................................................... 118

13.1.8 CustomPath............................................................................................................................ 118

13.2 Tracking Function Instruction.......................................................................................................118

13.2.1 WaitObject............................................................................................................................. 118

13.2.2 IsArriveObject........................................................................................................................119
 13.2.3 ObjectDone............................................................................................................................ 119

13.2.4 ObjectCancel..........................................................................................................................120

13.2.5 ObjectFinish........................................................................................................................... 120

13.2.6 ObjectClear............................................................................................................................ 120

13.3 Setting Instruction......................................................................................................................... 121

13.3.1 SetDynamic............................................................................................................................121

13.3.2 SetTransition.......................................................................................................................... 121

13.3.3 SetAcceleration...................................................................................................................... 121

13.3.4 SetCartSys..............................................................................................................................122

13.3.5 SetTool................................................................................................................................... 122

13.4 Input / Output Instruction..............................................................................................................122

13.4.1 SetDout.................................................................................................................................. 122

13.4.2 SetVDout................................................................................................................................122

13.5 Trigger Instruction........................................................................................................................ 123

13.5.1 OnDistanceDO....................................................................................................................... 123

13.5.2 OnPercentDO......................................................................................................................... 123

13.6 Wait Instructions........................................................................................................................... 124

13.6.1 Wait........................................................................................................................................124

13.6.2 WaitIsFinished....................................................................................................................... 124

13.6.3 WaitTime............................................................................................................................... 124

13.7 Process Control Instruction...........................................................................................................125

13.7.1 IF............................................................................................................................................ 125

13.7.2 ELSIF..................................................................................................................................... 125

13.7.3 ELSE...................................................................................................................................... 125

13.7.4 WHILE...................................................................................................................................125

13.8 Assignment Instruction................................................................................................................. 126

13.8.1 :=............................................................................................................................................ 126

13.9 Monitoring Area Command.......................................................................................................... 126

13.9.1 EnableWorkArea....................................................................................................................126

13.9.2 DisableWorkArea...................................................................................................................126
13.10 Palletizer instruction................................................................................................................... 127

13.10.1 ResetPalletizer......................................................................................................................127

13.10.2 NextPalletizer.......................................................................................................................127

13.10.3 SetPalletizerNum................................................................................................................. 127

13.11 PLC Instructions......................................................................................................................... 127

13.11.1 StartPLC...............................................................................................................................127

13.11.2 StopPLC............................................................................................................................... 128

13.12 Communication Instruction.........................................................................................................128

13.12.1 SendTcpData........................................................................................................................128

13.13 Mathematical Operation Instruction........................................................................................... 128

13.13.1 SIN....................................................................................................................................... 128

13.13.2 COS......................................................................................................................................128

13.13.3 TAN..................................................................................................................................... 128

13.13.4 ASIN.................................................................................................................................... 129

13.13.5 ACOS................................................................................................................................... 129

13.13.6 ATAN.................................................................................................................................. 129

13.13.7 LN........................................................................................................................................ 129

13.13.8 EXP...................................................................................................................................... 129

13.13.9 ABS......................................................................................................................................130

13.13.10 SQRT................................................................................................................................. 130

13.14 Operator...................................................................................................................................... 130

13.14.1 +........................................................................................................................................... 130

13.14.2 -............................................................................................................................................ 130

13.14.3 *............................................................................................................................................130

13.14.4 /............................................................................................................................................ 130

13.14.5 AND..................................................................................................................................... 131

13.14.6 OR........................................................................................................................................ 131

13.14.7 XOR..................................................................................................................................... 131

13.14.8 NOT..................................................................................................................................... 131

13.14.9 <........................................................................................................................................... 131

 13.14.10 >......................................................................................................................................... 131

13.14.11 <=....................................................................................................................................... 131

13.14.12 >=....................................................................................................................................... 132

13.14.13 =......................................................................................................................................... 132

13.14.14 <>....................................................................................................................................... 132

13.14.15 ()......................................................................................................................................... 132

13.14.16 []......................................................................................................................................... 132

13.15 Object Information......................................................................................................................132

13.15.1 GetObjectId..........................................................................................................................132

13.15.2 GetObjectAttr.......................................................................................................................133

13.15.3 SetObjectAttr....................................................................................................................... 133

13.15.4 GetObjectInfo.......................................................................................................................133

13.15.5 GetObjectOriginLocation.....................................................................................................133

13.16 Conversion Instruction................................................................................................................134

13.16.1 IntToString........................................................................................................................... 134

13.16.2 RealToString........................................................................................................................ 134

13.16.3 BoolToString........................................................................................................................134

13.16.4 StringToInt........................................................................................................................... 134

13.16.5 StringToReal........................................................................................................................ 135

13.16.6 StringToBool........................................................................................................................135

13.17 Other instructions........................................................................................................................135

13.17.1 GetCacheString.................................................................................................................... 135

13.17.2 GetRobotCurrentEndJointPosition...................................................................................... 136

13.18 Other instructions........................................................................................................................136

13.18.1 GetCacheString.................................................................................................................... 136

13.18.2 CustomAlarm....................................................................................................................... 136

13.18.3 LineSearch........................................................................................................................... 136

Chapter14 Appendix II Variable Types.................................................................................................... 138

14.1 Motion Variable............................................................................................................................ 138

14.1.1 JointPosition...........................................................................................................................138
 14.1.2 TcpPosition............................................................................................................................ 139

14.1.3 JointDistance..........................................................................................................................140

14.1.4 TcpDistance........................................................................................................................... 140

14.1.5 Dynamic................................................................................................................................. 141

14.1.6 Transition............................................................................................................................... 142

14.1.7 CartSys................................................................................................................................... 142

14.1.8 Tool........................................................................................................................................ 143

14.2 Tracking variable.......................................................................................................................... 143

14.2.1 TargetObject...........................................................................................................................143

14.2.2 Conveyor................................................................................................................................144

14.2.3 ObjectSource..........................................................................................................................145

14.2.4 ObjectSort.............................................................................................................................. 149

14.2.5 OverlapFilter.......................................................................................................................... 149

14.2.6 ObjectAllot.............................................................................................................................150

14.2.7 ConditionalControl................................................................................................................ 151

14.3 Regional variable.......................................................................................................................... 152

14.3.1 WorkArea...............................................................................................................................152

14.4 Input and Output Variables........................................................................................................... 153

14.4.1 Din..........................................................................................................................................153

14.4.2 Dout........................................................................................................................................153

14.4.3 VDin.......................................................................................................................................153

14.4.4 VDout.....................................................................................................................................154

14.5 Basic Data Type Variable............................................................................................................. 154

14.5.1 INT......................................................................................................................................... 154

14.5.2 REAL..................................................................................................................................... 154

14.5.3 BOOL.....................................................................................................................................154

14.5.4 STRING................................................................................................................................. 154

14.6 Array variable............................................................................................................................... 154

14.6.1 ARRAY OF INT....................................................................................................................154

14.6.2 ArrayOfTcpPosition...............................................................................................................155
 14.7 Palletizer Variable.........................................................................................................................155

14.7.1 Palletizer.................................................................................................................................155

14.7.2 PalletizerData......................................................................................................................... 157

14.7.3 SeniorPalletizer...................................................................................................................... 159

14.8 Communication Variable.............................................................................................................. 160

14.8.1 TcpConnnect.......................................................................................................................... 160

14.8.2 HardTrigger............................................................................................................................160

14.8.3 Alarm..................................................................................................................................... 161

14.8.4 AxisLimit............................................................................................................................... 162

Chapter15 Appendix III Alarm Information.............................................................................................164

15.1 Serious Error................................................................................................................................. 164

15.2 Error.............................................................................................................................................. 166

15.3 Warning.........................................................................................................................................171

Chapter16 Appendix IV Application example..........................................................................................173

16.1 Palletizing......................................................................................................................................173

16.2 SeniorPalletizer............................................................................................................................. 174

16.2.1 SeniorPalletizer variables created.......................................................................................... 175

16.2.2 Example Configuration Description...................................................................................... 175

16.2.3 Fast configuration.................................................................................................................. 184

16.2.4 SeniorPalletizer example procedures..................................................................................... 186

16.3 Production..................................................................................................................................... 186

16.4 Variable buffer area (realize the function of modifying variables during operation)...................187

16.5 Hard trigger................................................................................................................................... 189

16.6 Area monitoring............................................................................................................................ 192

16.7 Object Allot...................................................................................................................................195

16.8 External axis..................................................................................................................................197

 Introduction

First of all, thank you for using Atomrobot:

This manual contains: Safety precautions, AtomPad operation instructions, Introduction to the
command system, Alarm Information, Applications.

About this manual:

This manual is intended for manufacturers of robots that use this model, including those who
install, adjust, and repair the robot. Anyone installing, adjusting, using, or repairing this robot must
be trained by Chenxing (Tianjin) Automation Equipment Co., Ltd. and have carefully read this
manual before doing any activities on the robot.
 Chapter1 Safety Precautions

The safety precautions in this chapter are divided into two parts.
The first section contains general safety precautions that are generally applicable to all types of
robots, as described in 1.2 General safety precautions.
The second part is about safety precautions for robots, which mainly introduces safety
precautions about robot operation and usage, as described in 1.3 Robot Safety Precautions.

1.1 General Safety Precautions

1.1.1 Robot System

This section does not cover how to design and install the robot, nor does it cover peripheral
equipment that affect the safety of the robot. For the protection of those using it, the robot should be
designed to comply with the standards and laws of the region and country in which it is located.
Companies and individuals using Atomrobot should familiarize themselves with the standards
and laws of their region and country, and install appropriate safety features to protect the robot's
users. Users should be familiar with the instructions for using the robot system. However, even if the
operator follows all the safety information given in the manual exactly, Atomrobot cannot guarantee
that the operator will not be harmed in any way.

1.1.2 Security Risks

1.1.2.1 Introduction

This section contains information about the dangers that can occur in the installation and service
work of the robot.
Security risks when installing, servicing robots.
1. Safety precautions regarding the robot are detailed in the Installation and Maintenance
section.
2. The emergency stop button of the system must be in the easy to touch location, in case of
accidents can stop the robot emergency.
3. The operator must be sure that the installed safety measures are available.
4. The operator must be trained to install and operate the maintenance robot.
5. The specifications of atomrobot’s robot must also comply with the standards and legal rules
of the region and country.
 Non-voltage risks.
1. Safety area need to be identified prior to robot installation and need to be delineated prior to
robot installation.
2. Protective measures or fences are needed to keep the operator outside the robot's working
area (signs such as " Staff Only ", " Restricted Area ", "High Voltage Danger", etc. are placed in the
relevant area).
3. No hanging objects above the robot to prevent dropping and damaging the robot and other
equipment.
4. When disassembling the robot, be aware of objects that may fall from the robot and injure
people.
5. Beware of burns from hot components in the electric control cabinet.
6. It is forbidden to use the robot as a ladder when servicing it and not to climb on it to prevent
falling.
7. High temperatures in the reducer and splashing of high-temperature fluids can cause human
injury.
8. It is strictly forbidden to move the shaft of the robot.
9. It is strictly forbidden to lean on the electric control cabinet or touch the buttons at will to
prevent the robot from unpredictable action that may cause personal injury or equipment damage.
Integrator Security Considerations.
1. The integration supplier must confirm that all safety circuits are interlocked with the safety
circuits of the external application.
2. The integration supplier must confirm that the emergency stop safety circuit is interlocked
with the external application safety circuit.
Integrated Robotics
Security Risks Specific description
Servo motors and Reducers generate high temperatures
after long periods of operation, and touching these parts
High temperature components can easily result in burns. Robots warm up faster in
high-temperature environments, and burns are more
likely to occur.
Take measures to ensure that the robot does not
collapse when certain parts are removed (e.g. when
Removing certain parts can easily
removing 1, 2 or 3 shafts motors, the active and driven
cause the robot to collapse
arms need to be secured to prevent the robot from
falling over)
Cable
 Security Risks Specific description
The cable is easily damaged by machinery, so special
The cable is fragile and easily care should be taken when transporting, storing and
damaged using the cable to damage it, especially the connector
part.
Motors Reducers
Security Risks Specific description
No matter when disassembling a motor reducer, or
The reducer is easily damaged by when installing a motor reducer. The reducer is prone
improper external forces to damage under excessive and improper external
forces.

1.1.2.2 Pay Attention to the Parts of the Robot that tend to Heat Up

Many parts of the robot get hot during normal operation, especially the servo motor and reducer
parts, and sometimes the parts near these two parts get hot, so touching these parts can cause burns.
As the environmental temperature becomes higher, more of the robot's surface will become very hot
and easy to cause burns.
Security measures:
1. Touch these parts with your hands before feeling the temperature of these parts with your
hands close to these parts to prevent burns.
2. Wait enough time after a shutdown for the hot part to cool down before performing work
such as repairs.

1.1.2.3 Safety Precautions Regarding Removal of Parts

Safe operation: Open the cover or protection device after confirming that the gears and other
internal parts are no longer rotating or moving, and do not open the protection device while the gears,
bearings, etc. are rotating.
Safety design: If necessary, use auxiliary devices to keep the internal parts that are no longer
fixed from their original location.

1.1.2.4 Safety Precautions Regarding Pneumatics/Hydraulics

Introduction: This paragraph is about the safety of the pneumatic/hydraulic system

accompanying the robot
Residual energy: After shutting down the air supply or hydraulic pump, there are residual
gases/fluids in the pneumatic/hydraulic system that gas/ liquid has a certain amount of energy, to
take certain measures to prevent residual energy to cause harm to humans and equipment, in the
maintenance of air pressure and hydraulic components before the residual energy in the system needs
to be released.
Safety design: to prevent components from falling and hydraulic oil from flowing.
The need to install safety valves in case of accidents.
Need to prevent maintenance tools from dropping.

1.1.2.5 Risks during Operation

Introduction: Industrial robots are flexible systems that can be used in many industrial
applications. All work must be operated by professionals and follow certain safety guidelines. Care
must be taken at all times when operating.
Highly qualified operators: Industrial robots must be operated by professionals who are familiar
with the entire system and understand the risks involved in each subsystem.
Risk of abnormal: If an abnormality occurs under normal working procedures, special care
should be taken at this point.

1.1.2.6 Electrical Risks

Although in many cases it is necessary to turn on the power during troubleshooting. However,
when actually servicing the robot, it is necessary to turn off the power and disconnect other power
connections.
The robot's main power supply needs to be installed outside the robot's working range so that
the operator can shut down the robot outside the robot's working range even if the robot goes out of
control.
High voltage dangers that operators need to be aware of:
1. Power lines for servo motors.
2. Electrical dangers of power cables connecting fixtures and other devices Fixtures, external
devices, etc. It is possible that the robot's external devices may still be running after the robot is shut
down, so the power cables of external devices can also be personally injured or the power cables
damaged.

1.1.3 Security Behavior

1.1.3.1 Safety Measures

 Fences and warning signs need to be installed around the robot's working area to ensure that the
robot works safely, to prevent the entry of unoccupied people and to prevent the robot from injuring
people.
Safety measures: Setting up safety measures requires considering that the workpiece held by the
robot will cause injury to personnel if it is thrown off.

1.1.3.2 Fire Danger

Caution: A carbon dioxide extinguisher needs to be placed on site in

case the robot system catches fire.

1.1.3.3 Emergency Disassembly Robot Arm

Description: In an emergency situation, any of the robot's arms get caught on the operator and
need to be removed. (See Chapter 5, Maintenance for details on removal steps.) Smaller robot arms
can be removed manually, but larger robots require the use of a crane or other equipment.
Secondary injury: Before releasing the joint holding brake, the mechanical arm needs to be
fixed to ensure that the mechanical arm will not cause secondary injury to the trapped person under
the effect of gravity.

1.1.3.4 Holding Brake Detection

Why testing: In normal operation, the holding brake usually wears out, which requires testing of
the holding brake.
Check the holding brake steps:
1. Move the robot joints to the location where the joints are subjected to the maximum load.
2. Closing the robot so that the holding brake opens.
3. Marking of the joints.
4. See if the robot joints move after a while.

1.1.3.5 Safe Use of Teach

 Caution: When enabled a PWR button on the oscillator, when pressed, servo
motor on enable; when disconnected, servo motor off enable.

To ensure the safe use of the Teach, the following rules need to be followed.
1. The enable button must not be deactivated at any time.
2. Enable the need for timely disconnection during programming or testing.
3. Teachers are required to take the Teach with them when they enter the robot's work area so
that others cannot move the robot without the programmer's knowledge.
Turn off enable promptly whenever the robot is temporarily stopped or when programming or
testing.

1.1.3.6 Work within the Working Range of the Robot

DANGER: If work must be performed within the robot's working range, the
following rules need to be followed

1. Mode is selected as manual mode before it can be on enable and disconnect other automatic
controls such as computer control.
2. When the robot is in manual mode, the speed must be limited to 250 mm/s or less.
3. When the robot needs to be set to manual full speed, it should only be operated by
professionals who have a full understanding of the risks.
4. Pay attention to the rotating joints of the robot to prevent hair and clothes from being caught
in the joints.
5. Also be aware of other danger that may be caused by the movement of the robot, or other
supplementary equipment.
6. Testing the motor holding brake for proper operation to prevent personal injury caused by
abnormalities in the robot.
7. Consider contingency plans in the event that the robot suddenly moves toward the
orientation it is in; ensure that hiding places are set up just in case.

DANGER: Do not stand under any robot arm under any circumstances in case
the robot moves abnormalities or someone else moves to enable it.
1.1.4 Emergency Stop

Definition of Emergency Stop.

Emergency stop is independent of all robot electrical controls and can stop all robot movements.
An emergency stop means that all the power connected to the robot is disconnected, but the
power to the holding brake on the servo motor is not. You must release the emergency stop button
and turn the robot back on so that the robot can operate again.
Emergency stops in robotic systems need to be distinguished from.
1. A uncontrolled emergency stop that stops the robot by cutting power to all servo motors.
2. A controlled emergency stop, by giving the servo motor command to stop the robot, that
way the robot can finish the path, when finished the path, the servo motor stop power supply.

Caution: The emergency stop can only be used when it is really needed and is
really an emergency.

Caution: The emergency stop cannot be used for usual program stops,
shutting down the robot, etc.

Emergency stop button

There are several emergency stop buttons in the robot system that can be used to stop the robot
in an emergency. There is a red button on both the teach and the electrical control cabinet (shown
below). Of course, users can also set their own emergency stop buttons as needed.

1.2 Robot Safety Precautions

Before using the machine (installation, operation, maintenance and service), please make sure to
read and master this manual and other supplementary information, and start using the machine after
you are familiar with all the equipment knowledge, safety knowledge and precautions. The safety
precautions in this manual are divided into "Danger", "Caution", "Mandatory" and "Prohibited". The
four categories are recorded separately.
1.2.1 Introduction of Security Signs

Danger
There is a danger of serious injury or even death in case of misoperation.

Caution
Dangerous in case of misoperation, moderate injury, minor accident or object damage may occur.

Mandatory
Matters for which compliance is mandatory.

