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The two contracts

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Source-Robotics/RCB-Runtime

PAR6 Arm
Control Box
Programming
Dashboard
End Effectors
Simulation & AI
Support
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Source Robotics Docs

Source-Robotics/RCB-Runtime

PAR6 Arm
PAR6 Arm
- Before you start
  Before you start
  - About this manual
- Chapters
  Chapters
  - 1. Overview
    
    1. Overview
    
    The robot system
    
    Parts and labels
    
    What is in the box
  - 2. Safety
    
    2. Safety
    
    Intended use
    
    Hazards and how to avoid them
    
    Emergency stop
    
    Moving the arm by hand
    
    Built-in safety functions
    
    Workspace and cell layout
  - 3. Technical data
    
    3. Technical data
    
    Joint ranges and limits
    
    Kinematics and frames
    
    Operating conditions
  - 4. Mounting and installation
    
    4. Mounting and installation
    
    Unpacking
    
    Choosing the location
    
    Mounting the arm
    
    Cabling to the control box
    
    First power-on
  - 5. Operation
    
    5. Operation
    
    Power on, power off
    
    Homing
    
    Freedrive
    
    Jogging
    
    Running programs
    
    Stops, faults and recovery
    
    Checking the safety functions
  - 6. Tools and end effectors
    
    6. Tools and end effectors
    
    The flange and the tool frame
    
    Telling the robot which tool is mounted
    
    Payload
  - 7. Application examples
    
    7. Application examples
    
    Pick and place
    
    A G-code toolpath
    
    A block program
    
    Hand-guiding into a simulator
  - 8. Maintenance
    
    8. Maintenance
    
    Inspection intervals
    
    Belts and tensioners
    
    Joint calibration
    
    Checking homing repeatability
    
    Cleaning
  - 9. Troubleshooting
    
    9. Troubleshooting
    
    Symptoms and causes
    
    Homing failures
    
    Getting help
  - 10. Transport, storage and disposal
- Build guide
  Build guide
- Appendix
  Appendix
- Resources
  Resources
  - Glossary
  - CAD and downloads
Control Box
Control Box
- Before you start
  Before you start
  - About this manual
- Chapters
  Chapters
  - 1. Overview
    
    1. Overview
    
    Parts and labels
    
    The software inside
  - 2. Safety
    
    2. Safety
    
    Emergency stop wiring
    
    Power states: enabled, disabled, off
    
    Network security
  - 3. Technical data
  - 4. Mounting and installation
    
    4. Mounting and installation
    
    Mounting and power supply
    
    Connector panel and pin map
    
    Digital inputs and outputs
    
    CAN bus and drive addresses
    
    Front panel
    
    Cabling to the arm
  - 5. Software setup
    
    5. Software setup
    
    Step 1: The operating system image
    
    Step 2: Boot configuration
    
    Step 3: Installing the runtime
    
    Step 4: The service
    
    Step 5: Network
    
    Step 6: System check
    
    Updates
  - 6. Configuration
    
    6. Configuration
    
    Selecting the robot, tool and cell
    
    Safety settings
    
    Freedrive walls
    
    Safety zones
    
    Adding another robot model
  - 7. Operation
    
    7. Operation
    
    Power on, power off
    
    Front panel menu
    
    Services and restarts
    
    Logs and the support bundle
    
    Recordings
    
    Drive firmware updates
    
    Drive firmware release notes
    
    Drive tuning
  - 8. Maintenance
  - 9. Troubleshooting
  - 10. Transport, storage and disposal
- Configuration reference
  Configuration reference
- Developer reference
  Developer reference
- Resources
  Resources
  - Glossary
  - CAD and downloads
Programming
Programming
- Before you start
  Before you start
  - About this guide
- Chapters
  Chapters
  - 1. Interfaces at a glance
    
    1. Interfaces at a glance
    
    The Python client
    
    The command protocol
    
    The real-time interface
    
    Blocks and G-code
    
    The dashboard as a client
  - 2. Concepts and conventions
    
    2. Concepts and conventions
    
    Units
    
    Joints, directions and the zero pose
    
    Reference frames
    
    Poses and orientation angles
    
    Arm configurations and singularities
    
    Modes and states
    
    Homing
    
    Freedrive
    
    Blending between moves
    
    Motion profiles
    
    Target, commanded, measured
    
    Who is in control
  - 3. The command protocol
    
    3. The command protocol
    
    Connection and message format
    
    Replies and events
    
    Waiting, callbacks and completion
    
    Errors and stops
    
    Telemetry stream
    
    Clients in other languages
  - 4. Real-time interface
    
    4. Real-time interface
    
    How it works
    
    The two contracts
    
    Specification and limits
    
    The safety layer
    
    Feedforward and dynamics
    
    Command packet
    
    State packet and recipes
    
    Compatibility
  - 5. Hard real-time (RTI)
    
    5. Hard real-time (RTI)
    
    First stream
    
    Position, velocity and torque streams
    
    Stops and refusals
    
    Examples
  - 6. Soft real-time (SOFT_RTI)
    
