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Elephant Robotics myCobot Pro 600 User Manual

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Elephant Robotics User Manual
myCobot Pro 600
Language: English
Compiled in 2022/3/28
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  • Page 1 Elephant Robotics User Manual myCobot Pro 600 Language: English Compiled in 2022/3/28...
  • Page 2 Except as expressly stated in this manual, nothing in this manual should be construed as any warranty or guarantee by the Elephant Robotics of personal loss, damage to property, or fitness for a particular purpose. All rights reserved!
  • Page 3 Overview to the manual About the manual Welcome to use myCobot robot and thank you for your purchase. This manual describes the precautions for proper installation and use of the myCobot robot. Please read this manual and other related manuals carefully before installing this robot system.

  • Page 4: Table Of Contents

    目录 1 Security ........................6 1.1 Introduction ....................... 6 1.2 Safety alert symbol description ................. 6 1.3 Hazard identification ..................7 1.4 Safety Precautions ..................... 9 1.5 Label, nameplate introduction ................ 11 1.6 Avoid misuse ....................11 1.7 Emergency stop ....................12 1.7.1 Emergency button .................
  • Page 5 5 Operation Guide ......................53 5.1 RoboFlow Software Instructions ..............53 5.1.1 Overview ....................53 5.1.2 Main interface introduction..............54 5.1.3 Introduction to common tools ............... 79 5.1.4 Function instruction ................96 5.2 API Interface Description ................126 5.2.1 Overview ..................... 126 5.2.2 Socket String format rules ..............

  • Page 6: Security

    1 Security 1.1 Introduction 1 Introduction to this chapter This chapter details general safety information for people who perform installation, maintenance, and repair work on the robots. Please read and understand the contents and precautions of this chapter before handling, installation and use.

  • Page 7: Hazard Identification

    WARNING: Conditions that may cause a hazard that, if not avoided, could result in personal injury or serious damage to the equipment. Be careful of electric shock: It may cause dangerous use of electricity. If it is not avoided, it may cause personal injury or serious damage to equipment. Prohibited: Things that are not allowed to do.
  • Page 8 Table1- 3 Warning level security risks Play around the robot, you may be hit by a running robot, or be tripped by an obstacle such as a cable to cause personal injury. Unauthorized personnel change the security configuration parameters, causing the safety function to fail or danger.

  • Page 9: Safety Precautions

    1.4 Safety Precautions In general, compared with ordinary machinery, robots have the characteristics of larger working range and faster speed, so they are accompanied by the dangers that ordinary machinery does not have. When installing, using, and maintaining the robot, please pay attention to the following items shown in Table 1-5 and Table 1-6 (the followings are some of the common precautions listed): Table1- 5 Safety precautions on acts that need to be banned...
  • Page 10 repair. The operator is not allowed to change the operating procedures and trials at will, and other personnel are not allowed to enter the collaborative operation space and danger zone. When repairing work, operators must hang the warning sign to enter the collaborative operation space.

  • Page 11: Label, Nameplate Introduction

    1.5 Label, nameplate introduction Robots are high-precision equipment, and they are more dangerous than ordinary machines when they are unfamiliar or not in accordance with the manual. As shown in Figure 1-1, the labels are attached to the power box to remind the operator to read the relevant operating manual before use.

  • Page 12: Emergency Stop

    1.7 Emergency stop This section describes two types of emergency stop for robots:  If you feel abnormal during the robot's motion, immediately press the emergency stop switch. When the force generated by the collision of the robot with the person ...

  • Page 13: Urgent Handling

    is required to stop the robot, which will reduce the sensitivity of the collision detection to a certain extent. When the protection threshold is set too low, the robot may stop when it is holding the load due to the excessive torque generated by its own motion.

  • Page 14: Quickstart

    2 QuickStart 2.1 Installation Instructions for the Robot Arm 1 Full unpacked items of robot arm...
  • Page 15 Pedestal mounting 1. Install M6X16 screws to fix the baseplate on the table 2. An effect picture of the completed installation...
  • Page 16 3. Place the pedestal of the robot arm on the fixed baseplate Remove the set screws of housing from the pedestal of robot arm...
  • Page 17 Open the housing of the pedestal of robot arm, and fix the the pedestal and baseplate of robot arm with M6X16 screws...
  • Page 18 After installation, buckle the housing of the pedestal of robot arm Install the set screws of housing for the pedestal of robot arm...
  • Page 19 Install the set screws of housing for the pedestal of robot arm Baseplate dimension figure...