Prohibition
Absolutely prohibited matters.

Important
In order to ensure safe and effective operation, the user must comply with the matters that will be
described in the relevant place.

1.2.2 Potentially Fatal Danger

Introduction: Any running robot is a potentially deadly machine. When in operation, the robot
may have unpredictable movements, and all movements have strong forces that may cause serious
injury to people within the work area or damage to equipment.
 Avoidance: Before preparing the robot for work, test the reliability of each safety measure
(holding brake).
Safety measures include safety gates, holding brake, and safety lights.
Avoidance measures: Before turning on the robot, make sure there are staff only within the
robot's working range.

1.2.3 Possible Dangers of Test Operations

Introduction: Because the robot needs to be disassembled for repair service work, there are
several risks to consider for the first test job after the repair work is completed.
Measure: The following steps need to be followed for the first test after repair, installation,
maintenance and other services.
1. Cleaning of all maintenance and installation tools on the robot and within the working area
of the robot.
2. Installation of all security measures.
3. Ensure that everyone stands outside the safety of the robot.
4. When testing, special attention should be paid to the working condition of the repaired parts.

Caution: When the robot go through the program, pay special attention to
potential interference dangers.

1.2.4 Electrical Dangers

Introduction: The electrical control cabinet is the hub of the control robot. Any misuse of the
cabinet may result in electric shock and robot malfunction, which in turn may cause harm to people
and equipment.
Dangers:
1. Never lean on an electrical or other control cabinet.
2. Do not press the operation keys randomly. Failure to do so may result in unanticipated
movements of the robot, which may cause personal injury and equipment damage.
3. During operation, never allow non-staff to touch the electrical control cabinet. Failure to do
so may cause the robot to produce unanticipated movements, which may result in personal injury and
equipment damage.
4. Protective measures must be taken when wiring and piping between the electronic control
cabinet, robot and peripheral equipment, such as pipe, line or cable through the pit or adding a
protective cover to cover it so that it will not be stepped on by people or run over by forklifts.
Operators and other personnel may trip over lines, cables or piping and damage them, which may
cause abnormal robot movements and result in personal injury or equipment damage.
5. When installing a tool on the robot, be sure to disconnect the power to the control cabinet
and the tool, lock the power switch and hang a warning sign. If the power is turned on during the
installation process, it may cause electric shock, or it may cause abnormal robot movement, which
may result in injury.
6. Before operating the robot, press the emergency stop button on the front door of the control
cabinet and the upper right side of the programmer to check if the "servo ready" indicator is off and
to confirm that the power is off.
 Chapter2 Login Interface

Select user → Enter password → Enter the system.

Users are divided into administrator, adjuster and operator according to their permissions.
Administrator have the highest permissions and operator have the lowest permissions. The default
password of the administrator is m, and the user password can be set by himself. Please refer to the
user management interface for password setting.

Figure 3.1 login interface

 Chapter3 Introduction to Main Interface

Figure 3.1 introduction to main interface

3.1 Operation Mode

Type: Manual mode, Auto mode.
Click the "operation mode" button to select the operation mode, as shown in the following
figure

Figure 3.2 operation mode interface

3.2 Running Status
Type: Operation status, stop status and pause status.
Pause: Click the start button after pause, and the program will continue to run from the
suspended location.
Stop: After stopping, set the current execution line of the program to the first line, and click the
"start" button to start the program from the first line.

3.3 Single /Continuous Mode

Type: Single step mode, continuous mode.
Click the "Single/Cont." button to select the operation mode, as shown in the following figure

Figure 3.3 Single /Continuous Mode interface

3.4 Robot Enable

Enable state

Type: Enable state and non enable state.

Enable: The enable status displays "enable" and the background color is green.
Non enable: The enable status displays "non enable", and the background color is red.
Note: the robot can only run when it is enabled.

Enable operation

Manual mode: In manual mode, press the Yellow three-stage switch on the back of the
teaching pendant to enable the robot shaft, release the switch to enable the robot shaft, or press the
switch to the third stage to enable the robot shaft.
 Automatic mode: In automatic mode, click the "enable" button in the upper right corner of the
interface to enable the robot shaft, and click the "enable" button again to enable the robot shaft.
Note: the three-stage switch can be enabled only when it is in the second stage.

3.5 Emergency Stop Status

Type: Emergency stop status, non emergency stop status.
Emergency stop: The emergency stop status displays "E-Stop", and the background color is
red.
Non emergency stop: The emergency stop status displays "Non E-Stop".
Note: the robot cannot run under the emergency stop state. In case of danger, please press the
"emergency stop" button in time.

3.6 Speed Rate

Speed magnification range: 0-100%. When the dynamic parameters do not change, increasing
the speed rate can improve the running speed of the manipulator.
Operation: Click the "Speed Rate" button to pop up the interface as shown in the figure below.
There are five gears to select: 1%, 10%, 50%, 80% and 100%.

Figure 3.4 speed multiplier gear

Note: V + / V - will have a certain time delay during the operation of the program.

3.7 Current Loader Name

Display format: Project name. Program name.

3.8 Clear Alarm

The "Clear" alarm button can clear some alarms.
When the alarm cannot be cleared, a dialog box that cannot clear the alarm will pop up.
3.9 Jog
Click the "Jog" button to pop up the jog operation interface as shown in the figure below.

Coordinate
Switch

Figure 3.5 joint jog Figure 3.6 coordinate system jogging Figure 3.7 shaft jogging

"Jog" button can switch the jog mode: Joint jog (J1, J2, J3...), coordinate system jog (X, Y, Z, A,
B, C) and shaft jog (D1, D2, D3...). When the coordinate system jog, the bottom coordinate button
can switch the jog coordinate system, such as base coordinate system, world coordinate system and
other user-defined coordinate systems. The user-defined coordinate systems include: the coordinate
system of the current loader and the global coordinate system.

Pattern Use Method

Manual Single Step When Joint jog: Click the button and the location changes by 0.1
degrees.
When jog in the world coordinate system: Click the button once, and
the location changes by 0.1mm.
Shaft jog: Click the button and the location changes by 0.1 degrees.
Manual Continuous Press and hold the button to action, release the button to stop the
movement.
Note: jog is only allowed in manual mode.
 Chapter4 Project Interface

Root Directory

Project

Program

Figure 4.1 project interface

4.1 Project
Projects are used to manage programs and project variables. Each project can contain multiple
programs and multiple project variables.

4.2 Program
Write control logic.

Pattern Usage Method

Automatic Click the "start" button to execute an instruction
Single
Automatic Click the "start" button to switch to the stop state after executing all instructions
Continuous
Manual Press and hold the "start" button to run the program. Release the button to
Single switch to the pause state. If the execution of the last line of instructions of the
program is completed when the button is released, switch to the stopped state
 Note: pressing and holding the "start" button all the time can only execute one
instruction. You must release the "start" button and press and hold the "start"
button again to execute the next instruction
Manual Press and hold the "start" button to execute the program, and switch to the stop
Continuous state after executing all instructions without releasing the "start" button

4.3 Delete
Delete project or program.
Loaded projects cannot be deleted; The programs under the loaded project cannot be deleted;
Low privilege users cannot delete programs created by high privilege users.

4.4 Cancel
Cancels an item or program. If the program is deleted, the program can be cancelled. If an item
is deleted, the item can be cancelled.
 Deleted items/programs can only be undone one step. If the project is deleted, the deleted project
is automatically selected. If the program is deleted, the deleted program is automatically
selected.
 If the name of the deleted project/program is the same as that of the project/program on the
interface, the deleted project/program is automatically renamed and _new is added to the name
of the deleted project/program.
 The program under the project is irretrievably loaded. It can be undone only after the project is
uninstalled.
 After a program is deleted, if the program is renamed, the program is irrevocable.

4.5 Open
Open the program, you can edit the program, but you can't run the program.

4.6 Load
Loading project and program, loading project is to send the program under the project to the
controller, and the controller executes the program in the loading project; The loaded program can be
edited and executed, and only the loaded program can run.

4.7 Unload
Unload the project.

4.8 Other
Including rename, copy, paste, program wizard, view number.
4.8.1 Rename

Rename projects and programs. The loaded project and all programs under it cannot be renamed;
Low privilege users cannot rename programs created by high privilege users.

4.8.2 Copy

Copy projects and programs.

4.8.3 Paste

Paste and copy the program; Paste the copied project.

4.8.4 View number

Project Numbering Rules:

The numbering starts from 1; when a new project is created, the numbering of the project is the
maximum number of all current projects + 1.
For example: all existing 7 projects, the number of the new project is 8.
Program Numbering Rules:
Numbering starts from 1;
Take the project as the unit, that is, the program number is unique in the project, any project can
have a program numbered 1, but there can only be one program numbered 1 in a project;
When creating a new program, the program number is the maximum value of all program
numbers in the project to which the program belongs + 1.
View numbering operations:
Select Root to view the numbers of all projects; select an item to view the numbers of all
programs in the project; select a program to view the numbers of the current program.
 Chapter5 Program Interface

The program interface displays the currently loaded program, as shown in the figure. Line 8 is
the currently executed line (the background color is green), and line 10 is the currently selected line
(the background color is blue).

Program

Line No:

Figure 5.1 program interface

5.1 Teach
Teach variables or member variables that can be teach in the instruction (Please refer to teach
section).

Operation steps

Select the instruction containing motion variables of JointPosition type, and click the "teach"
button to pop up a dialog box. Select "Confirm" to teach, and select "Cancel" not to teach.
Select the instruction containing TcpPosition type variable or member variable, and click the
"teach" button to pop up a dialog box, as shown in Figure 5.2. Select the reference coordinate system,
select "Confirm" to teach, and select "Cancel" not to teach.
 Figure 5.2 program teaching

5.2 Execute Specified Line

Sets the currently selected line as the current execution line.

Operation steps

Select the instruction to be executed and click the "set line" button. When you click the "start"
button, the program starts from the set line.

5.3 New Instruction

New instructions are divided into new expressions and new instructions. The new expression
method is for the following instructions: OnDistanceDO, OnPercentDO, ELSEIF, ELSE, WHILE
and: =, etc.
At present, all instructions are displayed in three pages, as shown in Figure 5.3, Figure 5.4 and
Figure 5.5.
Figure 5.3new instruction 1

Figure 5.4 new instruction 2

 Figure 5.5 new instruction 3

5.3.1 New Expression

Operation steps

(1) Click the "new" button and select the instruction type (taking: = instruction as an example),
as shown in Figure 5.4;
(2) Click "confirm" to enter the instruction editing page, as shown in Figure 5.6;
(3) Click the "change parameter" button, and there are several options such as variable,
instruction, number and string, as shown in Figure 5.7;
(4) Select a variable, switch to the variable page, select an existing variable or a new variable,
and click “Confirm”;
(5) Return to the edit page, modify other parameters, and click “Confirm” after completing the
instruction parameters.
 Figure 5.6 expression editing interface

Edit button instructions

Change parameters: There are variables, instructions, numbers and string selections, as shown
in Figure 5.7;
Variable: Jump to the variables page and select existing variables or new variables as
parameters;
Instruction: Jump to the instruction page and select the instruction as the parameter;
Number: Pop up the numeric keypad and input numbers as parameters;
Character string: Pop up the numeric keypad and enter the string as the parameter;

Figure 5.7 parameter change interface

Delete: Delete parameters and operators.

New operator: Insert the operator, as shown in Figure 5.8.
Replace operator: Change the operators in the expression, and the operators can only be
switched at the same priority. The replaceable operators are as follows:
+And – replaceable; *And / replaceable; <, < =, > =And > replaceable; =And < > replaceable;
 Figure 5.8 operator interface

5.3.2 New Instruction

Operation steps

(1) Click the "new command" button and select the command type (take the line as an example),
as shown in Figure ;
(2) Click “Confirm” to enter the instruction edit page, as shown in Figure ;
(3) Select an existing variable or create a new variable;
(4) Click “Confirm” after completing the instruction parameters.

Figure 5.9 command editing interface

Note: for the "teach" button in the instruction edit interface, you must select JointPosition,
TcpPosition, CartSys variable or member variable to teach.

5.4 View Instruction Help

When having a new instruction, click the "detailed description" button in Figure to jump to
the help page of the instruction, taking PTP instruction as an example, as shown inFigure .
 Figure 5.10 instruction introduction interface

5.5 Modify Parameters

Modify the variable or variable value referenced in the instruction.
Operation steps: Click the "modify parameter" button to pop up the instruction edit interface to
modify the variables or expressions in the instruction.

5.6 Edit

5.6.1 Copy

Copies one or more selected instructions. Support copy within the same program and
cross-program copy under the same project.
Note: when copying, only instructions with complete instruction structure can be copied; Such
as if and end_If is a complete structure, only if is incomplete. As shown in Figure , if 7 lines is
selected, it will prompt "the currently selected instruction is not a complete instruction".
 Figure 5.11 copy description interface

5.6.2 Cut

Cut one or more selected instructions. The precautions are the same as copying. Support cut
within the same program and cross-program cut under the same project.

5.6.3 Paste

Paste the copied or cut instruction. The pasted instruction is inserted above the currently
selected line. Incomplete instructions cannot be pasted. As shown in Figure , if you copy the
instruction in line 10-13 and select the instruction paste in line 6, you will be prompted with
"instruction logic is incomplete".
When copying instructions across programs, the program variables in the instructions need to be
copied at the same time. The naming rules of program variables refer to the renaming of referenced
variables during pasting.
 Figure 5.12 paste description interface

5.6.4 Delete

Delete one or more instructions. Precautions are the same as replication.

5.6.5 Disable / Enable

Disable one or more instructions. Precautions are the same as replication.

Enables one or more instructions. Precautions are the same as replication.

5.7 Load
After modifying the program, you can click the load button to load the modification of the
current project into the controller.
 Chapter6 Variable Interface

Figure 6.1 variable interface

Variable categories: global variables, project variables, program variables, global variables and
6 default global variables and one output variable as shown in Figure 6.1 Variable interface, the
default global variables can only be used and cannot be changed.
Variable name format:
Variable custom name: variable type. Such as default_base_cart_cart_sys: CartRefSys.
default_base_cart_sys: base coordinate system, the origin of the base coordinate system is at the
center of the static platform.
default_world_cart_sys: The world coordinate system, which coincides with the base coordinate
system.

6.1 Teach
Teach variable or teach variable member. Variable types that can be taught include cartsys,
JointPosition, TcpPosition, these types can also be taught as members of other variables.
 Such as cartsys variable; Cart_Sys in conveyor variable; Each element in the
arrayofTcpPosition array can be taught.
Notes: when teaching TcpPosition type variable or member variable, you need specify the
coordinate system of the teaching reference.

6.2 New

Operation steps

(1) Click "new" to enter the variable type interface, as shown in Figure 6.2;
(2) Select the variable and click “Confirm”.

Figure 6.2 variable type interface

6.3 Variable Help

When creating a new variable, click the "detailed description" button in Figure 6.2 to jump to
the help page of the variable. Take the targetobject variable as an example, as shown in Figure 6.3.
 Figure 6.3 variable introduction interface

6.4 Edit

6.4.1 Copy

Copy a variable. It supports cross program replication, cross project replication, global variables
can be copied as program variables, and program variables can be copied as global variables.
Note: when copying the conveyor variable, the object source parameter of the copied variable is
empty.

6.4.2 Paste

Paste the copied variable.

Rename referenced variables when pasting

If the copy of the reference variable is included in the pasting process, and the reference
variable name has been occupied in the current range, the system will rename the reference variable.
Renaming rule: add a suffix to the original variable name _New number. For example:
The coordinate system variable FR1 in the program test refers to the coordinate system FR2;
When FR1 is copied to the program mem, FR2 will be copied at the same time. If the program
mem contains a variable named FR2, FR2 will be renamed FR2_new;
 If the program mem contains a variable named FR2_New, rename FR2 to FR2_New suffix is a
number starting from 0;

6.4.3 Rename

Rename a variable.

6.4.4 Delete

Deletes the specified variable. Only variables that are not used by programs or other variables
can be deleted.

6.5 Other

6.5.1 View Track

View the track of the arrayofTcpPosition type variable. Select the arrayofTcpPosition type
variable and click the "track" button in "other", as shown in Figure 6.4.

Figure 6.4 TCP array trace interface

6.5.2 Clear Unused

Clear unused variables.

Select the program to clear unused program variables; Check root to clear unused global
variables.
 You cannot clear unused variable types: WorkArea、ObjectSource、ObjectSort、ObjectAllot、
ObjectEvent、ConditionalControl、OverlapFilter、TcpConnect、HardTrigger.

6.5.3 Delete Element

Delete array elements.

Delete step

Select the process array element and click "delete element" in "other" to pop up the delete array
element dialog box, as shown in Figure 6.5. In which, the modification types are forward, current
element and backward.

front

Figure 6.5 interface for deleting array elements

Delete Principle

(1) When you select forward and backward deletion, the deletion length can be entered by
yourself, and the current element is not included during deletion; When the current element is
selected, the deletion length cannot be selected. Only the current element can be deleted;
(2) When deleting forward, if the deletion length exceeds the previous number of current
elements, adjust the deletion length and prompt whether to continue to delete;
(3) When deleting backward, if the deletion length exceeds the number after the current element,
adjust the deletion length and prompt whether to continue to delete;
 (4) If one element remains after deleting, it is not allowed to be deleted, and a pop-up prompt
will be displayed.

6.5.4 Insert Element

Insert array elements. Insert a specified number of elements before or after the currently
selected element, as shown in Figure 6.6.

front

Figure 6.6 inserting array elements

6.5.5 Expand

Expand the display variables page node.

Expansion principle: only the next level nodes of the selected node are expanded.
There is a program test in the project pp, and there are variables in test. When pp is put away,
click "expand", as shown in Figure 6.7.

Figure 6.7 expanded interface

6.5.6 Collapse

Collapse the display variables page node.

Collapse principle: collapse nested nodes such as the selected node, its child nodes and the child
nodes of the child nodes.
 Before Collapsing, as shown in Figure 6.8, click " Collapse" and then click the expansion icon
in front of the item, as shown in Figure 6.7.

Figure 6.8 interface before folding

6.6 Variables that the operator can manipulate

If you need to view and modify the specified variable in the operator interface,tick the
corresponding item.

6.7 Load
Reload the currently loaded project into the controller.

6.8 Variable ordering

Sort variables in all programs.
Note: The sorting function does not include default global variables. Regardless of the sorting
method selected, the display position of default global variables remains unchanged. Type sort and
alphabetic sort are mutually exclusive, that is, the two sorting methods cannot be used together.

6.8.1 Type the sorting

Sort variables in ascending alphabetical order by type, grouped together.

For example, the variables of Aout, REAL, and Alarm are sorted as Alarm, Aout, and REAL

6.8.2 Alphabetica the sorting

It is case insensitive and has ascending and descending order.

If the variable name list is ddd, aa, ab, def, ss, then aa, ab, ddd, def, ss is sorted
6.9 Variable Filtering
Filter variables according to different requirements. It can be divided into type filtering and
name filtering. The two filters are an or relationship, that is, variables that meet the type filter and
name filter requirements are displayed.

