Software version : V2.9.

3
Document version : V2.6
Original instructions(en_US)
 
 
 
 
 
 
 
 
 
 

Programming manual(V2.9.3)
 

 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
M0609 | M0617 | M1013 | M1509 | H2017 | H2515
A0509 | A0509S | A0912 | A0912S
 

© 2022 Doosan Robotics Inc.

 
  
 

Table of Contents
 

1 Preface ......................................................................................15
1.1 Copyright ............................................................................................... 15

2 DRL Basic Syntex ........................................................................16

2.1 Basic Syntax ........................................................................................... 16
2.1.1 Indent...................................................................................................................... 16
2.1.2 Comment ................................................................................................................. 17
2.2 Variable ................................................................................................. 17
2.2.1 Variable name .......................................................................................................... 17
2.2.2 Numeric value .......................................................................................................... 18
2.2.3 String ...................................................................................................................... 19
2.2.4 list ........................................................................................................................... 20
2.2.5 tuple........................................................................................................................ 20
2.2.6 dictionary ................................................................................................................ 21
2.3 Function ................................................................................................ 21
2.3.1 Function Syntax........................................................................................................ 21
2.3.2 Scoping rule ............................................................................................................. 23
2.3.3 Parameter mode....................................................................................................... 23
2.4 Control Statement .................................................................................. 24
2.4.1 pass ......................................................................................................................... 24
2.4.2 if ............................................................................................................................. 25
2.4.3 while ....................................................................................................................... 26
2.4.4 for ........................................................................................................................... 26
2.4.5 break ....................................................................................................................... 27
2.4.6 continue .................................................................................................................. 27
2.4.7 Else in a loop ............................................................................................................ 28

3 Motion-related Commands ..........................................................29

3.1 Pos Creation........................................................................................... 29
3.1.1 posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0) ..................................................................... 29
3.1.2 posx(X=0, Y=0, Z=0, A=0, B=0, C=0) ............................................................................. 30

-2- Programming manual(V2.9.3)

  
 

3.1.3 trans(pos, delta, ref, ref_out)..................................................................................... 32

3.1.4 posb(seg_type, posx1, posx2=None, radius=0) ............................................................ 34
3.1.5 fkin(pos, ref) ............................................................................................................ 36
3.1.6 ikin(pos, sol_space, ref, ref_pos_opt, iter_threshold) .................................................. 38
3.1.7 addto(pos, add_val=None) ........................................................................................ 40
3.2 Motion settings....................................................................................... 42
3.2.1 set_velj(vel) ............................................................................................................. 42
3.2.2 set_accj(acc) ............................................................................................................ 43
3.2.3 set_velx(vel1, vel2) ................................................................................................... 45
3.2.4 set_velx(vel) ............................................................................................................ 46
3.2.5 set_accx(acc1, acc2).................................................................................................. 48
3.2.6 set_accx(acc)............................................................................................................ 49
3.2.7 set_tcp(name) .......................................................................................................... 51
3.2.8 set_ref_coord(coord) ................................................................................................ 52
3.3 Synchronous Motion ............................................................................... 54
3.3.1 movej() .................................................................................................................... 54
3.3.2 movel() .................................................................................................................... 59
3.3.3 movejx() .................................................................................................................. 64
3.3.4 movec() ................................................................................................................... 68
3.3.5 movesj()................................................................................................................... 74
3.3.6 movesx() .................................................................................................................. 77
3.3.7 moveb() ................................................................................................................... 81
3.3.8 move_spiral() ........................................................................................................... 85
3.3.9 move_periodic() ....................................................................................................... 89
3.3.10 move_home() ........................................................................................................... 94
3.4 Asynchronous Motion.............................................................................. 95
3.4.1 amovej() .................................................................................................................. 95
3.4.2 amovel() .................................................................................................................. 98
3.4.3 amovejx()................................................................................................................101
3.4.4 amovec().................................................................................................................104
3.4.5 amovesj() ................................................................................................................108
3.4.6 amovesx() ...............................................................................................................111
3.4.7 amoveb() ................................................................................................................114
3.4.8 amove_spiral() ........................................................................................................118
3.4.9 amove_periodic() ....................................................................................................122

-3- Programming manual(V2.9.3)

  
 

3.5 Additional Functions ..............................................................................125

3.5.1 mwait(time=0).........................................................................................................125
3.5.2 begin_blend(radius=0) .............................................................................................127
3.5.3 end_blend().............................................................................................................129
3.5.4 check_motion() .......................................................................................................130
3.5.5 stop(st_mode) .........................................................................................................131
3.5.6 change_operation_speed(speed) ..............................................................................133
3.5.7 wait_manual_guide() ...............................................................................................135
3.5.8 wait_nudge()...........................................................................................................137
3.5.9 enable_alter_motion(n,mode,ref,limit_dPOS,limit_dPOS_per) ...................................139
3.5.10 alter_motion(pos)....................................................................................................141
3.5.11 disable_alter_motion().............................................................................................143
3.6 Servo Motion .........................................................................................144
3.6.1 servoj() ...................................................................................................................144
3.6.2 servol() ...................................................................................................................146
3.6.3 speedj()...................................................................................................................149
3.6.4 speedl()...................................................................................................................151

4 Auxiliary Control Commands ..................................................... 154

4.1 Robot Current Value...............................................................................154
4.1.1 get_current_posj() ...................................................................................................154
4.1.2 get_current_velj()....................................................................................................154
4.1.3 get_current_posx(ref) ..............................................................................................155
4.1.4 get_current_tool_flange_posx(ref) ...........................................................................157
4.1.5 get_current_velx(ref)...............................................................................................158
4.1.6 get_current_rotm(ref)..............................................................................................159
4.1.7 get_joint_torque() ...................................................................................................160
4.1.8 get_external_torque()..............................................................................................160
4.1.9 get_tool_force(ref) ..................................................................................................161
4.2 Robot Target Value ................................................................................162
4.2.1 get_desired_posj() ...................................................................................................162
4.2.2 get_desired_velj()....................................................................................................163
4.2.3 get_desired_posx(ref) ..............................................................................................164
4.2.4 get_desired_velx(ref)...............................................................................................165
4.3 Control State Value ................................................................................166

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4.3.1 get_control_mode() .................................................................................................166

4.3.2 get_control_space() .................................................................................................166
4.3.3 get_current_solution_space() ...................................................................................167
4.3.4 get_solution_space(pos) ..........................................................................................168
4.3.5 get_orientation_error(xd, xc, axis)............................................................................169

5 Other Settings Command .......................................................... 171

5.1 Tool/Workpiece Settings ........................................................................171
5.1.1 get_workpiece_weight() ..........................................................................................171
5.1.2 reset_workpiece_weight()........................................................................................172
5.1.3 set_workpiece_weight(weight=0.0, cog=[0.0,0.0,0.0], cog_ref=DR_CUR_TCP,
add_up=DR_REPLACE, start_time=None, transition_time=None).................................172
5.1.4 set_tool_shape(name) .............................................................................................175
5.1.5 set_tool(name, start_time, transition_time) ..............................................................176
5.2 Control Mode Settings............................................................................177
5.2.1 set_singularity_handling(mode) ...............................................................................177
5.2.2 set_singular_handling_force(mode)..........................................................................179
5.2.3 set_palletizing_mode(mode) ....................................................................................181
5.2.4 set_motion_end(mode) ............................................................................................182

6 Force/Stiffness Control and Other User-Friendly Features............ 185

6.1 Force/Compliance Control ......................................................................185
6.1.1 release_compliance_ctrl() ........................................................................................185
6.1.2 task_compliance_ctrl(stx, time)................................................................................186
6.1.3 set_stiffnessx(stx, time) ...........................................................................................187
6.1.4 set_desired_force(fd, dir, time, mod) ........................................................................189
6.1.5 release_force(time=0) ..............................................................................................192
6.1.6 get_force_control_state().........................................................................................193
6.2 User-friendly Functions..........................................................................195
6.2.1 parallel_axis(x1, x2, x3, axis, ref) ..............................................................................195
6.2.2 parallel_axis(vect, axis, ref)......................................................................................197
6.2.3 align_axis(x1, x2, x3, pos, axis, ref) ...........................................................................198
6.2.4 align_axis(vect, pos, axis, ref)...................................................................................200
6.2.5 is_done_bolt_tightening(m=0, timeout=0, axis=None)................................................202
6.2.6 calc_coord(x1, x2, x3, x4, ref, mod) ...........................................................................203

-5- Programming manual(V2.9.3)

  
 

6.2.7 set_user_cart_coord(pos, ref)...................................................................................205

6.2.8 set_user_cart_coord(x1, x2, x3, pos, ref) ...................................................................207
6.2.9 set_user_cart_coord(u1, v1, pos, ref) ........................................................................208
6.2.10 overwrite_user_cart_coord(id, pos, ref) ....................................................................210
6.2.11 get_user_cart_coord(id)...........................................................................................211
6.2.12 check_position_condition(axis, min, max, ref, mod, pos) ............................................213
6.2.13 check_force_condition(axis, min, max, ref)................................................................215
6.2.14 check_orientation_condition(axis, min, max, ref, mod) ..............................................217
6.2.15 check_orientation_condition(axis, min, max, ref, mod, pos) .......................................219
6.2.16 coord_transform(pose_in, ref_in, ref_out).................................................................222

7 System Commands ................................................................... 225

7.1 IO Related .............................................................................................225
7.1.1 set_digital_output(index, val =None) ........................................................................225
7.1.2 set_digital_outputs(bit_list) .....................................................................................226
7.1.3 set_digital_outputs(bit_start, bit_end, val) ...............................................................227
7.1.4 set_digital_output(index, val=None, time=None, val2=None)......................................229
7.1.5 get_digital_input(index) ..........................................................................................231
7.1.6 get_digital_inputs(bit_list).......................................................................................232
7.1.7 get_digital_inputs(bit_start, bit_end) .......................................................................233
7.1.8 wait_digital_input(index, val, timeout=None)............................................................234
7.1.9 set_tool_digital_output(index, val=None) .................................................................236
7.1.10 set_tool_digital_outputs(bit_list) .............................................................................237
7.1.11 set_tool_digital_outputs(bit_start, bit_end, val)........................................................239
7.1.12 set_tool_digital_output(index, val=None, time=None, val2=None) ..............................240
7.1.13 get_tool_digital_input(index) ...................................................................................242
7.1.14 get_tool_digital_inputs(bit_list) ...............................................................................243
7.1.15 get_tool_digital_inputs(bit_start, bit_end)................................................................245
7.1.16 wait_tool_digital_input(index, val, timeout=None) ....................................................246
7.1.17 set_mode_analog_output(ch, mod ) ..........................................................................248
7.1.18 set_mode_analog_input(ch, mod ) ............................................................................249
7.1.19 set_analog_output(ch, val).......................................................................................250
7.1.20 get_analog_input(ch)...............................................................................................251
7.2 TP Interface...........................................................................................253
7.2.1 tp_popup(message, pm_type=DR_PM_MESSAGE, button_type=0) ...............................253

-6- Programming manual(V2.9.3)

  
 

7.2.2 tp_log(message) ......................................................................................................254

7.2.3 tp_get_user_input(message, input_type) ..................................................................255
7.3 Thread ..................................................................................................257
7.3.1 thread_run(th_func_name, loop=False).....................................................................257
7.3.2 thread_stop(th_id) ..................................................................................................259
7.3.3 thread_pause(th_id) ................................................................................................260
7.3.4 thread_resume(th_id) ..............................................................................................261
7.3.5 thread_state(th_id) .................................................................................................262
7.3.6 Integrated example - Thread.....................................................................................263
7.4 Others...................................................................................................265
7.4.1 wait(time) ...............................................................................................................265
7.4.2 exit().......................................................................................................................266
7.4.3 sub_program_run(name) .........................................................................................267
7.4.4 drl_report_line(option) ............................................................................................268
7.4.5 set_fm(key, value) ...................................................................................................269
7.4.6 get_robot_model()...................................................................................................270
7.4.7 get_robot_serial_num() ...........................................................................................271
7.4.8 check_robot_jts() ....................................................................................................272
7.4.9 check_robot_fts() ....................................................................................................272
7.4.10 start_timer() ...........................................................................................................273
7.4.11 end_timer() .............................................................................................................273

8 Mathematical Function ............................................................. 275

8.1 Basic Function .......................................................................................275
8.1.1 ceil(x) .....................................................................................................................275
8.1.2 floor(x) ...................................................................................................................275
8.1.3 pow(x, y).................................................................................................................276
8.1.4 sqrt(x).....................................................................................................................277
8.1.5 log(x, b) ..................................................................................................................277
8.1.6 d2r(x) .....................................................................................................................278
8.1.7 r2d(x) .....................................................................................................................279
8.1.8 random().................................................................................................................279
8.2 Trigonometric functions.........................................................................280
8.2.1 sin(x) ......................................................................................................................280
8.2.2 cos(x)......................................................................................................................281

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8.2.3 tan(x)......................................................................................................................281
8.2.4 asin(x) ....................................................................................................................282
8.2.5 acos(x) ....................................................................................................................283
8.2.6 atan(x)....................................................................................................................283
8.2.7 atan2(y, x)...............................................................................................................284
8.3 Linear algebra .......................................................................................285
8.3.1 norm(x)...................................................................................................................285
8.3.2 rotx(angle) ..............................................................................................................285
8.3.3 roty(angle) ..............................................................................................................286
8.3.4 rotz(angle) ..............................................................................................................287
8.3.5 rotm2eul(rotm) .......................................................................................................288
8.3.6 rotm2rotvec(rotm) ..................................................................................................289
8.3.7 eul2rotm([alpha,beta,gamma]) ................................................................................289
8.3.8 eul2rotvec([alpha,beta,gamma]) ..............................................................................290
8.3.9 rotvec2eul([rx,ry,rz]) ...............................................................................................291
8.3.10 rotvec2rotm([rx,ry,rz]) ............................................................................................292
8.3.11 htrans(posx1,posx2) ................................................................................................293
8.3.12 get_intermediate_pose(posx1,posx2,alpha) ..............................................................294
8.3.13 get_distance(posx1, posx2) ......................................................................................295
8.3.14 get_normal(x1, x2, x3) .............................................................................................296
8.3.15 add_pose(posx1,posx2)............................................................................................297
8.3.16 subtract_pose(posx1,posx2).....................................................................................298
8.3.17 inverse_pose(posx1) ................................................................................................299
8.3.18 dot_pose(posx1, posx2) ...........................................................................................300
8.3.19 cross_pose(posx1, posx2).........................................................................................301
8.3.20 unit_pose(posx1) .....................................................................................................302

9 External Communication Commands.......................................... 304

9.1 Serial ....................................................................................................304
9.1.1 serial_open(port=None, baudrate=115200, bytesize=DR_EIGHTBITS,
parity=DR_PARITY_NONE, stopbits=DR_STOPBITS_ONE) ............................................304
9.1.2 serial_close(ser) ......................................................................................................306
9.1.3 serial_state(ser) ......................................................................................................306
9.1.4 serial_set_inter_byte_timeout(ser, timeout=None) ....................................................307
9.1.5 serial_write(ser, tx_data) .........................................................................................308

-8- Programming manual(V2.9.3)

  
 

9.1.6 serial_read(ser, length=-1, timeout=-1) .....................................................................310

9.1.7 serial_get_count() ...................................................................................................311
9.1.8 serial_get_info(id) ...................................................................................................312
9.1.9 Combined Example - Serial .......................................................................................313
9.2 Tcp/Client .............................................................................................315
9.2.1 client_socket_open(ip, port).....................................................................................315
9.2.2 client_socket_close(sock).........................................................................................316
9.2.3 client_socket_state(sock).........................................................................................317
9.2.4 client_socket_write(sock, tx_data) ...........................................................................319
9.2.5 client_socket_read(sock, length=-1, timeout=-1) .......................................................320
9.2.6 Integrated example (Tcp/Client) ...............................................................................321
9.3 Tcp/Server ............................................................................................324
9.3.1 server_socket_open(port) ........................................................................................324
9.3.2 server_socket_close(sock)........................................................................................325
9.3.3 server_socket_state(sock)........................................................................................326
9.3.4 server_socket_write(sock, tx_data) ..........................................................................327
9.3.5 server_socket_read(sock, length=-1, timeout=-1) ......................................................328
9.3.6 Integrated example - Tcp/Server ...............................................................................330
9.4 Modbus .................................................................................................332
9.4.1 add_modbus_signal(ip, port, name, reg_type, index, value=0, slaveid=255).................332
9.4.2 add_modbus_rtu_signal(slaveid=1, port=None, baudrate=115200, bytesize=DR_EIGHTBITS,
parity=DR_PARITY_NONE, stopbits=DR_STOPBITS_ONE, name, reg_type, index,
value=0)..................................................................................................................335
9.4.3 add_modbus_signal_multi(ip, port, slaveid=255, name=None,
reg_type=DR_HOLDING_REGISTER, start_address=0, cnt=1) .......................................338
9.4.4 add_modbus_rtu_signal_multi(slaveid=1, port=None, baudrate=115200,
bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits=DR_STOPBITS_ONE,
name=None, reg_type=DR_HOLDING_REGISTER, start_address=0, cnt=1) ....................339
9.4.5 del_modbus_signal(name) .......................................................................................341
9.4.6 del_modbus_signal_multi(name)..............................................................................343
9.4.7 set_modbus_output(iobus, value).............................................................................344
9.4.8 set_modbus_outputs(iobus_list, val_list) ..................................................................345
9.4.9 set_modbus_output_multi(iobus, val_list) ................................................................347
9.4.10 get_modbus_input(iobus) ........................................................................................348
9.4.11 get_modbus_inputs(iobus_list) ................................................................................350
9.4.12 get_modbus_inputs_list(iobus_list) ..........................................................................351
9.4.13 get_modbus_input_multi (iobus) ..............................................................................352

-9- Programming manual(V2.9.3)

  
 

9.4.14 wait_modbus_input(iobus, val, timeout=None) .........................................................353

9.4.15 set_modbus_slave(address, val) ...............................................................................355
9.4.16 get_modbus_slave(address) .....................................................................................356
9.4.17 modbus_crc16(data) ................................................................................................357
9.4.18 modbus_send_make(send_data) ..............................................................................358
9.4.19 modbus_recv_check(recv_data) ...............................................................................359
9.4.20 modbus_unsigned_to_signed(unsigned_data) ...........................................................360
9.5 Industrial Ethernet (EtherNet/IP,PROFINET) ............................................361
9.5.1 set_output_register_bit(address, val) .......................................................................361
9.5.2 set_output_register_int(address, val) .......................................................................363
9.5.3 set_output_register_float(address, val) ....................................................................364
9.5.4 get_output_register_bit(address) .............................................................................365
9.5.5 get_output_register_int(address) .............................................................................366
9.5.6 get_output_register_float(address) ..........................................................................367
9.5.7 get_input_register_bit(address) ...............................................................................368
9.5.8 get_input_register_int(address) ...............................................................................370
9.5.9 get_input_register_float(address) ............................................................................371
9.6 FOCAS...................................................................................................372
9.6.1 focas_connect(ip, port, timeout)...............................................................................372
9.6.2 focas_disconnect(handle).........................................................................................373
9.6.3 focas_pmc_read_bit(handle, addr_type, start_num, bit_offset) ..................................374
9.6.4 focas_pmc_read_char(handle, addr_type, start_num, read_count) .............................376
9.6.5 focas_pmc_read_word(handle, addr_type, start_num, read_count) ............................378
9.6.6 focas_pmc_read_long(handle, addr_type, start_num, read_count) .............................380
9.6.7 focas_pmc_read_float(handle, addr_type, start_num, read_count).............................382
9.6.8 focas_pmc_read_double(handle, addr_type, start_num, read_count) .........................384
9.6.9 focas_pmc_write_bit(handle, addr_type, start_num, bit_offset, write_data) ...............386
9.6.10 focas_pmc_write_char(handle, addr_type, start_num, write_data, write_count) .........388
9.6.11 focas_pmc_write_word(handle, addr_type, start_num, write_data, write_count) ........390
9.6.12 focas_pmc_write_long(handle, addr_type, start_num, write_data, write_count) .........392
9.6.13 focas_pmc_write_float(handle, addr_type, start_num, write_data, write_count).........394
9.6.14 focas_pmc_write_double(handle, addr_type, start_num, write_data, write_count) .....396
9.6.15 focas_get_error_str(handle, errorCode) ....................................................................398

10 External Vision Commands ........................................................ 403

- 10 - Programming manual(V2.9.3)
  
 

10.1 Overview ..............................................................................................403

10.2 2D Vision - COGNEX / SICK / VISOR............................................................403
10.2.1 vs_set_info(type).....................................................................................................404
10.2.2 vs_connect(ip_addr, port_num=9999) .......................................................................405
10.2.3 vs_disconnect() .......................................................................................................406
10.2.4 vs_get_job() ............................................................................................................406
10.2.5 vs_set_job(job_name) ..............................................................................................407
10.2.6 cognex_set_integer (job_name, integer_number) ......................................................408
10.2.7 visor_job_change(index) ..........................................................................................408
10.2.8 vs_trigger() .............................................................................................................410
10.2.9 vs_set_init_pos(vision_posx_init, robot_posx_init, vs_pos=1).....................................411
10.2.10 vs_get_offset_pos(vision_posx _meas, vs_pos=1) ......................................................412
10.2.11 Integrated example - DR_VS_COGNEX, DR_VS_SICK ....................................................413
10.2.12 vs_request(cmd)......................................................................................................414
10.2.13 vs_result()...............................................................................................................415
10.2.14 Integrated example - DR_VS_CUSTOM .......................................................................416
10.3 Pickit 3D ...............................................................................................417
10.3.1 pickit_connect(ip)....................................................................................................418
10.3.2 pickit_disconnect() ..................................................................................................419
10.3.3 pickit_change_configuration(setup_id, product_id)) ..................................................419
10.3.4 pickit_request_calibration() .....................................................................................420
10.3.5 pickit_detection(offset_z) ........................................................................................420
10.3.6 pickit_next_object(offset_z).....................................................................................422
10.3.7 pickit_save_snapshot() ............................................................................................424
10.3.8 Integrated example - Pickit 3D ..................................................................................425

11 Doosan Vision(SVM) Command................................................... 428

11.1 Camera Connection................................................................................429
11.1.1 svm_connect(ip=”192.168.137.5”, port=20)...............................................................429
11.1.2 svm_disconnect() ....................................................................................................430
11.2 Check Image Quality ..............................................................................430
11.2.1 svm_set_led_brightness(value) ................................................................................430
11.2.2 svm_get_led_brightness() ........................................................................................431
11.2.3 svm_set_camera_exp_val(value) ..............................................................................431
11.2.4 svm_set_camera_gain_val(value) .............................................................................432

- 11 - Programming manual(V2.9.3)
  
 

11.2.5 svm_set_camera_load(job_id) ..................................................................................433

11.3 Vision Job Manage .................................................................................433
11.3.1 svm_set_job(job_id) ................................................................................................433
11.4 Camera Calibration ................................................................................434
11.4.1 svm_get_robot_pose(job_id) ....................................................................................434
11.5 Object Recognition/Detection .................................................................435
11.5.1 svm_get_vision_info(job_id).....................................................................................435
11.5.2 svm_get_variable(tool_id, var_type).........................................................................436
11.5.3 svm_detect_landmark(job_id) ..................................................................................437
11.5.4 svm_get_marker_offset_pose(cpos, offset, euler_mode) ............................................438
11.5.5 svm_get_detect_barcode() .......................................................................................440
11.5.6 svm_get_barcode_db_data(index) ............................................................................440
11.5.7 svm_compare_barcode_db_data(dbdata) .................................................................441
11.6 Robot Task ............................................................................................442
11.6.1 svm_set_init_pos_data(Id_list, Pos_list)....................................................................442
11.6.2 svm_get_offset_pos(posx_robot_init, job_id, tool_id) ................................................443
11.7 Other SVM commands ............................................................................445
11.7.1 svm_set_tp_popup (svm_flag) ..................................................................................445
11.8 Integrated example (SVM) ......................................................................445
11.8.1 Example..................................................................................................................445

12 Application Commands ............................................................. 447

12.1 External Encoder Setting Commands.......................................................447
12.1.1 set_extenc_polarity(channel, polarity_A, polarity_B, polarity_Z, polarity_S) ...............447
12.1.2 set_extenc_mode(channel, mode_AB, pulse_AZ, mode_Z, mode_S, inverse_cnt) ..........448
12.1.3 get_extenc_count(channel) ......................................................................................450
12.1.4 clear_extenc_count(channel) ...................................................................................451
12.2 Conveyor Tracking.................................................................................452
12.2.1 set_conveyor(name) ................................................................................................452
12.2.2 set_conveyor_ex(name=””, conv_type=0, encoder_channel=1, triggering_mute_time=0.0,
count_per_dist=5000, conv_coord=posx(0,0,0,0,0,0), ref=DR_BASE, conv_speed=100.0,
speed_filter_size=500, min_dist=0.0, max_dist=1000.0, watch_window=100.0...).........453
12.2.3 get_conveyor_obj(conv_id, timeout=None, container_type=DR_FIFO,
obj_offset_coord=None)...........................................................................................457
12.2.4 tracking_conveyor(conv_id, time=0.3) ......................................................................461

- 12 - Programming manual(V2.9.3)
  
 

12.2.5 untracking_conveyor(conv_id, time=0.3) ..................................................................463

12.3 Welding.................................................................................................465
12.3.1 app_weld_enable_digital() .......................................................................................465
12.3.2 app_weld_disable_digital() ......................................................................................467
12.3.3 app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,0,0,0,0],
robot_ready=[0,0,0,0,0,0,0,0,0], error_reset=[0,0,0,0,0,0,0,0,0]).................................469
12.3.4 app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,0,0,0],
s_2t=[0,0,0,0,0,0,0,0,0], pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0]) .474
12.3.5 app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0],
inching_plus=[0,0,0,0,0,0,0,0,0], inching_minus=[0,0,0,0,0,0,0,0,0],
blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0],
ts_opt1=[0,0,0,0,0,0,0,0,0], ...)..................................................................................477
12.3.6 app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,0,0],
synergic_id=[0,0,0,0,0,0,0,0,0], r_wire_feed_speed=[0,0,0,0,0,0,0,0,0],
voltage_corret=[0,0,0,0,0,0,0,0.0,0.0], dynamic_correct=[0,0,0,0,0,0,0,0,0])................480
12.3.7 app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0],
opt6=[0,0,0,0,0,0,0,0,0],...).......................................................................................483
12.3.8 app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,0,0,0],
process_active=[0,0,0,0,0,0,0,0,0], main_current=[0,0,0,0,0,0,0,0,0],
machine_ready=[0,0,0,0,0,0,0,0,0], comm_ready=[0,0,0,0,0,0,0,0,0]) ..........................487
12.3.9 app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,0,0,0,0,0,0,0],
welding_current=[0,0,0,0,0,0,0,0,0], wire_feed_speed=[0,0,0,0,0,0,0,0,0],
wire_stick=[0,0,0,0,0,0,0,0,0], error=[0,0,0,0,0,0,0,0,0], ...) ........................................491
12.3.10 app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0],
opt6=[0,0,0,0,0,0,0,0,0], opt7=[0,0,0,0,0,0,0,0,0],...) ..................................................494
12.3.11 app_weld_set_weld_cond_digital(flag_dry_run=0, vel_target=0, vel_min=0, vel_max=0,
welding_mode=0, s_2t=0, pulse_mode=0, wm_opt1=0, simulation=0, ts_opt1=0,
ts_opt2=0,...)...........................................................................................................498
12.3.12 app_weld_adj_welding_cond_digital(flag_reset=None, f_target=None, vel_target=None,
wv_offset=None, wv_width_ratio=None, dynamic_cor=None, voltage_cor=None,
job_number=None, synergic_id=None) ......................................................................503
12.3.13 app_weld_get_welding_cond_digital()......................................................................507
12.3.14 app_weld_enable_analog(ch_v_out=[1,0], spec_v_out=[0,0,0,0], ch_f_out=[2,0],
spec_f_out=[0,0,0,0], ch_v_in=[1,0], spec_v_in=[0,0,0,0], ch_c_in=[2,0],
spec_c_in=[0,0,0,0],ch_arc_on=1,ch_gas_on=2,ch_inching_fwd=3,ch_inching_bwd=4, ...) .51
2
12.3.15 app_weld_disable_analog()......................................................................................517
12.3.16 app_weld_set_weld_cond_analog(flag_dry_run=0, v_target=0, f_target=0, vel_target=0,
vel_min=0, vel_max=0, weld_proc_param=[0.2,0.2,0.5,0.5,0.5,0.2,0.2,0.5,0.5]) ...........519
12.3.17 app_weld_adj_welding_cond_analog(flag_reset=0, v_target=None, f_target=None,
vel_target=None, wv_offset=None, wv_width_ratio=None) ........................................523

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12.3.18 app_weld_get_welding_cond_analog() .....................................................................526

12.3.19 app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3]) ........................................................530
12.3.20 app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6]) ..........532
12.3.21 app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3]) .535
12.3.22 app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6]).....537

13 A-Series Command.................................................................... 540

13.1 Controller .............................................................................................540
13.1.1 get_function_input(index)........................................................................................540
13.2 Flange I/O..............................................................................................541
13.2.1 flange_serial_open(baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE,
stopbits = DR_STOPBITS_ONE)..................................................................................541
13.2.2 flange_serial_close() ................................................................................................542
13.2.3 flange_serial_write(tx_data) ....................................................................................543
13.2.4 flange_serial_read(timeout=None) ...........................................................................544
13.2.5 Integrated example - A-Series Command ...................................................................545

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Preface

1 Preface
This manual is composed of thirteen chapters. Chapter 2 through 12 describe DRL commands common to M-
series robot, H-series robot and A-series robot, chapter 13 describes DRL commands that apply only to A-series
robot.

The contents of this manual are current as of the date this manual was written, and product-related information
may be modified without prior notification to the user.

For more information on the revised manual, please visit our Robot LAB website. (https://
robotlab.doosanrobotics.com/)

1.1 Copyright
The copyright and intellectual property rights of the contents of this manual are held by Doosan Robotics. It is
therefore prohibited to use, copy, or distribute the contents without written approval from Doosan Robotics. In
the event of abuse or modification of the patent right, the user will be fully accountable for the consequences.

While the information in this manual is reliable, Doosan Robotics will not be held accountable for any damage
that occurs due to errors or typos. The contents of this manual may be modified according to product
improvement without prior notification.

© 2022 Doosan Robotics Inc., All rights reserved

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DRL Basic Syntex

2 DRL Basic Syntex

2.1 Basic Syntax

 Caution
The syntax of DRL is the same as the syntax of Python which means that DRL does not include all the
syntax and features of Python.
DRL only supports the information described in this manual.

2.1.1 Indent

Features
This function is used to separate each code block. An error occurs if the indentation is not complied.

• Indentation is used to separate each code block.

• For Indentation, 2 spaces, 4 space or tab character can be used.
• For a block, same type of indentation should be used

Example

1 Code block 1
2 [TAB] Code block 2
3  
4 Example)
5 if x = = 3 :
6 y + = 1
7  
8 # No Error
9 def fnSum(x,y):
10 [space4] sum = x + y
11 [space4] return sum
12  
13 # No Error
14 def fnSubtract(x,y):
15 [TAB]diff = x - y
16 [TAB] return diff
17  
18  
19 # Indentation error
20 def fnProduct(x,y):
21 [space4]product = x * y
22 [TAB] return product

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DRL Basic Syntex

2.1.2 Comment

Features
This function is used to provide an additional description of the code. The comments do not affect the source
code since they are excluded from code processing.

A statement following "#" is recognized as a comment.  A block that begins with ’’’ and ends with ’’’ is
recognized as a comment.

• Comment is used to provide an additional description of the code. The comments do not affect the source
code since they are excluded from code processing
• A statement following "#" is recognized as a comment.
• A block that begins with ’’’ and ends with ’’’ is recognized as a comment

Example

1 # Comment example 1
2 ’’’
3 Comment example 2

2.2 Variable

2.2.1 Variable name

Features
• Variable is used to express the data value and can consist of letters, numbers, and underscores (_). The
first character cannot be a number.
• Letters are case sensitive.
• An error occurs if the variable name is the same as a reserved word or interpreter internal function name.

To avoid this, use the function name as using the prefix "var _", if possible.

 Caution
Never use the following reserved words as variable names or function names.

and assert break class continue

def del elif else except

exec finally for from global

- 17 - Programming manual(V2.9.3)
  
DRL Basic Syntex

if import in is lambda

list not open or pass

print raise return try while

with yield select    

Example

1 friend = 10
2 Friend = 1
3 _myFriend = None
4  
5 Pass = 10 # Syntax error
6 movej = 0 # movej is a DRL instruction name and should not be
used as a variable.

2.2.2 Numeric value

Features
DRL provides numeric types such as int, float, complex number and so on.

Example

1 10 , 0x10 , 0o10 , 0b10

2 3.14 , 314e - 2
3 x = 3 - 4j
4  
5 int_value = 10
6 hexa_value = 0x10
7 octa_value = 0o10
8 binary_value = 0b10
9 double_value = 3.14
10 double value = 314e - 2
11 complex_value = 3 - 4j

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DRL Basic Syntex

2.2.3 String

String

Features
All character strings are in Unicode.

• Escape characters
\n: New line
\t: Tab
\r: Carrage return
\0: Null string
\\: back slash(\) in string
\’: single quote mark in string
\": double quote mark in string

• String concatenation: "py"+ "tyon" → "python"

• String repeatition: "py"* 3 → "pypypy"
• String indexing: "python" [0] → "p"
• String slicing: "python" [1:4] → "yth"

Example

1 "string1"
2 'string2'
3  
4 tp_log( "st" + "ring" )
5 #expected result: string
6 tp_log( "str" * 3 )
7 #expected result: strstrstr
8 tp_log( "line1\nline2" )
9 #expected result: line1
10 # line2
11 tp_log( "\"string\"" )
12 #expected result: "string"
13 tp_log( "str" [ 0 ])
14 #expected result: s
15 tp_log( "string" [ 1 : 3 ])
16 #expected result: tr

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DRL Basic Syntex

+, *

Example

1 "Doosan" + "Robotics" → "DoosanRobotics"

2 "Doo" * 3 → "DooDooDoo"

Indexing & slicing

Example

1 " Doosan" [ 0 ] → "D"

2 " Doosan" [ 1 : 4 ] → "oos"

2.2.4 list

Features
• The items in a list can be changed and ordered.
• A list can be indexed and sliced.
• append, insert, extend, and + operators
• count, remove, and sort operators

Example

1 colors = [ "red" , "green" , "blue" ]

2 tp_log(colors[ 0 ] + "," + colors[ 1 ] + "," + colors[ 2 ])
3 #expected print result: red,green,blue
4
5 numbers = [ 1 , 3 , 5 , 7 , 9 ]
6 sum = 0
7 for number in numbers:
8 sum + = number
9 tp_log( str ( sum ) )
10 #expected result: 25

2.2.5 tuple

Features
Tupule is similar to a list but is faster at processing since it is read-only.

- 20 - Programming manual(V2.9.3)
  
DRL Basic Syntex

Example

1 colors = ( "red" , "green" , "blue" )

2 numbers = ( 1 , 3 , 5 , 7 , 9 )
3  
4 def fnMinMax(numbers):
5 numbers.sort()
6 return (numbers[ 0 ], numbers[ - 1 ])
7 minmax = fnMinMax([ 4 , 1 , 2 , 9 , 5 , 7 ])
8 tp_log( "Min Value= " + str (minmax[ 0 ]))
9 #expected result: Min Value = 1
10 tp_log( "Max Value= " + str (minmax[ 1 ]))
11 #expected result: Max Value = 9

2.2.6 dictionary

Features
Dictionary specifies the keys and values and lists the values.

Example

1 d = dict (a = 1 , b = 3 , c = 5 )
2  
3 colors = dict ()
4 colors[ "cherry" ] = "red"
5  
6 ages = { 'Kim' : 35 , 'Lee' : 38 , 'Chang' : 37 }
7 tp_log( "Ages of Kim = " + str (ages[ 'Kim' ]))
8 #expected print result: Ages of Kim = 35

2.3 Function

2.3.1 Function Syntax

Features
• Declaration: A function begins with def and ends with colon (:).
• The beginning and ending of a function is specified by an indentation of the code.
• The interface and implementation are not separated. However, they must have been defined before they
are used.
• An error occurs if the function name is the same as a reserved word or interpreter internal function name.

- 21 - Programming manual(V2.9.3)
  
DRL Basic Syntex

To avoid this, use the function name as using the prefix "fn_", if possible.

 Caution
Never use the following reserved words as variable names or function names.

and assert break class continue

def del elif else except

exec finally for from global

if import in is lambda

list not open or pass

print raise return try while

with yield select    

sentence
def <function name> (parameter 1, parameter 2, … parameter N):

        <syntax> …

return <return value>

Example

1 # Example
2 def fn_Times(a, b):
3 return a * b
4  
5 fn_Times ( 10 , 10 )
6  
7 def fn_Times(a, b):
8 return a * b
9  
10 tp_log( str (fn_Times( 10 , 5 )))
11 #expected result: 50
12  
13 def movej():
14 return 0 # movej should not be used as a function name
as interpreter
15 # internal function name

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DRL Basic Syntex

2.3.2 Scoping rule

Features
• If there is no value corresponding to the local variable name in a function, the name can be found based on
the LGB rule.
• Namespace: An area that contains the variable name
• Local scope: A namespace and local domain inside a function
• Global scope: Global domain outside a function
• Built-in scope: The domain related to the contents defined by Python and an internal domain
• LGB rule: The order of finding a variable name. local → global → built-in

Example

1 # Error: can't find simple_pi in circle_area

2 simple_pi = 3.14
3 def circle_area(r):
4 return r * r * simple_pi
5
6 # simple_pi should be declared as global if it is used in
circle_area_ok
7 def circle_area_ok(r):
8 global simple_pi
9 return r * r * simple_pi
10  
11 tp_log( str (circle_area( 3.0 )))
12 #expected result: 28.26

2.3.3 Parameter mode

Features
DRL provides 3 types of parameter modes: Default parameter values, Keyword parameters and Arbitary
parameters

Example

1 def fn_Times(a = 10 , b = 20 ):
2 return a * b
3
4 #Example - Default parameter value
5 tp_log( str (fn_Times( 5 )))
6 #expected result: 100
7

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DRL Basic Syntex

8 #Example - Keyword parameter

9 tp_log( str (fn_Times(b = 5 )))
10 #expected result: 50
11 tp_log( str (fn_Times(a = 5 , b = 5 )))
12 #expected result: 25
13
14 #Example - arbitary parameter
15 def fn_myUnion( * args):
16 for arg in args:
17 tp_log( str (arg))
18 fn_myUnion( "red" , 1 )
19 #expected print result: red
20 # 1

Example - Default parameter value

1 def fn_Times(a = 10 , b = 20 )
2 return a * b
3  
4 fn_Times( 5 )

Example - Keyword parameter

1 def fn_Times(a = 10 , b = 20 )
2 return a * b
3  
4 fn_Times(a = 5 , b = 5 )

Example - Variable parameter

1 def fn_myUnion( * ar)

2 …….
3  
4 fn_myUnion( "red" , "white" , "black" )

2.4 Control Statement

2.4.1 pass

Features
The ‘pass’ is used when an operation is not executed.

- 24 - Programming manual(V2.9.3)
  
DRL Basic Syntex

Example

1 while True :
2 pass #pass means empty statement, so while statement
continues to run.
3 tp_log( "This line never reached" )

2.4.2 if

Features
‘if’ is a conditional statement. It can use "elif" and "else" according to whether the condition of the "if" syntax is
true or false.

sentense
if <conditional statement>:

      <syntax>

if <conditional statement 1>:

      <Syntax 1>

elif <conditional statement 2>:

      <Syntax 2>

else:

      <Syntax 3>

Example - if, elif, else

1 numbers = [ 2 , 5 , 7 ]
2 for number in numbers:
3 if number % 2 = = 0 :
4 tp_log( str (number) + " is even" )
5 else :
6 tp_log ( str (number) + " is odd" )
7 #expected result:
8 #2 is even
9 #5 is odd
10 #7 is odd

- 25 - Programming manual(V2.9.3)
  
DRL Basic Syntex

2.4.3 while

Features
‘while’ is a conditional statement that repeats an operation according to whether the condition is true or false.

syntax
while <conditional statement>:

          <syntax>

Example

1 sum = 0
2 cnt = 1
3 while cnt < 10 :
4 sum = sum + cnt
5 cnt = cnt + 1
6 tp_log( "sum = " + str ( sum ))
7 #expected result:
8 #sum = 45

2.4.4 for

Features
'for' repeats an operation within the specified repeating range.

syntax
for <item> in <sequential object S>:

      <syntax>

Example

1 x = 0
2 for i in range ( 0 , 3 ): # i is 0 -> 1 -> 2
3 x = x + 1
4  
5 sum = 0
6 for i in range ( 0 , 10 ):
7 sum = sum + i
8 tp_log( "sum = " + str ( sum ))

- 26 - Programming manual(V2.9.3)
  
DRL Basic Syntex

9 #expected result:
10 #sum = 45

2.4.5 break

Features
'break' is used to exit the internal block of a loop.

Example

1 x = 0
2 while True :
3 x = x + 1
4 if x > 10 :
5 break
6  
7 sum = 0 ;cnt = 0
8 while True :
9 if cnt > 9 :
10 break
11 sum = sum + cnt
12 cnt = cnt + 1
13 tp_log( "sum = " + str ( sum ))
14 #expected print result:
15 #sum = 45

2.4.6 continue

Features
If 'continue' is used in a loop block, the loop stops further executing and returns to the beginning point of the
loop.

Example

1 #<ex> 1
2 x = 0
3 y = 0
4 while True :
5 x = x + 1
6 if x > 10 :
7 continue
8 y + = 100
9  

- 27 - Programming manual(V2.9.3)
  
DRL Basic Syntex

10 #<ex> 2
11 sum = 0
12 for i in range ( 0 , 10 ):
13 if i % 2 = = 0 :
14 continue
15 sum = sum + i
16 tp_log( "sum of odd numbers = " + str ( sum ))
17 #sum of odd numbers = 25

2.4.7 Else in a loop

Features
The "else" block is executed when the loop is executed until the end without being terminated by the "break"
function in the middle of executing a loop.

Example

1 L = { 1 , 2 , 3 , 4 , 5 , 6 , 7 , 8 , 9 , 10 }
2  
3 for i in L:
4 if i % 2 = = 0 :
5 continue
6 else :
7 tp_log( "exit without break" )

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Motion-related Commands

3 Motion-related Commands

3.1 Pos Creation

3.1.1 posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)

Features
This function designates the joint space angle in coordinate values.

Parameters
No. Data Type Default Description
Value

J1 float 0 1-axis angle or

list angle list or
posj posj

J2 float 0 2-axis angle

J3 float 0 3-axis angle

J4 float 0 4-axis angle

J5 float 0 5-axis angle

J6 float 0 6-axis angle

Return
Posj

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

- 29 - Programming manual(V2.9.3)
  
Motion-related Commands

Example

1 q1 = posj() # q1=posj(0,0,0,0,0,0)
2  
3 q2 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
4  
5 q3 = posj([ 0 , 30 , 60 , 0 , 90 , 0 ]) #
q3=posj(0,30,60,0,90,0)

Related commands
• movej()(p. 54)
• amovej()(p. 95)
• movesj()(p. 74)
• amovesj()(p. 108)

3.1.2 posx(X=0, Y=0, Z=0, A=0, B=0, C=0)

Features
This function designates the joint space angle in coordinate values.

Parameters
No. Data Type Default Description
Value

X float 0 X position or
list position list or
posx posx

Y float 0 Y position

Z float 0 Z position

A float 0 A orientation(z-direction rotation of reference

coordinate system)

B float 0 B orientation(y-direction rotation of A rotated

coordinate system)

- 30 - Programming manual(V2.9.3)
  
Motion-related Commands

No. Data Type Default Description

Value

C float 0 C orientation(z-direction rotation of A and B rotated

coordinate system)

Return
Posx

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 movej([ 0 , 0 , 90 , 0 , 90 , 0 ], v = 10 , a = 20 )
2  
3 x2 = posx( 400 , 300 , 500 , 0 , 180 , 0 )
4  
5 x3 = posx([ 350 , 350 , 450 , 0 , 180 , 0 ])
#x3=posx(350, 350, 450, 0, 180, 0)
6  
7 x4 = posx(x2) #x4=posx(400, 300,
500, 0, 180, 0)
8  
9 movel(x2, v = 100 , a = 200 )

Related commands
• movel()(p. 59)
• movec()(p. 68)
• movejx()(p. 64)
• amovel()(p. 98)
• movec()(p. 68)
• movejx()(p. 64)

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Motion-related Commands

3.1.3 trans(pos, delta, ref, ref_out)

Features
• pos (pose) defined based on the ref coordinate is moved/rotated by the amount equal to delta, and then a
value converted based on the ref_out coordinate is returned.
• In case that the ref coordinate is the tool coordinate, this function retuns the value based on input
parameter(pos)’s coordinate without ref_out coordinate.

Parameters

Paramete Data Type Default Description

r Name Value

pos posx - posx or

position list
list (float[6])

delta posx - posx or

position list
list (float[6])

ref int None reference coordinate

• DR_BASE : base coordinate
• DR_WORLD : world coordinate
• DR_TOOL : tool coordinate
• user coordinate: user defined

ref_out int DR_BASE reference coordinate

• DR_BASE : base coordinate
• DR_WORLD : world coordinate
• user coordinate: user defined

Return
Value Description

posx list (float[6]) task space point

- 32 - Programming manual(V2.9.3)
  
Motion-related Commands

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 p0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
2  
3 movej(p0, v = 30 , a = 30 )
4  
5
6  
7 x1 = posx( 200 , 200 , 200 , 0 , 180 , 0 )
8  
9 delta = [ 100 , 100 , 100 , 0 , 0 , 0 ]
10  
11 x2 = trans(x1, delta, DR_BASE, DR_BASE)
12  
13
14  
15 x1_base = posx( 500 , 45 , 700 , 0 , 180 , 0 )
16  
17 x4 = trans(x1_base, [ 10 , 0 , 0 , 0 , 0 , 0 ], DR_TOOL)
18  
19 movel(x4, v = 100 , a = 100 , ref = DR_BASE)
20  
21
22  
23 uu1 = [ 1 , 1 , 0 ]
24  
25 vv1 = [ - 1 , 1 , 0 ]
26  
27 pos = posx( 559 , 34.5 , 651.5 , 0 , 180.0 , 0 )
28  

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Motion-related Commands

29 DR_userTC1 = set_user_cart_coord(uu1, vv1, pos) #user defined

coordinate system
30  
31 x1_userTC1 = posx( 30 , 20 , 100 , 0 , 180 , 0 )
#posx on user coordinate system
32  
33 x9 = trans(x1_userTC1, [ 0 , 0 , 50 , 0 , 0 , 0 ],
DR_userTC1, DR_BASE)
34  
35 movel(x9, v = 100 , a = 100 , ref = DR_BASE)

Related commands
• posx(X=0, Y=0, Z=0, A=0, B=0, C=0)(p. 30)
• addto(pos, add_val=None)(p. 40)

3.1.4 posb(seg_type, posx1, posx2=None, radius=0)

Features
• Input parameters for constant-velocity blending motion (moveb and amoveb) with the Posb coordinates
of each waypoint and the data of the unit path type (line or arc) define the unit segment object of the
trajectory to be blended.
• Only posx1 is inputted if seg_type is a line (DR_LINE), and posx2 is also inputted if seg_type is a circle
(DR_CIRCLE). Radius sets the blending radius with the continued segment.

Parameters
Parameter Name Data Type Default Description
Value

seg_type Int - DR_LINE

DR_CIRCLE

posx1 posx - 1st task posx

posx2 posx - 2nd task posx

radius float 0 Blending radius [mm]

Return
Posb

- 34 - Programming manual(V2.9.3)
  
Motion-related Commands

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 q0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
2  
3 movej(q0,vel = 30 ,acc = 60 )
4  
5 x0 = posx( 564 , 34 , 690 , 0 , 180 , 0 )
6  
7 movel(x0, vel = 200 , acc = 400 ) # Moves to the start
position.
8  
9
10  
11 x1 = posx( 564 , 200 , 690 , 0 , 180 , 0 )
12  
13 seg1 = posb(DR_LINE, x1, radius = 40 )
14  
15 x2 = posx( 564 , 100 , 590 , 0 , 180 , 0 )
16  
17 x2c = posx( 564 , 200 , 490 , 0 , 180 , 0 )
18  
19 seg2 = posb(DR_CIRCLE, x2, x2c, radius = 40 )
20  
21 x3 = posx( 564 , 300 , 490 , 0 , 180 , 0 )
22  
23 seg3 = posb(DR_LINE, x3, radius = 40 )
24  
25 x4 = posx( 564 , 400 , 590 , 0 , 180 , 0 )
26  
27 x4c = posx( 564 , 300 , 690 , 0 , 180 , 0 )
28  
29 seg4 = posb(DR_CIRCLE, x4, x4c, radius = 40 )
30  
31 x5 = posx( 664 , 300 , 690 , 0 , 180 , 0 )
32  
33 seg5 = posb(DR_LINE, x5, radius = 40 )
34  
35 x6 = posx( 564 , 400 , 690 , 0 , 180 , 0 )
36  
37 x6c = posx( 664 , 500 , 690 , 0 , 180 , 0 )
38  
39 seg6 = posb(DR_CIRCLE, x6, x6c, radius = 40 )

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Motion-related Commands

40  
41 x7 = posx( 664 , 400 , 690 , 0 , 180 , 0 )
42  
43 seg7 = posb(DR_LINE, x7, radius = 40 )
44  
45 x8 = posx( 664 , 400 , 590 , 0 , 180 , 0 )
46  
47 x8c = posx( 564 , 400 , 490 , 0 , 180 , 0 )
48  
49 seg8 = posb(DR_CIRCLE, x8, x8c, radius = 0 ) # The last
radius must be 0.
50 # If not 0, it is processed as 0.
51  
52
53  
54 b_list = [seg1, seg2, seg3, seg4, seg5, seg6, seg7, seg8]
55  
56
57  
58 moveb(b_list, vel = 200 , acc = 400 )

Related commands
• posx(X=0, Y=0, Z=0, A=0, B=0, C=0)(p. 30)
• moveb()(p. 81)
• amoveb()(p. 114)

3.1.5 fkin(pos, ref)

Features
This function receives the input data of joint angles or equivalent forms (float[6]) in the joint space and returns
the TCP (objects in the task space) based on the ref coordinate.

Parameters

Parameter Name Data type Default Value Description

pos posj - posj or

position list
list (float[6])

- 36 - Programming manual(V2.9.3)
  
Motion-related Commands

Parameter Name Data type Default Value Description

ref int DR_BASE reference coordinate

• DR_BASE : base
coordinate
• DR_WORLD : world
coordinate

Return
Value Description

posx Task space point

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

Example

1 q1 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
2  
3 movej(q1,v = 10 ,a = 20 )
4  
5 q2 = posj( 30 , 0 , 90 , 0 , 90 , 0 )
6  
7 x2 = fkin(q2, DR_WORLD)
8 # x2: Space coordinate at the edge of the robot (TCP)
corresponding to joint value q2
9 movel(x2,v = 100 ,a = 200 ,ref = DR_WORLD) # Linear motion to x2

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Motion-related Commands

Related commands
• set_tcp(name)(p. 51)
• The tcp information of the name registered in the teach pendant is reflected during fkin operation.
• posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)(p. 29)
• posx(X=0, Y=0, Z=0, A=0, B=0, C=0)(p. 30)

3.1.6 ikin(pos, sol_space, ref, ref_pos_opt, iter_threshold)

Features
This function returns the joint position corresponding to sol_space, which is equivalent to the robot pose in the
operating space, among 8 joint shapes. Joint position is returned according to closest joint position depend on
option(ref_pos_opt). Through status of return value, you can check whether current robot pose is in wrist
singularity or out of operating region.

 Note
After SW version V2.9, if the accuracy of robot is corrected when using this function, the accuracy
correction algorithm operates. The level of accuracy is adjustable according to the option
(iter_threshold). Also, depending on the robot posture, there may be a delay of up to 0.1 seconds.

Parameters

Parameter Name Data Type Default Value Description

pos posx - posx or

position list
list (float[6])

sol_space int - solution space

ref int DR_BASE reference coordinate

• DR_BASE : base coordinate
• DR_WORLD : world coordinate

ref_pos_opt int 0 Determine closest joint position depend on option among mu

• 0 : posj(0,0,0,0,0,0) is reference 
• 1 : current joint position is reference

iter_threshold list (float[2]) 0.005 If the accuracy has been corrected, the level of the accuracy co
The norm value of TCP position (X, Y, Z) [mm]

- 38 - Programming manual(V2.9.3)
  
Motion-related Commands

Parameter Name Data Type Default Value Description

0.01 If the accuracy has been corrected, the level of the accuracy co
The norm value of TCP orientation (A, B, C) [deg]

Robot configuration vs. solution space

Solution space Binary Shoulder Elbow Wrist

0 000 Lefty Below No Flip

1 001 Lefty Below Flip

2 010 Lefty Above No Flip

3 011 Lefty Above Flip

4 100 Righty Below No Flip

5 101 Righty Below Flip

6 110 Righty Above No Flip

7 111 Righty Above Flip

Return
Value Description

posj Joint space point

status • 0 : Return joint position

• 1 : Out of workspace
• 2 : In wrist singularity region

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

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Motion-related Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 x1 = posx( 370.9 , 719.7 , 651.5 , 90 , - 180 , 0 )

2 q1, status = ikin(x1, 2 , DR_BASE, ref_pos_opt = 0 ) # Joint
angle q1 where the coordinate of the robot edge is x1 (second of 8
cases), reference joint position : posj(0,0,0,0,0,0)
3 # q1=posj(60.3, 81.0, -60.4, -0.0, 159.4, -29.7) (M1013,
tcp=(0,0,0))
4 movej(q1,v = 10 ,a = 20 )

Related commands
• set_tcp(name)(p. 51)
• posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)(p. 29)
• posx(X=0, Y=0, Z=0, A=0, B=0, C=0)(p. 30)

3.1.7 addto(pos, add_val=None)

Features
This function creates a new posj object by adding add_val to each joint value of posj.

Parameters

Parameter Data Type Default Value Description

Name

pos posj - posj or

position list
list (float[6])

- 40 - Programming manual(V2.9.3)
  
Motion-related Commands

Parameter Data Type Default Value Description

Name

add_val list (float[6]) None List of add values to be added to the position
• No value is added if it is None or [].

Return
Value Description

posj Joint space point

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

Example

1 q1 = posj( 10 , 20 , 30 , 40 , 50 , 60 )
2  
3 movej (q1, v = 10 , a = 20 )
4  
5 q2 = addto(q1, [ 0 , 0 , 0 , 0 , 45 , 0 ])
6  
7 movej (q2, v = 10 , a = 20 ) # The robot moves to the joint (10,
20, 30, 40, 95, 60).
8 q3 = addto(q2, [])
9  
10 q4 = addto(q3)

Related commands
• posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)(p. 29)

- 41 - Programming manual(V2.9.3)
  
Motion-related Commands

3.2 Motion settings

3.2.1 set_velj(vel)

Features
This function sets the global velocity in joint motion (movej, movejx, amovej, or amovejx) after using this
command. The default velocity is applied to the globally set vel if movej() is called without the explicit input of
the velocity argument.

Parameters

Parameter Data Type Default Value Description

Name

vel float - velocity (same to all axes) or

velocity (to an axis)
list (float[6])

 Return
Value Description

0 Success

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 #1
2 Q1 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
3 Q2 = posj( 0 , 0 , 0 , 0 , 90 , 0 )
4 movej(Q1, vel = 10 , acc = 20 )
5 set_velj( 30 ) # The global joint velocity is set to 30 (deg/
sec).

- 42 - Programming manual(V2.9.3)
  
Motion-related Commands

6 set_accj( 60 ) # The global joint acceleration is set to 60 (deg/

sec2). [See set_accj().]
7 movej(Q2) # The joint motion velocity to Q2 is 30 (deg/sec)
which is the global velocity.
8 movej(Q1, vel = 20 , acc = 40 ) # The joint motion velocity to
Q1 is 20 (deg/sec) which is the specified velocity.
9 #2
10 set_velj( 20.5 ) # Decimal point input is possible.
11 set_velj([ 10 , 10 , 20 , 20 , 30 , 10 ]) # The global
velocity can be specified to each axis.

Related commands
• set_accx(acc1, acc2)(p. 48)
• set_accx(acc)(p. 49)
• movej()(p. 54)
• movejx()(p. 64)
• movesj()(p. 74)
• amovej()(p. 95)
• amovejx()(p. 101)
• amovesj()(p. 108)

3.2.2 set_accj(acc)

Features
This function sets the global velocity in joint motion (movej, movejx, amovej, or amovejx) after using this
command. The globally set acceleration is applied as the default acceleration if movej() is called without the
explicit input of the acceleration argument.

Parameters

Parameter Data Type Default Description

Name Value

acc float - acceleration (same to all axes) or

acceleration (acceleration to an axis)
list
(float[6])

- 43 - Programming manual(V2.9.3)
  
Motion-related Commands

 Return
Value Description

0 Success

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 #1
2 Q1 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
3 Q2 = posj( 0 , 0 , 0 , 0 , 90 , 0 )
4 movej(Q1, vel = 10 , acc = 20 )
5 set_velj( 30 ) # The global joint velocity is set to 30 (deg/
sec). [See set_velj().]
6 set_accj( 60 ) # The global joint acceleration is set to 60 (deg/
sec2).
7 movej(Q2) # The joint motion acceleration to Q2 is 60(deg/
sec2) which is the global acceleration.
8 movej(Q1, vel = 20 , acc = 40 ) # The joint motion acceleration
to Q1 is 40(deg/sec2) which is the specified acceleration.
9 #2
10 set_accj( 30.55 )
11 set_accj([ 30 , 40 , 30 , 30 , 30 , 10 ])

Related commands
• set_velj(vel)(p. 42)
• movej()(p. 54)
• movejx()(p. 64)
• movesj()(p. 74)
• amovej()(p. 95)
• amovejx()(p. 101)
• amovesj()(p. 108)

- 44 - Programming manual(V2.9.3)
  
Motion-related Commands

3.2.3 set_velx(vel1, vel2)

Features
This function sets the velocity of the task space motion globally. The globally set velocity velx is applied as the
default velocity if the task motion such as movel(), amovel(), movec(), movesx() is called without the explicit
input of the velocity value. In the set value, vel1 and vel2 define the linear velocity and rotating velocity,
relatively, of TCP.

Parameters
Parameter Name Data Type Default Description
Value

vel1 float - velocity 1

vel2 float - velocity 2

Return
Value Description

0 Success

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 #1
2 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
3 movej(P0)
4 P1 = posx( 400 , 500 , 800 , 0 , 180 , 0 )
5 P2 = posx( 400 , 500 , 500 , 0 , 180 , 0 )
6 movel(P1, vel = 10 , acc = 20 )
7 set_velx( 30 , 20 ) # The global task velocity is set to 30(mm/
sec) and 20(deg/sec).
8 set_accx( 60 , 40 ) # The global task acceleration is set to
60(mm/sec2) and 40(deg/sec2).

- 45 - Programming manual(V2.9.3)
  
Motion-related Commands

9 movel(P2) # The task motion velocity to P2 is 30(mm/sec)

and 20(deg/sec) which are the global velocity.
10 movel(P1, vel = 20 , acc = 40 ) # The task motion velocity to
P1 is 20(mm/sec) and 20(deg/sec) which are the specified velocity.
11 #2
12 set_velx( 10.5 , 19.4 ) # Decimal point input is
possible.

Related commands
• set_accx(acc1, acc2)(p. 48)
• set_accx(acc)(p. 49)
• movel()(p. 59)
• movec()(p. 68)
• movesx()(p. 77)
• moveb()(p. 81)
• move_spiral()(p. 85)
• amovel()(p. 98)
• amovec()(p. 104)
• amovesx()(p. 111)
• amoveb()(p. 114)
• amove_spiral()(p. 118)

3.2.4 set_velx(vel)

Features
This function sets the linear velocity of the task space motion globally. The globally set velocity vel is applied as
the default velocity if the task motion such as movel(), amovel(), movec(), movesx() is called without the explicit
input of the velocity value. The set value vel defines the linear velocity of the TCP while the rotating velocity of
the TCP is determined proportionally to the linear velocity.

Parameters
Parameter Name Data Type Default Description
Value

vel float - velocity

Return
Value Description

0 Success

- 46 - Programming manual(V2.9.3)
  
Motion-related Commands

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 #1
2 p0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
3 movej(p0)
4 P1 = posx( 400 , 500 , 800 , 0 , 180 , 0 )
5 P2 = posx( 400 , 500 , 500 , 0 , 180 , 0 )
6 movel(P1, vel = 10 , acc = 20 )
7 set_velx( 30 ) # The global task velocity is set to 30 (mm/sec).
The global task angular velocity is automatically determined.
8 set_accx( 60 ) # The global task acceleration is set to 60 (mm/
sec2). The global task angular acceleration is automatically
determined.
9 movel(P2) # The task motion linear velocity to P2 is 30(mm/sec)
which is the global velocity.
10 movel(P1, vel = 20 , acc = 40 ) # The task motion linear velocity
to P1 is 20(mm/sec) which is the specified velocity.
11 #2
12 set_velx( 10.5 ) # Decimal point input is possible.

Related commands
• set_accx(acc1, acc2)(p. 48)
• set_accj(acc)(p. 43)
• movel()(p. 59)
• movec()(p. 68)
• movesx()(p. 77)
• moveb()(p. 81)
• move_spiral()(p. 85)
• movel()(p. 59)
• movec()(p. 68)
• movesx()(p. 77)
• amoveb()(p. 114)
• amove_spiral()(p. 118)

- 47 - Programming manual(V2.9.3)
  
Motion-related Commands

3.2.5 set_accx(acc1, acc2)

Features
This function sets the acceleration of the task space motion globally. The globally set acceleration accx is
applied as the default acceleration if the task motion such as movel(), amovel(), movec(), movesx() is called
without the explicit input of the acceleration value. In the set value, acc1 and acc2 define the linear acceleration
and rotating acceleration, relatively, of the TCP.

Parameters
Parameter Name Data Type Default Description
Value

acc1 float - acceleration 1

acc2 float - acceleration 2

Return
Value Description

0 Success

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
2 movej(P0)
3 P1 = posx( 400 , 500 , 800 , 0 , 180 , 0 )
4 P2 = posx( 400 , 500 , 500 , 0 , 180 , 0 )
5 movel(P1, vel = 10 , acc = 20 )
6 set_velx( 30 , 20 ) # The global task velocity is set to 30(mm/
sec) and 20(deg/sec).
7 set_accx( 60 , 40 ) # The global task acceleration is set to
60(mm/sec2) and 40(deg/sec2).

- 48 - Programming manual(V2.9.3)
  
Motion-related Commands

8 movel(P2) # The task motion acceleration to P2 is 60(mm/

sec2) and 40(deg/sec2) which is the global acceleration.
9 movel(P1, vel = 20 , acc = 40 ) # The task motion acceleration to
P1 is 40(mm/sec) and 40(deg/sec2) which is the specified
acceleration.

Related commands
• set_velx(vel1, vel2)(p. 45)
• set_velx(vel)(p. 46)
• movel()(p. 59)
• movec()(p. 68)
• movesx()(p. 77)
• moveb()(p. 81)
• move_spiral()(p. 85)
• movel()(p. 59)
• movec()(p. 68)
• movesx()(p. 77)
• amoveb()(p. 114)
• amove_spiral()(p. 118)

3.2.6 set_accx(acc)

Features
This function sets the linear acceleration of the task space motion globally. The globally set acceleration acc is
applied as the default acceleration if the task motion such as movel(), amovel(), movec(), movesx() is called
without the explicit input of the acceleration value. The set value acc defines the linear acceleration of the TCP
while the rotating acceleration of the TCP is determined proportionally to the linear acceleration.

Parameters
Parameter Value Data Type Default Description
Value

acc float - acceleration

Return
Value Description

0 Success

- 49 - Programming manual(V2.9.3)
  
Motion-related Commands

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
2 movej(P0)
3 P1 = posx( 400 , 500 , 800 , 0 , 180 , 0 )
4 P2 = posx( 400 , 500 , 500 , 0 , 180 , 0 )
5 movej(P0, vel = 10 , acc = 20 )
6 movel(P1, vel = 10 , acc = 20 )
7 set_velx( 30 ) # The global task velocity is set to 30 (mm/
sec). The global task angular velocity is automatically
determined.
8 set_accx( 60 ) # The global task acceleration is set to 60
(mm/sec2). The global task angular acceleration is automatically
determined.
9 movel(P2) # The task motion linear acceleration to P2 is
60(mm/sec2) which is the global acceleration.
10 movel(P1, vel = 20 , acc = 40 ) # The task motion linear
acceleration to P1 is 40(mm/sec2) which is the specified
acceleration.

Related commands
• set_velx(vel1, vel2)1
• set_velx(vel)2
• movel()3
• movec()4
• movesx()5
• moveb()6
• move_spiral()7
• movel()8

1 http://manual.doosanrobotics.com/display/Programming/.set_velx%28vel1%2C+vel2%29+v2.8reworking
2 http://manual.doosanrobotics.com/display/Programming/.set_velx%28vel%29+v2.8reworking
3 http://manual.doosanrobotics.com/display/Programming/.movel%28%29+v2.8reworking
4 http://manual.doosanrobotics.com/display/Programming/.movec%28%29+v2.8reworking
5 http://manual.doosanrobotics.com/display/Programming/.movesx%28%29+v2.8reworking
6 http://manual.doosanrobotics.com/display/Programming/.moveb%28%29+v2.8reworking
7 http://manual.doosanrobotics.com/display/Programming/.move_spiral%28%29+v2.8reworking
8 http://manual.doosanrobotics.com/display/Programming/.movel%28%29+v2.8reworking

- 50 - Programming manual(V2.9.3)
  
Motion-related Commands

• movec()9
• movesx()10
• amoveb()11
• amove_spiral()12

3.2.7 set_tcp(name)

Features
his function calls the name of the TCP registered in the Teach Pendant and sets it as the current TCP.

Parameter
Parameter Name Data Type Default Description
Value

name string - Name of the TCP registered in the TP.

Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

9 http://manual.doosanrobotics.com/display/Programming/.movec%28%29+v2.8reworking
10 http://manual.doosanrobotics.com/display/Programming/.movesx%28%29+v2.8reworking
11 http://manual.doosanrobotics.com/display/Programming/.amoveb%28%29+v2.8reworking
12 http://manual.doosanrobotics.com/display/Programming/.amove_spiral%28%29+v2.8reworking

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Example

1 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
2 movej(P0)
3 set_tcp( "tcp1" ) # The TCP data registered as tcp1 in the TP is
called and set to the current TCP value.
4 P1 = posx( 400 , 500 , 800 , 0 , 180 , 0 )
5 movel(P1, vel = 10 , acc = 20 ) # Moves the recognized center of
the tool to the P1 position.

Related commands
• fkin(pos, ref)(p. 36)
• ikin(pos, sol_space, ref, ref_pos_opt, iter_threshold)(p. 38)
• movel()13
• movec()14
• movesx()15
• moveb()16
• move_spiral()17
• movel()18
• movec()19
• movesx()20
• amoveb()21
• amove_spiral()22

3.2.8 set_ref_coord(coord)

Features
This function sets the reference coordinate system.

13 http://manual.doosanrobotics.com/display/Programming/.movel%28%29+v2.8reworking
14 http://manual.doosanrobotics.com/display/Programming/.movec%28%29+v2.8reworking
15 http://manual.doosanrobotics.com/display/Programming/.movesx%28%29+v2.8reworking
16 http://manual.doosanrobotics.com/display/Programming/.moveb%28%29+v2.8reworking
17 http://manual.doosanrobotics.com/display/Programming/.move_spiral%28%29+v2.8reworking
18 http://manual.doosanrobotics.com/display/Programming/.movel%28%29+v2.8reworking
19 http://manual.doosanrobotics.com/display/Programming/.movec%28%29+v2.8reworking
20 http://manual.doosanrobotics.com/display/Programming/.movesx%28%29+v2.8reworking
21 http://manual.doosanrobotics.com/display/Programming/.amoveb%28%29+v2.8reworking
22 http://manual.doosanrobotics.com/display/Programming/.amove_spiral%28%29+v2.8reworking

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Parameter
Parameter Name Data Type Default Description
Value

coord int - Reference coordinate system

• DR_BASE: Base Coordinate
• DR_WORLD: World Coordinate
• DR_TOOL: Tool Coordinate
• user Coordinate: User defined

Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 p0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
2 movej(p0, v = 30 , a = 30 )
3 x1 = posx( 370.9 , 419.7 , 651.5 , 90 , - 180 , 0 )
4 movel(x1, v = 100 , a = 100 ) # Base Coordinate basis

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5 uu1 = [ - 1 , 1 , 0 ] # x-axis vector of the user coordinate

system (base coordinate basis)
6 vv1 = [ 1 , 1 , 0 ] # y-axis vector of the user coordinate
system (base coordinate basis)
7 pos = posx( 370.9 , - 419.7 , 651.5 , 0 , 0 , 0 ) # Origin
point of the user coordinate system
8 DR_USER1 = set_user_cart_coord(uu1, vv1, pos) # Sets the user
coordinate system.
9 set_ref_coord(DR_USER1) # Sets DR_USER1 of the user
coordinate system to the global coordinate system.
10 movel([ 0 , 0 , 0 , 0 , 0 , 0 ],v = 100 ,a = 100 ) # The global
coordinate system is used if the reference coordinate system is
not specified.
11 # Moves to the origin point and
direction of the DR_USER1 coordinate system.
12 movel([ 0 , 200 , 0 , 0 , 0 , 0 ],v = 100 ,a = 100 ) # Moves to
the (0,200,0) point of the DR_USER1 coordinate system.

Related commands
• movel()23
• movejx()(p. 64)
• movec()24
• movesx()25
• moveb()26
• move_spiral()27
• move_periodic()(p. 89)

3.3 Synchronous Motion

3.3.1 movej()

Features
The robot moves to the target joint position (pos) from the current joint position.

