Toshiba TS3000 Series Instruction Manual
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Toshiba TS3000 Series Instruction Manual

Robot controller
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TS3000
SCARA / LINEAR system
TS3100
SCARA / LINEAR system
TSL3000 SCARA system
INSTRUCTION MANUAL
TsRemoteLib.DLL MANUAL
• Make sure that this instruction manual is delivered to the
final user of Toshiba Machine's industrial robot.
• Before operating the industrial robot, read through and
completely understand this manual.
• After reading through this manual, keep it nearby for future
reference.
Notice
TOSHIBA MACHINE CO., LTD.
STE85409-1

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Summary of Contents for Toshiba TS3000 Series

  • Page 1 TsRemoteLib.DLL MANUAL Notice • Make sure that this instruction manual is delivered to the final user of Toshiba Machine's industrial robot. • Before operating the industrial robot, read through and completely understand this manual. • After reading through this manual, keep it nearby for future reference.
  • Page 2 Robot Controller TsRemoteLib.DLL MANUAL Copyright 2013 by Toshiba Machine Co., Ltd. All rights reserved. No part of this document may be reproduced in any form without obtaining prior written permission from Toshiba Machine Co., Ltd. The information contained in this manual is subject to change without prior notice to effect improvements.
  • Page 3 series Robot Controller TsRemoteLib.DLL MANUAL Preface The TS3000/TSL3000 controller has the HOST function to enable the remote control of the robot by sending and receiving commands. “ TsRemoteLibS.DLL” compiles the programs that send to and receive commands from WindowsPC in a library to facilitate software development. This manual explains how to use “...

  • Page 4: Table Of Contents

    series Robot Controller TsRemoteLib.DLL MANUAL Table of Contents Page Section 1 Overview ..................8 Section 2 Example of Application Development Using C# ......9 2.1 Creating an Application Solution ................... 9 2.2 Setting Application Execution File Output Destination ..........11 2.3 Reference Setting of TsRemoteLib ................
  • Page 5 series Robot Controller TsRemoteLib.DLL MANUAL Section 3 Reference ................. 17 3.1 Outline of TsRemoteLib ....................17 3.2 Classes That Are Defined in TsRemoteLib ..............18 TsRemote .................... 18 TsRemoteS .................... 18 TsRemoteV .................... 18 TsPointS .................... 18 TsPointV .................... 19 ConfigVpart ....................
  • Page 6 series Robot Controller TsRemoteLib.DLL MANUAL 3.5 TsRemote Class Method ..................... 36 Connect() .................... 36 DeleteFile() .................... 37 DirectDo() .................... 38 Disconnect() .................... 39 Dispose() .................... 40 GetAlarmHistory() .................... 41 GetCurrentAlarm() .................... 42 GetDIn() .................... 43 GetDIO() .................... 44 GetDir() .................... 45 GetDout() ....................
  • Page 7 series Robot Controller TsRemoteLib.DLL MANUAL 3.6 TsRemoteS Class property ..................78 MvConfig .................... 78 MvTool .................... 78 MvWork .................... 78 3.7 TsRemoteS Class Method ................... 79 GetGlobalPOINT() .................... 79 GetGlobalPAYLOAD() .................... 80 GetGlobalTRANS() .................... 81 GetPsnCmdJoint() .................... 82 GetPsnCmdWork() .................... 83 GetPsnCmdWorld() ....................
  • Page 8 series Robot Controller TsRemoteLib.DLL MANUAL 3.8 TsRemoteV Class property ..................102 MvConfig ..................102 MvTool ..................102 MvWork ..................102 3.9 TsRemoteS Class Method ..................103 GetGlobalPOINT() ..................103 GetGlobalPAYLOAD() ..................104 GetGlobalTRANS() ..................105 GetPsnCmdJoint() ..................106 GetPsnCmdWork() ..................107 GetPsnCmdWorld() ..................

  • Page 9: Section 1 Overview

    series Robot Controller TsRemoteLib.DLL MANUAL Section 1 Overview To control the robot in remote mode through communication with the TS3000/TSL3000 series robot controller, commands are sent to and received from the controller.“ TsRemoteLib.DLL” compiles in DLL (Dynamic Link Library) the method groups for remote control of the robot in a simple manner without coding communication programs.

  • Page 10: Section 2 Example Of Application Development Using C

    series Robot Controller TsRemoteLib.DLL MANUAL Section 2 Example of Application Development Using C# This section describes the procedure for reference setting of TsRemoteLib for the application for controlling the SCARA robot. As the precondition, Visual Studio 2008 (referred to as VS2008 henceforth) must have been installed in the application creation environment.
  • Page 11 series Robot Controller TsRemoteLib.DLL MANUAL (2) Enter a project name. Select Windows Forms Application as the template. Enter a project name and the location. STE85409 - 10 -...

  • Page 12: Setting Application Execution File Output Destination

    series Robot Controller TsRemoteLib.DLL MANUAL Setting Application Execution File Output Destination (1) Set the mouse cursor on the required item with the Solution Explorer and click the right button. (2) Add the context menu that is displayed -> Select New folder. Click the right mouse button.
  • Page 13 series Robot Controller TsRemoteLib.DLL MANUAL (4) Set the execution file output destination to the EXE folder that was created on the Properties screen of the TsRemoteLibSample project. (5) Copy TsRemoteLib.DLL into the EXE folder that was created. (TsRemoteLib.DLL and the application that is created by the customer (EXE file) must be stored in the same directory.) STE85409 - 12 -...

  • Page 14: 2.3 Reference Setting Of Tsremotelib

    series Robot Controller TsRemoteLib.DLL MANUAL 2.3 Reference Setting of TsRemoteLib (1) Select Reference -> Add Reference. (2) Select TsRemoteLib.DLL that is copied from the EXE folder and press OK. TsRemoteLib can be used by setting reference. STE85409 - 13 -...