6.9.1 Type filtering

Filter display of variable type groups or specified variable types.

6.9.2 Name filtering

Displays a case-insensitive variable containing the name selection.

For example, if the variable name list is ABC, CDB, and AFDB, the user enters B in the name
filter box to display the variables ABC and AFDB

6.9.3 remove

Restore the default display, that is, when the interface was first running.

6.10 Program storage structure versus variable value

The HMI is successfully connected to the controller.
First of all, the comparison of the storage structure of the program, such as variables, instruction
changes. If they are inconsistent, the system prompts whether to load and replace them, as shown in
the following figure.

Figure 5.9 Comparison between HMI program and controller program structure

 "Upload and create": refers to uploading the project of the controller to the HMI and creating a
new project that is the same as the uploaded project, so there is no need to compare the
variables.
 "Download and replace" : the HMI program is loaded and replaced to the controller, without the
need for variable value comparison.

 ”Cancel“: No operation is performed, and the lower and upper computers remain in the current

state respectively.
 Note: the robot always runs the program in the controller.
Second, if the program storage structure is consistent, the variable values are compared. If the
variable values are inconsistent, a dialog box is displayed, as shown in the following figure.

Figure 6.10 Compare the HMI variable value with the controller variable

 "Details", the window will display the values of controller variables and HMI variables in
specific variables, as shown in the following figure.
 "Upload and create" refers to uploading the project in the controller to the HMI, and creating a
new project in the HMI that is the same as the uploaded project.
 "Upload and replace" refers to the replacement of HMI variable values by variable values in the
controller.
 "Download and replace" means that the HMI variable value replaces the variable value in the
controller.
 "Cancel" means to do nothing.
 Figure 6.11 Comparison of HMI variable values with controller variables - Details

6.11 Variable number

Variable numbers were added to support runtime modification of variables.
Variable number definition:
A numbered list of variables or variable members with a hierarchical structure, i.e. item number
- program number - variable number - variable member number.
Variable numbering rules:
Numbering starts from 1;
Take the program or global or project as the unit, that is, the variable number is unique in the
program or global or project, any program or global or project can have a variable numbered 1, but a
program or global or project can only have a variable number 1. There is a variable numbered 1;
When creating a new variable, the variable number is the maximum value of all variable
numbers in the program or global or project to which the variable belongs +1.
The project number and program number of global variables are 0; the program number of
project variables is 0; the number of variable members is fixed.

Table 6.1 Examples of variable numbers

Variable Category Naming Rules

Global variables Default product variables are numbered 0-0-7

The program number to which the project variable belongs is 0, the project
Project variables number to which the program where the variable belongs is 2, and the variable
number is 2, the number is displayed as 2-0-2
The program number to which the variable belongs is 1, the item number of the
Program variables program to which the variable belongs is 2, and the variable number is 2, the
number is displayed as 2-1-2

View variable operations:

Figure 6.13 View variable numbers

6.12 Modify program variables at run time

Supports runtime modification of program variables, which can be modified under HMI or TCP
control.
The following variable members are not supported for runtime modification:
 Read-only members cannot be modified;
 Reference members cannot be modified;
 Id and attr in TargetObject variables cannot be changed;
  The members of all variables in input and output types cannot be changed.
 Conveyor belt model and resolution

6.12.1 HMI controls modifying variables

Under HMI control, variables cannot be modified at the default runtime; If you need to modify,
select "Others → Modify variables" to directly modify the values of all program variables, as

shown in the following figure.

Figure 6.14 HMI controls modifying variables

6.12.2 TCP control modifies variables

TCP control variable can be modified by sending instructions to modify the value of the
variable, as follows:
(1) Select TCP control in the function block, select connection type as "server" and data type as
"Simple String", as shown in the following figure.
 Figure 6.15 Example of configuring TCP control

(2) TCP control can be realized when HMI is switched to TCP control mode and HMI control is
obtained.
(3) You can view the number of variables through the methods in Chapter 6.1.1 and send fixed
format instructions to modify the variable value. Single or multiple modifications are supported. The
input values are separated by commas and end with semicolons. The punctuation is half width
(English punctuation).
Single: [set_variable_of_number, number length, item number, program number, variable
number, variable parameter number, value;]
More than one: [set_variable_list_of_number; n, number length, item number, program number,
variable number, variable parameter number, value, Number length, item number, program number,
variable number, variable parameter number, value;]

n: Modify the number of variables.

The serial number is 1:1 to 1-7-2. The serial length is 4.
The serial number is 2-1-7-2-3 and contains 5 characters.
After sending the command, the feedback value will be received in the TCP sender and THE
TCP control part of the HMI function block respectively. If the feedback value is 1, the modification
 is successful. If the feedback value is 0, the modification fails. The following table lists specific
command examples.
Table 6.2 Example of sending instructions

Variable
Serial
to be For example
number
modified
Send set_variable_of_number,4,1,2,7,1,15;
Sender
test.men.
1-2-7-1 feedback
pos_2_l.y
HMI
feedback
Send set_variable_list_of_number,2,4,1,2,7,1,4,4,1,2,7,2,5;
test.men. Sender
pos_2_l.x 1-2-7-1
feedback
test.men. 1-1-7-2
pos_2_l.y HMI
feedback
 Chapter7 I/O Monitoring Interface

The I/O monitoring interface displays all I / O modules.

7.1 Digital IO

Figure 7.1 Digital IO monitoring interface

7.1.1 Set the digital output value

(1) Click the value column and modify the check status of the check box to change the value of
an output;
(2) Click the "Set VDout" button to set all virtual digital outputs to high level;
(3) Click the "Restore VDout" button to restore the IO level to the virtual digital output value.
(4) Click the "Set Dout" button to set all actual digital outputs to high level;
(5) Click the "Restore Dout" button to restore the IO level to the actual digital output value.
7.2 Analog IO

Figure 7.2 Analog IO monitoring interface

7.2.1 Set the analog output value

（1）Click the “Set” button in the value column;

（2）Specify the setting value and click the “Confirm” button.

Figure 7.3 Analog output value setting interface

7.3 Other

Figure 7.4 Other monitoring interface

7.3.1 Set other output value

（1）Click the “Set” button in the value column;

（2）Specify the setting value and click the “Confirm” button.

Figure 7.5 Other output value setting interface

7.4 Custom Name
Click the cell in the user-defined name column to set a user-defined name to facilitate the
memory of an output or input function in the actual project application.

7.5 IO that the operator can manipulate

If you need to view and modify the specified IO in the operator interface,tick the corresponding
item.
 Chapter8 Conveyor

The conveyor interface is used to configure object source, teach conversion relationship, view
data buffer, view data history and view statistical results.
Create a new conveyor variable, switch to the conveyor page, as shown in Figure 8.1

Figure 8.1 conveyor interface

8.1 Conveyor Configuration

Current conveyor: Display the currently selected conveyor.
Belt selection: Select the conveyor, and the selection list contains the conveyor variables of the
loader and the global conveyor variables.
The conveyor model has: line, disc and static. Different conveyor models support different
teaching methods.
8.1.1 Encoder

Encoder code value: The code value of the current encoder.

Encoder interface: Name of equipment recording the location of conveyor, including encoder,
external shaft and other equipment.
Encoder accuracy:Assuming that the encoder accuracy is 13inc/mm, it means that the encoder
changes 13 code values, and the actual running distance of the conveyor is 1mm.
Note: encoder accuracy cannot be set to 0.

8.1.2 Work Area

(1) As shown in Figure 8.2, the working area is the working area that the robot can track, and
the latest working area refers to the latest receiving area distance.
(2) In the case where no object is tracked, the object is not tracked when it is in the waiting area,
and it needs to wait for the object to enter the preparation area to start tracking. If the object enters
the latest work area during the tracking process, you can continue to track. When the object enters
the super-boundary area, it will not continue to track the object, and the remaining tracking actions
will be completed directly.
(3) If the object has not yet started to be tracked, and the object has entered the latest work area,
the tracking of the object will be abandoned directly.
(4) When the speed of the manipulator is less than 2 times of the speed of the conveyor belt, it
will prompt "the speed of the conveyor belt does not match the tracking speed". At this time, it is
necessary to reduce the speed of the conveyor belt or increase the speed of the manipulator.

Figure 8.2 work area

8.1.3 Conveyor Coordinate System

Conveyor coordinate system: the coordinates of the conveyor in the world coordinate system.
Calculate through five point teaching or three-point teaching (please refer to the teaching chapter for
specific teaching process).
8.2 Teach
Teach is divided into five-point teach, three-point teach, circle center teach and static teach.
Different conveyor models support different teaching methods.

8.2.1 Teaching Method

Teaching method supported by linear conveyor:five-point teach, three-point teach,senior

teach.
Teaching method supported by disc conveyor:five-point teach, three-point teach, senior
teach,circle center teach .
Teaching method supported by disc conveyor:static teach.

8.2.2 Five Point Teach

Scope of application

Use the vision system to detect the location of objects.

Teaching steps

(1) Select five points teaching;

(2) Teach the first point, as shown in Figure 8.3;
Place the object in a corner of the visual area and click the "empty workpiece" button;
Click the "workpiece capture" button to obtain the location of the object in the visual coordinate
system and the encoder code value.
 Figure 8.3 first point interface of five point teaching

Note: when there are multiple objects in the buffer, to prevent incorrect objects, please click
"empty workpiece" first, and then click "workpiece grab".
(3) Teach the second point
Start the conveyor, move the object to the working area, and stop the conveyor;
Start the manipulator, align the end with the center of the object, and click the "teaching" button
to obtain the current location of the manipulator.
 Figure 8.4 the second point interface of five point teaching
(4) Teach the third point
Start the conveyor, move the object to a location close to the maximum working area, and stop
the conveyor;
Jog the manipulator, align the end with the center of the object, and click the "teach" button to
obtain the current location of the manipulator.
 Figure 8.5 the third potint interface of five point teaching

(5) Teach the fourth point

Place the object on the opposite corner of the first teaching point and click the "empty
workpiece" button;
Click the "workpiece capture" button to obtain the location of the object in the visual coordinate
system and the encoder code value.

Figure 8.6 fourth point interface of five point teaching

((6) Teach the fifth point

Start the conveyor, move the object to the working area, and stop the conveyor;
Jog the manipulator, align the end with the center of the object, and click the "teach" button to
obtain the current location of the manipulator.
 Figure 8.7 fifth point interface of five point teaching

Proportional error: the distance ratio between the teaching point and the actual point. The closer
it is to 1, the more accurate the teaching is.
(7) Teach workspace
The working area is divided into the minimum value of the working area, the maximum value
of the working area and the latest acceptance area distance. Refer to the workspace section.
 Figure 8.8 teaching workspace interface

Note: the z-direction inclination of the conveyor is not supported;

If an error occurs during teaching, the prompt message box will display a red error message; If
the teaching is successful, the prompt message box will display a green success message.

8.2.3 Three Point Teach

Scope of application: Use sensors to detect the location of objects.

Teaching steps:Repeat steps (1) (2) (3) (4) (7) of the five point teaching.
Note: the z-direction inclination of the conveyor is not supported.

8.2.4 Center of Circle Teach

8.2.4.1 Scope of application

Teach of disc center location during disc tracking.

8.2.4.2 Teach steps

Teach methods: direct teaching and three-point teaching.

♦Direct teach steps

The direct teaching method is suitable for the known position of the center of the circle,teaching
the center of the circle.
 Figure 8.9 center of circle teaching interface

(1) Move the robot align the center of circle;

(2) Select any “Teach” button to teach, After teaching, the displayed value of the result is the
teaching value of the center of the circle.

♦Three point teach steps

The three-point teaching method is suitable for three points on a known circle,teaching the
center of the circle.
 Figure 8.10 center of circle teaching interface
(1) Move the robot position to three points on the circle in turn, and click the “Teach” button
respectively;
(2) After teaching, the displayed value of the result is the teaching value of the center of the
circle.
Note: if an error occurs during teaching, the prompt message box will display a red error
message; If the teaching is successful, the prompt message box will display a green success message.

8.2.5 Static Teach

Place the object under vision, obtain the location of each object and the end location of the
manipulator corresponding to each object location, and at least two location points. The more
location points, the more accurate the teaching is, and support up to nine location points.
 Figure 8.11 static teaching interface

Note: it is recommended to click the "clear workpiece" button every time before obtaining the
object to prevent error in the corresponding relationship of the object.

8.2.6 Senior Teach

 Scope of application

Teach with a minimum of 3 and a maximum of 9 objects to determine the position of the object
detected by the vision system.

 Teaching steps

(1) Select Advanced Teaching, click the Get Object button to get the object list, you can
delete the acquired objects, filter the objects to be taught, and click OK after filtering. The
object list interface is shown in the figure below.
 Figure 8.12 Advanced teaching object list interface

(2) Only add at least 3 objects. If the number of objects obtained through step (1) is less
than 3, you need to repeat step (1)
(3) Teach the objects according to the serial numbers, as shown in Figure 8.13, teach the
object with the serial number 3.

Empty Objects: Click Empty Objects to empty all objects on the conveyor belt.

Configuration: Click the configuration button to pop up the configuration interface, as shown
in Figure 8.14.

Modify serial number: Modify the serial number of the object, the serial number is a number
from 1-9, and cannot be repeated.

Cancel: Cancel the modification of the serial number of the object.

Confirm: Determine the serial number of the modified object.

 Figure 8.13 Advanced teaching interface

(4) After the teaching in sequence is completed, click the Calculate button, and the
configuration interface will pop up, as shown in the figure below.

Figure 8.14 Configure interface

Whether to keep the conveyor belt coordinate system: If selected, the conveyor belt
coordinate system information will keep the current value unchanged; otherwise, the coordinate
system value determined by the teaching result will be retained.
 Whether to keep the conveyor belt resolution: If selected, the resolution will keep the current
value; otherwise, the resolution in the teaching result will be retained.

Whether to keep camera parameters: If selected, the camera parameters will keep the current
values; otherwise, the camera parameters in the teaching result will be retained.

Whether to keep the camera mirror image (x and y interchange): If selected, the mirror
image (x and y interchange) will keep the current value unchanged; otherwise, the mirror image
(x and y interchange) parameter value in the teaching result will be retained.

(5) If the teaching is successful, you can click the Finish button to complete the teaching.

8.3 Data Buffer

The location information of all objects in the object pool is displayed in the data buffer, as
shown in Figure 8.15.

Figure 8.15 data buffer interface

Status

Wait: Objects that do not enter the work area;

get ready: Objects that enter the work area but are not activated;
Activation: Objects being tracked;
Completion: Tracking completed objects;
 Out of bounds: Objects beyond the working area that are not activated or objects beyond the
boundary in tracking;
To be sent:
Outgoing: Objects distributed to the next manipulator;
Stacking: An object that overlaps with other objects.

Id(attr)

Object type identifier(Object attributes).

XYZA

The location of an object in the world coordinate system.

Moving distance

The location of the object from the origin of the conveyor coordinate system.

8.4 Data History

Display the objects that have exceeded the boundary or have been tracked. The interface is
shown in Figure 8.16.

Figure 8.16 data history interface

Status

Status of the reference data buffer.

 Note: the data in the history record will not be saved after shutdown, but only the latest 1024
pieces of information received after the system is started. If the user clicks the clear all button, the
record will continue after the clearing time, and the previous data will be cleared.

8.5 Statistics
View the success rate of the current tracking object, as shown in Figure 8.17.

Figure 8.17 grab object information interface

Note: if you want to count the success rate at a certain time, you need to clear all the historical
information in the data history interface.
 Chapter9 Function Block Interface

The function block interface is shown in Figure 9.1.

Figure 9.1 function block interface

9.1 Zero Setting

9.1.1 Set axis zero

It includes robot axis zero setting, external axis zero setting, encoder zero clearing and axis
position setting. As shown in Figure 9.2.
 Figure 9.2 axis zero point setting interface

Robot axis zero setting

Single axis zero setting:such as clicking the button “D1”, set the current position of the robot
axis “D1” to the “D1” zero;
Set all to zero:set the current position of all axes of the robot to the zero.

External axis zero setting

Single axis zero setting:such as clicking the button “VD1”, set the current position of the
external axis “VD1” to the “VD1” zero;
Set all to zero:set the current position of all external axes to the zero.

Encoder reset

The encoder code value is cleared.

Note: encoder zeroing is only for module encoder, and slave encoder does not have this
function.

Axis position setting

Sets the current position of the specified axis to the specified angle.
 Figure 9.3 axis position setting

9.1.2 Set joint zero

It includes robot joint zero setting, external joint zero setting, encoder zero clearing and joint
position setting. As shown in Figure 9.4.

Figure 9.4 joint zero point setting interface

Robot joint zero setting

Single joint zero setting:such as clicking the button “J1”, set the current position of the robot
axis “J1” to the “J1” zero;
Set all to zero:set the current position of all joint of the robot to the zero.
 External joint zero setting

Single joint zero setting:such as clicking the button “ExJ1”, set the current position of the
external axis “ExJ1” to the “ExJ1” zero;
Set all to zero:set the current position of all external joint to the zero.

Encoder reset

The encoder code value is cleared.

Note: encoder zeroing is only for module encoder, and slave encoder does not have this
function.

Joint position setting

Sets the current position of the specified joint to the specified angle.

Figure 9.5 joint position setting

9.2 Filter
Filter types: mean and ZVD.
Mean has one parameter: filtering time; ZVD has two parameters: filtering time and damping
rate. The interface is shown in Figure 10.4.
Note:the user can use the default parameters, if you need to modify it, please consult the
supplier’s technical staff.
 Figure 9.6 filter configuration interface

9.2.1 Restore Default Configuration

Restore default configuration: Restore the default filter configuration parameters of the
system.
Note: the system default configuration itself cannot be modified, but it can be edited and saved.
After saving, it can be used directly after enabling.

9.3 Regional Monitoring

Display area monitoring variables and configure the parameter values of area monitoring
variables (refer to WorkArea variables for parameter details).
 Figure 9.7 regional monitoring variable interface

9.4 PLC Control

Start PLC and stop PLC.
Current state: displays the current operating status of the PLC.
Startup and start: Configure whether the PLC is started.
Switch to plc interface: Click the button to switch to display the plc interface. If you want to
return to the hmi interface, click the button to switch to hmi in the plc.
9.5 External Axis

Figure 9.8 external axis interface

9.5.1 Jog

Click the "jog" button. When there are 4 external axes, the interface pops up, as shown in
Figure 9.9, press the button and the axis starts to move, release the button and the axis stops moving,
the axis movement speed is controlled by the speed of the external axis interface.

Figure 9.9 jog interface of external axis

9.5.2 New

Create a new external axis command.

9.5.3 Edit

Figure 9.10 external shaft command editing interface

Instruction type

Location control: In the location control mode, the relative location check box is checked,
and exj1 changes 10 degrees relative to the current location during movement; If the relative
location check box is not checked, exj1 moves to a location of 10 degrees relative to the zero
point of the shaft; The location can be set to a negative value.

speed control: Move according to the specified speed parameter.