23 http://manual.doosanrobotics.com/display/Programming/.movel%28%29+v2.8reworking
24 http://manual.doosanrobotics.com/display/Programming/.movec%28%29+v2.8reworking
25 http://manual.doosanrobotics.com/display/Programming/.movesx%28%29+v2.8reworking
26 http://manual.doosanrobotics.com/display/Programming/.moveb%28%29+v2.8reworking
27 http://manual.doosanrobotics.com/display/Programming/.move_spiral%28%29+v2.8reworking

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Parameters

Parameter Data Type Default Value Description

Name

pos posj - posj or

joint angle list
list (float[6])

vel (v) float None velocity (same to all axes) or

velocity (to an axis)
list (float[6]) None

acc (a) float None acceleration (same to all axes) or

acceleration (acceleration to an axis)
list (float[6]) None

time (t) float None Reach time [sec]

radius (r) float None Radius for blending

mod int DR_MV_MOD_ABS Movement basis

• DR_MV_MOD_ABS : Absolute
• DR_MV_MOD_REL : Relative

ra int DR_MV_RA_DUPLICATE Reactive motion mode

• DR_MV_RA_DUPLICATE:
duplicate
• DR_MV_RA_OVERRIDE: override

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time, r:radius)
• _global_velj is applied if vel is None. (The initial value of _global_velj is 0.0 and can be set by
set_velj.)
• _global_accj is applied if acc is None. (The initial value of _global_accj is 0.0 and can be set by
set_accj.)
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• If the radius is None, it is set to the blending radius in the blending section and 0 otherwise.

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• If a new motion (following motion) is executed before the motion being executed (previous
motion) is completed, the previous motion and the following motion are smoothly connected
(Motion Blending). It is possible to set the option ra, which can determine whether to maintain
or cancel the target of the previous motion, for the following motion. (Maintain:
ra=DR_MV_RA_DUPLICATE / Cancel: ra=DR_MV_RA_OVERRIDE) For example, in the figure
below, if the following motion is executed at the “2nd motion event” point of a previous motion
with the target, “Target#1,” and if the option ra=DR_MV_RA_DUPLICATE is set for the following
motion, the motion will follow the orange trajectory, as the motion maintains the target of the
previous motion, and if option ra=DR_MV_RA_OVERRIDE is set for the following motion, the
motion will follow the green trajectory, as it cancels the target of the previous motion.

 Caution
If the following motion is blended with the conditions of ra=DR_MV_RA_DUPLICATE and radius>0, the
preceding motion can be terminated when the following motion is terminated while the remaining
motion time determined by the remaining distance, velocity, and acceleration of the preceding motion is
greater than the motion time of the following motion. Refer to the following image for more information.

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• In versions below SW V2.8, if the blending radius exceeds 1/2 of the total moving distance, the
motion is not operated because it affects the motion after blending, and the running task
program is terminated when a blending error occurs
• In SW V2.8 or later, if the blending radius exceeds 1/2 of the total moving distance, the blending
radius size is automatically changed to 1/2 of the total moving distance, and the change history
can be checked in the information log message.

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Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 Q1 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
2 Q2 = posj( 0 , 0 , 0 , 0 , 90 , 0 )
3 movej(Q1, vel = 10 , acc = 20 )
4 # Moves to the Q1 joint angle at the velocity of 10(deg/sec)
and acceleration of 20(deg/sec2).
5 movej(Q2, time = 5 )
6 # Moves to the Q2 joint angle with a reach time of 5 sec.
7 movej(Q1, v = 30 , a = 60 , r = 200 )
8 # Moves to the Q1 joint angle and is set to execute the next
motion
9 # when the distance from the Q1 space position is 200mm.
10 movej(Q2, v = 30 , a = 60 , ra = DR_MV_RA_OVERRIDE)
11 # Immediately terminates the last motion and blends it to
move to the Q2 joint angle.

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Related commands
• posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)(p. 29)
• set_velj(vel)(p. 42)
• set_accj(acc)(p. 43)
• amovej()(p. 95)

3.3.2 movel()

Features
The robot moves along the straight line to the target position (pos) within the task space.

Parameters

Parameter Name Data Type Default Value Description

pos posx - posx or

position list
list (float[6])

vel (v) float None velocity or

velocity1, velocity2
list (float[2]) None

acc (a) float None acceleration or

acceleration1, acceleration2
list (float[2]) None

time (t) float None Reach time [sec]

• If the time is specified, values
are processed based on time,
ignoring vel and acc.

radius (r) float None Radius for blending

ref int None reference coordinate

• DR_BASE: base coordinate
• DR_WORLD: world coordinate
• DR_TOOL: tool coordinate
• user coordinate: user defined

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Parameter Name Data Type Default Value Description

mod int DR_MV_MOD_ABS Movement basis

• DR_MV_MOD_ABS : Absolute
• DR_MV_MOD_REL : Relative

ra int DR_MV_RA_DUPLICAT Reactive motion mode

E
• DR_MV_RA_DUPLICATE:
duplicate
• DR_MV_RA_OVERRIDE:
override

app_type int DR_MV_APP_NONE Application mode

• DR_MV_APP_NONE: No
application related
• DR_MV_APP_WELD: Welding
application related

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time, r:radius)
• _global_velx is applied if vel is None. (The initial value of _global_velx is 0.0 and can be set by
set_velx.)
• _global_accx is applied if acc is None. (The initial value of _global_accx is 0.0 and can be set by
set_accx.)
• If an argument is inputted to vel (e.g., vel=30), the input argument corresponds to the linear
velocity of the motion while the angular velocity is determined proportionally to the linear
velocity.
• If an argument is inputted to acc (e.g., acc=60), the input argument corresponds to the linear
acceleration of the motion while the angular acceleration is determined proportionally to the
linear acceleration.
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• If the radius is None, it is set to the blending radius in the blending section and 0 otherwise.
• _g_coord is applied if the ref is None. (The initial value of _g_coord is DR_BASE, and it can be
set by the set_ref_coord command.)
• If ‘app_type’ is ‘DR_MV_APP_WELD’, parameter ‘vel’ is internally replaced by the speed setting
entered in app_weld_set_weld_cond(), not the input value of ‘vel’.
• If a new motion (following motion) is executed before the motion being executed (previous
motion) is completed, the previous motion and the following motion are smoothly connected
(Motion Blending). It is possible to set the option ra, which can determine whether to maintain
or cancel the target of the previous motion, for the following motion. (Maintain:
ra=DR_MV_RA_DUPLICATE / Cancel: ra=DR_MV_RA_OVERRIDE) For example, in the figure

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below, if the following motion is executed at the “2nd motion event” point of a previous motion
with the target, “Target#1,” and if the option ra=DR_MV_RA_DUPLICATE is set for the following
motion, the motion will follow the orange trajectory, as the motion maintains the target of the
previous motion, and if option ra=DR_MV_RA_OVERRIDE is set for the following motion, the
motion will follow the green trajectory, as it cancels the target of the previous motion.

 Caution
If the following motion is blended with the conditions of ra=DR_MV_RA_DUPLICATE and radius>0, the
preceding motion can be terminated when the following motion is terminated while the remaining
motion time determined by the remaining distance, velocity, and acceleration of the preceding motion is
greater than the motion time of the following motion. Refer to the following image for more information.

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• In versions below SW V2.8, if the blending radius exceeds 1/2 of the total moving distance, the
motion is not operated because it affects the motion after blending, and the running task
program is terminated when a blending error occurs
• In SW V2.8 or later, if the blending radius exceeds 1/2 of the total moving distance, the blending
radius size is automatically changed to 1/2 of the total moving distance, and the change history
can be checked in the information log message.

Return
Value Description

0 Success

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Value Description

Negative value Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
2 movej(P0, v = 30 , a = 30 )
3 P1 = posx( 400 , 500 , 800 , 0 , 180 , 0 )
4 P2 = posx( 400 , 500 , 500 , 0 , 180 , 0 )
5 P3 = posx( 30 , 30 , 30 , 0 , 0 , 0 )
6 movel(P1, vel = 30 , acc = 100 )
7 # Moves to the P1 position with a velocity of 30(mm/sec) and
acceleration of 100(mm/sec2).
8 movel(P2, time = 5 )
9 # Moves to the P2 position with a reach time of 5 sec.
10 movel(P3, time = 5 , ref = DR_TOOL, mod = DR_MV_MOD_REL)
11 # Moves the robot from the start position to the relative
position of P3 in the tool coordinate system
12 # with a reach time of 5 sec.
13 movel(P2, time = 5 , r = 10 )
14 # Moves the robot to the P2 position with a reach time of 5
seconds,
15 # and the next motion is executed when the distance from the
P2 position is 10mm.

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Related commands
• posx(X=0, Y=0, Z=0, A=0, B=0, C=0)(p. 30)
• set_velx(vel1, vel2)(p. 45)
• set_velx(vel)(p. 46)
• set_accx(acc1, acc2)(p. 48)
• set_accx(acc)(p. 49)
• set_tcp(name)(p. 51)
• set_ref_coord(coord)(p. 52)
• amovel()(p. 98)

3.3.3 movejx()

Features
The robot moves to the target position (pos) within the joint space.

Since the target position is inputted as a posx form in the task space, it moves in the same way as movel.
However, since this robot motion is performed in the joint space, it does not guarantee a linear path to the
target position. In addition, one of 8 types of joint combination (robot configurations) corresponding to the task
space coordinate system (posx) must be specified in sol (solution space).

Parameters
Parameter Name Data Type Default Value Description

pos posx - posx  or

position list
list (float[6])

vel (v) float None velocity (same to all axes) or

None velocity (to an axis)
list (float[6])

acc (a) float None acceleration (same to all axes) or

None acceleration (acceleration to an
list (float[6]) axis)

time (t) float None Reach time [sec]

radius (r) float None Radius for blending

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Parameter Name Data Type Default Value Description

ref int None reference coordinate

ž  DR_BASE: base coordinate
ž  DR_WORLD: world coordinate
ž  DR_TOOL: tool coordinate
ž  user coordinate: User defined

mod int DR_MV_MOD_ABS Movement basis

ž  DR_MV_MOD_ABS: Absolute
ž  DR_MV_MOD_REL: Relative

ra int DR_MV_RA_DUPLICATE Reactive motion mode

ž  DR_MV_RA_DUPLICATE:
duplicate
ž  DR_MV_RA_OVERRIDE:
override

sol int 0 Solution space

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time, r:radius)
• _global_velj is applied if vel is None. (The initial value of _global_velj is 0.0 and can be set by
set_velj.)
• _global_accj is applied if acc is None. (The initial value of _global_accj is 0.0 and can be set by
set_accj.)
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• If the radius is None, it is set to the blending radius in the blending section and 0 otherwise.
• _g_coord is applied if the ref is None. (The initial value of _g_coord is DR_BASE, and it can be
set by the set_ref_coord command.)
• Using the blending in the preceding motion generates an error in the case of input with relative
motion (mod=DR_MV_MOD_REL), and it is recommended to blend using movej() or movel().
• Refer to the description of movej() and movel() for blending according to option ra and vel/acc.

 Caution
• In versions below SW V2.8, if the blending radius exceeds 1/2 of the total moving distance, the
motion is not operated because it affects the motion after blending, and the running task
program is terminated when a blending error occurs

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• In SW V2.8 or later, if the blending radius exceeds 1/2 of the total moving distance, the blending
radius size is automatically changed to 1/2 of the total moving distance, and the change history
can be checked in the information log message.

Robot configuration (shape vs. solution space)

Solution space Binary Shoulder Elbow Wrist

0 000 Lefty Below No Flip

1 001 Lefty Below Flip

2 010 Lefty Above No Flip

3 011 Lefty Above Flip

4 100 Righty Below No Flip

5 101 Righty Below Flip

6 110 Righty Above No Flip

7 111 Righty Above Flip

Return
Value Description

0 Success

Negative value Error

 Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

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Exception Description

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
2  
3 movej(P0, v = 30 , a = 30 )
4  
5 P1 = posx( 400 , 500 , 800 , 0 , 180 , 0 )
6  
7 P2 = posx( 400 , 500 , 500 , 0 , 180 , 0 )
8  
9 movel(P2, vel = 100 , acc = 200 )       # Linear movement to P2
10  
11 X_tmp, sol_init = get_current_posx()   # Obtains the current
solution space from the P2 position
12  
13 movejx(P1, vel = 30 , acc = 60 , sol = sol_init)  
14  
15 # Moves to the joint angle with a velocity and acceleration of
30(deg/sec) and 60(deg/sec2), respectively,
16  
17 # when the TCP edge is the P1 position (maintaining the solution
space in the last P2 position)
18  
19 movejx(P2, time = 5 , sol = 2 )          
20  
21 # Moves to the joint angle with a reach time of 5 sec when the TCP
edge is at the P2 position
22  
23 # (forcefully sets a solution space to 2)
24  
25 movejx(P1, vel = [ 10 , 20 , 30 , 40 , 50 , 60 ], acc = [ 20 ,
20 , 30 , 30 , 40 , 40 ], radius = 100 , sol = 2 )
26  
27 # Moves the robot to the joint angle when the TCP edge is at the
P1 position,
28  
29 # and the next motion is executed when the distance from the P2
position is 100mm.
30  
31 movejx(P2, v = 30 , a = 60 , ra = DR_MV_RA_OVERRIDE, sol = 2 )
32  
33 # Immediately terminates the last motion and blends it to move to
the joint angle
34  
35 # when the TCP edge is at the P2 position.

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Related commands
• posx(X=0, Y=0, Z=0, A=0, B=0, C=0)(p. 30)
• set_velj(vel)(p. 42)
• set_accj(acc)(p. 43)
• get_current_posx(ref)(p. 155)
• amovejx()(p. 101)

3.3.4 movec()

Features
The robot moves along an arc to the target pos (pos2) via a waypoint (pos1) or to a specified angle from the
current position in the task space.

Parameters

Parameter Name Data Type Default Value Description

pos posj - posx or

position list
list (float[6])

pos2 posx posx or

position list
list (float[6]

vel (v) float None velocity or

velocity1, velocity2
list (float[2]) None

acc (a) float None acceleration or

acceleration1, acceleration2
list (float[2]) None

time (t) float None Reach time [sec]

radius (r) float None Radius for blending

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Parameter Name Data Type Default Value Description

ref int None reference coordinate

• DR_BASE: base coordinate
• DR_WORLD: world coordinate
• DR_TOOL: tool coordinate
• user coordinate: user defined

mod int DR_MV_MOD_ABS Movement basis

• DR_MV_MOD_ABS: Absolute
• DR_MV_MOD_REL: Relative

angle (an) float None angle or

angle1, angle2
list (float[2])

ra int DR_MV_RA_DUPLICATE Reactive motion mode

• DR_MV_RA_DUPLICATE: duplicate
• DR_MV_RA_OVERRIDE: override

ori int DR_MV_ORI_TEACH Orientation mode

• DR_MV_ORI_TEACH: orientation
changes continuously from the
initial to the final taught value
• DR_MV_ORI_FIXED: orientation
holds with the initial orientation
• DR_MV_ORI_RADIAL: orientation
changes radially from the initial. 

app_type int DR_MV_APP_NONE Application mode

• DR_MV_APP_NONE: application
related
• DR_MV_APP_WELD: Welding
application related

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time, r:radius, angle:an)
• _global_velx is applied if vel is None. (The initial value of _global_velx is 0.0 and can be set by
set_velx.)
• _global_accx is applied if acc is None. (The initial value of _global_accx is 0.0 and can be set by
set_accx.)

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• If an argument is inputted to vel (e.g., vel=30), the input argument corresponds to the linear
velocity of the motion while the angular velocity is determined proportionally to the linear
velocity.
• If an argument is inputted to acc (e.g., acc=60), the input argument corresponds to the linear
acceleration of the motion while the angular acceleration is determined proportionally to the
linear acceleration.
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• If the radius is None, it is set to the blending radius in the blending section and 0 otherwise.
• _g_coord is applied if the ref is None. (The initial value of _g_coord is DR_BASE, and it can be
set by the set_ref_coord command.)
• If the mod is DR_MV_MOD_REL, pos1 and pos2 are defined in the relative coordinate system of
the previous pos. (pos1 is the relative coordinate from the starting point while pos2 is the
relative coordinate from pos1.)
• If the angle is None, it is set to 0.
• If only one angle is entered, the angle applied will be the total rotation angle of the circular
path.
• If two angle values are inputted, angle1 refers to the total rotating angle moving at a constant
velocity on the circular path while angle2 refers to the rotating angle in the rotating section for
acceleration and deceleration. In that case, the total moving angle angle1 + 2 X angle2 moves
along the circular path.
• If ‘app_type’ is ‘DR_MV_APP_WELD’, parameter ‘vel’ is internally replaced by the speed setting
entered in app_weld_set_weld_cond(), not the input value of ‘vel’.
• ‘ori’(orientation mode) is defined as below.
a. DR_MV_ORI_TEACH(orientation based on teaching) : It moves while changing the
current pose to the teaching pose of Pose 2, proportionate to the movement distance.
The orientation of the taught pose, ‘pose 1’ is ignored.
b. DR_MV_ORI_FIXED(fixed orientation) : Move along the path while maintaining the initial
orientation up to the taught pose, ‘pose2’.
c. DR_MV_ORI_RADIAL(orientation constrained radially) : Move along the path while
maintaining radial orientation at the initial pose to the ‘pose 2’.

• If a new motion (following motion) is executed before the motion being executed (previous
motion) is completed, the previous motion and the following motion are smoothly connected
(Motion Blending). It is possible to set the option ra, which can determine whether to maintain
or cancel the target of the previous motion, for the following motion. (Maintain:

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ra=DR_MV_RA_DUPLICATE / Cancel: ra=DR_MV_RA_OVERRIDE) For example, in the figure

below, if the following motion is executed at the “2nd motion event” point of a previous motion
with the target, “Target#1,” and if the option ra=DR_MV_RA_DUPLICATE is set for the following
motion, the motion will follow the orange trajectory, as the motion maintains the target of the
previous motion, and if option ra=DR_MV_RA_OVERRIDE is set for the following motion, the
motion will follow the green trajectory, as it cancels the target of the previous motion.

 Caution
If the following motion is blended with the conditions of ra=DR_MV_RA_DUPLICATE and radius>0, the
preceding motion can be terminated when the following motion is terminated while the remaining
motion time determined by the remaining distance, velocity, and acceleration of the preceding motion is
greater than the motion time of the following motion. Refer to the following image for more information.

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• In versions below SW V2.8, if the blending radius exceeds 1/2 of the total moving distance, the
motion is not operated because it affects the motion after blending, and the running task
program is terminated when a blending error occurs
• In SW V2.8 or later, if the blending radius exceeds 1/2 of the total moving distance, the blending
radius size is automatically changed to 1/2 of the total moving distance, and the change history
can be checked in the information log message.

Return
Value Description

0 Success

Negative value Error

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Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #1
2 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
3 movej(P0)
4 set_velx( 30 , 20 ) # Set the global task velocity to 30(mm/sec)
and 20(deg/sec).
5 set_accx( 60 , 40 ) # Set the global task acceleration to 60(mm/
sec2) and 40(deg/sec2).
6  
7 P1 = posx( 400 , 500 , 800 , 0 , 180 , 0 )
8 P2 = posx( 400 , 500 , 500 , 0 , 180 , 0 )
9 P3 = posx( 100 , 300 , 700 , 45 , 0 , 0 )
10 P4 = posx( 500 , 400 , 800 , 45 , 45 , 0 )
11  
12 movec(P1, P2, vel = 30 )
13 # Moves to P2 with a velocity of 30(mm/sec) and global
acceleration of 60(mm/sec2)
14 # via P1 along the arc trajectory.
15 movej(P0)
16 movec(P3, P4, vel = 30 , acc = 60 )
17 # Moves to P4 with a velocity of 30(mm/sec) and acceleration of
60(mm/sec2).
18 # via P3 along the arc trajectory
19 movej(P0).
20 movec(P2, P1, time = 5 )
21 # Moves with a global velocity of 30(mm/sec) and acceleration of
60(mm/sec2).
22 # to P1 along the arc trajectory via P2 at the 5-second point.
23 movec(P3, P4, time = 3 , radius = 100 )

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24 # Moves along the arc trajectory to P4 via P3 with a reach time of

3 seconds
25 # and then executes the next motion at a distance of 100mm from
the P4 position.
26 movec(P2, P1, ra = DR_MV_RA_OVERRIDE)
27 # Immediately terminates the last motion and blends it to move to
the P1 position.

Related commands
• posx(X=0, Y=0, Z=0, A=0, B=0, C=0)(p. 30)
• set_velx(vel1, vel2)(p. 45)
• set_velx(vel)(p. 46)
• set_accx(acc1, acc2)(p. 48)
• set_accx(acc)(p. 49)
• set_tcp(name)(p. 51)
• set_ref_coord(coord)(p. 52)
• amovec()(p. 104)

3.3.5 movesj()

Features
The robot moves along a spline curve path that connects the current position to the target position (the last
waypoint in pos_list) via the waypoints of the joint space input in pos_list.

The input velocity/acceleration means the maximum velocity/acceleration in the path, and the acceleration and
deceleration during the motion are determined according to the position of the waypoint.

Parameters

Parameter Name Data Type Default Value Description

pos_list list (posj) - posj list

vel (v) float None velocity(same to all axes) or

velocity(to an axis)
list (float[6])

acc (a) float None acceleration (same to all axes) or

acceleration (acceleration to an axis)
list (float[6])

time (t) float None Reach time [sec]

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Parameter Name Data Type Default Value Description

mod int DR_MV_MOD_ABS Movement basis

• DR_MV_MOD_ABS : Absolute
• DR_MV_MOD_REL : Relative

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time)
• _global_velj is applied if vel is None. (The initial value of _global_velj is 0.0 and can be set by
set_velj.)
• _global_accj is applied if acc is None. (The initial value of _global_accj is 0.0 and can be set by
set_accj.)
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• If the mod is DR_MV_MOD_REL, each pos in the pos_list is defined in the relative coordinate of
the previous pos. (If pos_list=[q1, q2, ...,q(n-1), q(n)], q1 is the relative angle of the starting point
while q(n) is the relative coordinate of q(n-1).)
• This function does not support online blending of previous and subsequent motions.

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

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Exception Description

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #CASE 1) Absolute angle input (mod= DR_MV_MOD_ABS)

2  
3 q0 = posj( 0 , 0 , 0 , 0 , 0 , 0 )
4 movej(q0, vel = 30 , acc = 60 ) # Moves in joint motion to the
initial position (q0).
5 q1 = posj( 10 , - 10 , 20 , - 30 , 10 , 20 ) # Defines the
posj variable (joint angle) q1.
6 q2 = posj( 25 , 0 , 10 , - 50 , 20 , 40 )
7 q3 = posj( 50 , 50 , 50 , 50 , 50 , 50 )
8 q4 = posj( 30 , 10 , 30 , - 20 , 10 , 60 )
9 q5 = posj( 20 , 20 , 40 , 20 , 0 , 90 )
10  
11 qlist = [q1, q2, q3, q4, q5] # Defines the list (qlist)
which is a set of q1-q5 as the waypoints.
12  
13 movesj(qlist, vel = 30 , acc = 100 )
14 # Moves the spline curve that connects the waypoints defined
in the qlist.
15 # with a maximum velocity of 30(mm/sec) and maximum
acceleration of 100(mm/sec2)
16  
17 #CASE 2) Relative angle input (mod= DR_MV_MOD_REL)
18 q0 = posj( 0 , 0 , 0 , 0 , 0 , 0 )
19 movej(q0, vel = 30 , acc = 60 ) # Moves in joint motion
to the initial position (q0).
20 dq1 = posj( 10 , - 10 , 20 , - 30 , 10 , 20 ) #
Defines dq1 (q1=q0+dq1) as the relative joint angle of q0
21 dq2 = posj( 15 , 10 , - 10 , - 20 , 10 , 20 ) #
Defines dq2 (q2=q1+dq2) as the relative joint angle of q1
22 dq3 = posj( 25 , 50 , 40 , 100 , 30 , 10 ) #
Defines dq3 (q3=q2+dq3) as the relative joint angle of q2
23 dq4 = posj( - 20 , - 40 , - 20 , - 70 , - 40 , 10 ) #
Defines dq4 (q4=q3+dq4) as the relative joint angle of q3
24 dq5 = posj( - 10 , 10 , 10 , 40 , - 10 , 30 ) #
Defines dq5 (q5=q4+dq5) as the relative joint angle of q4
25  
26 dqlist = [dq1, dq2, dq3, dq4, dq5]
27 # Defines the list (dqlist) which is a set of q1-q5 as the
relative waypoints.
28  
29 movesj(dqlist, vel = 30 , acc = 100 , mod = DR_MV_MOD_REL )
30 # Moves the spline curve that connects the relative waypoints
defined in the dqlist

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31 # with a maximum velocity of 30(mm/sec) and maximum

acceleration of 100(mm/sec2) (same motion as CASE-1).

Related commands
• posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)(p. 29)
• set_velj(vel)(p. 42)
• set_accj(acc)(p. 43)
• amovesj()(p. 108)

3.3.6 movesx()

Features
The robot moves along a spline curve path that connects the current position to the target position (the last
waypoint in pos_list) via the waypoints of the task space input in pos_list.

The input velocity/acceleration means the maximum velocity/acceleration in the path and the constant velocity
motion is performed with the input velocity according to the condition if the option for the constant speed
motion is selected.

Parameters

Parameter Name Data Type Default Value Description

pos_list list (posx) - posx list

vel (v) float None velocity or

velocity1, velocity2
list (float[2])

acc (a) float None acceleration or

acceleration1, acceleration2
list (float[2])

time (t) float None Reach time [sec]

ref int None reference coordinate

• DR_BASE: base coordinate
• DR_WORLD: world
coordinate
• DR_TOOL: tool coordinate
• user coordinate: user defined

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Parameter Name Data Type Default Value Description

mod int DR_MV_MOD_ABS Movement basis

• DR_MV_MOD_ABS: Absolute
• DR_MV_MOD_REL: Relative

vel_opt int DR_MVS_VEL_NONE Velocity option

• DR_MVS_VEL_NONE: None
• DR_MVS_VEL_CONST:
Constant velocity

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time)
• _global_velx is applied if vel is None. (The initial value of _global_velx is 0.0 and can be set by
set_velx.)
• _global_accx is applied if acc is None. (The initial value of _global_accx is 0.0 and can be set by
set_accx.)
• If an argument is inputted to vel (e.g., vel=30), the input argument corresponds to the linear
velocity of the motion while the angular velocity is determined proportionally to the linear
velocity.
• If an argument is inputted to acc (e.g., acc=60), the input argument corresponds to the linear
acceleration of the motion while the angular acceleration is determined proportionally to the
linear acceleration.
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• _g_coord is applied if the ref is None. (The initial value of _g_coord is DR_BASE, and it can be
set by the set_ref_coord command.)
• If the mod is DR_MV_MOD_REL, each pos in the pos_list is defined in the relative coordinate of
the previous pos. (If pos_list=[p1, p2, ...,p(n-1), p(n)], p1 is the relative angle of the starting point
while p(n) is the relative coordinate of p(n-1).)
• This function does not support online blending of previous and subsequent motions.

 Caution
The constant velocity motion according to the distance and velocity between the waypoints cannot be
used if the "vel_opt= DR_MVS_VEL_CONST" option (constant velocity option) is selected, and the motion
is automatically switched to the variable velocity motion (vel_opt= DR_MVS_VEL_NONE) in that case.

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Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #CASE 1) Absolute coordinate input (mod= DR_MV_MOD_ABS)

2 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
3 movej(P0, v = 30 , a = 30 )
4 x0 = posx( 600 , 43 , 500 , 0 , 180 , 0 ) # Defines the
posx variable (space coordinate/pose) x0.
5 movel(x0, vel = 100 , acc = 200 ) # Linear movement to the
initial position x0
6 x1 = posx( 600 , 600 , 600 , 0 , 175 , 0 ) # Defines the
posx variable (space coordinate/pose) x1.
7 x2 = posx( 600 , 750 , 600 , 0 , 175 , 0 )
8 x3 = posx( 150 , 600 , 450 , 0 , 175 , 0 )
9 x4 = posx( - 300 , 300 , 300 , 0 , 175 , 0 )
10 x5 = posx( - 200 , 700 , 500 , 0 , 175 , 0 )
11 x6 = posx( 600 , 600 , 400 , 0 , 175 , 0 )
12  
13 xlist = [x1, x2, x3, x5, x6] # Defines the list (xlist)
which is a set of x1-x6 as the waypoints.
14  

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15 movesx(xlist, vel = [ 100 , 30 ], acc = [ 200 , 60 ], vel_opt = D

R_MVS_VEL_NONE)
16 # Moves the spline curve that connects the waypoints defined
in the xlist
17 # with a maximum velocity of 100, 30(mm/sec, deg/sec) and
maximum acceleration of 200(mm/sec2) and
18 # 60(deg/sec2).
19 movesx(xlist, vel = [ 100 , 30 ], acc = [ 200 , 60 ], time = 5 ,
vel_opt = DR_MVS_VEL_CONST)
20 # Moves the spline curve that connects the waypoints defined
in the xlist
21 # with a constant velocity of 100, 30(mm/sec, deg/sec).
22  
23 #CASE 2) Relative coordinate input (mod= DR_MV_MOD_REL)
24 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
25 movej(P0)
26 x0 = posx( 600 , 43 , 500 , 0 , 180 , 0 ) # Defines the
posx variable (space coordinate/pose) x0.
27 movel(x0, vel = 100 , acc = 200 ) # Linear movement to the
initial position x0
28 dx1 = posx( 0 , 557 , 100 , 0 , - 5 , 0 )
29 # Definition of relative coordinate dx1 to x0 (Homogeneous
transformation of dx1 based in x1= x0)
30 dx2 = posx( 0 , 150 , 0 , 0 , 0 , 0 )
31 # Definition of relative coordinate dx2 to x1 (Homogeneous
transformation of dx2 based in x2= x1)
32 dx3 = posx( - 450 , - 150 , - 150 , 0 , 0 , 0 )
33 # Definition of relative coordinate dx3 to x2 (Homogeneous
transformation of dx3 based in x3= x2)
34 dx4 = posx( - 450 , - 300 , - 150 , 0 , 0 , 0 )
35 # Definition of relative coordinate dx4 to x3 (Homogeneous
transformation of dx4 based in x4= x3)
36 dx5 = posx( 100 , 400 , 200 , 0 , 0 , 0 )
37 # Definition of relative coordinate dx5 to x4 (Homogeneous
transformation of dx5 based in x5= x4)
38 dx6 = posx( 800 , - 100 , - 100 , 0 , 0 , 0 )
39 # Definition of relative coordinate dx6 to x5 (Homogeneous
transformation of dx6 based in x6= x5)
40  
41 dxlist = [dx1, dx2, dx3, dx4, dx5, dx6]
42 # Defines the list (dxlist) which is a set of dx1-dx6 as the
waypoints.
43  
44 movesx(dxlist, vel = [ 100 , 30 ], acc = [ 200 , 60 ], mod =
DR_MV_MOD_REL, vel_opt = DR_MVS_VEL_NONE)
45 # Moves the spline curve that connects the waypoints defined
in the dxlist
46 # with a maximum velocity of 100, 30 (mm/sec, deg/sec)
47 # and maximum acceleration of 200(mm/sec2), and 60(deg/sec2)
(same motion as CASE-1).

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Related commands
• posx(X=0, Y=0, Z=0, A=0, B=0, C=0)(p. 30)
• set_velx(vel1, vel2)(p. 45)
• set_velx(vel)(p. 46)
• set_accx(acc1, acc2)(p. 48)
• set_accx(acc)(p. 49)
• set_tcp(name)(p. 51)
• set_ref_coord(coord)(p. 52)
• amovesx()(p. 111)

3.3.7 moveb()

Features
This function takes a list that has one or more path segments (line or circle) as arguments and moves at a
constant velocity by blending each segment into the specified radius. Here, the radius can be set through posb.

Parameters
Parameter Name Data Type Default Value Description

pos_list list (posb) - posb list

vel (v) float None velocity or

velocity1, velocity2
list (float[2])

acc (a) float None acceleration or

acceleration1, acceleration2
list (float[2])

time (t) float None Reach time [sec]

* If the time is specified, values are
processed based on time, ignoring vel
and acc.

ref int None reference coordinate

• DR_BASE: base coordinate
• DR_WORLD: world coordinate
• DR_TOOL: tool coordinate
• user coordinate: User defined

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Parameter Name Data Type Default Value Description

mod int DR_MV_MOD_ABS Movement basis

• DR_MV_MOD_ABS: Absolute
• DR_MV_MOD_REL: Relative

app_type int DR_MV_APP_NONE Application mode

• DR_MV_APP_NONE: No
application related
• DR_MV_APP_WELD: Welding
application related

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time)
• Up to 50 arguments can be entered in posb_list.
• _global_velx is applied if vel is None. (The initial value of _global_velx is 0.0 and can be set by
set_velx.)
• _global_accx is applied if acc is None. (The initial value of _global_accx is 0.0 and can be set by
set_accx.)
• If an argument is inputted to vel (e.g., vel=30), the input argument corresponds to the linear
velocity of the motion while the angular velocity is determined proportionally to the linear
velocity.
• If an argument is inputted to acc (e.g., acc=60), the input argument corresponds to the linear
acceleration of the motion while the angular acceleration is determined proportionally to the
linear acceleration.
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• _g_coord is applied if the ref is None. (The initial value of _g_coord is DR_BASE, and it can be
set by the set_ref_coord command.)
• If the mod is DR_MV_MOD_REL, each pos in the posb_list is defined in the relative coordinate of
the previous pos.
• If ‘app_type’ is ‘DR_MV_APP_WELD’, parameter ‘vel’ is internally replaced by the speed setting
entered in app_weld_set_weld_cond(), not the input value of ‘vel’.

 Caution
• A user input error is generated if the blending radius in posb is 0.
• A user input error is generated due to the duplicated input of Line if contiguous Line-Line
segments have the same direction.
• A user input error is generated to prevent a sudden acceleration if the blending condition
causes a rapid change in direction.
• This function does not support online blending of previous and subsequent motions.

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Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 # Init Pose @ Jx1

2 Jx1 = posj( 45 , 0 , 90 , 0 , 90 , 45 ) # initial
joint position
3 X0 = posx( 370 , 420 , 650 , 0 , 180 , 0 ) # initial
task position

1 # CASE 1) ABSOLUTE
2 # Absolute Goal Poses
3 X1 = posx( 370 , 670 , 650 , 0 , 180 , 0 )
4 X1a = posx( 370 , 670 , 400 , 0 , 180 , 0 )
5 X1a2 = posx( 370 , 545 , 400 , 0 , 180 , 0 )
6 X1b = posx( 370 , 595 , 400 , 0 , 180 , 0 )
7 X1b2 = posx( 370 , 670 , 400 , 0 , 180 , 0 )
8 X1c = posx( 370 , 420 , 150 , 0 , 180 , 0 )
9 X1c2 = posx( 370 , 545 , 150 , 0 , 180 , 0 )
10 X1d = posx( 370 , 670 , 275 , 0 , 180 , 0 )
11 X1d2 = posx( 370 , 795 , 150 , 0 , 180 , 0 )
12  
13 seg11 = posb(DR_LINE, X1, radius = 20 )
14 seg12 = posb(DR_CIRCLE, X1a, X1a2, radius = 20 )
15 seg14 = posb(DR_LINE, X1b2, radius = 20 )
16 seg15 = posb(DR_CIRCLE, X1c, X1c2, radius = 20 )

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17 seg16 = posb(DR_CIRCLE, X1d, X1d2, radius = 20 )

18 b_list1 = [seg11, seg12, seg14, seg15, seg16]
19 # The blending radius of the last waypoint (seg16) is ignored.
20  
21 movej(Jx1, vel = 30 , acc = 60 , mod = DR_MV_MOD_ABS)
22 # Joint motion to the initial angle (Jx1)
23 movel(X0, vel = 150 , acc = 250 , ref = DR_BASE, mod = DR_MV_MOD_A
BS)
24 # Line motion to the initial position (X0)
25 moveb(b_list1, vel = 150 , acc = 250 , ref = DR_BASE, mod = DR_MV_
MOD_ABS)
26 # Moves the robot from the current position through a
trajectory consisting of seg11(LINE), seg12(CIRCLE), seg14(LINE),
27 # seg15(CIRCLE), and seg16(CIRCLE) with a constant velocity
of 150(mm/sec) with the exception of accelerating and decelerating
sections.
28 # (The final point is X1d2.) Blending to the next segment
begins
29 # when the distance of 20mm from the end point (X1, X1a2,
X1b2, X1c2, and X1d2) of each segment
30 # is reached.

1 # CASE 2) RELATIVE
2 # Relative Goal Poses
3 dX1 = posx( 0 , 250 , 0 , 0 , 0 , 0 )
4 dX1a = posx( 0 , 0 , - 150 , 0 , 0 , 0 )
5 dX1a2 = posx( 0 , - 125 , 0 , 0 , 0 , 0 )
6 dX1b = posx( 0 , 50 , 0 , 0 , 0 , 0 )
7 dX1b2 = posx( 0 , 75 , 0 , 0 , 0 , 0 )
8 dX1c = posx( 0 , - 250 , - 250 , 0 , 0 , 0 )
9 dX1c2 = posx( 0 , 125 , 0 , 0 , 0 , 0 )
10 dX1d = posx( 0 , 125 , 125 , 0 , 0 , 0 )
11 dX1d2 = posx( 0 , 125 , - 125 , 0 , 0 , 0 )
12  
13 dseg11 = posb(DR_LINE, dX1, radius = 20 )
14 dseg12 = posb(DR_CIRCLE, dX1a, dX1a2, radius = 20 )
15 dseg14 = posb(DR_LINE, dX1b2, radius = 20 )
16 dseg15 = posb(DR_CIRCLE, dX1c, dX1c2, radius = 20 )
17 dseg16 = posb(DR_CIRCLE, dX1d, dX1d2, radius = 20 )
18 db_list1 = [dseg11, dseg12, dseg14, dseg15, dseg16]
19 # The blending radius of the last waypoint (dseg16) is ignored.
20  
21 movej(Jx1, vel = 30 , acc = 60 , mod = DR_MV_MOD_ABS)
22 # Joint motion to the initial angle (Jx1)
23 movel(X0, vel = 150 , acc = 250 , ref = DR_BASE, mod = DR_MV_MOD_A
BS)
24 # Line motion to the initial position (X0)
25 moveb(b_list1, vel = 150 , acc = 250 , ref = DR_BASE, mod = DR_MV_
MOD_ABS)
26 # Moves the robot from the current position through a
trajectory consisting of dseg11(LINE), dseg12(CIRCLE),
dseg14(LINE),

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27 # dseg15(CIRCLE), and dseg16(CIRCLE) with a constant velocity

of 150(mm/sec) with the exception of accelerating and decelerating
sections. (The final point is X1d2.)
28 # Blending to the next segment begins when the distance of
20mm from the end point (X1, X1a2, X1b2, X1c2, and X1d2) of each
segment is reached. (The path is the same as CASE#1.)

Related commands
• posb(seg_type, posx1, posx2=None, radius=0)(p. 34)
• set_velx(vel1, vel2)(p. 45)
• set_velx(vel)(p. 46)
• set_accx(acc1, acc2)(p. 48)
• set_accx(acc)(p. 49)
• set_tcp(name)(p. 51)
• set_ref_coord(coord)(p. 52)
• amoveb()(p. 114)

3.3.8 move_spiral()

Features
Motion along a spiral trajectory on a plane which is perpendicular to the input 'axis' is performed on the
specified coordinate system 'ref'. Additional input, travel distance 'lmax' can cause the robot to move around a
cone, starting from the apex of it.

Parameters
Parameter Data Default Value Range Description
Name Type

rev float 10 rev > 0 Total number of revolutions

rmax float 10 rmax > Final spiral radius [mm]

0

lmax float 0 Distance moved in the axis direction [mm]

vel (v) float None velocity

acc (a) float None acceleration

time (t) float None time ≥ Total execution time <sec>

0

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Parameter Data Default Value Range Description

Name Type

axis int DR_AXIS_Z - axis

• DR_AXIS_X: x-axis
• DR_AXIS_Y: y-axis
• DR_AXIS_Z: z-axis

ref Int DR_TOOL - reference coordinate

• DR_BASE : base coordinate
• DR_WORLD : world coordinate
• DR_TOOL : tool coordinate
• user coordinate : user defined 

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time)
• rev refers to the total number of revolutions of the spiral motion.
• Rmax refers to the maximum radius of the spiral motion.
• Lmax refers to the parallel distance in the axis direction during the motion. A negative value
means the parallel distance in the –axis direction.
• Vel refers to the moving velocity of the spiral motion.
• The first value of _global_velx (parallel velocity) is applied if vel is None. (The initial value of
_global_velx is 0.0 and can be set by set_velx.)
• acc refers to the moving acceleration of the spiral motion.
• The first value of _global_accx (parallel acceleration) is applied if acc is None. (The initial value
of _global_accx is 0.0 and can be set by set_accx.)
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• The axis defines the axis that is perpendicular to the surface defined by the spiral motion.
• Ref refers to the reference coordinate system defined by the spiral motion.
• This function does not support online blending of previous and subsequent motions.

 Caution
• An error can be generated to ensure safe motion if the rotating acceleration calculated by the
spiral path is too great.
In this case, reduce the vel, acc, or time value.

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Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 # hole search
2 # (A motion that completes 9.5 revolutions (rev) to the 50 mm
radius (rmax) from 0 on the Tool-X/Y surface as the center of the
rotation in the Tool-Z direction and the spiral trajectory that
moves 50 mm (lmax) in the Tool-Z direction at the same time in 10
seconds from the initial position)
3  
4 J00 = posj( 0 , 0 , 90 , 0 , 60 , 0 )
5 movej(J00,vel = 30 ,acc = 30 ) # Joint movement to the
initial pose
6 move_spiral(rev = 9.5 ,rmax = 20.0 ,lmax = 50.0 ,time = 20.0 ,axis
= DR_AXIS_Z,ref = DR_TOOL)

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Related commands
• set_velx(vel1, vel2)(p. 45)
• set_velx(vel)(p. 46)
• set_accx(acc1, acc2)(p. 48)
• set_accx(acc)(p. 49)
• set_tcp(name)(p. 51)
• set_ref_coord(coord)(p. 52)
• amove_spiral()(p. 118)

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3.3.9 move_periodic()

Features
This function performs the cyclic motion based on the sine function of each axis (parallel and rotation) of the
reference coordinate (ref) input as a relative motion that begins at the current position. The attributes of the
motion on each axis are determined by the amplitude and period, and the acceleration/deceleration time and
the total motion time are set by the interval and repetition count.

Parameters

Parameter Name Data Type Default Value Range Description

amp list (float[6]) - 0≤amp Amplitude(motion between

-amp and +amp) [mm] or
[deg]

period float or 0≤period period(time for 1 cycle)[sec]

list (float[6])

atime float 0.0 0≤atime Acc-, dec- time [sec]

repeat int 1 >0 Repetition count

ref int DR_TOOL - reference coordinate

• DR_BASE : base
coordinate
• DR_WORLD : world
coordinate
• DR_TOOL : tool
coordinate
• user coordinate :
user defined

 Note
• Amp refers to the amplitude. The input is a list of 6 elements which are the amp values for the
axes (x, y, z, rx, ry, and rz). The amp input on the axis that does not have a motion must be 0.
• Period refers to the time needed to complete a motion in the direction, the amplitude. The
input is a list of 6 elements which are the periods for the axes (x, y, z, rx, ry, and rz).
• Atime refers to the acceleration and deceleration time at the beginning and end of the periodic
motion. The largest of the inputted acceleration/deceleration times and maximum period*1/4

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is applied. An error is generated when the inputted acceleration/deceleration time exceeds 1/2
of the total motion time.
• Repeat refers to the number of repetitions of the axis (reference axis) that has the largest period
value and determines the total motion time. The number of repetitions for each of the
remaining axes is determined automatically according to the motion time.
• If the motion terminates normally, the motions for the remaining axes can be terminated
before the reference axis's motion terminates so that the end position matches the starting
position. The deceleration section will deviate from the previous path if the motions of all axes
are not terminated at the same time. Refer to the following image for more information.

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• Ref refers to the reference coordinate system of the repeated motion.

• If a maximum velocity error is generated during a motion, adjust the amplification and period
using the following formula.
Max. velocity = Amplification(amp)*2*pi(3.14)/Period(period) (i.e., Max.
velocity=62.83mm/sec if amp=10mm and period=1 sec)
• This function does not support online blending of previous and subsequent motions.

Return
Value Description

0 Success

Negative value Error

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Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
2 movej(P0)
3  
4 #1
5 move_periodic(amp = [ 10 , 0 , 0 , 0 , 30 , 0 ], period = 1.0 ,
atime = 0.2 , repeat = 5 , ref = DR_TOOL)
6 # Repeats the x-axis (10mm amp and 1 sec. period) motion and
rotating y-axis (30deg amp and 1 sec. period) motion in the tool
coordinate system
7 # totally, repeat the motion 5 times.
8  
9 #2
10 move_periodic(amp = [ 10 , 0 , 20 , 0 , 0.5 , 0 ], period = [ 1 , 0
.5 , 0 , 0 , 0 ], atime = 0.5 , repeat = 3 , ref = DR_BASE)
11 # Repeats the x-axis (10mm amp and 1 sec. period) motion and
z-axis (20mm amp and 1.5 sec. period) motion in the base
coordinate system
12 # 3 times. The rotating y-axis motion is not performed since
its period is "0".
13 # The total motion time is about 5.5 sec. (1.5 sec. * 3 times
+ 1 sec. for acceleration/deceleration) since the period of the x-
axis motion is greater.
14 # The x-axis motion is repeated 4.5 times.

Related commands
• set_ref_coord(coord)(p. 52)

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• amove_periodic()(p. 122)

3.3.10 move_home()

Features
Homing is performed by moving to the joint motion to the mechanical or user defined home position. According
to the input parameter [target], it moves to the mechanical home defined in the system or the home set by the
user.

Parameter
Parameter Data Dafault Range Description
Name Type Value

target int - Tartget of home position

• DR_HOME_TARGET_MECHANIC : Mechanical home,
joint angle (0,0,0,0,0,0)
• DR_HOME_TARGET_USER : user home.

 Note
• Homing motion is divided into two steps and performed sequentially.
a. Move to the homing position at the speed specified in the system.
b. Finding the home position precisely
• Safety should be ensured so that there is no danger of collision in the vicinity of homing
operation.

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

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Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 move_home(DR_HOME_TARGET_USER) # Go to the user home

2  
3 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
4 movej(P0)

3.4 Asynchronous Motion

3.4.1 amovej()

Features
The asynchronous movej motion operates in the same way as movej except that it does not have the radius
parameter for blending. The command is the asynchronous motion command, and the next command is
executed at the same time the motion begins.

 Note
• movej(pos): The next command is executed after the robot starts from the current position and
reaches (stops at) pos.
• amovej(pos): The next command is executed regardless of whether the robot starts from the
current position and reaches (stops at) pos.

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Parameters

Parameter Data Type Default Value Description

Name

pos posj - posj or

joint angle list
list (float[6])

vel (v) float None velocity (same to all axes) or

velocity (to an axis)
list (float[6])

acc (a) float None acceleration (same to all axes) or

acceleration (acceleration to an axis)
list (float[6])

time (t) float None Reach time [sec]

mod int DR_MV_MOD_ABS Movement basis

• DR_MV_MOD_ABS: Absolute
• DR_MV_MOD_REL: Relative

ra int DR_MV_RA_DUPLICATE Reactive motion mode

• DR_MV_RA_DUPLICATE: duplicate
• DR_MV_RA_OVERRIDE: override

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time)
• _global_velj is applied if vel is None. (The initial value of _global_velj is 0.0 and can be set by
set_velj.)
• _global_accj is applied if acc is None. (The initial value of _global_accj is 0.0 and can be set by
set_accj.)
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• Refer to the description of the movej() motion for the path of blending according to option ra
and vel/acc.

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Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #Example 1. The robot moves to q1 and stops the motion 3 seconds

after it begins the motion at q0 and then moves to q99
2 q0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
3 amovej (q0, vel = 10 , acc = 20 ) # Moves to q0 and
performs the next command immediately after
4 wait( 3 ) # Temporarily suspends the program
execution for 3 seconds (while the motion continues).
5 q1 = posj( 0 , 0 , 0 , 0 , 90 , 0 )
6 amovej (q1, vel = 10 , acc = 20 )
7 # Maintains the q0 motion (DUPLICATE blending if the ra argument
is omitted) and iterates to q1.
8 # Performs the next command immediately after the blending motion.
9 mwait( 0 ) # Temporarily suspends the program execution
until the motion is terminated.
10 q99 = posj( 0 , 0 , 0 , 0 , 0 , 0 )
11 movej (q99, vel = 10 , acc = 20 ) # Joint motion to
q99

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Related commands
• posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)(p. 29)
• set_velj(vel)(p. 42)
• set_accj(acc)(p. 43)
• mwait(time=0)(p. 125)
• movej()(p. 54)

3.4.2 amovel()

Features
The asynchronous movel motion operates in the same way as movel except that it does not have the radius
parameter for blending. The command is the asynchronous motion command, and the next command is
executed without waiting for the motion to terminate.

 Note
• movel(pos): The next command is executed after the robot starts from the current position and
reaches (stops at) pos.
• amovel(pos): The next command is executed regardless of whether the robot starts from the
current position and reaches (stops at) pos.

Parameters

Parameter Name Data Type Default Value Description

pos posx - posx or

position list
list (float[6])

vel (v) float None velocity or

velocity1, velocity2
list (float[2])

acc (a) float None acceleration or

acceleration1, acceleration2
list (float[2])

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Parameter Name Data Type Default Value Description

time (t) float None Reach time [sec]

• If the time is specified, values
are processed based on time,
ignoring vel and acc.

ref int None reference coordinate

• DR_BASE : base coordinate
• DR_WORLD : world coordinate
• DR_TOOL : tool coordinate
• user coordinate: User defined 

mod int DR_MV_MOD_ABS Movement basis

• DR_MV_MOD_ABS: Absolute
• DR_MV_MOD_REL: Relative

ra int DR_MV_RA_DUPLICAT Reactive motion mode

E
• DR_MV_RA_DUPLICATE:
duplicate
• DR_MV_RA_OVERRIDE:
override

app_type int DR_MV_APP_NONE Reactive motion mode

• DR_MV_APP_NONE: No
application related
• DR_MV_APP_WELD: Welding
application related

 Note
• Abbreviated parameter names supported (v:vel, a:acc, t:time).
• _global_velx is applied if vel is None. (The initial value of _global_velx is 0.0 and can be set by
set_velx.)
• _global_accx is applied if acc is None. (The initial value of _global_accx is 0.0 and can be set by
set_accx.)
• If an argument is inputted to vel (e.g., vel=30), the input argument corresponds to the linear
velocity of the motion while the angular velocity is determined proportionally to the linear
velocity.
• If an argument is inputted to acc (e.g., acc=60), the input argument corresponds to the linear
acceleration of the motion while the angular acceleration is determined proportionally to the
linear acceleration.
• If the time is specified, values are processed based on time, ignoring vel and acc.

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Motion-related Commands

• If the time is None, it is set to 0.

• _g_coord is applied if the ref is None. (The initial value of _g_coord is DR_BASE, and it can be
set by the set_ref_coord command.)
• Refer to the description of the movej() motion for the path of the blending according to option
ra and vel/acc.
• If ‘app_type’ is ‘DR_MV_APP_WELD’, parameter ‘vel’ is internally replaced by the speed setting
entered in app_weld_set_weld_cond(), not the input value of ‘vel’.

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #Example 1. D-Out 2 seconds after the motion starts with x1

2 j0 = posj( - 148 , - 33 , - 54 , 180 , 92 , 32 )
3 movej(j0, v = 30 , a = 30 )
4 x1 = posx( 784 , 543 , 570 , 0 , 180 , 0 )
5 amovel (x1, vel = 100 , acc = 200 ) # Performs the next motion
immediately after beginning a motion with x1.
6 wait( 2 ) # Temporarily suspends the
program execution for 2 seconds (while the motion continues).
7 set_digital_output( 1 , 1 ) # D-Out (no. 1 channel) ON

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Motion-related Commands

8 mwait( 0 ) # Temporarily suspends the

program execution until the motion is terminated.

Related commands
• posx(X=0, Y=0, Z=0, A=0, B=0, C=0)(p. 30)
• set_velx(vel1, vel2)(p. 45)
• set_velx(vel)(p. 46)
• set_accx(acc1, acc2)(p. 48)
• set_accx(acc)(p. 49)
• set_tcp(name)(p. 51)
• set_ref_coord(coord)(p. 52)
• mwait(time=0)(p. 125)
• movel()(p. 59)

3.4.3 amovejx()

Features
The asynchronous movejx motion operates in the same way as movejx except that it does not have the radius
parameter for blending. The command is the asynchronous motion command, and the next command is
executed without waiting for the motion to terminate.

 Note
• movejx(pos): The next command is executed after the robot starts from the current position
and reaches (stops at) pos.
• amovejx(pos): The next command is executed regardless of whether the robot starts from the
current position and reaches (stops at) pos.

Parameters

Parameter Name Data Type Default Value Description

pos posx - posx or

position list
list (float[6])

vel (v) float None velocity (same to all axes) or

velocity (to an axis)
list (float[6]) None

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Motion-related Commands

Parameter Name Data Type Default Value Description

acc (a) float None acceleration (same to all axes) or

acceleration (acceleration to an axis)
list (float[6]) None

time (t) float None Reach time [sec]

ref int None reference coordinate

• DR_BASE: base coordinate
• DR_WORLD : world coordinate
• DR_TOOL: tool coordinate
• user coordinate: user defined

mod int DR_MV_MOD_ABS Movement basis

• DR_MV_MOD_ABS: Absolute
• DR_MV_MOD_REL: Relative

ra int DR_MV_RA_DUPLICATE Reactive motion mode

• DR_MV_RA_DUPLICATE:
duplicate
• DR_MV_RA_OVERRIDE: override

sol int 0 Solution space

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time)
• _global_velj is applied if vel is None. (The initial value of _global_velj is 0.0 and can be set by
set_velj.)
• _global_accj is applied if acc is None. (The initial value of _global_accj is 0.0 and can be set by
set_accj.)
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• _g_coord is applied if the ref is None. The initial value of _g_coord is DR_BASE, and it can be set
by the set_ref_coord command.
• Refer to the description of the movej() motion for the path of the blending according to option
ra and vel/acc.

 Caution

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Motion-related Commands

If relative motion is entered (mod=DR_MV_MOD_REL), the motion in progress cannot execute blending.
Therefore it is recommended to execute blending with movej() or movel().

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #Example 1. D-Out 2 seconds after the joint motion starts with x1

2 p0 = posj( - 148 , - 33 , - 54 , 180 , 92 , 32 )
3 movej(p0, v = 30 , a = 30 )
4 x1 = posx( 784 , 443 , 770 , 0 , 180 , 0 )
5 amovejx (x1, vel = 100 , acc = 200 , sol = 1 ) # Performs the
next motion immediately after beginning a joint motion with x1.
6 wait( 2 ) # Temporarily suspends the
program execution for 2 seconds (while the motion continues).
7 set_digital_output( 1 , 1 ) # D-Out (no. 1 channel)
ON
8 mwait( 0 ) # Temporarily suspends the
program execution until the motion is terminated.

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Related commands
• posx(X=0, Y=0, Z=0, A=0, B=0, C=0)(p. 30)
• set_velj(vel)(p. 42)
• set_accj(acc)(p. 43)
• get_current_posx(ref)(p. 155)
• mwait(time=0)(p. 125)
• movejx()(p. 64)

3.4.4 amovec()

Features
The asynchronous movec motion operates in the same way as movec except that it does not have the radius
parameter for blending. The command is the asynchronous motion command, and the next command is
executed without waiting for the motion to terminate.

 Note
• movec(pos1. pos2): The next command is executed after the robot starts from the current
position and reaches (stops at) pos2.
• amovec(pos1. pos2): The next command is executed regardless of whether the robot starts
from the current position and reaches (stops at) pos2.

Parameters

Parameter Data Type Default Value Description

Name

pos posx - posx or

position list
list (float[6])

pos2 posx - posx or

position list
list (float[6]

vel (v) float None velocity or

velocity1, velocity2
list (float[2])

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Motion-related Commands

Parameter Data Type Default Value Description

Name

acc (a) float None acceleration or

acceleration1, acceleration2
list (float[2])

time (t) float None Reach time [sec]

ref int None reference coordinate

• DR_BASE: base coordinate
• DR_WORLD: world coordinate
• DR_TOOL: tool coordinate
• user coordinate: user defined

mod int DR_MV_MOD_ABS Movement basis

• DR_MV_MOD_ABS: Absolute
• DR_MV_MOD_REL: Relative

angle (an) float None angle or

angle1, angle2
list (float[2])

ra int DR_MV_RA_DUPLICATE Reactive motion mode

• DR_MV_RA_DUPLICATE: duplicate
• DR_MV_RA_OVERRIDE: override

ori int DR_MV_ORI_TEACH Orientation mode

• DR_MV_ORI_TEACH: orientation
changes continuously from the initial
to the final taught value
• DR_MV_ORI_FIXED: orientation holds
with the initial orientation
• DR_MV_ORI_RADIAL: orientation
changes radially from the initial. 

app_type int DR_MV_APP_NONE Application mode

• DR_MV_APP_NONE: No application
related
• DR_MV_APP_WELD: Welding
application related

 Note

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Motion-related Commands

• Abbreviated parameter names are supported. (v:vel, a:acc, t:time, angle:an)

• _global_velx is applied if vel is None. (The initial value of _global_velx is 0.0 and can be set by
set_velx.)
• _global_accx is applied if acc is None. (The initial value of _global_accx is 0.0 and can be set by
set_accx.)
• If an argument is inputted to vel (e.g., vel=30), the input argument corresponds to the linear
velocity of the motion while the angular velocity is determined proportionally to the linear
velocity.
• If an argument is inputted to acc (e.g., acc=60), the input argument corresponds to the linear
acceleration of the motion while the angular acceleration is determined proportionally to the
linear acceleration.
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• _g_coord is applied if the ref is None. (The initial value of _g_coord is DR_BASE, and it can be
set by the set_ref_coord command.)
• If the mod is DR_MV_MOD_REL, pos1 and pos2 are defined in the relative coordinate system of
the previous pos. (pos1 is the relative coordinate from the starting point while pos2 is the
relative coordinate from pos1.)
• If the angle is None, it is set to 0.
• If only one angle is entered, the angle applied will be the total rotation angle of the circular
path.
• If two angle values are inputted, angle1 refers to the total rotating angle moving at a constant
velocity on the circular path while angle2 refers to the rotating angle in the rotating section for
acceleration and deceleration. Here, the robot moves on the circular path at a total movement
angle of angle1 + 2xangle2.
• Refer to the description of the movej() motion for the path of the blending according to option
ra and vel/acc.
• If ‘app_type’ is ‘DR_MV_APP_WELD’, parameter ‘vel’ is internally replaced by the speed setting
entered in app_weld_set_weld_cond(), not the input value of ‘vel’.
• ori’(orientation mode) is defined as below.
a. DR_MV_ORI_TEACH(orientation based on teaching) : It moves while changing the
current pose to the teaching pose of Pose 2, proportionate to the movement
distance.The orientation of the taught pose, ‘pose 1’ is ignored.
b. DR_MV_ORI_FIXED(fixed orientation) : Move along the path while maintaining the initial
orientation up to the taught pose, ‘pose2’.

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c. DR_MV_ORI_RADIAL(orientation constrained radially) : Move along the path while

maintaining radial orientation at the initial pose to the ‘pose 2

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #Example 1. D-Out 3 seconds after the arc motion through x1 and x2

begins
2 p0 = posj( - 148 , - 33 , - 54 , 180 , 92 , 32 )
3 movej(p0, v = 30 , a = 30 )
4 x1 = posx( 784 , 443 , 770 , 0 , 180 , 0 )

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5 amovejx (x1, vel = 100 , acc = 200 , sol = 2 ) # Performs the

next motion immediately after beginning a joint motion with x1.
6 wait( 2 ) # Temporarily suspends the program
execution for 2 seconds (while the motion continues).
7 set_digital_output( 1 , 1 ) # D-Out (no. 1 channel) ON
8 mwait( 0 )

Related commands
• posx(X=0, Y=0, Z=0, A=0, B=0, C=0)(p. 30)
• set_velx(vel1, vel2)(p. 45)
• set_velx(vel)(p. 46)
• set_accx(acc1, acc2)(p. 48)
• set_accx(acc)(p. 49)
• set_tcp(name)(p. 51)
• set_ref_coord(coord)(p. 52)
• mwait(time=0)(p. 125)
• movec()(p. 68)

3.4.5 amovesj()

Features
The asynchronous movesj motion operates in the same way as movesj() except for the asynchronous
processing.

Generating a new command for the motion before the amovesj() motion results in an error for safety reasons.
Therefore, the termination of the amovesj() motion must be confirmed using mwait() or check_motion()
between amovesj() and the following motion command.

 Note
• movesj(pos_list): The next command is executed after the robot starts from the current
position and reaches (stops at) the end point of pos_list.
• amovesj(pos_list): The next command is executed regardless of whether the robot starts from
the current position and reaches (stops at) the end point of pos_list.

Parameters

Parameter Name Data Type Default Value Description

pos_list list (posj) - posj list

- 108 - Programming manual(V2.9.3)

  
Motion-related Commands

Parameter Name Data Type Default Value Description

vel (v) float None velocity (same to all axes) or

velocity (to an axis)
list (float[6])

acc (a) float None acceleration (same to all axes) or

acceleration (acceleration to an
list (float[6]) axis)

time (t) float None Reach time [sec]

mod int DR_MV_MOD_ABS Movement basis

• DR_MV_MOD_ABS:
Absolute
• DR_MV_MOD_REL:
Relative

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time)
• _global_velj is applied if vel is None. (The initial value of _global_velj is 0.0 and can be set by
set_velj.)
• _global_accj is applied if acc is None. (The initial value of _global_accj is 0.0 and can be set by
set_accj.)
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• If the mod is DR_MV_MOD_REL, each pos in the pos_list is defined in the relative coordinate of
the previous pos. (If pos_list=[q1, q2, ...,q(n-1), q(n)], q1 is the relative angle of the starting point
while q(n) is the relative coordinate of q(n-1).)
• This function does not support online blending of previous and subsequent motions.

Return
Value Description

0 Success

Negative value Error

- 109 - Programming manual(V2.9.3)

  
Motion-related Commands

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #Example 1. D-Out 3 seconds after the spline motion through q1 -

q5 begins
2 q0 = posj( 0 , 0 , 0 , 0 , 0 , 0 )
3 movej(q0, vel = 30 , acc = 60 ) # Moves in joint motion to the
initial position (q0).
4 q1 = posj( 10 , - 10 , 20 , - 30 , 10 , 20 ) #
Defines the posj variable (joint angle) q1.
5 q2 = posj( 25 , 0 , 10 , - 50 , 20 , 40 )
6 q3 = posj( 50 , 50 , 50 , 50 , 50 , 50 )
7 q4 = posj( 30 , 10 , 30 , - 20 , 10 , 60 )
8 q5 = posj( 20 , 20 , 40 , 20 , 0 , 90 )
9  
10 qlist = [q1, q2, q3, q4, q5]
11 # Defines the list (qlist) which is a set of waypoints q1-q5.
12  
13 amovesj(qlist, vel = 30 , acc = 100 )
14 # Moves the spline curve that connects the waypoints defined
in the qlist.
15 # with a maximum velocity of 30(mm/sec) and maximum
acceleration of 100(mm/sec2).
16 # Executes the next command.
17 wait( 3 ) # Temporarily suspends
the program execution for 3 seconds (while the motion continues).
18 set_digital_output( 1 , 1 ) # D-Out (no. 1
channel) ON
19 mwait( 0 ) # Temporarily suspends
the program execution until the motion is terminated.

- 110 - Programming manual(V2.9.3)

  
Motion-related Commands

Related commands
• posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)(p. 29)
• set_velj(vel)(p. 42)
• set_accj(acc)(p. 43)
• mwait(time=0)(p. 125)
• amovesj(p. 108)

3.4.6 amovesx()

Features
The asynchronous movesx motion operates in the same way as movesx() except for the asynchronous
processing.

Generating a new command for the motion before the amovesj() motion results in an error for safety reasons.
Therefore, the termination of the amovesx() motion must be confirmed using mwait() or check_motion()
between amovesx() and the following motion command.

 Note
• movesx(pos_list): The next command is executed after the robot starts from the current
position and reaches (stops at) the end point of pos_list.
• amovesx(pos_list): The next command is executed regardless of whether the robot starts from
the current position and reaches (stops at) the end point of pos_list.

Parameters

Parameter Name Data Type Default Value Description

pos_list list (posx) - posx list

vel (v) float None velocity or

velocity1, velocity2
list (float[2])

acc (a) float None acceleration or

acceleration1, acceleration2
list (float[2])

time (t) float None Reach time [sec]

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Motion-related Commands

Parameter Name Data Type Default Value Description

ref int None reference coordinate

• DR_BASE: base coordinate
• DR_WORLD: world coordinate
• DR_TOOL: tool coordinate
• user coordinate: User defined

mod int DR_MV_MOD_ABS Movement basis

• DR_MV_MOD_ABS: Absolute
• DR_MV_MOD_REL: Relative

vel_opt int DR_MVS_VEL_NONE Velocity option

• DR_MVS_VEL_NONE: None
• DR_MVS_VEL_CONST: Constant
velocity

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time)
• _global_velx is applied if vel is None. (The initial value of _global_velx is 0.0 and can be set by
set_velx.)
• _global_accx is applied if acc is None. (The initial value of _global_accx is 0.0 and can be set by
set_accx.)
• If an argument is inputted to vel (e.g., vel=30), the input argument corresponds to the linear
velocity of the motion while the angular velocity is determined proportionally to the linear
velocity.
• If an argument is inputted to acc (e.g., acc=60), the input argument corresponds to the linear
acceleration of the motion while the angular acceleration is determined proportionally to the
linear acceleration.
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• _g_coord is applied if the ref is None. (The initial value of _g_coord is DR_BASE, and it can be
set by the set_ref_coord command.)
• If the mod is DR_MV_MOD_REL, each pos in the pos_list is defined in the relative coordinate of
the previous pos. (If pos_list=[p1, p2, ...,p(n-1), p(n)], p1 is the relative angle of the starting point
while p(n) is the relative coordinate of p(n-1).)
• This function does not support online blending of previous and subsequent motions.

 Caution

- 112 - Programming manual(V2.9.3)

  
Motion-related Commands

The constant velocity motion according to the distance and velocity between the waypoints cannot be
used if the "vel_opt= DR_MVS_VEL_CONST" option (constant velocity option) is selected, and the motion
is automatically switched to the variable velocity motion (vel_opt= DR_MVS_VEL_NONE) in that case.

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #Example 1. D-Out 3 seconds after the spline motion through x1 -

x6 begins
2 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
3 movej(P0)
4 x0 = posx( 600 , 43 , 500 , 0 , 180 , 0 ) #
Defines the posx variable (space coordinate/pose) x0.
5 movel(x0, vel = 100 , acc = 200 ) # Linear movement to the
initial position x0
6 x1 = posx( 600 , 600 , 600 , 0 , 175 , 0 ) #
Defines the posx variable (space coordinate/pose) x1.
7 x2 = posx( 600 , 750 , 600 , 0 , 175 , 0 )
8 x3 = posx( 150 , 600 , 450 , 0 , 175 , 0 )
9 x4 = posx( - 300 , 300 , 300 , 0 , 175 , 0 )
10 x5 = posx( - 200 , 700 , 500 , 0 , 175 , 0 )

- 113 - Programming manual(V2.9.3)

  
Motion-related Commands

11 x6 = posx( 600 , 600 , 400 , 0 , 175 , 0 )

12  
13 xlist = [x1, x2, x3, x5, x6] # Defines the list
(xlist) which is a set of x1-x6 as the waypoints.
14  
15 amovesx(xlist, vel = [ 100 , 30 ], acc = [ 200 , 60 ], vel_opt = D
R_MVS_VEL_NONE)
16 # Moves the spline curve that connects the waypoints defined
in the xlist
17 # with a maximum velocity of 100, 30(mm/sec, deg/sec) and
maximum acceleration of 200(mm/sec2) and
18 # 60(deg/sec2). The next command is executed immediately
after the motion starts.
19 wait( 3 ) # Temporarily suspends the program
execution for 3 seconds (while the motion continues).
20 set_digital_output( 1 , 1 ) # D-Out (no. 1 channel)
ON
21 mwait( 0 ) # Temporarily suspends the
program execution until the motion is terminated.

Related commands
• posx(X=0, Y=0, Z=0, A=0, B=0, C=0)(p. 30)
• set_velx(vel1, vel2)(p. 45)
• set_velx(vel)(p. 46)
• set_accx(acc1, acc2)(p. 48)
• set_accx(acc)(p. 49)
• set_tcp(name)(p. 51)
• set_ref_coord(coord)(p. 52)
• mwait(time=0)(p. 125)
• movesx()(p. 77)

3.4.7 amoveb()

Features
The asynchronous moveb motion operates in the same way as moveb() except for the asynchronous processing
and executes the next line after the command is executed.

Generating a new command for the motion before the amoveb() motion results in an error for safety reasons.
Therefore, the termination of the amoveb() motion must be confirmed using mwait() or check_motion()
between amoveb() and the following motion command.

 Note

- 114 - Programming manual(V2.9.3)

  
Motion-related Commands

• moveb(seg_list): The next command is executed after the robot starts from the current position
and reaches (stops at) the end point of seg_list.
• amoveb(seg_list): The next command is executed regardless of whether the robot starts from
the current position and reaches (stops at) the end point of seg_list.

Parameters

Parameter Name Data Type Default Value Description

pos_list list (posb) - posb list

vel (v) float None velocity or

velocity1, velocity2
list (float[2])

acc (a) float None acceleration or

acceleration1, acceleration2
list (float[2])

time (t) float None Reach time [sec]

• If the time is specified, values
are processed based on time,
ignoring vel and acc.

ref int None reference coordinate

• DR_BASE: base coordinate
• DR_WORLD: world coordinate
• DR_TOOL: tool coordinate
• user coordinate: User defined

mod int DR_MV_MOD_ABS Movement basis

• DR_MV_MOD_ABS: Absolute
• DR_MV_MOD_REL: Relative

app_type int DR_MV_APP_NONE Application mode

• DR_MV_APP_NONE: No
application related
• DR_MV_APP_WELD: Welding
application related

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time)

- 115 - Programming manual(V2.9.3)

  
Motion-related Commands

• Up to 50 arguments can be entered in posb_list.