  • Page 15: Calling Tsremotes Interface

    series Robot Controller TsRemoteLib.DLL MANUAL Calling TsRemoteS Interface (1) Opening TsRemoteLibSample.cs Form1 is used as the default name immediately after creation of a project. In this explanation, the form name is changed to TsRemoteLibSample. (2) Declaring TsRemoteLib Enter the following command in TsRemoteLibSample.cs. using TsRemoteLib;...
  • Page 16 series Robot Controller TsRemoteLib.DLL MANUAL Install connection button processing. Use the instance name of class TsRemoteS for the Robot. (In the case of 6-axis,Use the instance name of class TsRemoteV) Sample IP address and port number are used. private void btnConnect_Click(object sender, EventArgs (Robot == null)

  • Page 17: Event Processing Performed Based On The Information From Watchdog Of Tsremotelib

    series Robot Controller TsRemoteLib.DLL MANUAL Event Processing Performed Based on the Information from WatchDog of TsRemoteLib Through WatchDog monitoring, information such as emergency stop, safety switch, mode, and Run status is acquired periodically. When the acquired information changes, an event occurs. Since the application basically runs in a different thread from that of WatchDog, create the handler for processing events from WatchDog as follows.

  • Page 18: Section 3 Reference

    series Robot Controller TsRemoteLib.DLL MANUAL Section 3 Reference Outline of TsRemoteLib The following classes are installed in TSRemoteLib for remote control of the robot and information acquisition. TsRemoteLib.DLL class TsRemote ・・・・・Robott control/information acquisition (Super class) TsRemoteS ・・・・・SCARA robot control/information acquisition TsRemoteV ・・・・・6-AXIS robot control/information acquisition TSJointS...

  • Page 19: Classes That Are Defined In Tsremotelib

    series Robot Controller TsRemoteLib.DLL MANUAL Classes That Are Defined in TsRemoteLib TsRemote class Classes for remote-controlling the SCARA and 6-AXIS robot TsRemote class is super class of the TsRemoteS/TsRemoteV class In the case of SCARA robot, make the instance of the TsRemoteS class. In the case of 6-AXIS robot, make the instance of the TsRemoteV class.

  • Page 20: Tspointv

    series Robot Controller TsRemoteLib.DLL MANUAL TsPointV class Class for storing Point data of 6-AXIS robot Property double X X point/speed double Y Y point/speed double Z Z point/speed double A A point/speed double B B point/speed double C C point/speed double U U point/speed double V...

  • Page 21: Tsjoints

    series Robot Controller TsRemoteLib.DLL MANUAL TsJointS class Class for storing Joint data of SCARA robot Property double J1 joint position double J 2 joint position double J3 joint position double J4 joint position double J5 joint position See also TsStatusAllS, GetPsnCmdJoint(), GetPsnFbkJoint(), GetVelocJoint() TsJointV class Class for storing Joint data of 6-AXIS robot...

  • Page 22: Tspayloads

    series Robot Controller TsRemoteLib.DLL MANUAL TsPayloadS class Class for storing point data of SCARA robot Property double M Weight (kg) double L Offset of the center of gravity (mm) See also SetGlobalPYLOAD(), GetGlobalPAYLOAD, SetPYLOAD() TsPayloadV class Class for storing point data of 6-AXIS robot Property double M Weight (kg)

  • Page 23: Tsdio

    series Robot Controller TsRemoteLib.DLL MANUAL TsDIO class Class for storing input/output status of the controller Property Int16 Din[20] Input signal status Handling bits of Din data and input signals Din[0] : DIN1 ~ DIN16 Standard input Din[1] : DIN17 ~ DIN32 Standard input Din[2] : DIN33 ~ DIN48...

  • Page 24: Tsstatus

    series Robot Controller TsRemoteLib.DLL MANUAL TsStatus class Class for storing Robot statuses Property int MasterMode Master mode status 0:Teaching 1:Internal 2:Ext.Sig 3:Ext.Host 4:Ext.232C 5:Ext.Ether int RunMode Run mode status 0:CONT 1:CYCLE 2:STEP 3:SEGMENT string SelectFile Name of the program that is currently selected by the controller int ovrd Current override value Value range: 1%~100%...

  • Page 25: Tsstatusalls

    series Robot Controller TsRemoteLib.DLL MANUAL TsStatusAllS class Class for storing all the statuses of SCARA robot Property int ServoStatus Servo status 0:OFF 1:ON int EmergencySwitch Emergency Stop switch status 0:OFF 1:ON int RunStatus Run status 0:STOP(RESET) 1:RUN 2:STOP(RETRY) 3:STOP(CONT) int SUCommandReq Command request 0:None 1:Request occured...
  • Page 26 series Robot Controller TsRemoteLib.DLL MANUAL TsStatusAllS property(continued) int PowerOnTime Power On time (min) int ProgramExecTime Program execution time (min) Int16 Din[16] Input signal status Handling bits of Din data and input signals Din[0] : DIN1 ~ DIN16 Standard input Din[1] : DIN17 ~ DIN32 Standard input Din[2] : DIN33...

  • Page 27: Tsstatusallv

    series Robot Controller TsRemoteLib.DLL MANUAL TsStatusAllV class Class for storing all the statuses of 6-AXIS robot Property int ServoStatus Servo status 0:OFF 1:ON int EmergencySwitch Emergency Stop switch status 0:OFF 1:ON int RunStatus Run status 0:STOP(RESET) 1:RUN 2:STOP(RETRY) 3:STOP(CONT) int SUCommandReq Command request 0:None 1:Request occured...
  • Page 28 series Robot Controller TsRemoteLib.DLL MANUAL TsStatusAllS property(continued) int PowerOnTime Power On time (min) int ProgramExecTime Program execution time (min) Int16 Din[16] Input signal status Handling bits of Din data and input signals Din[0] : DIN1 ~ DIN16 Standard input Din[1] : DIN17 ~ DIN32 Standard input Din[2] : DIN33...