Motion parameters

Motion parameter reference value: Speed (100), acceleration (1000) and acceleration (10000).
The user can change the motion parameters as needed; The command running speed is controlled by
the speed override of the external axis interface. If the speed override is modified to 100%, the speed
still does not meet the requirements, and the motion parameters need to be adjusted appropriately .
 Complete Dout

The output port will be set to true after the external axis instruction runs.

Run Dout

When the external axis command is running, the output port is set to true; when the external
axis command is stopped, the output port is set to false.

9.5.4 External axis motion conditions and stop conditions

External axis motion conditions:

(1) The command is enabled and sent successfully;
(2) Click the “enable” and “start” button to make the external axis in the running and enabling
state;
(3) the trigger condition is true.
External axis stop condition: The command is disabled and sent successfully; Or move to the
designated location; Or the stop condition holds; Or click the “stop” button.

9.5.5 Send

Click the "send" button, Send all external axis commands to the controller.If a new external axis
command is created but not sent successfully,the new command will not take effect.

9.5.6 Instruction execution sequence description

For instructions controlling the same shaft, which instruction trigger condition is established
first and which instruction is executed first, during the execution of this instruction, another
instruction will not be executed after the trigger condition is established. Until the execution of the
previous instruction is completed and the trigger condition of the other instruction mentioned above
is still established, another instruction will be executed.
Commands controlling different axes do not affect each other.

9.6 TCP Monitor

Monitor the communication status corresponding to tcp.
 Figure 9.11 TCP Monitor

TCP Communication List: Displays a list of loaded TCP communication variables.

Enable TCP: When checked, the connection is established; when unchecked, the connection is
disconnected.
9.7 Tracking Parameters
It is used to configure the parameters related to tracking. There is a default configuration. The
default configuration cannot be modified or deleted. The interface is shown in Figure 9.12.the user
can use the default parameters.

Figure 9.12 default configuration interface of tracking parameters

9.7.1 Configuration Item Description

Configuration list: List of tracking parameter configuration names.

Current configuration: Displays the name of the current configuration.

Configuration Parameter

vel: Tracking speed, unit m/s;

acc: Tracking acceleration, unit m/s^2;
jerk: Tracking acceleration, unit m/s^3;
Tracking parameter type: PID and data;
PID parameters: Parameter 1, parameter 2, parameter 3.

9.7.2 Configuration Button Description

Delete button

Deletes the configuration displayed in the configuration list.

 New button

Create a new configuration.

Save configuration button

Save the current configuration information.

9.8 Object Source Management

There are four kinds of object sources: camera, sensor, position change and virtual.
They have common parameters: filtering error and communication error.
Filter error: When two objects are within the error range, they are considered to be the same
object, and the error value cannot be negative. The filter error value is generally the center distance
of the two materials.
Communication Error: Error caused by communication.

9.8.1 Camera

The camera object source needs to be configured with communication mode and camera trigger
mode.
 Figure 9.13 object source configuration interface

9.8.1.1 Receive data communication configuration

Communication mode: At present, only TCP communication mode is supported, as shown in

Figure 9.12.
Configure IP address and port number to receive object data sent by vision.

Figure 9.14 TCP communication configuration interface

 Communication format: [X:703.17;Y:515.32;Z:-670.32;A:4.40;ATTR:-1;ID:6;INFO:Object],
X、Y、Z、A is double type data, ATTR、ID is int type data, INFO is string type data(INFO information
cannot include : ; []).

Among them, XY is the data that must be sent,others can be freely selected.such as
[X:703.17;Y:515.32].
Support for scalable data: use : ; separate, if the test attribute is extended, the value is aa, the
format is [X:703.17;Y:515.32;test:aa], The name and value of the extended data attribute cannot
include : ; [].
IP: It is usually set to 192.168.100. X. the IP is the same as that of the visual device. It must be
ensured that the X network segment cannot conflict with other devices.
Note: The controller is the client, the visual is the server, and the tcp communication is enabled.
When the tcp communication is established, the data can be received. If the enable is turned off, the
connection with the server will be disconnected..

9.8.1.2 Trigger mode

 Network trigger

Network trigger: TCP communication mode triggers camera to take pictures;

Enable: enable enable, the connection of tcp communication is established; disable enable, the
connection of tcp communication is disconnected;
Trigger cycle: The time period of periodically triggering the camera, in MS;
IP address and port number: TCP communication requires configuring the IP and port
number for visual communication.
When the object source is enabled, it will actively establish communication with the vision
system. After successful communication, it will periodically send trigger information to the vision to
trigger the camera to take pictures.
 Figure 9.15 network trigger configuration interface
Note: generally, the IP is set to 192.168.100. X. it must be ensured that the X network segment
cannot conflict with other devices.

 Hard trigger:

The actual physical output IO triggers the camera to take pictures.

Trigger port: Used to trigger the output io of the camera.
Trigger cycle: Time period of periodically triggering the camera, unit: ms
When the object source is enabled, the output signal corresponding to the trigger port will be set
to true periodically to trigger the camera to take pictures.

Figure 9.16 hard trigger configuration interface

9.8.1.3 Visual parameter configuration

 Figure 9.17 hard trigger configuration interface

Parameter Description：
(1) x and y swap, corresponding to “type” in formula;
(2) Center x0,y0, unit(pixel), corresponding to “x0 y0” in formula;
(3) Rotation Angle, corresponding to “a” in formula;
(4) xy offset,corresponding to “dx dy” in formula.
Formula:double x1 = ((type ? y_camera : x_camera) - x0) / kx;
double y1 = ((type ? x_camera : y_camera) - y0) / ky;
double x_con = x1 * cos(a * kPi / 180.0) - y1 * sin(a * kPi / 180.0);
double y_con = x1 * sin(a * kPi / 180.0) + y1 * cos(a * kPi / 180.0);
double a_con = a_camera + a * kPi / 180.0;
x_out = x_con + dx * cos(a_con) - dy * sin(a_con);
y_out = y_con + dx * sin(a_con) + dy * cos(a_con);
a_out = a_con + da * kPi / 180.0;
In Formula kx,ky =x,y reverse * xy Pixel Ratio.
9.8.2 Sensor

Configure the physical input port to which the sensor is connected. Specify the id and attr of the
object generated by the sensor.

Figure 9.18 sensor configuration interface

9.8.3 Position Change

Position change refers to the generation of objects by different position changes.Specify the id
and attr of the generated object.
Application scenario: The conveyor is controlled by an external shaft, and objects move back
and forth on the conveyor.

Figure 9.19 location change configuration interface

9.8.4 Virtual object source

Generate virtual objects.

 Figure 9.20Virtual object source configuration interface
Virtual Object Parameters Meaning
Mode: Virtual mode,include Time and Distance.
Time: Generate objects by time;
Distance: Generate objects by position.
Each of the remaining parameters has a minimum and maximum value.
Each parameter is generated randomly between between minimum and maximum values when
virtualized.
T: Virtual object interval time, effective when Mode is Time
D: Virtual object interval distance, effective when Mode is Distance
X, Y, A: The X coordinate, Y coordinate, rotation angle A of the object in the object source
coordinate systerm
id: Generate the object ID
attr: Generate the object attr

9.9 Object Allot

Application scenario: It is applicable to the scene where tracking leakage cannot be accepted.
If the incoming materials are dense, it can be considered to control the start and stop of the conveyor.
 Figure 9.21 object Allot configuration interface
Configuration List: A list of object shunt configuration names.
Enable diversion: If checked, diversion is enabled; otherwise, diversion is not enabled.
View Status: View the connection status of the tcp between the current device and the
offloaded device.
tcp variable: The variable name used for offloaded tcp communication.
Enable tcp: Select to establish tcp communication with the offloading device; otherwise,
disconnect tcp communication.
tcp type: server and client, as the server sends object data to its corresponding client.
Port number: The port number of TCP communication between this machine and the next
machine. After successful configuration, object data will be sent to the next machine.
Object id: The id of the object to be shunted.
Trigger IO: Trigger the signal of shunting action, and the rising edge is monitored to send all
object data to be shunted to the next machine, if there is no trigger signal, the object will not send
out.
 Diversion type: RATIO: Divide proportionally (0-1); MAXIMUM: Divide by maximum
capacity; RATIO_ MAXIMUM: Divide unfinished on a proportional basis; GROUPING: Divide by
group.

9.10 Status Monitoring

Monitor the status of robot shaft, external shaft and unmapped shaft, enabling status, status
word, control word, current code value read from driver, the target code value is the command value
sent by the controller to the driver.

Figure 9.22 status monitoring interface

9.11 Handwheel Function

Provide handwheel control function in six shaft mode.
 Figure 9.22 function interface of hand wheel status
current move code:Each time the handwheel is operated to control the code value to move in a
certain direction.
Current move distance:current move code * resolution.

Figure 9.24 function interface of hand wheel configuration

angle / line resolution:The actual distance/angle change corresponding to the encoder code
value change 1 at x1 magnification, set according to user requirements;
response delay:If the response delay is 1ms, then the running state is set to stop state 1ms after
the handwheel stops.
pose direction (x, y, z, a, b, c):To configure and control the input signals corresponding to each
direction, refer to the hardware configuration for details.
magnification selection (x1, x10, x100):To configure the input signal corresponding to the
speed multiplier, refer to the hardware configuration for details.

9.12 Variable Cache Configuration

Provides the data and custom name functions of the cache.
 Figure 9.25 variable buffer configuration interface
This function can be used in conjunction with the GetCacheString command to realize the
function of changing variables during operation. A total of 64 caches are supported.

9.13 Yield
Provides the use of variables to achieve the function of recording output. Variables must use
global defualt product variable.
 Figure 9.26 variable buffer configuration interface

9.14 Drag and teach

9.14.1 Point teach

Use drag mode to teach variables. Variable types that support teaching are TcpPosition,
JointPosition, CartSys, and the specified index in ARRAY OF TcpPosition.
 Figure 9.27 Point teach

Teaching steps:
(1) Click the "Drag Mode" button to switch to drag mode;
(2) Drag the robot to the designated position;
(3) Click "Write Variable".

9.14.2 Trajectory teaching

Use drag mode to teach a trajectory. The variable types that support teaching are ARRAY OF
TcpPosition. When dragging, specify the collection period to record a position point, and the position
points smaller than the filtering error will be filtered out;
 Figure 9.28 Trajectory teaching

Teaching steps:
(1) Click the "drag mode" button to switch to drag mode;
(2) Click the "Start" button to start dragging, and drag the robot to move according to the
required trajectory;
(3) Click the "Stop" button to stop dragging, and click "Write Variable".

9.15 Watchdog

Figure 9.29 watch dog

Set as shown in Figure 9.28. After enabling, a heartbeat detection will be performed every
100ms. If no information is received for 30 consecutive cycles, the connection will be actively
disconnected, and the user needs to check the network connection.
 Chapter10 Control Power

Control power support: HMI, IO control, Modbus TCP and TCP.

10.1 IO Control
For input / output IO configuration and switching loader configuration, select IO control in the
function block interface to enter the configuration interface.

10.1.1 Input / Output Configuration

Configure the input IO and output io of external mode, and display the value of current IO as
true or false in real time. As shown in Figure 10.1.

Figure 10.1 input / output configuration interface

Enable: If the input IO of the lower enable is true, the robot will be enabled and the output IO
of the enable signal will be true; conversely, if the input IO of the lower enable is false, the output IO
of the lower enable and the enable signal will be false.
 Emergency stop: when the input IO of emergency stop is pressed and true, the robot is in
emergency stop state and the output IO of is true; On the contrary, when the input IO of emergency
stop is pressed and false, the robot is in a non-emergency stop state.
Return Home: when the is enabled on the and in the non running state, when the input IO to
return to zero is pressed, the robot returns to the zero location, and the output io of is true.
Clear Error: when there is alarm information and the input IO of error clearing is pressed, the
output IO of is false after all alarms are cleared. If there are still alarms not cleared, the output IO of
is still true.
Start program: in the enabled state, when the input IO of the startup program is pressed, the
robot runs according to the loaded program, and the output IO of the is true.
Pause program: in the running state, when the input IO of the pause program is pressed, the
robot pauses, and the output IO is true.
Stop program: in the running state, when the input IO of the stop program is pressed, the robot
stops, and the output IO of the signal is false.
Shutdown: When the input IO of shutdown is pressed and it is true, the controller is turned off.
All control rights take effect: If the check box is checked, the input IO configuration takes
effect under any control rights.

10.1.2 Loader Configuration

Configure the switching signal and switching success signal of the specified program.
 Figure 10.2 loader configuration interface
Switching signal: When the input IO is true, load the corresponding program.
Output signal: When the program switching is successful, the output IO is true.

10.2 TCP Control

TCP control mode, the controller supports control through TCP communication. The requester
of the control protocol can be either a TCP client or a TCP server.

10.2.1 TCP Communication Configuration

Select TCP control in the function block interface to enter the configuration interface.
 Figure 10.3 TCP control interface

IP address: The IP address of the remote device. If it is local TCP communication, the IP
address is 127.0.0.1.
Port number: The port number of TCP communication is the same as that of the remote
device.

10.2.2 TCP Communication Protocol

JSON binary header: please refer to "TCP Control Protocol Version 1.0.0" for the control
protocol.
Simple string: Please refer to "TCP Control Protocol (Simple String Version)" for the control
protocol.
Byte: Please refer to "TCP Control Protocol (Simple Binary Version)" for the control protocol.

10.3 ModbusTcp Control

10.3.1 Introduction

Port: 50212;
All register addresses and numbers are parsed according to unsigned short;
All data are transferred and parsed in big-endian mode.
10.3.2 Packet Format

The robot control system serves as the server of TCP protocol. The client program serves as the
client of TCP protocol.
Each data interaction adopts a fixed data packet format, which is composed of three parts:
MBAP, function code and data.

MBAP

String Length Describe Client Server (Control System)

The server will copy this string and return it

to the client, and the customer service side
Uniquely
Transaction Specified by will judge whether the response is a
2 Bytes identifies a
Identifier client response to a request according to this
packet
string. This string should be different each
time the client sends a request.
Protocol Protocol ID,
2 Bytes
Identifier fixed to 0
The number
The client
of bytes of all
needs to The server recalculates the length based on
Length 2 Bytes subsequent
calculate the the response
data in the
length
entire packet

Unit Identifier 1 Bytes Fixed to 0

Function Code

The function code consists of 1 byte. The definition of each function code is shown below.

Data

The data sent is different according to different function codes. The data format of user-defined
function code is described in the chapter "description of extended function code for realizing robot
related functions".

♦Read coil (Digital output IO)

Function code and data of request packet:

 Function code 1 Byte 0x01
Start address 2 Bytes 0x0000 to 0xFFFF
Number of coils 2 Bytes 1 to 2000(0x7D0)
Function code and data of response packet:

Function code 1 Byte 0x01

Number of bytes of The value is the number of query coils divided by 8. If it
1 Bytes
subsequent data cannot be divided, add 1
Every 8 coil states are represented by 1 byte. Less than 8
also occupy 1 byte. The coil state of the low address is in
Coil status n Bytes
the low significant bit of the byte, and the coil state of the
high address is in the high significant bit of the byte
Function code and data of response packet in case of error:

Function code 1 Byte 0x01+ 0x80

Exception code 1 Bytes 0x01 or 0x02 or 0x03 or 0x04

♦Write coil (Digital output IO)

Function code and data of request packet:

Function code 1 Byte 0x0F

Start address 2 Bytes 0x0000 to 0xFFFF
Number of coils 2 Bytes 1 to 2000(0x7D0)
Number of subsequent
1 Bytes Calculation method: same as read coil
bytes
Coil status n Bytes Calculation method: same as read coil
Function code and data of response packet:

Function code 1 Byte 0x0F

Start address 2 Bytes 0x0000 to 0xFFFF
Number of coils 2 Bytes 1 to 2000(0x7D0)
Function code and data of response packet in case of error:

Function code 1 Byte 0x0F + 0x80

 Exception code 1 Bytes 0x01 or 0x02 or 0x03 or 0x04

♦Read discrete input (Digital input IO)

Function code and data of request packet:

Function code 1 Byte 0x02

Start address 2 Bytes 0x0000 to 0xFFFF
Number of discrete
2 Bytes 1 to 2000(0x7D0)
inputs
Function code and data of response packet:

Function code 1 Byte 0x02

Number of bytes of Check the number of discrete inputs divided by 8. If it
1 Bytes
subsequent data cannot be divided, add 1
Every 8 discrete input states are represented by 1 byte. Less
Discrete input state n Bytes
than 8 also occupy 1 byte
Function code and data of response packet in case of error:

Function code 1 Byte 0x02+0x80

Exception code 1 Bytes 0x01 or 0x02 or 0x03 or 0x04

♦Read register

Function code and data of request packet

Function code 1 Byte 0x03

Start address 2 Bytes 0x0000 to 0xFFFF

Number of registers 2 Bytes 1 to 125(0x7D)

Function code and data of response packet

Function code 1 Byte 0x03

Number of bytes of
1 Bytes 2xN
subsequent data
 2xN Bytes
(n is the
Register value The value of a register, each of which occupies two bytes
number of
registers)
Function code and data of response packet in case of error:

Function code 1 Byte 0x03+0x80

Exception code 1 Bytes 0x01 or 0x02 or 0x03 or 0x04

♦Write multiple registers

Function code and data of request packet

Function code 1 Byte 0x10

Start address 2 Bytes 0x0000 to 0xFFFF

Number of registers 2 Bytes 0x01 to 0x7B

Number of subsequent
1 Bytes The value is 2xn (n is the number of registers)
bytes
Set the value of the register. Each register occupies two
Register value 2xN Bytes
bytes
Function code and data of response packet

Function code 1 Byte 0x10

Start address 2 Bytes 0x0000 to 0xFFFF

Number of registers 2 Bytes 0x01 to 0x7B

Function code and data of the response packet when an error occurs

Function code 1 Byte 0x10+0x80

Exception code 1 Bytes 0x01 or 0x02 or 0x03 or 0x04

10.3.3 Robot Related Functions

 Extended function code description

65-72, 100-110 function codes can be customized.