• _global_velx is applied if vel is None. (The initial value of _global_velx is 0.0 and can be set by
set_velx.)
• _global_accj is applied if acc is None. (The initial value of _global_accx is 0.0 and can be set by
set_accx.)
• If an argument is inputted to vel (e.g., vel=30), the input argument corresponds to the linear
velocity of the motion while the angular velocity is determined proportionally to the linear
velocity.
• If an argument is inputted to acc (e.g., acc=60), the input argument corresponds to the linear
acceleration of the motion while the angular acceleration is determined proportionally to the
linear acceleration.
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• _g_coord is applied if the ref is None. (The initial value of _g_coord is DR_BASE, and it can be
set by the set_ref_coord command.)
• If the mod is DR_MV_MOD_REL, each pos in the pos_list is defined in the relative coordinate of
the previous pos.
• This function does not support online blending of previous and subsequent motions.
• If ‘app_type’ is ‘DR_MV_APP_WELD’, parameter ‘vel’ is internally replaced by the speed setting
entered in app_weld_set_weld_cond(), not the input value of ‘vel’.

 Caution
• A user input error is generated if the blending radius in posb is 0.
• A user input error is generated due to the duplicated input of Line if contiguous Line-Line
segments have the same direction.
• A user input error is generated to prevent a sudden acceleration if the blending condition
causes a rapid change in direction.
• This function does not support online blending of previous and subsequent motions.

Return
Value Description

0 Success

Negative value Error

- 116 - Programming manual(V2.9.3)

  
Motion-related Commands

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #Example 1. D-Out 3 seconds after the motion through the path of

seg11 - seg16 begins
2 # Init Pose @ Jx1
3 Jx1 = posj( 45 , 0 , 90 , 0 , 90 , 45 ) # initial
joint position
4 X0 = posx( 370 , 420 , 650 , 0 , 180 , 0 ) # initial
task position
5  
6 # CASE#1) ABSOLUTE
7 # Absolute Goal Poses
8 X1 = posx( 370 , 670 , 650 , 0 , 180 , 0 )
9 X1a = posx( 370 , 670 , 400 , 0 , 180 , 0 )
10 X1a2 = posx( 370 , 545 , 400 , 0 , 180 , 0 )
11 X1b = posx( 370 , 595 , 400 , 0 , 180 , 0 )
12 X1b2 = posx( 370 , 670 , 400 , 0 , 180 , 0 )
13 X1c = posx( 370 , 420 , 150 , 0 , 180 , 0 )
14 X1c2 = posx( 370 , 545 , 150 , 0 , 180 , 0 )
15 X1d = posx( 370 , 670 , 275 , 0 , 180 , 0 )
16 X1d2 = posx( 370 , 795 , 150 , 0 , 180 , 0 )
17  
18 seg11 = posb(DR_LINE, X1, radius = 20 )
19 seg12 = posb(DR_CIRCLE, X1a, X1a2, radius = 20 )
20 seg14 = posb(DR_LINE, X1b2, radius = 20 )
21 seg15 = posb(DR_CIRCLE, X1c, X1c2, radius = 20 )
22 seg16 = posb(DR_CIRCLE, X1d, X1d2, radius = 20 )
23 b_list1 = [seg11, seg12, seg14, seg15, seg16]
24 # The blending radius of the last waypoint (seg16) is
ignored.
25 movej(Jx1, vel = 30 , acc = 60 , mod = DR_MV_MOD_ABS)

- 117 - Programming manual(V2.9.3)

  
Motion-related Commands

26 # Joint motion to the initial angle (Jx1)

27 movel(X0, vel = 150 , acc = 250 , ref = DR_BASE, mod = DR_MV_MOD_A
BS)
28 # Line motion to the initial position (X0)
29 amoveb(b_list1, vel = 150 , acc = 250 , ref = DR_BASE, mod = DR_MV
_MOD_ABS)
30 # Moves the robot from the current position through a
trajectory consisting of seg11(LINE), seg12(CIRCLE), seg14(LINE),
31 # seg15(CIRCLE), and seg16(CIRCLE) with a constant velocity
of 150(mm/sec) with the exception of accelerating and decelerating
sections.
32 # (The final point is X1d2.)
33 # Blending to the next segment begins when the distance of
20mm from the end point (X1, X1a2, X1b2, X1c2, and X1d2)
34 # of each segment is reached.
35 wait( 3 ) # Temporarily suspends the
program execution for 3 seconds (while the motion continues).
36 set_digital_output( 1 , 1 ) # D-Out (no. 1 channel)
ON
37 mwait( 0 ) # Temporarily suspends the
program execution until the motion is terminated.

Related commands
• posb(seg_type, posx1, posx2=None, radius=0)(p. 34)
• set_velx(vel1, vel2)(p. 45)
• set_velx(vel)(p. 46)
• set_accx(acc1, acc2)(p. 48)
• set_accx(acc)(p. 49)
• set_tcp(name)(p. 51)
• set_ref_coord(coord)(p. 52)
• mwait(time=0)(p. 125)
• moveb()(p. 81)

3.4.8 amove_spiral()

Features
The asynchronous move_spiral motion operates in the same way as move_spiral() except for the asynchronous
processing and executes the next line after the command is executed.

Generating a new command for the motion before the amove_spiral() motion results in an error for safety
reasons. Therefore, the termination of the amove_spiral() motion must be confirmed using mwait() or
check_motion() between amove_spiral() and the following motion command.

Motion along a spiral trajectory on a plane which is perpendicular to the input 'axis' is performed on the
specified coordinate system 'ref'. Additional input, travel distance 'lmax' can cause the robot to move around a
cone, starting from the apex of it

- 118 - Programming manual(V2.9.3)

  
Motion-related Commands

 Note
• move_spiral: The next command is executed after the robot starts from the current position
and reaches (stops at) the end point of the spiral trajectory.
• amove_spiral: The next command is executed after the robot starts from the current position
and regardless of whether it reaches (stops at) the end point of the spiral trajectory.

Parameters

Parameter Name Data Type Default Value Range Description

rev float 10 rev > 0 Total number of revolutions

rmax float 10 rmax > 0 Final spiral radius [mm]

lmax float 0 Distance moved in the axis

direction [mm]

vel (v) float None velocity

acc (a) float None acceleration

time (t) float None time ≥ 0 Total execution time <sec>

axis int DR_AXIS_Z - axis

• DR_AXIS_X: x-axis
• DR_AXIS_Y: y-axis
• DR_AXIS_Z: z-axis

ref Int DR_TOOL - reference coordinate

• DR_BASE : base
coordinate
• DR_WORLD : world
coordinate
• DR_TOOL : tool
coordinate
• user coordinate :
user defined

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time)
• rev refers to the total number of revolutions of the spiral motion.
• Rmax refers to the maximum radius of the spiral motion.

- 119 - Programming manual(V2.9.3)

  
Motion-related Commands

• Lmax refers to the parallel distance in the axis direction during the motion. A negative value
means the parallel distance in the –axis direction.
• Vel refers to the moving velocity of the spiral motion.
• The first value of _global_velx (parallel velocity) is applied if vel is None. (The initial value of
_global_velx is 0.0 and can be set by set_velx.)
• Acc refers to the moving acceleration of the spiral motion.
• The first value of _global_accx (parallel acceleration) is applied if acc is None. (The initial value
of _global_accx is 0.0 and can be set by set_accx.)
• If the time is specified, values are processed based on time, ignoring vel and acc.
• If the time is None, it is set to 0.
• The axis defines the axis that is perpendicular to the surface defined by the spiral motion.
• Ref refers to the reference coordinate system defined by the spiral motion.
• This function does not support online blending of previous and subsequent motions.

 Caution
• An error can be generated to ensure safe motion if the rotating acceleration calculated by the
spiral path is too great.
In this case, reduce the vel, acc, or time value.

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

- 120 - Programming manual(V2.9.3)

  
Motion-related Commands

Exception Description

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ## hole search
2 # (A motion that completes 9.5 revolutions (rev) to the 30 mm
radius (rmax) from 0 on the Tool-X/Y surface as the center of the
rotation in the Tool-Z direction
3 # and the spiral trajectory that moves 50 mm (lmax) in the Tool-Z
direction at the same time in 20 seconds
4 # from the initial position.
5 # D-Out (no. 1 channel) 3 seconds after the motion begins.)
6  
7 J00 = posj( 0 , 0 , 90 , 0 , 60 , 0 )
8 movel(J00, vel = 30 , acc = 30 ) # Joint moves to the
beginning pose
9 amove_spiral(rev = 9.5 ,rmax = 50.0 ,lmax = 50.0 ,time = 10.0
,axis = DR_AXIS_Z,ref = DR_TOOL)
10 wait( 3 )
11 set_digital_output( 1 , 1 ) # D-Out (no. 1 channel) ON
12 mwait( 0 ) # Waits until the motion
stops.

- 121 - Programming manual(V2.9.3)

  
Motion-related Commands

Related commands
• set_velx(vel1, vel2)(p. 45)
• set_velx(vel)(p. 46)
• set_accx(acc1, acc2)(p. 48)
• set_accx(acc)(p. 49)
• set_tcp(name)(p. 51)
• set_ref_coord(coord)(p. 52)
• mwait(time=0)(p. 125)
• move_spiral()(p. 85)

3.4.9 amove_periodic()

Features
The asynchronous move_periodic motion operates in the same way as move_periodic() except for the
asynchronous processing and executes the next line after the command is executed.

Generating a new command for the motion before the amove_periodic() motion results in an error for safety
reasons. Therefore, the termination of the amove_periodic() motion must be confirmed using mwait() or
check_motion() between amove_periodic() and the following motion command.

This command performs a cyclic motion based on the sine function of each axis (parallel and rotation) of the
reference coordinate (ref) input as a relative motion that begins at the current position. The attributes of the
motion on each axis are determined by amp (amplitude) and period, and the acceleration/deceleration time
and the total motion time are set by the interval and repetition count.

 Note
• move_ periodic: Starting from the current position, reaching the end of the periodic trajectory,
stopping, and then executing the following command
• amove_ periodic: Executes the next command immediately regardless of whether the end of
the periodic trajectory is reached from the current position

Parameters

Parameter Name Data Type Default Value Range Description

amp list (float[6]) - 0≤amp Amplitude (motion between

-amp and +amp) [mm] or
[deg]

- 122 - Programming manual(V2.9.3)

  
Motion-related Commands

Parameter Name Data Type Default Value Range Description

period float or 0≤period Period (time for 1 cycle) [sec]

list (float[6])

atime float 0.0 0≤atime Acc-, dec- time [sec]

repeat int 1 >0 Repetition count

ref int DR_TOOL - reference coordinate

• DR_BASE : base
coordinate
• DR_WORLD : world
coordinate
• DR_TOOL : tool
coordinate
• user coordinate : user
defined

 Note
• Amp refers to the amplitude. The input is a list of 6 elements which are the amp values for the
axes (x, y, z, rx, ry, and rz). The amp input on the axis that does not have a motion must be 0.
• Period refers to the time needed to complete a motion in the direction, the amplitude. The
input is a list of 6 elements which are the periods for the axes (x, y, z, rx, ry, and rz).
• Atime refers to the acceleration and deceleration time at the beginning and end of the periodic
motion. The largest of the inputted acceleration/deceleration times and maximum period*1/4
is applied. An error is generated when the inputted acceleration/deceleration time exceeds 1/2
of the total motion time.
• Repeat refers to the number of repetitions of the axis (reference axis) that has the largest period
value and determines the total motion time. The number of repetitions for each of the
remaining axes is determined automatically according to the motion time.
• If the motion terminates normally, the motions for the remaining axes can be terminated
before the reference axis's motion terminates so that the end position matches the starting
position. The deceleration section will deviate from the previous path if the motions of all axes

- 123 - Programming manual(V2.9.3)

  
Motion-related Commands

are not terminated at the same time. Refer to the following image for more information.

• Ref refers to the reference coordinate system of the repeated motion.

• If a maximum velocity error is generated during a motion, adjust the amplification and period
using the following formula.
Max. velocity = Amplification(amp)*2*pi(3.14)/Period(period) (i.e., Max.
velocity=62.83mm/sec if amp=10mm and period=1 sec)
• This function does not support online blending of previous and subsequent motions.

Return
Value Success

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

- 124 - Programming manual(V2.9.3)

  
Motion-related Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
2 movej(P0)
3 amove_periodic(amp = [ 10 , 0 , 0 , 0 , 0.5 , 0 ], period = 1 ,
atime = 0.5 , repeat = 5 , ref = DR_TOOL)
4 wait( 1 )
5 set_digital_output( 1 , 1 )
6 mwait( 0 )
7 # Repeats the x-axis (10mm amp and 1 sec. period) motion and y
rotating axis (0.5deg amp and 1 sec. period) motion in the tool
coordinate system
8 # 5 times.
9 # SET(1) the Digital_Output channel no. 1, 1 second after the
periodic motion begins.

Related commands
• set_ref_coord(coord)(p. 52)
• move_periodic()(p. 89)

3.5 Additional Functions

3.5.1 mwait(time=0)

Features
This function sets the waiting time between the previous motion command and the motion command in the
next line. The waiting time differs according to the time[sec] input.

- 125 - Programming manual(V2.9.3)

  
Motion-related Commands

Parameters
Parameter Name Data Type Default Description
Value

time float 0 Waiting time after the motion ends [sec]

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #Example 1. The robot moves to q1 and stops the motion 3 seconds

after it begins the motion at q0 and then moves to q99
2 q0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
3 amovej (q0, vel = 10 , acc = 20 ) # Moves to q0 and
performs the next command immediately after
4 wait( 3 ) # Temporarily suspends the
program execution for 3 seconds (while the motion continues).
5 q1 = posj( 0 , 0 , 0 , 0 , 90 , 0 )
6 amovej (q1, vel = 10 , acc = 20 )

- 126 - Programming manual(V2.9.3)

  
Motion-related Commands

7 # Maintains the q0 motion (DUPLICATE blending if the ra

argument is omitted) and iterates to q1.
8 # Performs the next command immediately after the blending
motion.
9 mwait( 0 ) # Temporarily suspends the
program execution until the motion is terminated.
10 q99 = posj( 0 , 0 , 0 , 0 , 0 , 0 )
11 movej (q99, vel = 10 , acc = 20 ) # Joint motion to q99.

Related commands
• wait(time)(p. 265)
• amovej()(p. 95)
• amovel()(p. 98)
• amovejx()(p. 101)
• amovec()(p. 104)
• amovesj()(p. 108)
• amovesx()(p. 111)
• amoveb()(p. 114)
• amove_spiral()(p. 118)
• amove_periodic()(p. 122)

3.5.2 begin_blend(radius=0)

Features
This function begins the blending section. The sync motion commands (movej, movel, movec, movejx) with
blending section radius execute blending using the radius set as the default argument. There is no actual
blending effect if the radius is 0. Moreover, if a blending radius that is different from the set radius is needed, the
blending radius can be changed as an exception by specifying the blending radius to the motion argument.

Parameter
Parameter Name Data Type Default Description
Value

radius float 0 Radius for blending

Return
Value Description

0 Success

- 127 - Programming manual(V2.9.3)

  
Motion-related Commands

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 #1
2 begin_blend(radius = 30 )
3 # The motion commands with the following radius option sets
4 # the blending section to 30mm.
5 Q1 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
6 Q2 = posj( 0 , 0 , 0 , 0 , 90 , 0 )
7 movej(Q1, vel = 10 , acc = 20 )
8 # Moves to the Q1 joint angle and is set to execute the next
motion
9 # when the global distance from the Q1 space position is
30mm.
10 movej(Q2, time = 5 )
11 # Moves to the Q2 joint angle after the blend while
maintaining the last motion (motion iteration).
12 # It is set to execute the next motion
13 # when the global distance from the Q2 space position is
30mm.
14 movej(Q1, v = 30 , a = 60 , r = 200 )
15 # Moves to the Q1 joint angle after the blending while
maintaining the last motion (motion iteration).
16 # It is set to execute the next motion
17 # when the distance from the Q1 space position is 200mm (the
global setting is not applied).
18 movej(Q2, v = 30 , a = 60 , ra = DR_MV_RA_OVERRIDE)
19 # Immediately terminates the last motion and blends it to
move to the Q2 joint angle.
20  
21 end_blend() # Ends the batch setting of the blending
sections.

Related commands
• end_blend()(p. 129)
• movej()(p. 54)
• movel()(p. 59)
• movejx()(p. 64)
• movec()(p. 68)

- 128 - Programming manual(V2.9.3)

  
Motion-related Commands

3.5.3 end_blend()

Features
This function ends the blending section. It means that the validity of the blending section that began with
begin_blend() ends.

Return
Value Description

0 Success

Example

1 #1
2 begin_blend(radius = 30 )
3 # The motion commands that have the following radius option
set the blending section to 30mm.
4 Q1 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
5 Q2 = posj( 0 , 0 , 0 , 0 , 90 , 0 )
6 movej(Q1, vel = 10 , acc = 20 )
7 # Moves to the Q1 joint angle and is set to execute the next
motion
8 # when the global distance from the Q1 space position is
30mm.
9 movej(Q2, time = 5 )
10 # Immediately terminates the last motion and blends it to
move to the Q2 joint angle (motion iteration).
11 # It is set to execute the next motion
12 # when the global distance from the Q2 space position is
30mm.
13 movej(Q1, v = 30 , a = 60 , r = 200 )
14 # Immediately terminates the last motion and blends it to
move to the Q1 joint angle (motion iteration).
15 # It is set to execute the next motion
16 # when the distance from the Q1 space position is 200mm (the
global setting is not applied).
17 movej(Q2, v = 30 , a = 60 , ra = DR_MV_RA_OVERRIDE)
18 # Immediately terminates the last motion and blends it to
move to the Q2 joint angle.
19 end_blend() # Ends the batch setting of the blending
sections.

- 129 - Programming manual(V2.9.3)

  
Motion-related Commands

Related commands
• begin_blend(radius=0)(p. 127)
• movej()(p. 54)
• movel()(p. 59)
• movejx()(p. 64)
• movec()(p. 68)

3.5.4 check_motion()

Features
This function checks the status of the currently active motion.

Return (TBD)
Value Description

0 DR_STATE_IDLE (no motion in action)

1 DR_STATE_INIT (motion being calculated)

2 DR_STATE_BUSY (motion in operation)

Exception
Exception Description

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #1. The next motion (q99) is executed when an asynchronous motion

to q0 begins decelerating
2 q0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
3 q99 = posj( 0 , 0 , 0 , 0 , 0 , 0 )
4 amovej (q0, vel = 10 , acc = 20 ) # Executes the next
command immediately after the motion to q0.

- 130 - Programming manual(V2.9.3)

  
Motion-related Commands

5 while True :
6 if check_motion() = = 0 : # A motion is completed.
7 amovej (q99, vel = 10 , acc = 20 ) # Joint motion to q99.
8 break
9 if check_motion() = = 2 : # In motion
10 pass
11 mwait( 0 ) # Temporarily suspends the
program execution until the motion is terminated.

Related commands
• movej()(p. 54)
• movel()(p. 59)
• movejx()(p. 64)
• movec()(p. 68)
• movesj()(p. 74)
• movesx()(p. 77)
• moveb()(p. 81)
• move_spiral()(p. 85)
• move_periodic()(p. 89)
• amovej()(p. 95)
• amovel()(p. 98)
• amovejx()(p. 101)
• amovec()(p. 104)
• amovesj()(p. 108)
• amovesx()(p. 111)
• amoveb()(p. 114)
• amove_spiral()(p. 118)
• amove_periodic()(p. 122)

3.5.5 stop(st_mode)

Features
This function stops the currently active motion. stop time is determined by the ‘st_mode’ and robot position
does not deviate from the in-progress path.

This command is only used to stop the robot from operating and will not cause stop the program. To stop a
program from running, use additionally exit() function. Values DR_QSTOP_STO and DR_QSTOP respond to Stop
Category 1 (torque off after maximum deceleration) and 2 (maximum deceleration), but they are not linked with
motions, such as torque off, after stopping. DR_SSTOP deceleration time is about 1.5 times longer that the
maximum deceleration time. In the case of DR_HOLD, stop immediately with no deceleration time.

- 131 - Programming manual(V2.9.3)

  
Motion-related Commands

Parameter
Parameter Name Data Type Default Description
Value

st_mode int - stop mode

• DR_QSTOP_STO: Quick stop (Stop Category 1
without STO(Safe Torque Off)
• DR_QSTOP: Quick stop (Stop Category 2)
• DR_SSTOP: Soft Stop
• DR_HOLD: HOLE stop

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #1. The motion is terminated with a soft stop 2 seconds after

moving to x1
2 p0 = posj( - 148 , - 33 , - 54 , 180 , 92 , 32 )
3 movej(p0, v = 30 , a = 30 )

- 132 - Programming manual(V2.9.3)

  
Motion-related Commands

4 x1 = posx( 784 , 543 , 570 , 0 , 180 , 0 )

5 amovel (x1, vel = 100 , acc = 200 ) # Executes the next command
immediately after the motion with x1.
6 wait( 2 ) # Temporarily suspends the
program for 2 seconds.
7 stop(DR_SSTOP) # Stops the motion with a soft
stop.

Related commands
• movej()(p. 54)
• movel()(p. 59)
• movejx()(p. 64)
• movec()(p. 68)
• movesj()(p. 74)
• movesx()(p. 77)
• moveb()(p. 81)
• move_spiral()(p. 85)
• move_periodic()(p. 89)
• amovej()(p. 95)
• amovel()(p. 98)
• amovejx()(p. 101)
• amovec()(p. 104)
• amovesj()(p. 108)
• amovesx()(p. 111)
• amoveb()(p. 114)
• amove_spiral()(p. 118)
• amove_periodic()(p. 122)

3.5.6 change_operation_speed(speed)

Features
This function adjusts the operation velocity. The argument is the relative velocity in a percentage of the
currently set velocity and has a value from 1 to 100. Therefore, a value of 50 means that the velocity is reduced
to 50% of the currently set velocity.

Parameter
Parameter Name Data Type Default Description
Value

speed int - operation speed(1~100)

- 133 - Programming manual(V2.9.3)

  
Motion-related Commands

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 change_operation_speed( 10 )
2 change_operation_speed( 100 )
3 #1. Motion with velocity specified to q0 and 20% of the specified
velocity
4 q0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
5 movej (q0, vel = 10 , acc = 20 ) # Moves to q0 at a
velocity of 10mm/sec
6 change_operation_velocity( 10 ) # The velocities of all
following motions executed are 10% of the specified velocity.
7 q1 = posj( 0 , 0 , 0 , 0 , 90 , 0 )
8 movej (q1, vel = 10 , acc = 20 ) # Moves to q1 at a
velocity of 10% of 10mm/sec.
9 change_operation_speed( 100 ) # The velocities of all
following motions executed are 100% of the specified velocity.
10 movej (q0, vel = 10 , acc = 20 ) # Moves to q0 at a
velocity 100% of 10mm/sec

- 134 - Programming manual(V2.9.3)

  
Motion-related Commands

Related commands
• movej()(p. 54)
• movel()(p. 59)
• movejx()(p. 64)
• movec()(p. 68)
• movesj()(p. 74)
• movesx()(p. 77)
• moveb()(p. 81)
• move_spiral()(p. 85)
• move_periodic()(p. 89)
• amovej()(p. 95)
• amovel()(p. 98)
• amovejx()(p. 101)
• amovec()(p. 104)
• amovesj()(p. 108)
• amovesx()(p. 111)
• amoveb()(p. 114)
• amove_spiral()(p. 118)
• amove_periodic()(p. 122)

3.5.7 wait_manual_guide()

Features
This function enables the user to perform hand guiding (changing the position of the robot by pressing the
Direct Teach button in the cockpit or the TP) during the execution of the program. The user executes the next
command in one of the following two ways after hand guiding is completed (unless the program is terminated,
it will wait at the command until one of the following is executed after the user performs hand guiding).

1. The user presses the "OK" or "Finish" button on the "Hand Guiding Execution" popup window generated
from the TP.
2. A signal is applied to the digital input channel specified for "Manual guide release" in the safety I/O
settings.

The current TCP position and the TCP position of the hand guided robot must be in the collaborative workspace
in order to execute this command properly. Run the command after specifying the hand guiding area as the
collaborative workspace and enabling it. An error is generated, and the program is terminated to ensure worker
safety if the current position or hand guiding deviates from the collaborative workspace.

- 135 - Programming manual(V2.9.3)

  
Motion-related Commands

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 # Sets up the collaborative workspace before executing the

program.
2 # Surface 1: Point-1(1000,1000), Point-2(0,0)
3 # Surface 2: Point-1(1000,-1000), Point-2(0,0)
4 # Activation of domain 1 - Point(1000,0)
5  
6 j00 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
7 movej(j00,vel = 20 ,acc = 40 ) # Enters the collaborative
workspace.
8 wait_manual_guide() # Direct teaching until the "Finish"
button on the popup window generated by the TP is pressed.
9 pos1 = get_current_posx() # Stores the directly taught point in
pos1.
10 dposa = posx( 0 , 0 , - 100 , 0 , 0 , 0 )
11 movel(dposa, vel = 300 , acc = 600 , ref = DR_TOOL)
12 # Retract 100 mm in the tool-Z direction from the taught
position.

- 136 - Programming manual(V2.9.3)

  
Motion-related Commands

Related commands
• movej()(p. 54)
• movel()(p. 59)
• movejx()(p. 64)
• movec()(p. 68)
• movesj()(p. 74)
• movesx()(p. 77)
• moveb()(p. 81)
• move_spiral()(p. 85)
• move_periodic()(p. 89)
• amovej()(p. 95)
• amovel()(p. 98)
• amovejx()(p. 101)
• amovec()(p. 104)
• amovesj()(p. 108)
• amovesx()(p. 111)
• amoveb()(p. 114)
• amove_spiral()(p. 118)
• amove_periodic()(p. 122)

3.5.8 wait_nudge()

Features
This function enables users to resume the execution of the program through the user’s nudge input (applying
external force to the robot) when the execution of the program is paused. When the external force greater than
the force threshold, it will proceed to the following command after the resume time, where the force threshold
and the resume time are set at the collaborative workspace setting menu. This command can be used as an
interlock during the program.

However, if the robot’s configuration is in the singularity area, or if the force is applied continuously after the
nudge input, warning will be occurred for safety.

For this function is allowed to execute within the collaborative workspace, please set the collaborative
workspace, activate it, and assure the TCP position is in this workspace when this command is performed in
advance.

Return
Value Description

0 Success

- 137 - Programming manual(V2.9.3)

  
Motion-related Commands

Value Description

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 # Sets up the collaborative workspace before executing the

program.
2 # Surface 1: Point-1(1000,1000), Point-2(0,0)
3 # Surface 2: Point-1(1000,-1000), Point-2(0,0)
4 # Activation of domain 1 - Point(1000,0)
5  
6 j00 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
7 movej(j00,vel = 20 ,acc = 40 ) # Enters the collaborative
workspace.
8 wait_nudge() # Wait for applying external force
exceeding the threshold to the robot
9 dposa = posx( 0 , 0 , - 100 , 0 , 0 , 0 )
10 movel(dposa, vel = 300 , acc = 600 , ref = DR_TOOL)
11 # Retract 100 mm in the tool-Z direction from the taught
position

Related commands
• movej()(p. 54)
• movel()(p. 59)
• movejx()(p. 64)
• movec()(p. 68)

- 138 - Programming manual(V2.9.3)

  
Motion-related Commands

• movesj()(p. 74)
• movesx()(p. 77)
• moveb()(p. 81)
• move_spiral()(p. 85)
• move_periodic()(p. 89)
• amovej()(p. 95)
• amovel()(p. 98)
• amovejx()(p. 101)
• amovec()(p. 104)
• amovesj()(p. 108)
• amovesx()(p. 111)
• amoveb()(p. 114)
• amove_spiral()(p. 118)
• amove_periodic()(p. 122)

3.5.9 enable_alter_motion(n,mode,ref,limit_dPOS,limit_dPOS_per)

Features
enable_alter_motion() and alter_motion() functions enable to alter motion trajectory.

This function sets the configurations for altering function and allows the input quantity of alter_motion() to be
applied to motion trajectory. The unit cycle time of generating alter motion is 100msec. Cycle time(n*100msec)
can be changed through input parameter n. This function provide 2 modes(Accumulation mode, Increment
mode). Input quantity of alter_motion() can be applied to motion trajectory in two ways as accumulated value
or increment value. In accumulation mode, the input quantity means absolute altering
amount(dX,dY,dZ,dRX,dRY,dRZ) from current motion trajectory. On the contrary in increment mode, the
quantity means increment value from the previous absolute altering amount. The reference coordinate can be
changed through input parameter ref. Limitations of accumulation amout and increment amount can be set
through input paramet limit_dPOS (accumulated limit) and limit_dPOS_per(increment input limit during 1
cycle). The actual alter amount is limited to these limits.

Parameters
Parameter Name Data Type Default Description
Value

n int None Cycle time number

mode Int None Mode

• DR_DPOS : accumulation amount
• DR_DVEL : increment amount

- 139 - Programming manual(V2.9.3)

  
Motion-related Commands

Parameter Name Data Type Default Description

Value

ref int None reference coordinate

• DR_BASE: base coordinate
• DR_WORLD: world coordinate
• DR_TOOL: tool coordinate
• user coordinate: user defined

limit_dPOS list(float[2]) None First value : limitation of position[mm]

Second value : limitation of orientation[deg]

limit_dPOS_per list(float[2]) None Fist value : limitation of position[mm]

Second value : limitation of orientation[deg]

 Note
• _global_ref is applied if ref is None
• Accumulation amount or increment amout isn’t be limited if limit_dPOS or limit_dPOS_per is
None.
• alter_motion() can be executed only in user thread.

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 def alter_thread():
2 alter_motion(dX) #dX : amount of alter motion

- 140 - Programming manual(V2.9.3)

  
Motion-related Commands

3  
4 dX = [ 10 , 0 , 0 , 10 , 0 , 0 ]
5  
6 J00 = posj( 0 , 0 , 90 , 0 , 90 )
7 X1 = posx( 559.0 , 200 , 651.5 , 180 , - 180.0 , 180 )
8 X2 = posx( 559.0 , 200 , 400 , 180 , - 180.0 , 180 )
9  
10 movej(J00,vel = 50 ,acc = 100 )
11  
12 enable_alter_motion(n = 10 ,mode = DR_DPOS, ref = DR_BASE,
limit_dPOS = [ 50 , 90 ], limit_dPOS_per = [ 50 , 50 ])
13 # cycle time:(5*100)msec, mode:accumulate, reference
coordination:base coordination
14 # Lmitation of accumulation amount :50mm,50deg
15 # Limitation of increment amount :10mm, 10deg
16  
17 th_id = thread_run(alter_thread, loop = True )
18  
19 movel(X1,v = 50 ,a = 100 ,r = 30 )
20 movel(X2,v = 50 ,a = 100 )
21  
22 thread_stop(th_id)
23 disable_alter_motion() # deactivates alter motion

Related commands
• alter_motion(pos)(p. 141)
• disable_alter_motion()(p. 143)

3.5.10 alter_motion(pos)

Features
This function applies altering amount of motion trajectory when the alter function is activated. The meaning of
the input values is defined in the description of enable_alter_motion().

 Caution
• alter_motion() can be executed only in user thread.

 Note
• alter_motion() can be executed only in user thread.
• Alter motion can be adjusted through setting value limit_dPOS or limit_dPOS_per in
enable_alter_motion function.
• Orientation of Input pose follows fixed XYZ notation.

- 141 - Programming manual(V2.9.3)

  
Motion-related Commands

Parameters
Parameter Name Data Type Default Description
Value

pos list - position list

(float[6])

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 def alter_thread():
2 alter_motion(dX) #dX : amount of alter motion
3  
4 dX = [ 10 , 0 , 0 , 10 , 0 , 0 ]
5  
6 J00 = posj( 0 , 0 , 90 , 0 , 90 )
7 X1 = posx( 559.0 , 200 , 651.5 , 180 , - 180.0 , 180 )
8 X2 = posx( 559.0 , 200 , 400 , 180 , - 180.0 , 180 )
9  
10 movej(J00,vel = 50 ,acc = 100 )
11  
12 enable_alter_motion(n = 5 ,mode = DR_DPOS, ref = DR_BASE,
limit_dPOS = [ 50 , 90 ], limit_dPOS_per = [ 10 , 10 ])
13 # cycle time:(5*100)msec, mode:accumulate, reference
coordination:base coordination
14 # Lmitation of accumulation amount :50mm,90deg
15 # Limitation of increment amount :10mm, 10deg
16  
17 th_id = thread_run(alter_thread, loop = True )

- 142 - Programming manual(V2.9.3)

  
Motion-related Commands

18  
19 movel(X1,v = 50 ,a = 100 ,r = 30 )
20 movel(X2,v = 50 ,a = 100 )
21  
22 thread_stop(th_id)
23 disable_alter_motion() # deactivates alter motion

Related commands
• enable_alter_motion(n,mode,ref,limit_dPOS,limit_dPOS_per)(p. 139)
• disable_alter_motion()(p. 143)

3.5.11 disable_alter_motion()

Features
This function deactivates alter motion.

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 def alter_thread():
2 alter_motion(dX) #dX : amount of alter motion
3  
4 dX = [ 10 , 0 , 0 , 10 , 0 , 0 ]
5  
6 J00 = posj( 0 , 0 , 90 , 0 , 90 )
7 X1 = posx( 559.0 , 200 , 651.5 , 180 , - 180.0 , 180 )
8 X2 = posx( 559.0 , 200 , 400 , 180 , - 180.0 , 180 )

- 143 - Programming manual(V2.9.3)

  
Motion-related Commands

9  
10 movej(J00,vel = 50 ,acc = 100 )
11  
12 enable_alter_motion(n = 10 ,mode = DR_DPOS, ref = DR_BASE,
limit_dPOS = [ 50 , 90 ], limit_dPOS_per = [ 50 , 50 ])
13 # cycle time:(5*100)msec, mode:accumulate, reference
coordination:base coordination
14 # Lmitation of accumulation amount :50mm,50deg
15 # Limitation of increment amount :10mm, 10deg
16  
17 th_id = thread_run(alter_thread, loop = True )
18  
19 movel(X1,v = 50 ,a = 100 ,r = 30 )
20 movel(X2,v = 50 ,a = 100 )
21  
22 thread_stop(th_id)
23 disable_alter_motion() # deactivates alter motion

Related commands
• enable_alter_motion(n,mode,ref,limit_dPOS,limit_dPOS_per)(p. 139)
• alter_motion(pos)(p. 141)

3.6 Servo Motion

3.6.1 servoj()

Features
The command is the asynchronous motion command, and the next command is executed at the same time the
motion begins. That motion follows the most recent target joint position that is continuously delivered, within
maximum velocity, acceleration.

Parameters
Parameter Name Data Type Default Value Description

pos posj - posj or

joint angle list
list (float[6])

vel (v) float None maximum velocity (same to all axes)

or
list (float[6]) maximum velocity (to an axis) [deg/
s]

- 144 - Programming manual(V2.9.3)

  
Motion-related Commands

Parameter Name Data Type Default Value Description

acc (a) float None maximum acceleration (same to all

axes) or
list (float[6]) maximum acceleration
(acceleration to an axis) [deg/s2]

time (t) float None reach time [sec]

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time)
• _global_velj is applied if vel is None. (The initial value of _global_velj is 0.0 and can be set by
set_velj.)
• _global_accj is applied if acc is None. (The initial value of _global_accj is 0.0 and can be set by
set_accj.)
• After time is set, If reach time can’t be keep because of condition of maximum velocity and
acceleration, the reach time is adjusted automatically and notice through information
message.

 Caution
• Currently, it is not linked with the speed control function of the speed slide bar.

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

- 145 - Programming manual(V2.9.3)

  
Motion-related Commands

Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 set_velj( 30 )
2 set_accj( 60 )
3  
4 Xt = posj( 0 , 0 , 0 , 0 , 0 , 0 )
5 servoj(Xt)
6  
7 Xt = posj( 0 , 0 , 0 , 0 , 0 , 0 )
8 target = posx( 90 , 0 , 120 , - 50 , 50 , - 90 )
9 del_t = [ 3 , 0.1 , 3 , - 3 , 3 , - 3 ]
10  
11 while 1 :
12 for i in range ( 0 , 6 ):
13 Xt[i] = Xt[i] + del_t[i]
14
15 if del_t[i] > 0 :
16 if Xt[i] > target[i]:
17 Xt[i] = target[i]
18 else :
19 if Xt[i] < target[i]:
20 Xt[i] = target[i]
21
22 servoj(Xt)

Related commands
• posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)(p. 29)
• set_velj(vel)(p. 42)
• set_accj(acc)(p. 43)
• mwait(time=0)(p. 125)

3.6.2 servol()

Features
The command is the asynchronous motion command, and the next command is executed at the same time the
motion begins. That motion follows the most recent target task position that is continuously delivered, within
maximum velocity, acceleration.

- 146 - Programming manual(V2.9.3)

  
Motion-related Commands

Parameters
Parameter Name Data Type Default Value Description

pos posx - posx or

position list
list (float[6])

vel (v) float None maximum velocity[mm/s] or

maximum velocity[mm/s], maximum velocity[deg/s]
list (float[2])

acc (a) float None maximum acceleration[mm/s2] or

maximum acceleration[mm/s2], maximum

list (float[2])
acceleration[deg/s2]

time (t) float None reach time [sec]

 Note
• Abbreviated parameter names are supported. (v:vel, a:acc, t:time)
• _global_velx is applied if vel is None. (The initial value of _global_velx is 0.0 and can be set by
set_velj.)
• _global_accx is applied if acc is None. (The initial value of _global_accx is 0.0 and can be set by
set_accj.)
• After time is set, If reach time can’t be keep because of condition of maximum velocity and
acceleration, the reach time is adjusted automatically and notice through information
message.

 Caution
• Currently, it is not linked with the speed control function of the speed slide bar.
• Currently, it is not linked with the DR_VAR_VEL option among the singularity options. When set
with the DR_VAR_VEL option, it is automatically changed to DR_AVOID option and notice
through information message.
• Currently, it is not linked with the force/compliance control function.

- 147 - Programming manual(V2.9.3)

  
Motion-related Commands

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 set_velj( 30 )
2 set_accj( 60 )
3 set_velx( 50 )
4 set_accx( 100 )
5  
6 movej(posj( 0 , 0 , 90 , 0 , 90 , 0 ))
7  
8 Xt = posx( 368 , 34.5 , 442.5 , 50.26 , - 180 , 50.26 )
9 servol(Xt,v = [ 100 , 100 ], a = [ 200 , 300 ])
10  
11 Xt = posx( 368 , 34.5 , 442.5 , 50.26 , - 180 , 50.26 )
12 target = posx( 368 , 34.5 , 200 , 50.26 , - 180 , 50.26 )
13 del_t = [ 0 , 0 , - 3 , 0 , 3 , 0 ]
14  
15 while 1 :
16 for i in range ( 0 , 6 ):
17 Xt[i] = Xt[i] + del_t[i]
18
19 if del_t[i] > 0 :
20 if Xt[i] > target[i]:
21 Xt[i] = target[i]
22 else :
23 if Xt[i] < target[i]:

- 148 - Programming manual(V2.9.3)

  
Motion-related Commands

24 Xt[i] = target[i]
25 servol(Xt,v = [ 100 , 100 ], a = [ 200 , 300 ])

Related commands
• posx(X=0, Y=0, Z=0, A=0, B=0, C=0)(p. 30)
• set_velx(vel1, vel2)(p. 45)
• set_accx(acc1, acc2)(p. 48)
• mwait(time=0)(p. 125)

3.6.3 speedj()

Features
The command is the asynchronous motion command, and the next command is executed at the same time the
motion begins. That motion follows the most recent target joint velocity that is continuously delivered, within
maximum acceleration.

Parameters
Parameter Name Data Type Default Value Description

vel list (float[6]) - target joint velocity [deg/s]

acc (a) float None maximum acceleration (same to all axes) or

maximum acceleration (acceleration to an axis) [deg/s2]

list (float[6])

time (t) float None reach time [sec]

 Note
• Abbreviated parameter names are supported. (a:acc, t:time)
• _global_accj is applied if acc is None. (The initial value of _global_accj is 0.0 and can be set by
set_accj.)
• After time is set, If reach time can’t be keep because of condition of maximum and acceleration,
the reach time is adjusted automatically and notice through information message.
• If you want to stop normally during movement, input vel as [0,0,0,0,0,0] or use the stop
command.
• For safety, if a new speedj command is not transmitted for 0.1 [sec] during movement, an error
message is displayed and it stops.

- 149 - Programming manual(V2.9.3)

  
Motion-related Commands

 Caution
• Currently, it is not linked with the speed control function of the speed slide bar.

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 movej(posj( 0 , 0 , 90 , 0 , 90 , 0 ), v = 30 , a = 60 )
2  
3 v1 = 30
4 go_plus = True
5 while True :
6 q = get_desired_posj()
7 if go_plus:
8 speedj([v1, 5 , 5 , 5 , 5 , 5 ], a = 60 )
9 if q[ 0 ] > 90 :
10 go_plus = False
11 else :
12 speedj([ - v1, - 5 , - 5 , - 5 , - 5 , - 5 ], a = 60 )
13 if q[ 0 ] < - 90 :
14 go_plus = True

- 150 - Programming manual(V2.9.3)

  
Motion-related Commands

Related commands
• posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)(p. 29)
• set_velj(vel)(p. 42)
• set_accj(acc)(p. 43)
• mwait(time=0)(p. 125)
• stop(st_mode)(p. 131)

3.6.4 speedl()

Features
The command is the asynchronous motion command, and the next command is executed at the same time the
motion begins. That motion follows the most recent target task velocity that is continuously delivered, within
maximum acceleration.

Parameters
Parameter Name Data Type Default Value Description

vel list (float[6]) - target joint velocity [deg/s]

acc (a) float None maximum acceleration (same to all axes) or

maximum acceleration (acceleration to an axis) [deg/s2]

list (float[6])

time (t) float None reach time [sec]

 Note
• Abbreviated parameter names are supported. (a:acc, t:time)
• _global_accx is applied if acc is None. (The initial value of _global_accx is 0.0 and can be set by
set_accj.)
• After time is set, If reach time can’t be keep because of condition of maximum and acceleration,
the reach time is adjusted automatically and notice through information message.
• If you want to stop normally during movement, input vel as [0,0,0,0,0,0] or use the stop
command.
• For safety, if a new speedj command is not transmitted for 0.1 [sec] during movement, an error
message is displayed and it stops.

 Caution

- 151 - Programming manual(V2.9.3)

  
Motion-related Commands

• Currently, it is not linked with the speed control function of the speed slide bar.
• Currently, it is not linked with the DR_VAR_VEL option among the singularity options. When set
with the DR_VAR_VEL option, it is automatically changed to DR_AVOID option and notice
through information message.
• Currently, it is not linked with the force/compliance control function.

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 movej(posj( 0 , 0 , 90 , 0 , 90 , 0 ), v = 30 , a = 60 )
2 x = get_desired_posx()
3  
4 v_y = 250
5 v = 5
6 at_max = 500
7 ar_max = 60
8 go_plus = True
9 while True :
10 xd = get_desired_posx()
11 if go_plus:
12 speedl([v, v_y, v, 30 , 0 , 30 ], [at_max, ar_max])
13 if xd[ 1 ] > x[ 1 ] + 200 :
14 go_plus = False
15 else :

- 152 - Programming manual(V2.9.3)

  
Motion-related Commands

16 speedl([ - v, - v_y, - v, - 30 , - 0 , - 30 ],
[at_max, ar_max])
17 if xd[ 1 ] < x[ 1 ] - 200 :
18 go_plus = True

Related commands
• posx(X=0, Y=0, Z=0, A=0, B=0, C=0)(p. 30)
• set_velx(vel)(p. 46)
• set_accx(acc)(p. 49)
• mwait(time=0)(p. 125)
• stop(st_mode)(p. 131)

- 153 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

4 Auxiliary Control Commands

4.1 Robot Current Value

4.1.1 get_current_posj()

Features
This function returns the current joint angle.

Return
Value Description

posj Joint angle

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

Example

1 q1 = get_current_posj()

Related commands
• get_desired_posj()(p. 162)

4.1.2 get_current_velj()

Features
This function returns the current joint velocity.

- 154 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

Return
Value Description

float[6] Joint speed

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

Example

1 velj1 = get_current_velj()

Related commands
• get_desired_velj()(p. 163)

4.1.3 get_current_posx(ref)

Features
Returns the pose and solution space of the current task coordinate. The pose is based on the ref coordinate.

Parameters
Parameter Name Data Type Default Value Description

ref Int DR_BASE reference coordinate

• DR_BASE : base coordinate
• DR_WORLD : world
coordinate
• user coordinate: User
defined

 Note
• ref: DR_BASE (base coordinate)/user coordinate (globally declared user coordinate)
• DR_BASE is applied when ref is omitted.

- 155 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

Return
Value Description

Posx Task space point

Int Solution space (0 ~ 7)

Robot configuration vs. solution space

Solution space Binary Shoulder Elbow Wrist

0 000 Lefty Below No Flip

1 001 Lefty Below Flip

2 010 Lefty Above No Flip

3 011 Lefty Above Flip

4 100 Righty Below No Flip

5 101 Righty Below Flip

6 110 Righty Above No Flip

7 111 Righty Above Flip

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

Example

1 x1, sol = get_current_posx() #x1 w.r.t. DR_BASE

2  
3 x1_wld, sol = get_current_posx(ref = DR_WORLD) #x1 w.r.t.
DR_WORLD
4  

- 156 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

5 DR_USR1 = set_user_cart_coord(x1, x2, x3, pos)

6 set_ref_coord(DR_USR1)
7  
8 x1, sol = get_current_posx(DR_USR1) #x1 w.r.t. DR_USR1

Related commands
• get_desired_posx(ref)(p. 164)

4.1.4 get_current_tool_flange_posx(ref)

Features
Returns the current tool flange pose based on the reference coordinate (ref). The tool flange will return to
tcp=(0,0,0,0,0,0).

Parameters
Parameter Name Data Type Default Value Description

ref int DR_BASE reference coordinate

• DR_BASE : base coordinate
• DR_WORLD : world
coordinate

Return
Value Description

posx Pose of tool flange

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

Example

1 x1 = get_current_tool_flange_posx()
2 #x1 : Flange pose base on the base coordinate(default value)
3 x2 = get_current_tool_flange_posx(DR_BASE)
4 #x2 : Flange pose based on the base coordinate

- 157 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

5 x3 = get_current_tool_flange_posx(DR_WORLD)
6 #x3 : Flange pose based on the world coordinate

4.1.5 get_current_velx(ref)

Features
This function returns the current tool velocity based on the ref coordinate.

Parameters
Parameter Name Data Type Default Value Description

ref Int DR_BASE reference coordinate

• DR_BASE : base coordinate
• DR_WORLD : world
coordinate

Return
Value Description

float[6] Tool velocity

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

Example

1 velx1 = get_current_velx()
2 # velx1 : velocity based on the base coordinate(default value)
3 velx2 = get_current_velx(DR_BASE)
4 # velx2 (=velx1) : velocity based on the base coordinate
5 velx3 = get_current_velx(DR_WORLD)
6 #velx3 : velocity based on the world coordinate

Related commands
• get_desired_velx(ref)(p. 165)

- 158 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

4.1.6 get_current_rotm(ref)

Features
This function returns the direction and matrix of the current tool based on the ref coordinate.

Parameters
Parameter Name Data Type Default Value Description

ref Int DR_BASE reference coordinate

• DR_BASE : base coordinate
• DR_WORLD : world coordinate

Return
Value Description

float[3][3] Rotation matrix

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

Example

1 rotm1 = get_current_rotm(DR_WORLD)
2 #rotm1 : rotation matrix(3x3) based on the world coordinate

# The result value is stored in a 3x3 matrix

- 159 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

4.1.7 get_joint_torque()

Features
This function returns the sensor torque value of the current joint.

Return
Value Description

float[6] JTS torque value

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

Example

1 j_trq1 = get_joint_torque()

Related commands
• get_external_torque()(p. 160)
• get_tool_force(ref)(p. 161)

4.1.8 get_external_torque()

Features
This function returns the torque value generated by the external force on each current joint.

Return
Value Description

float[6] Torque value generated by an external force

- 160 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

Example

1 trq_ext = get_external_torque()

Related commands
• get_joint_torque()(p. 160)
• get_tool_force(ref)(p. 161)

4.1.9 get_tool_force(ref)

Features
This function returns the external force applied to the current tool based on the ref coordinate. The force and
1)
moment are based on the reference coordinate.
1)
Before V2.8 software version, moment is based on the tool coordinate.

Parameters
Parameter Name Data Type Default Value Description

ref Int DR_BASE reference coordinate

• DR_BASE : base coordinate
• DR_WORLD : world coordinate
• DR_TOOL : tool coordinate

Return
Value Description

float[6] External force applied to the tool

- 161 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

Example

1 force_ext = get_tool_force(DR_WORLD) # force_ext: external

force of the tool based on the world coordinate

Related commands
• get_joint_torque()(p. 160)
• get_external_torque()(p. 160)

4.2 Robot Target Value

4.2.1 get_desired_posj()

Features
This function returns the current target joint angle. It cannot be used in the movel, movec, movesx, moveb,
move_spiral, or move_periodic command.

Return
Value Description

posj Joint angle

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_INVALID) Invalid command

- 162 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

Example

1 jp1 = get_desired_posj()

Related commands
• get_current_posj()(p. 154)

4.2.2 get_desired_velj()

Features
This function returns the current target joint velocity. It cannot be used in the movel, movec, movesx, moveb,
move_spiral, or move_periodic command.

Return
Value Description

float[6] Target joint velocity

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_INVALID) Invalid command

Example

1 velj1 = get_desired_velj()

Related commands
• get_current_velj()(p. 154)

- 163 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

4.2.3 get_desired_posx(ref)

Features
This function returns the target pose of the current tool. The pose is based on the ref coordinate.

Parameters
Parameter Name Data Type Default Value Description

ref Int DR_BASE reference coordinate

• DR_BASE : base coordinate
• DR_WORLD : world coordinate
• user coordinate: User defined

 Note
• ref: DR_BASE (base coordinate)/user coordinate (globally declared user coordinate)
• DR_BASE is applied when ref is omitted.

Return
Value Description

float[6] Tool velocity

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

Example

1 x1 = get_desired_posx() #x1 w.r.t. DR_BASE

2 x2 = posx( 100 , 0 , 0 , 0 , 0 , 0 )
3 x3 = posx( 0 , 0 , 20 , 20 , 20 , 20 )
4 pos = x3
5 DR_USR1 = set_user_cart_coord(x1, x2, x3, pos)
6 set_ref_coord(DR_USR1)
7  
8 xa = get_desired_posx(DR_USR1) #xa w.r.t. DR_USR1

- 164 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

9 xb = get_desired_posx(DR_WORLD) #xb w.r.t. DR_WORLD

Related commands
• get_desired_posx(ref)(p. 164)

4.2.4 get_desired_velx(ref)

Features
This function returns the target velocity of the current tool based on the ref coordinate. It cannot be used in the
movej, movejx, or movesj command.

Parameters
Parameter Name Data Type Default Value Description

ref Int DR_BASE reference coordinate

• DR_BASE : base coordinate
• DR_WORLD : world
coordinate

Return
Value Description

float[6] Tool velocity

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_INVALID) Invalid command

Example

1 vel_x1 = get_desired_velx()
2 #vel_x1 : desired velocity of the tool based on the base
coordinate(default value)
3 vel_x2 = get_desired_velx(DR_BASE)

- 165 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

4 #vel_x2 : desired velocity of the tool based on the base

coordinate
5 vel_x3 = get_desired_velx(DR_WORLD)
6 #vel_x3 : desired velocity of the tool based on the world

Related commands
• get_current_velx(ref)(p. 158)

4.3 Control State Value

4.3.1 get_control_mode()

Features
This function returns the current control mode.

Return
Value Description

int Control mode

3 : Position control mode
4 : Torque control mode

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

Example

1 mode = get_control_mode()

4.3.2 get_control_space()

Features
This function returns the current control space.

- 166 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

Return
Value Description

int Control mode

1 : Joint space control
2 : Task space control

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

Example

1 x1 = get_control_space()

4.3.3 get_current_solution_space()

Features
This function returns the current solution space value.

Return
Value Description

int Solution space (0 ~ 7)

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

- 167 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

Example

1 sol = get_current_solution_space()

Related commands
• get_solution_space(pos)(p. 168)

4.3.4 get_solution_space(pos)

Features
This function obtains the solution space value for the entered pos(posj).

Parameters
Parameter Name Data Type Default Value Description

pos posj - posj or

position list
list (float[6])

Return
Value Description

0~7 Solution space

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

- 168 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

Example

1 q1 = posj( 0 , 0 , 0 , 0 , 0 , 0 )
2 sol1 = get_solution_space(q1)
3 sol2 = get_solution_space([ 10 , 20 , 30 , 40 , 50 , 60 ])

Related commands
• get_current_solution_space()(p. 167)

4.3.5 get_orientation_error(xd, xc, axis)

Features
This function returns the orientation error value between the arbitrary poses xd and xc of the axis.

Parameters
Parameter Name Data Type Default Value Description

xd posx - posx or
position list
list (float[6])

xc posx - posx or
position list
list (float[6])

axis int - axis

• DR_AXIS_X: x-axis
• DR_AXIS_Y: y-axis
• DR_AXIS_Z: z-axis

Return
Value Description

float Orientation error value

- 169 - Programming manual(V2.9.3)

  
Auxiliary Control Commands

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 xd = posx( 0 , 0 , 0 , 0 , 0 , 0 )
2 xc = posx( 10 , 20 , 30 , 40 , 50 , 60 )
3 diff = get_orientation_error(xd, xc, DR_AXIS_X)

Related commands
• get_current_rotm(ref)(p. 159)

- 170 - Programming manual(V2.9.3)

  
Other Settings Command

5 Other Settings Command

5.1 Tool/Workpiece Settings

5.1.1 get_workpiece_weight()

Features
This function measures and returns the weight of the workpiece.

Return
Value Description

Positive value Measured weight

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 weight = get_workpiece_weight()

Related commands
• reset_workpiece_weight()(p. 172)

- 171 - Programming manual(V2.9.3)

  
Other Settings Command

5.1.2 reset_workpiece_weight()

Features
This function initializes the weight data of the material to initialize the algorithm before measuring the weight
of the material.

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 reset_workpiece_weight()

Related commands
• get_workpiece_weight()(p. 171)

5.1.3 set_workpiece_weight(weight=0.0, cog=[0.0,0.0,0.0],

cog_ref=DR_CUR_TCP, add_up=DR_REPLACE, start_time=None,
transition_time=None)

Features
In addition to the tool weight/center of gravity at the end of the robot, set the weight/center of gravity of the
work piece and other information. The weight and center of gravity of the entire payload is reflected by
combining the set tool weight/center of gravity and the work piece's weight/center of gravity. It can be used in
applications where the type of workpiece is frequently varied or the weight needs to be dynamically changed.

- 172 - Programming manual(V2.9.3)

  
Other Settings Command

 Caution
• Workpiece weight change is allowed only when both Collision Detection and TCP SLF Violation
check are mute or deactivated during Auto Mode.
• In the current version, Collision Detection considers the function mute when Collision
Sensitivity is overridden to 0 and TCP SLF considers the function mute when the TCP SLF Limit
is overridden to the maximum. This override can be set using Collision Sensitivity Reduction
Zone and Custom Zone.
• Otherwise, trigger an SS1 protective stop unless the workpiece weight is set to zero.
• If the robot stops due to an error and needs to be manually restored, place the robot in the
desired position in the Recovery Mode and unload the workpiece through Servo On and I/O
operation while the corresponding zones are activated in Auto Mode.
• When changing the set tool weight, the workpiece weight is initialized to 0.

Parameters
Parameter Name Data Type Default Value Description

weight int 0 Weight [kg]

cog list(float[3]) [0, 0, 0] Center of gravity of the workpiece (x,

y, z) [mm]

cog_ref int DR_CUR_TCP Reference coordinates of center of

gravity position,
DR_CUR_TCP : TCP coordinates,
DR_FLANGE : FLANGE coordinates,

add_up int DR_REPLACE DR_REPLACE(0): Replace workpiece

DR_ADD(1): Add workpiece
DR_REMOVE(2): Remove workpiece

start_time float None Starting time of changing workpiece

weight [sec]

transition_time float None Transition time of changing

workpiece weight [sec]

 Note
• Workpiece weight cannot exceed the maximum payload weight (margin 10%) for each model.
The same is true for the weight of total payload.

- 173 - Programming manual(V2.9.3)

  
Other Settings Command

• The length (x, y, z) of the center of gravity of the workpiece cannot exceed 1000 mm. The same
is true for the length of the center of gravity of the entire payload.
• It is possible to change the weight of the workpiece after the set time through start_time.
• Transition_time allows you to gradually change the weight of the workpiece through
transition_time.
• When using the set_tool and set_workpiece_weight functions in succession, you must use the
wait(transition_time) function as much as transition_time between them. Otherwise, there may
be errors in the weight change.

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 # Replace 1 kgf workpiece weight at the origin of the current TCP

frame
2 set_workpiece_weight( 1 )
3 # Add 0.5 kgf workpiece weight at the origin of the current TCP
frame. In total, 1.5kgf
4 set_workpiece_weight( 0.5 , add_up = DR_ADD)
5 # Remove 0.1 kgf workpiece weight at [0, 0, 10] in the current TCP
frame. In total, 1.4kgf
6 set_workpiece_weight( 0.1 , [ 0 , 0 , 10 ], add_up = DR_REMOVE)
7 # Remove 0.1 kgf workpiece weight at [0, 0, 10] in the flange
frame. In total, 1.3kgf

- 174 - Programming manual(V2.9.3)

  
Other Settings Command

8 set_workpiece_weight( 0.1 , [ 0 , 0 , 10 ], DR_FLANGE,

DR_REMOVE)
9 # Reset. And the weight transition is being occurred after 0.1 sec
for 0.2 sec
10 set_workiece_weight( 0 , start_time = 0.1 , transition_time = 0.2 )
11

Related Commands
• set_tool(name, start_time, transition_time)(p. 176)

5.1.4 set_tool_shape(name)

Features
This function activates the tool shape information of the entered name among the tool shape information
registered in the Teach Pendant.

Parameters
Parameter Name Data Type Default Value Description

name string - Tool name registered in the Teach

Pendant

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

- 175 - Programming manual(V2.9.3)

  
Other Settings Command

Exception Description

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 set_tool_shape( "tool_shape1" ) # Activate the geometry of

"tool_shape1".

Related commands
• set_tcp(name)(p. 51)

5.1.5 set_tool(name, start_time, transition_time)

Features
Teach Pendant>Workcell Manager>Activate the Tool Weight workcell item with the entered name from among
the Tool Weight workcell items registered in the robot.

Tool weight can be changed after setting time(start_time) and during setting time(transition_time).

Parameters
Parameter Name Data Type Default Value Description

name string - The name of the tool weight

registered in the Workcell
Manager.

start_time float None Tool weight is changed after

setting time

transition_time float None Tool weight is changed during

setting time

 Note
• When using the set_tool and set_workpiece_weight functions in succession, you must use the
wait(transition_time) function as much as transition_time between them. Otherwise, there may
be errors in the weight change.

- 176 - Programming manual(V2.9.3)

  
Other Settings Command

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 set_tool ( "tool1" ,start_time = 1 ,transition_time = 2 )

2 # After 1s and then aActivate the information of "tool1"
registered in TP during 2s.

Related commands
• set_tcp(name)(p. 51)

5.2 Control Mode Settings

5.2.1 set_singularity_handling(mode)

Features
Allows the user to select a response policy when a path deviation occurs due to a singularity in task motion. The
mode can be set as follows

• Automatic avoidance mode(Default) : DR_AVOID

• Path first mode : DR_TASK_STOP

- 177 - Programming manual(V2.9.3)

  
Other Settings Command

• Variable velocity mode : DR_VAR_VEL

The default setting is automatic avoidance mode, which reduces instability caused by singularity, but reduces
path tracking accuracy. In case of path first setting, if there is possibility of instability due to singularity, a
warning message is output after deceleration and then the corresponding task is terminated. In case of variable
velocity mode setting, TCP velocity would be changed in singular region to reduce instability and maintain path
tracking accuracy.

Parameters
Parameter Name Data Type Default Description
Value

mode int DR_AVOID DR_AVOID : Automatic avoidance mode

DR_TASK_STOP : Deceleration/ Warning/ Task
termination
DR_VAR_VEL : Variable velocity mode

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 P1 = posx( 400 , 500 , 800 , 0 , 180 , 0 )

2 P2 = posx( 400 , 500 , 500 , 0 , 180 , 0 )

- 178 - Programming manual(V2.9.3)

  
Other Settings Command

3 P3 = posx( 400 , 500 , 200 , 0 , 180 , 0 )

4 set_singularity_handling (DR_AVOID) # Automatic avoidance mode
for singularity
5 movel(P1, vel = 10 , acc = 20 )
6 set_velx( 30 )
7 set_accx( 60 )
8 set_singularity_handling(DR_TASK_STOP) # Task motion path first
9 movel(P2)
10 set_singularity_handling(DR_VAR_VEL) # Variable velocity mode for
singularity
11 movel(P3)

Related commands
• movel()(p. 59)
• movec()(p. 68)
• movesx()(p. 77)
• moveb()(p. 81)
• move_spiral()(p. 85)
• amovel()(p. 98)
• amovec()(p. 104)
• amovesx()(p. 111)
• amoveb()(p. 114)
• amove_spiral()(p. 118)

5.2.2 set_singular_handling_force(mode)

Features
The program is terminated by default through error processing when compliance or force control are used
within the singularity area. It is possible to ignore error processing within the singularity area by changing the
Mode setting.

• Error Processing : DR_SINGULARITY_ERROR

• Ignore Error Processing : DR_SINGULARITY_IGNORE

 Caution
• Compliance and force control within the singularity area are not recommended. The force
estimate in a particular direction can be inaccurate.

- 179 - Programming manual(V2.9.3)

  
Other Settings Command

Parameters
Parameter Name Data Type Default Value Description

mode int DR_SINGULARITY_ERRO DR_SINGULARITY_ERROR

R : Error processing
DR_SINGULARITY_IGNOR
E : Ignore error processing

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 set_ref_coord(DR_BASE)
2 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
3 movej(P0,vel = 30 ,acc = 60 )
4  
5 #Ignoring error when entering singularity
6 set_singular_handling_force(DR_SINGULARITY_IGNORE)
7  
8 task_compliance_ctrl()
9 set_stiffnessx([ 500 , 500 , 500 , 100 , 100 , 100 ], time = 0
.5 )
10 fd = [ 0 , 0 , 30 , 0 , 0 , 0 ]
11 fctrl_dir = [ 0 , 0 , 1 , 0 , 0 , 0 ]

- 180 - Programming manual(V2.9.3)

  
Other Settings Command

12 set_desired_force(fd, dir = fctrl_dir, mod = DR_FC_MOD_REL)

13 release_compliance_ctrl()

Related Commands
• task_compliance_ctrl(stx, time)(p. 186)
• set_stiffnessx(stx, time)(p. 187)
• set_desired_force(fd, dir, time, mod)(p. 189)
• release_compliance_ctrl()(p. 185)

5.2.3 set_palletizing_mode(mode)

Features
During palletizing application motion, path tracking and velocity can be maintained around the wrist singularity
point using this function. there is no instability in wrist singular region when B in motion command is set to
0deg or 180deg.

• Deactivate mode : DR_OFF

• Activate mode : DR_ON

 Caution
• Setting tool orientation, B must be set to 0deg or 180deg when setting tcp information. If this
condition don’t be satisfied, Error is occurred when using this function.
• Normally velocity don’t be changed in this mode. But if current joint velocity exceed allowable
max joint velocity, velocity can be reduced automatically.
• In case of H seriese model, Rx, Ry moment control is restricted and external moment value of
each Rx, Ry direction is 0.

Parameters
Parameter Name Data Type Default Value Description

mode int DR_ON DR_OFF : Deactivate mode

DR_ON : Activate mode

Return
Value Description

0 Success

- 181 - Programming manual(V2.9.3)

  
Other Settings Command

Value Description

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 set_singularity_handling(DR_VAR_VEL)
2  
3 movej(posj( 0 , 0 , 90 , 0 , 90 , 0 ),vel = 30 ,acc = 60 )
4  
5 set_palletizing_mode(DR_ON)
6 movel(posx( 559 , 34.5 , - 400 , 45 , 180 , 45 ),vel = 500 ,acc =
1000 )
7 set_palletizing_mode(DR_OFF)

Related Commands
• set_singularity_handling(mode)(p. 177)

5.2.4 set_motion_end(mode)

Features
This command sets whether to operate the function to check the stop status of the robot after motion is
completed. Stop time between consecutive motions decreases if it set to deactivate mode (DR_CHECK_OFF)
and can be used for purposes of decreasing the overall work time. It is recommended to set it to DR_CHECK_ON
when the tool is heavy and an accurate stop position is required for motion commands driven with high
acceleration.

- 182 - Programming manual(V2.9.3)

  
Other Settings Command

 Caution
• It is not possible to change the mode, during the blending movements between consecutive
motions without stopping.
• In the case of continuous motion that does not require a stop state, using motion blending is
more effective in reducing tact time.
• After the program is finished, it is initialized to the default value again

Parameters
Parameter Name Data Type Default Value Description

mode int DR_CHECK_ON DR_CHECK_OFF(0) : Deactivate mode

DR_CHECK_ON(1) : Activate mode

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 set_motion_end(DR_CHECK_OFF)
2  
3 movej(posj( 0 , 0 , 90 , 0 , 90 , 0 ) ,vel = 30 ,acc = 60 ,mod =
DR_MV_MOD_ABS )

- 183 - Programming manual(V2.9.3)

  
Other Settings Command

4 while 1 :
5 movej(posj( 0 , 0 , 10 , 0 , 10 , 0 ) ,vel = 30 ,acc = 60 ,,mo
d = DR_MV_MOD_REL )
6 movej(posj( 0 , 0 , - 10 , 0 , - 10 , 0 ) ,vel = 30 ,acc = 60 ,
,mod = DR_MV_MOD_REL )

Related Commands
• movel()(p. 59)
• movec()(p. 68)
• movesx()(p. 77)
• moveb()(p. 81)
• move_spiral()(p. 85)
• amovel()(p. 98)
• amovec()(p. 104)
• amovesx()(p. 111)
• amoveb()(p. 114)
• amove_spiral()(p. 118)

- 184 - Programming manual(V2.9.3)

  
Force/Stiffness Control and Other User-Friendly Features

6 Force/Stiffness Control and Other User-Friendly Features

6.1 Force/Compliance Control

6.1.1 release_compliance_ctrl()

Features
This function terminates compliance control and begins position control at the current position.

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
2 movej(P0)
3 task_compliance_ctrl()
4 set_stiffnessx([ 100 , 100 , 300 , 100 , 100 , 100 ])
5 release_compliance_ctrl()

Related commands
• task_compliance_ctrl(stx, time)(p. 186)
• set_stiffnessx(stx, time)(p. 187)

- 185 - Programming manual(V2.9.3)

  
Force/Stiffness Control and Other User-Friendly Features

6.1.2 task_compliance_ctrl(stx, time)

Features
This function begins task compliance control based on the preset reference coordinate system.

Parameters (Stiffness TBD)

Parameter Name Data Type Default Value Description

stx float[6] [3000, 3000, 3000, 200, Three translational

200, 200] stiffnesses
Three rotational stiffnesses

time float 0 Stiffness varying time [sec]

Range: 0 - 1.0
* Linear transition during the
specified time

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

- 186 - Programming manual(V2.9.3)

  
Force/Stiffness Control and Other User-Friendly Features

Example

1 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
2 movej(P0)
3 task_compliance_ctrl() # Begins with the default stiffness
4 set_stiffnessx([ 500 , 500 , 500 , 100 , 100 , 100 ], time = 0
.5 )
5 # Switches to the user-defined stiffness for 0.5 sec.
6 release_compliance_ctrl()
7  
8 task_compliance_ctrl([ 500 , 500 , 500 , 100 , 100 , 100 ])
9 # Begins with the user-defined stiffness.
10 release_compliance_ctrl()

Related commands
• set_stiffnessx(stx, time)(p. 187)
• release_compliance_ctrl()(p. 185)

6.1.3 set_stiffnessx(stx, time)

Features
This function sets the stiffness value based on the global coordinate (refer to set_ref_coord()). The stiffness
linearly changes for a given time from the current stiffness or default value to STX.The user-defined ranges of
the translational stiffness and rotational stiffness are 0-20000N/m and 0-400Nm/rad, respectively.

Parameters
Parameter Name Data Type Default Value Description

stx float[6] [500, 500, 500, 100, Three translational

100, 100] stiffnesses
Three rotational stiffnesses

time float 0 Stiffness varying time [sec]

Range: 0 - 1.0
* Linear transition during the
specified time

- 187 - Programming manual(V2.9.3)

  
Force/Stiffness Control and Other User-Friendly Features

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 set_ref_coord(DR_WORLD) # Global coordinate is the world

coordinate
2 x0 = posx( 0 , 0 , 90 , 0 , 90 , 0 )
3 movej(x0)
4 task_compliance_ctrl()
5 stx = [ 1 , 2 , 3 , 4 , 5 , 6 ]
6 set_stiffnessx(stx) # Set the stiffness value based on the
global coordinate(world coordinate)
7 release_compliance_ctrl()

Related commands
• task_compliance_ctrl(stx, time)(p. 186)
• release_compliance_ctrl()(p. 185)

- 188 - Programming manual(V2.9.3)

  
Force/Stiffness Control and Other User-Friendly Features

6.1.4 set_desired_force(fd, dir, time, mod)

Features
This function define the s target force, direction, translation time, and mode for force control based on the
global coordinate.