  • Page 29: Tsstatusmonitor

    series Robot Controller TsRemoteLib.DLL MANUAL TsStatus Monitor class Class for storing the cause of the event that occurs under WatchDog status monitoring Property int AlarmLevel Indicates the alarm level that is currently occurring. When the alarm level changes, an event occurs. 0: No alarm 1: Level 1 alarm occurred.
  • Page 30 series Robot Controller TsRemoteLib.DLL MANUAL int RunMode Indicates the robot run mode. When the mode changes, an event occurs. 0:CONT 1:CYCLE 2:STEP 3:SEGMENT int RunStatus Indicates the robot run status. When the status changes, an event occurs. 0:STOP(RESET) 1:RUN 2:STOP(RETRY) 3:STOP(CONT) int SafetyStop Indicates that a stop request occurred to the controller due to the Safety...

  • Page 31: Tsremotesexception

    series Robot Controller TsRemoteLib.DLL MANUAL TsRemoteSException class Class for deriving the Application Exception class that occurs at execution of each method of the TsRemoteS and TsRemoteV class Property ErrorCode errorCode Stores the error code that was handled. Refer to the ErrorCode enumeration for the details of the error code.

  • Page 32: 3.3 Enumerations That Are Defined In Tsremotelib

    series Robot Controller TsRemoteLib.DLL MANUAL 3.3 Enumerations That Are Defined in TsRemoteLib ConfigS enum Enumeration for defining the SCARA robot configuration (posture) Format enum ConfigS Value FREE 0: Indicates that the robot configuration (posture) is FREE. LEFTY 1: Indicates that the robot configuration (posture) is LEFTY. RIGHTY 2: Indicates that the robot configuration (posture) is RIGHTY.

  • Page 33: Gain

    series Robot Controller TsRemoteLib.DLL MANUAL Gain enum Enumeration for defining of robot motor status “GAIN” Format enum Gain Value 0:off 1:on See also MvConfig, Move(), Movea(), Moves(), Movej() RunMode enum Enumeration for defining the robot run status Format enum RunMode Value CONT 0: Indicates that the robot operation mode is CONT.

  • Page 34: Errorcode

    series Robot Controller TsRemoteLib.DLL MANUAL ErrorCode enum Enumeration for defining the exception occurrence factor by exceptions Format enum ErrorCode Value ControllerNG 1: The controller returned “NG”. CommunicationError 2: Communication error occurred. NoCommand 3: The command parameter is invalid. NoSerialportData 4: Data has not reached the serial port. NoIP_PORTData 5: Data has not reached the Ethernet port.

  • Page 35: 3.4 Tsremotes Class Properties

    series Robot Controller TsRemoteLib.DLL MANUAL 3.4 TsRemoteS Class Properties TsRemote class is base class of the TsRemoteS and TsRemoteV class. The property of TsRemote class is succeeded to by TSRemoteS class /TSRemoteV class. MvAccel TsRemote.property Specifies/acquires the acceleration speed of the operation that is instructed by Move(), Moves(), Movej(), and Movea().

  • Page 36: Mvspeed

    series Robot Controller TsRemoteLib.DLL MANUAL MvSpeed TsRemote.property Specifies/acquires the speed of the operation that is instructed by Move(), Moves(), Movej(), and Movea(). Format MvSpeed Value double 1.0~100.0%(initial value: 100) Notice See also MvAccel, MvSpeed, MvConfig, Move(), Moves(), Movej(), Movea() STE85409 - 35 -...

  • Page 37: Tsremote Class Method

    series Robot Controller TsRemoteLib.DLL MANUAL TsRemote Class Method TsRemote class is base class of the TsRemoteS and TsRemoteV class. The method of TsRemote class is succeeded to by TSRemoteS class /TSRemoteV class. Connect() TsRemote.method Connects to the controller. Format bool Connect(int type) Argument int type Specify a connection type.

  • Page 38: Deletefile()

    series Robot Controller TsRemoteLib.DLL MANUAL DeleteFile() TsRemote.method Deletes the file that is stored in the robot controller. Format void DeleteFile(string filename) Argument string filename File name to be deleted from the robot controller Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Notice...

  • Page 39: Directdo()

    series Robot Controller TsRemoteLib.DLL MANUAL DirectDo() TsRemote.method Executes one line of program by using the direct execution function. Format void DirectDo(string command) Argument string command Program to be executed Return value None Exceptions MoveStop STOP signal during the Move command CannotDoMove Move command can not be executed, because of watch dog not running Notice...

  • Page 40: Disconnect()

    series Robot Controller TsRemoteLib.DLL MANUAL Disconnect() TsRemote.method Disconnects communication with the controller. Format bool Disconnect() Argument None Return value None Exceptions None Notice To terminate a customer-created application, terminate application after disconnecting the communication with the controller by executing Disconnect(). See also Connect() STE85409...

  • Page 41: Dispose()

    series Robot Controller TsRemoteLib.DLL MANUAL Dispose() TsRemote.method Disposes of the TsRemoteS object. Format void Dispose() Argument None Return value None Exceptions None Notice See also STE85409 - 40 -...

  • Page 42: Getalarmhistory()

    series Robot Controller TsRemoteLib.DLL MANUAL GetAlarmHistory() TsRemote.method Acquires alarm history. Format List<TsAlarm> GetAlarmHistory() Argument None Return value List<TsAlarm> Stores alarm history in the array of the TsAlarm object. Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice See also TsAlarm, GetCurrentAlarm()

  • Page 43: Getcurrentalarm()

    series Robot Controller TsRemoteLib.DLL MANUAL GetCurrentAlarm() TsRemote.method Acquires the alarm that is currently occurring in the controller. Format List<TsAlarm> GetCurrentAlarm() Argument None Return value List<TsAlarm> Stores the alarm that is currently occurring in the controller in the array of the TsALarm object.

  • Page 44: Getdin()

    series Robot Controller TsRemoteLib.DLL MANUAL GetDIn() TsRemote.method Acquires the status of the specified input (Din). Format int GetDin(int dino) Argument int dino Specify a DIN number. 1~64: Standard input 101~164: Extended input 201~264: System input 301~364: FieldBus input 401~464: FieldBus input Return value Input status 0:OFF...

  • Page 45: Getdio()

    series Robot Controller TsRemoteLib.DLL MANUAL GetDIO() TsRemote.method Acquires the input/output status of the controller. Format TsDIO GetDIO() Argument None Return value TsDIO Acquires the input (DIN) and output (DOUT) statuses of the controller. Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice...