The error response is returned in accordance with the Modbus
standard when an error occurs. When the operation is successful, only the function code is
returned, and no data is returned.
Startup program: custom function code 65, no interactive data is required.
Stop program: custom function code 66, no interactive data is required.
Pause program: custom function code 67, no interactive data is required.
Return to zero: custom function code 68 does not require interactive data. It is not supported
temporarily because it cannot be stopped
Set to zero: custom function code 69 needs to send a 2-byte unsigned integer. Indicates the
index of the shaft to set the zero point, starting from 0.
Error clearing: custom function code 70 does not require interactive data.
Start jog: customize function code 71 and send index and direction information. Index
represents the joint number or coordinate shaft. It starts from 0 and is represented by 2 bytes. It is
parsed as an unsigned integer. Direction represents the direction, which is represented by 2 bytes. It
is parsed as an unsigned integer. 0 represents the reverse direction and 1 represents the forward
direction. Use Modbus TCP to switch the jog coordinate system.
Stop jog: custom function code 72, no interactive data required.
Upper enable: custom function code 100, no interactive data required.
Lower enable: custom function code 101, no interactive data required.
Set the speed percentage: customize the function code 102 and send a 2-byte unsigned integer.
The minimum speed percentage is 1%. 0.1% is not considered.
Set single step continuous mode: Customize function code 103 and send 2-byte unsigned
integer.1 indicates single step mode and 2 indicates continuous mode.
Set the operation mode: the user-defined function code 104 needs to send a 2-byte unsigned
integer.1 indicates manual mode and 2 indicates automatic mode.
Switching program: the user-defined function code 105 needs to send 50 bytes of data. Each
byte represents an ASCII code and needs to end with 0. The string represents the program name.
Switches the current program to the program specified by the string.
 Switch the jog coordinate system: the user-defined function code 106 needs to send 50 bytes of
data, and each byte represents an ASCII code, which needs to end with 0. The string represents the
coordinate system variable name. Switches the current coordinate system to the coordinate system
specified by the string. Four coordinate systems are supported: world coordinate system, base
coordinate system, joint coordinate system and shaft coordinate system. The string corresponding to
the four coordinate systems is the world coordinate system: _g.default_world_cart_Sys, the
corresponding index is 1. Base coordinate system: _g.default_base_cart_Sys, the corresponding
index is 2. Joint coordinate system: _Joint.sys, the corresponding index is 3.Shaft coordinate system:
_Shaft.sys, the corresponding index is 4.The jog coordinate system switched by MODBUS is only
effective for Modbus control. Currently, only coordinate system switching through index is
supported.

 Coil, Discrete input address description

The coil and discrete inputs correspond to the actual digital physical quantity IO. The address is
consistent with the drawing of electrical design. For example, when operating Y1, the physical
output IO, the register address corresponds to 1. The same applies to input io.
Addresses up to 128 (not included) are for actual physical io use. addresses 128 and above are
for virtual io use.

 Input register address description

Because the current robot system does not provide analog support, addresses within 1000 are
not used temporarily and are not supported. Addresses of 1000 and above are used to provide robot
status query.
Read the following registers through the standard Modbus protocol function code to query the
corresponding status of the robot.

♦Running status register

Register address: 1000

Number of registers: 1
Register data format: 2-byte unsigned integer, corresponding to unsigned short of C++.1
indicates the running state, 2 indicates the suspended state, 3 indicates the stopped state, and 4
indicates the stopped state.

♦Error code register

Register address: 1001

Number of registers: 1
Register data format: 2-byte unsigned integer, corresponding to unsigned short of C++. 0 means
there are no errors.
♦Enable register

Register address: 1002

Number of registers: 1
Register data format: 2-byte unsigned integer, corresponding to unsigned short of C++. 0 means
not enabled and 1 means enabled.

♦Speed percentage register

Register address: 1003

Number of registers: 1
Register data format: 2-byte unsigned integer, corresponding to unsigned short of C++.

♦Single step continuous mode register

Register address: 1004

Number of registers: 1
Register data format: 2-byte unsigned integer, corresponding to unsigned short of C++.1
indicates single step mode and 2 indicates continuous mode.

♦Operation mode register

Register address: 1005

Number of registers: 1
Register data format: 2-byte unsigned integer, corresponding to unsigned short of C++. 1
indicates manual mode and 2 indicates automatic mode.

♦Joint location information register

Register address: 1006

Number of registers: 12
Register data format: 12 registers have 24 bytes in total, and every 4 bytes represents a double
type. Therefore, a total of 6 double type data represent the values of J1, J2, J3, J4, J5 and J6 in turn.

♦Cartesian coordinate system location information register

Register address: 1018

Number of registers: 12
Register data format: 12 registers have 24 bytes in total, and every 4 bytes represents a double
type. Therefore, a total of 6 double type data represent the values of X, y, Z, a, B and C in turn.
♦Current program register

Register address: 1030

Number of registers: 25
Register data format: 25 registers, 50 bytes in total, can represent 49 ASCII characters at most,
and the last string is 0. Used to get the name of the currently open program.

♦Current jog coordinate system register

Register address: 1055

Number of registers: 25
Register data format: 25 registers, 50 bytes in total, can represent 49 ASCII characters at most,
and the last string is 0. Used to obtain the name of the current jog coordinate system.

 Holding register address description

The address within 1000 (excluding 1000) is used to read or set the actual analog quantity io.
Because the current robot system does not provide analog quantity support, it is not supported
temporarily.
1000 and above addresses are used to provide robot shared variables.

 Variable Shared Properties

Variable sharing means that under the control of modbus, the variable value of the selected
variable can be updated to the control end, and the variable value can be modified at the control end
and synchronized to the controller.
Note: when the manipulator is running, the change of variable value at the control end does not
take effect.

 Shared variable description

The operation of reading and writing shared variables is to read and write the holding register,
and the corresponding address is 1000 and above.
Variables can only be written in a non running state.
Several known actions may reset the value of variables, including loading a project, loading a
program, and switching a program. Therefore, when these actions are performed after writing
variables, the written variable values will be overwritten.
 Supported shared variables

Number of attribute
Variable type Total bytes Attribute name Offset address
bytes

INT 4 - - -

REAL 4 - - -

BOOL 2 - - -

a1 0 4

a2 2 4

a3 4 4
JointPosition 24
a4 6 4

a5 8 4

a6 10 4

x 0 4

y 2 4

z 4 4
TcpPosition 24
a 6 4

b 8 4

c 10 4

a1 0 4

a2 2 4

JointDistance 24 a3 4 4

a4 6 4

a5 8 4
 a6 10 4

x 0 4

y 2 4

z 4 4
TcpDistance 24
a 6 4

b 8 4

c 10 4

x 0 4

y 2 4

z 4 4
Tool 24
a 6 4

b 8 4

x 10 4

vel_axis 0 4

acc_axis 2 4

dec_axis 4 4

jerk_axis 6 4

vel 8 4

Dyn 48 acc 10 4

dec 12 4

jerk 14 4

vel_ori 16 4

acc_ori 18 4

dec_ori 20 4
 jerk_ori 22 4

trans_type 0 4
Transition 8
trans_pos 2 4

10.3.4 Shared variable operation

In the Modbus module of the function block, you can add and delete shared variables and view
the address of shared variables, which is easy to configure on the control side, as shown in the
following figure.

Figure 10.4 Modbus controls shared variable operations

 "Add" : Click "Add" to jump to the variable interface, select any variable as the shared variable,
click "Save" button to set successfully and automatically assign the address.
 "Delete" : Select a variable and click "Delete" to cancel the shared variable attribute. If you click
on a project or global variable, cancel the shared variable attribute for variables under that item.
 Restore: restore to the last saved state.
 Chapter11 Alarm Management

This interface includes current alarm and historical alarm.

11.1 Current Alarms

Display the current alarm information, as shown in Figure 11.1.

Figure 11.1 current alarms

Button description

Display: filter and display the current alarm information. All alarms, serious errors, general
errors, warnings and messages can be displayed.
Delete: delete an alarm message.
Delete All: delete all alarms.

11.2 Historical Alarms

Display all historical alarm information, as shown in Figure 11.2.
 Figure 11.2 historical alarm interface

Button Explanation

Display: Filter and display historical alarm information. All alarms, serious errors, general
errors, warnings and messages can be displayed.
|< and > |: Switch between page 0 and the last page.
< and >: Switch between next page and previous page.
Alarm prompt box: Select an alarm message to display the alarm message in the prompt box.
 Chapter12 System Interface

12.1 User Management Interface

User password modification settings.
Authorized users can change the password of low authorized users and need to enter the original
password.

Figure 12.1 user management interface

12.2 Setting
It includes shutdown, system update, system time setting, screen lock, automatic login setting,
MacLicense configuration, controller IP setting, connection, disconnection, Control power, etc. As
shown in Figure 12.2.
 Figure 12.2 Setting interface

12.2.1 Shut Down

Click the shutdown button to restart the system or shut down.

Note: shut down the control cabinet before disconnecting the main power, otherwise the system
may be damaged.

12.2.2 Update System

Step

(1) Insert the USB and click the "update system" button to pop up the dialog box for selecting
the installation package *.tar.gz;
(2) Select the installation package and click "confirm" to pop up the dialog box of successful
import of installation package;
(3) Click the "Confirm" button to enter the update system page, click the "Update System"
button, and a progress bar will indicate the update status.
(4) Wait until the update is complete, and a pop-up prompt appears.
Note: the imported installation package name must be installpackage.tar.gz.
12.2.3 Modification Date and Time

Modify the system time.

12.2.4 Communication IP settings

IP Address: Set the IP address for TCP communication with the control system to be connected.
Enter the IP address and click the "Connect" button, the current IP address will be saved and the
connection will be created.
Restart the controller configuration: If the connection time is more than 10s and the connection
is still not successful, the "Restart the controller configuration" button will appear, the controller
configuration will be restarted, and the connection will be established.

Figure 12.3 Communication ip setting interface

12.2.5 Lock Screen

The user can set the screen lock time by himself. By default, never locks the screen.
If the screen lock time is set to 10s, and the interface is not operated for 10s, the screen is
locked, and click the screen to wake up.

12.2.6 Controller IP settings

IP address: Set the IP address of the current control system network port. Enter the IP address
and click the "Set" button.
Note: The IP address of each network port must not conflict.

12.2.7 MacLicense Setting

Click "MAC / license configuration" to pop up the interface, as shown in Figure 12.3.
 Figure 12.4 MacLicense
MAC address used: MAC address specified by the current device.
License used: License matching MAC address.
Available MAC addresses: List of all MAC addresses for the device.
License: Select the license that matches the MAC address from the drop-down list.
Instructions: Explain how to set the MAC license.

12.2.8 Control Power Setting

Control power support: HMI, IO control, Modbus TCP, TCP. When switching control, select
the control you want to switch and click “Confirm”.
Click the "Configure" button to jump to the corresponding configuration page.
 Figure 12.5 Control power setting interface

12.3 Import/Export

Figure 12.6 Import and export interface

 Operating data and object record

Save: Output the running data and object records of the previous 30s.
Clear: Clear the currently saved running data and object records.
Automatically save the running log when alarming: check the box, and the running log will
be automatically saved when the alarm is issued.

 Import user files

Import the user file *.tar.gz to the system.

 Export user files and logs

Export to local: Export user files and logs CX_User202009151634.tar.gz to the work
directory.
Export to USB: Export user files and logs CX_User202009151634.tar.gz to USB.
User file naming rules: CX_User date (mm / DD / mm / min). Tar.gz

12.4 Version
Displays the current Atommotion version number.
The version number consists of three parts: Major version number - detailed version
information date.
 Chapter13 Appendix I Instruction System Introduction

13.1 Motion Command

13.1.1 Ptp

Instructions Describe
All joints of the robot reach the target joint location at the same
Ptp
time
parameter describe

dest_pos: JointPosition Target joint location

dyn: Dynamic Robot dynamic parameters

Return value describe
Void No return value
Create a new Ptp command, the interface is shown in Figure 13.1.

Figure 13.1 PTP command interface

 dest_pos Target joint location

The number of editable members of this variable is related to the robot model. When the robot
is a four shaft model, a1, a2, a3 and a4 can be edited; If it is a three-shaft model, a1, a2 and a3 can be
edited, and so on;
The parameter value indicates the location of the shaft relative to the zero point. If it is a
rotating shaft, the unit is degrees; if it is a linear shaft, the unit is mm.
 dyn Dynamic Parameters of Robot

Please refer to Dynamic. When using this parameter, you can use the system default global
dynamic parameter variable or customize it.

13.1.2 Line

Instructions Describe
The end of the robot moves in a straight line to the target location at
Line
the specified speed.
parameter describe
dest_pos: TcpPosition Target end location
dyn: Dynamic Robot dynamic parameters
transition: Transition Robot motion smoothing parameters
Return value describe
Void No return value
Create a new Line command with the screen shown in Figure 13.2.

Figure13.2 Line command interface

 dest_POS Target end location

The introduction of this parameter refers to TcpPosition. This parameter represents the location
of the TCP point in the spatial coordinate system, xyz represents the location of the TCP point on the
three axes of the reference coordinate system, and abc represents the gesture of the TCP point.

 dyn Robot dynamic parameters

Refer to the Dynamic variable for the introduction of this parameter.

 transition Robot motion smoothing parameters

The smoothing parameters are divided into No_TRANSITION and PERCENT_TRANSITON

NO_TRANSITION：Not smooth

PERCENT_TRANSITON：Percentage smoothing, value range 0-50%

13.1.3 Circle

Instructions Describe
The end of the robot makes circular motion from the starting point,
Circle
through the auxiliary point to the target point
parameter describe
mid_pos: TcpPosition Coordinates of arc auxiliary points
dest_pos: TcpPosition Coordinates of arc end point
dyn: Dynamic Robot dynamic parameters
transition: Transition Robot motion approximation parameters
Return value describe
Void No return value
Note: The robot TCP end makes a full circle motion and must execute two circular arc motion
commands; the starting position of this command is the target position of the previous motion
command or the current robot TCP position.
Create a new circle command. The interface is shown in Figure 13.3.

Figure 13.3 Circle command interface

 mid_pos Auxiliary point location

This position point is used to assist the start and end points to form an arc, and the internal
parameters are set the same as the line instruction's dest_pos target end position.
The target end position (dest_pos), dynamic parameter (dyn) and smoothing parameter
(transtion) are the same as Line instruction.

13.1.4 PtpRel

instructions describe
All joints of the robot move synchronously from the reference
PtpRel
point to offset the joint distance
parameter describe
base_pos: JointPosition Base point
dist: JointDistance Offset joint distance
dyn: Dynamic dynamic parameter
Return value describe
Void No return value
Create a PtpRel command with the interface shown in Figure 13.4.

Figure 13.4 Ptprel instruction interface

 base_pos Base point

The reference point is the current location by default.

 dist Offset joint distance

Dist by default, the offset is 0.

13.1.5 LineRel

Instructions Describe
The end of the robot moves in a straight line from the reference
LineReal
point to offset the spatial distance
parameter describe
base_pos: TcpPosition Base point
dist: TcpDistance Offset space distance
dyn: Dynamic dynamic parameter
transition: Transition Smooth scale
Return value describe
Void No return value
Create a new LineRel command with the screen shown in Figure 13.5.

Figure 13.5 LineRel command interface

 base_pos Base point

The description is the same as PtpRel

 dist Offset

Dist by default, the offset is 0.

Void There is no return value

13.1.6 LineAbs

Instructions Describe
The end of the robot keeps other coordinates unchanged and moves to
LineAbs
the target location in the specified direction
parameter describe
Move to the target location in the X direction (by default, this direction
x: REAL
does not move)
Move to the target location in the Y direction (by default, this direction
y: REAL
does not move)
Move to the target location in the Z direction (by default, this direction
z: REAL
does not move)
Move to the target location in direction a (by default, this direction
a: REAL
does not move)
Move to the target location in direction B (by default, this direction
b: REAL
does not move)
Move to the target location in direction C (by default, this direction
c: REAL
does not move)
dyn: Dynamic dynamic parameter
transition: Transition Smooth scale
Return value describe
Void No return value
Create a new LineAbs command with the interface as shown in Figure 13.6, and set z to -900 to
indicate the z-direction movement to the -900 position.

Figure 13.6 LineAbs command interface

13.1.7 ReturnHome

instructions describe
ReturnHome all shafts return zero
Return value describe
Void No return value

13.1.8 CustomPath

Instructions Describe
CustomPath The end of the robot moves in a custom trajectory
parameter describe
dest_pos: ArrayOfTcpPosition Custom track
dyn: Dynamic dynamic parameter
transition: Transition Smoothing parameters
Sampling_period: INT Customize the sample rate of the track
Return value describe
Void No return value
Create a new CustomPath command, the interface is shown in Figure 13.7.

Figure 13.7 Custompath command interface

13.2 Tracking Function Instruction

13.2.1 WaitObject

Instructions Describe
 WaitObject Waiting for an object
parameter describe
obj: TargetObject Object to wait for
time: INT Maximum waiting time, in MS; -1 means always waiting
Return value describe
Void No return value
After creating a new WaitObject command, the interface looks like Figure 13.8.

Figure 13.8 Waitobject instruction interface

 Waiting time

When time is set to - 1, wait until the next instruction is executed after waiting for the object;
If the time is set to 20, the next instruction will be executed after the instruction has been
executed for 20ms, regardless of whether it waits for the object or not.

13.2.2 IsArriveObject

instructions describe
IsArriveObject Determine whether the object has arrived
parameter describe
obj: TargetObject Target object to judge
Return value describe
BOOL When the object arrives, it returns true; otherwise, it returns false

13.2.3 ObjectDone

Instructions Describe
Cancels the active state of the current object and sets it to the completed
ObjectDone
state.
parameter describe
obj: TargetObject Object to be deactivated
 Return value describe
Void No return value

13.2.4 ObjectCancel

Instructions Describe
Cancels the active state of the current object and sets it back to the
ObjectCancel
waiting state.
parameter describe
obj: TargetObject Object to be deactivated
Return value describe
Void No return value

13.2.5 ObjectFinish

Instructions Describe
Deactivate the currently acquired object, and set it to completed to send,
ObjectFinish
inactive, outgoing

parameter describe
obj: TargetObject The object to deactivate

Return value describe

Void No return value

13.2.6 ObjectClear

Instructions Describe
ObjectClear Empty all objects on a conveyor.
parameter describe
con: Conveyor Select empty for all conveyors to empty
Return value describe
Void No return value
13.3 Setting Instruction
All motion commands after the execution of the setting command use the parameters set by the
setting command, except for the internal setting parameters of the command。

13.3.1 SetDynamic

Instructions Describe
SetDynamic Sets the default dynamic parameters used in instruction
execution
parameter describe
dyn: Dynamic dynamic parameter
Return value describe
Void No return value

13.3.2 SetTransition

Instructions Describe
SetTransition Sets the default smoothing scale used in instruction execution
parameter describe
transition: Transition Smooth scale
Return value describe
Void No return value

13.3.3 SetAcceleration

Instructions Description
SetAcceleration Sets the default acceleration law used in command execution
parameter describe
acceleration_type: Acceleration law
AccelerationType TRAPEZOID_ACC: T-shaped acceleration type
PARABOLA_ACC: parabolic acceleration type
SIN_ACC: sinusoidal acceleration type
COS_ACC: cosine acceleration type
Return value describe
 Void No return value

13.3.4 SetCartSys

Instructions Description
SetCartSys Sets the coordinate system used in instruction execution
parameter describe
cart_sys:CartSys Coordinate system
Return value describe
Void No return value

13.3.5 SetTool

Instructions Description
SetTool Sets the tools used in instruction execution
parameter describe
tool:Tool tool
Return value describe
Void No return value

13.4 Input / Output Instruction

13.4.1 SetDout

Instructions Describe
SetDout Set the actual output port to true or false
Parameter describe
dout: Dout Output port to set
value: BOOL Sets the value of the output port
Return value describe
Void No return value

13.4.2 SetVDout

Instructions Describe
SetVDout Set the virtual output port to true or false
 parameter describe
dout: VDout Output port to set
value: BOOL Sets the value of the output port
Return value describe
Void No return value

13.5 Trigger Instruction

13.5.1 OnDistanceDO

Instructions Describe
OnDistanceDO The trigger instruction executed after the last instruction is executed to a
certain distance
parameter describe
type: TriggerDistance Trigger type
From begin: triggered at a certain distance from the starting point;
From: triggered at a certain distance from the end point;
distance: REAL The set distance cannot be negative
time: INT Delay triggering after the set distance is reached, unit: ms
action: Action Expression executed after triggering，SetDout, SetVDout,:=
Return value describe
Void No return value

13.5.2 OnPercentDO

Instructions Describe
OnPercentDO Trigger instruction executed after a certain percentage of the previous
instruction is executed
parameter describe
percent: REAL Set percentage
time: INT Set the delay time after percentage arrival, in MS
action: Action Expression executed after triggering：SetDout, SetVDout,:=
Return value describe
Void No return value
 Note: the trigger command cannot be used alone. There must be a motion command before the
trigger command, otherwise an error will be reported during operation.