Parameters
Parameter Name Data Type Default Value Description

Fd float[6] [0, 0, 0, 0, 0, 0] Three translational target

forces
Three rotational target
moments

dir int[6] [0, 0, 0, 0, 0, 0] Force control in the

corresponding direction if 1
Control compliance of
corresponding direction if
value is 0

time float 0 Transition time of target force

to take effect [sec]
Range: 0 - 1.0

mod int DR_FC_MOD_ABS DR_FC_MOD_ABS: Force

control with absolute value
DR_FC_MOD_REL: force
control with relative value to
initial state (the instance when
this function is called)

Return
Value Description

0 Success

Negative value Error

- 189 - Programming manual(V2.9.3)

  
Force/Stiffness Control and Other User-Friendly Features

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

 Note
• The value of external force refers to the sensor measurement at terminating the force control
(control mode transition to compliance control) by the command release_force().
Therefore, the variation in external force can occur if the option mod=DR_FC_MOD_REL is
applied.
• Tool weight and external force value refer to the sensor measurement regardless of the setting
for ‘mod’

 Caution
To retain the accuracy in force control, it is recommended to start force control with setting
mod=DR_FC_MOD_REL near the contact point.

Example

1 # Example # 1
2 # Executed in the global coordinate(tool coordinate)
3 # Zero force control in the z-axis direction of the tool, moment
control in the z-axis direction of the tool, and compliance
control in the other directions
4 # Force control with the relative value to the sensor measurement
at starting the force control
5  
6 set_ref_coord(DR_TOOL)
7 x0 = posx( 0 , 0 , 90 , 0 , 90 , 0 )
8 movej(x0)
9 task_compliance_ctrl(stx = [ 500 , 500 , 500 , 100 , 100 ,
100 ])
10 fd = [ 0 , 0 , 0 , 0 , 0 , 10 ]
11 fctrl_dir = [ 0 , 0 , 1 , 0 , 0 , 1 ]
12 set_desired_force(fd, dir = fctrl_dir, mod = DR_FC_MOD_REL)
13  

- 190 - Programming manual(V2.9.3)

  
Force/Stiffness Control and Other User-Friendly Features

14 # Example #2
15 # 1. Move to initial posj: [J1, J2, J3, J4, J5, J6] = [0, 0, 90,
0, 90, 0]
16 # 2. Approach to the position to start force control: move -100mm
along Base-z direction
17 # 3. Start force control : apply -20N force along Base–z direction
18 # 4. Force & compliance control after detecting external force :
while maintaining -20N force along Base-z direction (force
control), move 200mm along Base-y direction.
19 # 5. Retract 150mm in Base-z direction and move to initial posj
20  
21 # 1. Move to initial posj
22 q0 = posj( 0.0 , 0.0 , 90.0 , 0.0 , 90.0 , 0.0 )
23 set_velj( 30.0 )
24 set_accj( 60.0 )
25 movej(q0)
26  
27 # 2. Approach to the position to start force control
28 set_velx( 75.0 )
29 set_accx( 100.0 )
30 delta_approach = [ 0.0 , 0.0 , - 100.0 , 0.0 , 0.0 , 0.0 ]
31 movel(delta_approach, mod = DR_MV_MOD_REL)
32  
33 # 3. Start force control (apply -20N force along Base–z direction)
34 k_d = [ 3000.0 , 3000.0 , 3000.0 , 200.0 , 200.0 , 200.0 ]
35 task_compliance_ctrl(k_d)
36 force_desired = 20.0
37 f_d = [ 0.0 , 0.0 , - force_desired, 0.0 , 0.0 , 0.0 ]
38 f_dir = [ 0 , 0 , 1 , 0 , 0 , 0 ]
39 set_desired_force(f_d, f_dir)
40  
41 # 4. Force & compliance control after detecting external force
42 force_check = 20.0
43 force_condition = check_force_condition(DR_AXIS_Z, max = force_
check)
44 while (force_condition):
45 force_condition = check_force_condition(DR_AXIS_Z, max = fo
rce_check)
46 if force_condition = = 0 :
47 break
48 delta_motion = [ 0.0 , 200.0 , 0.0 , 0.0 , 0.0 , 0.0 ]
49 movel(delta_motion, mod = DR_MV_MOD_REL)
50  
51 # 5. Retract 150mm in Base-z direction and move to initial posj
52 release_force()
53 wait( 0.5 )
54 delta_retract = [ 0.0 , 0.0 , 150.0 , 0.0 , 0.0 , 0.0 ]
55 release_compliance_ctrl()
56 movel(delta_retract, mod = DR_MV_MOD_REL)
57 movej(q0)

- 191 - Programming manual(V2.9.3)

  
Force/Stiffness Control and Other User-Friendly Features

Related commands
• release_force(time=0)(p. 192)
• task_compliance_ctrl(stx, time)(p. 186)
• set_stiffnessx(stx, time)(p. 187)
• release_compliance_ctrl()(p. 185)

6.1.5 release_force(time=0)

Features
This function reduces the force control target value to 0 through the time value and returns the task space to
adaptive control.

Parameters
Parameter Name Data Type Default Value Description

time float 0 Time needed to reduce the

force
Range: 0 - 1.0

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 j0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )

- 192 - Programming manual(V2.9.3)

  
Force/Stiffness Control and Other User-Friendly Features

2 x0 = posx( 0 , 0 , 0 , 0 , 0 , 0 )
3 x1 = posx( 0 , 500 , 700 , 0 , 180 , 0 )
4 x2 = posx( 300 , 100 , 700 , 0 , 180 , 0 )
5 x3 = posx( 300 , 100 , 500 , 0 , 180 , 0 )
6 set_velx( 100 , 20 )
7 set_accx( 100 , 20 )
8 movej(j0, vel = 10 , acc = 10 )
9 movel(x2)
10 task_compliance_ctrl(stx = [ 500 , 500 , 500 , 100 , 100 ,
100 ])
11 fd = [ 0 , 0 , 0 , 0 , 0 , 10 ]
12 fctrl_dir = [ 0 , 0 , 1 , 0 , 0 , 1 ]
13 set_desired_force(fd, dir = fctrl_dir, time = 1.0 )
14 movel(x3, v = 10 )
15 release_force( 0.5 )
16 release_compliance_ctrl()

Related commands
• set_desired_force(fd, dir, time, mod)(p. 189)
• task_compliance_ctrl(stx, time)(p. 186)
• set_stiffnessx(stx, time)(p. 187)
• release_compliance_ctrl()(p. 185)

6.1.6 get_force_control_state()

Features
It monitors the state of compliance and force control.

Return
[singularity, mode, stx, fd, ref]

Value Description

singularity Risk : 0 < 1 < 2

0 : Safe section
1 : Stage 1 risk section of the singularity area
2 : Stage 2 risk section of the singularity area

mode Information of 6 modes x, y, z, rx, ry and rz (sequential)

0 : Compliance control
1 : Force control
2 : None

- 193 - Programming manual(V2.9.3)

  
Force/Stiffness Control and Other User-Friendly Features

Value Description

Stx 6 in the order of x, y, z, rx, ry and rz

Information of set target stiffness

fd 6 in the order of x, y, z, rx, ry and rz

Information of set target force

ref Information of set target force

0 : Base coordinate
1 : Tool coordinate
2 : World coordinate
101 ~ 120 : User coordinate

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data error

DR_Error (DR_ERROR_VALUE) Invalid parameter value

DR_Error (DR_ERROR_RUNTIME) C Extension module error

DR_Error (DR_ERROR_STOP) Program terminated forcibly

Example

1 set_ref_coord(DR_BASE)
2 P0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
3 movej(P0,vel = 30 ,acc = 60 )
4  
5 task_compliance_ctrl()
6 set_stiffnessx([ 500 , 500 , 500 , 100 , 100 , 100 ], time = 0
.5 )
7  
8 while True :
9 [singularity, mod, stx, fd, ref] = get_force_control_state()
10 tp_log( "s={0}, m={1}, k={2}, f={3}, r={4}" . format (singularity,
mod,stx,fd,ref))
11 wait( 0.5 )
12 release_compliance_ctrl()

- 194 - Programming manual(V2.9.3)

  
Force/Stiffness Control and Other User-Friendly Features

Related Commands
• set_singular_handling_force(mode)(p. 179)
• task_compliance_ctrl(stx, time)(p. 186)
• set_stiffnessx(stx, time)(p. 187)
• set_desired_force(fd, dir, time, mod)(p. 189)
• release_compliance_ctrl()(p. 185)

6.2 User-friendly Functions

6.2.1 parallel_axis(x1, x2, x3, axis, ref)

Features
This function matches the normal vector of the plane consists of points(x1, x2, x3) based on the ref
coordinate(refer to get_normal(x1, x2, x3)) and the designated axis of the tool frame. The current position is
maintained as the TCP position of the robot.

Parameters
Parameter Name Data Type Default Value Description

x1 posx - posx or
position list
list (float[6])

x2 posx - posx or
position list
list (float[6])

x3 posx - posx or
position list
list (float[6])

axis int - axis

• DR_AXIS_X: x-axis
• DR_AXIS_Y: y-axis
• DR_AXIS_Z: z-axis

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Parameter Name Data Type Default Value Description

ref int DR_BASE reference coordinate

• DR_BASE: base coordinate
• DR_WORLD: world
coordinate
• user coordinate : user difined

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 x0 = posx( 0 , 0 , 90 , 0 , 90 , 0 )
2 movej(x0)
3 x1 = posx( 0 , 500 , 700 , 30 , 0 , 90 )
4 x2 = posx( 500 , 0 , 700 , 0 , 0 , 45 )
5 x3 = posx( 300 , 100 , 500 , 45 , 0 , 45 )
6 parallel_axis(x1, x2, x3, DR_AXIS_X, DR_WORLD)
7 # match the tool x axis and the normal vector of the plane
consists of points(x1,x2,x3) # based on the world coordinate

Related commands
• get_normal(x1, x2, x3)(p. 296)
• parallel_axis(vect, axis, ref)(p. 197)

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• parallel_axis(x1, x2, x3, axis, ref)(p. 195)

• align_axis(vect, pos, axis, ref)(p. 200)
• align_axis(x1, x2, x3, pos, axis, ref)(p. 198)

6.2.2 parallel_axis(vect, axis, ref)

Features
This function matches the given vect direction based on the ref coordinate and the designated axis of the tool
frame. The current position is maintained as the TCP position of the robot.

Parameters
Parameter Name Data Type Default Value Description

vect list (float[3]) - vector

axis int - axis

• DR_AXIS_X: x-axis
• DR_AXIS_Y: y-axis
• DR_AXIS_Z: z-axis

ref int DR_BASE reference coordinate

• DR_BASE: base
coordinate
• DR_WORLD: world
coordinate
• user coordinate: user
defined

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

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Exception Description

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 x0 = posx( 0 , 0 , 90 , 0 , 90 , 0 )
2 movej(x0)
3 parallel_axis([ 1000 , 700 , 300 ], DR_AXIS_X, DR_WORLD)
4 # match the tool x axis and the vector([1000,700,300]) based on
the world coordinate

Related commands
• movej()(p. 54)
• parallel_axis(x1, x2, x3, axis, ref)(p. 195)
• align_axis(vect, pos, axis, ref)(p. 200)
• align_axis(x1, x2, x3, pos, axis, ref)(p. 198)

6.2.3 align_axis(x1, x2, x3, pos, axis, ref)

Features
This function matches the normal vector of the plane consists of points(x1, x2, x3) based on the ref
coordinate(refer to get_normal(x1, x2, x3)) and the designated axis of the tool frame. The robot TCP moves to
the pos position.

Parameters
Parameter Name Data Type Default Value Description

x1 posx -
posx or
position list

list (float[6])

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Parameter Name Data Type Default Value Description

x2 posx -
posx or
position list
list (float[6])

x3 posx -
posx or
position list
list (float[6])

pos posx -
posx or
position list
list (float[6])

axis int - axis

• DR_AXIS_X: x-axis
• DR_AXIS_Y: y-axis
• DR_AXIS_Z: z-axis

ref int DR_BASE reference coordinate

• DR_BASE: base
coordinate
• DR_WORLD: world
coordinate
• user coordinate: user
defined

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

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Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 p0 = posj( 0 , 0 , 45 , 0 , 90 , 0 )
2 movej(p0, v = 30 , a = 30 )
3  
4 x1 = posx( 0 , 500 , 700 , 30 , 0 , 0 )
5 x2 = posx( 500 , 0 , 700 , 0 , 0 , 0 )
6 x3 = posx( 300 , 100 , 500 , 0 , 0 , 0 )
7 pos = posx( 400 , 400 , 500 , 0 , 0 , 0 )
8 align_axis(x1, x2, x3, pos, DR_AXIS_X, DR_BASE)
9 # match the tool x axis and the normal vector in the plane
consists of points(x1, x2,
10 # x3) based on the base coordinate

Related commands
• movej()(p. 54)
• get_normal(x1, x2, x3)(p. 296)
• align_axis(vect, pos, axis, ref)(p. 200)
• parallel_axis(vect, axis, ref)(p. 197)
• parallel_axis(x1, x2, x3, axis, ref)(p. 195)

6.2.4 align_axis(vect, pos, axis, ref)

Features
This function matches the given vect direction based on the ref coordinate and the designated axis of the tool
frame. The robot TCP moves to the pos position.

Parameters
Parameter Name Data Type Default Value Description

vect list (float[3]) - vector

pos posx posx or

- position list

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Parameter Name Data Type Default Value Description

list (float[6])

axis int - axis

• DR_AXIS_X: x-axis
• DR_AXIS_Y: y-axis
• DR_AXIS_Z: z-axis

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 p0 = posj( 0 , 0 , 45 , 0 , 90 , 0 )
2 movej(p0, v = 30 , a = 30 )
3  
4 vect = [ 10 , 20 , 30 ]
5 pos = posx( 100 , 500 , 700 , 45 , 0 , 0 )
6 align_axis(vect, pos, DR_AXIS_X)

Related commands
• movej()(p. 54)
• align_axis(x1, x2, x3, pos, axis, ref)(p. 198)

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• parallel_axis(vect, axis, ref)(p. 197)

• parallel_axis(x1, x2, x3, axis, ref)(p. 195)

6.2.5 is_done_bolt_tightening(m=0, timeout=0, axis=None)

Features
This function monitors the tightening torque of the tool and returns True if the set torque (m) is reached within
the given time and False if the given time has passed.

Parameters
Parameter Name Data Type Default Value Description

m float 0 Target torque

timeout float 0 Monitoring duration [sec]

axis int - axis

• DR_AXIS_X: x-axis
• DR_AXIS_Y: y-axis
• DR_AXIS_Z: z-axis

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

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Example

1 p0 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
2 movej(p0, v = 30 , a = 30 )
3  
4 task_compliance_ctrl()
5 xd = posx( 559 , 34.5 , 651.5 , 0 , 180.0 , 60 )
6 amovel(xd, vel = 50 , acc = 50 ) # Bolt tightening motion
7  
8 res = is_done_bolt_tightening( 10 , 5 , DR_AXIS_Z)
9 # Returns True if the tightening torque of 10Nm is reached
within 5 seconds.
10 # Returns False otherwise.
11 if res = = True :
12 # some action comes here for the case that bolt tightening is
done
13 x = 1
14 else :
15 # some action comes here for the case that it fails
16 x = 2

Related commands
• movej()(p. 54)
• amovel()(p. 98)

6.2.6 calc_coord(x1, x2, x3, x4, ref, mod)

Features
This function returns a new user cartesian coordinate system by using up to 4 input poses ([x1]~[x4]), input
mode [mod] and the reference coordinate system [ref]. The input mode is only valid when the number of input
robot poses is 2.
In the case that the number of input poses is 1, the coordinate system is calculated using the position and
orientation of x1.
In the case that the number of input poses is 2 and the input mode is 0, X-axis is defined by the direction from x1
to x2, and Z-axis is defined by the projection of the current Tool-Z direction onto the plane orthogonal to the x-
axis. The origin is the position of x1.
In the case that the number of input poses is 2 and the input mode is 1, X-axis is defined by the direction from x1
to x2, and Z-axis is defined by the projection of the z direction of x1 onto the plane orthogonal to the X-axis. The
origin is the position of x1.
In the case that the number of input poses is 3, X-axis is defined by the direction from x1 to x2. If a vector v is the
direction from x1 to x3, Z-axis is defined by the cross product of X-axis and v (X-axis cross v). The origin is the
position of x1.

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In the case that the number of input poses is 4, the definition of axes is identical to the case that the number of
input poses is 3, but the origin is the position of x4

Parameters
Parameter Name Data Type Default Value Description

x1, x2, x3, x4 posx - Posx or

position list
list (float[6])

ref int - reference coordinate

• DR_BASE: base
coordinate
• DR_WORLD: world
coordinate

mod int - input mode

(only valid when the
number of input poses is
2)
• 0: defining z-axis
based on the
current Tool-z
direction
• 1: defining z-axis
based on the z
direction of x1

Return
Value Description

posx Successful coordinate calculation

Position information of the calculated coordinate

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

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Exception Description

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 pos1 = posx( 500 , 30 , 500 , 0 , 0 , 0 )

2 pos2 = posx( 400 , 30 , 500 , 0 , 0 , 0 )
3 pos3 = posx( 500 , 30 , 600 , 45 , 180 , 45 )
4 pos4 = posx( 500 , - 30 , 600 , 0 , 180 , 0 )
5 pose_user1 = calc_coord(pos1, ref = DR_BASE, mod = 0 )
6 pose_user21 = calc_coord(pos1, pos2, ref = DR_WORLD, mod = 0 )
7 % % Define z - axis based on the Tool - z direction.
8 pose_user22 = calc_coord(pos1, pos2, ref = DR_BASE, mod = 1 )
9 % % Define z - axis based on the z direction of pos1
10 pose_user3 = calc_coord(pos1, pos2, pos3, ref = DR_BASE, mod = 0 )
11 pose_user4 = calc_coord(pos1, pos2, pos3, pos4, ref = DR_WORLD,
mod = 0 )
12 ucart1 = set_user_cart_coord(pose_user1, ref = DR_BASE)
13 ucart2 = set_user_cart_coord(pose_user21, ref = DR_WORLD)

Related commands
• set_user_cart_coord(pos, ref)(p. 205)
• set_user_cart_coord(u1, v1, pos, ref)(p. 208)
• set_user_cart_coord(x1, x2, x3, pos, ref)(p. 207)

6.2.7 set_user_cart_coord(pos, ref)

Features
This function set a new user cartesian coordinate system using input pose [pos] and reference coordinate
system[ref]. Up to 20 user coordinate systems can be set including the coordinate systems set within Workcell
Item. Since the coordinate system set by this function is removed when the program is terminated, setting new
coordinate systems within Workcell Item is recommended for maintaining the coordinate information.

Parameters
Parameter Name Data Type Default Value Description

pos posx - coordinate information

(position and orientation)
list (float[6])

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Parameter Name Data Type Default Value Description

ref int - reference coordinate

• DR_BASE: base
coordinate
• DR_WORLD: world
coordinate

Return
Value Description

Positive integer Successful coordinate setting

Set coordinate ID (101 - 200)

-1 Failed coordinate setting

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 pos1 = posx( 10 , 20 , 30 , 0 , 0 , 0 )
2 pos2 = posx( 30 , 50 , 70 , 45 , 180 , 45 )
3 user_id1 = set_user_cart_coord(pos1, ref = DR_BASE)
4 user_id2 = set_user_cart_coord(pos2, ref = DR_WORLD)

Related commands
• set_ref_coord(coord)(p. 52)

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6.2.8 set_user_cart_coord(x1, x2, x3, pos, ref)

Features
This function sets a new user cartesian coordinate system using [x1], [x2], and [x3] based on ref coordinate
system[ref]. Creates a user coordinate system with ux, uy, and uz as the vector for each axis and origin position
is the position of [pos] based on [ref]. 1)ux is defined as the unit vector of x1x2 , uz is defined as the unit vector
defined by the cross product of x1x2 and x1x3 (x1x2 cross x1x3). uy is can be determined by right hand rule (uz
cross ux). Up to 20 user coordinate systems can be set including the coordinate systems set within Workcell
Item. Since the coordinate system set by this function is removed when the program is terminated, setting new
coordinate systems within Workcell Item is recommended for maintaining the coordinate information.
1)
In software versions lower than M2.0.2, ux is used as the unit vector of x2x1

Parameters
Parameter Name Data Type Default Value Description

x1 Posx - posx or
position list
list (float[6])

x2 Posx - posx or
position list
list (float[6])

x3 Posx - posx or
position list
list (float[6])

pos Posx - posx or

position list
list (float[6])

ref int DR_BASE reference coordinate

• DR_BASE: base coordinate
• DR_WORLD: world
coordinate

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Return
Value Description

Positive integer Successful coordinate setting

Set coordinate ID (101 - 200)

-1 Failed coordinate setting

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 x1 = posx( 0 , 500 , 700 , 0 , 0 , 0 ) # Ignores the Euler

angle.
2 x2 = posx( 500 , 0 , 700 , 0 , 0 , 0 )
3 x3 = posx( 300 , 100 , 500 , 0 , 0 , 0 )
4 x4 = posx( 300 , 110 , 510 , 0 , 0 , 0 )
5 pos = posx( 10 , 20 , 30 , 0 , 0 , 0 )
6 user_tc1 = set_user_cart_coord(x1, x2, x3, pos, ref = DR_BASE)
7 user_tc2 = set_user_cart_coord(x2, x3, x4, pos, ref = DR_WORLD)

Related commands
• set_ref_coord(coord)(p. 52)

6.2.9 set_user_cart_coord(u1, v1, pos, ref)

Features
This function sets a new user cartesian coordinate system using [u1] and [v1] based on [ref] coordinate system.
The origin position the position of [pos] based on the [ref] coordinate while the direction of x-axis and y-axis

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bases are given in the vectors u1 and v1, respectively. Other directions are determined by u1 cross v1. If u1 and
v1 are not orthogonal, v1’, that is perpendicular to u1 on the surface spanned by u1 and v1, is set as the vector
in the y-axis direction. Up to 20 user coordinate systems can be set including the coordinate systems set within
Workcell Item. Since the coordinate system set by this function is removed when the program is terminated,
setting new coordinate systems within Workcell Item is recommended for maintaining the coordinate
information.

Parameters
Parameter Name Data Type Default Value Description

u1 float[3] - X-axis unit vector

v1 float[3] - Y-axis unit vector

pos posx - posx or

list (float[6]) position list

ref int DR_BASE reference coordinate

• DR_BASE: base
coordinate
• DR_WORLD: world
coordinate

Return
Value Description

Positive integer Successful coordinate setting

Set coordinate ID (101 - 200)

-1 Failed coordinate setting

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

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Exception Description

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 u1 = [ 1 , 1 , 0 ]
2 v1 = [ - 1 , 1 , 0 ]
3 pos = posx( 10 , 20 , 30 , 0 , 0 , 0 )
4 user_tc1 = set_user_cart_coord(u1, v1, pos)
5 user_tc2 = set_user_cart_coord(u1, v1, pos, ref = DR_WORLD)

Related commands
• set_ref_coord(coord)(p. 52)

6.2.10 overwrite_user_cart_coord(id, pos, ref)

Features
This function changes the pose and reference coordinate system of the requested user coordinate system [id]
with the [pos] and [ref], respectively.

Parameters
Parameter Name Data Type Default Value Description

id int - coordinate ID

pos posx - posx or

list (float[6]) position list

ref int DR_BASE reference coordinate

• DR_BASE: base
coordinate
• DR_WORLD: world
coordinate

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Return
Value Description

Positive integer Successful coordinate setting

Set coordinate ID (101 - 200)

-1 Failed coordinate setting

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Exception

1 pose_user1 = posx( 30 , 40 , 50 , 0 , 0 , 0 )
2 id_user = set_user_cart_coord(pose_user1, ref = DR_BASE)
3 pose_user2 = posx( 100 , 150 , 200 , 45 , 180 , 0 )
4 overwrite_user_cart_coord(id_user, pose_user2, ref = DR_BASE)

Related commands
• set_user_cart_coord(pos, ref)(p. 205)
• set_user_cart_coord(u1, v1, pos, ref)(p. 208)
• set_user_cart_coord(x1, x2, x3, pos, ref)(p. 207)

6.2.11 get_user_cart_coord(id)

Features
This function returns the pose and reference coordinate system of the requested user coordinate system [id].

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Parameters
Parameter Name Data Type Default Value Description

id int - coordinate ID

Return
Value Description

posx Position and orientation information of the

coordinate to get

ref Reference coordinate of the coordinate to get

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 pose_user1 = posx( 10 , 20 , 30 , 0 , 0 , 0 )
2 id_user = set_user_cart_coord(pose_user1, ref = DR_BASE)
3 pose, ref = get_user_cart_coord(id_user)

Related commands
• set_user_cart_coord(pos, ref)(p. 205)
• set_user_cart_coord(u1, v1, pos, ref)(p. 208)
• set_user_cart_coord(x1, x2, x3, pos, ref)(p. 207)

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6.2.12 check_position_condition(axis, min, max, ref, mod, pos)

Features
This function checks the status of the given position. This condition can be repeated with the while or if
statement. Axis and pos of input paramets are based on the ref coordinate.

In case of ref=DR_TOOL, pos should be defined in BASE coordinate.

Parameters
Parameter Name Data Type Default Value Description

axis int - axis

• DR_AXIS_X: x-axis
• DR_AXIS_Y: y-axis
• DR_AXIS_Z: z-axis

min float DR_COND_NONE Minimum value

max float DR_COND_NONE Maximum value

ref int None reference coordinate

• DR_BASE : base
coordinate
• DR_WORLD : world
coordinate
• DR_TOOL : tool
coordinate
• user coordinate:
User defined

mod int DR_MV_MOD_ABS Movement basis

• DR_MV_MOD_ABS:
Absolute
• DR_MV_MOD_REL:
Relative

pos posx - posx or

list (float[6]) position list

 Note
• The absolution position is used if the mod is DR_MV_MOD_ABS.

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• The pos position is used if the mod is DR_MV_MOD_REL.

• Pos is meaningful only if the mod is DR_MV_MOD_REL.

Return
Value Description

True The condition is True.

False The condition is False.

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 CON1 = check_position_condition(DR_AXIS_X, min = - 5 , max = 0 ,

ref = DR_WORLD)
2 CON2 = check_position_condition(DR_AXIS_Y, max = 700 )
3 CON3 = check_position_condition(DR_AXIS_Z, min = - 10 , max = - 5
# -10≤z≤-5
4 CON4 = check_position_condition(DR_AXIS_Z, min = 30 ) # 30≤z
5  
6 CON5 = check_position_condition(DR_AXIS_Z, min = - 10 , max = - 5 ,
ref = DR_BASE) # -10≤z≤-5
7  
8 CON6 = check_position_condition(DR_AXIS_Z, min = - 10 , max = - 5 ,
mod = DR_MV_MOD_ABS) # -10≤z≤-5
9  
10 posx1 = posx( 400 , 500 , 800 , 0 , 180 , 0 )
11 CON7 = check_position_condition(DR_AXIS_Z, min = - 10 , max = - 5 ,
mod = DR_MV_MOD_REL, pos = posx1) # posx1_(z)-10≤z≤ posx1_(z)-5

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Related commands
• check_force_condition(axis, min, max, ref)(p. 215)
• check_orientation_condition(axis, min, max, ref, mod)(p. 217)
• check_orientation_condition(axis, min, max, ref, mod, pos)(p. 219)
• set_ref_coord(coord)(p. 52)

6.2.13 check_force_condition(axis, min, max, ref)

Features
This function checks the status of the given force. It disregards the force direction and only compares the sizes.
This condition can be repeated with the while or if statement. Measuring the force and 1)moment, axis is based
on the ref coordinate.
1)
Before V2.8 software version, measuring the moment, axis is based on the tool coordinate.

Parameters
Parameter Name Data Type Default Value Description

axis int - axis

• DR_AXIS_X: x-axis
• DR_AXIS_Y: y-axis
• DR_AXIS_Z: z-axis
• DR_AXIS_A: x-axis
rotation
• DR_AXIS_B: y-axis
rotation
• DR_AXIS_C: z-axis
rotation

min float DR_COND_NONE Minimum value (min ≥ 0)

max float DR_COND_NONE Maximum value (max ≥ 0)

ref int None reference coordinate

• DR_BASE : base
coordinate
• DR_WORLD : world
coordinate
• DR_TOOL : tool
coordinate
• user coordinate:
User defined

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Return
Value Description

True The condition is True.

False The condition is False.

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 fcon1 = check_force_condition(DR_AXIS_Z, min = 5 , max = 10 ,

ref = DR_WORLD) # 5 ≤f_z≤10
2  
3 while (fcon1):
4 fcon2 = check_force_condition(DR_AXIS_C, min = 30 )
# 30≤m_z
5 pcon1 = check_position_condition(DR_AXIS_X, min = 0 , max = 0
.1 ) # 0≤x≤0.1
6
7 if (fcon2 and pcon1):
8 break

Related commands
• check_position_condition(axis, min, max, ref, mod, pos)(p. 213)
• check_orientation_condition(axis, min, max, ref, mod)(p. 217)
• check_orientation_condition(axis, min, max, ref, mod, pos)(p. 219)
• set_ref_coord(coord)(p. 52)

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6.2.14 check_orientation_condition(axis, min, max, ref, mod)

Features
This function checks the difference between the current pose and the specified pose of the robot end effector. It
returns the difference between the current pose and the specified pose in rad with the algorithm that
transforms it to a rotation matrix using the "AngleAxis" technique. It returns True if the difference is positive (+)
and False if the difference is negative (-). It is used to check if the difference between the current pose and the
rotating angle range is + or -. For example, the function can use the direct teaching position to check if the
difference from the current position is + or - and then create the condition for the orientation limit.  This
condition can be repeated with the while or if statement

• Setting Min only: True if the difference is + and False if -

• Setting Min and Max: True if the difference from min is - while the difference from max is + and False
otherwise
• Setting Max only: True if the maximum difference is + and False otherwise

Parameters
Parameter Name Data Type Default Value Description

axis int - axis

• DR_AXIS_A: x-axis rotation
• DR_AXIS_B: y-axis rotation
• DR_AXIS_C: z-axis rotation

min posx - posx or

position list
list (float[6])

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Force/Stiffness Control and Other User-Friendly Features

Parameter Name Data Type Default Value Description

max posx - posx or

position list
list (float[6])

ref int None reference coordinate

• DR_BASE : base coordinate
• DR_WORLD : world
coordinate
• DR_TOOL : tool coordinate
• user coordinate: User defined

mod int DR_MV_MOD_ABS Movement basis

• DR_MV_MOD_ABS: Absolute

Return
Value Description

True The condition is True.

False The condition is False.

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 posx1 = posx( 400 , 500 , 800 , 0 , 180 , 30 )

2 posx2 = posx( 400 , 500 , 500 , 0 , 180 , 60 )
3  

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Force/Stiffness Control and Other User-Friendly Features

4 CON1 = check_orientation_condition(DR_AXIS_C, min = posx1, max =

posx2)
5 # If the current task coordinate posxc = posx(400, 500, 500, 0,
180, 40)
6 # CON1=True since posx1 Rz=30 < posxc Rz=40 < posx2 Rz=60
7  
8 CON2 = check_orientation_condition(DR_AXIS_C, min = posx1)
9 # If the current task coordinate posxc = posx(400, 500, 500, 0,
180, 15)
10 # CON2=False since posx1 Rz=30 > posxc Rz=15
11  
12 CON3 = check_orientation_condition(DR_AXIS_C, max = posx2)
13 # If the current task coordinate posxc = posx(400, 500, 500, 0,
180, 75)
14 # CON2=False since posx1 Rz=75 > posxc Rz=60

Related commands
• check_position_condition(axis, min, max, ref, mod, pos)(p. 213)
• check_force_condition(axis, min, max, ref)(p. 215)
• check_orientation_condition(axis, min, max, ref, mod)(p. 217)
• check_orientation_condition(axis, min, max, ref, mod, pos)(p. 219)
• set_ref_coord(coord)(p. 52)

6.2.15 check_orientation_condition(axis, min, max, ref, mod, pos)

Features
This function checks the difference between the current pose and the rotating angle range of the robot end
effector. It returns the difference (in rad) between the current pose and the rotating angle range with the
algorithm that transforms it to a rotation matrix using the "AngleAxis" technique. It returns True if the difference
is positive (+) and False if the difference is negative (-). It is used to check if the difference between the current
pose and the rotating angle range is + or -. For example, the function can be used to set the rotating angle range
to min and max at any reference position, and then determine the orientation limit by checking if the difference
from the current position is + or -. This condition can be repeated with the while or if statement

• Setting Min only: True if the difference is + and False if -

• Setting Min and Max: True if the difference from min is - while the difference from max is + and False if the
opposite.
• Setting Max only: True if the maximum difference is + and False otherwise

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Force/Stiffness Control and Other User-Friendly Features

 Note
Range of rotating angle: Refers to the relative angle range (min, max) basded on the set axis from the
given position. The reference coordinate is defined according to the given position based on ref.

Parameters
Parameter Name Data Type Default Value Description

axis int - axis

• DR_AXIS_X: x-axis rotation
• DR_AXIS_Y: y-axis rotation
• DR_AXIS_Z: z-axis rotation

min float DR_COND_NONE Minimum value

max float DR_COND_NONE Maximum value

ref int None reference coordinate

• DR_BASE : base coordinate
• DR_WORLD : world coordinate
• DR_TOOL : tool coordinate
• user coordinate: User defined

mod int DR_MV_MOD_REL Movement basis

• DR_MV_MOD_REL: Relative

pos posx - posx or

position list

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Force/Stiffness Control and Other User-Friendly Features

Parameter Name Data Type Default Value Description

list (float[6])

Return
Value Description

True The condition is True.

False The condition is False.

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 posx1 = posx( 400 , 500 , 800 , 0 , 180 , 15 )

2 CON1 = check_orientation_condition(DR_AXIS_C, min = - 5 , mod = D
R_MV_MOD_REL, pos = posx1, DR_WORLD)
3 # If the current task coordinate posxc = posx(400, 500, 500, 0,
180, 40)
4 # CON1=True since posx1 Rz=15 – (min=5) < posxc Rz=40
5  
6 CON1 = check_orientation_condition(DR_AXIS_C, max = 5 , mod = DR
_MV_MOD_REL, pos = posx1)
7 # If the current task coordinate posxc = posx(400, 500, 500, 0,
180, 40)
8 # CON1=False since posxc Rz=40 > posx1 Rz=15 + (max=5)

Related commands
• check_position_condition(axis, min, max, ref, mod, pos)(p. 213)
• check_force_condition(axis, min, max, ref)(p. 215)

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Force/Stiffness Control and Other User-Friendly Features

• check_orientation_condition(axis, min, max, ref, mod)(p. 217)

• check_orientation_condition(axis, min, max, ref, mod, pos)(p. 219)
• set_ref_coord(coord)(p. 52)

6.2.16 coord_transform(pose_in, ref_in, ref_out)

Features
This function transforms given task position expressed in reference coordinate, ‘ref_in’ to task position
expressed in reference coordinate, ‘ref_out’. It returns transformed task position. It supports calculation of
coordinate transformation for the following cases.

• (ref_in) world reference coordinate → (ref_out) world reference coordinate

• (ref_in) world reference coordinate → (ref_out) base reference coordinate
• (ref_in) world reference coordinate → (ref_out) tool reference coordinate
• (ref_in) world reference coordinate → (ref_out) user reference coordinate
• (ref_in) base reference coordinate → (ref_out) base reference coordinate
• (ref_in) base reference coordinate → (ref_out) tool reference coordinate
• (ref_in) base reference coordinate → (ref_out) user reference coordinate
• (ref_in) tool reference coordinate → (ref_out) world reference coordinate
• (ref_in) tool reference coordinate → (ref_out) base reference coordinate
• (ref_in) tool reference coordinate → (ref_out) tool reference coordinate
• (ref_in) tool reference coordinate → (ref_out) user reference coordinate
• (ref_in) user reference coordinate → (ref_out) world reference coordinate
• (ref_in) user reference coordinate → (ref_out) base reference coordinate
• (ref_in) user reference coordinate → (ref_out) tool reference coordinate
• (ref_in) user reference coordinate → (ref_out) user reference coordinate

Parameters
Parameter Name Data Type Default Value Description

pose_in posx - posx

ref_in float DR_COND_NONE reference coordinate before

transformation
• DR_BASE : base
coordinate
• DR_WORLD : world
coordinate
• DR_TOOL : tool
coordinate
• user coordinate: User
defined

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Parameter Name Data Type Default Value Description

ref_out float DR_COND_NONE reference coordinate after

transformation
• DR_BASE : base
coordinate
• DR_WORLD  world
coordinate
• DR_TOOL : tool
coordinate
• user coordinate: User
defined

Return
Value Description

pos posx

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 base_pos = posx( 400 , 500 , 800 , 0 , 180 , 15 )

2 # If task position based on base reference coordinate base_pos =
posx(400,500,800,0,180,15)
3  
4 tool_pos = coord_transform(base_pos, DR_BASE, DR_TOOL)
5 # Transform task position(base_pos) expressed in base reference
coordinate to task position expressed in tool reference coordinate
6 # This command returns task position expressed in tool reference
coordinate and the result value is stored in tool_pos

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Force/Stiffness Control and Other User-Friendly Features

Related commands
• set_user_cart_coord(pos, ref)(p. 205)
• set_user_cart_coord(u1, v1, pos, ref)(p. 208)
• set_user_cart_coord(x1, x2, x3, pos, ref)(p. 207)
• get_current_posx(ref)(p. 155)
• get_desired_posx(ref)(p. 164)
• set_ref_coord(coord)(p. 52)

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System Commands

7 System Commands

7.1 IO Related

7.1.1 set_digital_output(index, val =None)

Features
This function sends a signal at the digital contact point of the controller. A value saved in the digital output
register is output as a digital signal.

Parameters
Parameter Name Data Type Default Value Description

index int - I/O contact number mounted

on the controller
• Val argument existing: A
number between 1 and
16
• No val argument: 1 ~ 16 ,
-1 ~ -16
(A positive number means ON
while a negative number means
OFF.)

val int - I/O value

• ON: 1
• OFF: 0

 Note
If val is omitted, positive numbers become ON and negative numbers become OFF depending on the
sign (+/-) of the index.

Return
Value Description

0 Success

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System Commands

Value Description

Negative value Failed

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 set_digital_output( 1 , ON) # No. 1 contact ON

2 set_digital_output( 16 , OFF) # No. 16 contact OFF
3 set_digital_output( 3 ) #No. 3 contact ON (A positive
number means ON if the argument val is omitted.)
4 set_digital_output( - 3 ) #No. 3 contact OFF (A negative
number means OFF if the argument val is omitted.)

7.1.2 set_digital_outputs(bit_list)

Features
This function sends a signal to multiple digital output contact points of the controller.

The digital signals of the contact points defined in bit_list are output at one.

Parameters
Parameter Name Data Type Default Description
Value

bit_list list (int) - List of multiple output contacts

• The positive contact number outputs ON: 1~16
• The negative contact number outputs OFF:
-1~-16

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System Commands

Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 set_digital_outputs(bit_list = [ 1 , 2 , 3 , 4 , 5 , 6 , 7 , 8 ])
# Contact number 1-8 ON
2 set_digital_outputs([ - 1 , - 2 , - 3 , - 4 , - 5 , - 6 , - 7 , -
8 ]) # Contact number 1-8 OFF
3 set_digital_outputs([ 1 , - 2 , 3 ]) # Contact no.
1 ON, no. 2 OFF, and no. 3 ON
4 set_digital_outputs([ 4 , - 9 , - 12 ]) # Contact no.
4 ON, no. 9 OFF, and no. 12 OFF

7.1.3 set_digital_outputs(bit_start, bit_end, val)

Features
This function sends multiple signals at once from the digital output start contact point (bit_start) to the end
contact point (bit_end) of the controller.

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System Commands

Parameters
Parameter Name Data Type Default Description
Value

bit_start int - Beginning contact number for output signal (1~16)

bit_end int - Ending contact number for output signal (1~16)

val int - Output value

 Note
• Bit_end must be a larger number than bit_start.
• Val is the value of the combination of bits where bit_start =LSB and bit_end=MSB.
Ex) bit_start =1, bit_end=4, val=0b1010 # No. 4=ON, no. 3=OFF, no. 2=ON, and no. 1=OFF

Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

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System Commands

Example

1 # Outputs contact 1=ON, contact 2=ON, contact 3=OFF, and contact

4=OFF.
2 set_digital_outputs(bit_start = 1 , bit_end = 4 , val = 0b0011 )
# 0b means a binary number.
3  
4 # Outputs contact 3=ON and contact 4=OFF.
5 set_digital_outputs(bit_start = 3 , bit_end = 4 , val = 0b01 ) #
0b means a binary number.
6  
7 # Outputs the ON signal from contacts 1 through 8.
8 set_digital_outputs( 1 , 8 , 0xff ) # 0x
means a hexadecimal number.

7.1.4 set_digital_output(index, val=None, time=None, val2=None)

Features
This function sends a signal at the digital contact point of the controller. A value saved in the digital output
register is output as a digital signal. After sending out the specified signal for the set time, the next signal is sent
out.

Parameters
Parameter Name Data Type Default Description
Value

index int - I/O contact number mounted on the controller

• Val argument existing: A number between 1 and
16
• No val argument: 1 ~ 16 , -1 ~ -16
(A positive number means ON while a negative number
means OFF.)

val int - I/O value

• ON: 1
• OFF: 0

time float - Time(0.01 ~ 3,000,000)

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System Commands

Parameter Name Data Type Default Description

Value

val2 int - I/O value

• ON: 1
• OFF: 0

 Note
If val is omitted, the positive number becomes ON and the negative number OFF according to the sign of
the argument index.

Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 set_digital_output( 1 , ON, 2.0 , OFF) # No. 1 contact ON, OFF

after 2 seconds
2 set_digital_output( 5 , OFF, 0.5 , OFF) # No. 16 contact OFF,
ON after 0.5 seconds

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System Commands

7.1.5 get_digital_input(index)

Features
This function reads the signals from digital contact points of the controller and reads the digital input contact
value.

Parameters
Parameter Name Data Type Default Value Description

index int - A number 1 - 16 which means the contact number of I/

O mounted on the controller.

Return
Value Description

1 ON

0 OFF

Negative value Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

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System Commands

Example

1 in1 = get_digital_input( 1 ) # Reads the no. 1 contact

2 in8 = get_digital_input( 8 ) # Reads the no. 8 contact

7.1.6 get_digital_inputs(bit_list)

Features
This function reads the signals from multiple digital contact points of the controller. The digital signals of the
contact points defined in bit_list are input at one.

Parameters
Parameter Name Data Type Default Description
Value

index list (int) - List of contact points to read

A number 1-16 which means the I/O contact number
mounted on the controller.

Return
Value Description

int (>=0) Multiple contacts to be read at once

(the value of the combination of the bit list where bit_start =LSB and bit_end=MSB)

Negative number Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

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System Commands

Exception Description

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 # input contacts: No. 1=OFF, No. 2=OFF, No. 3=ON, and No. 4=ON
2 res = get_digital_inputs(bit_list = [ 1 , 2 , 3 , 4 ])
3 #res expected value = 0b1100 (binary number), 12 (decimal number),
or 0x0C (hexadecimal number)
4  
5 # input contacts: No. 5=ON, No. 6=ON, No. 7=OFF, and No. 8=ON
6 res = get_digital_inputs([ 5 , 6 , 7 , 8 ])
7 #res expected value = 0b1011 (binary number), 11 (decimal number),
or 0x0B (hexadecimal number)

7.1.7 get_digital_inputs(bit_start, bit_end)

Features
This function reads multiple signals at once from the digital input start contact point (start_index) to the end
contact point (end_index) of the controller.

Parameters
Parameter Name Data Type Default Description
Value

bit_start int - Beginning contact number for input signals (1-16)

bit_end int - Ending contact number for input signals (1-16)

 Note
Bit_end must be a larger number than bit_start.

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System Commands

Return
Value Description

int (>=0) Multiple contacts to be read at once

Value of the combination of bits where bit_start =LSB and bit_end=MSB.

Negative number Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 # input contacts: No. 1=OFF, No. 2=OFF, No. 3=ON, and No. 4=ON
2 res = get_digital_inputs(bit_start = 1 , bit_end = 4 )
3 #res expected value = 0b1100 (binary number), 12 (decimal number),
or 0x0C (hexadecimal number)

7.1.8 wait_digital_input(index, val, timeout=None)

Features
This function waits until the signal value of the digital input register of the controller becomes val (ON or OFF).
The waiting time can be changed with a timeout setting. The waiting time ends, and the result is returned if the
waiting time has passed. This function waits indefinitely if the timeout is not set.

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System Commands

Parameters
Parameter Name Data Type Default Description
Value

index int - A number 1 - 16 which means the I/O index mounted on

the controller.

value int - I/O value

• ON : 1
• OFF : 0

timeout float - Waiting time (sec)

This function waits indefinitely if the timeout is not set.

Return
Value Description

0 Success

-1 Failed (time-out)

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

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System Commands

Example

1 wait_digital_input( 1 , ON) # Indefinite wait until the no. 1

contact becomes ON
2 wait_digital_input( 2 , OFF) # Indefinite wait until the no. 2
contact becomes OFF
3 res = wait_digital_input( 1 , ON, 3 ) # Wait for up to 3
seconds until the no. 1 contact becomes ON
4 # Waiting is terminated and res = 0 if the no. 1 contact
becomes ON within 3 seconds.
5 # Waiting is terminated and res = -1 if the no. 1 contact
does not become ON within 3 seconds.

7.1.9 set_tool_digital_output(index, val=None)

Features
This function sends the signal of the robot tool from the digital contact point.

Parameters
Parameter Name Data Type Default Description
Value

index int - I/O contact number mounted on the robot arm

• Val argument existing: A number between 1 and 6
• No val argument: 1 ~ 6 , -1 ~ -6
 (A positive number means ON while a negative number
means OFF.)

val int - I/O value: The value to output

 Note
If val is omitted, positive numbers become ON and negative numbers become OFF depending on the
sign (+/-) of the index.

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System Commands

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 set_tool_digital_output( 1 , ON) # Sets the no. 1 contact of the

robot arm ON
2 set_tool_digital_output( 6 , OFF) # Sets the no. 6 contact of the
robot arm OFF
3 set_tool_digital_output( 3 #No. 3 contact ON (A positive
number means ON if the argument val is omitted.)
4 set_tool_digital_output( - 3 ) #No. 3 contact OFF (A negative
number means OFF if the argument val is omitted.)

7.1.10 set_tool_digital_outputs(bit_list)

Features
This function sends the signal of the robot tool from the digital contact point. The digital signals of the contact
points defined in bit_list are output at one.

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System Commands

Parameters
Parameter Name Data Type Default Description
Value

bit_list list (int) - List of multiple output contacts

• The positive contact number outputs ON: 1~6
• The negative contact number outputs OFF: -1~-6

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 set_tool_digital_outputs(bit_list = [ 1 , 2 , 3 , 4 , 5 , 6 ])
# Sets the contacts 1-6 ON
2 set_tool_digital_outputs([ - 1 , - 2 , - 3 , - 4 , - 5 , - 6 ])
# Sets the contacts 1-6 OFF
3 set_digital_outputs([ 1 , - 2 , 3 ]) # Contact no. 1
ON, no. 2 OFF, and no. 3 ON

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System Commands

7.1.11 set_tool_digital_outputs(bit_start, bit_end, val)

Features
This function sends the signal of the robot tool from the digital contact point. The multiple signals from the first
contact point (bit_start) to the last contact point (bit_end) are output at one.

Parameters
Parameter Data Default Description
Name Type Value

bit_start int - Beginning contact number for output signal (1~6)

bit_end int - Ending contact number for output signal (1~6)

Val int - Output value

 Note
• Bit_end must be a larger number than bit_start.
• Val is the value of the combination of bits where bit_start =LSB and bit_end=MSB.
Ex) bit_start =1, bit_end=4, val=0b1010 # No. 4=ON, no. 3=OFF, no. 2=ON, and no. 1=OFF

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

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System Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 # Outputs contact 1=ON, contact 2=ON, contact 3=OFF, and contact

4=OFF.
2 set_tool_digital_outputs(bit_start = 1 , bit_end = 4 , val = 0b001
1 ) # 0b means a binary number.
3  
4 # Outputs contact 3=ON and contact 4=OFF.
5 set_tool_digital_outputs(bit_start = 3 , bit_end = 4 , val = 0b01 )
# 0b means a binary number.
6  
7 # Outputs the ON signal from contacts 1 through 8.
8 set_tool_digital_outputs( 1 , 8 , 0xff )
# 0x means a hexadecimal number.

7.1.12 set_tool_digital_output(index, val=None, time=None, val2=None)

Features
This function sends the signal of the robot tool from the digital contact point. After sending out the specified
signal for the set time, the next signal is sent out.

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System Commands

Parameters
Parameter Name Data Type Default Description
Value

index int - I/O contact number mounted on the robot arm

• Val argument existing: A number between 1 and
6
• No val argument: 1 ~ 6 , -1 ~ -6
 (A positive number means ON while a negative number
means OFF.)

val int - I/O value

• ON: 1
• OFF: 0

time float - Time(0.01 ~ 3,000,000)

val2 int - I/O value

• ON: 1
• OFF: 0

 Note
If val is omitted, the positive number becomes ON and the negative number OFF according to the sign of
the argument index.

Return
Value Description

0 Success

Negative value Error

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System Commands

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 set_tool_digital_output( 1 , ON, 2.0 , OFF) # Sets the no. 1

contact of the robot arm ON, OFF after 2 seconds
2 set_tool_digital_output( 5 , OFF, 0.5 , ON) # Sets the no. 5
contact of the robot arm OFF, ON after 0.5 seconds

7.1.13 get_tool_digital_input(index)

Features
This function reads the signal of the robot tool from the digital contact point.

Parameters
Parameter Name Data Type Default Description
Value

index int - I/O contact number (1-6) mounted on the robot tool

Return
Value Description

1 ON

- 242 - Programming manual(V2.9.3)

  
System Commands

Value Description

0 OFF

Negative value Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 get_tool_digital_input( 1 ) # Reads the no. 1 contact of

tool I/O
2 get_tool_digital_input( 6 ) # Reads the no. 6 contact of
tool I/O

7.1.14 get_tool_digital_inputs(bit_list)

Features
This function reads the signal of the robot tool from the digital contact point.
The digital signals of the contact points defined in bit_list are input at one.

- 243 - Programming manual(V2.9.3)

  
System Commands

Parameters
Parameter Name Data Type Default Value Description

bit_list list (int) - List of contact points to read

• (I/O contact numbers
(1-6) mounted on the
robot arm)

Return
Value Description

int (>=0) Multiple contacts to be read at once (the value of

the combination of the bit list where bit_start =LSB
and bit_end=MSB)

Negative number Failed

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 # input contacts: No. 1=OFF, No. 2=OFF, and No. 3=ON

2 res = get_tool_digital_inputs(bit_list = [ 1 , 2 , 3 ]) # Reads
the contacts 1, 2, and 3 at once.
3 #res expected value = 0b100 (binary number), 4 (decimal number),
or 0x04 (hexadecimal number)
4  
5 # input contacts: No. 4=ON, No. 5=ON, and No. 6=OFF
6 res = get_tool_digital_inputs([ 4 , 5 , 6 ])

- 244 - Programming manual(V2.9.3)

  
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7 #res expected value = 0b011 (binary number), 3 (decimal number),

or 0x03 (hexadecimal number)

7.1.15 get_tool_digital_inputs(bit_start, bit_end)

Features
This function reads the signal of the robot tool from the digital contact point. The multiple signals from the first
contact point (start_index) to the last contact point (end_index) are input at one.

Parameters
Parameter Name Data Type Default Description
Value

bit_start int - Beginning contact number for input signals (1~6)

bit_end int - Ending contact number for input signals (1~6)

Return
Value Description

int (>=0) Multiple contacts to be read at once

Value of the combination of bits where bit_start =LSB and bit_end=MSB.

Negative number Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

- 245 - Programming manual(V2.9.3)

  
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Exception Description

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 # input contacts: No. 1=OFF, No. 2=OFF, and No. 3=ON

2 res = get_tool_digital_inputs(bit_start = 1 , bit_end = 3 )
3 #res expected value = 0b100 (binary number), 4 (decimal number),
or 0x04 (hexadecimal number)
4  
5 # input contacts: No. 4=ON, No. 5=ON, and No. 6=OFF
6 res = get_tool_digital_inputs( 4 , 6 )
7 #res expected value = 0b011 (binary number), 3 (decimal number),
or 0x03 (hexadecimal number)

7.1.16 wait_tool_digital_input(index, val, timeout=None)

Features
This function waits until the digital input signal value of the robot tool becomes val (ON or OFF). The waiting
time can be changed with a timeout setting. The waiting time ends, and the result is returned if the waiting time
has passed. This function waits indefinitely if the timeout is not set.

Parameters
Parameter Name Data Type Default Description
Value

index int - A number in 1 - 6 which means the I/O index mounted

on the robot arm

value int - I/O value

• ON : 1
• OFF : 0

timeout float - Waiting time (sec)

This function waits indefinitely if the timeout is not set.

- 246 - Programming manual(V2.9.3)

  
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Return
Value Description

0 Success

-1 Failed (time-out)

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 wait_tool_digital_input( 1 , ON) # Indefinite wait until the no.

1 contact becomes ON
2 wait_tool_digital_input( 2 , OFF) # Indefinite wait until the no.
2 contact becomes OFF
3  
4 res = wait_tool_digital_input( 1 , ON, 3 ) # Wait for up to 3
seconds until the no. 1 contact becomes ON
5 # Waiting is terminated and res = 0 if the no. 1 contact
becomes ON within 3 seconds.
6 # Waiting is terminated and res = -1 if the no. 1 contact
does not become ON within 3 seconds.

- 247 - Programming manual(V2.9.3)

  
System Commands

7.1.17 set_mode_analog_output(ch, mod )

Features
This function sets the channel mode of the controller analog output.

Parameters
Parameter Name Data Type Defau Description
lt
Value

ch int - • 1 : channel 1
• 2 : channel 2

mod int - analog io mode

• DR_ANALOG_CURRENT: Current mode
• DR_ANALOG_VOLTAGE: Voltage mode

Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

- 248 - Programming manual(V2.9.3)

  
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Exception Description

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 # Sets analog_output channel 1 to the current mode.

2 set_mode_analog_output(ch = 1 , mod = DR_ANALOG_CURRENT)
3  
4 # Sets analog_output channel 2 to the voltage mode.
5 set_mode_analog_output(ch = 2 , mod = DR_ANALOG_VOLTAGE)

7.1.18 set_mode_analog_input(ch, mod )

Features
This function sets the channel mode of the controller analog input.

Parameters
Parameter Name Data Type Default Description
Value

ch int - • 1 : channel 1
• 2 : channel 2

mod int - analog io mode

• DR_ANALOG_CURRENT: Current mode
• DR_ANALOG_VOLTAGE: Voltage mode

Return
Value Description

0 Success

Negative value Failed

- 249 - Programming manual(V2.9.3)

  
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Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 # Sets analog_input channel 1 to the current mode.

2 set_mode_analog_input(ch = 1 , mod = DR_ANALOG_CURRENT)
3  
4 # Sets analog_input channel 2 to the voltage mode.
5 set_mode_analog_input(ch = 2 , mod = DR_ANALOG_VOLTAGE)

7.1.19 set_analog_output(ch, val)

Features
This function outputs the channel value corresponding to the controller analog output.

Parameters
Parameter Name Data Type Default Description
Value

ch int - • 1 : channel 1
• 2 : channel 2

val float - analog output value

• Current mode: 4.0~20.0 [mA]
• Voltage mode: 0~10.0 [V]

- 250 - Programming manual(V2.9.3)

  
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Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 set_mode_analog_output(ch = 1 , mod = DR_ANALOG_CURRENT) #out

ch1=current mode
2 set_mode_analog_output(ch = 2 , mod = DR_ANALOG_VOLTAGE) #out
ch1=voltage mode
3  
4 set_analog_output(ch = 1 , val = 5.2 ) # Outputs 5.2 mA to
channel 1
5 set_analog_output(ch = 2 , val = 10.0 ) # Outputs 10V to channel
2

7.1.20 get_analog_input(ch)

Features
This function reads the channel value corresponding to the controller analog input.

- 251 - Programming manual(V2.9.3)

  
System Commands

Parameters
Parameter Name Data Type Default Description
Value

ch int - • 1 : channel 1
• 2 : channel 2

Return
Value Description

float The analog input value of the specified channel

• Current mode: 4.0~20.0 [mA]
• Voltage mode: 0~10.0 [V]

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 set_mode_analog_input(ch = 1 , mod = DR_ANALOG_CURRENT) #input

ch1=current mode
2 set_mode_analog_input(ch = 2 , mod = DR_ANALOG_VOLTAGE) #input
ch2=voltage mode
3  
4 Cur = get_analog_input( 1 ) # Reads the analog input current
value of channel 1

- 252 - Programming manual(V2.9.3)

  
System Commands

5 Vol = get_analog_input( 2 ) # Reads the analog input voltage

value of channel 2

7.2 TP Interface

7.2.1 tp_popup(message, pm_type=DR_PM_MESSAGE, button_type=0)

Features
This function provides a message to users through the Teach Pendant. The higher level controller receives the
string and displays it in the popup window, and the window must be closed by a user’s confirmation.

Parameters
Parameter Data Type Default Value Description
Name

message string - Message provided to the user

• Messages are limited to within 256 bytes.
• It is recommended that the text be concise. For
long text, some content is omitted with an
ellipsis (…).
• Formatting-related code such as newline (\n) or
carriage return (\r) is not allowed.

pm_type int DR_PM_MESSA Message type

GE
• DR_PM_MESSAGE
• DR_PM_WARNING
• DR_PM_ALARM

button_type int 0 button type of TP pop message

• 0 : show Stop & Resume button
• 1 : show Stop button

Return
Value Description

0 Success

Negative value Failed

- 253 - Programming manual(V2.9.3)

  
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Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 tp_popup( "move done" , DR_PM_MESSAGE)

2 tp_popup( "Error!! " , DR_PM_ALARM)
3 a = 1
4 b = 2
5 c = 3
6 tp_popup( "a={0}, b={1}, c={2}" . format (a,b,c) ,DR_PM_MESSAGE)
7 tp_popup( "critical error!! " , DR_PM_ALARM, 1 )

7.2.2 tp_log(message)

Features
This function records the user-written log to the Teach Pendant.

Parameters
Parameter Data Default Description
Name Type Value

message string - Log message

• Messages are limited to within 256 bytes.
• It is recommended that the text be concise. For long text,
some content is omitted with an ellipsis (…).
• Formatting-related code such as newline (\n) or carriage
return (\r) is not allowed.

- 254 - Programming manual(V2.9.3)

  
System Commands

Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIME)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 tp_log( "movej() is complete! " )

7.2.3 tp_get_user_input(message, input_type)

Features
This function receives the user input data through the Teach Pendant.

- 255 - Programming manual(V2.9.3)

  
System Commands

Parameters
Parameter Data Type Default Description
Name Value

message string - Character string message to be displayed on the TP user

input window
• Messages are limited to within 256 bytes.
• It is recommended that the text be concise. For long
text, some content is omitted with an ellipsis (…).
• Formatting-related code such as newline (\n) or
carriage return (\r) is not allowed.

input_type int - TP user input message type

• DR_VAR_INT: Integer type
• DR_VAR_FLOAT: Real number type
• DR_VAR_STR: Character string
• DR_VAR_BOOL: Boolean

Return
Value Description

User input data User input data received from the TP

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error C extension module error occurred

(DR_ERROR_RUNTIME)

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 q1 = posj( 10 , 10 , 10 , 10 , 10 , 10 )
2 q2 = posj( 20 , 20 , 20 , 20 , 20 , 20 )

- 256 - Programming manual(V2.9.3)

  
System Commands

3 q3 = posj( 30 , 30 , 30 , 30 , 30 , 30 )
4 q4 = posj( 40 , 40 , 40 , 40 , 40 , 40 )
5 q5 = posj( 50 , 50 , 50 , 50 , 50 , 50 )
6 q6 = posj( 60 , 60 , 60 , 60 , 60 , 60 )
7  
8 int_y = tp_get_user_input( "message1" , input_type = DR_VAR_INT)
9 if int_y = = 1 : # Moves to q1 if the TP user input is 1.
10 movej(q1, vel = 30 , acc = 30 )
11 else : # Moves to q2 if the TP user input is not 1.
12 movej(q2, vel = 30 , acc = 30 )
13
14 float_y = tp_get_user_input( "message2" , input_type =
DR_VAR_FLOAT)
15 if float_y = = 3.14 : # Moves to q3 if the TP user input is
3.14.
16 movej(q3, vel = 30 , acc = 30 )
17 else : # Moves to q4 if the TP user input is not 3.14.
18 movej(q4, vel = 30 , acc = 30 )
19  
20 str_y = tp_get_user_input( "message3" , input_type = DR_VAR_STR)
21 if str_y = = "a" : # Moves to q5 if the TP user input is
"a".
22 movej(q5, vel = 30 , acc = 30 )
23 else : # Moves to q6 if the TP user input is not "a".
24 movej(q6, vel = 30 , acc = 30 )
25  
26 bool_y = tp_get_user_input( "message3" , input_type =
DR_VAR_BOOL)
27 if bool_y = = True : # Moves to q5 if the TP user input
is "True or 1".
28 movej(q5, vel = 30 , acc = 30 )
29 else : # Moves to q6 if the TP user input is
"False or 0"
30 movej(q6, vel = 30 , acc = 30 )

7.3 Thread

7.3.1 thread_run(th_func_name, loop=False)

Features
This function creates and executes a thread. The features executed by the thread are determined by the
functions specified in th_func_name.

 Note
The following constraints are applied when using the thread command.

- 257 - Programming manual(V2.9.3)

  
System Commands

• Up to 4 threads can be used.

• The following motion command cannot be used to move the robot in the thread.
• movej, amovej, movejx, amovejx, movel, amovel, movec, amovec, movesj, amovesj,
• movesx, amovesx, moveb, amoveb, move_spiral, amove_spiral,
• move_periodic, amove_periodic, move_home
• The thread commands do not operate normally when the loop=Ture during thread_run and the
block is an indefinite loop within the thread function. (The thread is normally stopped when the
stop command is executed through the TP.)

Parameters
Parameter Name Data Type Default Value Description

th_func_name callable - Name of the function run by

the thread

loop bool False Flag indicates whether the

thread will be repeated
• True: Repeated calling
of th_func_name
(interval 0.01second)
• False: One-time calling
of th_func_name

Return
Value Description

int Registered thread ID

Negative value Failed

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

- 258 - Programming manual(V2.9.3)

  
System Commands

Exception Description

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 #----- Thread --------------------------------------

2 def fn_th_func():
3 if check_motion() = = 0 : # No motion in action
4 set_digital_output( 1 , OFF)
5 else :
6 set_digital_output( 1 , ON)
7  
8 #----- Main routine ----------------------------------
9 th_id = thread_run(fn_th_func, loop = True ) # Thread run
10  
11 while 1 :
12 # do something…
13 wait( 0.1 )

7.3.2 thread_stop(th_id)

Features
This function terminates a thread.

The program is automatically terminated when the DRL program is terminated even if the thread_stop()
command is not used.

Parameters
Parameter Name Data Type Default Value Description

th_id int - Thread ID to stop

Return
Value Description

0 Success

Negative value Failed

- 259 - Programming manual(V2.9.3)

  
System Commands

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 def fn_th_func():
2 if check_motion() = = 0 : # No motion in action
3 set_digital_output( 1 , OFF)
4 else :
5 set_digital_output( 1 , ON)
6 #----- Main routine --------------------------------------
7 th_id = thread_run(fn_th_func, loop = True )
8  
9 # do something…
10 thread_stop(th_id) # Stops the thread.

7.3.3 thread_pause(th_id)

Features
This function temporarily suspends a thread.

Parameters
Parameter Name Data Type Default Value Description

th_id int - Thread ID to suspend

Return
Value Description

0 Success

- 260 - Programming manual(V2.9.3)

  
System Commands

Value Description

Negative value Failed

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 def fn_th_func():
2 if check_motion() = = 0 : # No motion in action
3 set_digital_output( 1 , OFF)
4 else :
5 set_digital_output( 1 , ON)
6 #----- Main routine --------------------------------------
7 th_id = thread_run(fn_th_func, loop = True )
8  
9 # do something…
10  
11 thread_pause(th_id) # Suspends the thread.

7.3.4 thread_resume(th_id)

Features
This function resumes a temporarily suspended thread.

Parameters
Parameter Name Data Type Default Value Description

th_id int - Suspended thread ID to

be resumed

- 261 - Programming manual(V2.9.3)

  
System Commands

Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 def fn_th_func():
2 if check_motion() = = 0 : # No motion in action
3 set_digital_output( 1 , OFF)
4 else :
5 set_digital_output( 1 , ON)
6  
7 #----- Main routine --------------------------------------
8 th_id = thread_run(fn_th_func, loop = True )
9  
10 # do something…
11 thread_pause(th_id) # Suspends the thread.
12  
13 # do something…
14 thread_resume(th_id) # Resumes the suspended thread.

7.3.5 thread_state(th_id)

Features
This function checks the status of a thread.

- 262 - Programming manual(V2.9.3)

  
System Commands

Parameters
Parameter Name Data Type Default Value Description

th_id int - Thread ID to check the

status

Return
Value Description

1 RUN (TH_STATE_RUN)

2 PAUSE (TH_STATE_PAUSE)

3 STOP (TH_STATE_STOP)

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

Example

1 def fn_th_func():
2 if check_motion() = = 0 : # No motion in action
3 set_digital_output( 1 , OFF)
4 else :
5 set_digital_output( 1 , ON)
6
7 th_id = thread_run(fn_th_func, loop = True )
8 state1 = thread_state(th_id)
9  
10 thread_pause(th_id)
11 state2 = thread_state(th_id)

7.3.6 Integrated example - Thread

This example explains how to use the thread.

- 263 - Programming manual(V2.9.3)

  
System Commands

Example 1: Thread example

1 #----- thread 1: client comm. ---------------------

2 def fn_th_client():
3 global g_sock
4 global g_cmd
5 res, rx_data = client_socket_read(g_sock)
6 if res > 0 :
7 g_cmd = rx_data.decode() #decode: Converts byte type into a
string.
8 else : # Communication error
9 client_socket_close(g_sock)
10 exit() # Terminates the program.
11 wait( 0.1 )
12 return 0
13  
14 #----- thread 2: check IO -------------------------
15 def fn_th_check_io():
16 if get_digital_input( 1 ) = = ON:
17 exit() # Terminates the program.
18 wait( 0.1 )
19 return 0
20  
21 #----- main ---------------------------------------
22 g_sock = client_socket_open( "192.168.137.2" , 20002 ) #
Connects to the server.
23 g_cmd = ""
24  
25 g_th_id1 = thread_run(th_client, loop = True ) # Runs the
th_client thread.
26 g_th_id2 = thread_run(th_check_io, loop = True ) # Runs the
th_check_io thread.
27  
28 p1 = posj( 0 , 0 , 90 , 0 , 90 , 0 )
29 p2 = posj( 10 , 0 , 90 , 0 , 90 , 0 )
30 p3 = posj( 20 , 0 , 90 , 0 , 90 , 0 )
31  
32 while 1 :
33 if g_cmd = = "a" :
34 g_cmd = ""
35 movej(p1,vel = 100 ,acc = 100 )
36 client_socket_write(g_sock, b "end" )
37 if g_cmd = = "b" :
38 g_cmd = ""
39 movej(p2,vel = 100 ,acc = 100 )
40 client_socket_write(g_sock, b "end" )
41 if g_cmd = = "c" :
42 g_cmd = ""
43 movej(p3,vel = 100 ,acc = 100 )
44 client_socket_write(g_sock, b "end" )

- 264 - Programming manual(V2.9.3)

  
System Commands

45 wait( 0.1 )

th_client thread: Converts the data received from the server into a string and saves it in g_cmd.

th_check_io thread: Checks the state of contact no. 1 and terminates the program if it is ON.

main: Connects to the server.

          2 threads run: th_client and th_check_io

          If "a" is received from the server, it moves to p1 and sends "end" to the servers.

          If "b" is received from the server, it moves to p2 and sends "end" to the servers.

          If "c" is received from the server, it moves to p3 and sends "end" to the servers.

7.4 Others

7.4.1 wait(time)

Features
 This function waits for the specified time.

Parameters
Parameter Name Data Type Default Value Description

Time Float - Time [sec]

Return
Value Description

0 Success

Negative value Error

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

- 265 - Programming manual(V2.9.3)

  
System Commands

Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 wait( 1.3 ) # Waits for 1.3 seconds.

2  
3 while 1 : # Checks contact no. 1 every 0.1 second.
4 if get_digital_input( 1 ) = = ON:
5 set_digital_output( 1 , ON)
6 wait( 0.1 )

7.4.2 exit()

Features
This function terminates the currently running program.

Return
Value Description

0 Success

Exception
Exception Description

DR_Error (DR_ERROR_RUNTIME) C extension module error occurred

Example

1 exit()

- 266 - Programming manual(V2.9.3)

  
System Commands

7.4.3 sub_program_run(name)

Features
It executes a subprogram saved as a separate file.

Parameter
Parameter Name Data Type Default Value Description

name string - Name of subprogram

Return
Value Description

module Module object of executed subprogram

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME) C Extension module error occurred

DR_Error (DR_ERROR_STOP) Program terminated forcefully

 Note
• The first line of the subprogram must have the phrase "from DRCF import *".
• When programming with a teaching pendant, this phrase is automatically inserted.
• If the global variable names of the main program and subprograms are the same, they operate
as different variables. Variables cannot be referenced by each other.
• If you need to share variables between the main program and subprograms, use system
variables.
• System variables are set through the teaching pendant. Please refer to the user manual for
detailed usage.

- 267 - Programming manual(V2.9.3)

  
System Commands

Example

1 # subprogramA and subprogramB must be created and saved in

advance.
2  
3 <subProgramA.drl>
4 from DRCF import *
5 movej([ 0 , 0 , 90 , 0 , 90 , 0 ], vel = 30 , acc = 30 )
6  
7 <subProgramB.drl>
8 from DRCF import *
9 movej[( 10 , 0 , 90 , 0 , 90 , 0 ), vel = 30 , acc = 30 )
10  
11 <main program>
12 while True :
13 var_select = tp_get_user_input( "Select File" , DR_VAR_INT)
14 if var_select = = 0 :
15 sub_program_run( "subProgramA" ) # execute subProgramA
16 elif var_select = = 1 :
17 sub_program_run( "subProgramB" ) # execute subProgramB

7.4.4 drl_report_line(option)

Features
This command is used to turn ON / OFF the execution line display function when the DRL script is running. When
the run line display function is turned OFF, the time required to execute the run line display function is reduced,
which significantly speeds up the execution of the DRL.