  • Page 20: Display Module Connection

    2.2 Display Module Connection 2.2.1 Display Screen Connection 1 Prepare the displayer connecting line in accessories, as shown in Figure 2- 1, and one port is an HDMI connector, and the other port is a micro HDMI connector. Fig. 2-1 Display Screen Connection 2 The HDMI connector should be connected to the computer, and the micro HDMI connector should be connected to the robot, and the connector position of the robot is shown in Figure 2-2.

  • Page 21: Remote Connection

    2.2.2 Remote Connection 1. Power on the robot and connect the robot arm to the PC by using the network cable. 2. Open the software "VNC Viewer" on the remote port, as shown in Figure 2- 3, then enter the IP address of the robot in the input box, and press Enter to connect.

  • Page 22: Quickly Building A Runnable Project

    Figure 2-4 Remotely Connecting to Robot 2.3 Quickly Building a Runnable Project 2.3.1 Preparation Work 1， Preconditions 1) Check that the robot arm is in perfect condition and undamaged 2) Install the fixed robot arm 3) Connect the power adapter and provide the appropriate voltage 4) Connect the visual devices (displayer /PC remote connection) 5) Connect the keyboard and mouse (when connected to displayer) 6) Keep the emergency stop switch on...

  • Page 23: Flow Chart

    2.3.2 Flow Chart The following is the program editing flow chart, as shown in Fig. 2-5. Start Login Power on New blank program Add and edit instructions Program debugging Does it meet the preset requirements? Save and run the program Fig.

  • Page 24: Specific Steps

    2.3.3 Specific Steps 2.3.3.1 Login After the system starts successfully, the login interface of RoboFlow operating system is displayed, as shown in Figure 2-6. Fig. 2-6 Login Interface...
  • Page 25 Select the login user name "Admin" or other administrator user name (only administrators are allowed to edit and debug programs), click the password box, and a pop-up window will appear as shown in Figure 2-7. Fig. 2-7 Input Keyboard The default login password of the user name "Admin" is "elephant" (please enter the corresponding login password if you select other administrator user name), and enter the password and click "OK"...
  • Page 26 2.3.3.2 Power On After successful login, the main menu is displayed, as shown in Figure 2-8. Fig. 2-8 Main Menu On the main menu interface, if you select "Configuration Center", the page shown in Figure 2-9 is displayed (not powered on yet). When ensuring that the emergency stop knob is not pressed, you can click the "Start Robot"...
  • Page 27 Fig. 2-9 State of Being Not Powered On...
  • Page 28 Fig. 2-10 In the Process of Being Powered On Fig. 2-11 Completion of Being Powered On...
  • Page 29 2.3.3.3 New Blank Program As shown in Figure 2-12, click "Write Program" and then select "Blank Program". Fig. 2-12 Select "Blank Program" After the previous step, the program editing interface will be displayed, as shown in Figure 2-13. Fig. 2-13 Enter into Program Editing Interface...
  • Page 30 2.3.3.4 Quick Moving As shown in Figure 2-13, by clicking "Quick Moving", the window as shown in figure 2-14 will pop up. The control mode is divided into Cartesian coordinate control and joint control. The movement mode of moving can be continuous movement or step movement.
  • Page 31 2.3.3.5 Add and Edit Instructions As shown in Figure 2-15, there are two waypoints to add: absolute point instruction and teaching two points (that is, to use the quick moving tool to manually operate the robot, control the robot movement to a certain pose, return, click "Save the Current Point".
  • Page 32 2.3.3.6 Debugging Program As shown in Figure 2-16, in addition to the "Next" and "Run" functions provided in the program running control bar, by clicking the "Advanced Functions", you can enter the interface of more settings. Among them, the "Next" function corresponds to the step by step execution of the program, and one click only runs one step, if you need to continue to run, click "Next".
  • Page 33 Fig. 2-17 Debugging Program in Manual Mode If you use manual mode to debug the program, you need to press on the "Press Down" button to continue running. If you release the button, the program pauses, and press it again to continue running...
  • Page 34 2.3.3.7 Free Movement As shown in Figure 2-18, you can click the free movement button to make the robot arm enter the free movement mode, and at this time, you can move joint 1, joint 2 and joint 3, and if you need to move joint 4, joint 5 and joint 6, you need to press the ATOM button at the end, as shown in Figure 2-19.

  • Page 36: Product Introduction

    It uses a Raspberry Pi microprocessor and built-in RoboFlow visual programming software, and is a teaching-oriented and commercially developed machine "assistant" for Elephant Robotics. It has rich extension interfaces, supports a variety of development languages, is easy to get started visual...