13.6 Wait Instructions

13.6.1 Wait

Instructions Describe
Wait Wait for a condition to hold
parameter describe
condition: BOOL A condition: the value of a constant, variable, or the return value of an
expression;
The types of expressions are: getdinvalue, getdoutvalue, isarriveobject and
other operators
Return value describe
Void No return value

13.6.2 WaitIsFinished

Instructions Describe
WaitIsFinished Wait until the previous instruction is executed, and then continue to execute
the subsequent instruction;
This command cancels the smooth transition between the previous motion
command and the next motion command.
Return value describe
Void No return value

13.6.3 WaitTime

Instructions Describe
WaitTime Wait a fixed time
parameter describe
time: INT Waiting time, when it is - 1, always waiting, unit: ms
Return value describe
Void No return value
13.7 Process Control Instruction

13.7.1 IF

Instructions Describe
IF Condition instruction, if the condition is met, execute the next step
parameter describe
condition :BOOL If condition: constant, variable value or return value of expression;
The types of expressions are: getdinvalue, getdoutvalue, isarriveobject and
other operators
Return value describe
Void No return value

13.7.2 ELSIF

Instructions Describe
ELSIF Condition command, execute the next step if the elsif condition is met
parameter describe
:BOOL If condition: constant, variable value or return value of expression;
The types of expressions are: getdinvalue, getdoutvalue, isarriveobject and
other operators
Return value describe
Void No return value

13.7.3 ELSE

Instructions Describe
ELSE Conditional instruction
Return value describe
Void No return value

13.7.4 WHILE

instructions describe
WHILE When the while condition is met, the loop executes
 parameter describe
:BOOL The types of expressions are: getdinvalue, getdoutvalue, isarriveobject
and other operators
Return value describe
Void No return value

13.8 Assignment Instruction

13.8.1 :=

Instructions Describe
:= Assignment instruction
Return value describe
Void No return value

13.9 Monitoring Area Command

13.9.1 EnableWorkArea

Instructions Describe
EnableWorkArea Set the specified work area as enabled
parameter describe
work_area: WorkArea Work area to set
Return value describe
Void No return value

13.9.2 DisableWorkArea

Instructions Describe
DisableWorkArea Set the specified work area to disabled
parameter describe
work_area: WorkArea Work area to set
Return value describe
Void No return value
13.10 Palletizer instruction

13.10.1 ResetPalletizer

Instructions Describe
ResetPalletizer Reset the current location of palletizing
parameter describe
palletizer: Palletizer Stack to reset
Return value describe
Void No return value

13.10.2 NextPalletizer

Instructions Describe
NextPalletizer Set to next stacking location
parameter describe
palletizer: Palletizer Palletizing variable
Return value describe
Void No return value

13.10.3 SetPalletizerNum

Instructions Describe
SetPalletizerNum Sets the serial number of the current location of the palletizing
parameter describe
palletizer: Palletizer Palletizing variable to set
Num: INT Location sequence number to set
Return value describe
Void No return value

13.11 PLC Instructions

13.11.1 StartPLC

Start the PLC program.

13.11.2 StopPLC

Stop the PLC program.

13.12 Communication Instruction

13.12.1 SendTcpData

Instructions Describe
SendTcpData Send TCP data
parameter describe
Tcp_connect: Specifies the tcpconnect variable to send
TcpConnect
data:STRING Data to send
Return value describe
Void No return value

13.13 Mathematical Operation Instruction

13.13.1 SIN

Instructions Describe
SIN Sinusoidal trigonometric function
parameter describe
:REAL Angle in degrees

13.13.2 COS

Instructions Describe
COS Cosine trigonometric function
parameter describe
:REAL Angle in degrees

13.13.3 TAN

Instructions Describe
TAN Tangent trigonometric function
 parameter describe
:REAL Angle in degrees

13.13.4 ASIN

Instructions Describe
ASIN Inverse sine trigonometric function
parameter describe
:REAL Inverse sine trigonometric function parameters

13.13.5 ACOS

Instructions Describe
ACOS Inverse cosine trigonometric function
parameter describe
:REAL Inverse cosine trigonometric function parameters

13.13.6 ATAN

Instructions Describe
ATAN Arctangent trigonometric function
parameter describe
:REAL Arctangent trigonometric function parameters

13.13.7 LN

Instructions Describe
LN Natural logarithmic function
parameter describe
:REAL You need to find the value of the natural logarithm

13.13.8 EXP

Instructions Describe
EXP Exponential function based on e
parameter describe
 e: :REAL Index of e

13.13.9 ABS

Instructions Describe
ABS Absolute value function
parameter describe
:REAL The number for which the absolute value is required

13.13.10 SQRT

Instructions Describe
SQRT Open square root function
parameter describe
:REAL A value that requires an open square root

13.14 Operator

13.14.1 +

Operator Describe
+ Summation operator (support real and int types)

13.14.2 -

Operator Describe
- Difference operator (support real and int types)

13.14.3 *

Operator Describe
* Multiplication operator (support real and int types)

13.14.4 /

Operator Describe
/ Quotient function (support real and int types)
13.14.5 AND

Operator Describe
AND And operator (bool type is supported)

13.14.6 OR

Operator Describe
OR Or operator (bool type supported)

13.14.7 XOR

Operator Describe
XOR XOR operator (bool type supported)

13.14.8 NOT

Operator Describe
NOT Non operator (bool type supported)

13.14.9 <

Operator Describe
< Less than operator

13.14.10 >

Operator Describe
> Greater than operator

13.14.11 <=

Operator Describe
<= Less than or equal to operator
13.14.12 >=

Operator Describe
>= Greater than or equal operator

13.14.13 =

Operator Describe
= Judge whether they are equal

13.14.14 <>

Operator Describe
<> Judge whether it is unequal

13.14.15 ()

Operator Describe
() The parenthesis operator in the expression is used to change the running
priority

13.14.16 []

Operator Describe
[] The square bracket operator in the expression allows the user to get the
array elements

13.15 Object Information

13.15.1 GetObjectId

Instructions Describe
GetObjectId Gets the ID of the object
parameter describe
obj: TargetObject Object to get ID
Return value describe
INT ID value of the object
13.15.2 GetObjectAttr

Instructions DESCRIBE
GetObjectAttr Get the attr of the object
parameter describe
obj: TargetObject Object to get attr
Return value describe
INT Attr value of object

13.15.3 SetObjectAttr

Instructions Describe
SetObjectAttr Set the attr of the object
parameter describe
obj: TargetObject Object to set attr
attr: INT Attr to set
Return value describe
Void No return value

13.15.4 GetObjectInfo

Instructions Describe
GetObjectInfo Get object info
parameter describe
obj: TargetObject Object to get info
Return value describe
STRING Object information string

13.15.5 GetObjectOriginLocation

Instructions Describe
GetObjectOriginLocation Get the original location of the object
parameter describe
obj: TargetObject Object to get location
Return value describe
 dest_pos: TcpPosition Original location of object

13.16 Conversion Instruction

13.16.1 IntToString

Instructions Describe
IntToString Int type to string
parameter describe
input: Int Input int data
Return value describe
STRING character string

13.16.2 RealToString

Instructions Describe
RealToString Real type to string
parameter describe
input: Real Input int data
Return value describe
STRING character string

13.16.3 BoolToString

Instructions Describe
BoolToString Bool type to string
parameter describe
input: Bool Bool data input
Return value describe
STRING character string

13.16.4 StringToInt

Instructions Describe
StringToInt String to int type
parameter describe
 input: String String data entered
Return value describe
INT Int value converted from string

13.16.5 StringToReal

Instructions Describe
StringToReal String to real type
parameter describe
input: String String data entered
Return value describe
REAL Real value converted from string

13.16.6 StringToBool

Instructions Describe
StringToBool String to bool type
parameter describe
input: String String data entered
Return value describe
BOOL Bool value converted from string

13.17 Other instructions

13.17.1 GetCacheString

Instructions Describe
GetCacheString Gets the string of the cache
parameter describe
input: Int Index of the cache (index value starts from 1)
Return value describe
STRING character string
13.17.2 GetRobotCurrentEndJointPosition

Instructions Describe
GetRobotCurrentEn Obtain the feedback value of the current joint position of the
dJointPosition robot end

Return value describe

Feedback value of the current joint position at the end of the
TcpPosition
robot

13.18 Other instructions

13.18.1 GetCacheString

Instructions Describe
GetCacheString Gets the string of the cache

parameter describe
input: Int Cache index (index value starts at 1)

Return value describe

STRING string

13.18.2 CustomAlarm

Instructions Describe
CustomAlarm Generates a custom alarm

parameter describe
alarm:Alarm Alarm information variable

Return value describe

Void

13.18.3 LineSearch

Instructions Describe
LineSearch The robot moves to the space target position in a straight
 line. When the conditions are met, the instruction is directly
skipped and the next instruction is executed.

parameter describe
dest_pos:TcpPosition Target space position

Trigger condition (true or false, supporting conditional

condition:Bool
statement judgment)

dyn:Dynamic The dynamic parameters

Return value describe

Void

The following figure shows an example of LineSearch.

Figure 13.9 LineSearch instruction application of example

In line 6, if the trigger condition is true, this instruction is directly skipped and line 7 is directly
executed.
In line 7, when _g.out. value is false, it moves in a straight line to the spatial destination
pos:TcpPosition; If the _G.dout. value external trigger is true during execution, the instruction is
skipped and line 8 is executed.
 Chapter14 Appendix II Variable Types

14.1 Motion Variable

14.1.1 JointPosition

Structural type Member Describe

JointPosition a1: REAL End location of the first joint in degrees

a2: REAL End location of the second joint in degrees

a3: REAL End location of the third joint in degrees

a4: REAL End location of the 4th joint in degrees

a5: REAL End location of the 5th joint in degrees

a6: REAL End location of the 6th joint in degrees

Create a new variable pos for the four-axis model robot, as shown in Figure 14.1.

Figure 14.1 JointPosition variable interface

Each member has two options: value and maintain the current value. a1 is set to maintain the
current value. During teaching, only the values of a2, a3 and a4 will be modified.
14.1.2 TcpPosition

Structural Member Describe

Type
TcpPosition x: REAL X-shaft location in Cartesian coordinate system unit:
mm

y: REAL Y-shaft location in Cartesian coordinate system unit:

mm

z: REAL Z-shaft location in Cartesian coordinate system unit:

mm

a: REAL Rotation angle of coordinate system around Z shaft

(Euler angle) unit: degrees

b: REAL Rotation angle of coordinate system around X

&apos;shaft (Euler angle) unit: degrees

c: REAL Rotation angle of coordinate system around Z

&apos;shaft (Euler angle) unit: degrees

Create a new variable tcp_pos, as shown in Figure14.2.

 Figure 14.2 TCP_POS variable interface

Where xyz represents the location and abc represents the attitude.

14.1.3 JointDistance

Structural Type Member Describe

a1: REAL 1st joint offset

a2: REAL 2nd Joint offset

a3: REAL 3rd joint offset

JointDistance
a4: REAL 4th joint offset

a5: REAL 5th joint offset

a6: REAL 6th joint offset

Create a new variable joint_dis for the four-axis model robot, as shown in Figure 14.3.

Figure 14.3 joint_Dis variable interface

14.1.4 TcpDistance

Structural Type Member Describe

 TcpDistance x: REAL X-shaft offset

y: REAL Y-shaft offset

z: REAL Z-shaft offset

a: REAL A-shaft rotation offset

b: REAL B-shaft rotation offset

c: REAL Rotation offset in c-shaft direction

14.1.5 Dynamic

Structural Member Describe

Type
Dynamic vel_shaft: REAL Percentage of the joint&apos;s actual running speed in its
maximum speed

acc_shaft: REAL Percentage of the actual acceleration of the joint in its

maximum acceleration

dec_shaft: REAL Percentage of joint deceleration in its maximum deceleration

during actual operation

jerk_shaft: REAL Percentage of acceleration of joint in its maximum

acceleration during actual operation

vel: REAL Actual running speed

acc: REAL Actual running acceleration

dec: REAL Actual running deceleration

jerk: REAL Actual running acceleration

 vel_ori: REAL Actual operating attitude rotation angular velocity

acc_ori: REAL Actual operating attitude rotation angular acceleration

dec_ori: REAL Actual running attitude rotation angular deceleration

jerk_ori: REAL Actual running attitude angle plus acceleration

Note: the dynamic parameters are the maximum parameters allowed by the user. During actual
operation, they need to be compared with the parameters configured in configure. If they exceed the
parameters configured in configure, the parameters configured in configure shall prevail.

14.1.6 Transition

Structural
Member Describe
Type
Smoothing type
trans_type:
PERCENT_Transition: percent smooth,
TransitionType
Transition NO_Transition: not smooth

trans_pos: REAL Smoothing value, range 0-50%

14.1.7 CartSys

Structural
Member Describe
Type
ref_cart_sys:
REFERENCE TO Reference coordinate system
CartSys

Offset of coordinate system origin in x-shaft direction

x: REAL
relative to reference system
CartSys

Offset of coordinate system origin in Y-shaft direction

y: REAL
relative to reference system

z: REAL Offset of coordinate system origin in z-shaft direction

 relative to reference system

Rotation offset of coordinate system origin in a-shaft

a: REAL
direction relative to reference system

Rotation offset of coordinate system origin in b-shaft

b: REAL
direction relative to reference system

Rotation offset of coordinate system origin relative to

c: REAL
reference system in c-shaft direction

14.1.8 Tool

Structural
Member Describe
Type
x: REAL X location of end to tool conversion unit: mm

y: REAL Y location of end to tool conversion unit: mm

z: REAL Z location of end to tool conversion unit: mm

Tool
a: REAL End to tool transition a location in degrees

b: REAL End to tool converted B location in degrees

c: REAL End to tool converted C location in degrees

14.2 Tracking variable

14.2.1 TargetObject

Structural type Member Describe

ref_conveyor:
TargetObject REFERENCE Conveyor referenced by tracked object
TO Conveyor
 id: INT Tracked object ID

attr: INT Tracked object attr

The coordinates of the object in the conveyor

Cart_sys: CartSys
coordinate system

14.2.2 Conveyor

Structural
Member Describe
Type
encoder: Encoder Conveyor encoder code value interface

Encoder resolution can be modified or

resolution: REAL
calculated through teaching

conveyor_model:
Belt type: straight, disc and static
ConveyorModelType

The coordinates of the conveyor in the world

cart_sys: CartSys
coordinate system

Minimum working area (objects can be grabbed

Conveyor min_ area: REAL
only after entering the minimum working area)

Maximum working area (if the object exceeds

max_ area: REAL
the maximum working area, give up grasping)

Latest work area (when grasping is planned, the

latest_area: REAL object has exceeded the latest acceptance area,
and the grasping is abandoned)

ref_object_sort: Sorting method: Specifies the sorting method of

objects on the transfer. The sorting method may
REFERENCE not be set
 TO ObjectSort

14.2.3 ObjectSource

Structural Type Member Describe

enable:BOOL Whether to enable object source
Filter error: When two objects are within
the error range, they are considered to be the
filter_error:REAL same object, and the error value cannot be
negative. The filter error value is generally
the center distance of the two materials
communication_error:REAL communication error
ref_conveyor:REFERENCE TO The object source spawns the conveyor
Conveyor belt where the object is located
ObjectSource The coordinates of the object source
cart_sys:CartSys (vision) in the conveyor belt coordinate
system
source_type:
There are 4 types of object sources:
ObjectSourceType
Config:CameraSource CAMERA: camera
Config:SensorSource SENSOR: sensor
Config:PositionSource POSITION: Position source
Config:SimulateSource SIMULATE: Simulate object source
camera:Camera Camera source configuration parameters

Structural Type Member Describe

The time period for triggering the camera
period:INT
periodically, in ms
Refer to the TcpConnect variable, which needs
CameraSource
ref_tcp:REFERENCE TO to configure the ip and port number for
TcpConnect communication with the vision.
Used to receive object data sent by vision.
 There are 3 trigger types:
NONE: not triggered
trigger_type:TriggerType
HARD_TRIGGER: hard trigger
TCP_SEND: TcpConnect triggered
The input types in io are: "din", "dout",
"vdin", "vdout";
trigger_io:IO
Can be used when trigger_type is set to
NONE or HARD_TRIGGER
Refer to the TcpConnect variable, which needs to
configure the ip and port number for
communication with the vision.
When the TcpConnect variable is enabled, it
will actively establish communication with the
ref_tcp_trigger:REFERENC
vision system. After the communication is
E TO TcpConnect
successful, it will periodically send trigger
information to the vision to trigger the camera to
take pictures.
When trigger_type is set to TCP_SEND,
ref_tcp_trigger can be used

When the TCP_SEND type is triggered, the trigger

tcp_trigger_message:STRIN information sent to the vision; when the
G trigger_type is set to TCP_SEND,
tcp_trigger_message can be used

Structural Type Member Describe

Configure the physical input port to which the

trigger_io:IO
sensor is connected.