 Caution
The following features do not operate in the section where the execution line display function is turned
OFF.
• Execution time display by line
• Variable monitoring
• System Variable Update
• Step by Step in Debug mode
• Brake Point in Debug mode

- 268 - Programming manual(V2.9.3)

  
System Commands

Parameter
Parameter Name Data Type Default Value Description

option Int - Whether to display the DRL execution line

ON(1)
OFF(0)

Return
Value Description

None -

Example

1 x = 0
2 y = 0
3  
4 drl_report_line(OFF) # Execution line display function OFF
5 while x < 1000 : # Execution line not displayed (speed
up execution)
6 x + = 1 # Execution line not displayed
(speed up execution)
7 drl_report_line(ON) # Execution line display function ON
8 x = 0 # Execution line shown
9 y = 0 # Execution line shown

7.4.5 set_fm(key, value)

Features
This command is used when interworking is required for information on variables (global variables, system
variables, etc.) created when the program is executed, in addition to the system information already defined
and linked with KT Smart Factory.

 Caution
Please note that this function will not work if the linkage information is not set in the KT Smart
Factory menu in the Setup menu.
The KT Smart Factory menu only appears when setting up KT-specific licenses.

- 269 - Programming manual(V2.9.3)

  
System Commands

Parameter
Parameter Name Data Type Default Value Description

key string - Data Name

value int - Interlocking Data Variable

float Possible data types
string • Integer data
• Real data
• string data

Return
Value Description

None -

Example

1 count = 0
2  
3 movej(posj( 0 , 0 , 90 , 0 , 90 , 0 ), vel = 30 , acc = 30 )
4 while True :
5 movej(posj( 0 , 0 , - 90 , 0 , 90 , 0 ), vel = 30 , acc = 3
0 )
6 movej(posj( 0 , 0 , 90 , 0 , 90 , 0 ), vel = 30 , acc = 30 )
7 count = count + 1
8 set_fm(“TotalCount”, count)

7.4.6 get_robot_model()

Features
This is a command to read the model name of the robot.

- 270 - Programming manual(V2.9.3)

  
System Commands

Return
Value Description

model name Returns the model name in String type.

"M1013", "M0617", "M0609", "M1509",

"A0307", "A0307S", "A0509", "A0509S", "A0912", "A0912S"
"H2515", "H2017”

Example

1 model = get_robot_model()
2  
3 if model = = "M1013" :
4 set_velj( 30 )
5 else :
6 set_velj( 50 )

7.4.7 get_robot_serial_num()

Features
This is a command to read the serial number of the robot.

Return
Value Description

serial_number Returns the serial number in String type.

Serial number: 6-character string consisting of numbers and
English characters

Example

1 serial_num = get_robot_serial_num()

- 271 - Programming manual(V2.9.3)

  
System Commands

7.4.8 check_robot_jts()

Features
This is a command to check whether the robot is equipped with a joint torque sensor.

Return
Value Description

0 Success

Negative value Error

Example

1 if check_robot_jts() ! = True :
2 movej([ 0 , 0 , 90 , 0 , 90 , 0 ], 60 , 30 )
3 else :
4 movej([ 0 , 0 , 0 , 0 , 0 , 0 ], 60 , 30 )

7.4.9 check_robot_fts()

Features
This is a command to check whether the robot is equipped with a force torque sensor.

Return
Value Description

0 Success

Negative value Error

Example

1 if check_robot_fts() ! = True :
2 movej([ 0 , 0 , 90 , 0 , 90 , 0 ], 60 , 30 )
3 else :

- 272 - Programming manual(V2.9.3)

  
System Commands

4 movej([ 0 , 0 , 0 , 0 , 0 , 0 ], 60 , 30 )

7.4.10 start_timer()

Features
This is a command to measure the execution time of the simulation program of the controller. When used with
the end_timer() command, it returns the execution time of the script between the two functions.

 Caution
This function is for measuring motion execution time in Windows environment and Linux environment.
When measuring in Real mode in an emulator (virtual controller) environment, incorrect values may be
returned.

Return
Value Description

0 Success

Negative value Error

Example

1 start_timer()
2 wait( 1 )
3 t = end_timer()
4 tp_log( "tttt={0} sec" . format (t))

Related Commands
• end_timer()(p. 273)

7.4.11 end_timer()

Features
This is a command to measure the execution time of the simulation program of the controller. When used with
the start_timer() command, it returns the execution time of the script between the two functions.

- 273 - Programming manual(V2.9.3)

  
System Commands

 Caution
This function is for measuring motion execution time in Windows environment and Linux environment.
When measuring in Real mode in an emulator (virtual controller) environment, incorrect values may be
returned.

Return
Value Description

float Measured time information (process execution time)

Example

1 start_timer()
2 wait( 1 )
3 t = end_timer()
4 tp_log( "tttt={0} sec" . format (t))

Related Commands
• start_timer()(p. 273)

- 274 - Programming manual(V2.9.3)

  
Mathematical Function

8 Mathematical Function

8.1 Basic Function

8.1.1 ceil(x)

Features
This function returns the smallest integer value of integers equal to or larger than x. It truncates up to the
integer.

Parameters
Parameter Name Data Type Default Description
Value

x float - -

Return
Value Description

rounded integer -

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

8.1.2 floor(x)

Features
This function returns the largest integer value of integers equal to or smaller than x. It rounds down to the
nearest one.

- 275 - Programming manual(V2.9.3)

  
Mathematical Function

Parameters
Parameter Name Data Type Default Description
Value

x float - -

Return
Value Description

rounded integer -

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

8.1.3 pow(x, y)

Features
Return x raised to the power of y.

Parameters
Parameter Name Data Type Default Description
Value

x float -

y float -

Return
Value Description

x raised to the power -

y

- 276 - Programming manual(V2.9.3)

  
Mathematical Function

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

8.1.4 sqrt(x)

Features
This function returns the square root of x.

Parameters
Parameter Data Defaul Description
Name Type t Value

x float - -

Return
Value Description

the square root of x Success

Exception
Exception Description

DR_Error Parameter data type error occured.

(DR_ERROR_TYPE)

8.1.5 log(x, b)

Features
This function returns the log of x with base b.

- 277 - Programming manual(V2.9.3)

  
Mathematical Function

Parameters
Parameter Name Data Type Default Description
Value

x float - -

b float - base, e (natural logarithm)

Return
Value Description

the logarithm of f to -
the base of b.

Exception
Exception Description

DR_Error Parameter data type error occured

(DR_ERROR_TYPE)

8.1.6 d2r(x)

Features
This function returns the x degrees value to radians.

Parameters
Parameter Name Data Type Default Value Description

x float - The angle in degrees

Return
Value Description

The angle in radians -

- 278 - Programming manual(V2.9.3)

  
Mathematical Function

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

8.1.7 r2d(x)

Features
This function returns the x radians value to degrees.

Parameters
Parameter Name Data Type Default Description
Value

x float The angle in radians

Return
Value Description

The angle in degrees -

Exception
Exception Description

DR_Error Parameter data type error occured

(DR_ERROR_TYPE)

8.1.8 random()

Features
This function returns a random number between 0 and 1.

- 279 - Programming manual(V2.9.3)

  
Mathematical Function

Return
Value Description

random number Random number between 0 and 1 (float)

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

8.2 Trigonometric functions

8.2.1 sin(x)

Features
This function returns the sine value of x radians.

Parameters
Parameter Name Data Type Default Description
Value

x float - -

Return
Value Description

the sine of x -

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

- 280 - Programming manual(V2.9.3)

  
Mathematical Function

8.2.2 cos(x)

Features
This function returns the sine value of x radians.

Parameters
Parameter Name Data Type Default Description
Value

x float - -

Return
Value Description

the cosine of x -

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

8.2.3 tan(x)

Features
This function returns the tangent value of x radians.

Parameters
Parameter Name Data Type Default Description
Value

x float - -

- 281 - Programming manual(V2.9.3)

  
Mathematical Function

Return
Value Description

the tangent of x -

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

8.2.4 asin(x)

Features
This function returns the arc sine value of x radians.

Parameters
Parameter Name Data Type Default Description
Value

x float -

Return
Value Description

the arc sine of x -

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

- 282 - Programming manual(V2.9.3)

  
Mathematical Function

8.2.5 acos(x)

Features
This function returns the arc cosine value of x radians.

Parameters
Parameter Name Data Type Default Description
Value

x float - -

Return
Value Description

the arc cosine of x -

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

8.2.6 atan(x)

Features
This function returns the arc tangent value of x radians.

Parameters
Parameter Name Data Type Default Description
Value

x float - -

- 283 - Programming manual(V2.9.3)

  
Mathematical Function

Return
Return Description

the arc tangent of x -

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

8.2.7 atan2(y, x)

Features
This function returns the arc tangent value of y/x radians.

Parameters
Parameter Name Data Type Default Value Description

y float - -

x float - -

Return
Value Description

the arc tangent of y/x The result is between -pi and pi

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

- 284 - Programming manual(V2.9.3)

  
Mathematical Function

8.3 Linear algebra

8.3.1 norm(x)

Features
This function returnesthe L2 norm of x.

Parameters
Parameter Name Data Type Default Value Description

x float[3] - Point coordinate (x, y, z)

Return
Value Description

float Size of the point coordinate vector

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

8.3.2 rotx(angle)

Features
This function returns a rotation matrix that rotates by the angle value along the x-axis.

Parameters
Parameter Name Data Type Default Description
Value

angle float 0 Rotating angle [deg]

- 285 - Programming manual(V2.9.3)

  
Mathematical Function

Return
Value Description

float[3][3] Rotation matrix

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

Example

1 rotm = rotx( 30 )

8.3.3 roty(angle)

Features
This function returns a rotation matrix that rotates by the angle value along the y-axis.

Parameters
Parameter Name Data type Default Description
Value

angle float 0 Rotating angle [deg]

Return
Value Description

float[3][3] Rotation matrix

- 286 - Programming manual(V2.9.3)

  
Mathematical Function

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 rotm = roty( 30 )

8.3.4 rotz(angle)

Features
This function returns a rotation matrix that rotates by the angle value along the z-axis.

Parameters
Parameter Name Data Type Default Description
Value

angle float 0 Rotating angle [deg]

Return
Value Description

float[3][3] Rotation matrix

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

- 287 - Programming manual(V2.9.3)

  
Mathematical Function

Example

1 rotm = rotz( 30 )

8.3.5 rotm2eul(rotm)

Features
This function receives a rotation matrix and returns the Euler angle (zyz order) to degrees. Of the Euler angle (rx,
ry, rz) returned as a result, ry is always a positive number.

Parameters
Parameter Name Data Type Default Description
Value

rotm Float[3][3] - Rotation matrix

Return
Value Description

float[3] ZYZ Euler angle [deg]

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 rotm = [[ 1 , 0 , 0 ],[ 0 , 0.87 , - 0.5 ],[ 0 , 0.5 , 0.87 ]]

2 eul = rotm2eul(rotm)

- 288 - Programming manual(V2.9.3)

  
Mathematical Function

8.3.6 rotm2rotvec(rotm)

Features
This function receives a rotation matrix and returns the rotation vector (angle/axis representation).

Parameters

Parameter Name Data Type Default Value Description

rotm float[3][3] - Rotation matrix

Return
Value Description

float[3] rotation vector

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

Example

1 rotm = [[ 1 , 0 , 0 ],[ 0 , 0.87 , - 0.5 ],[ 0 , 0.5 , 0.87 ]]

2 eul = rotm2rotvec(rotm)

8.3.7 eul2rotm([alpha,beta,gamma])

Features
This function transforms a Euler angle (zyz order) to a rotation matrix.

- 289 - Programming manual(V2.9.3)

  
Mathematical Function

Parameters
Parameter Name Data Type Default Description
Value

eul float[3] [0 0 0] Euler angle (zyz) [deg]

Return
Value Description

float[3][3] Rotation matrix

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 eul = [ 90 , 90 , 0 ]
2 rotm = eul2rotm (eul)

8.3.8 eul2rotvec([alpha,beta,gamma])

Features
This function transforms a Euler angle (zyz order) to a rotation vector.

Parameters
Parameter Name Data Type Default Description
Value

eul float[3] [0 0 0] Euler angle (zyz) [deg]

- 290 - Programming manual(V2.9.3)

  
Mathematical Function

Return
Value Description

float[3] rotation vector

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 eul = [ 90 , 90 , 0 ]
2 rotvec = eul2rotvec (eul)

8.3.9 rotvec2eul([rx,ry,rz])

Features
This function transforms a rotation vector to a Euler angle (zyz).

Parameters
Parameter Name Data Type Default Description
Value

rotvec float[3] - rotation vector

Return
Value Description

float[3] ZYZ Euler angle [deg]

- 291 - Programming manual(V2.9.3)

  
Mathematical Function

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 rotvec = [ 0.7854 , 0 , 0 ]
2 eul = rotvec2eul(rotvec) # eul=[45,0,0]

8.3.10 rotvec2rotm([rx,ry,rz])

Features
This function transforms a rotation vector to a rotation matrix.

Parameters
Parameter Name Data Type Default Description
Value

rotvec float[3] - rotation vector

Return
Value Description

float[3][3] Rotation matrix

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

- 292 - Programming manual(V2.9.3)

  
Mathematical Function

Example

1 rotm = rotvec2eul([ 0.7854 , 0 , 0 ])

8.3.11 htrans(posx1,posx2)

Features
This function returns the pose corresponding to T1*T2 assuming that the homogeneous transformation
matrices obtained from posx1 and posx2 are T1 and T2, respectively.

Parameters
Parameter Name Data Type Default Description
Value

posx1 posx - posx or

list position list [mm, deg]
(float[6])

posx2 posx - posx or

list position list [mm, deg]
(float[6])

Return
Value Description

posx [mm, deg]

- 293 - Programming manual(V2.9.3)

  
Mathematical Function

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 posx1 = [ 100 , 20 , 300 , 90 , 0 , 180 ]

2 posx2 = [ 200 , 50 , 100 , 90 , 30 , 150 ]
3 posx = htrans(posx1,posx2)

8.3.12 get_intermediate_pose(posx1,posx2,alpha)

Features
This function returns posx located at alpha of the linear transition from posx1 to posx2. It returns posx1 if alpha
is 0, the median value of two poses if alpha is 0.5, and posx2 if alpha is 1.

Parameters
Parameters Name Data Type Default Description
Value

posx1 posx - posx or

list position list [mm, deg]
(float[6])

posx2 posx - posx or

list position list [mm, deg]
(float[6])

alpha float - 0.0 ≤ alpha ≤ 1.0

Return
Value Description

posx [mm, deg]

- 294 - Programming manual(V2.9.3)

  
Mathematical Function

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 posx1 = [ 100 , 20 , 300 , 90 , 0 , 180 ]

2 posx2 = [ 200 , 50 , 100 , 90 , 30 , 150 ]
3 alpha = 0.5
4 posx = get_intermediate_pose(posx1,posx2,alpha)

8.3.13 get_distance(posx1, posx2)

Features
This function returns the distance between two pose positions in [mm].

Parameters
Parameter Name Data Type Default Description
Value

posx1 posx - posx or

list position list [mm]
(float[6])

posx2 posx - posx or

list position list [mm]
(float[6])

Return
Value Description

float [mm]

- 295 - Programming manual(V2.9.3)

  
Mathematical Function

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 posx1 = [ 100 , 20 , 300 , 90 , 0 , 180 ]

2 posx2 = [ 200 , 50 , 100 , 90 , 30 , 150 ]
3 dis_posx = get_distance(posx1, posx2)

8.3.14 get_normal(x1, x2, x3)

Features
This function returns the normal vector of a surface consisting of three points (posx) in the task space. This
direction is clockwise.

Parameters
Parameter Name Data Type Default Description
Value

x1 posx - posx or
list position list
(float[6])

x2 posx - posx or
list position list
(float[6])

x3 posx - posx or
list position list
(float[6])

- 296 - Programming manual(V2.9.3)

  
Mathematical Function

Return
Value Description

float[3] normal vector

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 x1 = posx( 0 , 500 , 700 , 30 , 0 , 90 )

2 x2 = posx( 500 , 0 , 700 , 0 , 0 , 45 )
3 x3 = posx( 300 , 100 , 500 , 45 , 0 , 45 )
4 vect = get_normal(x1, x2, x3)

8.3.15 add_pose(posx1,posx2)

Features
This function obtains the sum of two poses.

- 297 - Programming manual(V2.9.3)

  
Mathematical Function

Parameters
Parameter Name Data Type Default Description
Value

posx1 posx - posx or

list position list [mm, deg]
(float[6])

posx2 posx - posx or

list position list [mm, deg]
(float[6])

Return
Value Description

posx [mm, deg]

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 posx1 = [ 100 , 20 , 300 , 90 , 0 , 180 ]

2 posx2 = [ 200 , 50 , 100 , 90 , 30 , 150 ]
3 add_posx = add_pose(posx1, posx2)

8.3.16 subtract_pose(posx1,posx2)

Features
This function obtains the difference between two poses.

- 298 - Programming manual(V2.9.3)

  
Mathematical Function

Parameters
Parameter Name Data Type Default Description
Value

posx1 posx - posx or

list position list [mm, deg]
(float[6])

posx2 posx - posx or

list position list [mm, deg]
(float[6])

Return
Value Description

posx [mm, deg]

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 posx1 = [ 100 , 20 , 300 , 90 , 0 , 180 ]

2 posx2 = [ 200 , 50 , 100 , 90 , 30 , 150 ]
3 subtract_posx = subtract_pose(posx1, posx2)

8.3.17 inverse_pose(posx1)

Feature
This function returns the posx value that represents the inverse of posx.

- 299 - Programming manual(V2.9.3)

  
Mathematical Function

Parameter
Parameter Name Data Type Default Description
Value

posx1 posx - posx or

list position list [mm, deg]
(float[6])

Return
Value Description

posx [mm, deg]

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 posx1 = [ 100 , 20 , 300 , 90 , 0 , 180 ]

2 inv_posx = inverse_pose(posx1)

8.3.18 dot_pose(posx1, posx2)

Features
This function obtains the inner product of the translation component when two poses are given.

- 300 - Programming manual(V2.9.3)

  
Mathematical Function

Parameters

Parameter Name Data Type Default Value Description

posx1 posx - posx or

list (float[6]) position list [mm, deg]

posx2 posx - posx or

list (float[6]) position list [mm, deg]

Return
Value Description

float Inner product of two poses.

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 posx1 = [ 100 , 20 , 300 , 90 , 0 , 180 ]

2 posx2 = [ 200 , 50 , 100 , 90 , 30 , 150 ]
3 res = dot_pose(posx1, posx2)

8.3.19 cross_pose(posx1, posx2)

Features
This function obtains the outer product of the translation component when two poses are given.

- 301 - Programming manual(V2.9.3)

  
Mathematical Function

Parameters
Parameter Name Data Type Default Description
Value

posx1 posx - posx or

list position list [mm, deg]
(float[6])

posx2 posx - posx or

list position list [mm, deg]
(float[6])

Return
Value Description

float[3] Outer product of two poses.

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 posx1 = [ 100 , 20 , 300 , 90 , 0 , 180 ]

2 posx2 = [ 200 , 50 , 100 , 90 , 30 , 150 ]
3 res = cross_pose(posx1, posx2)

8.3.20 unit_pose(posx1)

Features
This function obtains the unit vector of the given posx translation component.

- 302 - Programming manual(V2.9.3)

  
Mathematical Function

Parameters
Parameter Name Data Type Default Description
Value

posx1 posx - posx or

list position list [mm, deg]
(float[6])

Return
Value Description

float[3] Unit vector of the given posx

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 posx1 = [ 100 , 20 , 300 , 90 , 0 , 180 ]

2 res = unit_pose(posx1)

- 303 - Programming manual(V2.9.3)

  
External Communication Commands

9 External Communication Commands

9.1 Serial

9.1.1 serial_open(port=None, baudrate=115200, bytesize=DR_EIGHTBITS,

parity=DR_PARITY_NONE, stopbits=DR_STOPBITS_ONE)

Features
This function opens a serial communication port.

Parameters
Parameter Name Data Type Default Description
Value

port string None • D-SUB(9 pin) Connection : “COM”

• USB to Serial Connection : “COM_USB”

baudrate int 115200 Baud rate

2400, 4800, 9600, 19200, 38400, 57600, 115200

bytesize int 8 Number of data bits

• DR_FIVEBITS: 5
• DR_SIXBITS: 6
• DR_SEVENBITS: 7
• DR_EIGHTBITS: 8

parity str "N" Parity checking

• DR_PARITY_NONE: "N"
• DR_PARITY_EVEN: "E"
• DR_PARITY_ODD: "O"
• DR_PARITY_MARK: "M"
• DR_PARITY_SPACE: "S"

stopbits int 1 Number of stop bits

• DR_STOPBITS_ONE =1
• DR_STOPBITS_ONE_POINT_FIVE = 1.5
• DR_STOPBITS_TWO = 2

- 304 - Programming manual(V2.9.3)

  
External Communication Commands

Return
Value Description

serial.Serial instance Successful connection

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error Serial.SerialException error occurred

(DR_ERROR_RUNTIM
E)

Example

1 # When connected to serial port D-SUB (9 pin)

2 ser = serial_open(port = "COM" , baudrate = 115200 , bytesize = D
R_EIGHTBITS,
3 parity = DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)
4
5 res = serial_write(ser, b "123ABC" )
6
7 serial_close(ser)
8
9
10 # When a USB to serial device is connected to a USB port
11 ser = serial_open(port = "COM_USB" , baudrate = 115200 ,
bytesize = DR_EIGHTBITS,
12 parity = DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)
13
14 res = serial_write(ser, b "123ABC" )
15
16 serial_close(ser)

- 305 - Programming manual(V2.9.3)

  
External Communication Commands

9.1.2 serial_close(ser)

Features
This function closes a serial communication port.

Parameters
Parameter Name Data Type Default Description
Value

ser serial.Serial - Serial instance

Return
Value Description

0 Successful closing of a serial port

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 ser = serial_open(port = "COM" , baudrate = 115200 , bytesize = D

R_EIGHTBITS,
2 parity = DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)
3
4 res = serial_write(ser, b "123456789" )
5
6 serial_close(ser)

9.1.3 serial_state(ser)

Featuers
This function returns the status of a serial communication port.

- 306 - Programming manual(V2.9.3)

  
External Communication Commands

Parameters
Parameter Name Data Type Default Description
Value

ser serial.Serial - Serial instance

Return
Value Description

1 Serial port opened

0 Serial port closed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 ser = serial_open(port = "COM" , baudrate = 115200 , bytesize = D

R_EIGHTBITS,
2 parity = DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)
3
4 state = serial_state(ser)
5
6 serial_close(ser)

9.1.4 serial_set_inter_byte_timeout(ser, timeout=None)

Features
This function sets the timeout between the bytes (inter-byte) when reading and writing to the port.

- 307 - Programming manual(V2.9.3)

  
External Communication Commands

Parameters
Parameter Name Data Type Default Description
Value

ser serial.Serial - Serial instance

timeout float None Timeout between bytes during reading or writing

• Continued processing of data that was
processed before the timeout
• None: inter-byte timeout not specified

Return
Value Description

0 Success

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 ser = serial_open(port = "COM" , baudrate = 115200 , bytesize = D

R_EIGHTBITS,
2 parity = DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)
3
4 res = serial_set_inter_byte_timeout(ser, 0.1 )
5
6 serial_close(ser)

9.1.5 serial_write(ser, tx_data)

Features
This function writes the data (tx_data) to a serial port.

- 308 - Programming manual(V2.9.3)

  
External Communication Commands

Parameters
Parameter Name Data Type Default Description
Value

ser serial.Serial - Serial instance

tx_data byte - Data to be transmitted

• The data type must be a byte.
• Refer to the example below.

Return
Value Description

0 Success

-1 The port is not open.

-2 serial.SerialException error occurred

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 ser = serial_open(port = "COM" , baudrate = 115200 , bytesize = D

R_EIGHTBITS,
2 parity = DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)
3
4 serial_write(ser, b "123456789" ) # b means the byte type.
5
6 # Convert string to byte
7 msg = “abcd” # msg is a string variable
8 serial_write(ser, msg.encode()) # encode() converts string type
to byte type
9
10 serial_close(ser)

- 309 - Programming manual(V2.9.3)

  
External Communication Commands

9.1.6 serial_read(ser, length=-1, timeout=-1)

Features
This function reads the data from a serial port.

Parameters
Parameter Name Data Type Default Description
Value

Ser serial.Serial - Serial instance

Length int -1 Number of bytes to read

• -1: Not specitied(The number of bytes to read is
not specified)
• n(>=0): The specified number of byte is read.

timeout int -1 Read waiting time

float • -1: Indefinite wait
• n(>0): n seconds

Return

Value(res, rx_data) Description

res n Number of bytes of the received data

-1 The port is not open.

-2 serial.SerialException error occurred

rx_data Number of bytes read (byte type)

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

- 310 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

Example

1 ser = serial_open(port = "COM" , baudrate = 115200 , bytesize = D

R_EIGHTBITS,
2 parity = DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)
3
4 res, rx_data = serial_read(ser)
5 #Wait indefinitely until data is received
6
7 res, rx_data = serial_read(ser, timeout = 3 )
8 #Wait until data is received, set a 3 seconds timeout
9 # If received within 3 seconds, the read data is returned
immediately
10 # Return the value read so far after 3 seconds have elapsed
11
12 res, rx_data = serial_read(ser, length = 100 )
13 # Wait indefinitely until reading 100 bytes
14
15 res, rx_data = serial_read(ser, length = 100 , timeout = 3 )
16 #Wait until reading 100byte, set 3 seconds timeout
17 # If 100 bytes are received within 3 seconds, the read data is
returned immediately.
18 # Return the value read so far after 3 seconds have elapsed
19
20 # Convert the received byte type to string type
21 rx_msg = rx_data.decode()
22 # rx_data is a byte type and decode() is used to convert it to a
string type.
23 # For example, if rx_data = b”abcd”, then rx_msg=”abcd”.
24
25 res, rx_data = serial_close(ser)

9.1.7 serial_get_count()

Features
This function reads the number of devices connected to USB to Serial.

- 311 - Programming manual(V2.9.3)

  
External Communication Commands

Return
Value (port_info, device_name) Description

count Number of connected serial ports

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

Example

1 count = serial_get_count() # read number of connected serial

ports
2  
3 for i in range (count):
4 port_info, device_name = serial_get_info(i + 1 )
5 tp_popup( "i={}, port ={}, dev ={}" . format (i, port_info,
device_name))

9.1.8 serial_get_info(id)

Features
This function reads the port information and device name of the connected USB to Serial.

Parameters
Parameter Name Data Type Default Description
Value

id int 1 ID of "USB to Serial" to read (1-10)

- 312 - Programming manual(V2.9.3)

  
External Communication Commands

Return
Value (port_info, device_name) Description

port_info Port information (NULL means no device is connected)

device_name Device name (NULL means no device is connected)

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

Example

1 port_info, device_name = serial_get_info( 1 ) #1 connected

device information
2 #port_info = "COM_USB"
3 ser = serial_open(port = port_info, baudrate = 115200 , bytesize =
R_EIGHTBITS,
4 parity = DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)

9.1.9 Combined Example - Serial

This is an example for performing a self-loop-back test on RXD (#2 pin) and

TXD (#3 pin) are connected with the serial port.

Example 1 : Self-loop-back test example

1 # serial port open

2 # if D-SUB (9pin) is connected: port="COM"
3 # if USB is connected with USB to Serial: port="COM_USB"
4 ser = serial_open(port = "COM_USB" , baudrate = 115200 ,
bytesize = DR_EIGHTBITS, parity = DR_PARITY_NONE, stopbits = DR_ST
OPBITS_ONE)
5 wait( 1 )
6

- 313 - Programming manual(V2.9.3)

  
External Communication Commands

7 # SEND DATA : "123ABC"

8 res = serial_write(ser, b "123ABC" ) # b means byte type
9 wait( 1 )
10
11 # READ DATA
12 res, rx_data = serial_read(ser)
13 # RXD and TXD are H/W connected res=6 (byte) rx_data = b"123ABC"
are recevied
14
15 tp_popup( "res ={0}, rx_data={1}" . format (res, rx_data))
16
17 # close corresponding serial port
18 serial_close(ser)

Received data is collected as is and the result is outputted as a TP pop-up message.

If executed properly, it outputs a result of res=6 rx_data = b’123ABC’.

Example 2 : Various packet transmission examples

Transmission packet: “MEAS_START” +data1[4byte]+data2[4byte]

           data1: Converts integer to 4 bytes ex) 1 → 00000001

           data2: Converts integer to 4 bytes ex) 2 → 00000002

ex) In case data1=1, data2=2: “MEAS_START”+00000001+00000002

                 Actual Packet: 4D4541535F53544152540000000100000002

Received packet: res=18, rx_data=“MEAS_START”+00000001+00000002

         Extract rxd1 : Convert 10th to 14th byte into integer

         Extract rxd2 : Convert 14th to 18th byte into integer

1 ser = serial_open(port = "COM_USB" , baudrate = 115200 ,

bytesize = DR_EIGHTBITS, parity = DR_PARITY_NONE, stopbits = DR_ST
OPBITS_ONE)
2 wait( 1 )
3
4 send_data = b "MEAS_START" # b means byte type
5 data1 = 1
6 data2 = 2
7 send_data + = (data1).to_bytes( 4 , byteorder = 'big' )
8 send_data + = (data2).to_bytes( 4 , byteorder = 'big' )
9
10 # SEND DATA
11 res = serial_write(ser, send_data)
12 wait( 1 )
13
14 # READ DATA
15 # RXD, TXD are connected by H/W, so send_data is received as it is
16 res, rx_data = serial_read(ser)

- 314 - Programming manual(V2.9.3)

  
External Communication Commands

17
18 tp_popup( "res ={0}, rx_data={1}" . format (res, rx_data))
19
20 rxd1 = int .from_bytes(rx_data[ 10 : 10 + 4 ], byteorder = 'big
' , signed = True )
21 rxd2 = int .from_bytes(rx_data[ 14 : 14 + 4 ], byteorder = 'big
' , signed = True )
22
23 tp_popup( "res={0}, rxd1={1}, rxd2={2}" . format (res, rxd1,
rxd2))
24
25 #Close the serial port
26 serial_close(ser)

Connect the USB to serial device to the USB port and send byte type send_data.

Since RXD(2pin) and TXD(3pin) are connected to receive the transmitted data as it is,

res = 18, rx_data has the same packet as send_data.

Extract rxd1 : Convert 10th to 14th byte into integer

Extract rxd2 : Convert 14th to 18th byte into integer

The end result will be res=18, rxd1=1, rxd2=2

9.2 Tcp/Client

9.2.1 client_socket_open(ip, port)

Features
This function creates a socket and attempts to connect it to a server (ip, port).

It returns the connected socket when the client is connected.

Parameters
Parameter Name Data Type Default Description
Value

ip str - Server IP address: (E.g.) “192.168.137.200”

port int - Server Port number (e.g.) 20002

- 315 - Programming manual(V2.9.3)

  
External Communication Commands

Return
Value Description

socket.socket Successful connection

instance

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error socket.error occurred during a connection

(DR_ERROR_RUNTIM
E)

Example

1 sock = client_socket_open( "192.168.137.200" , 20002 )

2 # An indefinite connection is attempted to the server
(ip="192.168.137.200", port=20002).
3 # The connected socket is returned if the connection is
successful.
4 # The data is read, written, and closed using the returned socket
as shown below.
5
6 client_socket_write(sock, b "123abc" ) # Sends data to the
server (b represents the byte type).
7 res, rx_data = client_socket_read(sock) # Receives the data
from the server.
8 client_socket_close(sock) # Closes the connection to
the server.

9.2.2 client_socket_close(sock)

Features
This function terminates communication with the server. To reconnect to the server, the socket must be closed
with client_socket_close(sock) and reopened.    

- 316 - Programming manual(V2.9.3)

  
External Communication Commands

Parameters
Parameter Name Data Type Default Description
Value

sock socket.socket - Socket instance returned from client_socket_open()

Return
Value Description

0 Successful disconnection

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_RUNTIME) socket.error occurred during disconnection

Example

1 sock = client_socket_open( "192.168.137.200" , 20002 )

2 # An indefinite connection is attempted to the server
(ip="192.168.137.200", port=20002).
3
4 # do something…
5
6 client_socket_close(sock) # Closes the connection to the
server.

9.2.3 client_socket_state(sock)

Features
This function returns the socket connection status.To know the connection status with the server, check the
return value of client_socket_read or client_socket_write (see Example 2).

- 317 - Programming manual(V2.9.3)

  
External Communication Commands

Parameters
Parameter Name Data Type Default Value Description

sock socket.socket - Socket instance returned

from client_socket_open()

Return
Value Description

1 Socket normal state

0 Socket abnormal state

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

Example

1 sock = client_socket_open( "192.168.137.200" , 20002 )

2  
3 state = client_socket_state(sock) # Reads the socket state.
4  
5 client_socket_close(sock)

Example 2

1 sock = client_socket_open( "192.168.137.200" , 20002 )

2 res, rx_data = client_socket_read(sock)
3 tp_log( "[RX] res={0}, rx_data ={1}" . format (res, rx_data))
4 if (res < 0 ):
5 tp_log( "[RX] server disconnect" ) #When the server connection
is disconnected
6 client_socket_close(sock)
7 exit()
8
9 client_socket_close(sock)

- 318 - Programming manual(V2.9.3)

  
External Communication Commands

9.2.4 client_socket_write(sock, tx_data)

Features
This function transmits data to the server.

Parameters
Parameter Name Data Type Default Value Description

sock socket.socket - Socket instance returned from

client_socket_open()

tx_data byte - Data to be transmitted

• The data type must be a byte.
•  Refer to the example below. 

Return
Value Description

0 Success

-1 The server is not connected.

-2 Server is disconnected, or
socket.error occurred during a data transfer

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

Example

1 sock = client_socket_open( "192.168.137.200" , 20002 )

2
3 client_socket_write(sock, b "1234abcd" ) # b means the byte type.
4
5 msg = "abcd" # msg is a string variable.

- 319 - Programming manual(V2.9.3)

  
External Communication Commands

6 client_socket_write(sock, msg.encode()) # encode() converts a

string type to a byte type.
7
8 client_socket_close(sock)

9.2.5 client_socket_read(sock, length=-1, timeout=-1)

Features
This function receives data from the server.

Parameters
Parameter Name Data Type Default Description
Value

sock socket.socke - Socket instance returned from client_socket_open()

t

length int -1 Number of bytes of the received data

• -1 : Not specified (The number of bytes to read
is not specified.)
• n(>=0) : The specified number of bytes is read.

timeout int -1 Waiting time for receipt

float • -1 : Indefinite wait
• n(>0) : n seconds

Return

Value (res, rx_data) Description

res >0 Number of bytes of the received data

-1 The server is not connected.

-2 Socket.error occurred during data reception

-3 Timeout during data reception

rx_data Received data (byte type)

- 320 - Programming manual(V2.9.3)

  
External Communication Commands

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

Example

1 sock = client_socket_open( "192.168.137.200" , 20002 )

2
3 res, rx_data = client_socket_read(sock) # Indefinite wait
until the data is received
4 # Reads all received data since the length is omitted.
5 # Waits indefinitely until the data is received since timeout is
omitted.
6 # (res = size of received data, rx_data=received data) is returned
when the data is received.
7
8 res, rx_data = client_socket_read(sock, timeout = 3 ) # Waits
for up to 3 seconds until the data is received.
9 # (res = size of received data, rx_data=received data) is returned
if the data is received within 3 seconds.
10 # (res = -3, rx_data=None) is returned if the data is not received
within 3 seconds.
11
12 res, rx_data = client_socket_read(sock, length = 64 ) # Reads
64 bytes of the received data.
13
14 res, rx_data = client_socket_read(sock, length = 64 , timeout = 3 )
15 # Reads 64 bytes of the received data within the 3-second timeout.
16
17 rx_msg = rx_data.decode() # rx_data is a byte type and can be
converted to a string type
18 # using decode().
19 # For example, if rx_data = b"abcd",
20 # rx_msg= "abcd".
21 client_socket_close(sock)

9.2.6 Integrated example (Tcp/Client)

Assume that server IP = 192.168.137,200 and open port =20002

and that the received packets are sent to the client as they are (mirroring).

- 321 - Programming manual(V2.9.3)

  
External Communication Commands

Example 1 : Example of a default TCP client

1 # Assume server IP = 192.168.137,200 and open port =20002.

2 g_sock = client_socket_open( "192.168.137.200" , 20002 )
3
4 tp_popup( "connect O.K!" ,DR_PM_MESSAGE)
5 while 1 :
6 client_socket_write(g_sock, b "abcd" ) # The string "abcd" is
sent in a byte type.
7 wait( 0.1 )
8 res, rx_data = client_socket_read(g_sock) # Waits for the data
from the server.
9 tp_popup( "res={0}, rx_data ={1}" . format (res, rx_data),
DR_PM_MESSAGE)
10 wait( 0.1 )

The example connects to the server and sends the string "abcd". (b converts the string to a byte type.)

The message received from the server is output to the TP.

res = 4 and rx_data=b"abcd" since the server transmits the received data as is.

Example 2 : Examples of a packet transfer

Transmission packet: “MEAS_START" +data1[4byte]+data2[4byte]

• data1: Conversion of the integer to 4 byte. ex) 1 → 00000001

• data2: Conversion of the integer to 4 byte. ex) 2 → 00000002

ex) data1=1 and data2=2: “MEAS_START"+00000001+00000002        

• Actual packet: 4D4541535F53544152540000000100000002

• Received packet: res=18, rx_data=“MEAS_START"+00000001+00000002
• rxd1 extraction: Conversion of 10th - 14th bytes to an integer
•  rxd2 extraction: Conversion of 14th - 18th bytes to an integer

1 g_sock = client_socket_open( "192.168.137.100" , 20002 )

2 tp_popup( "connect O.K!" ,DR_PM_MESSAGE)
3
4 send_data = b "MEAS_START"
5 data1 = 1
6 data2 = 2
7 send_data + = (data1).to_bytes( 4 , byteorder = 'big' )
8 send_data + = (data2).to_bytes( 4 , byteorder = 'big' )
9
10 client_socket_write(g_sock, send_data)
11
12 wait( 0.1 )

- 322 - Programming manual(V2.9.3)

  
External Communication Commands

13  
14 res, rx_data = client_socket_read(g_sock)
15 tp_popup( "res={0}, rx_data ={1}" . format (res, rx_data),
DR_PM_MESSAGE)
16  
17 rxd1 = int .from_bytes(rx_data[ 10 : 10 + 4 ], byteorder = 'big
' , signed = True )
18 rxd2 = int .from_bytes(rx_data[ 14 : 14 + 4 ], byteorder = 'big
' , signed = True )
19
20 tp_popup( "res={0}, rxd1={1}, rxd2={2}" . format (res, rxd1,
rxd2), DR_PM_MESSAGE)
21
22 client_socket_close(g_sock)

The example connects to the server and sends a byte type send_data.

res = 18 and rx_data=send_data since the server transmits the received data as is.

• rxd1 extraction: Conversion of 10th - 14th bytes to an integer

• rxd2 extraction: Conversion of 14th - 18th bytes to an integer

The final result is res=18, rxd1=1, and rxd2=2.

Example 3 : Reconnection

1 def fn_reconnect():
2 global g_sock
3 client_socket_close(g_sock)
4 g_sock = client_socket_open( "192.168.137.200" , 20002 )
5 return
6
7 g_sock = client_socket_open( "192.168.137.200" , 20002 )
8 tp_popup( "connect O.K!" ,DR_PM_MESSAGE)
9
10 client_socket_write(g_sock, b "abcd" )
11 wait( 0.1 )
12
13 while 1 :
14 res, rx_data = client_socket_read(g_sock)
15 if res < 0 :
16 fn_reconnect()
17 else :
18 tp_popup( "res={0}, rx_data ={1}" . format (res, rx_data),
DR_PM_MESSAGE)
19 wait( 0.1 )

The example checks the return value of the client_socket_read() command.

A negative value is returned if the connection to the server is terminated or there is a communication problem.

The function reconnect() is called to attempt a reconnection if a negative value is returned.

- 323 - Programming manual(V2.9.3)

  
External Communication Commands

Note that the opened socket is closed when a reconnection is attempted.

9.3 Tcp/Server

9.3.1 server_socket_open(port)

Features
The robot controller creates a server socket and waits for the connection to the client. Returns the connected
socket when the client is connected.

Parameters
Parameter Name Data Type Default Description
Value

port int - Port number to open

Return
Value Description

socket.socket Successful connection

instance

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error socket.error occurred during a connection

(DR_ERROR_RUNTIM
E)

Example

1 sock = server_socket_open( 20002 )

- 324 - Programming manual(V2.9.3)

  
External Communication Commands

2 # Opens the port 20002 and waits until the client connects.
3 # The connected socket is returned if the connection is
successful.
4 # The data is read, written, and closed using the returned socket
as shown below.
5  
6 server_socket_write(sock, b "123abc" ) # Sends data to the client
(b represents the byte type).
7 res, rx_data = server_socket_read(sock) # Receives the data
from the client.
8  
9 server_socket_close(sock) # Closes the connection to the client.

9.3.2 server_socket_close(sock)

Features
This function terminates communication with the client. To reconnect to the client, the socket must be closed
with server_socket_close(sock) and reopened.

Parameters
Parameter Name Data Type Default Description
Value

sock socket.soc - Socket instance returned from server_socket_open()

ket
socket instance

Return
Value Description

0 Successful disconnection

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error socket.error occurred during disconnection

(DR_ERROR_RUNTIM
E)

- 325 - Programming manual(V2.9.3)

  
External Communication Commands

Example

1 sock = server_socket_open( 20002 )

2 # Opens the port 20002 and waits until the client connects.
3
4 # do something…
5
6 server_socket_close(sock) ) # Closes the connection to the
client.

9.3.3 server_socket_state(sock)

Features
This function returns the socket status.

To know the connection status with the client, check the return value of server_socket_read or
server_socket_write (see Example 2).

Parameters
Parameter Name Data Type Default Description
Value

sock socket.socke - Socket instance returned from server_socket_open()

t
socket instance

Return
Value Description

1 Socket normal state

0 Socket abnormal state

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

- 326 - Programming manual(V2.9.3)

  
External Communication Commands

Example 1

1 sock = server_socket_open( 20002 )

2
3 state = server_socket_state(sock) # Reads the socket state.
4  
5 server_socket_close(sock)

Example 2

1 sock = server_socket_open( 20002 )

2
3 res, rx_data = server_socket_read(sock)
4 tp_log( "[RX] res={0}, rx_data ={1}" . format (res, rx_data))
5 if (res < 0 ): #When the client connection is disconnected
6 tp_log( "[RX] client disconnect" )
7 server_socket_close(sock)
8 exit()
9
10 server_socket_close(sock)

9.3.4 server_socket_write(sock, tx_data)

Features
This function transmits data to the client.

Parameters
Parameter Name Data Type Default Description
Value

sock socket.soc - Socket instance returned from server_socket_open()

ket
socket instance

tx_data byte - Data to be transmitted

• The data type must be a byte.
• Refer to the example below.

- 327 - Programming manual(V2.9.3)

  
External Communication Commands

Return
Value Description

0 Success

-1 The client is not connected.

-2 client is disconnected, or
socket.error occurred during a data transfer

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

Example

1 sock = server_socket_open( 20002 )

2
3 server_socket_write(sock, b "1234abcd" ) # b means the byte type.
4
5 msg = "abcd" # msg is a string variable.
6 server_socket_write(sock, msg.encode()) # encode() converts a
string type to a byte type.
7
8 server_socket_close(sock)

9.3.5 server_socket_read(sock, length=-1, timeout=-1)

Features
This function reads data from the client.

- 328 - Programming manual(V2.9.3)

  
External Communication Commands

Parameters
Parameter Name Data Type Default Description
Value

sock socket.socke - Socket instance returned from server_socket_open()

t
socket instance

length int -1 Number of bytes of the received data

• -1 : Not specified (The number of bytes to read
is not specified.)
• n(>=0) : The specified number of bytes is read.

timeout int -1 Waiting time for receipt

float • -1 : Indefinite wait
• n(>0) : n seconds

Return

Value (res, rx_data) Description

res 0 Number of bytes of the received data

-1 The client is not connected.

-2 socket.error occurred during data reception

-3 Timeout during data reception

rx_data Received data (byte type)

Example

1 sock = server_socket_open( 20002 )

2
3 res, rx_data = server_socket_read(sock) # Indefinite wait
until the data is received
4 # Reads all received data since the length is omitted.
5 # Waits indefinitely until the data is received since timeout is
omitted.
6 # (res = size of received data, rx_data=received data) is returned
when the data is received.
7

- 329 - Programming manual(V2.9.3)

  
External Communication Commands

8 res, rx_data = server_socket_read(sock, timeout = 3 ) # Waits

for up to 3 seconds until the data is received.
9 # (res = size of received data, rx_data=received data) is returned
if the data is received within 3 seconds.
10 # (res = -3, rx_data=None) is returned if the data is not received
within 3 seconds.
11  
12 res, rx_data = server_socket_read(sock, length = 64 ) # Reads
64 bytes of the received data.
13
14 res, rx_data = server_socket_read(sock, length = 64 , timeout = 3 )
15 # Reads 64 bytes of the received data within the 3-second timeout.
16
17 rx_msg = rx_data.decode() # rx_data is a byte type and can be
converted to a string type
18 # using decode().
19 # For example, if rx_data = b"abcd",
20 # rx_msg= "abcd".
21  
22 server_socket_close(sock)

9.3.6 Integrated example - Tcp/Server

The example assumes that the client connects to the controller with IP = 192,168,137.100 and port = 20002

and that the received packets are sent to the server as they are (mirroring).

Example 1 : Default TCP server example

1 g_sock = server_socket_open( 20002 )

2 tp_popup( "connect O.K!" ,DR_PM_MESSAGE)
3
4 while 1 :
5 server_socket_write(g_sock, b "abcd" ) # The string "abcd" is
sent in a byte type.
6 wait( 0.1 )
7 res, rx_data = server_socket_read(g_sock) # Waits for the data
from the server.
8 tp_popup( "res={0}, rx_data ={1}" . format (res, rx_data),
DR_PM_MESSAGE)
9 wait( 0.1 )

The example opens the port 20002 and waits until the client connects.

It connects to the client and sends the string "abcd".

The message received from the client is output to the TP.

res = 4 and rx_data=b"abcd" since the client transmits the received data as is.

- 330 - Programming manual(V2.9.3)

  
External Communication Commands

Example 2 : Examples of a packet transfer

Transmission packet: “MEAS_START" +data1[4byte]+data2[4byte]

           data1: Conversion of the integer to 4 byte. ex) 1 → 00000001

           data2: Conversion of the integer to 4 byte. ex) 2 → 00000002

ex) data1=1 and data2=2: “MEAS_START"+00000001+00000002        

                 Actual packet: 4D4541535F53544152540000000100000002

Received packet: res=18, rx_data=“MEAS_START"+00000001+00000002

         rxd1 extraction: Conversion of 10th - 14th bytes to an integer

         rxd2 extraction: Conversion of 14th - 18th bytes to an integer

1 g_sock = server_socket_open( 20002 )

2 tp_popup( "connect O.K!" ,DR_PM_MESSAGE)
3
4 send_data = b "MEAS_START"
5 data1 = 1
6 data2 = 2
7 send_data + = (data1).to_bytes( 4 , byteorder = 'big' )
8 send_data + = (data2).to_bytes( 4 , byteorder = 'big' )
9
10 server_socket_write(g_sock, send_data)
11
12 wait( 0.1 )
13
14 res, rx_data = server_socket_read(g_sock)
15 tp_popup( "res={0}, rx_data ={1}" . format (res, rx_data),
DR_PM_MESSAGE)
16
17 rxd1 = int .from_bytes(rx_data[ 10 : 10 + 4 ], byteorder = 'big
' , signed = True )
18 rxd2 = int .from_bytes(rx_data[ 14 : 14 + 4 ], byteorder = 'big
' , signed = True )
19
20 tp_popup( "res={0}, rxd1={1}, rxd2={2}" . format (res, rxd1,
rxd2), DR_PM_MESSAGE)
21  
22 server_socket_close(g_sock)

The example sends the byte type send_data.

res = 18 and rx_data=send_data since the client transmits the received data as is.

rxd1 extraction: Conversion of 10th - 14th bytes to an integer

rxd2 extraction: Conversion of 14th - 18th bytes to an integer

The final result is res=18, rxd1=1, and rxd2=2.

- 331 - Programming manual(V2.9.3)

  
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Example 3 : Reconnection

1 def fn_reopen():
2 global g_sock
3 server_socket_close(g_sock)
4 g_sock = server_socket_open( 20002 )
5 return
6
7 g_sock = server_socket_open( 20002 )
8 tp_popup( "connect O.K!" ,DR_PM_MESSAGE)
9
10 server_socket_write(g_sock, b "abcd" )
11 wait( 0.1 )
12
13 while 1 :
14 res, rx_data = server_socket_read(g_sock)
15 if res < 0 :
16 fn_reopen()
17 else :
18 tp_popup( "res={0}, rx_data ={1}" . format (res, rx_data),
DR_PM_MESSAGE)
19 wait( 0.1 )

The example checks the return value of the server_socket_read() command.

A negative value is returned if the connection to the client is terminated or there is a communication problem.

The function reopen() is called to wait for the client connection if a negative value is returned.

Note that the opened socket is closed when a reconnection is attempted.

9.4 Modbus

9.4.1 add_modbus_signal(ip, port, name, reg_type, index, value=0,

slaveid=255)

Features
This function registers the ModbusTCP signal. The Modbus I/O must be set in the Teach Pendant I/O set-up
menu. Use this command only for testing if it is difficult to use the Teach Pendant. The Modbus menu is disabled
in the Teach Pendant if it is set using this command.

- 332 - Programming manual(V2.9.3)

  
External Communication Commands

Parameters
Parameter Name Data Type Default Description
Value

ip string - IP address of the ModbusTCP module

port int - Port number of the ModbusTCP module

name string - Modbus signal name

reg_type int - Modbus signal type

• DR_MODBUS_DIG_INPUT
• DR_MODBUS_DIG_OUTPUT
• DR_MODBUS_REG_INPUT
• DR_MODBUS_REG_OUTPUT

index int - Modbus signal index

value int 0 Output when the type is

DR_COIL or DR_HOLDING_REGISTER
(ignored otherwise)

slaveid int 255 • Slave ID of the ModbusTCP module

(0 or 1-247 or 255)
0 : Broadcase address
255 : Default value for ModbusTCP

Return
Value Description

0 Success

Negative value Failed

- 333 - Programming manual(V2.9.3)

  
External Communication Commands

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 # An example of connecting two Modbus IO and allocating the

contacts
2 # Modbus IO 1 : IP address 192.168.137.254, port 502
3 Input Register Address 0 ~ 3 , signal name “input1”~”input4”
4 Holding Register Addreess 0 ~ 3 , signal name
“output1”~”output4”
5 # Modbus IO 2 : IP address 192.168.137.253, port 502
6 Input Register Address 0 ~ 3 , signal name “input1”~”input4”
7 Holding Register Addreess 0 ~ 3 , signal name
“output1”~”output4”
8
9 # set < Modbus IO 1 > “input1”~”input4”, “output1”~”output4”
10 add_modbus_signal(ip = "192.168.137.254" ,port = 502 , name = "inp
ut1" , reg_type = DR_INPUT_REGISTER, index = 0 , slaveid = 255 )
11 add_modbus_signal(ip = "192.168.137.254" ,port = 502 , name = "inp
ut2" , reg_type = DR_INPUT_REGISTER, index = 1 , slaveid = 255 )
12 add_modbus_signal(ip = "192.168.137.254" ,port = 502 , name = "inp
ut3" , reg_type = DR_INPUT_REGISTER, index = 2 , slaveid = 255 )
13 add_modbus_signal(ip = "192.168.137.254" ,port = 502 , name = "inp
ut4" , reg_type = DR_INPUT_REGISTER, index = 3 , slaveid = 255 )
14
15 add_modbus_signal(ip = "192.168.137.254" ,port = 502 , name = "out
put1" , reg_type = DR_HOLDING_REGISTER, index = 0 , value = 0 ,
slaveid = 255 )
16 add_modbus_signal(ip = "192.168.137.254" ,port = 502 , name = "
output2" , reg_type = DR_HOLDING_REGISTER, index = 1 , value = 0 ,
slaveid = 255 )

- 334 - Programming manual(V2.9.3)

  
External Communication Commands

17 add_modbus_signal(ip = "192.168.137.254" ,port = 502 , name = "

output3" , reg_type = DR_HOLDING_REGISTER, index = 2 , value = 0 ,
slaveid = 255 )
18 add_modbus_signal(ip = "192.168.137.254" ,port = 502 , name = "
output4" , reg_type = DR_HOLDING_REGISTER, index = 3 , value = 0 ,
slaveid = 255 )
19
20 # set < Modbus IO 1 > “input5”~”input8”, “output5”~”output8”
21 add_modbus_signal(ip = "192.168.137.253" ,port = 502 , name = "inp
ut5" ,
22 reg_type = DR_INPUT_REGISTER, index = 0 , slaveid = 255 )
23 add_modbus_signal(ip = "192.168.137.253" ,port = 502 , name = "
input6" ,
24 reg_type = DR_INPUT_REGISTER, index = 1 , slaveid = 255 )
25 add_modbus_signal(ip = "192.168.137.253" ,port = 502 , name = "
input7" ,
26 reg_type = DR_INPUT_REGISTER, index = 2 , slaveid = 255 )
27 add_modbus_signal(ip = "192.168.137.253" ,port = 502 , name = "
input8" ,
28 reg_type = DR_INPUT_REGISTER, index = 3 , slaveid = 255 )
29
30 add_modbus_signal(ip = "192.168.137.253" ,port = 502 , name = "
output5" , reg_type = DR_HOLDING_REGISTER, index = 0 , value = 0 ,
slaveid = 255 )
31 add_modbus_signal(ip = "192.168.137.253" ,port = 502 , name = "
output6" , reg_type = DR_HOLDING_REGISTER, index = 1 , value = 0 ,
slaveid = 255 )
32 add_modbus_signal(ip = "192.168.137.253" ,port = 502 , name = "
output7" , reg_type = DR_HOLDING_REGISTER, index = 2 , value = 0 ,
slaveid = 255 )
33 add_modbus_signal(ip = "192.168.137.253" ,port = 502 , name = "
output8" , reg_type = DR_HOLDING_REGISTER, index = 3 , value = 0 ,
slaveid = 255 )

9.4.2 add_modbus_rtu_signal(slaveid=1, port=None, baudrate=115200,

bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE,
stopbits=DR_STOPBITS_ONE, name, reg_type, index, value=0)

Features
This function registers the ModbusRTU signal. The Modbus I/O must be set in the Teach Pendant I/O set-up
menu. Use this command only for testing if it is difficult to use the Teach Pendant. The Modbus menu is disabled
in the Teach Pendant if it is set using this command.

- 335 - Programming manual(V2.9.3)

  
External Communication Commands

Parameters
Parameter Name Data Type Default Description
Value

slaveid int 1 Slave ID of the ModbusRTU (0 or 1-247)

0 : Broadcase address

port string None E.g.) “COM”, “COM_USB”, “/dev/ttyUSB0”

baudrate int 115200 Baud rate

9600, 19200, 57600, 115200, etc

bytesize int 8 Number of data bits

• DR_FIVEBITES: 5
• DR_SIXBITS: 6
• DR_SEVENBITS: 7
• DR_EIGHTBITS: 8

parity string "N" Parity checking

• DR_PARITY_NONE: "N"
• DR_PARITY_EVEN: "E"
• DR_PARITY_ODD: "O"

stopbits int 1 Number of stop bits

• DR_STOPBITS_ONE =1
• DR_STOPBITS_TWO = 2

name string - Modbus signal name

reg_type int - Modbus signal type

• DR_DISCRETE_INPUT =DR_MODBUS_DIG_INPUT
• DR_COIL =DR_MODBUS_DIG_OUTPUT
• DR_INPUT_REGISTER
=DR_MODBUS_REG_INPUT
• DR_HOLDING_REGISTER
=DR_MODBUS_REG_OUTPUT

index int - Modbus signal index

- 336 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter Name Data Type Default Description

Value

value int 0 Output when the type is

DR_COIL or DR_HOLDING_REGISTER
(ignored otherwise)

Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 add_modbus_rtu_signal(slaveid = 1 , port = port_info, baudrate = 1

15200 , bytesize = DR_EIGHTBITS, parity = DR_PARITY_NONE, stopbits =
R_STOPBITS_ONE, name = ’di1’, reg_type = DR_INPUT_REGISTER, index = 0
2  
3 add_modbus_rtu_signal(slaveid = 1 , port = port_info, baudrate = 1
15200 , bytesize = DR_EIGHTBITS, parity = DR_PARITY_NONE, stopbits =
R_STOPBITS_ONE, name = ’do1’, reg_type = DR_HOLDING_REGISTER,
index = 0 , value = 12345 )

- 337 - Programming manual(V2.9.3)

  
External Communication Commands

9.4.3 add_modbus_signal_multi(ip, port, slaveid=255, name=None,

reg_type=DR_HOLDING_REGISTER, start_address=0, cnt=1)

Features
This function registers the ModbusTCP FC15 & FC16 multiple signal. The Modbus I/O must be set in the Teach
Pendant I/O set-up menu. Use this command only for testing if it is difficult to use the Teach Pendant. The
Modbus menu is disabled in the Teach Pendant if it is set using this command.

 Note
Initial value setting function is not supported.

Parameters
Parameter Data Type Default Value Description
Name

ip string - IP address of the ModbusTCP module

port int - Port number of the ModbusTCP module

slaveid int 255 • Slave ID of the ModbusTCP module

(0 or 1-247 or 255)
0 : Broadcase address
255 : Default value for ModbusTCP

name string None Modbus signal name

reg_type int DR_HOLDING_REGISTER Modbus signal type

• DR_COIL
=DR_MODBUS_DIG_OUTPUT
• DR_HOLDING_REGISTER
=DR_MODBUS_REG_OUTPUT

start_addreess int 0 Start address of Modbus multiple signal

cnt int 1 Count of Modbus multiple signal

- 338 - Programming manual(V2.9.3)

  
External Communication Commands

Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIME)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 add_modbus_signal_multi(ip = "192.168.137.200" , port = 502 ,

slaveid = 255 , name = "multi" , reg_type = DR_HOLDING_REGISTER,
start_address = 0 , cnt = 5 )

9.4.4 add_modbus_rtu_signal_multi(slaveid=1, port=None,

baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE,
stopbits=DR_STOPBITS_ONE, name=None,
reg_type=DR_HOLDING_REGISTER, start_address=0, cnt=1)

Features
This function registers the ModbusRTU FC15 & FC16 multiple signal. The Modbus I/O must be set in the Teach
Pendant I/O set-up menu. Use this command only for testing if it is difficult to use the Teach Pendant. The
Modbus menu is disabled in the Teach Pendant if it is set using this command.

 Note

- 339 - Programming manual(V2.9.3)

  
External Communication Commands

Initial value setting function is not supported.

Parameters
Parameter Name Data Default Value Description
Type

slaveid int 1 Slave ID of the ModbusRTU (0 or 1-247)

0 : Broadcase address

port string None E.g.) “COM”, “COM_USB”, “/dev/ttyUSB0”

baudrate int 115200 Baud rate

9600, 19200, 57600, 115200, etc

bytesize int 8 Number of data bits

• DR_FIVEBITES: 5
• DR_SIXBITS: 6
• DR_SEVENBITS: 7
• DR_EIGHTBITS: 8

parity string "N" Parity checking

• DR_PARITY_NONE: "N"
• DR_PARITY_EVEN: "E"
• DR_PARITY_ODD: "O"

stopbits int 1 Number of stop bits

• DR_STOPBITS_ONE =1
• DR_STOPBITS_TWO = 2

name string - Modbus signal name

reg_type int - Modbus signal type

• DR_COIL =DR_MODBUS_DIG_OUTPUT
• DR_HOLDING_REGISTER
=DR_MODBUS_REG_OUTPUT

start_address int 0 Start address of Modbus multiple signal

cnt int 1 Count of Modbus multiple signal

- 340 - Programming manual(V2.9.3)

  
External Communication Commands

Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data type error occurred

DR_Error (DR_ERROR_VALUE) Parameter value is invalid

DR_Error C extension module error occurred

(DR_ERROR_RUNTIME)

DR_Error (DR_ERROR_STOP) Program terminated forcefully

Example

1 add_modbus_rtu_signal_multi(slaveid = 1 , port = ”COM”, baudrate = 1

15200 , bytesize = DR_EIGHTBITS, parity = DR_PARITY_NONE, stopbits =
R_STOPBITS_ONE, name = ”multi”, reg_type = DR_HOLDING_REGISTER,
start_address = 0 , cnt = 5 )

9.4.5 del_modbus_signal(name)

Features
This function deletes the registered Modbus signal. The Modbus I/O must be set in the Teach Pendant I/O set-up
menu. Use this command only for testing if it is difficult to use the Teach Pendant. The Modbus menu is disabled
in the Teach Pendant if it is set using this command.

- 341 - Programming manual(V2.9.3)

  
External Communication Commands

Parameters
Parameter Name Data Type Default Description
Value

name string - Name of the registered Modbus signal

Return
Value Description

0 Success

Negative Failed
value

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 # Use the following command when the Modbus IO signals are

registered as "input1" and "output1"
2 # and this signal registration is to be deleted. .
3 del_modbus_signal( "input1" ) # Deletes the registered "
input1" contact
4 del_modbus_signal( "output1" ) # Deletes the registered
" output1" contact

- 342 - Programming manual(V2.9.3)

  
External Communication Commands

9.4.6 del_modbus_signal_multi(name)

Features
This function deletes the registered Modbus multiple signal. The Modbus I/O must be set in the Teach Pendant
I/O set-up menu. Use this command only for testing if it is difficult to use the Teach Pendant. The Modbus menu
is disabled in the Teach Pendant if it is set using this command.

Parameters
Parameter Name Data Type Default Description
Value

name string - Name of the registered Modbus multiple signal

Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

- 343 - Programming manual(V2.9.3)

  
External Communication Commands

Example

1 # Use the following command when the Modbus multiple signal is

registered as "multi1"(cnt=5)
2 # and this signal registration is to be deleted. .
3 del_modbus_signal_multi( "multi1" ) # Deletes the registered
"multi1" contact

9.4.7 set_modbus_output(iobus, value)

Features
This function sends the signal to an external Modbus system.

Function Code 05 Write Single Coil Register

Function Code 06 Write Signle Holding Register

Parameters

Parameter Data Type Default Description

Name Value

iobus string - modbus name (set in the TP)

value int - Value for Modbus coil register.

• ON : 1
• OFF : 0

Value for Modbus holding register

 Note
When registered as a multiple signal, it is available by adding address value index to signal name.

Return
Value Description

0 Success

Negative value Failed

- 344 - Programming manual(V2.9.3)

  
External Communication Commands

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #Modbus Coil Registers are registered as "do1" and "do2".

2 set_modbus_output( "do1" , ON)
3 set_modbus_output( "do2" , OFF)
4
5 #Modbus Holding Registers are registered as "reg1" and "reg2".
6 set_modbus_output( "reg1" , 10 )
7 set_modbus_output( "reg2" , 24 )
8
9 #Modbus multiple signal is registered as “multi”(start address=10,
cnt=2).
10 #“multi_10” & “multi_11” abailable
11 set_modbus_output( "multi_10" , 24 )
12 set_modbus_output( "multi_11" , 65535 )

9.4.8 set_modbus_outputs(iobus_list, val_list)

Features
This function sends multiple signals to the Modbus Slave unit.

The maximum number of outputs is 32.

- 345 - Programming manual(V2.9.3)

  
External Communication Commands

Parameters
Parameter Name Data Type Default Description
Value

iobus string - Modbus name (set in the TP)

value int - I/O output value list

Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 # Modbus digital I/O output contact "d1" OFF, "d2" ON, and "d3" ON

2 set_modbus_outputs(iobus_list = [ "d1" , "d2" , "d3" ,],

val_list = [ 0 , 1 , 1 ])
3
4 # Modbus digital I/O output contact "d3" OFF and "d4" ON

- 346 - Programming manual(V2.9.3)

  
External Communication Commands

5 set_modbus_outputs([ "d3" , "d4" ], [ 0 , 1 ])

9.4.9 set_modbus_output_multi(iobus, val_list)

Features
This function sends the signal to an external Modbus system.

Function Code 15 Write Multiple Coil Register

Function Code 16 Write Multiple Holding Register

Parameters
Parameter Name Data Type Default Description
Value

iobus string - Modbus multiple signal name (set in the TP)

Val_list list Value list of modbus multiple signal

 Note
An error occurs if the number of singals registered in the multiple signal name does not match the
number of elemensts in the output value list.

Return
Value Description

0 Success

Negative value Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

- 347 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #Modbus Coil Registers are registered as "do1"(cnt=5),

"do2"(cnt=3)
2 set_modbus_output_multi( "do1" , [ON, OFF, ON, ON, ON])
3 set_modbus_output_multi( "do2" , [ON, ON, ON])
4
5 #Modbus Holding Registers are registered as "reg1"(cnt=5),
"reg2"(cnt=3)
6 set_modbus_output_multi( "reg1" , [ 10 , 101 , 12345 , 777 ,
555 ])
7 set_modbus_output_multi( "reg2" , [ 24 , 25 , 26 ])

9.4.10 get_modbus_input(iobus)

Features
This function reads the signal from the Modbus Slave unit. Parameters

Parameters
Parameter Name Data Type Default Description
Value

iobus string - Modbus name (set in the TP)

 Note
When registered as a multiple signal, it is available by adding address value index to signal name.

- 348 - Programming manual(V2.9.3)

  
External Communication Commands

Return

Value Description

0 or 1 or value Modbus Descrete / Coil Register: ON or OFF

Modbus Input / Holding Register : Register value

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #Modbus digital I/O is connected, and the signals are registered

as "di1" and "di2".
2 get_modbus_input( "di1" )
3 get_modbus_input( "di2" )
4
5 #Modbus analog I/O is connected, and the signals are registered as
"reg1" and "reg2".
6 get_modbus_input( "reg1" )
7 get_modbus_input( "reg2" )
8
9 #Modbus multiple signal is registered as “multi”(start address=10,
cnt=2).
10 #“multi_10” & “multi_11” abailable
11 get_modbus_ input ( "multi_10" )
12 get_modbus_ input ( "multi_11" )

- 349 - Programming manual(V2.9.3)

  
External Communication Commands

9.4.11 get_modbus_inputs(iobus_list)

Features
This function reads multiple signals from the Modbus Slave unit.

Parameters
Parameter Name Data Type Default Description
Value

iobus_list list(string) - Modbus input name list (set in the TP)

signal type can be used only in the following cases
• DR_MODBUS_DIG_INPUT
• DR_MODBUS_DIG_OUTPUT

Return
Value Description

int (>=0) Multiple signals to be read at once

(the value of the combination of iobus_list where the first value is LSB and the last
value is MSB)

Negative number Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

- 350 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 # Modbus digital I/O input signal "di1" =OFF, "di2"=ON, and "di3"
=ON
2 res = get_modbus_inputs(iobus_list = [ "di1" , "di2" , "di3" ]
)
3 #res expected value = 0b110 (binary number), 6
(decimal number), or 0x06 (hexadecimal number)
4
5 # Modbus digital I I/O input signal "di4" OFF and "di5" ON
6 res = get_modbus_inputs([ "di4" , "di5" ])
7 #res expected value = 0b10 (binary number), 2
(decimal number), or 0x02 (hexadecimal number)

9.4.12 get_modbus_inputs_list(iobus_list)

Features
It is the command for reading multiple register type open signals from an external Modbus Slave unit.

Parameter
Parameter Name Data Type Default Description
Value

iobus_list list(string) - Modbus input name list (configured at TP)

Available only with the following signal types
• DR_MODBUS_REG_INPUT
• DR_MODBUS_REG_OUTPUT

Return
Value Description

res Number values read

val_list List of multiple signal values read simultaneously

- 351 - Programming manual(V2.9.3)

  
External Communication Commands

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 # Modbus Register I/O "Holding1" is 1234, "Input1" is 567,

2 # and "Holding2" is 9876
3 res, val_list = get_modbus_inputs_list(iobus_list = [
"Holding1" , "Input1" , "Holding2" ])
4 #res expected value = 3
5 #val_list expected value = [1234, 567, 9876]

9.4.13 get_modbus_input_multi (iobus)

Features
This function reads the signal from the Modbus Slave unit.

Parameters
Parameter Name Data Type Default Description
Value

iobus string - Modbus multi signal name (set in the TP)

- 352 - Programming manual(V2.9.3)

  
External Communication Commands

Return
Value Description

list List of values corresponding to the number of signals

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #Modbus multiple signal is registered as “multi”(cnt=2).

2 get_modbus_input( "multi" ) # return = [10, 101]

9.4.14 wait_modbus_input(iobus, val, timeout=None)

Features
This function waits until the specified signal value of the Modbus digital I/O becomes val (ON or OFF). The
waiting time can be changed with a timeout setting. The waiting time ends, and the result is returned if the
waiting time has passed. This function waits indefinitely if the timeout is not set.

Parameters

Parameter Name Data Type Default Value Description

iobus string - Modbus name (set in the TP)

- 353 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter Name Data Type Default Value Description

value int - Modbus digital I/O

• ON : 1
• OFF : 0

Value for Modbus analog I/O

timeout float - Waiting time (sec)

This function waits indefinitely if the timeout is
not set.

 Note
When registered as a multiple signal, it is available by adding address value index to signal name.

Return
Value Description

0 Success

-1 Failed (time-out)

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

- 354 - Programming manual(V2.9.3)

  
External Communication Commands

Example

1 wait_modbus_input( "CIN0" , ON) # Indefinite wait until the

"CIN0" signal becomes ON
2 wait_modbus_input( "CIN0" , OFF) # Indefinite wait until the
"CIN0" signal becomes OFF
3
4 res = wait_modbus_input( "CIN0" , ON, 3 ) # Wait for up to 3
seconds until the "CIN0" signal becomes ON
5 # res = 0 if the "CIN0" signal becomes ON within 3 seconds.
6 # res = -1 if the "CIN0" signal does not become ON within 3
seconds.
7
8 #Modbus multiple signal is registered as “multi”(start address=10,
cnt=2).
9 #“multi_10” & “multi_11” abailable
10 wait_modbus_input( "multi_10" )
11 wait_modbus_input( "multi_11" )

9.4.15 set_modbus_slave(address, val)

Features
It is used to export values to the General Purpose Register area of the Modbus TCP Slave.

