Robotics and Kinematics Reference

Gantry & Small Gantry

void MoveSAxis(string ax, float v, float speed)

• Description: Moves the X, Y, or Z axis, passed as the ax parameter, to the position passed as the v parameter at the passed speed.

float ReadAxis(string ax)

• Description: Returns the X, Y, or Z axis position, passed as the ax parameter.

bool PartDetected()

• Description: Returns true if a Part is detected in the magnet device.

bool Picked()

• Description: Returns true if a part is picked by the magnet device.

bool take

• Description: If true, connects the magnet to take parts; if false, releases the picked part.

bool AxXStopped

• Description: Returns true if axis X is stopped (has finished moving).

bool AxYStopped

• Description: Returns true if axis Y is stopped (has finished moving).

bool AxZStopped

• Description: Returns true if axis Z is stopped (has finished moving).

bool AxRStopped

• Description: Returns true if the Rotation axis is stopped (has finished moving).

bool GantryStopped()

• Description: Returns true if all the gantry axes are stopped (movement finishing).

void GoToPoint(string pointName, float speed)

• Description: Sends the gantry to the point name (taken in test mode) with the passed speed.

Transform A0, A1, A2, A3

• Description: Returns the Transform object for each robot axis.

Cobot 1 & Cobot 2

void ConfigRoutePos(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: If route name doesn't exist, creates a new Route called name and adds a new point for each axis; if the route already exists, adds a new point to the robot route.

void ConfigRouteVel(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: Sets the velocity for the route name for each axis.

void ConfigRouteAcc(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: Sets the acceleration for the start of route name for each axis.

void ConfigRouteDecc(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: Sets the deceleration for the end of route name for each axis.

void ResetRoutes()

• Description: Resets all the configured routes (position, speed, and acceleration).

void Route(string name)

• Description: Starts the robot movement for the route name.

bool RouteFinised

• Description: Gets whether the current Route has finished.

bool RobotStopped()

• Description: True when the robot finishes the route.

float ReadAxis(int axis)

• Description: Reads the passed axis name.

bool Pick

• Description: If true, activates the suction system; if false, deactivates it.

bool Picked

• Description: Returns true when a part is picked.

bool PartDetected()

• Description: Returns true when a part is detected and ready to pick.

void InitAxes(float ax0, float ax1, float ax2, float ax3, float ax4, float ax5)

• Description: Initializes the five robot axes with the passed values. This method must be called in the Init logic program section.

Transform A0, A1, A2, A3, A4, A5

• Description: Returns the Transform object for each robot axis.

Heavy Loader Robot

void ConfigRoutePos(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: If route name doesn't exist, creates a new Route called name and adds a new point for each axis; if the route already exists, adds a new point to the robot route.

void ConfigRouteVel(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: Sets the velocity for the route name for each axis.

void ConfigRouteAcc(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: Sets the acceleration for the start of route name for each axis.

void ConfigRouteDecc(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: Sets the deceleration for the end of route name for each axis.

void ResetRoutes()

• Description: Resets all the configured routes (position, speed, and acceleration).

void Route(string name)

• Description: Starts the robot movement for the route name.

bool RouteFinised

• Description: Gets whether the current Route has finished.

bool RobotStopped()

• Description: True when the robot finishes the route.

float ReadAxis(int axis)

• Description: Reads the passed axis name. Note '6' for the X axis.

bool Fix

• Description: If true, activates the restraint system so the parts do not move while the robot is moving; if false, deactivates it.

bool PartDetected

• Description: Returns true when a part is detected with the sensor located in the loading blades.

void MoveAxisX(float pos, float speed)

• Description: Moves the Robot X Axis to the target pos position at the speed passed as the second parameter.

void InitAxes(float ax0, float ax1, float ax2, float ax3, float ax4, float ax5)

• Description: Initializes the five robot axes with the passed values. This method must be called in the Init logic program section.

Transform A0, A1, A2, A3

• Description: Returns the Transform object for each robot axis.