    6. Soft real-time (SOFT_RTI)
    
    First stream
    
    Smoothing, lag and pacing
    
    Teleoperation and input devices
    
    UDP or TCP
    
    Examples
  - 7. Block programming
    
    7. Block programming
    
    Points and positions
    
    Block reference
    
    Check and run
  - 8. G-code
  - 9. Diagnostics and troubleshooting
    
    9. Diagnostics and troubleshooting
    
    Log files
    
    Recordings and the support bundle
    
    FAQ
- Command reference
  Command reference
  - Per-move settings
  - Motion
    
    Motion
    
    move_joints
    
    move_pose
    
    move_linear
    
    move_linear_rel_world
    
    move_linear_rel_tool
    
    move_arc
    
    move_arc_rel_world
    
    move_arc_rel_tool
    
    move_circle
    
    move_circle_rel_world
    
    move_circle_rel_tool
    
    move_spline
    
    move_spline_rel_world
    
    move_spline_rel_tool
    
    delay
  - Robot control
    
    Robot control
    
    enable
    
    disable
    
    home
    
    clear_errors
    
    enter_idle_mode
    
    enter_exec_mode
    
    enter_jog_mode
    
    stop
    
    pause
    
    resume
    
    safety_stop
    
    release_safety_stop
    
    enter_flashing_mode
    
    exit_flashing_mode
    
    take_control
    
    release_control
    
    control_holder
    
    holds_control
    
    set_force_confirm
  - Waiting
    
    Waiting
    
    wait_idle
    
    wait_motion_complete
    
    wait_mode
    
    wait_homed
    
    wait_enabled
    
    wait_error_reset
    
    wait
  - Motion settings
    
    Motion settings
    
    set_joint_speed
    
    set_profile
    
    set_blending
    
    set_ik_solver
    
    set_completion_policy
  - Jogging
    
    Jogging
    
    jog
    
    jog_stop
    
    set_jog_accel
    
    set_jog_profile
    
    set_jog_jerk_factor
    
    set_jog_control_mode
  - Gripper
    
    Gripper
    
    GripperResult
    
    open_gripper
    
    close_gripper
    
    move_gripper
    
    wait_gripper_move_complete
    
    wait_holding_part
    
    wait_released_part
    
    gripper_result
    
    calibrate_gripper
    
    set_gripper_ctrl_mode
    
    set_gripper
  - I/O
    
    I/O
    
    set_digital_output
    
    get_digital_input
  - Status and data
    
    Status and data
    
    get_joints
    
    get_pose
    
    latest_status
    
    get_status
    
    errors
    
    is_reachable
    
    get_health
    
    get_hardware
    
    get_versions
  - Safety and dynamics
    
    Safety and dynamics
    
    set_gravity_comp
    
    set_inertia_comp
    
    set_coriolis_comp
    
    set_friction_ff
    
    set_friction_comp
    
    set_payload
    
    set_collision_detection
    
    get_zones
    
    reload_zones
    
    get_joint_walls
    
    set_joint_wall
    
    save_joint_walls
  - Real-time interface
    
    Real-time interface
    
    RTIClient
    
    rti_connect
    
    rti_claim
    
    rti_release
    
    rti_disconnect
    
    rti_set_start_pose_check
    
    rti_set_rate_limiter
    
    rti_set_tcp_vel_limit
    
    rti_set_vel_scale
    
    rti_set_command_timeout
    
    rti_set_gravity_comp
    
    rti_set_dynamics_ff
    
    rti_set_servo_generator
    
    rti_set_min_duration
    
    rti_set_pace
    
    rti_set_lowpass
    
    rti_set_state_rate
  - Connection and events
    
    Connection and events
    
    connect
    
    disconnect
    
    connected
    
    on_error
    
    on_status_change
    
    on_motion_complete
    
    on_motion_error
    
    remote_ip
    
    local_ip
    
    local_label
  - Diagnostics and service
    
    Diagnostics and service
    
    joint_test
    
    free_joint
    
    hall_check
    
    set_pid_gains
    
    set_can_read_first
    
    set_log_level
    
    capture_telemetry
    
    stop_capture
    
    set_recipe
    
    reload_recipes
    
    reload_filters
- Reference
  Reference
Dashboard
Dashboard
- Before you start
  Before you start
  - About this guide
- Chapters
  Chapters
  - 1. Getting started
  - 2. Getting around
    
    2. Getting around
    
    The status bar
    
    The control row
    
    Several users at once
  - 3. Firmware updates
  - 4. Monitoring
    
    4. Monitoring
    
    Joints & TCP
    
    Motor
    
    Gripper
    
    Power & Control Box
    
    I/O
    
    Plots
  - 5. Diagnostics
    
    5. Diagnostics
    
    RT Diagnostics
    
    System Info
    
    Errors
    
    Activity Log
    
    Logs
    
    Recordings
  - 6. Tuning
    
    6. Tuning
    
    PID Config
    
    Tune Filters
    
    Walls
  - 7. Programs and previews
    
    7. Programs and previews
    
    Plan Preview
    
    Blocks
- Reference
  Reference
  - Glossary
End Effectors
End Effectors
- MSG gripper
  MSG gripper
- SSG48 gripper
  SSG48 gripper
- Pneumatic tools
  Pneumatic tools
- Custom end effectors
  Custom end effectors
  - The gripper configuration file
  - Tool spheres and collision geometry
- Resources
  Resources
  - Glossary
  - CAD and downloads
Simulation & AI
Simulation & AI
- Before you start
  Before you start
  - About this guide
- Simulators
  Simulators
- AI & learning
  AI & learning
Support
Support
Dev Lab
Dev Lab

Hard and soft contracts¶

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