  • Page 37: Product Appearance And Composition

    3.2 Product Appearance and Composition Fig. 3-1 Product Composition...

  • Page 38: Working Principles And Specifications

    3.3 Working Principles and Specifications 3.3.1 Working Space...

  • Page 39: Coordinate System

    3.3.2 Coordinate System DH parameters and coordinate system: Fig. 3-2 DH Coordinate System...
  • Page 40 Fig. 3-2 DH Coordinate Parameter...
  • Page 41 SDH parameter list: Joints movement: For the rotation of each joint in Figure 3-1, the direction of arrows in the figure is the positive direction of the joint. Cartesian coordinate movement: Taking the coordinate system {x0,y0,z0} in Figure 3-2 as the standard, the X axis is perpendicular to the forward direction of the fixed base, the Y axis is perpendicular to the left direction of the fixed base, and the Z axis is perpendicular to the upward direction of the fixed base.

  • Page 42: Moving Functions

    3.3.3 Moving Functions The movement modes of the robot arm include MoveJ, MoveL, MoveC and Jog modes 3.3.3.1 MoveJ The joint movement moves from point A to point B, and each joint moves from the joint Angle corresponding to point A to the joint Angle corresponding to point B.

  • Page 43: Technical Specifications

    3.4 Technical Specifications 3.4.1 Technical Parameters Name myCobot Pro 600 Maximum load 2000g Maximum extension distance 600mm Range of movement Joint 1 -180°-180° Joint 2 -270°-90° Joint 3 -150°-150° Joint 4 -260°-80° Joint 5 -168°-168° Joint 6 -174°-174° Maximum movement velocity...

  • Page 44: 2Size Parameters

    3.4.2 Size Parameters Size parameters of myCobot Pro 600 are shown in Figure 3.9, and the end size parameters are shown in Figure 3.10 Fig. 3.9 Size Parameters of myCobot Pro...
  • Page 45 Fig. 3.10 Size Parameters of End Mounting Hole...

  • Page 46: Interface Specifications

    4 Interface Specifications 4.1 Base Electrical Interfaces 4.1.1 Introduction to Base Electrical Interfaces 1 Figure 4-2 shows the electric in the front of base: Fig. 4-1 Front View of the Base 2 Figure 4-2 shows the interfaces on the left side of the base: Fig.
  • Page 47 3 Figure 4-3 shows the electrical interfaces on the base: Fig. 4-3 Right Side View of the Base 4 Figure 4-4 shows the electrical interfaces on the upside of the base: Fig. 4-4 Top View of the Base...

  • Page 48: Description Of Base Electrical Interfaces

    4.1.2 Description of Base Electrical Interfaces Serial No. Layout Position Types Definition Description External DC42V Front DC power input DC48V power input interface USB2.0 Used for external extension devices USB Interface such as mouse, USB3.0 (blue) keyboard and USB flash disk Ethernet interface Ethernet Ethernet interface...
  • Page 49 1 DC power input interface: This interface is connected with the DC48V power adapter interface, and its definition is shown in the following figure: USB2.0 interface: It is a serial bus standard 2.0 interface for data connection; and users can copy program files using USB interface and can also use the USB ports to connect peripherals such as mouse and keyboard.
  • Page 50 7 Loop terminal of emergency stop: It is connected with the emergency stop button box and can be used to control the emergency stop of the robot. Note: the robot must be connected to the emergency stop switch, and ensure that the switch circuit of the emergency stop is connected.

  • Page 51: Electrical Interfaces Of Robot Arm End

    4.2 Electrical Interfaces of Robot Arm End 4.2.1 Introduction to Robot Arm End 1 Figure 4-5 shows the side interfaces at the end of the robot arm: Fig. 4-5 Electrical Diagram of Robot Arm End 4.2.2 End Electrical Specification 1） Tool I/O interface: Here's the tool I/O drawing as shown in the figure, with the Mycobot Pro600 robot providing one input and two outputs.
  • Page 52 Each tool I/O interface is defined in the following table, and it is noted that the input and output of tool I/ OS are all PNP types and the connection mode is the same as that of the bottom I/O interface. Serial No.

  • Page 53: Operation Guide

    5 Operation Guide 5.1 RoboFlow Software Instructions 5.1.1 Overview The raspberry is the operating system of the Elephant Collaborative Robot. It provides a human-computer interaction interface, which is convenient for operators to interact with the elephant robot and use the elephant robot correctly. That is to say, when the user uses the robot, most of the time is achieved by using the raspberry operating system.