  • Page 46: Getdir()

    series Robot Controller TsRemoteLib.DLL MANUAL GetDir() TsRemote.method Acquires the information of the files that are stored in the TS controller. Format List<TsFileInfo> GetDir() Argument None Return value List<TsFileInfo> Stores the information of the file that is stored in the controller in the array of TsFileInfo object.

  • Page 47: Getdout()

    series Robot Controller TsRemoteLib.DLL MANUAL GetDout() TsRemote.method Acquires the alarm that is currently occurring in the TS controller. Format int GetDout(int dino) Argument int dino Specify a DOUT number. 1~64: Standard output 101~164: Extended output 201~264: System output 301~364: FileBus output 401~464: FileBus output Return value Output status...

  • Page 48: Getglobalint()

    series Robot Controller TsRemoteLib.DLL MANUAL GetGlobalINT() TsRemote.method References the value of the integer type global variable of the program that is currently selected. Format int GetGlobalINT(string name) Argument string name Name of the global variable For an array variable, specify including the element number. Return value Value of the integer type global variable that was obtained Exceptions...

  • Page 49: Getglobalreal()

    series Robot Controller TsRemoteLib.DLL MANUAL GetGlobalREAL() TsRemote.method References the value of the real number type global variable of the program that is currently selected. Format float GetGlobalREAL(string name) Argument string name Name of the real number type global variable For an array variable, specify the element. Return value float Value of the real number type global variable that was acquired...

  • Page 50: Gethexin()

    series Robot Controller TsRemoteLib.DLL MANUAL GetHexIn() TsRemote.method Acquires the status of input (DIN) with consecutive values from the specified output number. Format uint GetHexIn(int dino,int length) Argument Int dino First DIN number to be fetched consecutively Int length Bit length for consecutive fetching Return value uint Value of DIN that was acquired...

  • Page 51: Getstatus()

    series Robot Controller TsRemoteLib.DLL MANUAL GetStatus() TsRemote.method Acquires the robot status. Format TsStatus GetStatus() Argument None Return value TsStatus Acquired status Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice See also TsStatus, GetStatusAll() STE85409 - 50 -...

  • Page 52: Getstatusmonitor()

    series Robot Controller TsRemoteLib.DLL MANUAL GetStatusMonitor() TsRemote.method Acquires the status monitor value of the robot. Format TsStatusMonitor GetStatusMonitor() Argument None Return value TsStatusMonitor Acquired monitor value Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice Use this command to acquire the status when WatchDog is inactive.

  • Page 53: Getsystemversion()

    series Robot Controller TsRemoteLib.DLL MANUAL GetSystemVersion() TsRemote.method Acquires the system version of the TS controller. Format List<TsVersion> GetCTRLversion() Argument None Return value List<TsVersion> Stores the controller system version in the array of the TsVersion object. Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller...

  • Page 54: Programbreak()

    series Robot Controller TsRemoteLib.DLL MANUAL ProgramBreak() TsRemote.method Stops the program execution for the robot immediately by BREAK. Format void ProgramBreak() Argument None Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice To detect ProgramBreak (stopping the operation) during execution of the Move*() method, perform exception processing by using try-catch for the Move() method.

  • Page 55: Programrun()

    series Robot Controller TsRemoteLib.DLL MANUAL ProgramRun() TsRemote.method Executes the selected program. Format void ProgramRun() Argument None Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice See also ProgramStop(), ProgramBreak() STE85409 - 54 -...

  • Page 56: Programselect()

    series Robot Controller TsRemoteLib.DLL MANUAL ProgramSelect() TsRemote.method Selects a program. Format void ProgramSelect(string filename) Argument string filename Name of the file to be selected Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice See also GetDir(), ProgramRun()

  • Page 57: Programstop()

    series Robot Controller TsRemoteLib.DLL MANUAL ProgramStop() TsRemote.method Stops the program that is being executed. Format void ProgramStop() Argument None Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice To detect ProgramStop (stopping the operation) during execution of the Move*() method, perform exception processing by using try-catch for the Move() method.

  • Page 58: Receivefile()

    series Robot Controller TsRemoteLib.DLL MANUAL ReceiveFile() TsRemote.method Receives the file in the robot controller in the personal computer. Format void ReceiveFile(string filename, string fullpass) Argument string filename Name of the file to be received string fullpass File storage location and name under which the received file is stored Return value None Exceptions...

  • Page 59: Resetalarm()

    series Robot Controller TsRemoteLib.DLL MANUAL ResetALARM() TsRemote.method Performs alarm reset. Format void ResetAlarm() Argument None Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice See also ResetCYCLE(), ResetPRG(), ResetMove(), ResetSELECT(), ResetSIGNAL(), ResetSTEP() STE85409 - 58 -...

  • Page 60: Resetcycle()

    series Robot Controller TsRemoteLib.DLL MANUAL ResetCYCLE() TsRemote.method Sets the program to the executable state from the RCYCLE by resetting the execution environment except for the global variables of the selected program. Format void ResetCYCLE() Argument None Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller...

  • Page 61: Resetprg()

    series Robot Controller TsRemoteLib.DLL MANUAL ResetPRG() TsRemote.method Resets the execution environment of the selected program. Format void ResetPRG() Argument None Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice See also ResetALARM(), ResetCYCLE(), ResetMove(), ResetSELECT(), ResetSIGNAL(), ResetSTEP() STE85409 - 60 -...

  • Page 62: Resetmove()

    series Robot Controller TsRemoteLib.DLL MANUAL ResetMove() TsRemote.method Enables the operation of the Move*() method by clearing the DLL internal flag (Move Stop) for the stopping of the robot operation, Format void ResetMove() Argument None Return value None Exceptions None Notice When an event occurs due to the EmergencyStop, SafetyStop, StopCommand, or BreakCommand during the mutual monitoring by WatchDogStart(), the DLL internal flag (MoveStop) is set to ON.