SensorSource The input types in io are: "din", "dout",

id:INT
"vdin", "vdout";

attr:INT The id of the object generated by the sensor

Structural Type Member Describe

period:INT communication cycle

Generate objects differently by position

PositionSource id:INT changes, specify the id of the generated object

Generate objects differently by position

attr:INT changes, specify the attr of the generated object

Structural Type Member Describe

id:INT Generate the id of the virtual object

attr:INT Generate attr for virtual objects

param string format:

Mode:Time;Tmin:1.000;Tmax:1.000;Dmin:100.00
0;Dmax:100.000;Xmin:0.000;Xmax:0.000;Ymin:0.
000;Ymax:0.000;Amin:0.000;Amax:0.000

Mode There are 2 types of virtual modes:

Time: Generate objects by time

SimulateSource
Distance: Generate objects by location
param:STRING
Each of the remaining parameters has a
minimum value min and a maximum value max,
which means that each parameter is randomly
generated between the minimum and maximum
values when virtualized

T virtual object interval time, which takes

effect when Mode is time

D distance between virtual objects, effective

 when Mode is distance

X, Y, A The x-coordinate, y-coordinate and

rotation angle a of the object in the object source
coordinate system

Structural Type Member Describe

Axis Swap Type:

xy_switch:BOOL
true for xy exchange, false for no exchange

a_inverse:BOOL Angle flip

x0:REAL pan to center x0

y0:REAL pan to center y0

kx:REAL x scaling

ky:REAL y scaling

Camera Correct the rotation, the angle value is the rotation

a:REAL angle from the conveyor to the camera

Value range: (-180.0, 180.0)

Compensate for center offset, output dx on object

dx:REAL
coordinate system, position on conveyor belt

Compensate for center offset, output dy on object

dy:REAL
coordinate system, position on conveyor belt

Compensate for center offset, output da on object

da:REAL coordinate system, position on conveyor belt

Value range: (-180.0, 180.0)

14.2.4 ObjectSort

Structural Type Member Describe

filter_enable: BOOL Enable object filtering

Object filter type

None: no filtering

filter_type: ObjectSortType POSITION: filter by location and compare ID

POSITION _Only: filter only by location,

without comparing other information

sort_enable: BOOL Enable object sorting

sort order
ObjectSort
NONE: do not sort, strictly follow the object
addition time, and grasp the earliest one first.

sort_type: ObjectSortType DEFAULT_SORT: among all objects entering

the work area, first grab and add the earliest.

DIRECTION: sort in strict accordance with the

direction of the conveyor, and grasp the
conveyor at the front first

max_search_num: INT Maximum number of lookups

direction: REAL Direction relative to conveyor

14.2.5 OverlapFilter

Structural Type Member Describe

OverlapFilter enable: BOOL Enable stack filtering
 ref_conveyor:
Conveyor for stacking filtration
REFERENCE TO Conveyor

object_id: INT Object ID to stack filter

object_size_x: The length of an object in the X direction in the

REAL object coordinate system

The length of an object in the Y direction in the

object_size_y: REAL
object coordinate system

14.2.6 ObjectAllot

Structural
Member Describe
Type
enable: BOOL Enable object shunting

ref_conveyor:
Conveyor for object shunting
REFERENCE TO Conveyor

The referenced tcp communication variable is used

ref_tcp:REFERENCE TO
to communicate with the shunting device and
TcpConnect
shunting the object

object_id: INT Object ID to divert

ObjectAllot

Shunt type

Ratio: proportional Allot (0-1)

allot_type: Maximum: split by maximum capacity

ObjectAllotType RATIO_ Maximum: uncompleted Allot based on
proportional distribution.

Grouping: shunting by group

 ratio: REAL Proportional value of proportional shunt

output_num: INT Shunt by group, number of shunts per group

total_num: INT Shunt by group, total number of each group

14.2.7 ConditionalControl

Structural Type Member Describe

enable: BOOL Enable condition control

ref_conveyor:
REFERENCE TO Conveyor under condition control
CONVEYOR

Port type set after the condition is established

out_type: OutType OUT_Y: Actual output

OUT_VY: virtual output

Condition controls the port set after the

port: Port
condition is established

ConditionalControl Condition controls the port value set after the

value: BOOL
condition is established

Condition type of condition control

OBJECT_NUM: controlled according to the

condition: ConditionType number of objects

OBJECT_POS: control according to the

location of the farthest object

Operators for conditional judgment:

operator: OperatorType Equal: equal to

Unequal: not equal to

 Greater: greater than

Less: less than

GREATER_ Equal: greater than or equal to

LESS_ Equal: less than or equal to

When the number of objects is controlled, the

object_num: INT
number of objects

When the farthest object location is

object_pos: REAL
controlled, the location of the object

14.3 Regional variable

14.3.1 WorkArea

Structural
Member Describe
Type
enable: BOOL Is the monitoring area enabled

WORK_AREA: the designated area is the work area;

protect_type:
FORBIDDEN_AREA: the specified area is a prohibited work
ProtectType
area

ref_cart_sys:

REFERENCE TO Reference coordinate system of monitoring area

WorkArea CartSys

start_pos:
Starting point of monitoring area
TcpPosition

Shape of monitoring area

shape_type:
Box: box
ShapeType
Cylinder: cylinder
 Cylinder members:

shape: Cylinder H: Cylinder height

R: Cylinder radius

Box members:

dx: a vertex of the box points to the vector on the x shaft in

the diagonal direction
shape: Box dy: a vertex of the box points to the vector on the y shaft in
the diagonal direction

dz: a vertex of the box points to the vector on the z shaft in

the diagonal direction

14.4 Input and Output Variables

14.4.1 Din

Structural Type Member Describe

port: Port Port number
Din
value: BOOL Port value

14.4.2 Dout

Structural Type Member Describe

port: Port Port number
Dout
value: BOOL Port value

14.4.3 VDin

Structural Type Member Describe

port: Port Port number
VDin
value: BOOL Port value
14.4.4 VDout

Structural Type Member Describe

port: Port Port number
VDout
value: BOOL Port value

14.5 Basic Data Type Variable

14.5.1 INT

Data Type Member Describe

INT int: INT Int type data value

14.5.2 REAL

Data Type Member Describe

REAL real: REAL Real type data value

14.5.3 BOOL

Data Type Member Describe

BOOL bool: BOOL Bool type data value: true or false

14.5.4 STRING

Data Type Member Describe

STRING string: String String type data.

14.6 Array variable

14.6.1 ARRAY OF INT

Array Array Element Describe

ARRAY OF INT [ ]: INT Array elements are of type int

14.6.2 ArrayOfTcpPosition

Array Array Element Describe

ArrayOfTcpPosition [ ]: TcpPosition Array elements are of type TcpPosition

14.7 Palletizer Variable

14.7.1 Palletizer

Structural Type Member Describe

Serial number of current stacking location (range 1
current_number: INT
~ max)_number）

max_number: INT No. of maximum stacking location

Full stamp, read-only parameter

is_full: BOOL
（current_number=max_number）

Empty stack, read-only parameter

is_empty: BOOL
(current)_number=1）

Palletizer current_object: Serial number of current workpiece in stacking

ARRAY OF INT sequence

There are six combined stacking sequences. For

example, YXZ indicates that the Y direction is
sequence:
placed first, then the X direction, and finally the Z
palletizerSequence direction

palletizer_distance:
Offset distance in XYZ direction during stacking
ARRAY OF REAL
 palletizer_count:
Number of pallets placed in XYZ direction
ARRAY OF INT

palletizer_location:
Stacking point location
TcpPosition

first_location:
Location of the first point for stacking
TcpPosition

entry_location: The location of the stacking entry point, and the

location entering the first point of stacking is the
TcpPosition location of the entry point

entry_location_enable:
Enable palletizing entry point
BOOL

front_location:
Point location before stacking
TcpPosition

Offset value of pre stacking point relative to X

front_location_dx: direction of stacking point
REAL

Offset value of pre stacking point relative to Y

front_location_dy: direction of stacking point
REAL

Offset value of pre stacking point relative to Z

front_location_dz: direction of stacking point
REAL

front_location_absolut: Is the z-direction offset of the pre stacking point

 BOOL relative to the stacking point an absolute value

front_location_enable:
Enable pre palletizing point
BOOL

back_location:
Point location after stacking
TcpPosition

Offset value of the post stacking point relative to

back_location_dx: the X direction of the stacking point
REAL

Offset value of post stacking point relative to Y

back_location_dy: direction of stacking point
REAL

Offset value of post stacking point relative to Z

back_location_dz: direction of stacking point
REAL

back_location_absolute: Is the z-direction offset of the post stacking point

BOOL relative to the stacking point an absolute value

back_location_enable:
Enable post palletizing point
BOOL

14.7.2 PalletizerData

Structural Type Member Describe

PalletizerData Name:STRING The name of the palletizing data variable

 objects:ARRAY OF An array of palletized object variables to store
PalletizerObject palletized objects with different attributes

layers:ARRAY OF Palletizing an array of variables that hold

PalletizerLayer palletizing layers of different attributes

An array of index values used for the palletizing

layer_index:ARRAY OF INT
layer

layer_position:ARRAY OF
Array of stacking position points used
TcpPosition

Structural Type Member Describe

Name:STRING The name of the palletizing object

objects_type: Palletizing object type, including Box, Cylinder,

PalletizerObjectShape Ball
PalletizerObjec
t The basic properties of stacking objects are length,
shape_data:ShapeData
width and height, radius and radius respectively

object_position:
Object offset value
TcpPosition

Structural Type Member Describe

Name:STRING Name of palletizing layer

palletizer_size:ARRAY OF Palletizing size is a one-dimensional array

PalletizerLayer INT representation of length 2

objects_index:ARRAY OF
List of palletized object index values
INT
 palletizer_position:ARRAY
List of position points for palletizing objects
OF TcpPosition

front_position:ARRAY OF
A list of precursors to palletized objects
TcpPosition

back_position:ARRAY OF
A list of trailing points for palletized objects
TcpPosition

14.7.3 SeniorPalletizer

Structural Type Member Describe

Current palletizing point number (range

current_number:INT
1~max_number)

max_number:INT The serial number of the last palletizing point

Full stomp is a read-only parameter

is_full:BOOL
(current_number = max_number)

Empty stack, read-only parameter

is_empty:BOOL
(current_number=1)

SeniorPalletizer
object_type:INT Type of object

current_index:ARRAY OF The index of the current object refers to the number

INT of objects in which the object is located

palletizer_position:
Position of palletizing point
TcpPosition

front_position: The position to be passed before entering the

palletizing point, e.g. the high point of the
TcpPosition palletizing point
 The position behind the palletizing point, the
back_position: position that needs to be passed after leaving the
TcpPosition palletizing point, e.g. the high point of the
palletizing point

off_position:
Stacking offset
TcpPosition

ref_palletizer:REFFRENCE
Referenced palletizing data variable
TO PalletizerData

14.8 Communication Variable

14.8.1 TcpConnnect

Structural Type Member Describe

enable: BOOL Port number

SERVER: Server
tcp_type: TcpType
CLIENT: client
TcpConnect

ip: STRING IP address

Port: INT Port number

14.8.2 HardTrigger

Structural Type Member Describe

enable: BOOL Enable hard trigger

output_io: IO Output IO port

HardTrigger
input_io: IO Input IO port

encoder: Encoder Reference encoder

 Input signal type

IO_RISE: rising edge of IO

signal_type:
TIME_PERIOD: time period
TriggerSignalType
DISTANCE: distance period

LOCATION: fixed location

Input signal parameters, time code value,

signal_value: Real
period or fixed code value (MS or Inc)
Delay signal type
delay_type: None: no delay
TriggerDelayType TIME_Period: delay by a certain time
Distance: delay by a certain distance
Delay signal parameter, a fixed time or
delay_value: Real distance (MS or Inc) from the signal trigger
time
Reset signal type
reset_type: TIME_Period: time period
TriggerResetType Distance: fixed distance
IO_Down: falling edge
Reset signal parameters from delay_Value a
reset_value: Real fixed time or distance (MS or Inc) from the
end of the delay

14.8.3 Alarm

结构体 成员 描述

code:INT Custom alarm code, value range 1-4095

message:STRING Custom alarm information

Alarm

Custom alarm levels: 1= Information, 2=

level:INT
Warning, 3= general error, 4= fatal error
 How to operate the robot after the
customized alarm: 0 = no operation is
required when the alarm is reported, 1= stop
and pause state is planned when the alarm is
operation:INT reported, 2= Stop and stop state is planned
when the alarm is reported, 3= emergency
stop is required when the alarm is reported,
the speed plan will be discarded
immediately stop and enter the stop state

14.8.4 AxisLimit

结构体 成员 描述

enable:BOOL Whether to enable variables

axis:AxisType Name of the axis to be detected

The Pdo type (actual position, actual speed,

pdo:PdoType or actual torque) is handled by detecting the
Pdo as an lvalue

When the conditions are met, the alarm will

alarm:Alarm be triggered. When the alarm code is 0, the
AxisLimit alarm will not be enabled by default

If the conditions are met, set the IO value for

output_io:IO
the specified output

Specifies whether the output IO can be given

output_value:BOOL
a value to set

Operators for conditional judgment:

operator:OperatorType
Is EQUAL to EQUAL:
 UNEQUAL: Not equal

GREATER.

LESS: LESS than

GREATER_ EQUAL: greater than or

EQUAL to

LESS_ EQUAL: Less than or EQUAL to

limit_value:REAL Limit value, as an rvalue

 Chapter15 Appendix III Alarm Information

15.1 Serious Error

Code Describe Solution

The ethercat mac address configuration is

abnormal
1. Please check the master station
Ethercat open license file
0x2111 communication network port wiring and
failed
mac address configuration is correct, turn
off the industrial computer and restart
2.Contact supplier for solution

EtherCAT master 1.Restart

0x2112
initialization failed 2.Contact supplier for solution

EtherCAT read XML 1.The XML file of the device is damaged

0x2113
config failed 2.Contact supplier for solution

1. The Ethernet communication network

EtherCAT error port is not connected. Check whether the
0x2114
executing script network cable connection is normal and
close

EtherCAT failed to set 1.illegal license

0x2115
license 2.Contact supplier for solution

Ethercat unbind driver

0x2116 1.Contact supplier for solution
faild

ethercat tmp bus info file

0x2117 1.Contact supplier for solution
error

164
0x2118 EtherCAT init file failed 1.Contact supplier for solution

1.Check whether the network cable

connection order is consistent with the
Master station
XML file
0x2121 communication
2.Check whether the actual number of
connection timeout
devices is consistent with the XML file
3.Contact supplier for solution

Master station 1.The communication network cable of the

0x2122 communication master station is loose or dropped
interruption 2.Contact supplier for solution

0x2123 EtherCAT license is null 1.Contact supplier for solution

0x2131 Thread exception 1.Contact supplier for solution

0x2132 Unknown exception 1.Contact supplier for solution

Failed to read
0x2141 1.Contact supplier for solution
configuration file

Failed to write
0x2142 1.Contact supplier for solution
configuration file

1. Check and reset the e-stop IO

0x2151 Emergency stop IO error configuration
2.Contact supplier for solution

1. Check and reset the enabling IO

0x2152 Enable IO error configuration
2.Contact supplier for solution

165
15.2 Error

Code Describe Solution

Emergency stop button 1.When the emergency stop button is

0x4111
pressed! pressed, release the emergency stop button

1.Use the debugging software or manual

0x4112 Driver alarm of the corresponding drive to view the
details, or consult the drive manufacturer

TCP communication 1.The IP address or port number is not

0x4121
failed! correct,modify ip address or port number

TCP received data format 1.Set the sending format according to the
0x4122
verification failed! requirements of the control system

1. Check whether there is any command

in the program that causes the shaft torque
Robot shaft torque
0x4133 to exceed the limit
overlimit!
2. Set reasonable limit value according to
actual demand

1. Check whether there is any command

in the program that causes the shaft
location to exceed the limit
Robot command exceeds 2. After canceling the limit in the
0x4135
the set limit! configuration interface, restore the robot to
the normal location
3. Set reasonable limit value according to
actual demand

166
 1.When the robot starts, it is in the
Robot location error,
impossible shaft location (the positive
please check zero and
0x4136 solution of the model fails), and check the
shaft configuration
zero point and shaft configuration
parameters!
parameters

The actual location of the

0x4137 robot exceeds the 1.Slowly jog back to the work area
working area!

1.Please check the zero and shaft

Robot model inverse
0x4211 configuration parameters
solution failed
2.Contact supplier for solution

1.Please check the zero and shaft

Robot model forward
0x4212 configuration parameters
solution failed
2.Contact supplier for solution

1.Check the shaft and joint configuration

Robot model joint
0x4213 parameters
inverse solution failure
2.Contact supplier for solution

1.Check the shaft and joint configuration

Robot model joint
0x4214 parameters
forward solution failure
2.Contact supplier for solution

1.Instruction writing error or program

0x4311 Instruction parsing error! parsing logic error, check the instruction
or program

167
 1.Instruction writing error, check the
0x4312 Instruction syntax error!
instruction

1.Instruction writing error or instruction

Instruction conversion
0x4313 conversion logic error, check the
error!
instruction or program

1.The program does not exist or the project

0x4314 Loader failed does not exist, reload the project or reload
the program

1. Check whether the set parameters are

reasonable.
2.Conveyor belt speed does not match the
0x4331 Speed planning failed!
tracking speed during tracking
3.Check if the path is reasonable
4.Contact the supplier for solution

1. Unable to meet the current jog

demand, handle according to the detailed
0x4332 Jog failed
prompt
2. Contact supplier for solution

1. External shaft program error,

0x4333 Abnormal external shaft reconfigure external shaft program
2. Contact supplier for solution

executing instructions 1.Check whether the parameters in the

0x4338
path planning failed command are reasonable and reset

1. If an exception occurs during

Instruction execution instruction execution, handle it according
0x4351
error to the specific prompt
2. Contact supplier for solution
168
 1. The object related execution is
executed without executing the instruction
to obtain the object. Check the instruction
logic
There are no tracked 2. After the program is suspended, switch
0x4352
objects the execution line, resulting in the
coordinate system not corresponding to the
current execution. After clearing the
object, execute the program from the
beginning

1.Slow down the conveyor or increase the

0x4353 Too slow to track objects
dynamic parameters

1. Slow down the conveyor or increase

The object cannot be
the dynamic parameters
tracked before exceeding
0x4354 2. Check whether the command location
the boundary, please
in the object coordinate system is
adjust the parameters
reasonable

The command cannot be 1.The joint motion command cannot be

0x4355 executed in a moving commanded in the object coordinate
coordinate system system. Modify the command logic

1.The command setting value exceeds the

0x4356 Robot out of safe area! working area limit. Modify the command
value or set a reasonable working area

169
 1. If an exception occurs during
Statement execution statement execution, handle it according to
0x4358
exception the specific prompt
2. Contact supplier for solution

1.The encoder configured for the conveyor

Encoder for conveyor does not exist due to importing the
0x4411
does not exist program or modifying the hardware
configuration. Reconfigure it

1.The object source variable is using the

object source configuration. Delete the
The object source
0x4421 object source variable or set the object
configuration is in use
source variable not to use the object source
configuration to be deleted

1.The object source configuration is

Object source deleted, use another object source
0x4422
configuration not found configuration or create an object source
configuration

Object source
1. IO configuration error, reconfigure
0x4423 configuration IO
object source IO
exception

1. The IP address or port number is not

Object TCP server
0x4431 configured correctly, or the port number
communication error
has been used, reconfigure it

1.The specified object shunting

Object shunt configuration information is not found.
0x4433
configuration not found Add object shunting configuration
information or use another configuration

170
 Object shunting
0x4434 configuration IO 1. IO configuration error, reconfigure IO
exception

Condition control IO 1. IO configuration error, setting correct

0x4441
exception IO

1. IO related errors shall be repaired

0x4451 IO error
according to the prompt information

1. If the TCP port is occupied, restart the

0x4481 IOT server startup failed
control system

1.The program code is wrong. You need to

An unknown exception
0x4621 check the program and contact the supplier
occurred in Modbus TCP
for solution

1.If the function code is not supported or

Modbus TCP related
0x4622 the data packet is wrong, eliminate the
error
error according to the prompt

Modbus TCP has no

0x4623 1.The switching control is ModbusTcp
control power

TCP control error

0x4633 1.Contact supplier for solution
processing request

0x4700 PLC error 1.Contact supplier for solution

15.3 Warning

Code Describe Solution

171
 1.In the process of running, stop the
Unable to respond to start program and start again
0x6111
command 2.After confirming the upper enable,
start running the program

Forced switching of operation

0x6112
mode during operation

Cannot respond to a single

0x6113
step command

Cannot respond to continuous

0x6114
commands

The motor cannot be powered

0x6115
down during operation

Forced switching of operation

0x6116
mode in enabled state

The current system has an

error level alarm and cannot
0x6117
respond to the "start"
command

0x6118 Virtual object error

0x6119 Object quantity overflow

Out of working area when

0x6121
stopped

172
 Chapter16 Appendix IV Application example

16.1 Palletizing
Configure the parameter value of palletizing variable (refer to Palletizer variable for the meaning
of parameter value).