  • Page 54: Main Interface Introduction

    Figure 2- 1 login interface As shown in the login page, "TAUGHT BY PEOPLE, PERFORMED BY ROBOT", this is the concept that the elephant robotics has always insisted on making the operator become the commander of the robot. Let robots replace...
  • Page 55 authority to perform all operations, programming and setup. The operator can only load and run existing programs and check the statistical data information. Administrators can add and modify multiple accounts in the settings, including operator accounts. By clicking on the "Shutdown" button, the RoboFlow operating system can be turned off, and then the power supply can be turned off, thus the robot system can be shut down.
  • Page 56 On the left side of the main menu, there are four different options available: 1，Run Program Load an existing program directly and control the program to run. In this window, the user is not allowed to edit the program, but can only control the program running (such as control program running, pausing, stopping).
  • Page 57 the "Logout" button to log out. 5.1.2.3 Run Program If the user selects "Run Program" in the main menu, it will enter the Run Program window. The running program window of the RoboFlow operating system is shown in Figure 2-3. ①...
  • Page 58 4) The most important thing is that the running program window is the channel for the user to load and run the program that has been debugged. 5.1.2.4 Edit Program As shown in Figure 2-4, if the user selects "Write Program" in the main menu, two options will appear in the right window.
  • Page 59 to manage files. Users can manage program files here, and can copy them to the U disk, or from the U disk to the system memory. If the user wants to go back to the initial page during the programming process, click "Back". After entering the program editing page, users can save, create and save files.
  • Page 60 the function editing column. Figure 2- 6 Function bar 1) Program editing toolbar: Includes file option bar, edit option bar, and tool options bar. A. File：As shown in Figure 2-7, you can edit the program file. There are several operation options: Save, Save As, New, Load, Rename, and Exit.
  • Page 61 Figure 2- 8 Edit option bar C. Tool options bar：As shown in Figure 2-9, it is a shortcut toolbar. When editing a robot program, the user often uses other tools to operate the robot. The tool options bar provides tools commonly used in program editing.
  • Page 62 basic functions commonly used by users. Figure 2- 10 Basic functions a) Waypoint: “Create new waypoints → Manually operate the robot to move the robot to the target point → Save current point → Running program”. With this series of operations, the user completes the goal of controlling the movement of the robot to the target point.
  • Page 63 Figure 2- 11 Logic function a) Loop: The user can use this function to set a block to run cyclically multiple times. b) If/Else: The user can use this function to make conditional judgments, such as the determination of an input signal. c) Subprogram: The user can use this function to call a subroutine.
  • Page 64 regular point movements. For example, the handling of workpieces in pallets, palletizing, etc. It is also possible to implement the fixed but irregular rendezvous motion of the robot in sequence. b) Assign to Var: Users can use this function to implement the assignment of a variable.
  • Page 65 These extensions do not exist in every version, but are chosen based on user needs. 2，Program Display Window On the left side of the program editing page, there is a program display window as shown in Figure 2-14. The upper part is the name of the currently open program file, and the lower part is the program tree, which records the specific instructions and related information.
  • Page 66 Figure 2- 15 Functional Editing Window The user can make specific settings for the function instructions in this window. Quick control and current command renaming, deletion, and disabling are also provided here. 4，At the bottom of the program editing page, there is a program running control bar as shown in Figure 2-16.
  • Page 67 robot to complete the corresponding tasks, but also get some valuable statistical data in the statistical report window for analysis and statistics. The statistical report window is divided into four sub-windows. As shown in Figure 2-17, the general class counts the total running time, the number of active programs, and the specific information of active programs.
  • Page 68 Figure 2- 18 Procedural statistics As shown in Figure 2-19, the log lists the general information, warning information and error information recorded by the system during the user's use of RoboFlow operating system. This information helps users to determine what changes and feedback the system has made during the operation of the RoboFlow operating system.
  • Page 69 Figure 2- 19 Log statistics As shown in Figure 2-20, security statistics can help users to count security- related information, such as collision information, number of stops, etc.
  • Page 70 Figure 2- 20 Security statistics 5.1.2.6 Setting In the configuration center, users can configure the robot. For example, power the robot, turn off the robot, set the load, time, network and so on. 1，Initialization The initialization configuration page is shown in Figure 2-21. When robot movement is required, the user needs to enter the configuration center →...
  • Page 71 Figure 2- 21 Initialization 2，Default program Figure 2-22 shows the default program settings page.
  • Page 72 Figure 2- 22 Default program This function allows the user to set a default running program. As long as the system starts, the robot directly enters the running program window, and can start running the program and perform corresponding actions to complete the specified task.
  • Page 73 3，Version update Figure 2-23 shows the version update settings page. Figure 2- 23 Version update This page allows users to update the RoboFlow operating system in two ways, one for local file updates and one for network updates. 4，Account management Figure 2-24 shows the account management page.
  • Page 74 Figure 2- 24 Account management Users can add new users, delete expired users, or change passwords on this page. On this page, the user can get all the account information. 5，Language and unit The language and unit settings page are shown in Figure 2-25. At present, the RoboFlow operating system supports Chinese and English and metric units.
  • Page 75 Figure 2- 25 Language and unit 6，Time Figure 2-26 shows the time setting page.
  • Page 76 Figure 2- 26 Time The user can set the system time on the current page. If the "24-hour system" is not checked, the time display format defaults to 12-hour system. 7，Touch screen calibration Figure 2-27 shows the touch screen calibration instructions. The user clicks on "Start to Calibrate"...
  • Page 77 calibration failure. At this point, you can confirm to exit the calibration interface and return to the page in Figure 2-27 to recalibrate. 图 2- 27 Touch Screen 8，About us As shown in Figure 2-28, it is about our page.
  • Page 78 Figure 2- 28 About us This page shows basic information about the operating system of the RoboFlow operating system. For example, the model of the robot used is the Elephant series, version information, and so on. more information, please visit official website https://www.elephantrobotics.cn。...