Picker Robot

float AxisSpeed

• Description: Get/Set the axis speed for all axes.

float[] speedAxis

• Description: Sets the speed individually for each robot axis (0 to 5).

void ConfigRoutePos(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: If route name doesn't exist, creates a new Route called name and adds a new point for each axis; if the route already exists, adds a new point to the robot route.

void ConfigRouteVel(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: Sets the velocity for the route name for each axis.

void ConfigRouteAcc(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: Sets the acceleration for the start of route name for each axis.

void ConfigRouteDecc(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: Sets the deceleration for the end of route name for each axis.

void ResetRoutes()

• Description: Resets all the configured routes (position, speed, and acceleration).

void Route(string name)

• Description: Starts the robot movement for the route name.

bool RouteFinised

• Description: Gets whether the current Route has finished.

bool Pick

• Description: If true, activates the suction system; if false, deactivates it.

bool Picked

• Description: Returns true when a part is picked.

void InitAxes(float ax0, float ax1, float ax2, float ax3, float ax4, float ax5)

• Description: Initializes the five robot axes with the passed values. This method must be called in the Init logic program section.

Transform A0, A1, A2, A3, A4, A5

• Description: Returns the Transform object for each robot axis.

Solder Robot

float AxisSpeed

• Description: Get/Set the axis speed for all axes.

float[] speedAxis

• Description: Sets the speed individually for each robot axis (0 to 4).

void ConfigRoutePos(string name, float a0, float a1, float a2, float a3, float a4)

• Description: If route name doesn't exist, creates a new Route called name and adds a new point for each axis; if the route already exists, adds a new point to the robot route.

void ConfigRouteVel(string name, float a0, float a1, float a2, float a3, float a4)

• Description: Sets the velocity for the route name for each axis.

void ConfigRouteAcc(string name, float a0, float a1, float a2, float a3, float a4)

• Description: Sets the acceleration for the start of route name for each axis.

void ConfigRouteDecc(string name, float a0, float a1, float a2, float a3, float a4)

• Description: Sets the deceleration for the end of route name for each axis.

void ResetRoutes()

• Description: Resets all the configured routes (position, speed, and acceleration).

void Route(string name)

• Description: Starts the robot movement for the route name.

bool RouteFinised

• Description: Gets whether the current Route has finished.

bool Solder

• Description: If true, starts the solder process; if false, stops it.

void InitAxes(float ax0, float ax1, float ax2, float ax3, float ax4, float ax5)

• Description: Initializes the four robot axes with the passed values. This method must be called in the Init logic program section.

Transform A0, A1, A2, A3, A4, A5

• Description: Returns the Transform object for each robot axis.

Articulated Robot

float AxisSpeed

• Description: Get/Set the axis speed for all axes.

float[] speedAxis

• Description: Sets the speed individually for each robot axis (0 to 5).

void ConfigRoutePos(string name, float a0, float a1, float a2, float a3, float a4)

• Description: If route name doesn't exist, creates a new Route called name and adds a new point for each axis; if the route already exists, adds a new point to the robot route.

public void ConfigRouteVel(string name, float a0, float a1, float a2, float a3, float a4)

• Description: Sets the velocity for the route name for each axis.

public void ConfigRouteAcc(string name, float a0, float a1, float a2, float a3, float a4)

• Description: Sets the acceleration for the start of route name for each axis.

public void ConfigRouteDecc(string name, float a0, float a1, float a2, float a3, float a4)

• Description: Sets the deceleration for the end of route name for each axis.

void ResetRoutes()

• Description: Resets all the configured routes (position, speed, and acceleration).

void Route(string name)

• Description: Starts the robot movement for the route name.

bool RouteFinised

• Description: Gets whether the current Route has finished.

bool CloseGrips

• Description: Get/Set whether the Robot grips are closed or opened.

bool GripsClosed

• Description: Get whether the Robot grips are closed.

void InitAxes(float ax0, float ax1, float ax2, float ax3, float ax4, float ax5)

• Description: Initializes the four robot axes with the passed values. This method must be called in the Init logic program section.

Transform A0, A1, A2, A3, A4, A5

• Description: Returns the Transform object for each robot axis.