 Description of stacking procedure

Figure 16.1 example of stacking procedure

图
Line 20:New palletizing coordinate system
Line 21: Move to the point before stacking
Line 22: Move to stacking point
Line 23: Move to the point after stacking
Lines 24 to 27: If the stacking is full, the stacking is reset; If it is not full, the next stacking
point will be executed
Note:
(1) In the sample program, the point before palletizing, the point after palletizing, and the
palletizing entry point are not set. Please refer to the description of palletizing variables to set
according to your needs.
(2) The max_number member of the palletizing variable in the sample program is set to 60,
which means that all palletizing points need to be filled as shown in the figure. Assuming that the
last two points do not want to be placed, max_number is set to 58.
(3) If there are some points in the middle that do not want to be placed, please use the
NextPalletizer command to update the serial number currently placed.
173
 (4) The tracking parameters related to palletizing in this sample program are not set and are not
for reference.

Graphical description corresponding to the sample program

Figure 16.2 Palletizing diagram corresponding to the palletizing program

16.2 SeniorPalletizer
SeniorPalletizer function is to configure more complex palletizing, with the following
characteristics:
1 There are different kinds of objects in SeniorPalletizer variables, which can have different
kinds of palletizing layers;
2 Each object class has a unique name and can have different types and parameters; Object
types can be added or deleted at will, and existing objects can be modified.
3 Each kind of stacking layer has a unique name, can be placed different kinds of objects, each
object has a target point, front point, back point and offset point; Palletized layers can be added or
deleted at will, and existing palletized layers can be modified.
4 In advanced stacking, the number of stacking layers can be customized, and the position and
Angle of stacking layer can be set; You can select and configure it by palletizing layer name.

174
 To sum up, the use of SeniorPalletizer needs to combine the creation of SeniorPalletizer
variables, example configuration description and example program description, as shown below.

16.2.1 SeniorPalletizer variables created

SeniorPalletizer variables and PalletizerData variables need to be created in the variable

interface. md :SeniorPalletizer refers to md_data :PalletizerData, as shown in the figure below.

Figure 16.3 SeniorPalletizer variable creation example

16.2.2 Example Configuration Description

SeniorPalletizer variables are configured in function blocks, and can only be configured with
global variables or SeniorPalletizer variables under loaded programs.

175
 Parameter Configuration Instructions

There are four interfaces in total: SeniorPalletizer configuration interface, object configuration
interface, single palletizing configuration interface, and palletizing queue configuration interface.
1. SeniorPalletizer configuration interface: used to display SeniorPalletizer variable
information, as shown in the figure below.

Figure 16.4 md:SeniorPalletizer SeniorPalletizer configuration interface

"Fast Configuration" : Provides advanced palletizing features for quick configuration, which are
described in the next section.
2. Object configuration interface: used to configure SeniorPalletizer variables with different
types of objects, data type is PalletizerObject. Each object class has a unique name and can have
different types and parameters; Object types can be added or deleted at will, and existing objects can
be modified, as shown in the following figure.

176
 Figure 16.5 tt:SeniorPalletizer Object configuration interface

 Object List: A configured object list. You can add or delete objects to the list by clicking Add
and Delete buttons. You can configure an object on the page.
 "New" button: When creating a new object, you need to enter the name of the object. The name
of the object must not be the same as other objects in the current object array, and follow the
variable naming rules
 Delete button to delete an object.
 Select an object in the object list to modify the object shape, object properties, and object offset.
3. Single palletizing configuration interface: used to configure different palletizing layers of
SeniorPalletizer variables. Data type is PalletizerLayer. Each palletizing type has a unique name and
can be used for different kinds of objects. Each object has a target point, a front point, a back point
and an offset point. Palletized layers can be added or deleted at will, and existing palletized layers
can be modified. It is divided into three parts: palletizing layer management, palletizing object

177
management, real-time map management. Among them, real-time graph management is introduced
in the next section, as shown in the figure below.

Figure 16.6 tt:SeniorPalletizer Single stack configuration interface

① Stacking layer management

 Layer list: Switch layers

 "New Layer" button: When creating a new layer, you need to enter the layer name. The layer
name cannot be the same as other layer names in the current layer array, and the variable naming
rules are observed. Immediately, no need to hit the save button.
 "Delete Layer" button: Delete a stack layer. Immediately, no need to hit the save button.
 "Save" button: Save the configuration of the object in the current modified layer. If the
configuration is different from the saved configuration of the current layer, the font color of the
save button will be red
 "Reset" button: Resets the object configuration of the current layer.

178
 "Layer size" : refers to the length of the current stacking layer in the X and y directions.

② Object management in palletizing layer

 "Add Object" and "Delete Object" buttons: Add or delete an object to the layer. After adding or
deleting an object, it will be compared with the current saved configuration. If it is the same, it
does not need to be saved. Different, save button turns red. You can delete multiple objects, add
only one, and delete only the selected object. At least one object can be retained after deletion
 Target point, Front point, Back point: You can modify the target point, front point, back point,
and offset point of the selected object. After the modification, the configuration is compared
with the saved configuration. If the configuration is the same, you do not need to save the
configuration.
 Object number: indicates the order in which objects are placed.
 Check box: Check or uncheck an object. If selected, the TCP point of the selected object is
different, and the font of the edit box is red. The default font is black
 Object name: Object name, object name can be selected from the object name list.
 "All selected" or "Unselected" button: Used to select or unselect an object, which will affect the
display of the TCP point value on the left.
 Static button and check box effect the color display of the left TCP point, specifically:
When an object is selected through the selection box, the TCP point on the left will display the
corresponding position value. When multiple objects are selected, the value of the last object will be
displayed by default if the button is selected. If selected in sequence with the checkbox, the last
clicked object will be displayed. When unselected, the last selected object is displayed by default,
and when not selected, the first object is displayed by default, and all TCP edit boxes cannot be
edited.
4. Palletizing layer queue configuration interface: used to configure SeniorPalletizer layer
queue, and can set the position and Angle of palletizing layer; You can select and configure by
palletizing layer name, as shown in the following figure. It is divided into layer queue management
and real-time graph management. The real-time graph management part is introduced in the next
section.

179
 Figure 16.7 tt:SeniorPalletizer Palletizing queue configuration interface

 Real-time map instructions

1. Single layer palletizing configuration interface graphics, the use of real-time graphics is
divided into object coordinate management, object list management, object graphics management,
object graphics button management four parts, as shown below.

180
 Figure 16.8 Single palletizing configuration interface graphics

 The default state is gray, and the selected state is green.

 Relation between actual coordinate system and real-time graph coordinate system:

Table 16.1 Real-time graph graphic description

Describe

Corresponding to the object coordinates management part,

Actual coordinate
its target value affects the object graphics management
system
part of the location of the graphics display

Real time graph This corresponds to the object Graphics management

coordinate system section

Corresponding The adaptive scale scales the actual coordinates to

relations between real-time graph coordinates

181
 Modify "Target Coordinates" : Modify "Target Coordinates" in the object coordinate
management section. Click "Refresh Graphics" button to update the graphics display in the
object graphics management section in real time.
 Status Selected: The object state in the object list management section corresponds to the object
state in the object graph management section, and is updated in real time. If the object is selected
in the object list management section, the corresponding object will change from gray to green.
If you deselect it, it goes back to gray. Multiple selection is supported.
 "Layer size" : The size of the tray on which objects are placed, indicated by a black
quadrilateral.
 Adaptive scaling: In the process of object movement, the graphics of object graphics
management will adapt to the scale according to the size and position of the object to ensure that
the object does not exceed the bounds.
 "Up, down, left and right" movement: the selected object can be moved up, down and left, and
real-time modification of object coordinates management part of the object coordinates, support
button long press operation.
 "Rotate" button: rotate the degree in the editable box clockwise.
 "Swap" button: Exchange the index of two objects, that is, exchange the object number in the
object list management section.
 "Drag" button: The "drag" button supports the dragging operation only when it is in the pressed
state. After being pressed, the state remains unchanged. Press again to cancel the dragging state.
Only selected objects can be dragged. Dragging an animal changes the position of the graph and
modifies the "target coordinates" in the object Coordinates Management section.
2. Palletizing layer queue configuration interface graphics. The use of real-time graphics can
be divided into three parts: palletizing layer coordinate management, palletizing layer list
management and palletizing layer queue graphics management, as shown in the figure below.

182
 Figure 16.9 Palletizing queue configuration interface graphics

 实际坐标系与实时图坐标系关系：
表 16.2 实时图图形描述

Describe

Corresponding to the coordinate management part of the

Actual coordinate palletizing layer, its target value affects the position
system display of the graphs in the queue graphics management
part of the palletizing layer

Real time graph This corresponds to the palletizing queue graphics

coordinate system management section

Corresponding The adaptive scale scales the actual coordinates to

183
 relations between real-time graph coordinates

 Modification of "Target Coordinates" : Modify "target position" in the coordinate management

section of palletizing layer. Click "Refresh Graphics" button to update the graphics display of
palletizing layer queue graphics management in real time.
 Status Selected: The palleting status in the palleting list management section corresponds to the
palleting status in the palleting queue graphics management and is updated in real time.
 Adaptive scaling: part of the graphics in palletizing queue can adapt to the scaling according to
the size and position of palletizing layer to ensure that the palletizing layer does not exceed the
boundary.

16.2.3 Fast configuration

Quick Configuration has only one shape, but there are multiple layers, but the configuration of each
layer is the same, as shown in the following figure.
Note: quick configuration will delete the original configuration, please use caution!!

184
 Figure 16.10 Palletizing queue configuration interface graphics

 "Quantity and offset distance in XYZ direction" : quantity XY refers to the quantity in XY
direction respectively, quantity Z refers to the number of layers; Offset XYZ refers to the shift in
the xyz direction of the coordinate system respectively.
 Front point configuration and Back point configuration: indicates the front and back points of all
objects.

185
16.2.4 SeniorPalletizer example procedures

Figure 16.11 SeniorPalletizer program example

Line 6: Switch to the palletizing system

Line 7: Move to the point before stacking
Line 8: Move to the palletizing point
Line 9: Move to the point behind stacking
Lines 10 to 14: If the stacking is full, the stacking will be reset; If not stamped, the next
palletizing point will be executed.
Note:
(1) The pre-stacking point, post-stacking point and entrance point of the palletizing are not set in
the sample program. Please refer to the description of palletizing variables to set according to
requirements.
(2) If you do not want to place some points in the middle, please use the NextPalletizer or
SetPalletizerNum command to change the serial number of the current placing.
(3) The tracking parameters related to excluding palletizing are not set in this example program,
so it does not have reference.

16.3 Production
(1) New global int type variable

186
 For example, int type variable named product
(2) Configure to use the product variable to record production
Select the variable in the function block - > production interface and enable it, as shown in
the following figure:

Figure 16.12 Production configuration interface

(3) Record the increase in production in the program
_g.product := _g.product + 1;

Program example
The sample program is the product program in the demo project. This program means that each
time an object is placed, the production is considered to increase once, see line 28 of the program.

16.4 Variable buffer area (realize the function of modifying variables during
operation)
The sample program is the cache in the demo project. The sample can change the xyz member of
the pos_2_l variable during operation.

187
 Program example

Figure 16.13 Buffer area program interface

 Corresponding configuration of sample program

188
 Figure 16.14 Variable buffer configuration interface

16.5 Hard trigger

Hard trigger is to generate a rising edge signal. Output_io is the output port, input_io is the input
port, input_io is only useful when IO_RISE is selected. Hard trigger includes the following four
types: IO_RISE, TIME_PERIOD, DISTANCE and POSITION.

 Application example 1

(1) Configuration settings

189
 Figure 16.15 Hard trigger configuration diagram

(2) Practical application:

The object is on the conveyor belt, the encoder records the distance, and the camera takes pictures.
Corresponding to the above configuration parameter settings, the camera uses the IO_RISE trigger
mode to take pictures. When din1 changes from false to true, dout1 generates a rising edge signal
trigger, and when din1 changes from true to false, dout1 is reset.

Application example 2
(1) Configuration settings

Figure 16.16 Hard trigger configuration diagram

(2) Practical application:

TIME_PERIOD hard trigger type. Corresponding to the above configuration settings, trigger
once at 300ms, generate a rising edge signal with a delay of 5ms (dout1 changes from false to true),
and reset after 150ms of high level (dout1 changes from true to false). As shown below.

Figure16.17 Example diagram of hard trigger

Application example 3
(1) Configuration settings

190
 Figure 16.18 Hard trigger configuration diagram

(2) Practical application:

DISTANCE hard trigger type: Corresponding to the above configuration settings, every 150
code value is a trigger cycle, and a rising edge signal is generated after each cycle is delayed by 5
codes (dout1 changes from false to true), then reset after 20ms (dout1 changes from true to false) ).
as the picture shows:

Figure 16.19 Example diagram of hard trigger

Application example 4
(1) Configuration settings

191
 Figure 16.20 Hard trigger configuration diagram

(2) Practical application:

POSITION hard trigger type. For example: in a carousel, a specific position is triggered.
Corresponding to the above configuration settings, at a specific position, the encoder code is
triggered when the encoder code value is 2000, and the rising edge signal is generated after the delay
distance is 5 code values (dout1 changes from fasle to true), and reset after 30 code values (dout1
changes from true to false).

Figure 16.21 Example diagram of hard trigger

16.6 Area monitoring

(1) New area monitoring variable
For example, create a new area monitoring variable named workarea (see area monitoring for
the configuration interface).
(2) Set area variable related parameter configuration (for specific parameter description, please
refer toWork Area)
Parameter configuration setting method:
(1) Starting point of working area:

192
 Box shape: It is a corner point of a cube, which is the smallest point. ( x is the smallest, y is
the smallest, z is the smallest)
CYLINDER shape: is the center of the bottom surface.
(2) Coordinate expression:
BOX shape: dx: distance from the starting point along the x direction
dy: starting from the starting point, the distance along the y direction
dz: starting from the starting point, the distance along the z direction
CYLINDER shape:
H: the height of the cylinder (the distance along the positive direction of the z-axis)
R: the radius of the cylinder
Set the working area of the robot according to your needs. See example 2 for specific area
settings.
(3) Workarea priority:
Prohibited Entry Area> Prohibited Leaving Area> Work Area
If the three areas exist at the same time, the robot must not enter the prohibited area to work,
and then cannot leave the prohibited area, and finally work in the work area.

Application example 1 (WORK_AREA)

As shown in the figure, the cylinder is the working area of the robot.

Figure 16.22 Example of working area

193
Application example 2 (FORBIDDEN_OUT)
As shown in the figure, the black rectangular parallelepiped area marked by the label is the
forbidden_out area.

Figure 16.23 Example diagram of prohibiting leaving the work area

For example, the robot grabs or places objects on the conveyor belt, and the two conveyor belts
and the area between them (the area in the dashed frame) are prohibited areas.

Figure 16.24 Application diagram of prohibiting leaving the work area

Application example 3 (FORBIDDEN_AREA)

194
 Note: There is no entry area, and it is not in the no entry work area.
As shown in the figure, the red rectangular parallelepiped area marked by the label is a no-entry
area.

in

eFigure16.25 Example diagram of prohibited work area

For example, a conveyor belt with a grid, where the baffle of the grid (the red line) is the
prohibited area of the robot.

Figure 16.26 Application diagram of prohibited working area

16.7 Object Allot

To understand the function of object diversion, it is necessary to combine the definition of object
diversion variable, the application example diagram and text description of object diversion.

(1) New object shunt variable

195
 Conveyor belt variables are required to use object flow variables. For example: create a new
conveyor belt variable named con, and then create a new object distribution variable called
objectallot.

(2) Object shunt configuration parameter setting (for the specific meaning of the parameters,
please refer to the object shunt variable ObjectAllot)

 Application example 1 (single allot)

Taking MAXMUM as example, the robot 1 grabs the objects on the conveyor belt with its
maximum capacity, and the rest is diverted to the robot 2 to grab the objects. Taking GROUPING as
an example, set output_num to 2 and total_num to 5. Robot 1 grabs 3 of them, and the remaining 2
are diverted to robot 2. Take RATIO_MAXIMUM as an example, first divide the flow according to
the proportion, and then divide the flow according to the maximum capacity. Assuming that the
shunt ratio is X, robot 1 grabs objects in a scale of 1-X. If robot 1 has not completed the grab of 1-X
ratio, it will be diverted to robot 2 to grab.

Figure 16.27 Example diagram of single shunt application

Application example 2 (double allot)

Take the RATIO type as an example. For grabbing conveyor belt b: Robot 2 divides the flow for
robot 3. Assuming that the flow ratio is X, robot 2 grabs objects on the conveyor belt b according to
the 1-X ratio, and places them on the conveyor belt a, and scales X The objects in are diverted to the
robot 3, and the robot 3 grabs the objects and places them on the conveyor belt a. For placing
conveyor belt a: robot 3 divides grids for robot 2, assuming that the distribution ratio is Y, robot 3
places objects on the grids of conveyor belt a according to the 1-Y ratio, and divides the grids of Y
ratio to robot 2. (Robot 2 is robot 3 shunting objects, and robot 3 is robot 2 shunting conveyor grid)

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 Figure 16.28 Example diagram of dual shunt application

16.8 External axis

The external shafts are conveyor belts, stop bars, and equipment with motors other than robots. To
understand the function of the external axis, it is necessary to combine the configuration of the
external axis (see the external axis) and the text description.

 Application example (take conveyor belt as an example)

Figure 16.29 Example diagram of external axis configuration

According to the above configuration, when x1 changes from false to true, a trigger signal is
generated and the conveyor belt starts to move at a speed of 10°/s; when x1 changes from true to
false, a reset signal is generated and the conveyor belt stops moving. When running Dout is true, the
conveyor belt is in running.status

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