  • Page 79: Introduction To Common Tools

    5.1.3 Introduction to common tools 5.1.3.1 Quickmove Quickmove is a tool that users use frequently when they operate the robot quickly and manually. Therefore, every user must be very familiar with the use of Quickmove using methods. The wrong operation may result in damage to the robot and its peripheral equipment, and even injuries to personnel.
  • Page 80 ④- Stepping motion ⑤- Speed ⑥- Move to origin ⑦- Freemove ⑨- Joint control ⑧-Return Status display button ⑩- Coordinate position ○ 11 - Figure 3- 1 Quickmove 1，Motion Control Mode in Cartesian Coordinate System As shown in Figure 3-2, over-fixed-point O, three axes perpendicular to each other, all with O as the origin and generally with the same unit of length.
  • Page 81 Face to robot Figure 3- 2 Cartesian coordinate system Direction callout diagram As shown in Figure 3-3, the robot can be controlled to move in the direction of the Cartesian coordinate system by clicking the key corresponding to the direction of the Cartesian coordinate system. (a)x-y-z (b)Rx-Ry-Rz Figure 3- 3 Cartesian coordinate system motion control mode button...
  • Page 82 The time when the coordinate control button is pressed determines the distance the robot moves. Do not press and hold it. 2，3D View This window marks the direction of movement of the six joints of the robot. 3，User coordinate system User coordinate system can be selected under this window.
  • Page 83 Figure 3- 4 Step-by-step motion step setting window 5，Speed As shown in Figure 3-5, the control speed of the manual manipulator can be set here. Speed can be set from 0 to 100%. Figure 3- 5 Speed setting window The speed here refers to the speed of the manual manipulation robot, including continuous motion control speed and stepping motion control speed.
  • Page 84 In the process, you need to keep the state of the icon button selected, otherwise the robot will stop in the middle. 7，Freemove Select the icon shown in Figure 3-7 to switch to the drag mode. Figure 3- 7 Freemove 8，Return Click on the icon shown in Figure 3-8 to return to the programming operation window.
  • Page 85 manipulate the robot and control the robot for joint movement using the instructor. The control buttons for each joint are divided into 2 directions, and the angle data of each axis can be seen. Figure 3- 9 Joint motion mode control window 10，...
  • Page 86 and "Reset" (displays red). When the display is normal, it indicates that the robot is working properly, and when the reset is displayed, the robot is abnormal, the anomaly needs to be lifted and the key is clicked for reset. 5.1.3.2 Installation As shown in Figure 3-11, there are three submenus inside the installation tool.
  • Page 87 2，Security configuration: As shown in Figure 3-12, set the torque limit and brake control of the elephant robot. Figure 3- 12 Security configuration 3，Network Configuration: As shown in Figure 3-13, configure the IP address and port number of the Ethernet communication here.
  • Page 88 Figure 3- 13 Network settings...
  • Page 89 5.1.3.3 Input and output configuration The robot system has a total of 6 digital input signals and 6 digital output signals. As shown in Figure 3-14, the input and output signals can be configured and monitored in this window, and the output signals can be forcibly output. IO configuration files can also be saved and loaded on this page.
  • Page 90 Figure 3- 15 Input and output interface description It should be noted that the input public terminal needs to be connected to 24V power supply. It can be determined whether the input is active high or active low according to the common configuration (hardware connection determines 24V or 0V).
  • Page 91 Input Output Common terminal is connected to high level, input is active low. Press switch switch pressed COM1 COM1 Common terminal is connected to low level, input is active high. Press switch switch pressed COM1 COM1 Figure 3- 16 Input signal application diagram As shown in Figure 3-17, the output is 24V when there is no output.
  • Page 92 and delete variables. Figure 3- 18 Variable editing As shown in Figure 3-19, there are 5 types of editable variable types. They are string variables, pose variables, floating point variables, integer variables, and Boolean variables. On this page, you can edit the variable name and initial value.
  • Page 93 Figure 3- 19 New variable interface 5.1.3.5 Log As shown in Figure 3-20, you can view information about the robot running status, error information, and alarm information in the running log window. Click the "Information", "Warning" and "Error" buttons to sort the corresponding logs. Users can save logs to a local folder.
  • Page 94 Figure 3- 20 Running log 5.1.3.6 Basic Settings As shown in Figure 3-21, the basic settings page provides a common setting channel, allowing the user to quickly set up some functions, such as free movement related parameter settings, even when leaving the programming window while writing the program.
  • Page 95 Figure 3- 21 Basic Settings...