Parameter
Parameter Name Data Type Default Description
Value

address int - Address value of GPR area  (128~255)

val int - 2byte value  (0~65535)

Return
Value Description

0 Success

Negative value Failure

- 355 - Programming manual(V2.9.3)

  
External Communication Commands

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 set_modbus_slave( 128 , 0 )
2 set_modbus_slave( 255 , 65535 )

9.4.16 get_modbus_slave(address)

Features
It is used to import values by approaching the General Purpose Register area of the Modbus TCP Slave.

Parameter
Parameter Name Data Type Default Description
Value

address int - Address value of the GPR area to read (128~255)

Return
Value Description

value Corresponding register value

- 356 - Programming manual(V2.9.3)

  
External Communication Commands

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 value1 = get_modbus_slave( 128 )

2 value2 = get_modbus_slave( 255 )

9.4.17 modbus_crc16(data)

Features
When using the Modbus protocol, this command reduces the load on Modbus CRC16 calculations.

Parameter
Parameter Name Data Type Default Description
Value

data byte - Modbus data for CRC16 calculations

Return
Value Description

crchigh High byte of CRC16 calculation result

- 357 - Programming manual(V2.9.3)

  
External Communication Commands

Value Description

crclow Low byte of CRC16 calculation result

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 data = b "\x01\x02\x03\x04\x05\x06"
2 crchigh, crclow = modbus_crc16(data)
3 #crchigh = 186(DEC), BA(HEX)
4 #crclow = 221(DEC), DD(HEX)

9.4.18 modbus_send_make(send_data)

Features
When using the Modbus protocol, this command provides the result data including the Modbus CRC16 result for
the send data.

Parameter
Parameter Name Data Type Default Description
Value

send_data byte - Transfer data requiring CRC calcuation

- 358 - Programming manual(V2.9.3)

  
External Communication Commands

Return
Value Description

result_data Data in which transmission data and CRC16 value are conbined

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 senddata = b "\x01\x02\x03\x04\x05\x06"
2 resultdata = modbus_send_make(senddata)
3 #resultdata = b'\x01\x02\x03\x04\x05\x06\xba\xdd’

9.4.19 modbus_recv_check(recv_data)

Features
When using Modbus protocol, this command to check data integrity using CRC16 value for receive data.

Parameter
Parameter Name Data Type Default Description
Value

recv_data byte - raw modbus data

- 359 - Programming manual(V2.9.3)

  
External Communication Commands

Return
Value Description

res True/False

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 #recvdata = b”\x01\x02\x03\x04\x05\x06\xba\xdd”
2 res = modbus_recv_check(recvdata)
3 #recv = True

9.4.20 modbus_unsigned_to_signed(unsigned_data)

Features
When using Modbus protocol, this is a command to convert 2 bytes unsigned data into signed data.

Parameter
Parameter Name Data Type Default Description
Value

unsigned_data int - 2byte unsigned data(0~65535)

- 360 - Programming manual(V2.9.3)

  
External Communication Commands

Return
Value Description

signed_data 2byte signed data(-32769 ~ 32767)

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 unsigned_data = 40000
2 signed_data = modbus_unsigned_to_signed(unsigned_data)

9.5 Industrial Ethernet (EtherNet/IP,PROFINET)

9.5.1 set_output_register_bit(address, val)

Features
It is used to export values to the Output Bit General Purpose Register area of the Industrial Ethernet(EtherNet/
IP, PROFINET) Slave.

- 361 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter
Parameter Name Data Type Default Description
Value

address unsigned - Address value of Output Bit GPR area in Industrial

short Ethernet Slave(0-63)

val int - ON : 1
OFF : 0

Return
Value Description

0 Success

Negative value Failure

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 set_output_ register_bit ( 0 , ON)

2 set_output_ register_bit ( 63 , OFF)

- 362 - Programming manual(V2.9.3)

  
External Communication Commands

9.5.2 set_output_register_int(address, val)

Features
It is used to export values to the Output Int General Purpose Register area of the Industrial Ethernet(EtherNet/
IP, PROFINET) Slave.

Parameter
Parameter Name Data Type Default Description
Value

address unsigned - Address value of Output Int GPR area in Industrial

short Ethernet Slave(0-23)

val int - int value (4byte)

Return
Value Description

0 Success

Negative value Failure

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

- 363 - Programming manual(V2.9.3)

  
External Communication Commands

Example

1 set_output _register_int ( 0 , 0x00FF00FF )

2 set_output _register_int ( 23 , 65535 )

9.5.3 set_output_register_float(address, val)

Features
It is used to export values to the Output Float General Purpose Register area of the Industrial Ethernet(EtherNet/
IP, PROFINET) Slave.

Parameter
Parameter Name Data Type Default Description
Value

address unsigned - Address value of Output Float GPR area in Industrial

short Ethernet Slave(0-23)

val float - float value (4byte)

Return
Value Description

0 Success

Negative value Failure

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

- 364 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 set_output _register_float ( 0 , 4.5 )

2 set_output _register_float ( 23 , 2.3 )

9.5.4 get_output_register_bit(address)

Features
It is used to import values to the Output Bit General Purpose Register area of the Industrial Ethernet(EtherNet/
IP, PROFINET) Slave.

Parameter
Parameter Name Data Type Default Description
Value

address unsigned - Address value of Output Bit GPR area in Industrial

short Ethernet Slave(0-63)

Return
Value Description

value Corresponding register value

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

- 365 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 a = get_output _register_bit ( 0 )
2 b = get_output _register_bit ( 63 )

9.5.5 get_output_register_int(address)

Features
It is used to import values to the Output Int General Purpose Register area of the Industrial Ethernet(EtherNet/
IP, PROFINET) Slave.

Parameter
Parameter Name Data Type Default Description
Value

address unsigned - Address value of Output Int GPR area in Industrial

short Ethernet Slave(0-23)

Return
Value Description

value Corresponding register value

- 366 - Programming manual(V2.9.3)

  
External Communication Commands

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 a = get_output _register_int ( 0 )
2 b = get_output_register_int( 23 )

9.5.6 get_output_register_float(address)

Features
It is used to import values to the Output Float General Purpose Register area of the Industrial
Ethernet(EtherNet/IP, PROFINET) Slave.

Parameter
Parameter Name Data Type Default Description
Value

address unsigned - Address value of Output Float GPR area in Industrial

short Ethernet Slave(0-23)

- 367 - Programming manual(V2.9.3)

  
External Communication Commands

Return
Value Description

value Corresponding register value

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 a = get_output _register_float ( 0 )
2 b = get_output _register_float ( 63 )

9.5.7 get_input_register_bit(address)

Features
It is used to import values to the Input Bit General Purpose Register area of the Industrial Ethernet(EtherNet/IP,
PROFINET) Slave.

- 368 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter
Parameter Name Data Type Default Description
Value

address unsigned - Address value of Input Bit GPR area in Industrial

short Ethernet Slave(0-63)

Return
Value Description

value Corresponding register value

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 a = get_input _register_bit ( 0 )
2 b = get_input_register_bit ( 63 )

- 369 - Programming manual(V2.9.3)

  
External Communication Commands

9.5.8 get_input_register_int(address)

Features
It is used to import values to the Input Int General Purpose Register area of the Industrial Ethernet(EtherNet/IP,
PROFINET) Slave.

Parameter
Parameter Name Data Type Default Description
Value

address unsigned - Address value of Input Int GPR area in Industrial

short Ethernet Slave(0-23)

Return
Value Description

value Corresponding register value

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 a = get_input _register_int ( 0 )

- 370 - Programming manual(V2.9.3)

  
External Communication Commands

2 b = get_input_register_int( 23 )

9.5.9 get_input_register_float(address)

Features
It is used to import values to the Input Float General Purpose Register area of the Industrial Ethernet(EtherNet/
IP, PROFINET) Slave.

Parameter
Parameter Name Data Type Default Description
Value

address unsigned - Address value of Input Float GPR area in Industrial

short Ethernet Slave(0-23)

Return
Value Description

value Corresponding register value

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

- 371 - Programming manual(V2.9.3)

  
External Communication Commands

Example

1 a = get_input _register_float ( 0 )
2 b = get_input _register_float ( 63 )

9.6 FOCAS

9.6.1 focas_connect(ip, port, timeout)

Features
This command is used to connect to the Machine Center Controller. When connected normally, a handle value
greater than 0 is returned.
The connectable controllers are as follows.

• FANUC Series 30i/31i/32i/35i-MODEL B

• FANUC Series 31i-MODEL B5
• FANUC Series Power Motion i-MODEL A
• FANUC Series 0i-MODEL D/F

Parameter
Parameter Name Data Type Default Description
Value

ip str - Server IP address: (e.g.) “192.168.137.200”

port int - Server Port number (e.g.) 8193

timeout int - timeout setting (infinite for 0:, unit: s)

Return
Value Description

Handle Success (return handle value)

errorCode Error code (refer to focas_get_error_str)

- 372 - Programming manual(V2.9.3)

  
External Communication Commands

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ErrCode, hMachineCenter = focas_connect( "10.10.0.95" , 8193 ,

10 )

9.6.2 focas_disconnect(handle)

Features
This command is used to disconnect from the Machine Center Controller.

Parameter
Parameter Name Data Type Default Description
Value

handle int - Communication specific control constant value

required for use of FOCAS

- 373 - Programming manual(V2.9.3)

  
External Communication Commands

Return
Value Description

errorCode 0 : Success
Value other than 0: error (see focas_get_error_str)

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ErrCode, hMachineCenter = focas_connect( "10.10.0.95" , 8193 ,

10 )
2 ErrCode = focas_disconnect(hMachineCenter)

9.6.3 focas_pmc_read_bit(handle, addr_type, start_num, bit_offset)

Features
This command is used to read PMC Data of Machine Center Controller. It is used when the data return type is bit.

 Caution
Before driving the DRL, be sure to check the PMC Signal Map of the controller before driving.

- 374 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter
Parameter Name Data Type Default Description
Value

handle int - Communication specific control constant value

required for use of FOCAS

addr_type str G (Output signal from PMC to CNC)

F (Input signal to PMC from CNC)
Y (Output signal to PMC from machine)
X (Input signal from PMC to machine)
A (Message display)
R (Internal relay)
T (Timer)
K (Keep relay)
C (Counter)
D (Data table)
M (Input signal from other PMC path)
N (Output signal to other PMC path)
E (Extra relay)
Z (System relay)
• Case insensitive

start_num Int Strart Address Number(0~9999)

bit_offset int Bit Offset(0~7)

Return
Value Description

errorCode 0: Success (communication is canceled normally)

Value other than 0: error (see focas_get_error_str)

pmc_data PMC data (bit type)

- 375 - Programming manual(V2.9.3)

  
External Communication Commands

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ErrCode, hMachineCenter = focas_connect(“ 10.10 . 0.95 ”, 8193 ,

10 )
2 ErrCode, PMC_Data = focas_pmc_read_bit(hMachineCenter,”R”, 3500 ,
0 )
3 ErrCode = focas_disconnect(hMachineCenter)

9.6.4 focas_pmc_read_char(handle, addr_type, start_num, read_count)

Features
This command is used to read PMC Data of Machine Center Controller. It is used when the data return type is
char (1Byte).

 Caution
Before driving the DRL, be sure to check the PMC Signal Map of the controller before driving.

Parameter
Parameter Name Data Type Default Description
Value

handle int - Communication specific control constant value

required for use of FOCAS

- 376 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter Name Data Type Default Description

Value

addr_type str G (Output signal from PMC to CNC)

F (Input signal to PMC from CNC)
Y (Output signal to PMC from machine)
X (Input signal from PMC to machine)
A (Message display)
R (Internal relay)
T (Timer)
K (Keep relay)
C (Counter)
D (Data table)
M (Input signal from other PMC path)
N (Output signal to other PMC path)
E (Extra relay)
Z (System relay)
• Case insensitive

start_num Int Strart Address Number(0~9999)

read_count int Read from Start Address Number

Number of chars (max. 5)

Return
Value Description

errorCode 0: Success (communication is canceled normally)

Value other than 0: error (see focas_get_error_str)

pmc_data PMC data (char type)

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

- 377 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ErrCode, hMachineCenter = focas_connect( "10.10.0.95" , 8193 ,

10 )
2 ErrCode, PMC_Data = focas_pmc_read_char(hMachineCenter, "R" , 10
0 , 3 )
3 ErrCode = focas_disconnect(hMachineCenter)

9.6.5 focas_pmc_read_word(handle, addr_type, start_num, read_count)

Features
This command is used to read PMC Data of Machine Center Controller. It is used when the data return type is
word (2Byte).

 Caution
Before driving the DRL, be sure to check the PMC Signal Map of the controller before driving.

Parameter
Parameter Name Data Type Default Description
Value

handle int - Communication specific control constant value

required for use of FOCAS

- 378 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter Name Data Type Default Description

Value

addr_type str G (Output signal from PMC to CNC)

F (Input signal to PMC from CNC)
Y (Output signal to PMC from machine)
X (Input signal from PMC to machine)
A (Message display)
R (Internal relay)
T (Timer)
K (Keep relay)
C (Counter)
D (Data table)
M (Input signal from other PMC path)
N (Output signal to other PMC path)
E (Extra relay)
Z (System relay)
• Case insensitive

start_num Int Strat Address Number(0~9999)

read_count int Read from Start Address Number

Number of words (max. 5)

Return
Value Description

errorCode 0: Success (communication is canceled normally)

Value other than 0: error (see focas_get_error_str)

pmc_data PMC data (word type)

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

- 379 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ErrCode, hMachineCenter = focas_connect( "10.10.0.95" , 8193 ,

10 )
2 ErrCode, PMC_Data = focas_pmc_read_word(hMachineCenter, "R" , 35
00 , 3 )
3 ErrCode = focas_disconnect(hMachineCenter)

9.6.6 focas_pmc_read_long(handle, addr_type, start_num, read_count)

Features
This command is used to read PMC Data of Machine Center Controller. It is used when the data return type is
long (4Byte).

 Caution
Before driving the DRL, be sure to check the PMC Signal Map of the controller before driving.

Parameter
Parameter Name Data Type Default Description
Value

handle int - Communication specific control constant value

required for use of FOCAS

- 380 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter Name Data Type Default Description

Value

addr_type str G (Output signal from PMC to CNC)

F (Input signal to PMC from CNC)
Y (Output signal to PMC from machine)
X (Input signal from PMC to machine)
A (Message display)
R (Internal relay)
T (Timer)
K (Keep relay)
C (Counter)
D (Data table)
M (Input signal from other PMC path)
N (Output signal to other PMC path)
E (Extra relay)
Z (System relay)
• Case insensitive

start_num Int Strart Address Number(0~9999)

read_count int Read from Start Address Number

Number of longs (max. 5)

Return
Value Description

errorCode 0: Success (communication is canceled normally)

Value other than 0: error (see focas_get_error_str)

pmc_data PMC data (long type)

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

- 381 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ErrCode, hMachineCenter = focas_connect( "10.10.0.95" , 8193 ,

10 )
2 ErrCode, PMC_Data = focas_pmc_read_long(hMachineCenter, "R" , 35
00 , 3 )
3 ErrCode = focas_disconnect(hMachineCenter)

9.6.7 focas_pmc_read_float(handle, addr_type, start_num, read_count)

Features
This command is used to read PMC Data of Machine Center Controller.

It is used when the data return type is float (4Byte, 32-bit-floatring-point-type).

 Caution
Before driving the DRL, be sure to check the PMC Signal Map of the controller before driving.

Parameter
Parameter Name Data Type Default Description
Value

handle int - Communication specific control constant value

required for use of FOCAS

- 382 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter Name Data Type Default Description

Value

addr_type str G (Output signal from PMC to CNC)

F (Input signal to PMC from CNC)
Y (Output signal to PMC from machine)
X (Input signal from PMC to machine)
A (Message display)
R (Internal relay)
T (Timer)
K (Keep relay)
C (Counter)
D (Data table)
M (Input signal from other PMC path)
N (Output signal to other PMC path)
E (Extra relay)
Z (System relay)
• Case insensitive

start_num Int Strart Address Number(0~9999)

read_count int Read from Start Address Number

Number of floats (max. 5)

Return
Value Description

errorCode 0: Success (communication is canceled normally)

Value other than 0: error (see focas_get_error_str)

pmc_data PMC data (float type)

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

- 383 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ErrCode, hMachineCenter = focas_connect( "10.10.0.95" , 8193 ,

10 )
2 ErrCode, PMC_Data = focas_pmc_read_float(hMachineCenter, "D" , 1
0 , 3 )
3 ErrCode = focas_disconnect(hMachineCenter)

9.6.8 focas_pmc_read_double(handle, addr_type, start_num, read_count)

Features
This command is used to read PMC Data of Machine Center Controller.

It is used when the data return type is double (8Byte, 64-bit-floatring-point-type).

 Caution
Before driving the DRL, be sure to check the PMC Signal Map of the controller before driving.

Parameter
Parameter Name Data Type Default Description
Value

handle int - Communication specific control constant value

required for use of FOCAS

- 384 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter Name Data Type Default Description

Value

addr_type str G (Output signal from PMC to CNC)

F (Input signal to PMC from CNC)
Y (Output signal to PMC from machine)
X (Input signal from PMC to machine)
A (Message display)
R (Internal relay)
T (Timer)
K (Keep relay)
C (Counter)
D (Data table)
M (Input signal from other PMC path)
N (Output signal to other PMC path)
E (Extra relay)
Z (System relay)
• Case insensitive

start_num Int Strart Address Number(0~9999)

read_count int Read from Start Address Number

Number of doubles (max. 5)

Return
Value Description

errorCode 0: Success (communication is canceled normally)

Value other than 0: error (see focas_get_error_str)

pmc_data PMC data (double type)

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

- 385 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ErrCode, hMachineCenter = focas_connect( "10.10.0.95" , 8193 ,

10 )
2 ErrCode, PMC_Data = focas_pmc_read_double(hMachineCenter, "D" , 1
0 , 3 )
3 ErrCode = focas_disconnect(hMachineCenter)

9.6.9 focas_pmc_write_bit(handle, addr_type, start_num, bit_offset,

write_data)

Features
This command is used to write PMC Data of Machine Center Controller.

It is used when the data return type is bit.

 Caution
Before driving the DRL, be sure to check the PMC Signal Map of the controller before driving.

Parameter
Parameter Name Data Type Default Description
Value

handle int - Communication specific control constant value

required for use of FOCAS

- 386 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter Name Data Type Default Description

Value

addr_type str G (Output signal from PMC to CNC)

F (Input signal to PMC from CNC)
Y (Output signal to PMC from machine)
X (Input signal from PMC to machine)
A (Message display)
R (Internal relay)
T (Timer)
K (Keep relay)
C (Counter)
D (Data table)
M (Input signal from other PMC path)
N (Output signal to other PMC path)
E (Extra relay)
Z (System relay)
• Case insensitive

start_num Int Strart Address Number(0~9999)

bit_offset int Bit Offset(0~7)

write_data Int ON : 1
OFF : 0

Return
Value Description

errorCode 0: Success (communication is canceled normally)

Value other than 0: error (see focas_get_error_str)

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

- 387 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ErrCode, hMachineCenter = focas_connect( "10.10.0.95" , 8193 ,

10 )
2 ErrCode = focas_pmc_write_bit(hMachineCenter, "R" , 3000 , 0 ,
ON)
3 ErrCode = focas_disconnect(hMachineCenter)

9.6.10 focas_pmc_write_char(handle, addr_type, start_num, write_data,

write_count)

Features
This command is used to write PMC Data of Machine Center Controller.

It is used when the data return type is char (1Byte).

 Caution
Before driving the DRL, be sure to check the PMC Signal Map of the controller before driving.

Parameter
Parameter Name Data Type Default Description
Value

handle int - Communication specific control constant value

required for use of FOCAS

- 388 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter Name Data Type Default Description

Value

addr_type str G (Output signal from PMC to CNC)

F (Input signal to PMC from CNC)
Y (Output signal to PMC from machine)
X (Input signal from PMC to machine)
A (Message display)
R (Internal relay)
T (Timer)
K (Keep relay)
C (Counter)
D (Data table)
M (Input signal from other PMC path)
N (Output signal to other PMC path)
E (Extra relay)
Z (System relay)
• Case insensitive

start_num Int Strart Address Number(0~9999)

write_data byte The type of data to be transmitted is byte.

write_count Int Enter the number of char data to be transmitted.

Up to 5

Return
Value Description

errorCode 0: Success (communication is canceled normally)

Value other than 0: error (see focas_get_error_str)

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

- 389 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ErrCode, hMachineCenter = focas_connect( "10.10.0.95" , 8193 ,

10 )
2 MC_Command = [ 129 , 213 ]
3 ErrCode = focas_pmc_write_char(hMachineCenter, "R" , 3000 ,
MC_Command, 2 )
4 ErrCode = focas_disconnect(hMachineCenter)

9.6.11 focas_pmc_write_word(handle, addr_type, start_num, write_data,

write_count)

Features
This command is used to write PMC Data of Machine Center Controller.

It is used when the data return type is word (2Byte).

 Caution
Before driving the DRL, be sure to check the PMC Signal Map of the controller before driving.

Parameter
Parameter Name Data Type Default Description
Value

handle int - Communication specific control constant value

required for use of FOCAS

- 390 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter Name Data Type Default Description

Value

addr_type str G (Output signal from PMC to CNC)

F (Input signal to PMC from CNC)
Y (Output signal to PMC from machine)
X (Input signal from PMC to machine)
A (Message display)
R (Internal relay)
T (Timer)
K (Keep relay)
C (Counter)
D (Data table)
M (Input signal from other PMC path)
N (Output signal to other PMC path)
E (Extra relay)
Z (System relay)
• Case insensitive

start_num Int Strart Address Number(0~9999)

write_data word The type of data to be transmitted is word(2Byte).

write_count Int Enter the number of word data to be transmitted.

Up to 5

Return
Value Description

errorCode 0: Success (communication is canceled normally)

Value other than 0: error (see focas_get_error_str)

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

- 391 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ErrCode, hMachineCenter = focas_connect( "10.10.0.95" , 8193 ,

10 )
2 MC_Command = [ - 129 , 1213 ]
3 ErrCode = focas_pmc_write_word(hMachineCenter, "R" , 3100 ,
MC_Command, 2 )
4 ErrCode = focas_disconnect(hMachineCenter)

9.6.12 focas_pmc_write_long(handle, addr_type, start_num, write_data,

write_count)

Features
This command is used to write PMC Data of Machine Center Controller.

It is used when the data return type is long (4Byte).

 Caution
Before driving the DRL, be sure to check the PMC Signal Map of the controller before driving.

Parameter
Parameter Name Data Type Default Description
Value

handle int - Communication specific control constant value

required for use of FOCAS

- 392 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter Name Data Type Default Description

Value

addr_type str G (Output signal from PMC to CNC)

F (Input signal to PMC from CNC)
Y (Output signal to PMC from machine)
X (Input signal from PMC to machine)
A (Message display)
R (Internal relay)
T (Timer)
K (Keep relay)
C (Counter)
D (Data table)
M (Input signal from other PMC path)
N (Output signal to other PMC path)
E (Extra relay)
Z (System relay)
• Case insensitive

start_num Int Strart Address Number(0~9999)

write_data int The type of data to be transmitted is long(4Byte).

write_count Int Enter the number of long data to be transmitted.

Up to 5

Return
Value Description

errorCode 0: Success (communication is canceled normally)

Value other than 0: error (see focas_get_error_str)

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

- 393 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ErrCode, hMachineCenter = focas_connect( "10.10.0.95" , 8193 ,

10 )
2 MC_Command = [ - 7129 , 11213 ]
3 ErrCode = focas_pmc_write_long(hMachineCenter, "G" , 3100 ,
MC_Command, 2 )
4 ErrCode = focas_disconnect(hMachineCenter)

9.6.13 focas_pmc_write_float(handle, addr_type, start_num, write_data,

write_count)

Features
This command is used to write PMC Data of Machine Center Controller.

It is used when the data return type is float (4Byte, 32-bit-floatring-point-type).

 Caution
Before driving the DRL, be sure to check the PMC Signal Map of the controller before driving.

Parameter
Parameter Name Data Type Default Description
Value

handle int - Communication specific control constant value

required for use of FOCAS

- 394 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter Name Data Type Default Description

Value

addr_type str G (Output signal from PMC to CNC)

F (Input signal to PMC from CNC)
Y (Output signal to PMC from machine)
X (Input signal from PMC to machine)
A (Message display)
R (Internal relay)
T (Timer)
K (Keep relay)
C (Counter)
D (Data table)
M (Input signal from other PMC path)
N (Output signal to other PMC path)
E (Extra relay)
Z (System relay)
• Case insensitive

start_num Int Strart Address Number(0~9999)

write_data float The type of data to be transmitted is float(4Byte).

write_count Int Enter the number of float data to be transmitted.

Up to 5

Return
Value Description

errorCode 0: Success (communication is canceled normally)

Value other than 0: error (see focas_get_error_str)

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

- 395 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ErrCode, hMachineCenter = focas_connect( "10.10.0.95" , 8193 ,

10 )
2 MC_Command = [ - 178.12 , 11.478 ]
3 ErrCode = focas_pmc_write_float(hMachineCenter, "G" , 3100 ,
MC_Command, 2 )
4 ErrCode = focas_disconnect(hMachineCenter)

9.6.14 focas_pmc_write_double(handle, addr_type, start_num, write_data,

write_count)

Features
This command is used to write PMC Data of Machine Center Controller.

It is used when the data return type is double (8Byte, 64-bit-floatring-point-type).

 Caution
Before driving the DRL, be sure to check the PMC Signal Map of the controller before driving.

Parameters
Parameter Name Data Type Default Description
Value

handle int - Communication specific control constant value

required for use of FOCAS

- 396 - Programming manual(V2.9.3)

  
External Communication Commands

Parameter Name Data Type Default Description

Value

addr_type str G (Output signal from PMC to CNC)

F (Input signal to PMC from CNC)
Y (Output signal to PMC from machine)
X (Input signal from PMC to machine)
A (Message display)
R (Internal relay)
T (Timer)
K (Keep relay)
C (Counter)
D (Data table)
M (Input signal from other PMC path)
N (Output signal to other PMC path)
E (Extra relay)
Z (System relay)
• Case insensitive

start_num Int Strart Address Number(0~9999)

write_data double The type of data to be transmitted is double(8Byte).

write_count Int Enter the number of double data to be transmitted.

Up to 5

Return
Value Description

errorCode 0: Success (communication is canceled normally)

Value other than 0: error (see focas_get_error_str)

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

- 397 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ErrCode, hMachineCenter = focas_connect( "10.10.0.95" , 8193 ,

10 )
2 MC_Command = [ - 178.12 , 11.478 ]
3 ErrCode = focas_pmc_write_double(hMachineCenter, "G" , 3100 ,
MC_Command, 2 )
4 ErrCode = focas_disconnect(hMachineCenter)

9.6.15 focas_get_error_str(handle, errorCode)

Features
It is used to analyze the errorCode returned when using the Focas Library related function. When entering an
error code, the cause of the related error is returned as a string.

Parameter
Parameter Name Data Type Default Description
Value

handle int - Communication specific control constant value

required for use of FOCAS

errorCode int - Error code returned after FOCAS related DRL execution

- 398 - Programming manual(V2.9.3)

  
External Communication Commands

Return
Value Description

errorCodeString Details of the error code (string)

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

ErrorCode Details

Exception Description

.-17 The following message is displayed depending on the detailed cause.

"The send data is larger than the maximum transfer unit"
"The sending data size is illegal"
"The number of the recieved packet is 0"
"The mark of the protocol is incorrect in the recieved packet header"
"The packet type flag is incorrect in the recieved packet header"
"The flag of the direction is incorrect in the recieved packet header"
"Illegal received data size"
"Communication error in the Ethernet Board "
"protocol error"

- 399 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

-16 The following message is displayed depending on the detailed cause.

"Error of socket API function ")
"Error of connect API function")
"Error of send API function"
"Error of recv API function"
"Error of select API function"
"Error of setsockopt API function"
"Error of gethostbyname API function"
"Timeout error of send API function"
"Timeout error of recv API function"
"Error of Winsock API is occurred in other process"
"EOF (end of file) detected "
"socket error"

-15 "DLL not exist error"

-14 "error in APi library inital valiefile"

-13 "low temperature alarm of intellig0ent terminal"

-12 "hight temperature alarm of intelligent terminal"

-11 "bus error"

-10 "system error"

-9 "hssb communication error"

-8 "library handle error"

-7 "CNC/PMC version missmatch"

-6 "abnormal error"

-5 "system error"

-4 "shared RAM parity error"

- 400 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

-3 "emm386 or mmcsys install error"

-2 "reset or stop occured error"

-1 "busy error"

0 "no problem"

1 "command prepare error or pmc not exist"

2 "data block length error"

3 "data number error or address range error"

4 "data attribute error or data type error"

5 "data error"

6 "no option error"

7 "write protect error"

8 "memory overflow error"

9 "cnc parameter not correct error"

10 "buffer error"

11 "path error"

12 "cnc mode error"

13 "execution rejected error"

14 "data server error"

15 "alarm has been occurred"

16 "CNC is not running"

- 401 - Programming manual(V2.9.3)

  
External Communication Commands

Exception Description

17 "protection data error"

18 "error generated by PMC"

19 "PMC handle error"

20 "overwrite stop in program read"

21 "reset interrupt in program read"

-100 "Library opening failed."

-101 "The maximum number of machine tools that can be connected has
been exceeded."

-102 "The handle is not connected"

Example

1 ErrCode, hMachineCenter = focas_connect( "10.10.0.95" , 8193 ,

10 )
2 if ErrCode ! = 0 :
3 ErrorString = focas_get_error_str(hMachineCenter, ErrCode)
4 MC_Command = [ - 178.12 , 11.478 ]
5 focas_pmc_write_double(hMachineCenter, "G" , 3100 , MC_Command,
2 )
6 focas_disconnect(hMachineCenter)

- 402 - Programming manual(V2.9.3)

  
External Vision Commands

10 External Vision Commands

10.1 Overview
Doosan Robotics provides the commands to guide robots with vision by connecting the robots to an external
vision system. It enables connecting a robot to a 2D vision system which can measure the object position (Tx,
Ty) data and the rotation (Rz) data (offset information) to guide the inputted robot task, and the commands can
receive the measurement data inputs of multiple objects. The installation and tasks of the robot application
using the 2D vision system need to calibrate the visual coordinate system of the vision system to the physical
coordinate system of the robot system (coordinate system correction). When using an external vision system,
the vision system must calibrate the coordinate system and transfer the corrected coordinate data to the robot.

The vision system can be installed in the Eye-in-hand mode connected to the robot or in-line mode separated
from the robot. It must be fixed so that the relative position of the robot and vision system does not change
during a task. The vision system and the robot controller communicate through the TCP/IP protocol, and
communication is established when the cable of the vision system is connected to the wired hub port of the
robot controller.

10.2 2D Vision - COGNEX / SICK / VISOR

2D Vision (COGNEX, SICK, VISOR) commands are composed as follows.

No. Type Command

1 Select Manufacturer vs_set_info(type)(p. 404)

2 Camera Connection vs_connect(ip_addr, port_num=9999)(p. 405)

vs_disconnect()(p. 406)

3 Vision Job Manage　 vs_get_job()(p. 406)

vs_set_job(job_name)(p. 407)

cognex_set_integer (job_name, integer_number)(p. 408)

visor_job_change(index)(p. 408)

4 Object Recognition/Detection vs_trigger()(p. 410)

5 Robot Task vs_set_init_pos(vision_posx_init, robot_posx_init, vs_pos=1)(p. 411)

- 403 - Programming manual(V2.9.3)

  
External Vision Commands

No. Type Command

vs_get_offset_pos(vision_posx _meas, vs_pos=1)(p. 412)

6 Custom vs_request(cmd)(p. 414)

vs_result()(p. 415)

10.2.1 vs_set_info(type)

Features
This function set the type of vision system to use.

Parameters
Parameter Name Data Type Default Description
Value

type int DR_VS_CU DR_VS_CUSTOM(0)

STOM
DR_VS_COGNEX(1)
DR_VS_SICK(2)
DR_VS_VISOR(3)

Return
Value Description

ID of Type ID of type to set

Example

1 vs_set_info(DR_VS_COGNEX) #Vision type information setting

2 vs_connect( "192.168.137.10" ) #Connect to vision - Vision IP,
Default port
3 # Enter your task
4 vs_disconnect() #Disconnect to vision

- 404 - Programming manual(V2.9.3)

  
External Vision Commands

• Supported Model

Type Model

DR_VS_COGNEX COGNEX IS2000M-23M Series

COGNEX IS5600/5705 Series
COGNEX IS7000Series
COGNEX IS8000Series

DR_VS_SICK SICK Inspector PIM60 Series

SICK Inspector PI50 Series

DR_VS_VISOR Sensopart V20 Series

DR_VS_CUSTOM

10.2.2 vs_connect(ip_addr, port_num=9999)

Features
This function establishes communication with the vision system.

Parameters
Parameter Name Data Type Default Description
Value

ip_addr str - Server IP of vison module (ex. 192.168.137.200)

port_num int 9999 Port Number (ex, 9999)

Return
Value Description

0 Connection success

-1 Connection failed

- 405 - Programming manual(V2.9.3)

  
External Vision Commands

Example

1 vs_set_info(DR_VS_COGNEX) #Vision type information setting

2 vs_connect( "192.168.137.10" ) #Connect to vision - Vision IP,
Default port
3 # Enter your task
4 vs_disconnect() #Disconnect to vision

10.2.3 vs_disconnect()

Features
This function terminates the connection to the vision system.

Return
Value Description

N/A N/A

Example

1 vs_set_info(DR_VS_COGNEX) #Vision type information setting

2 vs_connect( "192.168.137.10" ) #Connect to vision - Vision IP,
Default port
3 # Enter your task
4 vs_disconnect() #Disconnect to vision

10.2.4 vs_get_job()

Features
This function loaded the task name, currently loaded in the vision system.(*VS_TYPE: DR_VS_COGNEX,
DR_VS_SICK)

Return
Value Data Type Description

job_name string Connection success

- 406 - Programming manual(V2.9.3)

  
External Vision Commands

Value Data Type Description

-1 int Connection failed

Example

1 vs_set_info(DR_VS_COGNEX) #Vision type information setting

2 vs_connect( "192.168.137.10" ) #Connect to vision - Vision IP,
Default port
3
4 vs_set_job( "test.job" ) # Set (load) the current vision
job
5 job_name = vs_get_job() # Get the current setting vision
job
6 tp_popup( "{0}" . format (job_name))
7
8 vs_disconnect() # Disconnect to vision

10.2.5 vs_set_job(job_name)

Features
This function loaded the entered task into the vision system.

Parameters
Parameter Data Default Description
Name Type Value

job_name string Task name to be loaded.

Return
Value Data Type Description

0 int Success

-1 int Failed

Example

1 vs_set_info(DR_VS_COGNEX) #Vision type information setting

- 407 - Programming manual(V2.9.3)

  
External Vision Commands

2 vs_connect( "192.168.137.10" ) #Connect to vision - Vision IP,

Default port
3
4 vs_set_job( "test.job" ) # Set (load) the current vision
job
5 job_name = vs_get_job() # Get the current setting vision
job
6 tp_popup( "{0}" . format (job_name))
7
8 vs_disconnect() # Disconnect to vision

10.2.6 cognex_set_integer (job_name, integer_number)

Features
Loads the entered index of the corresponding job.

(*VS_TYPE: DR_VS_COGNEX)

Return
Value Description

1 Success

-1 Fail

Example

1 vs_set_info(DR_VS_COGNEX) #Vision type information

setting
2 vs_connect( "192.168.137.10" ) #Connect to vision - Vision
IP, Default port
3 res = cognex_set_integer( "Pattern_1.Scale_Tolerance" , 1 )
# Enter your task
4 tp_popup( "{0}" . format (res))
5 vs_disconnect() #Disconnect to vision

10.2.7 visor_job_change(index)

Features
Loads the Vision Sensor setting using the entered number.

(*VS_TYPE: DR_VS_VISOR)

- 408 - Programming manual(V2.9.3)

  
External Vision Commands

Parameters
Parameter Name Data Type Default Description
Value

index int - Job number to be changed

Return
Value Description

result Job change success (1)

Job change failure (-1)

Example

1 vs_set_info(DR_VS_VISOR) # Select type of vision

sensor
2 vs_connect( "192.168.137.101" ) # Vision IP, Default
port
3 vis_posx = posx ( 410 , 310 , 300 , 0 , 0 , 0 ) # Define
the initial posx data - vision
4 rob_posx = posx ( 400 , 300 , 300 , 0 , 180 , 0 ) # Define
the initial posx data - robot
5 vs_set_init_pos(vis_posx, rob_posx, VS_POS1) # Enter the initial
posx data to Vision
6 visor_job_change( 2 ) # change the job as the
input parameter
7
8 for i in range ( 10 ):
9 pos, var_list = vs_trigger() # Execute the
vision meausrement
10 tp_popup( "{0}" . format (var_list))
11
12 if var_list[ 0 ] = = 1 : # Check the
inspection result
13 robot_posx_meas = vs_get_offset_pos(pos, VS_POS1) #
offset the robot pose
14 tp_popup( "{0}" . format (robot_posx_meas))
15 else :
16 tp_popup( "Inspection Fail" )
17 vs_disconnect()

- 409 - Programming manual(V2.9.3)

  
External Vision Commands

10.2.8 vs_trigger()

Features
This function transmits the measurement command to the vision system. If the measurement is successful, the
result is returned.(*VS_TYPE: DR_VS_COGNEX, DR_VS_SICK)

Return
Value Data Type Description

pos posx pos: measuring position of an object (posx parameter type)

var_list list[float] var_list: Additional measurement results entered by Users

ex) Check pass/fail, distance measurement, angle measurement, etc.

-1, [] int failed

Example

1 vs_set_info(DR_VS_COGNEX) # Select type of vision

sensor
2 vs_connect( "192.168.137.10" ) # Vision IP, Default
port
3
4 vis_posx = posx ( 410 , 310 , 300 , 0 , 0 , 0 ) #
Define the initial posx data - vision
5 rob_posx = posx ( 400 , 300 , 300 , 0 , 180 , 0 ) # Define
the initial posx data - robot
6
7 vs_set_init_pos(vis_posx, rob_posx, VS_POS1) # Enter the initial
posx data to Vision
8
9 for i in range ( 10 ):
10 pos, var_list = vs_trigger() # Execute the
vision meausrement
11 if var_list[ 0 ] = = 1 : # Check the
inspection result
12 robot_posx_meas = vs_get_offset_pos(pos, VS_POS1) #
offset the robot pose
13 movel(robot_posx_meas) # move the robot pose
14 else :
15 tp_popup( "Inspection Fail" )
16
17 vs_disconnect()

- 410 - Programming manual(V2.9.3)

  
External Vision Commands

10.2.9 vs_set_init_pos(vision_posx_init, robot_posx_init, vs_pos=1)

Features
Enter the initial position information of the object to perform the vision guidance operation.
(*VS_TYPE: DR_VS_COGNEX, DR_VS_SICK)

Parameters
Parameter Name Data Type Default Description
Value

vision_posx_init posx - Vision measurement coordinate initial value

robot_posx_init posx - Coordinate initial value for robot work

vs_pos int 1 The pos number of the initial value entered

Return
Value Data Type Description

vs_pos int Success – The entered pos number

-1 int Failed

Example

1 vs_set_info(DR_VS_COGNEX) # Select type of vision

sensor
2 vs_connect( "192.168.137.10" ) # Vision IP, Default
port
3 vis_posx = posx ( 410 , 310 , 300 , 0 , 0 , 0 ) #
Define the initial posx data - vision
4 rob_posx = posx ( 400 , 300 , 300 , 0 , 180 , 0 ) # Define
the initial posx data - robot
5 vs_set_init_pos(vis_posx, rob_posx, VS_POS1) # Enter the initial
posx data to Vision
6 for i in range ( 10 ):
7 pos, var_list = vs_trigger() # Execute the
vision meausrement
8 if var_list[ 0 ] = = 1 : # Check the
inspection result

- 411 - Programming manual(V2.9.3)

  
External Vision Commands

9 robot_posx_meas = vs_get_offset_pos(pos, VS_POS1) #

offset the robot pose
10 movel(robot_posx_meas) # move the robot pose
11 else :
12 tp_popup( "Inspection Fail" )
13 vs_disconnect()

10.2.10 vs_get_offset_pos(vision_posx _meas, vs_pos=1)

Features
The coordinate of the robot is calculated using the coordinate values, measured in the vision system. The initial
value should be entered in advance through vs_set_init_pos.

Parameters
Parameter Name Data Type Default Description
Value

vision_posx_meas posx - Vision measurement coordinate values, caculated using

vs_trigger

vs_pos int 1 Pos number of the robot initial value to calculate offset
coordinate

Return
Value Data Type Description

robot_posx_meas posx Success

-1 int Failed

Example

1 vs_set_info(DR_VS_COGNEX) # Select type of vision

sensor
2 vs_connect( "192.168.137.10" ) # Vision IP, Default
port
3
4 vis_posx = posx ( 410 , 310 , 300 , 0 , 0 , 0 ) #
Define the initial posx data - vision
5 rob_posx = posx ( 400 , 300 , 300 , 0 , 180 , 0 ) # Define
the initial posx data - robot
6

- 412 - Programming manual(V2.9.3)

  
External Vision Commands

7 vs_set_init_pos(vis_posx, rob_posx, VS_POS1) # Enter the initial

posx data to Vision
8
9 for i in range ( 10 ):
10 pos, var_list = vs_trigger() # Execute the
vision meausrement
11 if var_list[ 0 ] = = 1 : # Check the
inspection result
12 robot_posx_meas = vs_get_offset_pos(pos, VS_POS1) #
offset the robot pose
13 movel(robot_posx_meas) # move the robot pose
14 else :
15 tp_popup( "Inspection Fail" )
16
17 vs_disconnect()

10.2.11 Integrated example - DR_VS_COGNEX, DR_VS_SICK

Example

1 vs_set_info(DR_VS_COGNEX) # Select type of

vision sensor
2 if ( vs_connect( "192.168.137.10" ) ! = 0 ): #
Vision IP, Default port
3 tp_popup( "connection fail" ,DR_PM_MESSAGE)
4 exit()
5  
6 vis_posx_init = posx ( 410 , 310 , 300 , 0 , 0 , 0 )
# Define the initial posx data - vision
7 rob_posx_init1 = posx ( 400 , 300 , 300 , 0 , 180 , 0 ) #
Define the initial posx data - robot
8 rob_posx_init2 = posx ( 420 , 320 , 300 , 0 , 180 , 0 ) #
Define the initial posx data - robot
9  
10 vs_set_init_pos(vis_posx_init, rob_posx_init1, VS_POS1) # Enter
the initial posx data to Vision
11 vs_set_init_pos(vis_posx_init, rob_posx_init2, VS_POS2)
12  
13 for i in range ( 10 ):
14 pos_meas, var_list = vs_trigger() # Execute the vision
meausrement
15 if pos_meas = = - 1 : # Vision Fail to
measure the object
16 tp_popup( "Vision measure fail" )
17 continue
18 if var_list[ 0 ] = = 1 : # Check the
inspection result
19 # Get guided posx data
20 rob_posx1_meas = vs_get_offset_pos(pos_meas, VS_POS1) #
offset the robot pose

- 413 - Programming manual(V2.9.3)

  
External Vision Commands

21 rob_posx2_meas = vs_get_offset_pos(pos_meas, VS_POS2) #

offset the robot pose
22 movel(rob_posx1_meas)
23 movel(rob_posx2_meas)
24 else :
25 tp_popup( "Inspection Fail" )
26 continue
27  
28 vs_disconnect()

10.2.12 vs_request(cmd)

Features
This function sets the feature for the vision system to request

(*VS_TYPE: DR_VS_CUSTOM)

Parameters
Parameter Name Data Type Default Description
Value

cmd int - The number of objects to be detected by the vision

system

Return
Value Description

0 Success

-1 Failed

-2 Communication timed out (3 sec.)

Example

1 vs_request( 1 ) # request the vision measurement on

the “1” job

- 414 - Programming manual(V2.9.3)

  
External Vision Commands

10.2.13 vs_result()

Features
This function retrieves the processing result of the vision system.

(*VS_TYPE: DR_VS_CUSTOM)

Return
Value Description

cnt Success
(>=1) The number of objects detected by the vision system

result Position list as a result of the vision system (x coordinate, y coordinate, rotation
value)

- cnt =-2 and res = empty list if failed

Example

1 vs_set_info(DR_VS_CUSTOM)
2 res = vs_connect( "192.168.137.200" , 9999 ) #Vision and
communication connection attempt
3 if res ! = 0 : #Check the result of communication
connection
4 tp_popup( "connection fail" ,DR_PM_MESSAGE) #If connection
fails, program ends
5 exit()
6  
7 ret = vs_request( 1 ) #Request for object vision
measurement information
8  
9 cnt, result = vs_result() # Get object measurement
result information
10  
11 for i in range (cnt):
12 x = result[i][ 0 ]
13 y = result[i][ 1 ]
14 t = result[i][ 2 ]
15 tp_popup( "x={0},y={1}, t={2}" . format (result[i][ 0 ],
result[i][ 1 ], result[i][ 2 ]),DR_PM_MESSAGE)

- 415 - Programming manual(V2.9.3)

  
External Vision Commands

10.2.14 Integrated example - DR_VS_CUSTOM

Communication Protocol
The vision system must conform to the following protocol to ensure that vision commands run properly.

vs_request (cmd)
1.  Robot controller → Vision system
• "MEAS_START" +cmd[4byte]
• cmd refers to the number of detected objects: Conversion of the integer to 4 bytes. ex) cmd=1 →
00000001
• ex) In case of cmd= 1 : “MEAS_START"+00000001
• Acutal packet : 4D4541535F535441525400000001
2. Vision system → Robot controller
• "MEAS_OK" is transmitted if the vision system is normal, and "MEAS_NG" is transmitted
otherwise.

vs_result()
1. Robot controller → Vision system
• “MEAS_REQUEST"
2. Vision system → Robot controller
• “MEAS_INFO" +cnt[4byte] +[(x[4byte] + y[4byte] + t[4byte]) x cnt]
• cnt refers to the number of detected objects.

- 416 - Programming manual(V2.9.3)

  
External Vision Commands

• The transmitted x (x coordinate), y (y coordinate), and t (rotation value) must be scaled up

100 times. 
• ex) cnt = 1 , (x=1.1 , y=2.2, t=3.3)
• “MEAS_INFO"+1[4byte] +110[4byte] +220[4byte] +330[4byte]
• Actual packet: 4D4541535F494E464F000000010000006E000000DC0000014A
• ex) cnt = 2 , (x=1.1 , y=2.2, t=3.3) (x=1.1 , y=-2.2, t=-3.3)
• “MEAS_ INFO"+2[4byte] +110[4byte] +220[4byte] +330[4byte]+110[4byte]
-220[4byte] -330[4byte]
• Actual packet:
4D4541535F494E464F000000020000006E000000DC0000014A0000006EFFFFFF24
FFFFFEB6

Example

1 vs_set_info(DR_VS_CUSTOM)
2 res = vs_connect( "192.168.137.200" , 9999 ) #Vision and
communication connection attempt
3 if res ! = 0 :
#Check the result of communication connection
4 tp_popup( "connection fail" ,DR_PM_MESSAGE) #Upon connection
failure, program termination
5 exit()
6
7 ret = vs_request( 1 )
#Request of Vision Measurement Information for No. 1 Object
8
9 cnt, result = vs_result() #Get
object measurement result information
10
11 for i in range (cnt):
12 x = result[i][ 0 ]
13 y = result[i][ 1 ]
14 t = result[i][ 2 ]
15 tp_popup( "x={0},y={1}, t={2}" . format (result[i][ 0 ],
result[i][ 1 ], result[i][ 2 ]),DR_PM_MESSAGE)

10.3 Pickit 3D
Pickit 3D commands are composed as follows.

No 구분 명령어
.

1 Camera Connection pickit_connect(ip)(p. 418)

- 417 - Programming manual(V2.9.3)

  
External Vision Commands

No 구분 명령어
.

pickit_disconnect()(p. 419)

2 Vision Job Manage pickit_change_configuration(setup_id, product_id))(p. 419)

3 Camera Calibration pickit_request_calibration()(p. 420)

4 Object Recognition/ pickit_detection(offset_z)(p. 420)

Detection
pickit_next_object(offset_z)(p. 422)

5 Backup pickit_save_snapshot()(p. 424)

10.3.1 pickit_connect(ip)

Features
This function establishes communication with the vision system.

The default IP of PickIt is 192.168.66.1, and the user must use an PickIt IP in the same bandwidth range as Robot
IP. See the Pickit Support site for details on how to use it.

Parameters
Parameter Name Data Type Default Description
Value

ip_addr str - Server IP of Pickit 3D (ex, 192.168.137.90)

Return
Value Description

0 Connection success

-1 Connection failed

Example

1 pickit_connect( "192.168.137.90" ) #Connect to vision - Vision IP

- 418 - Programming manual(V2.9.3)

  
External Vision Commands

2 pickit_disconnect() #Disconnect to vision

10.3.2 pickit_disconnect()

Features
This function terminates the connection to the vision system.

Return
Value Description

N/A

Example

1 pickit_connect( "192.168.137.90" ) #Connect to vision - Vision IP

2 pickit_disconnect() #Disconnect to vision

10.3.3 pickit_change_configuration(setup_id, product_id))

Features
This function loads setup_id and product_id set in the vision system.

Parameters
Parameter Name Data Type Default Description
Value

Setup_id int - The setup_id number stored in the Pickit server.

Product_id int The product_id number stored in the Pickit server

Return
Value Description

0 Connection success

-1 Connection failed

- 419 - Programming manual(V2.9.3)

  
External Vision Commands

Example

1 pickit_connect( "192.168.137.90" )
2 pickit_change_configuration( 6 , 8 ) # These numbers are defined
in Pickit
3 pickit_disconnect()

10.3.4 pickit_request_calibration()

Features
This function requests a calibration once from the vision system

Return
Value Description

0 Connection success

-1 Connection failed

Example

1 pickit_connect( "192.168.137.90" )
2 pickit_request_calibration()
3 pickit_disconnect()

10.3.5 pickit_detection(offset_z)

Features
This function detects the input model and returns (pick_prepos, pick_pos).

Parameters
Parameter Name Data Type Default Description
Value

offset_z int - The offset_z sets to 'pick_prepos' distance.

- 420 - Programming manual(V2.9.3)

  
External Vision Commands

Return
Value Data type  Description

data_dictionary =  'pick_pos': Model recognition position,

{'pick_pos': posx,
{'pick_pos':pick_pos,
'pick_prepos': Offset Value of model recognition
'pick_prepos':pick_prepos,  'pick_prepos':
position,                
                posx,              
'object_age':data['object_a 'object_age': The amount of time that has passed
 'object_age': int,
ge'], between the capturing of the camera data and the
'object_type':data['object_t 'object_type': moment the object information is sent to the robot.
ype'],               int ,               This value has to be divided by the  MULT factor.,
'object_dimensions':data[' 'object_dimensions':
'object_type': The type of object detected at
object_dimensions'],           int ,
object_pose ,              
'object_remaining':data['ob
'object_remaining':
jects_remaining'], 'object_dimensions': When reading array elements,
int ,
'status':data['status' each value has to be divided by the  MULT factor. ,
'status': int}
'object_remaining': Only one object per
pickit_to_robot_data message can be communicated.
If this field is non-zero, it contains the number of
remaining objects that can be sent in next messages
to the robot. ,
'status': Contains the Pickit status or a response to
previously received robot commands.

Example

1 set_singular_handling(DR_AVOID)
2 set_velj( 60.0 )
3 set_accj( 100.0 )
4 set_velx( 250.0 , 80.625 )
5 set_accx( 1000.0 , 322.5 )
6
7 pickit_connect( "192.168.137.90" )
8 pickit_change_configuration( 7 , 10 ) # These numbers are
defined in Pickit
9
10 data = pickit_detection( 100 )
11 if data[ 'status' ] = = ResponseStatus.OBJECTS_FOUND:
12 # Picking motion
13 movel(data[ 'pick_prepos' ])
14 movel(data[ 'pick_pos' ])
15 movel(data[ 'pick_prepos' ])
16
17 pickit_disconnect()

- 421 - Programming manual(V2.9.3)

  
External Vision Commands

10.3.6 pickit_next_object(offset_z)

Features
This function returns pick_prepos and pick_pos detected next to the input model.

Parameters
Parameter Name Data Type Default Value Description

offset_z int - The offset_z sets to 'pick_prepos'

distance.

- 422 - Programming manual(V2.9.3)

  
External Vision Commands

Return
Value Data Type  Description

data_dictionary = {'pick_pos':pick_pos,  
{'pick_pos': posx,
'pick_prepos':pick_prepos,                 'pick_pos': Model recognition
'object_age':data['object_age'], 'pick_prepos': position,
'object_type':data['object_type'],               posx,               
'pick_prepos': Offset value of
'object_dimensions':data['object_dimensions'],     
'object_age': int, model recognition
      'object_remaining':data['objects_remaining'],
'object_type': position,                
'status':data['status']}
int ,              
'object_age': The amount of time
'object_dimension
that has passed between the
s': int ,
capturing of the camera data and
'object_remaining' the moment the object
: int , information is sent to the robot.
This value has to be divided by
'status': int}
the  MULT factor.,
'object_type': The type of object
detected at object_pose ,              
'object_dimensions':
When reading array elements,
each value has to be divided by
the  MULT factor. ,
'object_remaining': Only one
object per pickit_to_robot_data
message can be communicated. If
this field is non-zero, it contains
the number of remaining objects
that can be sent in next messages
to the robot. ,
'status': Contains the Pickit
status or a response to previously
received robot commands.

Example

1 pickit_connect( "192.168.137.90" )
2 pickit_change_configuration( 7 , 10 ) # These numbers are
defined in Pickit
3
4 set_singular_handling(DR_AVOID)
5 set_velj( 60.0 )
6 set_accj( 100.0 )
7 set_velx( 250.0 , 80.625 )
8 set_accx( 1000.0 , 322.5 )

- 423 - Programming manual(V2.9.3)

  
External Vision Commands

9 home_pos = posx( 122.09 , 35.28 , 303.63 , 140.45 , 158.9 ,

134.39 )
10 while True :
11 # Detection
12 data = pickit_detection( 100 )
13 if data[ 'status' ] = = ResponseStatus.OBJECTS_FOUND:
14 # Picking motion
15 movel(data[ 'pick_prepos' ])
16 movel(data[ 'pick_pos' ])
17 movel(data[ 'pick_prepos' ])
18
19 remaining = data[ 'object_remaining' ]
20 while remaining > 0 :
21 data = pickit_next_object( 100 )
22 remaining = data[ 'object_remaining' ]
23
24 # Picking motion
25 movel(data[ 'pick_prepos' ])
26 movel(data[ 'pick_pos' ])
27 movel(data[ 'pick_prepos' ])
28
29 pickit_disconnect()

10.3.7 pickit_save_snapshot()

Features
This function saves the snapshot to the server.

Return
Value Description

0 Connection success

-1 Connection failed

Example

1 pickit_connect( "192.168.137.90" )
2  
3 pickit_save_snapshot()
4  
5 pickit_disconnect()

- 424 - Programming manual(V2.9.3)

  
External Vision Commands

10.3.8 Integrated example - Pickit 3D

Example 1

1 ### For robot-camera calibration example ###

2
3 set_singular_handling(DR_AVOID)
4 set_velj( 60.0 )
5 set_accj( 100.0 )
6 set_velx( 250.0 , 80.625 )
7 set_accx( 1000.0 , 322.5 )
8 pickit_connect( "192.168.137.90" )
9
10 # Move to Pose #
11 pos1 = posx( 476.76 , - 151.68 , 384.83 , 33.36 , 24.71 ,
95.44 )
12 pos2 = posx( 495.86 , - 150.08 , 435.69 , 1.43 , 8.21 ,
122.25 )
13 pos3 = posx( 508.79 , - 83.06 , 446.94 , 82.88 , - 35.91 ,
39.23 )
14 pos4 = posx( 521.66 , - 146.28 , 431.8 , 29.71 , - 33.73 ,
82.42 )
15 pos5 = posx( 508.35 , - 147.45 , 386.37 , 101.03 , 38.04 ,
42.68 )
16 movel(pos1)
17 pickit_request_calibration()
18 movel(pos2)
19 pickit_request_calibration()
20 movel(pos3)
21 pickit_request_calibration()
22 movel(pos4)
23 pickit_request_calibration()
24 movel(pos5)
25 pickit_request_calibration()

Example 2

1 ### For simple picking example ###

2 pickit_connect( "192.168.137.90" )
3 pickit_change_configuration( 7 , 10 ) # These numbers are
defined in Pickit
4
5 set_singular_handling(DR_AVOID)
6 set_velj( 60.0 )
7 set_accj( 100.0 )
8 set_velx( 250.0 , 80.625 )
9 set_accx( 1000.0 , 322.5 )

- 425 - Programming manual(V2.9.3)

  
External Vision Commands

10 home_pos = posx( 122.09 , 35.28 , 303.63 , 140.45 , 158.9 ,

134.39 )
11 #Move to home pose
12 movel(home_pos)
13
14 # Detection
15 data = pickit_detection( 100 )
16 if data[ 'status' ] = = ResponseStatus.OBJECTS_FOUND:
17 # Picking motion
18 movel(data[ 'pick_prepos' ])
19 movel(data[ 'pick_pos' ])
20 movel(data[ 'pick_prepos' ])
21
22 pickit_disconnect()

Example 3

1 ### For multiple parts picking example ###

2
3 pickit_connect( "192.168.137.90" )
4 pickit_change_configuration( 7 , 10 ) # These numbers are
defined in Pickit
5
6 set_singular_handling(DR_AVOID)
7 set_velj( 60.0 )
8 set_accj( 100.0 )
9 set_velx( 250.0 , 80.625 )
10 set_accx( 1000.0 , 322.5 )
11 home_pos = posx( 122.09 , 35.28 , 303.63 , 140.45 , 158.9 ,
134.39 )
12 while True :
13 # Move to home pose
14 movel(home_pos)
15
16 # Detection
17 data = pickit_detection( 100 )
18 if data[ 'status' ] = = ResponseStatus.OBJECTS_FOUND:
19
20 # Picking motion
21 movel(data[ 'pick_prepos' ])
22 movel(data[ 'pick_pos' ])
23 movel(data[ 'pick_prepos' ])
24
25 remaining = data[ 'object_remaining' ]
26 while remaining > 0 :
27 data = pickit_next_object( 100 )
28 remaining = data[ 'object_remaining' ]
29
30 # Picking motion
31 movel(data[ 'pick_prepos' ])
32 movel(data[ 'pick_pos' ])

- 426 - Programming manual(V2.9.3)

  
External Vision Commands

33 movel(data[ 'pick_prepos' ])

- 427 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

11 Doosan Vision(SVM) Command

Doosan Smart Vision Module(SVM) commands are composed as follows.

Type Details Command

1 Camera .svm_connect(ip=”192.168.137.5”, port=20)

Connection v2.8working(p. 429)

svm_disconnect()(p. 430)

2 Check Image svm_set_led_brightness(value)(p. 430)

Quality
svm_get_led_brightness()(p. 431)

svm_set_camera_exp_val(value)(p. 431)

svm_set_camera_gain_val(value)(p. 432)

svm_set_camera_load(job_id)(p. 433)

3 Vision Job Manage svm_set_job(job_id)(p. 433)

4 Camera Calibration svm_get_robot_pose(job_id)(p. 434)

5 Object Object Detection svm_get_vision_info(job_id)(p. 435)

Recognition/
Detection　　　
svm_get_variable(tool_id, var_type)(p. 436)

Landmark svm_detect_landmark(job_id)(p. 437)
Detection
svm_get_marker_offset_pose(cpos, offset, euler_mode)
(p. 438)

Barcode Detection svm_get_detect_barcode()(p. 440)

svm_get_barcode_db_data(index)(p. 440)

svm_compare_barcode_db_data(dbdata)(p. 441)

6 Robot Task svm_set_init_pos_data(Id_list, Pos_list)(p. 442)

- 428 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

Type Details Command

svm_get_offset_pos(posx_robot_init, job_id, tool_id)(p. 443)

7 Other SVM svm_set_tp_popup (svm_flag)(p. 445)

commands

11.1 Camera Connection

11.1.1 svm_connect(ip=”192.168.137.5”, port=20)

Features
This function establishes communication with the SVM.

Parameters
Parameter Name Data Type Default Description
Value

ip str “192.168.1 SVM Server IP address

37.5”

port int 20 Port number

Return
Value Description

0 Connection success

-1 Connection failed

Example

1 svm_connect() #Connect to vision - Default IP address and

port number
2 # Enter the vision task
3 svm_disconnect() #Disconnect to vision

- 429 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

11.1.2 svm_disconnect()

Features
This function terminates the connection to the SVM.

Return
Value Description

N/A N/A

Example

1 svm_connect() #Connect to vision – Default IP address and port

2 # Enter the vision task
3 svm_disconnect() #Disconnect to vision

11.2 Check Image Quality

11.2.1 svm_set_led_brightness(value)

Features
Set SVM LED brightness value.

Parameters
Parameter Name Data Type Default Description
Value

value int - LED brightness value (0-1000).

Return
Value Description

-1 Fail - No measurement data or input variable error.

- 430 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

Example

1 svm_connect() # Connect to vision

2 svm_set_led_brigtness( 500 )
3 svm_disconnect() # Disconnect to vision

11.2.2 svm_get_led_brightness()

Features
Return the LED brightness value set in the SVM.

Return
Value Description

int SVM brightness value (0-1000)

-1 Fail - No measurement data or input variable error.

Example

1 svm_connect() # Connect to vision

2 svm_get_led_brigtness()
3 svm_disconnect() # Disconnect to vision

11.2.3 svm_set_camera_exp_val(value)

Features
Set exposure value of the SVM.

Parameters
Parameter Name Data Type Default Description
Value

value int - SVM exposure value (2,660,000 – 29,260,000)

- 431 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

Return
Value Description

-1 Fail - No measurement data or input variable error.

Example

1 svm_connect() # Connect to vision

2 svm_set_camera_exp_val( 2 , 660 , 000 )
3 svm_disconnect() # Disconnect to vision

11.2.4 svm_set_camera_gain_val(value)

Features
Set SVM gain value..

Parameters
Parameter Name Data Type Default Description
Value

value int 1 SVM gain value (0-1600).

Return
Value Description

-1 Fail - No measurement data or input variable error.

Example

1 svm_connect() # Connect to vision

2 svm_set_camera_gain_val( 500 )
3 svm_disconnect() # Disconnect to vision

- 432 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

11.2.5 svm_set_camera_load(job_id)

Features
Load LED brightness, exp, gain and focus setting saved in the Job numbered job_id.

Parameters
Parameter Name Data Type Default Description
Value

job int job id(ex - 1000, 2000, 3000)

Return
Value Description

-1 Fail - No measurement data or input variable error.

Example

1 svm_connect() # Connect to vision

2 svm_set_camera_load(job_id)
3 svm_disconnect() # Disconnect to vision

11.3 Vision Job Manage

11.3.1 svm_set_job(job_id)

Features
This function loads the Vision task corresponding to the input id into the SVM..

Parameters
Parameter Name Data Type Default Description
Value

job_id int - Vision Task id (예. 1000, 2000, …)

- 433 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

Return
Value Description

0 Job Loading success

-1 Job Loading fail

Example

1 svm_connect() #Connect to vision - Vision IP, Default

port
2 vision_test = 1000 # Define vision job ID
3 svm_set_job(vision_test) # Load the vision_test (1000)
4 svm_disconnect() #Disconnect to vision

11.4 Camera Calibration

11.4.1 svm_get_robot_pose(job_id)

Features
The robot pose information(joint coordinate system) set in the vision task is loaded. Robot pose information is
used as shoot_pose for vision task.

Parameters
Parameter Name Data Type Default Description
Value

job_id int - Vision Task id (예. 1000, 2000, …)

Return
Value Desciption

float [6] Robot joint coordinate information (posj type)

-1 failed

- 434 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

Example

1 svm_connect() # Connect to vision

2 vision_test = 1000 # Define vision job
ID
3 svm_set_job(vision_test) # Load the vision_test
(1000)
4 shoot_pos = svm_get_robot_pose (vision_test) # Load the robot
pose of vision_test
5 tp_popup( "{0}" . format (shoot_pos))
6 svm_disconnect() # Disconnect to vision

11.5 Object Recognition/Detection

11.5.1 svm_get_vision_info(job_id)

Features
Performs the measurement command corresponding to the input vision task. The detailed information of the
measurement command of the vision work should be entered in advance through the Workcell manager(WCM).

Parameters
Parameter Name Data Type Default Description
Value

job_id int - Vision Task id (ex. 1000, 2000, …)

Return
Value Description

1 Measurement success – One object was detected / measured successfully.

0 Measurement failed – Failed to detect the corresponding vision work object.

-1 Measurement failed – Communication error (timeout)

Example

1 svm_connect() # Connect to vision

- 435 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

2 vision_test = 1000 # Define vision job

ID
3 svm_set_job(vision_test) # Load the vision_test
(1000)
4 shoot_pos = svm_get_robot_pose (vision_test) # Load the robot
pose of vision_test
5 count = svm_get_vision_info(vision_test) # Execute the vision
measurement
6 tp_popup( "{0}" . format (count)) # Check the result
7 svm_disconnect() # Disconnect to vision

11.5.2 svm_get_variable(tool_id, var_type)

Features
If the object detection/measurement is successful(1) by executing svm_get_vision_info, the detection/
measurement data is loaded. Enter the tool id and variable type for the data to be loaded.

• Position tool: POSX_TYPE (Object location), VALUE_TYPE (Detection similarity)

• Presence tool: INSP_TYPE (Presence inspection result), VALUE_TYPE (Pixel count)
• Distance tool: INSP_TYPE (Distance inspection result), VALUE_TYPE (Distance measure)
• Angle tool: INSP _TYPE (Angle inspection result), VALUE_TYPE (Angle measure)
• Diameter tool: INSP _TYPE (Diameter inspection result), VALUE_TYPE (Diameter measure), POSX_TYPE
(Circle center position)

Parameters
Parameter Name Data Type Default Description
Value

tool_id int - Vision tool id (ex. 1000, 1001, 1002, …)

var_type int - POSX_TYPE: Vision measurement coordinate variable

(posx)
INSP_TYPE: Inspection result variable (int)
VALEU_TYPE: Measurement result (int or float)

- 436 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

Return
Value Description

variable POSX_TYPE – Coordinate information variable, ex. Posx(x,y,z,rx,ry,rz)

INSP_TYPE: Inspection result variable - int (Returns 1 if successful)
VALEU_TYPE: Measurement result variable (int of float)

-1 Failed – No measurement data or input variable error.

Example

1 svm_connect() # Connect to vision

2 vision_test = 1000 # Define vision job
ID
3 print_insp = 1001 # Define inspection
tool ID
4 box_size = 1002 # Define measurement
tool ID
5 count = svm_get_vision_info(vision_test) # Execute the vision
measurement
6 if (count = = 1 ): # Check the result

7 # Get the position information (posx) of vision_test tool

8 pos_result = svm_get_variable(vision_test, POSX_TYPE)
9 tp_popup( "{0}" . format (pos_result))
10
11 # Get the inspection information (PASS or Fail) of print_insp
tool
12 inspection_result = svm_get_variable(print_insp, INSP_TYPE)
13 tp_popup( "{0}" . format (inspection_result))
14
15 # Get the distance information (distance) of box_size tool
16 measurement_result = svm_get_variable(box_size, VALUE_TYPE)
17 tp_popup( "{0}" . format (measurement_result))
18
19 vs_disconnect() # Disconnect to vision

11.5.3 svm_detect_landmark(job_id)

Features
Detect the landmark information with respect to Camera coordinage using a job_id.

- 437 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

Parameters
Parameter Name Data Type Default Description
Value

job int job id(ex - 1000, 2000, 3000)

Return
Value Data Type Description

count int Number of detected landmarks

cpos list[Tx,Ty,Tz,Rx,Ry,Rz] Landmark pose based on camera coordinates

0, [] Int, list landmark detection failure

Example

1 svm_connect() # Connect to vision

2 count, cpos = svm_detect_landmark( 1000 )
3 tp_popup( "Landmark number={0}, Landmark with respect to
Camera={1}" . format (count, cpos))
4 svm_disconnect() # Disconnect to vision

11.5.4 svm_get_marker_offset_pose(cpos, offset, euler_mode)

Features
Estimate the landmark pose with respect to Robot coordinate by using offset from the origin of the landmark.

- 438 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

Parameters
Parameter Name Data Type Default Description
Value

cpos §  list[Tx, Landmark pose based on camera coordinates

Ty, Tz, Rx,
Ry, Rz]

offset list[Tx, Ty, Position and angle of rotation away from the landmark
Rz] origin

euler_mode boolean Orientation option for Landmark pose with respect to

Robot coordinate: ZYZ for “True”, XYZ for “False”

Return
Value Data Type Description

rpos list[Tx, Ty, Tz, Rz, Ry, Rz'] Landmark pose based on robot coordinates or
or list[Tx, Ty, Tz, Rx, Ry, Landmark pose with offset set
Rz]

-1 Int Fail – no measurement data or input variable error

Example

1 svm_connect() # Connect to vision

- 439 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

2  
3 offset = [ 10 , - 20 , 45 ]
4 euler_mode = True
5 rpos = svm_get_marker_offset_pose(cpos, offset, euler_mode)
6 tp_popup( "Landmark with respect to Robot={0}" . format (rpos))
7 svm_disconnect() # Disconnect to
vision

11.5.5 svm_get_detect_barcode()

Features
It detects barcodes and QR codes displayed on the screen.

Return
Value Data Type Description

ret int 1 on success - Barcode detected

Btype string Detected barcode type

bdata string Information contained in the detected barcode

0,[],[] Int Fail – no measurement data or input variable error

Example

1 svm_connect() # Connect to vision

2 ret, btype, bdata = svm_detect_barcode()
3 tp_popup( "Detection={0}, Type={1}, Data={2}" . format (ret,btype,
bdata))
4 svm_disconnect() # Disconnect to vision

11.5.6 svm_get_barcode_db_data(index)

Features
Returns the value in Barcode DB in SVM using index.