  • Page 63: Resetselect()

    series Robot Controller TsRemoteLib.DLL MANUAL ResetSELECT() TsRemote.method Resets the program selection. Format void ResetSELECT() Argument None Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice See also ResetALARM(), ResetCYCLE(), ResetPRG(), ResetMove(), ResetSIGNAL(), ResetSTEP() STE85409 - 62 -...

  • Page 64: Resetsignal()

    series Robot Controller TsRemoteLib.DLL MANUAL ResetSIGNAL() TsRemote.method Resets the output signal of the robot. Format void ResetSIGNAL() Argument None Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice See also ResetALARM(), ResetCYCLE(), ResetPRG(), ResetMove(), ResetSIGNAL(), ResetSTEP() STE85409 - 63 -...

  • Page 65: Resetstep()

    series Robot Controller TsRemoteLib.DLL MANUAL ResetSTEP() TsRemote.method Enables execution of the selected program by resetting the execution environment except for the global variables of the program. Format void ResetSTEP() Argument None Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice...

  • Page 66: Sendfile()

    series Robot Controller TsRemoteLib.DLL MANUAL SendFile() TsRemote.method Sends the file in the personal computer to the robot controller. Format void SendFile(string filename, string fullpass) Argument string filename Name under which the file that is sent is to be stored in the controller string fullpass Directory and file name to be sent Return value...

  • Page 67: Servooff()

    series Robot Controller TsRemoteLib.DLL MANUAL ServoOff() TsRemote.method Sets the servo to OFF. Format void ServoOff() Argument None Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice See also ServoOn() STE85409 - 66 -...

  • Page 68: Servoon()

    series Robot Controller TsRemoteLib.DLL MANUAL ServoOn() TsRemote.method Sets the servo to ON. Format void ServoOn() Argument None Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice See also ServoOff() STE85409 - 67 -...

  • Page 69: Setcomport()

    series Robot Controller TsRemoteLib.DLL MANUAL SetComPort() TsRemote.method Sets the parameters of the COM port. Format bool SetComPort(string portNo,int bps,int bit, int parity,int stop) Argument string portNo COM port number int32 bps Transfer speed int bit Number of bits per character (7 or 8) int parity Parity (0: None, 1: Even number, 2: Odd number) int stop...

  • Page 70: Setdout()

    series Robot Controller TsRemoteLib.DLL MANUAL SetDout() TsRemote.method Acquires the input (DOUT) status. Format void SetDOut(int dono, int setdata) Argument Int dono DOUT number Int setdata 0:OFF 1:ON Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller IllegalParam Illegal parameter...

  • Page 71: Setglobalint()

    series Robot Controller TsRemoteLib.DLL MANUAL SetGlobalINT() TsRemote.method Sets the value of the integer type global variable of the program that is currently selected. Format void SetGlobalINT(string name, int restore,int val ) Argument string name Name of the global variable When specifying an array variable, include the element number also. Int restore Set whether RESTORE (change of the initial value of the program file) is performed or not.

  • Page 72: Setglobalreal()

    series Robot Controller TsRemoteLib.DLL MANUAL SetGlobalREAL() TsRemote.method Sets the value of the program real number type global variable of the program that is currently selected. Format void SetGlobalREAL(string name,int restore,double val ) Argument string name Name of the global variable When specifying an array variable, include the element number also.

  • Page 73: Sethexout()

    series Robot Controller TsRemoteLib.DLL MANUAL SetHexOut() TsRemote.method Sets consecutive numbers starting from the specified output numbers. Format void SetHexOut(int dono,int length,uint value) Argument Int dino First DOUT number to be set consecutively Int length Bit length to be fetched consecutively (1~32) Int value Set value Example: The result of SetHexOut(1,4,5) is DOUT1=1, DOUT2=0,...

  • Page 74: Setipaddr()

    series Robot Controller TsRemoteLib.DLL MANUAL SetIPaddr() TsRemote.method Sets Ethernet connection. Format bool SetIPaddr(int openmode,string destAddr,int destPort,int srcPort) Argument Int openmode 0:Server(not installed) 1:Client string destAddr IP address of the connection destination (robot controller) Use a character string such as “192.168.0.100”. Int destPort Port number of the connection destination (robot controller) Int srcPort...

  • Page 75: Setovrd()

    series Robot Controller TsRemoteLib.DLL MANUAL SetOVRD() TsRemote.method Sets override. Format void SetOVRD(int override ) Argument Int override Override setting value (1 to 100) Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller IllegalParam Illegal parameter Notice...

  • Page 76: Setrunmode()

    series Robot Controller TsRemoteLib.DLL MANUAL SetRunMode() TsRemote.method Sets RUNMODE (run mode). Format void SetRunMode(RunMode mode) void SetRunMode(int mode) Argument RunMode mode Specify RUNMODE with RunMode enumeration. Int mode Set RUNMODE using one of the following values. 0: The robot operation mode is CONT. 1: The robot operation mode is CYCLE.

  • Page 77: Watchdogstart()

    series Robot Controller TsRemoteLib.DLL MANUAL WatchDogStart() TsRemote.method Starts mutual monitoring between the controller and PC. Format void WatchDogStart(int intervalTime,int timeOut,int alarmLevel ) Argument Int intervalTime Communication interval of mutual monitoring (100 to 1000msec) Int timeOut Time to produce time-out alarm in mutual monitoring (Set time more than twice intervalTime) Int alarmLevel Alarm that is issued when a problem occurs in mutual monitoring...

  • Page 78: Watchdogstop()

    series Robot Controller TsRemoteLib.DLL MANUAL WatchDogStop() TsRemote.method Stops mutual monitoring between the controller and PC. Format void WatchDogStop() Argument None Return value None Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice See also WatchDogStart() STE85409 - 77 -...

  • Page 79: Tsremotes Class Property

    series Robot Controller TsRemoteLib.DLL MANUAL TsRemoteS Class property MvConfig TsRemote .property Specifies/acquires the configuration (posture) of the SCARA robot operation that is instructed by Move(), Moves(), Movej(), and Movea(). Format MvConfigS Value enum ConfigS ConfigS.FREE: Sets the configuration (posture) of SCARA robot to FREE. ConfigS.LEFTY: Sets the configuration (posture) of SCARA robot to LEFTY.