  • Page 96: Function Instruction

    5.1.4 Function instruction 5.1.4.1 Basic function 5.1.4.1.1 Waypoint There are four types of waypoints: Absolute points, Relative points, Shared points, and Variables. These four types are side-by-side. Under one waypoint command, you can only choose one. 1，Absolute point: The absolute point is a description of the actual pose of the robot.
  • Page 97 Figure 4- 1 Absolute point 1) Road Point coordinates As shown in Figure 4-2, there are two formats for the representation of absolute points, namely Cartesian coordinate system coordinate values and joint angles. Among them, the Cartesian coordinate system coordinate value records the position and attitude of the robot TCP relative to the base coordinate system (in mm),.The joint angle is a direct record of the actual angle of each axis (in degree, degrees).
  • Page 98 ①- Coordinate ②- Angle Figure 4- 2 Absolute point Position data 2) Waypoint control A. Save current point This button is used to save the current pose data of the robot. B. Move to this point If you need to verify the teaching point or move to the teaching point for some operations, press and hold the button until the robot moves to the current teaching point.
  • Page 99 Figure 4- 3 Advanced configuration 2，Relative point: Figure 4-4 shows the specific configuration page of the relative point.
  • Page 100 Figure 4- 4 Relative point The relative point is used in a situation where a certain displacement is required based on a corresponding point of the movement instruction on the robot/an absolute point/variable point offset. The displacement can be a distance in a single direction, or a superposition of displacements in multiple directions, and can also teach a segment to offset.
  • Page 101 robot (at this time the robot should be holding the state of the workpiece) to move to the placement point, click to save the current point, which generates the command line 2 shown in Figure 4-6. Then click on the basic function - waypoint: select the relative point, set the z-direction of the icon to increase the relative point of 50mm, then the robot will move to the position of the transition point after running the last sentence.
  • Page 102 2) Reference move: By teaching two points, a path is generated, based on the current point, and the track is reproduced. 3) Advanced Features: The advanced configuration of the absolute point is not repeated here. 1，Shared point: The share point can use the location of other waypoints. Figure 4-7 shows the specific configuration page of the share point.
  • Page 103 not repeated here. 3，Variable: The waypoint can be assigned by a variable. The user can use the communication method to obtain the waypoint location from other devices. Figure 4-8 shows the specific configuration page of the variable point. 1) Variable assignment: The user can select the associated pose variable, and "Move to this point"...
  • Page 104 Figure 4- 9 Gripper The user defines and controls the gripper through a simple function. 1，Select gripper 1) Set existing grippers Select the gripper, you can edit or delete the existing gripper. 2) Define new grippers As shown in Figure 4-10, the gripper can be named and multiple input signals can be controlled simultaneously.
  • Page 105 condition. Figure 4- 10 Define new grippers 2，Set the saved state 1) Fully open: The option in the execution gripper definition is the "open" state. 2) Completely off: The option in the execution gripper definition is "off" status. 3，Debug control 1) Open the gripper: Manual operation performs the option of the "Open"...
  • Page 106 state in the gripper definition. 2) Close the gripper: Manual operation performs the option of the "Close" state in the gripper definition. 5.1.4.1.3 Wait As shown in Figure 4-11, there are four modes for waiting for instructions. 1，Waiting time: The delay time can be set in seconds. 2，Waiting for the input signal: The state of the input signal is judged and waits until it meets the set input signal state condition.
  • Page 107 Figure 4- 11Wait 5.1.4.1.4 Set As shown in Figure 4-12, the setup command has four modes of selection. 1，Set IO: Set the state of the output signal. In addition to selecting the set output signal to determine whether it is on or off, you can also set the time that the signal is held.
  • Page 108 Figure 4- 12 Set 5.1.4.1.5 Group As shown in Figure 4-13, the group instructions provide common combination templates, such as grabbing and placing combinations.
  • Page 109 Figure 4- 13 Group When users use group instruction, such as grabbing and placing combinations, they can modify parameters and teach Waypoints directly on the basis of template programs, or they can add or delete instructions freely according to their needs. The user can simplify the process of finding instructions by using the group instruction.