- 440 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

Parameters
Parameter Name Data Type Default Description
Value

index int index(ex - 1, 2, 3, …)

Return
Value Data Type Description

db_data string Return the value in Barcode DB using index.

“-1” string If you use the wrong index or there is no information in the DB.

Example

1 svm_connect() # Connect to vision

2 db_data = svm_get_barcode_db_data( 1 )
3 tp_popup( "DB Data={0}" . format (db_data))
4 svm_disconnect() # Disconnect to vision

11.5.7 svm_compare_barcode_db_data(dbdata)

Features
After comparing the entered argument with the barcode DB stored in the SVM, check whether it is a stored
value.

Parameters
Parameter Name Data Type Default Description
Value

dbdata string Information contained in the barcode to be used for

comparison.

- 441 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

Return
Value Data Type Description

0 or 1 int After comparison, check whether the value is stored in

Barcode DB in SVM
When it is ‘0’, the value is not stored in the DB.
When it is '1', the value stored in the DB

Example

1 svm_connect() # Connect to vision

2 ret = svm_compare_barcode_db_data(bdata)
3 tp_popup( "Comparison result={0}" . format (ret))
4 svm_disconnect() # Disconnect to vision

11.6 Robot Task

11.6.1 svm_set_init_pos_data(Id_list, Pos_list)

Features
Enter the initial id_list and posx_list information of the object to perform the vision guidance operation.

 Caution
• Be sure to set the settings before calling the function svm_get_offset_pos (posx_robot_init,
job_id, tool_id).
• Note : id_list and pos_list should be matched with posx corresponding to each id.

Parameters
Parameter Name Data Type Default Description
Value

Id_list List(int) - Id list ([id, id, id, …])

Pos_list List(Posx) - Posx list (ex.[posx, posx, posx, …])

- 442 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

Return
Value Description

None -

Example

1 svm_connect() # Connect to vision

2 vision_test = 1000 # Define vision job
ID
3 count = svm_get_vision_info(vision_test) # Execute the
vision measurement
4 if (count = = 1 ): # Check the
result
5 # Get the position information (posx) of vision_test tool
6 pos_result = svm_get_variable(vision_test, POSX_TYPE)
7 tp_popup( "{0}" . format (pos_result))
8 # Get the vision guided robot pose
9 ld_list = [vision_test]
10 pos_list = [pos_result]
11 svm_set_init_pos_data(Id_list,pos_list)
12 rob_posx = svm_get_offset_pos(posx( 200 , 200 , 100 , 0 , 180 , 0
, vision_test)
13 tp_popup( "{0}" . format (rob_posx))
14 # move to the rob_posx
15 movel(rob_posx, vel = 30 , acc = 100 )
16 svm_disconnect() # Disconnect to
vision

11.6.2 svm_get_offset_pos(posx_robot_init, job_id, tool_id)

Features
The robot task coordinate information reflecting the vision measurement result is loaded into the robot work
coordinate input by the user.

• Procedure: Input posx_robot_init → Vision measurement → Call svm_get_offset_pos → Changed robot

work coordinates (posx_robot_offset) output

- 443 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

Parameters
Parameter Name Data Type Default Description
Value

posx_robot_init posx - Robot task coordinate information)

(Input by direct teaching method.)

job_id Int - Vision job id (ex. 1000, 2000, 3000, …)

tool_id int - Vision tool id (ex. 1000, 1001, 1002, …)

Return
Value Description

posx Robot work coordinate information reflecting vision measurement result

-1 Failed – No measurement data or input variable error.

Example

1 svm_connect() # Connect to vision

2 vision_test = 1000 # Define vision
job ID
3 count = svm_get_vision_info(vision_test) # Execute the
vision measurement
4 if (count = = 1 ): # Check the
result
5 # Get the position information (posx) of vision_test tool
6 pos_result = svm_get_variable(vision_test, POSX_TYPE)
7 tp_popup( "{0}" . format (pos_result))
8 # Get the vision guided robot pose
9 ld_list = [vision_test]
10 pos_list = [pos_result]
11 svm_set_init_pos_data(Id_list,pos_list)
12  
13  
14 rob_posx = svm_get_offset_pos(posx( 200 , 200 , 100 , 0 , 180 , 0
, vision_test)
15 tp_popup( "{0}" . format (rob_posx))
16 # move to the rob_posx
17 movel(rob_posx, vel = 30 , acc = 100 )
18 svm_disconnect() # Disconnect to
vision

- 444 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

11.7 Other SVM commands

11.7.1 svm_set_tp_popup (svm_flag)

Features
Set whether (tp_popup) should be displayed when SVM error occurs.

Parameters
Parameter Name Data Type Default Description
Value

svm_flag int 1 1(Activation), 0(Deactivation)

Return
Value Description

None -

Example

1 svm_set_tp_popup( 0 ) # Hide tp_popup

2 svm_connect() # Connect to vision
3 svm_disconnect() # Disconnect to vision

11.8 Integrated example (SVM)

11.8.1 Example
Vision Job setting status

• After deleting all the jobs saved in WCM, create vision task / tool as below.
• Create vision task : vision_test (position tool, 1000)
• Add vision tools: print_insp (presence tool, 1001), box_size (distance tool, 1002)
• Select the "vision_test" task in TW vision command set the variable information.
• Add the following example to your custom code to test.

1 svm_connect() # Connect to vision

- 445 - Programming manual(V2.9.3)

  
Doosan Vision(SVM) Command

2 vision_test = 1000 # Define vision job ID

3 print_insp = 1001 # Define inspection tool
ID
4 box_size = 1002 # Define measurement tool
ID
5 svm_set_job(vision_test) # Load the vision_test
(1000)
6 movej(svm_get_robot_pose(vision_test), vel = 10 , acc = 20 ) #
Move to shoot pose (movej)
7  
8 if (svm_get_vision_info(vision_test) = = 1 ): # Execute the
vision measurement
9 # Load the vision variables
10 # Get the position information (posx) of vision_test tool
11 pos_result = svm_get_variable(vision_test, POSX_TYPE)
12 tp_popup( "pos_result {0}" . format (pos_result))
13
14 # Get the inspection information (PASS or Fail) of print_insp
tool
15 inspection_result = svm_get_variable(print_insp, INSP_TYPE)
16 tp_popup( "inspection_result {0}" . format (inspection_result))
17
18 # Get the distance information (distance) of box_size tool
19 measurement_result = svm_get_variable(box_size, VALUE_TYPE)
20 tp_popup( "measurement_result {0}" . format (measurement_result
))
21  
22 # Move to the vision guided robot pose
23 # Get the vision guided robot pose
24 ld_list = [vision_test]
25 pos_list = [pos_result]
26 svm_set_init_pos_data(Id_list,pos_list)
27  
28 rob_posx = svm_get_offset_pos(posx( 200 , 200 , 100 , 0 , 180 , 0
, vision_test)
29 tp_popup( "rob_posx {0}" . format (rob_posx))
30
31 # move to the rob_posx
32 movel(rob_posx, vel = 30 , acc = 100 )
33
34 svm_disconnect() # Disconnect to vision

- 446 - Programming manual(V2.9.3)

  
Application Commands

12 Application Commands

12.1 External Encoder Setting Commands

12.1.1 set_extenc_polarity(channel, polarity_A, polarity_B, polarity_Z,

polarity_S)

Features
It configures the polarity of phase A, B and the trigger method of phase S, Z of the corresponding encoder
channel.

Parameters
Parameter Name Data Type Default Description
Value

channel int 1 Encoder channel (1, 2)

1: Channel 1
2: Channel 2

polarity_A int 0 Polarity of phase A (0: Phase A, 1: /Phase A)

polarity_B int 0 Polarity of phase B (0: Phase B, 1: /Phase B)

polarity_Z int 0 Trigger method of Phase Z (0: Falling edge, 1: Rising edge)

polarity_S int 0 Trigger method of Phase S (0: Falling edge, 1: Rising edge)

Return
Value Description

N/A Not Used

Exception
Exception Description

N/A Not Used

- 447 - Programming manual(V2.9.3)

  
Application Commands

Example

1 set_extenc_polarity( 1 , 0 , 1 , 0 , 1 )
2 # External Encoder channel 1 is set to phase A, /phase B, phase Z
(falling edge), phase S (rising edge)

Related commands
set_extenc_mode

• set_extenc_mode(channel, mode_AB, pulse_AZ, mode_Z, mode_S, inverse_cnt)(p. 448)

12.1.2 set_extenc_mode(channel, mode_AB, pulse_AZ, mode_Z, mode_S,

inverse_cnt)

Features
It configures the operation mode of phase A, B, Z and S of the corresponding encoder channel.
1)
Compared to versions prior to V2.7.0, Integrated mode_S parameter option - 1: Strobe Signal à Encoder Count
Clear (conveyor tracking available with a single option of Encoder Count Clear), 2: works for Encoder Count
Clear (for compatibility to prior version)

Parameters
Parameter Data Default Description
Name Type Value

channel int 1 Encoder channel (1, 2)

1: Channel 1
2: Channel 2

mode_AB int 0 Use of phase AB Mode (0 ~ 4)

0: Not Used
1: Phase A Quadrature use
Phase B Quadrature use
2: Phase A Count
Phase B Direction use
3: Phase A Up Count use
Phase B Not Used
4: Phase A Down Count use
Phase B Not Used

- 448 - Programming manual(V2.9.3)

  
Application Commands

Parameter Data Default Description

Name Type Value

pulse_AZ int 0 Pulse A Count per Pulse Z

(0 ~ 100000)

mode_Z int 0 Phase Z Use Mode (0 ~ 1)

0: Not Used
1: A/B Count Error Compensation
2: Encoder Count Clear

mode_S int 0 Phase S Use Mode (0 ~ 1)

0: Not Used
1: Encoder Count Clear

inverse_cnt int 0 Encoder Count Direction Reverse Status

0: Forward
1: Reverse

Return
Value Description

N/A Not Used

Exception
Exception Description

N/A Not Used

Example

1 set_extenc_mode( 1 , 2 , 20000 , 1 , 1 , 0 )
2 # External Encoder channel 1 operation mode is set as follows
3 # Phase A Count, Phase B Direction Use
4 # Pulse A Count per Z Pulse is 20000
5 # Phase Z error count accumulate compensation mode use, phase S
use
6 # Encoder Count direction is set to forward

- 449 - Programming manual(V2.9.3)

  
Application Commands

Related commands
set_extenc_polarity

• set_extenc_polarity(channel, polarity_A, polarity_B, polarity_Z, polarity_S)(p. 447)

12.1.3 get_extenc_count(channel)

Features
Get the count value of the corresponding encoder channel.

Parameters
Parameter Name Data Type Default Description
Value

channel int 1 Encoder channel (1, 2)

1: Channel 1
2: Channel 2

Return
Value Description

count Current encoder count value of corresponding channel

Exception
Exception Description

N/A Not Used

Example

1 enc_cnt = get_extenc_count( 1 )
2 # External Encoder channel 1 current count value calculation

- 450 - Programming manual(V2.9.3)

  
Application Commands

Related commands
• set_extenc_polarity(channel, polarity_A, polarity_B, polarity_Z, polarity_S)(p. 447)
• set_extenc_mode(channel, mode_AB, pulse_AZ, mode_Z, mode_S, inverse_cnt)(p. 448)
• clear_extenc_count(channel)(p. 451)

12.1.4 clear_extenc_count(channel)

Features
Reset counter value of the corresponding encoder channel to 0.

Parameters
Parameter Name Data Type Default Description
Value

channel int 1 Encoder channel (1, 2)

1: Channel 1
2: Channel 2

Return
Value Description

N/A Not Used

Exception
Exception Description

N/A Not Used

Example

1 clear_extenc_count( 1 )
2 # External Encoder channel 1 count value reset to 0

- 451 - Programming manual(V2.9.3)

  
Application Commands

Related commands
• get_extenc_count(channel)(p. 450)

12.2 Conveyor Tracking

12.2.1 set_conveyor(name)

Features
If conveyor information is configured in the UI, obtain ID with the conveyor name to start the Conveyor Tracking
Application from the program and execute the command for workpiece monitoring. Workpiece monitoring is
performed on workpieces triggered in the conveyor, and monitoring continues until the program ends.

Parameters
Parameter Name Data Type Default Description
Value

name string - Conveyor name

Return
Value Description

Conveyor ID Returns Conveyor ID if conveyor setting is successful

None Conveyor setting failure

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

- 452 - Programming manual(V2.9.3)

  
Application Commands

Exception Description

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 CONV1 = set_conveyor(“conveyor1”)

Related commands
• get_conveyor_obj(conv_id, timeout=None, container_type=DR_FIFO, obj_offset_coord=None)(p. 457)
• tracking_conveyor(conv_id, time=0.3)(p. 461)
• untracking_conveyor(conv_id, time=0.3)(p. 463)

12.2.2 set_conveyor_ex(name=””, conv_type=0, encoder_channel=1,

triggering_mute_time=0.0, count_per_dist=5000,
conv_coord=posx(0,0,0,0,0,0), ref=DR_BASE, conv_speed=100.0,
speed_filter_size=500, min_dist=0.0, max_dist=1000.0,
watch_window=100.0...)

Features
Configures the conveyor and obtains Conveyor ID to allow the Conveyor Tracking Application to start. After the
command is executed, it monitors workpieces triggered in the configured conveyor until the program ends. It
can be used when you need to set parameters manually if is unavailable to configure conveyor information
through UI.
1)
Added default value for all arguments compared to versions prior to M2.4.0
2)
Added ‘ref’ argument compared to versions prior to M2.4.0 (world coordinates available)
3)
Removed ‘obj_offset_coord’ argument compared to versions prior to M2.4.0, The ‘obj_offset_coord’
argument is changed to input only in get_conveyor_obj() function.

Parameter
Parameter Name Data Type Default Value Description

name string “” Conveyor name

conv_type int 0 Conveyor type(0: Linear, 1:

Circular)

- 453 - Programming manual(V2.9.3)

  
Application Commands

Parameter Name Data Type Default Value Description

encoder_channel int 1 External encoder channel (1,

2)

triggering_mute_time float 0.0 It is the time (s) triggering

(encoder reset, start
workpiece tracking) is not
performed when a triggering
signal is received
immediately after triggering.

count_per_dist int 5000 Encoder count converted

value per length (Linear:
count/m, Circular: count/
rad)

conv_coord posx posx(0,0,0,0,0,0) Fixed conveyor coordinates

(based on Base/World
coordinates, mm, ˚)
list (float[6])

ref int DR_BASE Reference coordinates of

conveyor coordinates
(DR_BASE: Base,
DR_WORLD: World)

conv_speed float 100.0 Conveyor nominal velocity

(Linear: mm/s, Circular: ˚/s)

speed_filter_size int 500 Moving Average Filter Size

during conveyor velocity
filtering

min_dist float 0.0 Minimum conveyor work

length (based on Triggering
Switch, Linear: mm, Circular:
˚)

max_dist float 1000.0 Maximum conveyor work

length (based on Triggering
Switch, Linear: mm, Circular:
˚)

- 454 - Programming manual(V2.9.3)

  
Application Commands

Parameter Name Data Type Default Value Description

watch_window float 100.0 Conveyor work standby

monitoring length (based on
minimum work length,
Linear: mm, Circular: ˚)

out_tracking_dist float 10.0 Conveyor tracking release

buffer section length (based
on maximum work length,
Linear: mm, Circular: ˚)

 Note
• Currently conv_type argument does not support Circular Conveyors!
• All workpieces that pass the Triggering Switch are monitored until they reach max_dist after
set_conveyor() or set_conveyor_ex() function execution and before the program ends.
• However, if triggering_mute_time is configured, and if the Triggering Switch activates during
the corresponding time after the previous workpiece is detected, it is not included on the
monitoring list. It is used when noise is present in the Triggering Switch or when the workpiece
needs to be removed for a certain amount of time.
• conv_coord is a coordinate system fixed to the conveyor relative to the base or world
coordinate system. Here, the x-axis of conv_coord represents the direction the conveyor
flows. From the moment the conveyor workpiece activates the triggering switch, the increased
encoder value can be converted to the length of the workpiece travel by using the
count_per_dist argument, and extending this length in the x-axis direction of the conv_coord
will position the workpiece relative to the reference coordinate system.

[Conveyor/Item Coordinate]
• conv_speed is the moving speed of the conveyor. It is used to give Info only if the conveyor
speed sensed by the encoder exceeds 200% of this speed. Therefore, if the measurement is not
possible through the TP UI, enter the approximate value.
• Speed_filter_size is the size of the moving-average filter used to estimate the conveyor speed
from the encoder. The larger the size, the more the noise can be canceled, but the tracking
accuracy may deteriorate during acceleration and deceleration.

- 455 - Programming manual(V2.9.3)

  
Application Commands

• The area on top of the conveyor is categorized into Watch Window, Tracking Zone and Out-
Tracking Zone.
• Watch Window is the area that determines whether workpieces within the area are available for
the job when obtaining workpiece coordinates for tracking. When the get_conveyor_obj()
function is loaded, if a workpiece is not present within this area, the function is not returned,
and if a workpiece is present within this area, it returns workpiece coordinates according to
get_conveyor_obj() function options (FIFO, LIFO).
• The Tracking Zone is the area that performs Conveyor Tracking.
• The Out-Tracking Zone is the area where the robot automatically ends tracking after it
determines that the robot has exited the work space of the robot or the work space specified by
the user during continuous tracking.
• These three areas are defined with the four lengths (min_dist, max_dist, watch_window,
out_tracking_dist) as shown below.

 [Conveyor Area and Length]

Return
Value Description

Conveyor ID Returns Conveyor ID if conveyor setting is successful

None Conveyor setting failure

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

- 456 - Programming manual(V2.9.3)

  
Application Commands

Exception Description

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 CONV1 = set_conveyor_ex(name = ‘conveyor_1’,

2 conv_type = 0 , # linear
3 encoder_channel = 1 , triggering_mute_time = 0.0 ,
4 count_per_dist = 5000 , # 5000 count/mm)
5 conv_coord = posx( 500 , 100 , 500 , 0 , - 90 , 0 ), ref = DR
_BASE,
6 conv_speed = 100.0 , # conveyor speed: 100 mm/s,
7 speed_filter_size = 500 , # moving avg. filter size: 500 ms
8 min_dist = 100 , max_dist = 1000 , watch_window = 200 ,
out_tracking_dist = 10 )

Related commands
• get_conveyor_obj(conv_id, timeout=None, container_type=DR_FIFO, obj_offset_coord=None)(p. 457)
• tracking_conveyor(conv_id, time=0.3)(p. 461)
• untracking_conveyor(conv_id, time=0.3)(p. 463)

12.2.3 get_conveyor_obj(conv_id, timeout=None, container_type=DR_FIFO,

obj_offset_coord=None)

Features
It returns the workpiece coordinate ID available for the job from the corresponding conveyor. When a function is
called, it returns the workpiece present in the Watch Zone one by one according to the container rule.

Parameters
Parameter Name Data Type Default Description
Value

conv_id int - Conveyor ID

- 457 - Programming manual(V2.9.3)

  
Application Commands

Parameter Name Data Type Default Description

Value

timeout float None If there is no workpiece to return during this timeout, it

ends standby and return the function

container_type int DR_FIFO Workpiece container type (DR_FIFO: first-in/first-out,

DR_LIFO: last-in/last-out

obj_offset_coord posx None Workpiece coordinates (mm, ˚) based on conveyor lock

coordinates

list(float[6])

 Note
• When calling this function, it returns the coordinates ID of each workpiece in the Watch Window
according to the container rule. For example, if you call get_conveyor_obj() function when the
workpieces are places as shown below, the workpiece ② and ③ in the Watch Window will be
candidates. At this time, if the container_type is set to DR_FIFO the corrdinates ID of ③ that
entered the Watch Window first. If it is set to DR_LIFO, it returns the coordinates ID of ② that
entered the Watch Window later. If there is no workpieces in the Watch Window at the time of
the function call, it waits until the time set in the timeout parameter and return the id if the
workpiece comes in.

[Workpiece Coordinate ID Return Rule Description]

• obj_offset_coord is used when you want to apply offset to the workpiece coordinates. It is
usually used for easy input of a teaching point or when you want to dynamically change the
position and orientation of the workpiece coordinates in conjunction with an external sensor
(ex. Vision sensor).

In the case shown below, the workpiece coordinates are created on the right side of the workpiece and
the orientation is different from the base or world coord. At this time, if you want to position the
workpiece coordinates at the center of workpiece and make the orientation to be same with the ones of
base or world coordinates, you can apply it as obj_offset_coord = posx (-d, 0, 0, -90, 0, 0). It is not
necessary to acquire a teaching point through this TP UI, but it could utilize this method if you need to
use drl only or enter the teaching point directly.

- 458 - Programming manual(V2.9.3)

  
Application Commands

[obj_offset_coord use case 1]

Next, if the workpiece changes its position in a direction that is independent of the conveying direction,
or the orientation of the workpiece changes as shown below, the encoder signal alone cannot determine
the position / orientation of the workpiece. In this case, you need to detect them using external vision
sensor. After detecting this value, you can input the position/orientation change detected as
obj_offset_coord dynamically and the workpiece coordinates are created accordingly.

[obj_offset_coord use case 2: using vision sensor]

- 459 - Programming manual(V2.9.3)

  
Application Commands

Return
Value Description

int CONV_COORD. Conveyor user coordinate ID (121~150)

Negative integer If no workpiece is present even after the timeout expires

 Note
If no workpiece to return is present, no function is returned until the timeout time expires. If the timeout
time expires but no workpiece is present, it returns -1. However, if a timeout time is not entered, it
doesn’t return continuously.

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 ## One object in a cycle

2 CONV1 = set_conveyor(‘conveyor1’)
3  
4 movel(posx( 100 , 100 , 50 , 0 , 0 , 0 ), ref = DR_BASE) #
waiting position
5 while True :
6 CONV_COORD_1 = get_conveyor_obj(CONV1)
7 tracking_conveyor(CONV1)
8  
9 # synched motion
10 movel(posx( 0 , 0 , 50 , 0 , 0 , 0 ), ref = CONV_COORD_1)

- 460 - Programming manual(V2.9.3)

  
Application Commands

11 movel(posx( 0 , 0 , 0 , 0 , 0 , 0 ), ref = CONV_COORD_1)

12 set_digital_output(DO_GRIPPER, 1 )
13 movel(posx( 0 , 0 , 50 , 0 , 0 , 0 ), ref = CONV_COORD_1)
14  
15 untracking_conveyor(CONV1)
16  
17 movel(posx( 100 , 100 , 50 , 0 , 0 , 0 ), ref = DR_BASE) #
waiting position
18  
19 ## Multi objects in a cycle
20 CONV1 = set_conveyor(‘conveyor1’)
21  
22 while True :
23 CONV_COORD_1 = get_conveyor_obj(CONV1)
24 tracking_conveyor(CONV1)
25  
26 # fist object
27 movel(posx( 0 , 0 , 50 , 0 , 0 , 0 ), ref = CONV_COORD_1)
28 movel(posx( 0 , 0 , 0 , 0 , 0 , 0 ), ref = CONV_COORD_1)
29 set_digital_output(DO_GRIPPER, 1 )
30 movel(posx( 0 , 0 , 50 , 0 , 0 , 0 ), ref = CONV_COORD_1)
31  
32 # second object
33 CONV_COORD_2 = get_conveyor_obj(CONV1, time_out = 10 )
34 if CONV_COORD_2 > 0 : # -1 if no objects available during
time_out
35 movel(posx( 0 , 0 , 50 , 0 , 0 , 0 ), ref = CONV_COORD_2)
36 movel(posx( 0 , 0 , 0 , 0 , 0 , 0 ), ref = CONV_COORD_2)
37 set_digital_output(DO_GRIPPER, 1 )
38 movel(posx( 0 , 0 , 50 , 0 , 0 , 0 ), ref = CONV_COORD_2)
39  
40 # first object if you need
41 movel(posx( 0 , 0 , 50 , 0 , 0 , 0 ), ref = CONV_COORD_1)
42  
43 untracking_conveyor(CONV1)
44  
45 movel(posx( 100 , 100 , 50 , 0 , 0 , 0 ), ref = DR_BASE)

Related commands
• tracking_conveyor(conv_id, time=0.3)(p. 461)
• untracking_conveyor(conv_id, time=0.3)(p. 463)

12.2.4 tracking_conveyor(conv_id, time=0.3)

Features
The robot starts Conveyor Tracking.

- 461 - Programming manual(V2.9.3)

  
Application Commands

Parameters
Parameter Name Data Type Default Description
Value

conv_id int - Conveyor ID

time float 0.3 Acceleration time(sec) to start Tracking

 Note
If the tracking_conveyor command is given, the conveyor starts tracking from the current position of
robot. You can call task motion right after tracking_conveyor function for reducing tack time, although
transient error can occur during acceleration time.

[tracking sequence]

Return
Value Description

0 Conveyor Tracking success

Negative integer If the robot is expected to exit the robot work space during acceleration

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

- 462 - Programming manual(V2.9.3)

  
Application Commands

Exception Description

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 CONV1 = set_conveyor(‘conveyor1’)
2  
3 while True :
4 CONV_COORD_1 = get_conveyor_obj(CONV1)
5  
6 tracking_conveyor(CONV1) # start moving to track conveyor
7  
8 # task on conveyor
9 movel(posx( 0 , 0 , 50 , 0 , 0 , 0 ), ref = CONV_COORD_1)
10 movel(posx( 0 , 0 , 0 , 0 , 0 , 0 ), ref = CONV_COORD_1)
11 set_digital_output(DO_GRIPPER, 1 )
12 movel(posx( 0 , 0 , 50 , 0 , 0 , 0 ), ref = CONV_COORD_1)
13  
14 untracking_conveyor(CONV1)
15 obj_count = obj_count + 1

Related commands
• untracking_conveyor(conv_id, time=0.3)(p. 463)

12.2.5 untracking_conveyor(conv_id, time=0.3)

Features
The robot moves as its velocity goes to 0 and finish Conveyor Tracking.

- 463 - Programming manual(V2.9.3)

  
Application Commands

Parameters
Parameter Name Data Type Default Description
Value

conv_id int - Conveyor ID

time float 0.3 Deceleration time (sec) to end Tracking

 Note
• If a time value is shorter than the robot’s maximum deceleration speed, the robot ignores the
entered value and decelerates using the maximum deceleration speed.
• To reduce tack-time, deceleration motion is blended with task motion after
untracking_conveyor if it is called. (However, Joint motion cannot be called during
deceleration time.)

Return
Value Description

0 Finishing Conveyor Tracking success

Negative integer If the robot is expected to exit the robot work space during deceleration

Exception
Exception Description

DR_Error Parameter data error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C Extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

- 464 - Programming manual(V2.9.3)

  
Application Commands

Example

1 CONV1 = set_conveyor(‘conveyor1’)
2  
3 while True :
4 CONV_COORD_1 = get_conveyor_obj(CONV1)
5 tracking_conveyor(CONV1)
6  
7 # task on conveyor
8 movel(posx( 0 , 0 , 50 , 0 , 0 , 0 ), ref = CONV_COORD_1)
9 movel(posx( 0 , 0 , 0 , 0 , 0 , 0 ), ref = CONV_COORD_1)
10 set_digital_output(DO_GRIPPER, 1 )
11 movel(posx( 0 , 0 , 50 , 0 , 0 , 0 ), ref = CONV_COORD_1)
12  
13 untracking_conveyor(CONV1, 0.1 )

Related commands
• tracking_conveyor(conv_id, time=0.3)(p. 461)

12.3 Welding

12.3.1 app_weld_enable_digital()

Features
This enables the communication interface welding function. Only supports EtherNet/IP interface.

Return
Value Description

0 Enable Welding Success

Negative Value Enable Welding Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

- 465 - Programming manual(V2.9.3)

  
Application Commands

Exception Description

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

Example

1 app_weld_enable_digital()
2 app_weld_disable_digital()

Related commands
• app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,0,0,0,0],
robot_ready=[0,0,0,0,0,0,0,0,0], error_reset=[0,0,0,0,0,0,0,0,0])(p. 469)
• app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,0,0,0], s_2t=[0,0,0,0,0,0,0,0,0],
pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0])(p. 474)
• app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0], inching_plus=[0,0,0,0,0,0,0,0,0],
inching_minus=[0,0,0,0,0,0,0,0,0], blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0],
ts_opt1=[0,0,0,0,0,0,0,0,0], ...)(p. 477)
• app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,0,0], synergic_id=[0,0,0,0,0,0,0,0,0],
r_wire_feed_speed=[0,0,0,0,0,0,0,0,0], voltage_corret=[0,0,0,0,0,0,0,0.0,0.0],
dynamic_correct=[0,0,0,0,0,0,0,0,0])(p. 480)
• app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],...)(p. 483)
• app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,0,0,0],
process_active=[0,0,0,0,0,0,0,0,0], main_current=[0,0,0,0,0,0,0,0,0], machine_ready=[0,0,0,0,0,0,0,0,0],
comm_ready=[0,0,0,0,0,0,0,0,0])(p. 487)
• app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,0,0,0,0,0,0,0],
welding_current=[0,0,0,0,0,0,0,0,0], wire_feed_speed=[0,0,0,0,0,0,0,0,0], wire_stick=[0,0,0,0,0,0,0,0,0],
error=[0,0,0,0,0,0,0,0,0], ...)(p. 491)
• app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],
opt7=[0,0,0,0,0,0,0,0,0],...)(p. 494)
• app_weld_enable_digital()(p. 465)

- 466 - Programming manual(V2.9.3)

  
Application Commands

• app_weld_set_weld_cond_digital(flag_dry_run=0, vel_target=0, vel_min=0, vel_max=0, welding_mode=0,

s_2t=0, pulse_mode=0, wm_opt1=0, simulation=0, ts_opt1=0, ts_opt2=0,...)(p. 498)
• app_weld_adj_welding_cond_digital(flag_reset=None, f_target=None, vel_target=None, wv_offset=None,
wv_width_ratio=None, dynamic_cor=None, voltage_cor=None, job_number=None, synergic_id=None)
(p. 503)
• app_weld_disable_digital()(p. 467)
• app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])(p. 530)
• app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 532)
• app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])(p. 535)
• app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 537)

12.3.2 app_weld_disable_digital()

Features
This disables the communication interface welding function.

Return
Value Description

0 Success

Negative Value Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

- 467 - Programming manual(V2.9.3)

  
Application Commands

Example

1 app_weld_enable_digital()
2 app_weld_disable_digital()

Related commands
• app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,0,0,0,0],
robot_ready=[0,0,0,0,0,0,0,0,0], error_reset=[0,0,0,0,0,0,0,0,0])(p. 469)
• app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,0,0,0], s_2t=[0,0,0,0,0,0,0,0,0],
pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0])(p. 474)
• app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0], inching_plus=[0,0,0,0,0,0,0,0,0],
inching_minus=[0,0,0,0,0,0,0,0,0], blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0],
ts_opt1=[0,0,0,0,0,0,0,0,0], ...)(p. 477)
• app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,0,0], synergic_id=[0,0,0,0,0,0,0,0,0],
r_wire_feed_speed=[0,0,0,0,0,0,0,0,0], voltage_corret=[0,0,0,0,0,0,0,0.0,0.0],
dynamic_correct=[0,0,0,0,0,0,0,0,0])(p. 480)
• app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],...)(p. 483)
• app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,0,0,0],
process_active=[0,0,0,0,0,0,0,0,0], main_current=[0,0,0,0,0,0,0,0,0], machine_ready=[0,0,0,0,0,0,0,0,0],
comm_ready=[0,0,0,0,0,0,0,0,0])(p. 487)
• app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,0,0,0,0,0,0,0],
welding_current=[0,0,0,0,0,0,0,0,0], wire_feed_speed=[0,0,0,0,0,0,0,0,0], wire_stick=[0,0,0,0,0,0,0,0,0],
error=[0,0,0,0,0,0,0,0,0], ...)(p. 491)
• app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],
opt7=[0,0,0,0,0,0,0,0,0],...)(p. 494)
• app_weld_enable_digital()(p. 465)
• app_weld_set_weld_cond_digital(flag_dry_run=0, vel_target=0, vel_min=0, vel_max=0, welding_mode=0,
s_2t=0, pulse_mode=0, wm_opt1=0, simulation=0, ts_opt1=0, ts_opt2=0,...)(p. 498)
• app_weld_adj_welding_cond_digital(flag_reset=None, f_target=None, vel_target=None, wv_offset=None,
wv_width_ratio=None, dynamic_cor=None, voltage_cor=None, job_number=None, synergic_id=None)
(p. 503)
• app_weld_disable_digital()(p. 467)
• app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])(p. 530)
• app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 532)
• app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])(p. 535)
• app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 537)

- 468 - Programming manual(V2.9.3)

  
Application Commands

12.3.3 app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,
0,0,0,0], robot_ready=[0,0,0,0,0,0,0,0,0],
error_reset=[0,0,0,0,0,0,0,0,0])

Features
This sets the communication interface setting to use welders that support EtherNet/IP communication. This
sets the link signal interface between the robot controller and welder used for welding in the communication
data sent to the welder from the robot controller. Enter the setting values below along with details based on the
communication signal data sheet of the corresponding welder.

 Note
To ensure proper welding using an EtherNet/IP remote control welder, all of 8 interface commands must
be set up.
app_weld_set_interface_eip_r2m_process(), app_weld_set_interface_eip_r2m_mode(),
app_weld_set_interface_eip_r2m_test(), app_weld_set_interface_eip_r2m_condition(),
app_weld_set_interface_eip_r2m_option(), app_weld_set_interface_eip_m2r_process(),
app_weld_set_interface_eip_m2r_monitoring(), app_weld_set_interface_eip_m2r_other()

Parameter
Parameter Data Type Default Description
Name Value

welding_start Refer to the Refer to the Start Weld Command (specification for each welder)
table below table below
robot_ready Robot Status (specification for each welder)

error_reset Reset Welder Error (specification for each welder)

The data type, default value and description are identical to the below

Parameter Data Type Default Description

Name Value

list(int[7]) 0 Not Used: 0

Used: 1

0 Data Type (on/off: 0, Select: 1, Value: 2)

0 Data Digits (1: 0, 0.1: 1, 0.01: 2)

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Application Commands

Parameter Data Type Default Description

Name Value

0 Communication Data Point (byte): 1~255

0 Communication Data Point (bit): 1~255

0 Data Size
1-bit(disable Low): 0
1-bit(disable High): 1
2-bit: 2
4-bit: 3
8-bit(byte): 4
15-bit: 5
16-bit(short): 6
32-bit(int): 7

0 Valid Data Size

Value (bit)

list(float[2]) 0 Minimum Data Value

0 Maximum Data Value

 Note
Communication Interface Setting Example (EWM Welder)
1. Data Type (on/off: 0): Item selected On/Off
a. Ewm Welder Data Sheet
Byte no. Bit no. Function/description Bit assignment

0 4 Start signal welding 0 switched off

process 1 switched on

b. Specification Entry Method

Item Setting Value

Usage Status 1 (Used)

Data Type 0 (on/off)

Data Digits 0 (1)

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Application Commands

Item Setting Value

Communication Data Point (byte) 0

Communication Data Point (bit) 4

Data Size 0 (1-bit, disable Low)

Valid Data Size 1 (1 bit)

Minimum Data Value 0

Maximum Data Value 1

2. Data Type (Select: 1): If data with an integer of 1 is selected

1. Ewm Welder Data Sheet

Byte no. Bit no. Function/description Bit assignment

3 0-7 Selection JOB Range 1-255

b. Specification Entry Method

Item Setting Value

Usage Status 1 (Used)

Data Type 1 (Select)

Data Digits 0 (1)

Communication Data Point (byte) 3

Communication Data Point (bit) 0

Data Size 4 (8-bit)

Valid Data Size 8 (8 bit)

Minimum Data Value 0

Maximum Data Value 255

3. Data Type (Value: 2): If a real number value is entered

1. Ewm Welder Data Sheet

Byte no. Bit no. Function/description Bit assignment

6 0-15 Welding voltage(current 0 to 0x7FFF (High-Byte

actual value) first)equivalent to 0.0V to
100.0V

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Application Commands

b. Specification Entry Method

Item Setting Value

Usage Status 1 (Used)

Data Type 2 (Value)

Data Digits 1 (0.1)

Communication Data Point (byte) 6

Communication Data Point (bit) 0

Data Size 6 (16-bit)

Valid Data Size 15 (15 bit)

Minimum Data Value 0.0 (V)

Maximum Data Value 100.0 (V)

• If the data type is 2 (Value), a valid data size (0x7FFF → 15 bit), minimum data value (0.0V) and
maximum data value (100.0V) must be entered.

Return
Value Description

0 Success

Negative Value Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

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Application Commands

Exception Description

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

Example

1 app_weld_set_interface_eip_r2m_process(welding_start = [ 1 , 0 , 0
, 0 , 4 , 0 , 1 , 0 , 0 ], robot_ready = [ 1 , 0 , 0 , 0 , 5 , 0 , 1
, error_reset = [ 1 , 0 , 0 , 1 , 4 , 0 , 1 , 0 , 0 ])

Related commands
• app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,0,0,0,0],
robot_ready=[0,0,0,0,0,0,0,0,0], error_reset=[0,0,0,0,0,0,0,0,0])(p. 469)
• app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,0,0,0], s_2t=[0,0,0,0,0,0,0,0,0],
pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0])(p. 474)
• app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0], inching_plus=[0,0,0,0,0,0,0,0,0],
inching_minus=[0,0,0,0,0,0,0,0,0], blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0],
ts_opt1=[0,0,0,0,0,0,0,0,0], ...)(p. 477)
• app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,0,0], synergic_id=[0,0,0,0,0,0,0,0,0],
r_wire_feed_speed=[0,0,0,0,0,0,0,0,0], voltage_corret=[0,0,0,0,0,0,0,0.0,0.0],
dynamic_correct=[0,0,0,0,0,0,0,0,0])(p. 480)
• app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],...)(p. 483)
• app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,0,0,0],
process_active=[0,0,0,0,0,0,0,0,0], main_current=[0,0,0,0,0,0,0,0,0], machine_ready=[0,0,0,0,0,0,0,0,0],
comm_ready=[0,0,0,0,0,0,0,0,0])(p. 487)
• app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,0,0,0,0,0,0,0],
welding_current=[0,0,0,0,0,0,0,0,0], wire_feed_speed=[0,0,0,0,0,0,0,0,0], wire_stick=[0,0,0,0,0,0,0,0,0],
error=[0,0,0,0,0,0,0,0,0], ...)(p. 491)
• app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],
opt7=[0,0,0,0,0,0,0,0,0],...)(p. 494)

- 473 - Programming manual(V2.9.3)

  
Application Commands

12.3.4 app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,
0,0,0], s_2t=[0,0,0,0,0,0,0,0,0],
pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0])

Features
This sets the communication interface setting to use welders that support EtherNet/IP communication. This
sets the interface related to the welding mode in the communication data sent to the welder from the robot
controller. Required modes can be additionally added with the option item (wm_opt1). Enter the setting values
below along with details based on the communication signal data sheet of the corresponding welder.

 Note
To ensure proper welding using an EtherNet/IP remote control welder, all of 8 interface commands must
be set up.
app_weld_set_interface_eip_r2m_process(), app_weld_set_interface_eip_r2m_mode(),
app_weld_set_interface_eip_r2m_test(), app_weld_set_interface_eip_r2m_condition(),
app_weld_set_interface_eip_r2m_option(), app_weld_set_interface_eip_m2r_process(),
app_weld_set_interface_eip_m2r_monitoring(), app_weld_set_interface_eip_m2r_other()

Parameter
Parameter Name Data Type Default Description
Value

welding_mode Refer to the Refer to the Welding Mode (specification for each welder)
table below table below
s_2t Latched/Non-latched Mode (specification for each welder)

pulse_mode Pulse Mode (specification for each welder)

wm_opt1 Option Mode (specification for each welder)

The data type, default value and description are identical to the below

Parameter Name Data Type Default Description

Value

list(int[7]) 0 Not Used: 0

Used: 1

0 Data Type (on/off: 0, Select: 1, Value: 2)

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Application Commands

Parameter Name Data Type Default Description

Value

0 Data Digits (1: 0, 0.1: 1, 0.01: 2)

0 Communication Data Point (byte): 1~255

0 Communication Data Point (bit): 1~255

0 Data Size
1-bit(disable Low): 0
1-bit(disable High): 1
2-bit: 2
4-bit: 3
8-bit(byte): 4
15-bit: 5
16-bit(short): 6
32-bit(int): 7

0 Valid Data Size

Value (bit)

list(float[2]) 0 Minimum Data Value

0 Maximum Data Value

 Note
For examples of data (0~2) interface settings, refer to the app_weld_set_interface_eip_r2m_process()
section.

Return
Value Description

0 Success

Negative Value Failure

- 475 - Programming manual(V2.9.3)

  
Application Commands

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

Example

1 app_weld_set_interface_eip_r2m_mode(welding_mode = [ 1 , 1 , 0 , 0
, 0 , 2 , 2 , 0 , 3 ], s_2t = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ]
, pulse_mode = [ 1 , 1 , 0 , 0 , 2 , 0 , 1 , 0 , 1 ],wm_opt1 = [ 0 ,
)

Related commands
• app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,0,0,0,0],
robot_ready=[0,0,0,0,0,0,0,0,0], error_reset=[0,0,0,0,0,0,0,0,0])(p. 469)
• app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,0,0,0], s_2t=[0,0,0,0,0,0,0,0,0],
pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0])(p. 474)
• app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0], inching_plus=[0,0,0,0,0,0,0,0,0],
inching_minus=[0,0,0,0,0,0,0,0,0], blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0],
ts_opt1=[0,0,0,0,0,0,0,0,0], ...)(p. 477)
• app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,0,0], synergic_id=[0,0,0,0,0,0,0,0,0],
r_wire_feed_speed=[0,0,0,0,0,0,0,0,0], voltage_corret=[0,0,0,0,0,0,0,0.0,0.0],
dynamic_correct=[0,0,0,0,0,0,0,0,0])(p. 480)
• app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],...)(p. 483)
• app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,0,0,0],
process_active=[0,0,0,0,0,0,0,0,0], main_current=[0,0,0,0,0,0,0,0,0], machine_ready=[0,0,0,0,0,0,0,0,0],
comm_ready=[0,0,0,0,0,0,0,0,0])(p. 487)

- 476 - Programming manual(V2.9.3)

  
Application Commands

• app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,0,0,0,0,0,0,0],
welding_current=[0,0,0,0,0,0,0,0,0], wire_feed_speed=[0,0,0,0,0,0,0,0,0], wire_stick=[0,0,0,0,0,0,0,0,0],
error=[0,0,0,0,0,0,0,0,0], ...)(p. 491)
• app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],
opt7=[0,0,0,0,0,0,0,0,0],...)(p. 494)

12.3.5 app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0],
inching_plus=[0,0,0,0,0,0,0,0,0], inching_minus=[0,0,0,0,0,0,0,0,0],
blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0],
ts_opt1=[0,0,0,0,0,0,0,0,0], ...)

Features
This sets the communication interface setting to use welders that support EtherNet/IP communication. This
sets the interface related to the test signal setting in the communication data sent to the welder from the robot
controller. Additional functions related to the test signal can be added with the option item (ts_opt1, ts_opt2).
Enter the setting values below along with details based on the communication signal data sheet of the
corresponding welder.

 Note
To ensure proper welding using an EtherNet/IP remote control welder, all of 8 interface commands must
be set up.
app_weld_set_interface_eip_r2m_process(), app_weld_set_interface_eip_r2m_mode(),
app_weld_set_interface_eip_r2m_test(), app_weld_set_interface_eip_r2m_condition(),
app_weld_set_interface_eip_r2m_option(), app_weld_set_interface_eip_m2r_process(),
app_weld_set_interface_eip_m2r_monitoring(), app_weld_set_interface_eip_m2r_other()

Parameter
Parameter Data Type Default Value Description
Name

gas_test Refer to the Refer to the Gas Test Signal (specification for each welder)
table below table below
Inching_plus Forward Inching Signal (specification for each welder)

Inching_minus Reverse Inching Signal (specification for each welder)

blow_out_torc Torch Cleaning Signal (specification for each welder)

h

- 477 - Programming manual(V2.9.3)

  
Application Commands

Parameter Data Type Default Value Description

Name

simulation Mock Welding Signal (specification for each welder)

ts_opt1 Option Signal (specification for each welder)

ts_opt2 Option Signal (specification for each welder)

The data type, default value and description are identical to the below

Parameter Data Type Default Value Description

Name

list(int[7]) 0 Not Used: 0

Used: 1

0 Data Type (on/off: 0, Select: 1, Value: 2)

0 Data Digits (1: 0, 0.1: 1, 0.01: 2)

0 Communication Data Point (byte): 1~255

0 Communication Data Point (bit): 1~255

0 Data Size
1-bit(disable Low): 0
1-bit(disable High): 1
2-bit: 2
4-bit: 3
8-bit(byte): 4
15-bit: 5
16-bit(short): 6
32-bit(int): 7

0 Valid Data Size

Value (bit)

list(float[2]) 0 Minimum Data Value

0 Maximum Data Value

- 478 - Programming manual(V2.9.3)

  
Application Commands

 Note
For examples of data (0~2) interface settings, refer to the app_weld_set_interface_eip_r2m_process()
section.

Return
Value Description

0 Success

Negative Value Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

Example

1 app_weld_set_interface_eip_r2m_test(gas_test = [ 1 , 0 , 0 , 0 , 6
, 0 , 1 , 0 , 0 ], inching_plus = [ 1 , 0 , 0 , 1 , 0 , 0 , 1 , 0 , 0
, inching_minus = [ 1 , 0 , 0 , 1 , 2 , 0 , 1 , 0 , 0 ],
blow_out_torch = [ 1 , 0 , 0 , 0 , 7 , 0 , 1 , 0 , 0 ],
simulation = [ 0 , 0 , 0 , 1 , 7 , 0 , 1 , 0 , 0 ], ts_opt1 = [ 0 , 0
, ts_opt2 = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ])

Related commands
• app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,0,0,0,0],
robot_ready=[0,0,0,0,0,0,0,0,0], error_reset=[0,0,0,0,0,0,0,0,0])(p. 469)

- 479 - Programming manual(V2.9.3)

  
Application Commands

• app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,0,0,0], s_2t=[0,0,0,0,0,0,0,0,0],
pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0])(p. 474)
• app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0], inching_plus=[0,0,0,0,0,0,0,0,0],
inching_minus=[0,0,0,0,0,0,0,0,0], blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0],
ts_opt1=[0,0,0,0,0,0,0,0,0], ...)(p. 477)
• app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,0,0], synergic_id=[0,0,0,0,0,0,0,0,0],
r_wire_feed_speed=[0,0,0,0,0,0,0,0,0], voltage_corret=[0,0,0,0,0,0,0,0.0,0.0],
dynamic_correct=[0,0,0,0,0,0,0,0,0])(p. 480)
• app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],...)(p. 483)
• app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,0,0,0],
process_active=[0,0,0,0,0,0,0,0,0], main_current=[0,0,0,0,0,0,0,0,0], machine_ready=[0,0,0,0,0,0,0,0,0],
comm_ready=[0,0,0,0,0,0,0,0,0])(p. 487)
• app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,0,0,0,0,0,0,0],
welding_current=[0,0,0,0,0,0,0,0,0], wire_feed_speed=[0,0,0,0,0,0,0,0,0], wire_stick=[0,0,0,0,0,0,0,0,0],
error=[0,0,0,0,0,0,0,0,0], ...)(p. 491)
• app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],
opt7=[0,0,0,0,0,0,0,0,0],...)(p. 494)

12.3.6 app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,
0,0], synergic_id=[0,0,0,0,0,0,0,0,0],
r_wire_feed_speed=[0,0,0,0,0,0,0,0,0],
voltage_corret=[0,0,0,0,0,0,0,0.0,0.0],
dynamic_correct=[0,0,0,0,0,0,0,0,0])

Features
This sets the communication interface setting to use welders that support EtherNet/IP communication. This
sets the interface related to the welding condition setting in the communication data sent to the welder from
the robot controller. Enter the setting values below along with details based on the communication signal data
sheet of the corresponding welder.

 Note
To ensure proper welding using an EtherNet/IP remote control welder, all of 8 interface commands must
be set up.
app_weld_set_interface_eip_r2m_process(), app_weld_set_interface_eip_r2m_mode(),
app_weld_set_interface_eip_r2m_test(), app_weld_set_interface_eip_r2m_condition(),
app_weld_set_interface_eip_r2m_option(), app_weld_set_interface_eip_m2r_process(),
app_weld_set_interface_eip_m2r_monitoring(), app_weld_set_interface_eip_m2r_other()

- 480 - Programming manual(V2.9.3)

  
Application Commands

Parameter
Parameter Name Data Type Default Description
Value

job_num Refer to the Refer to the JOB Number (specification for each welder)
table below table below
synergic_id SYNERGIC Number (specification for each welder)

r_wire_feed_spe Wire Feeding Speed Correction (specification for each

ed welder)

voltage_correct Voltage Correction (specification for each welder)

dynamic_correct Dynamic Correction (specification for each welder)

The data type, default value and description are identical to the below

Parameter Name Data Type Default Description

Value

list(int[7]) 0 Not Used: 0

Used: 1

0 Data Type (on/off: 0, Select: 1, Value: 2)

0 Data Digits (1: 0, 0.1: 1, 0.01: 2)

0 Communication Data Point (byte): 1~255

0 Communication Data Point (bit): 1~255

0 Data Size
1-bit(disable Low): 0
1-bit(disable High): 1
2-bit: 2
4-bit: 3
8-bit(byte): 4
15-bit: 5
16-bit(short): 6
32-bit(int): 7

- 481 - Programming manual(V2.9.3)

  
Application Commands

Parameter Name Data Type Default Description

Value

0 Valid Data Size

Value (bit)

list(float[2] 0 Minimum Data Value

)
0 Maximum Data Value

 Note
For examples of data (0~2) interface settings, refer to the app_weld_set_interface_eip_r2m_process()
section.

Return
Value Description

0 Success

Negative Value Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

- 482 - Programming manual(V2.9.3)

  
Application Commands

Example

1 app_weld_set_interface_eip_r2m_condition(job_num = [ 1 , 1 , 0 , 3
, 0 , 4 , 8 , 0 , 255 ], synergic_id = [ 1 , 1 , 0 , 2 , 0 , 3 , 4 ,
5 ], r_wire_feed_speed = [ 1 , 2 , 1 , 6 , 0 , 6 , 15 , 0.0 , 25.0 ]
, voltage_corret = [ 1 , 2 , 1 , 8 , 0 , 6 , 15 , - 10.0 , 10.0 ],
dynamic_correct = [ 1 , 2 , 0 , 10 , 0 , 6 , 15 , - 40 , 40 ])

Related commands
• app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,0,0,0,0],
robot_ready=[0,0,0,0,0,0,0,0,0], error_reset=[0,0,0,0,0,0,0,0,0])(p. 469)
• app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,0,0,0], s_2t=[0,0,0,0,0,0,0,0,0],
pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0])(p. 474)
• app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0], inching_plus=[0,0,0,0,0,0,0,0,0],
inching_minus=[0,0,0,0,0,0,0,0,0], blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0],
ts_opt1=[0,0,0,0,0,0,0,0,0], ...)(p. 477)
• app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,0,0], synergic_id=[0,0,0,0,0,0,0,0,0],
r_wire_feed_speed=[0,0,0,0,0,0,0,0,0], voltage_corret=[0,0,0,0,0,0,0,0.0,0.0],
dynamic_correct=[0,0,0,0,0,0,0,0,0])(p. 480)
• app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],...)(p. 483)
• app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,0,0,0],
process_active=[0,0,0,0,0,0,0,0,0], main_current=[0,0,0,0,0,0,0,0,0], machine_ready=[0,0,0,0,0,0,0,0,0],
comm_ready=[0,0,0,0,0,0,0,0,0])(p. 487)
• app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,0,0,0,0,0,0,0],
welding_current=[0,0,0,0,0,0,0,0,0], wire_feed_speed=[0,0,0,0,0,0,0,0,0], wire_stick=[0,0,0,0,0,0,0,0,0],
error=[0,0,0,0,0,0,0,0,0], ...)(p. 491)
• app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],
opt7=[0,0,0,0,0,0,0,0,0],...)(p. 494)

12.3.7 app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0],
opt2=[0,0,0,0,0,0,0,0,0], opt3=[0,0,0,0,0,0,0,0,0],
opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0],
opt6=[0,0,0,0,0,0,0,0,0],...)

Features
This sets the communication interface setting to use welders that support EtherNet/IP communication.
Required functions other than basic setting items (app_weld_set_interface_eip_r2m_process(),
app_weld_set_interface_eip_r2m_mode(), app_weld_set_interface_eip_r2m_test(),
app_weld_set_interface_eip_r2m_condition()) in the communication data sent to the welder from the robot

- 483 - Programming manual(V2.9.3)

  
Application Commands

controller can be set with the corresponding command. Enter the setting values below along with details based
on the communication signal data sheet of the corresponding welder.

 Note
To ensure proper welding using an EtherNet/IP remote control welder, all of 8 interface commands must
be set up.
app_weld_set_interface_eip_r2m_process(), app_weld_set_interface_eip_r2m_mode(),
app_weld_set_interface_eip_r2m_test(), app_weld_set_interface_eip_r2m_condition(),
app_weld_set_interface_eip_r2m_option(), app_weld_set_interface_eip_m2r_process(),
app_weld_set_interface_eip_m2r_monitoring(), app_weld_set_interface_eip_m2r_other()

Parameter

Parameter Data Type Default Value Description

Name

opt1 Refer to the Refer to the Option Item (specification for each welder)
table below table below
opt2

opt3

opt4

opt5

opt6

opt7

opt8

opt9

opt10

opt11

opt12

opt13

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Application Commands

Parameter Data Type Default Value Description

Name

opt14

opt15

The data type, default value and description are identical to the below

Parameter Data Type Default Value Description

Name

list(int[7]) 0 Not Used: 0

Used: 1

0 Data Type (on/off: 0, Select: 1, Value: 2)

0 Data Digits (1: 0, 0.1: 1, 0.01: 2)

0 Communication Data Point (byte): 1~255

0 Communication Data Point (bit): 1~255

0 Data Size
1-bit(disable Low): 0
1-bit(disable High): 1
2-bit: 2
4-bit: 3
8-bit(byte): 4
15-bit: 5
16-bit(short): 6
32-bit(int): 7

0 Valid Data Size

Value (bit)

list(float[2]) 0 Minimum Data Value

0 Maximum Data Value

- 485 - Programming manual(V2.9.3)

  
Application Commands

 Note
For examples of data (0~2) interface settings, refer to the app_weld_set_interface_eip_r2m_process()
section.

Return

Value Description

0 Success

Negative Value Failure

Exception

Exception Description

DR_Error (DR_ERROR_TYPE) Parameter data error

DR_Error (DR_ERROR_VALUE) Invalid parameter value

DR_Error (DR_ERROR_RUNTIME) C Extension module error

DR_Error (DR_ERROR_STOP) Program terminated forcibly

Example

1 app_weld_set_interface_eip_r2m_option(opt1 = [ 0 , 0 , 0 , 0 , 0 ,
0 , 0 , 0 , 0 ], opt2 = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ],
opt3 = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ], opt4 = [ 0 , 0 , 0 , 0
, opt5 = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ], opt6 = [ 0 , 0 , 0 ,
, opt7 = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ], opt8 = [ 0 , 0 , 0 ,
, opt9 = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ], opt10 = [ 0 , 0 , 0 ,
, opt11 = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ], opt12 = [ 0 , 0 , 0
, opt13 = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ], opt14 = [ 0 , 0 , 0
, opt15 = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ])

Related commands
• app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,0,0,0,0],
robot_ready=[0,0,0,0,0,0,0,0,0], error_reset=[0,0,0,0,0,0,0,0,0])(p. 469)
• app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,0,0,0], s_2t=[0,0,0,0,0,0,0,0,0],
pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0])(p. 474)

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Application Commands

• app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0], inching_plus=[0,0,0,0,0,0,0,0,0],
inching_minus=[0,0,0,0,0,0,0,0,0], blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0],
ts_opt1=[0,0,0,0,0,0,0,0,0], ...)(p. 477)
• app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,0,0], synergic_id=[0,0,0,0,0,0,0,0,0],
r_wire_feed_speed=[0,0,0,0,0,0,0,0,0], voltage_corret=[0,0,0,0,0,0,0,0.0,0.0],
dynamic_correct=[0,0,0,0,0,0,0,0,0])(p. 480)
• app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],...)(p. 483)
• app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,0,0,0],
process_active=[0,0,0,0,0,0,0,0,0], main_current=[0,0,0,0,0,0,0,0,0], machine_ready=[0,0,0,0,0,0,0,0,0],
comm_ready=[0,0,0,0,0,0,0,0,0])(p. 487)
• app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,0,0,0,0,0,0,0],
welding_current=[0,0,0,0,0,0,0,0,0], wire_feed_speed=[0,0,0,0,0,0,0,0,0], wire_stick=[0,0,0,0,0,0,0,0,0],
error=[0,0,0,0,0,0,0,0,0], ...)(p. 491)
• app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],
opt7=[0,0,0,0,0,0,0,0,0],...)(p. 494)

12.3.8 app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,
0,0,0], process_active=[0,0,0,0,0,0,0,0,0],
main_current=[0,0,0,0,0,0,0,0,0], machine_ready=[0,0,0,0,0,0,0,0,0],
comm_ready=[0,0,0,0,0,0,0,0,0])

Features
This sets the communication interface setting to use welders that support EtherNet/IP communication. The link
signal interface between the controller and welder in the communication data sent to the welder from the robot
controller can be set. Enter the setting values below along with details based on the communication signal data
sheet of the corresponding welder.

 Note
1. To ensure proper welding using an EtherNet/IP remote control welder, all of 8 interface
commands must be set up. app_weld_set_interface_eip_r2m_process(),
app_weld_set_interface_eip_r2m_mode(), app_weld_set_interface_eip_r2m_test(),
app_weld_set_interface_eip_r2m_condition(), app_weld_set_interface_eip_r2m_option(),
app_weld_set_interface_eip_m2r_process(), app_weld_set_interface_eip_m2r_monitoring(),
app_weld_set_interface_eip_m2r_other()
2. Start robot motion links with the current_flow signal from the welder but is linked with the
corresponding signal when the main_current item is set.
3. End robot motion links with the current_flow signal from the welder but is linked with the
corresponding signal when the process_active item is set.

- 487 - Programming manual(V2.9.3)

  
Application Commands

Parameter
Parameter Name Data Type Default Description
Value

current_flow Refer to Refer to Welding Current Generated (specification for each

the table the table welder)
below below
process_active Welding Process Activated (specification for each
welder)

main_current Regular Welding Current Generated (specification for

each welder)

machine_ready Welding Standby (specification for each welder)

comm_ready Communication Standby (specification for each

welder)

The data type, default value and description are identical to the below

Parameter Name Data Default Description

Type Value

list(int[7]) 0 Not Used: 0

Used: 1

0 Data Type (on/off: 0, Select: 1, Value: 2)

0 Data Digits (1: 0, 0.1: 1, 0.01: 2)

0 Communication Data Point (byte): 1~255

0 Communication Data Point (bit): 1~255

- 488 - Programming manual(V2.9.3)

  
Application Commands

Parameter Name Data Default Description

Type Value

0 Data Size
1-bit(disable Low): 0
1-bit(disable High): 1
2-bit: 2
4-bit: 3
8-bit(byte): 4
15-bit: 5
16-bit(short): 6
32-bit(int): 7

0 Valid Data Size

Value (bit)

list(float[ 0 Minimum Data Value

2])
0 Maximum Data Value

 Note
For examples of data (0~2) interface settings, refer to the app_weld_set_interface_eip_r2m_process()
section.

Return
Value Description

0 Success

Negative Value Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

- 489 - Programming manual(V2.9.3)

  
Application Commands

Exception Description

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

Example

1 app_weld_set_interface_eip_m2r_process(current_flow = [ 1 , 0 , 0
, 0 , 0 , 0 , 1 , 0 , 0 ], process_active = [ 1 , 0 , 0 , 0 , 6 , 0 ,
, main_current = [ 1 , 0 , 0 , 0 , 5 , 0 , 1 , 0 , 0 ],
machine_ready = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ],
comm_ready = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ])

Related commands
• app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,0,0,0,0],
robot_ready=[0,0,0,0,0,0,0,0,0], error_reset=[0,0,0,0,0,0,0,0,0])(p. 469)
• app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,0,0,0], s_2t=[0,0,0,0,0,0,0,0,0],
pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0])(p. 474)
• app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0], inching_plus=[0,0,0,0,0,0,0,0,0],
inching_minus=[0,0,0,0,0,0,0,0,0], blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0],
ts_opt1=[0,0,0,0,0,0,0,0,0], ...)(p. 477)
• app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,0,0], synergic_id=[0,0,0,0,0,0,0,0,0],
r_wire_feed_speed=[0,0,0,0,0,0,0,0,0], voltage_corret=[0,0,0,0,0,0,0,0.0,0.0],
dynamic_correct=[0,0,0,0,0,0,0,0,0])(p. 480)
• app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],...)(p. 483)
• app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,0,0,0],
process_active=[0,0,0,0,0,0,0,0,0], main_current=[0,0,0,0,0,0,0,0,0], machine_ready=[0,0,0,0,0,0,0,0,0],
comm_ready=[0,0,0,0,0,0,0,0,0])(p. 487)
• app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,0,0,0,0,0,0,0],
welding_current=[0,0,0,0,0,0,0,0,0], wire_feed_speed=[0,0,0,0,0,0,0,0,0], wire_stick=[0,0,0,0,0,0,0,0,0],
error=[0,0,0,0,0,0,0,0,0], ...)(p. 491)
• app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],
opt7=[0,0,0,0,0,0,0,0,0],...)(p. 494)

- 490 - Programming manual(V2.9.3)

  
Application Commands

12.3.9 app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,
0,0,0,0,0,0,0], welding_current=[0,0,0,0,0,0,0,0,0],
wire_feed_speed=[0,0,0,0,0,0,0,0,0], wire_stick=[0,0,0,0,0,0,0,0,0],
error=[0,0,0,0,0,0,0,0,0], ...)

Features
This sets the communication interface setting to use welders that support EtherNet/IP communication. This
sets the interface related to monitoring of the welding machine’s status setting in the communication data sent
to the welder from the robot controller. Enter the setting values below along with details based on the
communication signal data sheet of the corresponding welder.

 Note
To ensure proper welding using an EtherNet/IP remote control welder, all of 8 interface commands must
be set up.
app_weld_set_interface_eip_r2m_process(), app_weld_set_interface_eip_r2m_mode(),
app_weld_set_interface_eip_r2m_test(), app_weld_set_interface_eip_r2m_condition(),
app_weld_set_interface_eip_r2m_option(), app_weld_set_interface_eip_m2r_process(),
app_weld_set_interface_eip_m2r_monitoring(), app_weld_set_interface_eip_m2r_other()

Parameter
Parameter Name Data Type Default Description
Value

welding_voltage Refer to the Refer to the Actual Welding Voltage (specification for each welder)
table below table below
welding_current Actual Welding Current (specification for each welder)

wire_feed_speed Actual Wire Feeding Speed (specification for each

welder)

wire_stick Check Wire Stick Status (specification for each welder)

error Check Error Status (specification for each welder)

error_num Check Error Number (specification for each welder)

The data type, default value and description are identical to the below

- 491 - Programming manual(V2.9.3)

  
Application Commands

Parameter Name Data Type Default Description

Value

list(int[7]) 0 Not Used: 0

Used: 1

0 Data Type (on/off: 0, Select: 1, Value: 2)

0 Data Digits (1: 0, 0.1: 1, 0.01: 2)

0 Communication Data Point (byte): 1~255

0 Communication Data Point (bit): 1~255

0 Data Size
1-bit(disable Low): 0
1-bit(disable High): 1
2-bit: 2
4-bit: 3
8-bit(byte): 4
15-bit: 5
16-bit(short): 6
32-bit(int): 7

0 Valid Data Size

Value (bit)

list(float[2]) 0 Minimum Data Value

0 Maximum Data Value

 Note
For examples of data (0~2) interface settings, refer to the app_weld_set_interface_eip_r2m_process()
section.

- 492 - Programming manual(V2.9.3)

  
Application Commands

Return
Value Description

0 Success

Negative Value Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

Example

1 app_weld_set_interface_eip_m2r_monitoring(welding_voltage = [ 0 ,
0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ], welding_current = [ 0 , 0 , 0 , 0 ,
, wire_feed_speed = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ],
wire_stick = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ], error = [ 0 , 0 ,
, error_num = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ])

Related commands
• app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,0,0,0,0],
robot_ready=[0,0,0,0,0,0,0,0,0], error_reset=[0,0,0,0,0,0,0,0,0])(p. 469)
• app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,0,0,0], s_2t=[0,0,0,0,0,0,0,0,0],
pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0])(p. 474)
• app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0], inching_plus=[0,0,0,0,0,0,0,0,0],
inching_minus=[0,0,0,0,0,0,0,0,0], blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0],
ts_opt1=[0,0,0,0,0,0,0,0,0], ...)(p. 477)

- 493 - Programming manual(V2.9.3)

  
Application Commands

• app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,0,0], synergic_id=[0,0,0,0,0,0,0,0,0],
r_wire_feed_speed=[0,0,0,0,0,0,0,0,0], voltage_corret=[0,0,0,0,0,0,0,0.0,0.0],
dynamic_correct=[0,0,0,0,0,0,0,0,0])(p. 480)
• app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],...)(p. 483)
• app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,0,0,0],
process_active=[0,0,0,0,0,0,0,0,0], main_current=[0,0,0,0,0,0,0,0,0], machine_ready=[0,0,0,0,0,0,0,0,0],
comm_ready=[0,0,0,0,0,0,0,0,0])(p. 487)
• app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,0,0,0,0,0,0,0],
welding_current=[0,0,0,0,0,0,0,0,0], wire_feed_speed=[0,0,0,0,0,0,0,0,0], wire_stick=[0,0,0,0,0,0,0,0,0],
error=[0,0,0,0,0,0,0,0,0], ...)(p. 491)
• app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],
opt7=[0,0,0,0,0,0,0,0,0],...)(p. 494)

12.3.10 app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0],
opt2=[0,0,0,0,0,0,0,0,0], opt3=[0,0,0,0,0,0,0,0,0],
opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0],
opt6=[0,0,0,0,0,0,0,0,0], opt7=[0,0,0,0,0,0,0,0,0],...)

Features
This sets the communication interface setting to use welders that support EtherNet/IP communication.
Required functions other than basic setting items (app_weld_set_interface_eip_m2r_process(),
app_weld_set_interface_eip_m2r_monitoring(), app_weld_set_interface_eip_m2r_other(),
app_weld_set_interface_eip_r2m_condition()) in the communication data sent to the robot controller from the
welder can be set with the corresponding command. Enter the setting values below along with details based on
the communication signal data sheet of the corresponding welder.

 Note
To ensure proper welding using an EtherNet/IP remote control welder, all of 8 interface commands must
be set up.
app_weld_set_interface_eip_r2m_process(), app_weld_set_interface_eip_r2m_mode(),
app_weld_set_interface_eip_r2m_test(), app_weld_set_interface_eip_r2m_condition(),
app_weld_set_interface_eip_r2m_option(), app_weld_set_interface_eip_m2r_process(),
app_weld_set_interface_eip_m2r_monitoring(), app_weld_set_interface_eip_m2r_other()

- 494 - Programming manual(V2.9.3)

  
Application Commands

Parameter
Parameter Name Data Type Default Value Description

opt1 Specification

opt2 Specification

opt3 Specification

opt4 Specification

opt5 Specification

opt6 Specification

opt7 Specification

opt8 Specification

opt9 Specification

opt10 Specification

The data type, default value and description are identical to the below

- 495 - Programming manual(V2.9.3)

  
Application Commands

Parameter Data Type Default Value Description

Name

list(int[7]) 0 Not Used: 0

Used: 1

0 Data Type (on/off: 0, Select: 1, Value: 2)

0 Data Digits (1: 0, 0.1: 1, 0.01: 2)

0 Communication Data Point (byte): 1~255

0 Communication Data Point (bit): 1~255

0 Data Size
1-bit(disable Low): 0
1-bit(disable High): 1
2-bit: 2
4-bit: 3
8-bit(byte): 4
15-bit: 5
16-bit(short): 6
32-bit(int): 7

0 Valid Data Size

Value (bit)

list(float[2]) 0 Minimum Data Value

0 Maximum Data Value

 Note
For examples of data (0~2) interface settings, refer to the app_weld_set_interface_eip_r2m_process()
section.

- 496 - Programming manual(V2.9.3)

  
Application Commands

Return
Value Description

0 Success

Negative Value Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

Example

1 app_weld_set_interface_eip_m2r_other(opt1 = [ 1 , 2 , 1 , 12 , 0 ,
6 , 15 , 0.0 , 25.5 ], opt2 = [ 1 , 0 , 0 , 0 , 1 , 0 , 1 , 0 , 0 ]
, opt3 = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ], opt4 = [ 0 , 0 , 0 ,
, opt5 = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ], opt6 = [ 0 , 0 , 0 ,
, opt7 = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ], opt8 = [ 0 , 0 , 0 ,
, opt9 = [ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ], opt10 = [ 0 , 0 , 0 ,
)

Related commands
• app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,0,0,0,0],
robot_ready=[0,0,0,0,0,0,0,0,0], error_reset=[0,0,0,0,0,0,0,0,0])(p. 469)
• app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,0,0,0], s_2t=[0,0,0,0,0,0,0,0,0],
pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0])(p. 474)

- 497 - Programming manual(V2.9.3)

  
Application Commands

• app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0], inching_plus=[0,0,0,0,0,0,0,0,0],
inching_minus=[0,0,0,0,0,0,0,0,0], blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0],
ts_opt1=[0,0,0,0,0,0,0,0,0], ...)(p. 477)
• app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,0,0], synergic_id=[0,0,0,0,0,0,0,0,0],
r_wire_feed_speed=[0,0,0,0,0,0,0,0,0], voltage_corret=[0,0,0,0,0,0,0,0.0,0.0],
dynamic_correct=[0,0,0,0,0,0,0,0,0])(p. 480)
• app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],...)(p. 483)
• app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,0,0,0],
process_active=[0,0,0,0,0,0,0,0,0], main_current=[0,0,0,0,0,0,0,0,0], machine_ready=[0,0,0,0,0,0,0,0,0],
comm_ready=[0,0,0,0,0,0,0,0,0])(p. 487)
• app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,0,0,0,0,0,0,0],
welding_current=[0,0,0,0,0,0,0,0,0], wire_feed_speed=[0,0,0,0,0,0,0,0,0], wire_stick=[0,0,0,0,0,0,0,0,0],
error=[0,0,0,0,0,0,0,0,0], ...)(p. 491)
• app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],
opt7=[0,0,0,0,0,0,0,0,0],...)(p. 494)

12.3.11 app_weld_set_weld_cond_digital(flag_dry_run=0, vel_target=0,

vel_min=0, vel_max=0, welding_mode=0, s_2t=0, pulse_mode=0,
wm_opt1=0, simulation=0, ts_opt1=0, ts_opt2=0,...)