  • Page 80: Tsremotes Class Method

    series Robot Controller TsRemoteLib.DLL MANUAL TsRemoteS Class Method GetGlobalPOINT() TsRemote .method References the value of the point type global variable of the program that is currently selected. Format TsPointS GetGlobalPOINT(string name) Argument string name Name of the point type global variable (teaching point) For an array variable, specify the element.

  • Page 81: Getglobalpayload()

    series Robot Controller TsRemoteLib.DLL MANUAL GetGlobalPAYLOAD() TsRemote .method References the value of the load type global variable of the program that is currently selected. Format TsPayloadS GetGlobalPAYLOAD(string name) Argument string name Name of the load type global variable For an array variable, specify the element. Return value TsPayloadS Value of the load type global variable that was acquired...

  • Page 82: Getglobaltrans()

    series Robot Controller TsRemoteLib.DLL MANUAL GetGlobalTRANS() TsRemote .method References the value of the coordinate type global variable of the program that is currently selected. Format TsTransS GetGlobalTRANS(string name) Argument string name Name of the standard type global variable For an array variable, specify the element. Return value TsTransS Value of the coordinate type global variable that was acquired...

  • Page 83: Getpsncmdjoint()

    series Robot Controller TsRemoteLib.DLL MANUAL GetPsnCmdJoint() TsRemote .method Acquires the current robot position (command) in terms of the joint angle. Format TsJointS GetPsnCmdJoint()l Argument None Return value TsJointS Joint angle of SCARA robot Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice...

  • Page 84: Getpsncmdwork()

    series Robot Controller TsRemoteLib.DLL MANUAL GetPsnCmdWork() TsRemote .method Acquires the current robot position (command position) in terms of the work coordinate position. Format TsPointS GetPsnCmdWork() Argument None Return value TsPointS Work coordinate point of SCARA robot Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller...

  • Page 85: Getpsncmdworld()

    series Robot Controller TsRemoteLib.DLL MANUAL GetPsnCmdWorld() TsRemote .method Acquires the current robot point (command position) in terms of the world coordinate position. Format TsPointS GetPsnCmdWorld() Argument None Return value TsPointS World coordinate position of SCARA robot Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller...

  • Page 86: Getpsnfbkjoint()

    series Robot Controller TsRemoteLib.DLL MANUAL GetPsnFbkJoint() TsRemote .method Acquires the current robot position (feedback) in terms of the joint angle. Format TsJointS GetPsnFbkJoint() Argument None Return value TsJointS Joint angle of SCARA robot (calculated from the motor angle) Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG...

  • Page 87: Getpsnfbkwork()

    series Robot Controller TsRemoteLib.DLL MANUAL GetPsnFbkWork() TsRemote .method Acquires the current robot position (feedback) in terms of the work coordinate position. Format TsPointS GetPsnFbkWork() Argument None Return value TsPointS Work coordinate position of SCARA robot (calculated from the motor angle) Exceptions TCPNotConnect Network is not connected...

  • Page 88: Getpsnfbkworld()

    series Robot Controller TsRemoteLib.DLL MANUAL GetPsnFbkWorld() TsRemote .method Acquires the current robot position (feedback) in terms of the world coordinate position. Format TsPointS GetPsnFbkWorld() Argument None Return value TsPointS World coordinate position of SCARA robot (calculated from the motor angle) Exceptions TCPNotConnect Network is not connected...

  • Page 89: Getstatusall()

    series Robot Controller TsRemoteLib.DLL MANUAL GetStatusAll() TsRemote .method Acquires all the statuses of the SCARA robot. Format TsStatusAllS GetStatusAll() Argument None Return value TsStatusAllS Acquired statuses of SCARA robot Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice See also TsStatusAllS , GetStatus()

  • Page 90: Getvelocjoint()

    series Robot Controller TsRemoteLib.DLL MANUAL GetVelocJoint() TsRemote .method Acquires the current robot command speed in terms of the joint angle. Format TsJointS GetVelocJoint() Argument None Return value TsJointS Speed of each joint of SCARA robot Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller...

  • Page 91: Getvelocworld()

    series Robot Controller TsRemoteLib.DLL MANUAL GetVelocWorld() TsRemote .method Acquires the current command speed of the robot in terms of the speed of the world coordinate elements. Format TsPointS GetVelocWorld() Argument None Return value TsPointS Speed of SCARA robot (calculated based on the X, Y, Z, and C components) Exceptions TCPNotConnect Network is not connected...

  • Page 92: Move()

    series Robot Controller TsRemoteLib.DLL MANUAL Move() TsRemote .method Moves the SCARA robot to the specified point. Format Move(double x, double y, double z, double c, double t, int config) Move(TsPointS point) Move(TsPointS point,double px, double py, double pz, double pc, double pt) Move(TsPointS point,TsPointS offset) Move(string pointName) Move(string pointName,double px, double py, double pz, double pc, double pt)

  • Page 93: Movea()

    series Robot Controller TsRemoteLib.DLL MANUAL Movea() TsRemote .method Moves the joint axis of the SCARA robot to the specified position. Format void Movea(int joint_no,double position) Argument int joint_no Joint number(1-5) to be moved double position Target position (angle) Return value None Exceptions MoveStop...

  • Page 94: Movej()

    series Robot Controller TsRemoteLib.DLL MANUAL Movej() TsRemote .method Moves the SCARA robot to the specified point with an arch motion. Format void Movej(double x, double y, double z, double c, double t, int config, double l1,double l2,double l3) void Movej(TsPointS point,double l1,double l2 double l3) void Movej(TsPointS point,TsPointS offset,double l1,double l2 double l3) void Movej(string pointName,double l1,double l2 double l3) void Movej(string pointName,TsPointS offset,double l1,double l2 double l3)

  • Page 95: Moves()

    series Robot Controller TsRemoteLib.DLL MANUAL Moves() TsRemote .method Moves the SCARA robot to the specified point with linear interpolation. Format void Moves(double x, double y, double z, double c, double t, int config) void Moves(TsPointS point) void Moves(TsPointS point,double px, double py, double pz, double pc, double pt) void Moves(TsPointS point,tsPointS offset) void Moves(string pointName) void Moves(string pointName,double px, double py, double pz, double pc, double pt)

  • Page 96: Setgain()

    series Robot Controller TsRemoteLib.DLL MANUAL SetGain() TsRemote .method Sets the gain of each axis of the robot (servo control) to ON/OFF. Format void SetGain(int j1,int j2, int j3, int j4, int j5) Argument Int j1 Servo gain of the 1 joint (0:OFF 1:ON) Int j2 Servo gain of the 2...