  • Page 110 number of times. As shown in Figure 4-14, the number of loops can be represented by a constant or a variable or an expression. Figure 4- 14 Loop 5.1.4.2.2 If/Else Judging the set conditions allows the program to read the data, determine and determine what to do next.
  • Page 111 If, Else If ... Else. The relationship between the three is shown in Figure 4-15: Else if Else if Else if Else Figure 4- 15 Relationship between If, Else If, and Else Both If and Else If judge the determined conditions, and Else corresponds to all cases except the above conditions.
  • Page 112 Figure 4- 16 If/Else As shown in the figure above, if the condition following "If" is met, the robot will move to waypoint 1; if it meets the condition followed by "Else if", it will move to waypoint 2; if both conditions are not met, the "Else" corresponding block will be executed, that is, the robot will move to the waypoint 3.
  • Page 113 Figure 4- 17 Subprogram Figure 4- 18 Display subroutine...
  • Page 114 5.1.4.2.4 Thread The thread runs along the main program. It is used to check signals such as emergency buttons or safety light curtains. As shown in Figure 4-19, you can set the running interval of threads. Note that motion instructions are not allowed in threads. Figure 4- 19 Thread 5.1.4.2.5 Halt The pause command is used to control the robot to pause, stop, and resume.
  • Page 115 Set the restart state. When the program runs to this instruction, it will start running again from the first instruction at the beginning. Figure 4- 20 Halt 5.1.4.2.6 Switch As shown in Figure 4-21, the conditional selection instruction is used to judge the value of a variable.
  • Page 116 Figure 4- 21 Switch Corresponding to different conditional values, how many conditional values need to be judged to add how many cases, you can open each case, increase the corresponding execution instructions. For example, to judge the integer variable A, set two cases, if A is 1, execute the first route instruction, if A is 2, execute the second route instruction.
  • Page 117 which the position of the other points can be calculated by the robotic system. Running this instruction can control the movement of the robot to these points. As shown in Figure 4-22, you can select a line, plane, cube, discrete point. Figure 4- 22 Pallet type Selection As shown in Figure 4-23, after you select line, select the number of points, and the line will be split evenly based on the number of points.
  • Page 118 Figure 4- 23 Line As shown in Figure 4-24, after selecting “Plane”, select the number of points of the two axes, and the plane is divided equally. These points are the dividing points. This plane is determined by teaching four points.
  • Page 119 Figure 4- 24 Plane As shown in Figure 4-25, after selecting "Cube", select the number of points of the three axes, and the cube is divided equally. These points are the dividing points. Determine this cube by teaching eight points.
  • Page 120 Figure 4- 25 Cube As shown in Figure 4-26, when “Discrete Point” is selected, the number of points is selected to teach different points. That is, a discrete point is a collection of multiple points. Whichever type is chosen, the robot will move to the first point when this instruction is executed for the first time.
  • Page 121 Figure 4- 26 Discrete point 5.1.4.3.2 Assign to var As shown in Figure 4-27, this command can assign values to integer variables and string variables. You can also use the "set variables" to directly set the value of the variable according to the instruction.
  • Page 122 Figure 4- 27 Assign to var 5.1.4.3.3 Script Script instructions can be used to edit complex instructions, providing a richer set of functional instructions. Figure 4-28 shows the specific configuration page of the script command. There are two types of setup scripts, one is a single- line expression and the other is a multi-line script.
  • Page 123 Figure 4- 28 Script 5.1.4.3.4 Popup The pop-up command allows the user to customize the pop-up window. In other words, when this command is executed, a pop-up window appears, and the pop-up content is user-defined content. As shown in Figure 4-29, there are three types of pop-up windows, information, warnings, and errors.
  • Page 124 pop-up window appears, and the program stops running. Figure 4- 29 Popup 5.1.4.3.5 Sender If TCP/IP communication is to be performed, the robot system must set the IP and port number as a client or server to communicate with other devices. The sender allows the user to set up a TCP/IP connection.
  • Page 125 If the robot system serves as a server, the IP address filled in is the local IP address, and the port number corresponds to the port number assigned to the client device. Click on the "monitor" button, at which point the client device can connect to the robot system.