Feature
This sets the welding condition of the remote control welders. It is only valid within the welding section defined
with the Enable Welding (app_weld_enable_digital()) and Disable Welding (app_weld_disable_digital())
commands, and any operations starting at a point outside the welding section will generate an error. Items that
can be set as welding conditions are welders corresponding to the following commands
(app_weld_set_interface_eip_r2m_mode(), app_weld_set_interface_eip_r2m_condition(),
app_weld_set_interface_eip_r2m_option()) and items that completed the communication interface setting.

Only one welding condition is allowed in a single welding section. This welding condition can be adjusted
during welding with the app_weld_adj_welding_cond_dgital() command while the voltage correction/dynamic
correction/feeding speed/speed (and weaving offset) can be also adjusted from the Welding Condition
Adjustment popup of the teaching pendant. However, from the teaching pendant, welding condition
adjustments are only available if the welding condition adjustment status is set to RESET using a command (the
welding condition setting is designated with app_weld_set_weld_cond_digital().

 Note
1. Voltage Correction: Adjusts the length of the ark.
2. Dynamic Correction: Adjusts the ark property.

- 498 - Programming manual(V2.9.3)

  
Application Commands

Parameter
Parameter Data Type Default Description
Name Value

flag_dry_run int 0 Dry-Run Mode

Actual Welding (0)
Dry-Run (1): Motion/Weaving/Offset only

vel_target float 0 Target Speed (mm/sec)

• Take note that the unit is different from that of the
teaching pendant input (cm/min)

vel_min float 0 Minimum Target Speed Correction  (mm/sec)

• Take note that the unit is different from that of the
teaching pendant input (cm/min)

vel_max float 0 Maximum Target Speed Correction (mm/sec)

• Take note that the unit is different from that of the
teaching pendant input (cm/min)

welding_mode Int 0 Welding Mode Setting

s_2t Int 0 2T, 2T Special Setting

pulse_mode Int 0 Pulse Mode Setting

wm_opt1 Int 0 Welding Mode Option 1 Setting

simulation int 0 Simulation Mode Setting

ts_opt1 Int 0 Test Signal Option 1 Setting

ts_opt2 Int 0 Test Signal Option 2 Setting

Job_num Int 0 Job Number Setting

synergic_id Int 0 Synergic ID Setting

r_wire_feed_spe float 0 Wire Feeding Speed Setting

ed

- 499 - Programming manual(V2.9.3)

  
Application Commands

Parameter Data Type Default Description

Name Value

voltage_correct float 0 Voltage Correction Setting

dynamic_correct float 0 Dynamic Correction Setting

r_opt1 float 0 Option 1 Setting

r_opt2 float 0 Option 2 Setting

r_opt3 float 0 Option 3 Setting

r_opt4 float 0 Option 4 Setting

r_opt5 float 0 Option 5 Setting

r_opt6 float 0 Option 6 Setting

r_opt7 float 0 Option 7 Setting

r_opt8 float 0 Option 8 Setting

r_opt9 float 0 Option 9 Setting

r_opt10 float 0 Option 10 Setting

r_opt11 float 0 Option 11 Setting

r_opt12 float 0 Option 12 Setting

r_opt13 float 0 Option 13 Setting

r_opt14 float 0 Option 14 Setting

r_opt15 float 0 Option 15 Setting

- 500 - Programming manual(V2.9.3)

  
Application Commands

Return
Value Description

0 Setting Success

Negative value Setting Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

Example

1 app_weld_enable_digital()
2 app_weld_set_weld_cond_digital(flag_dry_run = 0 , vel_target = 16 ,
vel_min = 0.00 , vel_max = 16.67 , welding_mode = 3 , s_2t = 0 ,
pulse_mode = 0 , wm_opt1 = 0 , simulation = 0 , ts_opt1 = 0 ,
ts_opt2 = 0 , job_num = 4 , synergic_id = 0 , r_wire_feed_speed = 1
0 , voltage_correct = 0 , dynamic_correct = 0 , r_opt1 = 0 ,
r_opt2 = 0 , r_opt3 = 0 , r_opt4 = 0 , r_opt5 = 0 , r_opt6 = 0 ,
r_opt7 = 0 , r_opt8 = 0 , r_opt9 = 0 , r_opt10 = 0 , r_opt11 = 0 ,
r_opt12 = 0 , r_opt13 = 0 , r_opt14 = 0 , r_opt15 = 0 )
3 #Welding Speed=60 mm/sec (=1 cm/min), Welding Mode=3, Job
Number=4, Wire Feeding Speed=10 m/min
4  
5 app_weld_disable_digital()

- 501 - Programming manual(V2.9.3)

  
Application Commands

Related commands
• app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,0,0,0,0],
robot_ready=[0,0,0,0,0,0,0,0,0], error_reset=[0,0,0,0,0,0,0,0,0])(p. 469)
• app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,0,0,0], s_2t=[0,0,0,0,0,0,0,0,0],
pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0])(p. 474)
• app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0], inching_plus=[0,0,0,0,0,0,0,0,0],
inching_minus=[0,0,0,0,0,0,0,0,0], blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0],
ts_opt1=[0,0,0,0,0,0,0,0,0], ...)(p. 477)
• app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,0,0], synergic_id=[0,0,0,0,0,0,0,0,0],
r_wire_feed_speed=[0,0,0,0,0,0,0,0,0], voltage_corret=[0,0,0,0,0,0,0,0.0,0.0],
dynamic_correct=[0,0,0,0,0,0,0,0,0])(p. 480)
• app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],...)(p. 483)
• app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,0,0,0],
process_active=[0,0,0,0,0,0,0,0,0], main_current=[0,0,0,0,0,0,0,0,0], machine_ready=[0,0,0,0,0,0,0,0,0],
comm_ready=[0,0,0,0,0,0,0,0,0])(p. 487)
• app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,0,0,0,0,0,0,0],
welding_current=[0,0,0,0,0,0,0,0,0], wire_feed_speed=[0,0,0,0,0,0,0,0,0], wire_stick=[0,0,0,0,0,0,0,0,0],
error=[0,0,0,0,0,0,0,0,0], ...)(p. 491)
• app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],
opt7=[0,0,0,0,0,0,0,0,0],...)(p. 494)
• app_weld_enable_digital()(p. 465)
• app_weld_set_weld_cond_digital(flag_dry_run=0, vel_target=0, vel_min=0, vel_max=0, welding_mode=0,
s_2t=0, pulse_mode=0, wm_opt1=0, simulation=0, ts_opt1=0, ts_opt2=0,...)(p. 498)
• app_weld_adj_welding_cond_digital(flag_reset=None, f_target=None, vel_target=None, wv_offset=None,
wv_width_ratio=None, dynamic_cor=None, voltage_cor=None, job_number=None, synergic_id=None)
(p. 503)
• app_weld_adj_welding_cond_digital(flag_reset=None, f_target=None, vel_target=None, wv_offset=None,
wv_width_ratio=None, dynamic_cor=None, voltage_cor=None, job_number=None, synergic_id=None)
(p. 503)
• app_weld_disable_digital()(p. 467)
• app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])(p. 530)
• app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 532)
• app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])(p. 535)
• app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 537)

- 502 - Programming manual(V2.9.3)

  
Application Commands

12.3.12 app_weld_adj_welding_cond_digital(flag_reset=None,
f_target=None, vel_target=None, wv_offset=None,
wv_width_ratio=None, dynamic_cor=None, voltage_cor=None,
job_number=None, synergic_id=None)

Features
This adjusts the welding condition and weaving condition during welding with a remote control welder. It is
used to change the welding condition of each section in a series of sections before calling the motion command
(movel(), movec(), moveb(), movesx()). If an adjustment factor is entered using this command, the
corresponding welding condition and weaving condition are adjusted, and real-time adjustment of the welding/
weaving condition from the welding monitoring information screen of the TP becomes unavailable. Execute
flag_reset=1 to reset the adjusted condition to the main condition set using app_weld_set_weld_cond_digital()
and app_weld_weave_cond_trapezoidal(). Setting flag_reset=1 will reset to the final condition adjusted in real-
time using the TP (the weaving width ratio (wv_width_ratio), which cannot be adjusted in real-time, is changed
to 1), and the welding condition can be adjusted in real-time from the TP.

Parameter
Parameter Name Data Type Default Description
Value

flag_reset int 0 0: Apply Adjustment

1 : Default Target (app_weld_set_weld_cond_digital())
Apply Value

f_target float - Feeding Speed (m/min)

vel_target float - Target Speed (mm/sec)

• Take note that the unit is different from that of
the teaching pendant input (cm/min)

wv_offset float[2] - Weaving Coordinate-Y Direction Offset (mm)

- Weaving Coordinate-Z Direction Offset (mm)

wv_width_ratio float - Changed Weaving Width/Set Weaving Width Ratio (0-2)

dynamic_cor float - Dynamic Correction

voltage_cor float - Voltage Correction

- 503 - Programming manual(V2.9.3)

  
Application Commands

Parameter Name Data Type Default Description

Value

job_number float - Job Number

synergic_id float - Synergic ID

 Note
Conditions which do not designate a value in factors vel_target/wv_offset/wv_width_ratio/
dynamic_cor/voltage_cor/job_number/synergic_id will maintain the current condition (including
conditions with real-time adjustments), so only set factors that require adjustment. However, in the case
of wv_offset, even if an adjustment is made only to the Y direction or Z direction, values for both
sequences must be entered.

Return
Value Description

0 Setting Success

Negative value Setting Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

- 504 - Programming manual(V2.9.3)

  
Application Commands

Example

1 movej(posj( 0 , 0 , 90 , 0 , 90 , 0 ),v = 30 ,a = 60 )
2  
3
4  
5 pt1 = posx( 559 , 434.5 , 651.5 , 45 , 180 , 45 )
6  
7 pt2 = posx( 559 , 434.5 , 151.5 , 45 , 180 , 45 )
8  
9 pt3 = posx( 559 , 0.0 , 151.5 , 45 , 180 , 45 )
10  
11
12  
13 app_weld_enable_digital()
14  
15
16  
17 app_weld_set_weld_cond_digital(flag_dry_run = 0 , vel_target = 16 ,
vel_min = 0.00 , vel_max = 16.67 , welding_mode = 3 , s_2t = 0 ,
pulse_mode = 0 , wm_opt1 = 0 , simulation = 0 , ts_opt1 = 0 ,
ts_opt2 = 0 , job_num = 4 , synergic_id = 0 , r_wire_feed_speed = 1
5 , voltage_correct = 0 , dynamic_correct = 0 , r_opt1 = 0 ,
r_opt2 = 0 , r_opt3 = 0 , r_opt4 = 0 , r_opt5 = 0 , r_opt6 = 0 ,
r_opt7 = 0 , r_opt8 = 0 , r_opt9 = 0 , r_opt10 = 0 , r_opt11 = 0 ,
r_opt12 = 0 , r_opt13 = 0 , r_opt14 = 0 , r_opt15 = 0 )
18  
19
20  
21 movel(pt1, v = 5 , a = 5 , r = 30 , app_type = DR_MV_APP_WELD)
22  
23 app_weld_adj_welding_cond_digital(flag_reset = 0 , f_target = 10 ,
vel_target = 16 , wv_offset = [ 20 , 30 ], wv_width_ratio = 0.5 ,
24  
25 dynamic_cor = 0 , voltage_cor = 0 , job_number = 5 , synergic_id = 4
26  
27 movel(pt2, v = 5 , a = 5 , r = 30 , app_type = DR_MV_APP_WELD)
28  
29 app_weld_adj_welding_cond_digital(flag_reset = 1 )
30  
31 movel(pt3, v = 5 , a = 5 , app_type = DR_MV_APP_WELD)
32  
33 # Start Point → pt1: Apply Initial Welding Condition Setting (Job
Number: 4, Synergic ID: 0, Feeding Speed: 15 m/min)
34  
35 # pt1 → pt2: Apply Correction Condition (Job Number: 5, Synergic
ID: 4, Feeding Speed: 15 m/min)
36  
37 # pt2 → pt3: Apply Initial Setting Apply Initial Welding
Condition Setting (Job Number: 4, Synergic ID: 0, Feeding Speed:
15 m/min)

- 505 - Programming manual(V2.9.3)

  
Application Commands

38  
39
40  
41 app_weld_disable_digital()

Related commands
• app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,0,0,0,0],
robot_ready=[0,0,0,0,0,0,0,0,0], error_reset=[0,0,0,0,0,0,0,0,0])(p. 469)
• app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,0,0,0], s_2t=[0,0,0,0,0,0,0,0,0],
pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0])(p. 474)
• app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0], inching_plus=[0,0,0,0,0,0,0,0,0],
inching_minus=[0,0,0,0,0,0,0,0,0], blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0],
ts_opt1=[0,0,0,0,0,0,0,0,0], ...)(p. 477)
• app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,0,0], synergic_id=[0,0,0,0,0,0,0,0,0],
r_wire_feed_speed=[0,0,0,0,0,0,0,0,0], voltage_corret=[0,0,0,0,0,0,0,0.0,0.0],
dynamic_correct=[0,0,0,0,0,0,0,0,0])(p. 480)
• app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],...)(p. 483)
• app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,0,0,0],
process_active=[0,0,0,0,0,0,0,0,0], main_current=[0,0,0,0,0,0,0,0,0], machine_ready=[0,0,0,0,0,0,0,0,0],
comm_ready=[0,0,0,0,0,0,0,0,0])(p. 487)
• app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,0,0,0,0,0,0,0],
welding_current=[0,0,0,0,0,0,0,0,0], wire_feed_speed=[0,0,0,0,0,0,0,0,0], wire_stick=[0,0,0,0,0,0,0,0,0],
error=[0,0,0,0,0,0,0,0,0], ...)(p. 491)
• app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],
opt7=[0,0,0,0,0,0,0,0,0],...)(p. 494)
• app_weld_enable_digital()(p. 465)
• app_weld_set_weld_cond_digital(flag_dry_run=0, vel_target=0, vel_min=0, vel_max=0, welding_mode=0,
s_2t=0, pulse_mode=0, wm_opt1=0, simulation=0, ts_opt1=0, ts_opt2=0,...)(p. 498)
• app_weld_adj_welding_cond_digital(flag_reset=None, f_target=None, vel_target=None, wv_offset=None,
wv_width_ratio=None, dynamic_cor=None, voltage_cor=None, job_number=None, synergic_id=None)
(p. 503)
• app_weld_disable_digital()(p. 467)
• app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])(p. 530)
• app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 532)
• app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])(p. 535)
• app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 537)
• movel()(p. 59)
• amovel()(p. 98)
• movec()(p. 68)

- 506 - Programming manual(V2.9.3)

  
Application Commands

• amovec()(p. 104)
• moveb()(p. 81)
• amoveb()(p. 114)
• movesx()(p. 77)
• amovesx()(p. 111)

12.3.13 app_weld_get_welding_cond_digital()

Features
This monitors the welding status during welding with a remote control welder. Items available for monitoring
are voltage correction/dynamic correction/feeding speed/speed/weaving offset/error number/error status/wire
tip fusion/option and measured voltage/current/feeding speed and welding status. Signals other than the basic
monitoring items can be added. The corresponding signal must be preset using the interface
app_weld_set_interface_eip_m2r_other(). In addition, it is possible to check the fail status using the welding
status factor.

Parameter
Parameter Name Data Type Default Description
Value

Return
Value Description

voltage_cor Current Target Voltage Correction (V) (target with adjustment applied)

dynamic_cor Current Target Dynamic Correction (target with adjustment applied)

f_target Current Target Feeding Speed (m/min) (target with adjustment applied)

vel_target Current Target Speed (mm/sec) (target with adjustment applied)

• Take note that the unit is different from that of the monitoring output unit
(cm/min) of the teaching pendant

v_meas Current Measured Voltage (V)

c_meas Current Measured Current (A)

- 507 - Programming manual(V2.9.3)

  
Application Commands

Value Description

wv_offset[2] Current Target Offset (Y and Z directions, mm) (target with adjustment applied)

status Non-weld:0, Weld (Normal): 1, Weld (Abnormal): 9, Dry-run: 99

f_meas Current Measured Feeding Speed (mm/sec)

error_num Error Number

wire_stick Wire Tip Fusion Status (0: Normal, 1: Abnormal)

error Error Status (0: Normal, 1: Abnormal)

option1 Option 1 Information

option2 Option 2 Information

option3 Option 3 Information

option4 Option 4 Information

option5 Option 5 Information

option6 Option 6 Information

option7 Option 7 Information

option8 Option 8 Information

option9 Option 9 Information

option10 Option 10 Information

current_flow Current Flow Status (0: Normal, 1: Abnormal)

process_active Process Activation Status (0: Normal, 1: Abnormal)

machine_ready Welding Preparation Status (0: Normal, 1: Abnormal)

- 508 - Programming manual(V2.9.3)

  
Application Commands

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

Example

1 movej(posj( 0 , 0 , 90 , 0 , 90 , 0 ),v = 30 ,a = 60 )
2  
3
4  
5 pt1 = posx( 559 , 434.5 , 651.5 , 45 , 180 , 45 )
6  
7 pt2 = posx( 559 , 434.5 , 151.5 , 45 , 180 , 45 )
8  
9 pt3 = posx( 559 , 0.0 , 151.5 , 45 , 180 , 45 )
10  
11
12  
13 app_weld_enable_digital()
14  
15
16  
17 app_weld_set_weld_cond_digital(flag_dry_run = 1 , vel_target = 16 ,
vel_min = 0.00 , vel_max = 16.67 , welding_mode = 3 , s_2t = 0 ,
pulse_mode = 0 , wm_opt1 = 0 , simulation = 0 , ts_opt1 = 0 ,
ts_opt2 = 0 , job_num = 4 , synergic_id = 0 , r_wire_feed_speed = 1
5 , voltage_correct = 0 , dynamic_correct = 0 , r_opt1 = 0 ,
r_opt2 = 0 , r_opt3 = 0 , r_opt4 = 0 , r_opt5 = 0 , r_opt6 = 0 ,
r_opt7 = 0 , r_opt8 = 0 , r_opt9 = 0 , r_opt10 = 0 , r_opt11 = 0 ,
r_opt12 = 0 , r_opt13 = 0 , r_opt14 = 0 , r_opt15 = 0 )
18  
19
20  
21 movel(pt1, v = 5 , a = 5 , r = 30 , app_type = DR_MV_APP_WELD)

- 509 - Programming manual(V2.9.3)

  
Application Commands

22  
23 app_weld_adj_welding_cond_digital(flag_reset = 0 , f_target = 10 ,
vel_target = 16 , wv_offset = [ 20 , 30 ], wv_width_ratio = 0.5 ,
24  
25 dynamic_cor = 0 , voltage_cor = 0 , job_number = 5 , synergic_id = 4
26  
27 movel(pt2, v = 5 , a = 5 , r = 30 , app_type = DR_MV_APP_WELD)
28  
29 app_weld_adj_welding_cond_digital(flag_reset = 1 )
30  
31 amovel(pt3, v = 5 , a = 5 , app_type = DR_MV_APP_WELD)
32  
33
34  
35 [voltage_cor, dynamic_cor, f_target, vel_target, v_meas, c_meas,
wv_offset, status, f_meas, error_num, wire_stick,
36  
37 error, opt1, opt2, opt3, opt4, opt5, opt6, opt7, opt8, opt9,
opt10, current_flow, process_active, machine_ready] = app_weld_get
_welding_cond_digital();
38  
39
40  
41 while True :
42  
43 if status = = 9 :
44  
45 tp_popup( "welding error!! " , DR_PM_ALARM, 1 )
46  
47 # An alarm is generated if abnormal welding occurs (status=9)
48  
49 else :
50  
51 if check_motion() = = 0 :
52  
53 break
54  
55
56  
57 app_weld_disable_digital()

Related commands
• app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,0,0,0,0],
robot_ready=[0,0,0,0,0,0,0,0,0], error_reset=[0,0,0,0,0,0,0,0,0])(p. 469)
• app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,0,0,0], s_2t=[0,0,0,0,0,0,0,0,0],
pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0])(p. 474)
• app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0], inching_plus=[0,0,0,0,0,0,0,0,0],
inching_minus=[0,0,0,0,0,0,0,0,0], blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0],
ts_opt1=[0,0,0,0,0,0,0,0,0], ...)(p. 477)

- 510 - Programming manual(V2.9.3)

  
Application Commands

• app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,0,0], synergic_id=[0,0,0,0,0,0,0,0,0],
r_wire_feed_speed=[0,0,0,0,0,0,0,0,0], voltage_corret=[0,0,0,0,0,0,0,0.0,0.0],
dynamic_correct=[0,0,0,0,0,0,0,0,0])(p. 480)
• app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],...)(p. 483)
• app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,0,0,0],
process_active=[0,0,0,0,0,0,0,0,0], main_current=[0,0,0,0,0,0,0,0,0], machine_ready=[0,0,0,0,0,0,0,0,0],
comm_ready=[0,0,0,0,0,0,0,0,0])(p. 487)
• app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,0,0,0,0,0,0,0],
welding_current=[0,0,0,0,0,0,0,0,0], wire_feed_speed=[0,0,0,0,0,0,0,0,0], wire_stick=[0,0,0,0,0,0,0,0,0],
error=[0,0,0,0,0,0,0,0,0], ...)(p. 491)
• app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0],
opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],
opt7=[0,0,0,0,0,0,0,0,0],...)(p. 494)
• app_weld_enable_digital()(p. 465)
• app_weld_set_weld_cond_digital(flag_dry_run=0, vel_target=0, vel_min=0, vel_max=0, welding_mode=0,
s_2t=0, pulse_mode=0, wm_opt1=0, simulation=0, ts_opt1=0, ts_opt2=0,...)(p. 498)
• app_weld_adj_welding_cond_digital(flag_reset=None, f_target=None, vel_target=None, wv_offset=None,
wv_width_ratio=None, dynamic_cor=None, voltage_cor=None, job_number=None, synergic_id=None)
(p. 503)
• app_weld_disable_digital()(p. 467)
• app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])(p. 530)
• app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 532)
• app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])(p. 535)
• app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 537)
• movel()(p. 59)
• amovel()(p. 98)
• movec()(p. 68)
• amovec()(p. 104)
• moveb()(p. 81)
• amoveb()(p. 114)
• movesx()(p. 77)
• amovesx()(p. 111)

- 511 - Programming manual(V2.9.3)

  
Application Commands

12.3.14 app_weld_enable_analog(ch_v_out=[1,0], spec_v_out=[0,0,0,0],

ch_f_out=[2,0], spec_f_out=[0,0,0,0], ch_v_in=[1,0],
spec_v_in=[0,0,0,0], ch_c_in=[2,0],
spec_c_in=[0,0,0,0],ch_arc_on=1,ch_gas_on=2,ch_inching_fwd=3,ch
_inching_bwd=4, ...)

Features
This enables the analog welding function. It enters the connection and environment information of the
available welding machine’s analog I/O and digital signal output as input factors.

The target welding machine must support an analog interface so it can receive target current and target voltage
inputs from the analog output channel of the connected controller. Set the channel number (1 or 2) and output
mode (current/voltage) of the physically connected analog channel in ch_v_out and ch_f_out. The analog
input/output range of the controller is 0-10 V for voltage mode and 4-20 mA for current mode. Make sure to set
the mode and output range of each channel to be compatible with the input specification and range of the
welding machine. For example, if the target input range of the welding machine is 0-10 V, it is ideal to set the
output channel of the controller as voltage mode (0-10 V output range). Another example would be if the input
channel specification of the welding machine is 2-15 V. In this case, set the analog channel current mode (4-20
mA output range) on the corresponding controller and connect a 75 ohm resistance to output a 3-15 V voltage.
(In this case, the 2-3 V range, which cannot be set using the controller, cannot set a target.) It is recommended
that the welding machine be set with as large an input range as possible.

Set the maximum and minimum range of the controller analog output in spec_v_out and spec_f_out.

First item of spec_v_out/spec_f_out = WO_min

Second item of spec_v_out/spec_f_out = CO_min
Third item of spec_v_out/spec_f_out = WO_max
Fourth item of spec_v_out/spec_f_out = CO_max

Where, WO_min and WO_max are the minimum and maximum output of the welder, and CO_min and CO_max
are the controller analog output corresponding to WO_min and WO_max.

 Note
The welding current varies according to the wire feeding speed, basic material, material/type/stick-out
of the welding wire, and welding voltage, and this must be monitored with the welding machine or a
separate current sensor.

- 512 - Programming manual(V2.9.3)

  
Application Commands

In order to monitor the voltage/current measurements during welding, it is necessary to connect an analog
output welding machine or a separate sensor. Set the analog input channel number and input mode of the
corresponding controller in ch_v_in and ch_c_in.

Set the maximum and minimum input range of sensor measured in spec_v_in and spec_f_in.

First item of spec_v_in/spec_c_in = SO_min

Second item of spec_v_in/spec_c_in = CI_min
Third item of spec_v_in/spec_c_in = SO_max
Fourth item of spec_v_in/spec_c_in = CI_max

Where, SO_min and SO_max are the minimum and maximum sensor, and CI_min and CI_max are the controller
input corresponding to SO_min and SO_max.

Set the channel numbers for ARC-ON/OFF (gas output signal - start/end), GAS-ON/OFF (gas output signal - start/
end), INCHING-Forward-ON/OFF (forward wire feed signal - start/end), INCHING-Backward-ON/OFF (backward
wire feed signal - start/end), and BlowOut-ON/OFF (torch cleaning gas output signal - start/end), which connect
to the welding machine using digital contact method. In the case of signal outputs other than the ARC-ON/OFF
signal, enter them selectively, depending on whether the welding machine supports the corresponding
function.

Parameter
Parameter Data Type Default Description
Name Value

ch_v_out list(int[2]) 1 Target Voltage Analog Output Channel (1-2)

If no designation is made: 0

0 0: Current Mode (4~20 mA)

1: Voltage Mode (0~10 V)

spec_v_out list(float[4]) 0 Welder Output Voltage (V) Minimum (a)

0 Controller Output corresponding to (a)

0 Welder Output Voltage (V) Maximum (b)

0 Controller Output corresponding to (b)

- 513 - Programming manual(V2.9.3)

  
Application Commands

Parameter Data Type Default Description

Name Value

ch_f_out list(int[2]) 2 Feeding Speed Command Analog Output Channel (1-2)

If no designation is made: 0

0 0: Current Mode (4~20 mA)

1: Voltage Mode (0~10 V)

spec_f_out list(float[4]) 0 Feeding Speed (m/min) Minimum (c)

0 Controller Output corresponding to (c)

0 Feeding Speed (m/min) Maximum (d)

0 Controller Output corresponding to (d)

ch_v_in list(int[2]) 1 Voltage Sensor Analog Input Channel (1-2)

If no sensor is present: 0

0 0: Current Mode (4~20 mA)

1: Voltage Mode (0~10 V)

spec_v_in list(float[4]) 0 Voltage Sensor Input (V) Minimum (e)

0 Controller Input corresponding to (e)

0 Voltage Sensor Input (V) Maximum (f)

0 Controller Input corresponding to (f)

ch_c_in list(int[2]) 2 Current Sensor Analog Input Channel (1-2)

If no sensor is present: 0

0 0: Current Mode (4~20 mA)

1: Voltage Mode (0~10 V)

spec_c_in list(float[4]) 0 Current Sensor Input (A) Minimum (g)

0 Controller Input corresponding to (g)

- 514 - Programming manual(V2.9.3)

  
Application Commands

Parameter Data Type Default Description

Name Value

0 Current Sensor Input (A) Maximum (h)

0 Controller Input corresponding to (h)

ch_arc_on int 1 Welding Output Digital Output Channel (1-16)

ch_gas_on int 2 Protective Gas Digital Output Channel (1~16)

If no connection is present: 0

ch_inching_fw int 3 Welding Wire Forward Stick-Out Digital Output Channel

d (1-16)
If no connection is present: 0

ch_inching_bw int 4 Welding Wire Reverse Stick-Out Digital Output Channel (1-16)
d
If no connection is present: 0

ch_blow_out int 5 Torch Cleaning Gas Output Digital Channel (1~16)

If no connection is present: 0

Return
Value Description

0 Enable Welding Success

Negative Value Enable Welding Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

- 515 - Programming manual(V2.9.3)

  
Application Commands

Exception Description

DR_Error C Extension module error

(DR_ERROR_RUNTIME)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

Example

1 app_weld_enable_analog(ch_v_out = [ 1 , 1 ], spec_v_out = [ 0 , 0 , 3
00 , 10 ], ch_f_out = [ 2 , 1 ],
2  
3 spec_f_out = [ 0 , 0 , 40 , 10 ], ch_v_in = [ 1 , 1 ], spec_v_in
= [ 0 , 0 , 300 , 10 ], ch_c_in = [ 2 , 1 ],
4  
5 spec_c_in = [ 0 , 0 , 40 , 10 ], ch_arc_on = 1 , ch_gas_on = 2 ,
ch_inching_fwd = 3 , ch_inching_bwd = 4 , ch_blow_out = 5 )
6  
7
8  
9 # Voltage Output (Channel 1, Voltage Mode), Welder Voltage
Specification (Min/Max)=(0-300)
10  
11 # Feeding Speed Output (Channel 2, Voltage Mode), Feeding Speed
Specification (Min/Max)=(0-40)
12  
13 # Voltage Sensing (Channel 1, Voltage Mode), Sensor Measurement
Specification (Min/Max)=(0-300)
14  
15 # Current Sensing (Channel 2, Voltage Mode), Sensor Specification
(Min/Max)=(0-40)
16  
17 # Start Welding Signal (Channel 1), Gas Output Signal (Channel 2),
Wire Forward Stick-Out Signal (Channel 3),
18  
19 # Wire Reverse Stick-Out Signal (Channel 4), Torch Cleaning Gas
Output Signal (Channel 5)
20  
21 app_weld_disable_analog()

Related commands
• app_weld_enable_analog(ch_v_out=[1,0], spec_v_out=[0,0,0,0], ch_f_out=[2,0], spec_f_out=[0,0,0,0],
ch_v_in=[1,0], spec_v_in=[0,0,0,0], ch_c_in=[2,0],
spec_c_in=[0,0,0,0],ch_arc_on=1,ch_gas_on=2,ch_inching_fwd=3,ch_inching_bwd=4, ...)(p. 512)
• app_weld_set_weld_cond_analog(flag_dry_run=0, v_target=0, f_target=0, vel_target=0, vel_min=0,
vel_max=0, weld_proc_param=[0.2,0.2,0.5,0.5,0.5,0.2,0.2,0.5,0.5])(p. 519)

- 516 - Programming manual(V2.9.3)

  
Application Commands

• app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])(p. 530)
• app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 532)
• app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])(p. 535)
• app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 537)
• app_weld_adj_welding_cond_analog(flag_reset=0, v_target=None, f_target=None, vel_target=None,
wv_offset=None, wv_width_ratio=None)(p. 523)
• app_weld_get_welding_cond_analog()(p. 526)
• app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])(p. 530)
• app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 532)
• app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])(p. 535)
• app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 537)

12.3.15 app_weld_disable_analog()

Features
This disables the analog welding function.

Parameter
Parameter Name Data Type Default Description
Value

Return
Value Description

0 Success

Negative Value Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

- 517 - Programming manual(V2.9.3)

  
Application Commands

Exception Description

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

Example

1 app_weld_enable_analog(ch_v_out = [ 1 , 1 ], spec_v_out = [ 0 , 0 , 3
00 , 10 ], ch_f_out = [ 2 , 1 ],
2 spec_f_out = [ 0 , 0 , 40 , 10 ], ch_v_in = [ 1 , 1 ], spec_v_in
= [ 0 , 0 , 300 , 10 ], ch_c_in = [ 2 , 1 ],
3 spec_c_in = [ 0 , 0 , 40 , 10 ], ch_arc_on = 1 , ch_gas_on = 2 ,
ch_inching_fwd = 3 , ch_inching_bwd = 4 , ch_blow_out = 5 )
4  
5 app_weld_disable_analog()

Related commands
• app_weld_enable_analog(ch_v_out=[1,0], spec_v_out=[0,0,0,0], ch_f_out=[2,0], spec_f_out=[0,0,0,0],
ch_v_in=[1,0], spec_v_in=[0,0,0,0], ch_c_in=[2,0],
spec_c_in=[0,0,0,0],ch_arc_on=1,ch_gas_on=2,ch_inching_fwd=3,ch_inching_bwd=4, ...)(p. 512)
• app_weld_set_weld_cond_analog(flag_dry_run=0, v_target=0, f_target=0, vel_target=0, vel_min=0,
vel_max=0, weld_proc_param=[0.2,0.2,0.5,0.5,0.5,0.2,0.2,0.5,0.5])(p. 519)
• app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])(p. 530)
• app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 532)
• app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])(p. 535)
• app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 537)
• app_weld_adj_welding_cond_analog(flag_reset=0, v_target=None, f_target=None, vel_target=None,
wv_offset=None, wv_width_ratio=None)(p. 523)
• app_weld_get_welding_cond_analog()(p. 526)
• app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])(p. 530)
• app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 532)
• app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])(p. 535)
• app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 537)

- 518 - Programming manual(V2.9.3)

  
Application Commands

12.3.16 app_weld_set_weld_cond_analog(flag_dry_run=0, v_target=0,

f_target=0, vel_target=0, vel_min=0, vel_max=0,
weld_proc_param=[0.2,0.2,0.5,0.5,0.5,0.2,0.2,0.5,0.5])

Features
This sets the analog welding condition. It is only valid within the welding section defined with the Enable
Welding (app_weld_enable_analog()) and Disable Welding (app_weld_disable_analog()) commands, and any
operations starting at a point outside the welding section will generate an error. The Welding Parameter
(weld_proc_param) of the welding condition displays detailed conditions, including gas during start/end
welding and condition maintenance time. Refer to the figure below for the values to enter. Only one welding
condition is allowed in a single welding section. This welding condition can be adjusted during welding with the
app_weld_adj_welding_cond_analog() command while the voltage/feeding speed/speed (and weaving offset)
can be also adjusted from the Welding Condition Adjustment popup of the teaching pendant. However, from
the teaching pendant, welding condition adjustments are only available if the welding condition adjustment
status is set to RESET using a command (the welding condition setting is designated with
app_weld_set_weld_cond_analog()).

 Note
The welding current varies according to the wire feeding speed, basic material, material/type/stick-out
of the welding wire, and welding voltage, and this must be monitored with the welding machine or a
separate current sensor.

(a)Rsf/Rsv (b)Rff/Rfv (c)Tss (d)Tsf (e)Tas (f)Taf (g)Twc

- 519 - Programming manual(V2.9.3)

  
Application Commands

Parameter
Parameter Name Data Type Default Description
Value

flag_dry_run int 0 Dry-Run Mode

Actual Welding (0)
Dry-Run (1): Motion/Weaving/Offset only

v_target float 0 Target Voltage (V)

f_target float 0 Target Feeding Speed (m/min)

vel_target float 0 Target Speed (mm/sec)

• Take note that the unit is different from that of
the teaching pendant input (cm/min)

vel_min float 0 Minimum Target Speed Correction (mm/sec)

• Take note that the unit is different from that of
the teaching pendant input (cm/min)

vel_max float 0 Maximum Target Speed Correction (mm/sec)

• Take note that the unit is different from that of
the teaching pendant input (cm/min)

weld_proc_param list(float[9]) 0.2 Rsf (Feeding Speed Start Condition/Target Condition

Ratio)
(0< Rsf <= 1)

0.2 Rsv (Voltage Start Condition/Target Condition Ratio)

(0< Rsv <= 1)

0.5 Tss (Protective Gas Discharge Time Before Welding, sec)

(0<= Tss)

0.5 Tas (Start Welding Condition Maintenance Time, sec)

(0<= Twc)

0.5 Twc (Change Welding Condition Time, sec)

(0<= Twc)

- 520 - Programming manual(V2.9.3)

  
Application Commands

Parameter Name Data Type Default Description

Value

0.2 Rff (Feeding Speed End Condition/Target Condition

Ratio)
(0< Rff <= 1)

0.2 Rfv (Voltage End Condition/Target Condition Ratio)

(0< Rfv <= 1)

0.5 Taf (End Welding Condition Maintenance Time, sec)

(0<= Taf)

0.5 Tsf (Protective Gas Discharge Time After Welding, sec)

(0<= Tsf)

Return
Value Description

0 Setting Success

Negative value Setting Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

- 521 - Programming manual(V2.9.3)

  
Application Commands

Example

1 app_weld_enable_analog(ch_v_out = [ 1 , 1 ], spec_v_out = [ 0 , 0 , 3
00 , 10 ], ch_f_out = [ 2 , 1 ],
2  
3 spec_f_out = [ 0 , 0 , 40 , 10 ], ch_v_in = [ 1 , 1 ], spec_v_in
= [ 0 , 0 , 300 , 10 ], ch_c_in = [ 2 , 1 ],
4  
5 spec_c_in = [ 0 , 0 , 40 , 10 ], ch_arc_on = 1 , ch_gas_on = 2 ,
ch_inching_fwd = 3 , ch_inching_bwd = 4 , ch_blow_out = 5 )
6  
7
8  
9 app_weld_set_weld_cond_analog(flag_dry_run = 1 , v_target = 24 ,
f_target = 20 , vel_target = 60 , vel_min = 10 ,
10  
11 vel_max = 100 , weld_proc_param = [ 0.2 , 0.2 , 0.5 , 0.5 , 0.5 , 0
.2 , 0.2 , 0.5 , 0.5 ])
12  
13 # Target Voltage/Feeding Speed = 24 V, 20 m/min, Welding Speed=60
mm/sec (=1 cm/min), Actual Welding, Use Default Welding Parameter
14  
15 app_weld_disable_analog()

Related commands
• app_weld_enable_analog(ch_v_out=[1,0], spec_v_out=[0,0,0,0], ch_f_out=[2,0], spec_f_out=[0,0,0,0],
ch_v_in=[1,0], spec_v_in=[0,0,0,0], ch_c_in=[2,0],
spec_c_in=[0,0,0,0],ch_arc_on=1,ch_gas_on=2,ch_inching_fwd=3,ch_inching_bwd=4, ...)(p. 512)
• app_weld_set_weld_cond_analog(flag_dry_run=0, v_target=0, f_target=0, vel_target=0, vel_min=0,
vel_max=0, weld_proc_param=[0.2,0.2,0.5,0.5,0.5,0.2,0.2,0.5,0.5])(p. 519)
• app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])(p. 530)
• app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 532)
• app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])(p. 535)
• app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 537)
• app_weld_adj_welding_cond_analog(flag_reset=0, v_target=None, f_target=None, vel_target=None,
wv_offset=None, wv_width_ratio=None)(p. 523)
• app_weld_get_welding_cond_analog()(p. 526)
• app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])(p. 530)
• app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 532)
• app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])(p. 535)
• app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 537)

- 522 - Programming manual(V2.9.3)

  
Application Commands

12.3.17 app_weld_adj_welding_cond_analog(flag_reset=0, v_target=None,

f_target=None, vel_target=None, wv_offset=None,
wv_width_ratio=None)

Features
This adjusts the welding condition and weaving condition during analog welding. It is used to change the
welding condition of each section in a series of sections before calling the motion command (movel(), movec(),
moveb(), movesx()). If an adjustment factor is entered using this command, the corresponding welding
condition and weaving condition are adjusted, and real-time adjustment of the welding/weaving condition
from the welding monitoring information screen of the TP becomes unavailable. Execute flag_reset=1 to reset
the adjusted condition to the main condition set using app_weld_set_weld_cond_analog() and
app_weld_weave_cond_trapezoidal(). Setting flag_reset=1 will reset to the final condition adjusted in real-time
using the TP (the weaving width ratio (wv_width_ratio), which cannot be adjusted in real-time, is changed to 1),
and the welding condition can be adjusted in real-time from the TP.

Parameter
Parameter Name Data Type Default Description
Value

flag_reset int 0 0: Apply Adjustment

1: Default Target (app_weld_set_weld_cond_analog())
Apply Value

v_target float - Target Voltage (V)

f_target float - Feeding Speed (m/min))

vel_target float - Target Speed (mm/sec)

• Take note that the unit is different from that of
the teaching pendant input (cm/min)

wv_offset float[2] - Weaving Coordinate-Y Direction Offset (mm)

- Weaving Coordinate-Z Direction Offset (mm)

wv_width_ratio float - Changed Weaving Width/Set Weaving Width Ratio (0-2)

 Note

- 523 - Programming manual(V2.9.3)

  
Application Commands

Conditions which do not designate a value in factors v_target/f_target/vel_target/wv_offset/

wv_width_ratio will maintain the current condition (including conditions with real-time adjustments), so
only set factors that require adjustment. However, in the case of wv_offset, even if an adjustment is
made only to the Y direction or Z direction, values for both sequences must be entered.

Return
Value Description

0 Setting Success

Negative value Setting Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

Example

1 movej(posj( 0 , 0 , 90 , 0 , 90 , 0 ),v = 30 ,a = 60 )
2  
3
4  
5 pt1 = posx( 559 , 434.5 , 651.5 , 45 , 180 , 45 )
6  
7 pt2 = posx( 559 , 434.5 , 151.5 , 45 , 180 , 45 )
8  
9 pt3 = posx( 559 , 0.0 , 151.5 , 45 , 180 , 45 )
10  
11
12  

- 524 - Programming manual(V2.9.3)

  
Application Commands

13 app_weld_enable_analog(ch_v_out = [ 1 , 1 ], spec_v_out = [ 0 , 0 , 3
00 , 10 ], ch_f_out = [ 2 , 1 ],
14  
15 spec_f_out = [ 0 , 0 , 40 , 10 ], ch_v_in = [ 1 , 1 ], spec_v_in
= [ 0 , 0 , 300 , 10 ], ch_c_in = [ 2 , 1 ],
16  
17 spec_c_in = [ 0 , 0 , 40 , 10 ], ch_arc_on = 1 , ch_gas_on = 2 ,
ch_inching_fwd = 3 ,
18  
19 ch_inching_bwd = 4 , ch_blow_out = 5 )
20  
21
22  
23 app_weld_set_weld_cond_analog(flag_dry_run = 1 , v_target = 24 ,
f_target = 20 , vel_target = 60 , vel_min = 10 ,
24  
25 vel_max = 100 , weld_proc_param = [ 0.2 , 0.2 , 0.5 , 0.5 , 0.5 , 0
.2 , 0.2 , 0.5 , 0.5 ])
26  
27
28  
29 movel(pt1, v = 5 , a = 5 , r = 30 , app_type = DR_MV_APP_WELD)
30  
31 app_weld_adj_welding_cond_analog(flag_reset = 0 , v_target = 20 ,
f_target = 10 , vel_target = 30 , wv_offset = [ 20 , 10 ],
wv_width_ratio = 0.5 )
32  
33 movel(pt2, v = 5 , a = 5 , r = 30 , app_type = DR_MV_APP_WELD)
34  
35 app_weld_adj_welding_cond_analog(flag_reset = 1 )
36  
37 movel(pt3, v = 5 , a = 5 , app_type = DR_MV_APP_WELD)
38  
39 # Start Point → pt1: Apply Origin Welding Condition (24V, 20 m/
min)
40  
41 # pt1 → pt2: Apply Adjusted Condition (20 V, 10 m/min)
42  
43 # pt2 → pt3: Apply Origin Condition (24 V, 20 m/min)
44  
45
46  
47 app_weld_disable_analog()

Related commands
• app_weld_enable_analog(ch_v_out=[1,0], spec_v_out=[0,0,0,0], ch_f_out=[2,0], spec_f_out=[0,0,0,0],
ch_v_in=[1,0], spec_v_in=[0,0,0,0], ch_c_in=[2,0],
spec_c_in=[0,0,0,0],ch_arc_on=1,ch_gas_on=2,ch_inching_fwd=3,ch_inching_bwd=4, ...)(p. 512)
• app_weld_set_weld_cond_analog(flag_dry_run=0, v_target=0, f_target=0, vel_target=0, vel_min=0,
vel_max=0, weld_proc_param=[0.2,0.2,0.5,0.5,0.5,0.2,0.2,0.5,0.5])(p. 519)

- 525 - Programming manual(V2.9.3)

  
Application Commands

• app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])(p. 530)
• app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 532)
• app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])(p. 535)
• app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 537)
• app_weld_adj_welding_cond_analog(flag_reset=0, v_target=None, f_target=None, vel_target=None,
wv_offset=None, wv_width_ratio=None)(p. 523)
• app_weld_get_welding_cond_analog()(p. 526)
• app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])(p. 530)
• app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 532)
• app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])(p. 535)
• app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 537)
• movel()(p. 59)
• amovel()(p. 98)
• movec()(p. 68)
• amovec()(p. 104)
• moveb()(p. 81)
• amoveb()(p. 114)
• movesx()(p. 77)
• amovesx()(p. 111)

12.3.18 app_weld_get_welding_cond_analog()

Features
This monitors the welding status during analog welding. Values available for monitoring are the current target
voltage/current/speed/weaving offset/digital output signal and measured voltage/current and welding status. If
measured voltage/current is not set (if ch_v_in and ch_c_in are not set during app_weld_enable()), the output
of the corresponding values are set equal to the target voltage (v_target)/current (c_target). In addition, it is
possible to check the fail status using the welding status factor.

Parameter
Parameter Name Data Type Default Description
Value

- 526 - Programming manual(V2.9.3)

  
Application Commands

Return
Value Description

v_target Current Target Voltage (V) (target with adjustment applied)

c_target Current Target Current (A) (target with adjustment applied)

f_target Current Target Feeding Speed (m/min) (target with adjustment applied)

vel_target Current Target Speed (mm/sec) (target with adjustment applied)

* Take note that the unit is different from that of the monitoring output unit (cm/min)
of the teaching pendant

v_meas Current Measured Voltage (V)

c_meas Current Measured Current (A)

wv_offset[2] Current Target Offset (Y and Z directions, mm) (target with adjustment applied)

sig_out[4] Digital Output Signal (arc_on, gas_on, inching_fwd, inching_bwd)

status Non-weld:0, Weld (Normal): 1, Weld (Abnormal): 9, Dry-run: 99

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

- 527 - Programming manual(V2.9.3)

  
Application Commands

Example

1 movej(posj( 0 , 0 , 90 , 0 , 90 , 0 ),v = 30 ,a = 60 )
2  
3
4  
5 pt1 = posx( 559 , 434.5 , 651.5 , 45 , 180 , 45 )
6  
7 pt2 = posx( 559 , 434.5 , 151.5 , 45 , 180 , 45 )
8  
9 pt3 = posx( 559 , 0.0 , 151.5 , 45 , 180 , 45 )
10  
11
12  
13 app_weld_enable_analog(ch_v_out = [ 1 , 1 ], spec_v_out = [ 0 , 0 , 3
00 , 10 ], ch_f_out = [ 2 , 1 ],
14  
15 spec_f_out = [ 0 , 0 , 40 , 10 ], ch_v_in = [ 1 , 1 ], spec_v_in
= [ 0 , 0 , 300 , 10 ], ch_c_in = [ 2 , 1 ],
16  
17 spec_c_in = [ 0 , 0 , 40 , 10 ], ch_arc_on = 1 , ch_gas_on = 2 ,
ch_inching_fwd = 3 ,
18  
19 ch_inching_bwd = 4 , ch_blow_out = 5 )
20  
21
22  
23 app_weld_set_weld_cond_analog(flag_dry_run = 1 , v_target = 24 ,
f_target = 20 , vel_target = 60 , vel_min = 10 ,
24  
25 vel_max = 100 , weld_proc_param = [ 0.2 , 0.2 , 0.5 , 0.5 , 0.5 , 0
.2 , 0.2 , 0.5 , 0.5 ])
26  
27
28  
29 movel(pt1, v = 5 , a = 5 , r = 30 , app_type = DR_MV_APP_WELD)
30  
31 app_weld_adj_welding_cond_analog(flag_reset = 0 , v_target = 20 ,
f_target = 10 , vel_target = 30 , wv_offset = [ 20 , 10 ],
wv_width_ratio = 0.5 )
32  
33 movel(pt2, v = 5 , a = 5 , r = 30 , app_type = DR_MV_APP_WELD)
34  
35 app_weld_adj_welding_cond_analog(flag_reset = 1 )
36  
37 amovel(pt3, v = 5 , a = 5 , app_type = DR_MV_APP_WELD)
38  
39
40  
41 while True :
42  

- 528 - Programming manual(V2.9.3)

  
Application Commands

43 Vt, Ct, Ft, velt, Vm, Cm, Off, Dout, status =

app_weld_get_welding_cond_analog()
44  
45 if status = = 9 :
46  
47 tp_popup( "welding error!! " , DR_PM_ALARM, 1 )
48  
49 # An alarm is generated if abnormal welding occurs (status=9)
50  
51 else :
52  
53 if check_motion() = = 0 :
54  
55 break
56  
57
58  
59 app_weld_disable_analog()

Related commands
• app_weld_enable_analog(ch_v_out=[1,0], spec_v_out=[0,0,0,0], ch_f_out=[2,0], spec_f_out=[0,0,0,0],
ch_v_in=[1,0], spec_v_in=[0,0,0,0], ch_c_in=[2,0],
spec_c_in=[0,0,0,0],ch_arc_on=1,ch_gas_on=2,ch_inching_fwd=3,ch_inching_bwd=4, ...)(p. 512)
• app_weld_set_weld_cond_analog(flag_dry_run=0, v_target=0, f_target=0, vel_target=0, vel_min=0,
vel_max=0, weld_proc_param=[0.2,0.2,0.5,0.5,0.5,0.2,0.2,0.5,0.5])(p. 519)
• app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])(p. 530)
• app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 532)
• app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])(p. 535)
• app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 537)
• app_weld_adj_welding_cond_analog(flag_reset=0, v_target=None, f_target=None, vel_target=None,
wv_offset=None, wv_width_ratio=None)(p. 523)
• app_weld_get_welding_cond_analog()(p. 526)
• app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,
wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])(p. 530)
• app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 532)
• app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])(p. 535)
• app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])(p. 537)

- 529 - Programming manual(V2.9.3)

  
Application Commands

12.3.19 app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0,

wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])

Features
This sets the trapezoidal weaving condition. It is only valid within the welding section defined with the Enable
Welding (app_weld_enable_analog()) and Disable Welding (app_weld_disable_analog()/
app_weld_disable_digital()) commands, and any operations starting at a point outside the welding section will
generate an error. The weaving condition is defined by the weaving coordinates, which are defined with the TCP
direction from the weaving x-axis as the weaving z-axis, and the vector-multiplied (cross product) direction as
the weaving y-axis with the welding path direction as the weaving x-axis. Refer to the figure below for the
coordinates and weaving setting factor. Only one weaving condition is allowed in a single welding section. The
offset or weaving width can be adjusted during welding with the app_weld_adj_welding_cond_analog()/
app_weld_set_weld_cond_digital() command or the voltage/current/speed and the offset can be adjusted from
the Welding Condition Adjustment popup of the teaching pendant. However, from the teaching pendant,
welding condition adjustments are only available if the welding condition adjustment status is set to RESET
using a command (the welding condition setting is designated with app_weld_set_weld_cond_analog()/
app_weld_set_weld_cond_digital()).

Parameter
Parameter Data Type Default Description
Name Value

wv_offset float[2] 0 Weaving Coordinate-Y Direction Offset (mm)

0 Weaving Coordinate-Z Direction Offset (mm)

wv_angle float 0 Weaving Coordinate-Weaving Plane Tile Angle centering on X-Axis

(deg)

- 530 - Programming manual(V2.9.3)

  
Application Commands

Parameter Data Type Default Description

Name Value

wv_param list(float[1 0 Weaving Point 1-x (mm)

0])
1.5 Weaving Point 1-y (mm)

0 Weaving Point 2-x (mm)

-1.5 Weaving Point 2-y (mm)

0.3 Weaving Point 1→2 hrs (sec)

0.1 Weaving Point 1→2 Dec/Acc Time (sec)

0.3 Weaving Point 1 Dwell Time (sec)

0.3 Weaving Point 2→1 hr (sec)

0.1 Weaving Point 2→1 Dec/Acc Time (sec)

0.3 Weaving Point 2 Dwell Time (sec)

Return
Value Description

0 Setting Success

Negative value Setting Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

- 531 - Programming manual(V2.9.3)

  
Application Commands

Exception Description

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

Example

1 app_weld_enable_analog(ch_v_out = [ 1 , 1 ], spec_v_out = [ 0 , 0 , 3
00 , 10 ], ch_f_out = [ 2 , 1 ],
2 spec_f_out = [ 0 , 0 , 40 , 10 ], ch_v_in = [ 1 , 1 ], spec_v_in
= [ 0 , 0 , 300 , 10 ], ch_c_in = [ 2 , 1 ],
3 spec_c_in = [ 0 , 0 , 40 , 10 ], ch_arc_on = 1 , ch_gas_on = 2 ,
ch_inching_fwd = 3 , ch_inching_bwd = 4 , ch_blow_out = 5 )
4  
5 app_weld_set_weld_cond_analog(flag_dry_run = 1 , v_target = 200 ,
f_target = 150 , vel_target = 10 , vel_min = 10 ,
6 vel_max = 100 , weld_proc_param = [ 0.5 , 0.3 , 2 , 1 , 0.7 , 0.4 , 0
.7 , 0.6 , 1.5 ])
7  
8 app_weld_weave_cond_trapezoidal(wv_offset = [ 0 , 0 ], wv_ang = 0 ,
wv_param = [ 0 , 5 , 0 , - 5 , 0.7 , 0.2 , 0.5 , 0.7 , 0.2 , 0.5 ]
)
9  
10 # Trapezoidal Weaving Pattern, Offset=0,0, Tilt Angle=0, Weaving
Point 1=(0,5), Weaving Point 2=(0,-5), Weaving Time=0.7 (sec)
(same in both directions), Weaving Dec/Acc Time=0.2 (sec) (same in
both directions), Weaving Point 1 Dwell Time=0.5 sec, Weaving
Point 2 Dwell Time=0.5 sec
11 app_weld_disable_analog ()

12.3.20 app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0,

wv_param=[3,0.6])

Features
This sets the zigzag weaving condition. It is only valid within the welding section defined with the Enable
Welding (app_weld_enable_analog()) and Disable Welding (app_weld_disable_analog()/
app_weld_disable_digital()) commands, and any operations starting at a point outside the welding section will
generate an error. The weaving condition is defined by the weaving coordinates, which are defined with the TCP
direction from the weaving x-axis as the weaving z-axis, and the vector-multiplied (cross product) direction as
the weaving y-axis with the welding path direction as the weaving x-axis. Refer to the figure below for the
coordinates and weaving setting factor. Only one weaving condition is allowed in a single welding section. The

- 532 - Programming manual(V2.9.3)

  
Application Commands

offset or weaving width can be adjusted during welding with the app_weld_adj_welding_cond_analog()/
app_weld_set_weld_cond_digital() command or the voltage/current/speed and the offset can be adjusted from
the Welding Condition Adjustment popup of the teaching pendant. However, from the teaching pendant,
welding condition adjustments are only available if the welding condition adjustment status is set to RESET
using a command (the welding condition setting is designated with app_weld_set_weld_cond_analog()/
app_weld_set_weld_cond_digital()).

Parameter
Parameter Name Data Type Default Description
Value

wv_offset float[2] 0 Weaving Coordinate-Y Direction Offset (mm)

0 Weaving Coordinate-Z Direction Offset (mm)

wv_angle float 0 Weaving Coordinate-Weaving Plane Tile Angle centering

on X-Axis (deg)

wv_param list(float[2]) 3 Weaving Width (mm)

0.6 Weaving Period (sec)

Return
Value Description

0 Setting Success

Negative value Setting Failure

- 533 - Programming manual(V2.9.3)

  
Application Commands

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

Example

1 app_weld_enable_analog(ch_v_out = [ 1 , 1 ], spec_v_out = [ 0 , 0 , 3
00 , 10 ], ch_f_out = [ 2 , 1 ],
2  
3 spec_f_out = [ 0 , 0 , 40 , 10 ], ch_v_in = [ 1 , 1 ], spec_v_in
= [ 0 , 0 , 300 , 10 ], ch_c_in = [ 2 , 1 ],
4  
5 spec_c_in = [ 0 , 0 , 40 , 10 ], ch_arc_on = 1 , ch_gas_on = 2 ,
ch_inching_fwd = 3 , ch_inching_bwd = 4 , ch_blow_out = 5 )
6  
7
8  
9 app_weld_set_weld_cond_analog(flag_dry_run = 1 , v_target = 200 ,
f_target = 150 , vel_target = 10 , vel_min = 10 ,
10  
11 vel_max = 100 , weld_proc_param = [ 0.5 , 0.3 , 2 , 1 , 0.7 , 0.4 , 0
.7 , 0.6 , 1.5 ])
12  
13
14  
15 app_weld_weave_cond_zigzag(wv_offset = [ 0 , 0 ], wv_ang = 0 ,
wv_param = [ 10 , 0.5 ])
16  
17 # Zigzag Weaving Pattern, Offset=0,0 Tilt Angle=0, Weaving
Width=10 (mm), Weaving Period=0.5 (sec)
18  
19 app_weld_disable_analog()

- 534 - Programming manual(V2.9.3)

  
Application Commands

12.3.21 app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0,

wv_param=[3,3,0.3,0.3])

Features
This sets the circular weaving condition. It is only valid within the welding section defined with the Enable
Welding (app_weld_enable_analog()) and Disable Welding (app_weld_disable_analog()/
app_weld_disable_digital()) commands, and any operations starting at a point outside the welding section will
generate an error. The weaving condition is defined by the weaving coordinates, which are defined with the TCP
direction from the weaving x-axis as the weaving z-axis, and the vector-multiplied (cross product) direction as
the weaving y-axis with the welding path direction as the weaving x-axis. Refer to the figure below for the
coordinates and weaving setting factor. Only one weaving condition is allowed in a single welding section. The
offset or weaving width can be adjusted during welding with the app_weld_adj_welding_cond_analog()/
app_weld_set_weld_cond_digital() command or the voltage/current/speed and the offset can be adjusted from
the Welding Condition Adjustment popup of the teaching pendant. However, from the teaching pendant,
welding condition adjustments are only available if the welding condition adjustment status is set to RESET
using a command (the welding condition setting is designated with app_weld_set_weld_cond_analog()/
app_weld_set_weld_cond_digital()).

Parameter
Parameter Name Data Type Default Description
Value

wv_offset float[2] 0 Weaving Coordinate-Y Direction Offset (mm)

0 Weaving Coordinate-Z Direction Offset (mm)

wv_angle float 0 Weaving Coordinate-Weaving Plane Tile Angle centering

on X-Axis (deg)

wv_param list(float[4]) 3 X Direction Weaving Width (mm)

- 535 - Programming manual(V2.9.3)

  
Application Commands

Parameter Name Data Type Default Description

Value

3 Y Direction Weaving Width (mm)

0.3 X Direction Weaving Period (sec)

0.3 Y Direction Weaving Period (sec)

Return
Value Description

0 Setting Success

Negative value Setting Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

Example

1 app_weld_enable_analog(ch_v_out = [ 1 , 1 ], spec_v_out = [ 0 , 0 , 3
00 , 10 ], ch_f_out = [ 2 , 1 ],
2 spec_f_out = [ 0 , 0 , 40 , 10 ], ch_v_in = [ 1 , 1 ], spec_v_in
= [ 0 , 0 , 300 , 10 ], ch_c_in = [ 2 , 1 ],
3 spec_c_in = [ 0 , 0 , 40 , 10 ], ch_arc_on = 1 , ch_gas_on = 2 ,
ch_inching_fwd = 3 , ch_inching_bwd = 4 , ch_blow_out = 5 )

- 536 - Programming manual(V2.9.3)

  
Application Commands

4  
5 app_weld_set_weld_cond_analog(flag_dry_run = 1 , v_target = 200 ,
f_target = 150 , vel_target = 10 , vel_min = 10 ,
6 vel_max = 100 , weld_proc_param = [ 0.5 , 0.3 , 2 , 1 , 0.7 , 0.4 , 0
.7 , 0.6 , 1.5 ])
7  
8 app_weld_weave_cond_circular(wv_offset = [ 0 , 0 ], wv_ang = 0 ,
wv_param = [ 3 , 3 , 0.3 , 0.3 ])
9 # Circular Weaving Pattern, Offset=0,0 Tilt Angle=0, X Direction
Weaving Width=3 (mm), Y Direction Weaving=3 (mm), X Direction
Weaving Period=0.3 (s), Y Direction Weaving Period=0.3 (s)
10 app_weld_disable_analog()

12.3.22 app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0,

wv_param=[3,0.6])

Features
This sets the sinusoidal weaving condition. It is only valid within the welding section defined with the Enable
Welding (app_weld_enable_analog()) and Disable Welding (app_weld_disable_analog()/
app_weld_disable_digital()) commands, and any operations starting at a point outside the welding section will
generate an error. The weaving condition is defined by the weaving coordinates, which are defined with the TCP
direction from the weaving x-axis as the weaving z-axis, and the vector-multiplied (cross product) direction as
the weaving y-axis with the welding path direction as the weaving x-axis. Refer to the figure below for the
coordinates and weaving setting factor. Only one weaving condition is allowed in a single welding section. The
offset or weaving width can be adjusted during welding with the app_weld_adj_welding_cond_analog()/
app_weld_set_weld_cond_digital() command or the voltage/current/speed and the offset can be adjusted from
the Welding Condition Adjustment popup of the teaching pendant. However, from the teaching pendant,
welding condition adjustments are only available if the welding condition adjustment status is set to RESET
using a command (the welding condition setting is designated with app_weld_set_weld_cond_analog()/
app_weld_set_weld_cond_digital()).

- 537 - Programming manual(V2.9.3)

  
Application Commands

Parameter
Parameter Name Data Type Default Description
Value

wv_offset float[2] 0 Weaving Coordinate-Y Direction Offset (mm)

0 Weaving Coordinate-Z Direction Offset (mm)

wv_angle float 0 Weaving Coordinate-Weaving Plane Tile Angle centering

on X-Axis (deg)

wv_param list(float[2]) 3 Weaving Width (mm)

0.6 Weaving Period (sec)

Return
Value Description

0 Setting Success

Negative value Setting Failure

Exception
Exception Description

DR_Error Parameter data error

(DR_ERROR_TYPE)

DR_Error Invalid parameter value

(DR_ERROR_VALUE)

DR_Error C Extension module error

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcibly

(DR_ERROR_STOP)

- 538 - Programming manual(V2.9.3)

  
Application Commands

Example

1 app_weld_enable_analog(ch_v_out = [ 1 , 1 ], spec_v_out = [ 0 , 0 , 3
00 , 10 ], ch_f_out = [ 2 , 1 ],
2  
3 spec_f_out = [ 0 , 0 , 40 , 10 ], ch_v_in = [ 1 , 1 ], spec_v_in
= [ 0 , 0 , 300 , 10 ], ch_c_in = [ 2 , 1 ],
4  
5 spec_c_in = [ 0 , 0 , 40 , 10 ], ch_arc_on = 1 , ch_gas_on = 2 ,
ch_inching_fwd = 3 , ch_inching_bwd = 4 , ch_blow_out = 5 )
6  
7
8  
9 app_weld_set_weld_cond_analog(flag_dry_run = 1 , v_target = 200 ,
f_target = 150 , vel_target = 10 , vel_min = 10 ,
10  
11 vel_max = 100 , weld_proc_param = [ 0.5 , 0.3 , 2 , 1 , 0.7 , 0.4 , 0
.7 , 0.6 , 1.5 ])
12  
13
14  
15 app_weld_weave_cond_sinusoidal(wv_offset = [ 0 , 0 ], wv_ang = 0 ,
wv_param = [ 10 , 0.5 ])
16  
17 # Sinusoidal Weaving Pattern, Offset=0,0 Tilt Angle=0, Weaving
Width=10 (mm), Weaving Period=0.5 (s)
18  
19 app_weld_disable_analog()

- 539 - Programming manual(V2.9.3)

  
A-Series Command

13 A-Series Command

13.1 Controller

13.1.1 get_function_input(index)

Features
This function reads a state of the function button from the process button device.

Parameters
Parameter Name Data Type Default Description
Value

index int - It is the index of the function button mounted on the

process button to be read. It is available 1 to 4.

Return
Value Description

1 ON

0 OFF

Negative value Failed

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

- 540 - Programming manual(V2.9.3)

  
A-Series Command

Exception Description

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

Example

1 in1 = get_function_input( 1 ) # Reads the no. 1

function button input
2 in8 = get_function input ( 4 ) # Reads the no. 4
function button input

13.2 Flange I/O

13.2.1 flange_serial_open(baudrate=115200, bytesize=DR_EIGHTBITS,

parity=DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)

Features
A command used for opening the Pseudo Flange Serial communication port.

The characteristics of pseudo flange serial communication are different from normal serial communication.
Therefore, handshaking communication is recommended. (e.g., modbus RTU) Due to the internal buffer size
limit (255bytes) and internal delay, overflow may occur when used in sensors, etc.

Parameters
Parameter Name Data Type Default Description
Value

baudrate int 115200 Baud rate

2400, 4800, 9600, 19200, 38400, 57600, 115200 etc

bytesize int 8 Number of data bits

• DR_FIVEBITS : 5
• DR_SIXBITS : 6
• DR_SEVENBITS : 7
• DR_EIGHTBITS : 8

- 541 - Programming manual(V2.9.3)

  
A-Series Command

Parameter Name Data Type Default Description

Value

parity str "N" Parity checking

• DR_PARITY_NONE: "N"
• DR_PARITY_EVEN: "E"
• DR_PARITY_ODD: "O"

stopbits int 1 Number of stop bits

• DR_STOPBITS_ONE =1
• DR_STOPBITS_TWO = 2

Return
Value Description

0 Successful connection

Negative value Fail to connection

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

13.2.2 flange_serial_close()

Features
This function closes a flange serial communication port.

- 542 - Programming manual(V2.9.3)

  
A-Series Command

Return
Value Description

0 Success

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

13.2.3 flange_serial_write(tx_data)

Features
This function records the data (data) to a flange serial port.

Parameters
Parameter Name Data Type Default Description
Value

tx_data byte - Data to be transmitted (max 32byte)

• The data type must be a byte.
• Refer to the example below.

Return
Value Description

0 Success

- 543 - Programming manual(V2.9.3)

  
A-Series Command

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error Parameter value is invalid

(DR_ERROR_VALUE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

13.2.4 flange_serial_read(timeout=None)

Features
This function reads the data from a flange serial port.

Return
Value Description

res Number of bytes of the received data

rx_data Number of bytes read (byte type)

Exception
Exception Description

DR_Error Parameter data type error occurred

(DR_ERROR_TYPE)

DR_Error C extension module error occurred

(DR_ERROR_RUNTIM
E)

- 544 - Programming manual(V2.9.3)

  
A-Series Command

Exception Description

DR_Error Program terminated forcefully

(DR_ERROR_STOP)

13.2.5 Integrated example - A-Series Command

This example controls robotiq 2f using Pseudo Flange Serial.

Example : robotiq 2f

1 Def recv_data():
2 Res, data = flange_serial_read( 3 ) #timeout 3s
3 If res = = - 1 :
4 #Exception Handling Required
5 tp_log(“Response time out!!”)
6 elif res = = - 2
7 #Exception Handling Required
8 tp_log(“ Buffer Overflow!!”)
9 else :
10 if Modbus_recv_check(data) = = True :
11 tp_log(“recv size [“ + str (res) + ”] :” + str (data))
12 else
13 #Exception Handling Required
14 tp_log(“CRC Check Fail!!”)
15
16 flange_serial_open(baudrate = 115200 , bytesize = DR_EIGHTBITS,
parity = DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)
17 wait( 0.1 )
18
19 #Step1:Activation Request(clear Act)
20 flange_serial_write(modbus_send_make(b
"\x09\x10\x03\xE8\x00\x03\x06\x00\x00\x00\x00\x00\x00" ))
21 res, data = flange_serial_read()
22
23 #Step1:Activation Request(set Act)
24 flange_serial_write(modbus_send_make(b
"\x09\x10\x03\xE8\x00\x03\x06\x01\x00\x00\x00\x00\x00" ))
25 res, data = flange_serial_read()
26
27 #Step 2: Read Gripper status until the activation is completed
28 flange_serial_write(modbus_send_make(b "\x09\x03\x07\xD0\x00\x01"
))
29 res, data = flange_serial_read()
30  
31 #Step 3: Move the robot to the pick-up location
32 wait( 1 )
33
34 #Step 4: Close the Gripper at full speed and full force

- 545 - Programming manual(V2.9.3)

  
A-Series Command

35 flange_serial_write(modbus_send_make(b
"\x09\x10\x03\xE8\x00\x03\x06\x09\x00\x00\xFF\xFF\xFF" ))
36 res, data = flange_serial_read()
37
38 #Step 5: Read Gripper status until the grasp is completed
39 flange_serial_write(modbus_send_make(b "\x09\x03\x07\xD0\x00\x03"
))
40 res, data = flange_serial_read()
41
42 #Step 6: Move the robot to the release location
43 wait( 1 )
44
45 #Step 7: Open the Gripper at full speed and full force
46 flange_serial_write(modbus_send_make(b
"\x09\x10\x03\xE8\x00\x03\x06\x09\x00\x00\x00\xFF\xFF" ))
47 res, data = flange_serial_read()
48
49 #Step 8: Read Gripper status until the opening is completed
50 flange_serial_write(modbus_send_make(b "\x09\x03\x07\xD0\x00\x03"
))
51 res, data = flange_serial_read()
52
53 flange_serial_close()

- 546 - Programming manual(V2.9.3)