  • Page 97: Setglobalpoint()

    series Robot Controller TsRemoteLib.DLL MANUAL SetGlobalPOINT() TsRemote .method Sets the value of the program point type global variable of the program that is currently selected. Format void SetGlobalPoint(string name,int restore,double x, double y, double z, double c, double t, ConfigS config) voidSetGlobalPoint(string name,int restore,TsPointS point) Argument string name...

  • Page 98: Setglobalpyload()

    series Robot Controller TsRemoteLib.DLL MANUAL SetGlobalPYLOAD() TsRemote .method Sets the value of the program load type global variable of the program that is currently selected. Format SetGlobalPYLOAD(string name,int restore,double m,double l) SetGlobalPYLOAD(string name,int restore,TsPayloadS payload) Argument string name Name of the global variable When specifying an array variable, include the element number also.

  • Page 99: Setglobaltrans()

    series Robot Controller TsRemoteLib.DLL MANUAL SetGlobalTRANS() TsRemote .method Sets the value of the coordinate type global variable of the program that is currently selected. Format void SetGlobalTRANS(string name,int restore,double x,double y,double z,double c) void SetGlobalTRANS(string name,int restore,TsTransS trans) Argument string name Name of the coordinate type global variable When specifying an array variable, include the element number also.

  • Page 100: Setpayload()

    series Robot Controller TsRemoteLib.DLL MANUAL SetPayload() TsRemote .method Sets the load data of the SCARA robot. Format void SetPayload(double m, double l) void SetPayload(TsPayloadS payload) Argument double m Load data (Weight Kg) double l Load data (Offset of center of gravity mm) TsPayloadS payload Specify the set value with TsPayLoadS.

  • Page 101: Settranstool()

    series Robot Controller TsRemoteLib.DLL MANUAL SetTransTool() TsRemote .method Sets the tool coordinate. Format void SetTransTool(string name) void SetTransTool(string name,double x,double y,double z,double c) void SetTransTool(string name,TsTransS tool) Format string name Specify the name of the coordinate type variable that is registered in the program file that is selected by the controller.

  • Page 102: Settranswork()

    series Robot Controller TsRemoteLib.DLL MANUAL SetTransWork() TsRemote .method Sets the work coordinate. Format void SetTransWork(string name) void SetTransWork(string name,double x,double y,double z,double c) void SetTransWork(string name,TsTransS work) Argument string name Specify the name of the coordinate type variable that is registered in the program file that is selected by the controller.

  • Page 103: Tsremotev Class Property

    series Robot Controller TsRemoteLib.DLL MANUAL TsRemoteV Class property MvConfig TsRemote .property Specifies/acquires the configuration (posture) of the 6-AXIS robot operation that is instructed by Move(), Moves(), Movej(), and Movea(). Format MvConfig Value enum ConfigV 6-Axis robot configuration. Notice The MvConfig property value has the priority over the configuration that is specified in the Move*() method.

  • Page 104: Tsremotes Class Method

    series Robot Controller TsRemoteLib.DLL MANUAL TsRemoteS Class Method GetGlobalPOINT() TsRemote .method References the value of the point type global variable of the program that is currently selected. Format TsPointV GetGlobalPOINT(string name) Argument string name Name of the point type global variable (teaching point) For an array variable, specify the element.

  • Page 105: Getglobalpayload()

    series Robot Controller TsRemoteLib.DLL MANUAL GetGlobalPAYLOAD() TsRemote .method References the value of the load type global variable of the program that is currently selected. Format TsPayloadV GetGlobalPAYLOAD(string name) Argument string name Name of the load type global variable For an array variable, specify the element. Return value TsPayloadV Value of the load type global variable that was acquired...

  • Page 106: Getglobaltrans()

    series Robot Controller TsRemoteLib.DLL MANUAL GetGlobalTRANS() TsRemote .method References the value of the coordinate type global variable of the program that is currently selected. Format TsTransV GetGlobalTRANS(string name) Argument string name Name of the standard type global variable For an array variable, specify the element. Return value TsTransS Value of the coordinate type global variable that was acquired...

  • Page 107: Getpsncmdjoint()

    series Robot Controller TsRemoteLib.DLL MANUAL GetPsnCmdJoint() TsRemote .method Acquires the current robot position (command) in terms of the joint angle. Format TsJointS GetPsnCmdJoint()l Argument None Return value TsJointV Joint angle of 6-AXIS robot Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice...

  • Page 108: Getpsncmdwork()

    series Robot Controller TsRemoteLib.DLL MANUAL GetPsnCmdWork() TsRemote .method Acquires the current robot position (command position) in terms of the work coordinate position. Format TsPointV GetPsnCmdWork() Argument None Return value TsPointV Work coordinate point of 6-AXIS robot Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller...

  • Page 109: Getpsncmdworld()

    series Robot Controller TsRemoteLib.DLL MANUAL GetPsnCmdWorld() TsRemote .method Acquires the current robot point (command position) in terms of the world coordinate position. Format TsPointV GetPsnCmdWorld() Argument None Return value TsPointV World coordinate position of 6-AXIS robot Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller...

  • Page 110: Getpsnfbkjoint()

    series Robot Controller TsRemoteLib.DLL MANUAL GetPsnFbkJoint() TsRemote .method Acquires the current robot position (feedback) in terms of the joint angle. Format TsJointV GetPsnFbkJoint() Argument None Return value TsJointV Joint angle of 6-AXIS robot (calculated from the motor angle) Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG...