  • Page 126: Api Interface Description

    5.2 API Interface Description 5.2.1 Overview Elephant robot allow users to control the robot from remote, one way is use socket. We use tcp protocol to communicate between the client and the robot, you can send the formated string through tcp to get or set some property/state of the robot, the format for each function are introduced as bellow.
  • Page 127 5 set the coordinates of robot Socket string format: set_coords(axis_x_coord, axis_y_coord,axis_z_coord, axis_rx_coord, axis_ry_coord, axis_rz_coord,speed) Example: set_coords(10.0,11.0,12.2,12.3,.11.1,16.0,500) the return string is formated in key-value pair, the key is the funciton name, the value is the value from robot, like this: set_coords:[ok]. If any error occurred, you will get set_coords:error_message.
  • Page 128 the return string is formated in key-value pair, the key is the funciton name, the value is the value from robot, like this: set_analog_out:[ok]. If any error occurred, you will get set_analog_out:error_message. 11 change the coordinate of one axis in one direction continuously Socket string format: jog_coord(axis,direction,speed) example: jog_coord(‘x’, 1, 500) The direction can be -1, 0, 1, -1 means in negative direction, 1 means positive...
  • Page 129 occurred, you will get state_off:error_message. 16 set feed rate Socket string format: set_feed_rate(speed) example: set_feed_rate(50.0) the return string is formated in key-value pair, the key is the funciton name, the value is the value from robot, if success, it will return: set_feed_rate: 0.otherwise it means failed.
  • Page 130 Socket string format: get_speed() example: get_speed() the speed unit is mm/s the return string is formated in key-value pair, the key is the funciton name, the value is the value from robot, like this: get_speed:500. If any error occurred, you will get get_speed:error_message 22 check the state of the robot Socket string format: state_check() example: state_check()
  • Page 131 Socket string format: program_run(line_number) example: program_run(0) the return string is formated in key-value pair, the key is the funciton name, the value is the value from robot, if success: program_run:0. If any error occurred, you will get program_run:error_message. 27 get the robot error Socket string format: read_next_error() example: read_next_error() the return string is formated in key-value pair, the key is the funciton name,...
  • Page 132 the return string is formated in key-value pair, the key is the funciton name, the value is the value from robot, if success: assign_variable:[ok]. If any error occurred, you will get assign_variable:error_message. 32 get the value of a variable Socket string format: get_variable(‘variable_name’) example: get_variable(‘A’,10) the variable name need to bu quoted with single quote mark(‘’) the return string is formated in key-value pair, the key is the funciton name,...

  • Page 133: Socket Api Usage Example

    5.2.3 Socket API Usage Example 1，Create Blank Program As shown in Figure 5-86, after powering on the robot, by clicking "Write Program" and "Blank Program" successively, you can enter the program creation page. Fig. 5-86 Create Blank Program 2，Start to Monitor As shown in Figure 5-87, by clicking "Tools", "Configuration", and "Network/Serial Port"...
  • Page 134 Fig. 5-87 Monitor Socket 3， Connecting Robot with PC As shown in Figure 5-88, you can open the software "Sokit" on your PC terminal and click "Client" at the top of the software to enter the network setting page. The server address and port number can be the values set in RoboFlow and then you can click TCP connection to connect to the robot.
  • Page 135 Fig. 5-88 Connect to RoboFlow Fig. 5-89 Connected Successfully...
  • Page 136 4， Send Socket API As shown in Figure 5-90, just by entering the Socket API that you want to send in the data window and clicking Send, the received information will be displayed in the sending and receiving records. Fig. 5-90 Sent Successfully...

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