Industrial Robot

void ConfigRoutePos(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: If route name doesn't exist, creates a new Route called name and adds a new point for each axis; if the route already exists, adds a new point to the robot route.

void ConfigRouteVel(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: Sets the velocity for the route name for each axis.

void ConfigRouteAcc(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: Sets the acceleration for the start of route name for each axis.

void ConfigRouteDecc(string name, float a0, float a1, float a2, float a3, float a4, float a5)

• Description: Sets the deceleration for the end of route name for each axis.

void ResetRoutes()

• Description: Resets all the configured routes (position, speed, and acceleration).

void Route(string name)

• Description: Starts the robot movement for the route name.

bool RouteFinised

• Description: Gets whether the current Route has finished.

bool RobotStopped()

• Description: True when the robot finishes the route.

float ReadAxis(int axis)

• Description: Reads the passed axis name.

bool Pick

• Description: If true, activates the suction system; if false, deactivates it.

bool Picked

• Description: Returns true when a part is picked.

bool PartDetected()

• Description: Returns true when a part is detected and ready to pick.

void InitAxes(float ax0, float ax1, float ax2, float ax3, float ax4, float ax5)

• Description: Initializes the robot axes with the passed values. This method must be called in the Init logic program section.

void MoveToIK(Vector3 destPos, bool a1, bool a2, bool a3, bool a4, bool a5, bool a6, float ax1, float ax2, float ax3, float ax4, float ax5, float ax6, float spd, float spe1, float spe2, float spe3, float spe4, float spe5, float spe6)

• Description: Moves the robot in inverse kinematic mode to the destPos position. a1 to a6 are true if each axis is moved, false if not. ax1 to ax6 indicate the axis position in case this axis will not be included in IK mode (0 value indicates it is moved in IK mode). spd indicates the global speed for all axes; spe1 to spe6 indicate the individual axis speed for each axis not moved in IK mode.

Transform A0, A1, A2, A3, A4, A5

• Description: Returns the Transform object for each robot axis.

Scara Robot (ScaraRobot)

void ConfigRoutePos(string name, float a0, float a1, float a2, float a3)

• Description: If route name doesn't exist, creates a new Route called name and adds a new point for each axis; if the route already exists, adds a new point to the robot route.

void ConfigRouteVel(string name, float a0, float a1, float a2, float a3)

• Description: Sets the velocity for the route name for each axis.

void ConfigRouteAcc(string name, float a0, float a1, float a2, float a3)

• Description: Sets the acceleration for the start of route name for each axis.

void ConfigRouteDecc(string name, float a0, float a1, float a2, float a3)

• Description: Sets the deceleration for the end of route name for each axis.

void ResetRoutes()

• Description: Resets all the configured routes (position, speed, and acceleration).

void Route(string name)

• Description: Starts the robot movement for the route name.

bool RouteFinised

• Description: Gets whether the current Route has finished.

bool RobotStopped()

• Description: True when the robot finishes the route.

float ReadAxis(int axis)

• Description: Reads the passed axis name.

bool Pick

• Description: If true, activates the suction system; if false, deactivates it.

bool Picked

• Description: Returns true when a part is picked.

bool PartDetected()

• Description: Returns true when a part is detected and ready to pick.

void InitAxes(float ax0, float ax1, float ax2, float ax3)

• Description: Initializes the four robot axes with the passed values. This method must be called in the Init logic program section.

void MoveToIK(Vector3 destPos, bool a1, bool a2, bool a3, bool a4, float ax1, float ax2, float ax3, float ax4, float spd, float spe1, float spe2, float spe3, float spe4)

• Description: Moves the robot in inverse kinematic mode to the destPos position. a1 to a4 are true if each axis is moved, false if not. ax1 to ax4 indicate the axis position in case this axis will not be included in IK mode (0 value indicates it is moved in IK mode). spd indicates the global speed for all axes; spe1 to spe4 indicate the individual axis speed for each axis not moved in IK mode.

void SpeedAxis(int n, float v)

• Description: Sets the speed for each axis (0 to 3).

Transform A0, A1, A2, A3

• Description: Returns the Transform object for each robot axis.