  • Page 111: Getpsnfbkwork()

    series Robot Controller TsRemoteLib.DLL MANUAL GetPsnFbkWork() TsRemote .method Acquires the current robot position (feedback) in terms of the work coordinate position. Format TsPointV GetPsnFbkWork() Argument None Return value TsPointV Work coordinate position of 6-AXIS robot (calculated from the motor angle) Exceptions TCPNotConnect Network is not connected...

  • Page 112: Getpsnfbkworld()

    series Robot Controller TsRemoteLib.DLL MANUAL GetPsnFbkWorld() TsRemote .method Acquires the current robot position (feedback) in terms of the world coordinate position. Format TsPointV GetPsnFbkWorld() Argument None Return value TsPointV World coordinate position of 6-AXIS robot (calculated from the motor angle) Exceptions TCPNotConnect Network is not connected...

  • Page 113: Getstatusall()

    series Robot Controller TsRemoteLib.DLL MANUAL GetStatusAll() TsRemote .method Acquires all the statuses of the 6-AXIS robot. Format TsStatusAllV GetStatusAll() Argument None Return value TsStatusAllV Acquired statuses(6-AXIS) Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller Notice See also TsStatusAllV , GetStatus()

  • Page 114: Getvelocjoint()

    series Robot Controller TsRemoteLib.DLL MANUAL GetVelocJoint() TsRemote .method Acquires the current robot command speed in terms of the joint angle. Format TsJointV GetVelocJoint() Argument None Return value TsJointV Speed of each joint of 6-AXIS robot Exceptions TCPNotConnect Network is not connected CommunicationError Communication Error ControllerNG Command not accepted by controller...

  • Page 115: Getvelocworld()

    series Robot Controller TsRemoteLib.DLL MANUAL GetVelocWorld() TsRemote .method Acquires the current command speed of the robot in terms of the speed of the world coordinate elements. Format TsPointV GetVelocWorld() Argument None Return value TsPointV Speed of 6-AXIS robot (calculated based on the X, Y, Z,A,B and C components) Exceptions TCPNotConnect Network is not connected...

  • Page 116: Move()

    series Robot Controller TsRemoteLib.DLL MANUAL Move() TsRemote .method Moves the 6-AXIS robot to the specified point. Format Move(double x, double y, double z, double a, double b, double c, double u, doublev, ConfigV config) Move(double x, double y, double z, double a, double b, double c, double u, doublev, ConfigVpart config) Move(TsPointV point) Move(TsPointV point,double px, double py, double pz,...

  • Page 117: Movea()

    series Robot Controller TsRemoteLib.DLL MANUAL Movea() TsRemote .method Moves the joint axis of the 6-AXIS robot to the specified position. Format void Movea(int joint_no,double position) Argument int joint_no Joint number(1-8) to be moved double position Target position (angle) Return value None Exceptions MoveStop...

  • Page 118: Moves()

    series Robot Controller TsRemoteLib.DLL MANUAL Moves() TsRemote .method Moves the 6-AXIS robot to the specified point with linear interpolation. Format void Moves(double x, double y, double z, double a, double b, double c, double u, doublev, ConfigV config) void Moves(double x, double y, double z, double a, double b, double c, double u, doublev, ConfigVpart config) void Moves(TsPointV point) void Moves(TsPointV point,double px, double py, double pz,...

  • Page 119: Setgain()

    series Robot Controller TsRemoteLib.DLL MANUAL SetGain() TsRemote .method Sets the gain of each axis of the robot (servo control) to ON/OFF. Format void SetGain(int j1,int j2, int j3, int j4, int j5, int j6, int j7, int j8) Argument Int j1 Servo gain of the 1 joint (0:OFF 1:ON) Int j2...

  • Page 120: Setglobalpayload()

    series Robot Controller TsRemoteLib.DLL MANUAL SetGlobalPAYLOAD() TsRemote .method Sets the value of the program load type global variable of the program that is currently selected. Format SetGlobalPYLOAD(string name,int restore,double m, double Gx, double Gy, double Gz, double Lx, double Ly, double Lz) SetGlobalPYLOAD(string name,int restore,TsPayloadV payload) Argument string name...

  • Page 121: Setglobalpoint()

    series Robot Controller TsRemoteLib.DLL MANUAL SetGlobalPOINT() TsRemote .method Sets the value of the program point type global variable of the program that is currently selected. Format void SetGlobalPoint(string name,int restore,double x, double y, double z, double a, double b, double c, double u, double v, ConfigVpart config) voidSetGlobalPoint(string name,int restore,TsPointV point) Argument string name...

  • Page 122: Setglobaltrans()

    series Robot Controller TsRemoteLib.DLL MANUAL SetGlobalTRANS() TsRemote .method Sets the value of the coordinate type global variable of the program that is currently selected. Format void SetGlobalTRANS(string name,int restore,double x,double y,double z, double a , double b ,double c) void SetGlobalTRANS(string name,int restore,TsTransV trans) Argument string name Name of the coordinate type global variable...

  • Page 123: Setpayload()

    series Robot Controller TsRemoteLib.DLL MANUAL SetPayload() TsRemote .method Sets the load data of the 6-AXIS robot. Format void SetPayload (double m,double Gx, double Gy, double Gz, double Lx, double Ly, double Lz) void SetPayload(TsPayloadV payload) Argument double M Weight (kg) double Lx Offset of the center of gravity (mm) double Ly...

  • Page 124: Settranstool()

    series Robot Controller TsRemoteLib.DLL MANUAL SetTransTool() TsRemote .method Sets the tool coordinate. Format void SetTransTool(string name) void SetTransTool(string name,double x,double y,double z, double a, double b, double c) void SetTransTool(string name,TsTransV tool) Format string name Specify the name of the coordinate type variable that is registered in the program file that is selected by the controller.

  • Page 125: Settranswork()

    series Robot Controller TsRemoteLib.DLL MANUAL SetTransWork() TsRemote .method Sets the work coordinate. Format void SetTransWork(string name) void SetTransWork(string name,double x,double y,double z, double a, double b, double c) void SetTransWork(string name,TsTransV work) Argument string name Specify the name of the coordinate type variable that is registered in the program file that is selected by the controller.

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