Examples¶

Programs from the repository's GUI/files/Programs folder and the documentation. Paste one into the program window, read it against the simulator, and press Start. The speed slider does not slow a program: for a first run, lower v= or raise t= in the moves.

A joint-space loop¶

Two poses, back and forth, with a timed first move.

Begin()
Delay(1)
MoveJoint(85.078,-111.195,143.513,-32.92,18.084,129.448,t=3)
Delay(1)
MoveJoint(66.129,-117.368,136.77,46.28,-29.588,149.293)
Delay(1)
Loop()

Cartesian moves in the world frame¶

A joint move to a start pose, then straight-line moves: translations first, then changes of orientation. Watch the simulator to see the tool follow.

Begin()
Delay(1)
MoveJoint(90.0,-90.0,180.001,0.0,0.0,180.0,t=4)
Delay(1)
MoveCart(0.0,263.23,161.241,-90.0,0.0,-89.499)
Delay(1)
MoveCart(81.565,262.804,161.047,-90.135,-0.029,-89.578)
Delay(1)
MoveCart(81.649,194.981,160.077,-90.14,-0.043,-89.593)
Delay(1)
MoveCart(83.598,194.356,161.493,-91.155,1.306,-80.28)
Delay(1)
MoveCart(84.56,194.131,162.347,-48.387,1.261,-80.188)
Delay(1)
MoveCart(82.89,191.698,162.369,-40.587,26.026,-107.028)
Delay(1)
End()

The MoveCart lines have no t=, so each takes 3.6 s whatever its length (MoveCart). Give the long ones a t= for a slower first run.

A move relative to the tool¶

80 mm back along the tool's X axis, from the start pose the program moves to first.

Begin()
Delay(1)
MoveJoint(90.0,-90.0,180.001,0.0,0.0,180.0,t=4)
Delay(1)
MoveCartRelTRF(-80,0,0,0,0,0)
Delay(1)
End()

Pick and place with the gripper¶

From the repository: a joint move over the part, a Cartesian descent, a grip, a transfer and a release. Note the delays after each gripper command.

Begin()
Delay(1)
MoveJoint(89.209,-35.021,174.356,-1.463,-28.645,85.972,t=4)
Delay(1)
Gripper(255,20,120)
Delay(2)
MoveCart(-40.499,298.455,131.712,6.081,-0.739,-179.276)
MoveJoint(15.478,-56.126,178.673,-0.928,-54.084,85.5)
Delay(1)
Gripper(0,100,120)
MoveJoint(89.033,-49.402,174.486,-1.027,-43.341,85.596)
MoveCart(-41.535,300.316,17.635,6.141,-0.686,-179.224)
Delay(1)
Gripper(255,100,1000)
Delay(1)
MoveCart(-40.499,298.455,131.712,6.081,-0.739,-179.276)
MoveJoint(15.478,-56.126,178.673,-0.928,-54.084,85.5)
Gripper(0,100,100)
Delay(1)
End()

Before you run it:

It does not calibrate the gripper: clear the gripper's error and calibrate it in the Gripper tab first.
Gripper(255,20,120), Gripper(0,100,120) and Gripper(0,100,100) ask for 120 or 100 mA, below the about 150 mA the gripper needs to move: raise the current to at least 150 mA.
Gripper(255,100,1000) grips at 1000 mA and speed 100. Above about 700 mA, keep the speed low, or lower the current (Gripper).
The MoveCart lines have no t= and take 3.6 s each.

Gripper test¶

Calibration, a few open and close cycles, then a small joint move and a Cartesian move.

Begin()
Gripper_cal()
Delay(3)
Gripper(100,60,600)
Delay(2)
Gripper(200,60,600)
Delay(2)
MoveJoint(85.192,-104.451,158.769,-1.983,-46.491,179.899,t=6)
Delay(1)
MoveCart(4.317,103.384,192.319,-84.465,1.447,-143.154)
Gripper(100,60,600)
Delay(2)
End()

Clear the gripper's error in the Gripper tab before you start it. Delay(3) is just the SSG-48's calibration time; Delay(4) leaves a margin, and the MSG needs Delay(7). The MoveCart has no t= and takes 3.6 s.

Toggling an output¶

A pneumatic gripper, or a lamp, once a second, forever.

Begin()
Output(1,HIGH)
Delay(1)
Output(1,LOW)
Delay(1)
Loop()

A dance¶

Timed joint and Cartesian moves in quick succession: example_dance_2.txt in the repository, for a demo once the robot is known to run every pose in it.

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