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Main

Dart-Bridge Manual

알아두기

Dart-Bridge 솔루션이란?
시스템 요구사양 및 지원 정보

퀵가이드

프로그램 구성

Dart-Bridge 프로그램

시작 화면
기본 화면

Dart-Bridge 모듈

Dart-Bridge 모듈 시작 화면
Dart-Bridge 모듈 기본 화면

Device Manager 모듈

디바이스 데이터 목록 화면
디바이스 데이터 편집 화면

Basic Devices 모듈

End Effector

Gripper SA (Single Acting)
Gripper DA (Double Acting)
Tool
Screw Driver

Machine

Press Machine
Turning Center
Molding Machine

Peripherals

Bolt Feeder
Pallet
External Encoder
Conveyor Tracker

Basic, Pick & Place, Process 명령어 모듈

Basic

Set Digial IO
Contact
Door Open Close

Pick & Place

Pick
Place
Interlock Pick
Interlock Place
Pick Bolt
Insert

Process

Airblowing
Polishing
Deburring
Gluing
Bolting
End Task

Conveyor 명령어 모듈

사용 전 주의사항

디바이스 설정 (Device Manager)

External Encoder 설정

엔코더 채널
A-B상 모드
Z상 모드
S상 모드
인버스 모드
설정 확인

Conveyor Tracker 설정

통신
컨베이어 좌표계
컨베이어 속도

명령어 설정 (Task Editor)

Conveyor Coordinates
Conveyor Tracking

기타 참고 사항

Pick & Place (1 Conveyor)
Pick & Place (2 Conveyor)
Multi 작업물 Handling

Classic Welding 모듈

아날로그 용접 설정

아날로그 용접기 설정
아날로그 용접 조건 설정

디지털 용접 설정

디지털 용접기 설정
디지털 용접 조건 설정

위빙 조건 설정

사다리꼴 위빙
원형 위빙
지그재그 위빙
정현파형 위빙
C 파형 위빙
오프셋 및 기울임각 설정(공통)

용접 토치 설정

용접 프로그래밍(Task Editor)

용접 명령어

용접 모니터링

아날로그 용접 모니터링
디지털 용접 모니터링

태크 용접(가용접, Tack Wedling)

상세 가이드

데이터 변환
데이터 마이그레이션
로봇 파라미터 파일 적용
태스크 파일 실행

Policy&Notice

법적고지
이용약관
개인정보처리방침 등
쿠키 정책
OSS Notice

DART Studio Manual (V3.4.0)

PART 1. User Manual

Setup

Software Overview

Layout Overview
Show or Hide a Window
Change the Layout and Theme
Change the Software Theme
Change the Software Language
Connect to the Controller
IO Simulator

System Monitoring

Monitoring Bar
Monitoring Window

Graph Window

Supported Data Types
Browse the Graph
Change the Graph Layout
Control Monitoring

Motion Monitoring Window

Visualized Objects
Use the 3D Viewer

System Control

Control Authority

Robot Configuration

Open Robot Configuration Window
Robot Configuration UI
Get Current System Configuration
General Procedure to Set Robot Configuration
Safety Parameter
Safety Zone Overview (Valid for GF020400)
Safety Zone Setting (Valid for GF020400)
Safety Zone Overview (Valid from GF020500)
Safety Zone Setting (Valid from GF020500)
Tool
Modbus IO
Coordinate System

Manual Motion

Joint Jog
Joint Move
Task Jog
Task Move
Align Motion
Homing

Packing

Packing or Unpacking

IO Control

Fault Recovery

Recovery Motion
Backdrive Mode

Task Manager

Project Explorer
DRL Program Running

Use DRL Editor

DRL Editor Overview
Syntax Highlighting
Create a New Program
Save and Load a Program
Comment
Bookmark
Get Current Position as Text
Function Outline
Code Completion
Go to definition
Find References
Upload scripts to smart TP

DRL Guide

Open DRL Guide
Search DRL Command

Shortcut List

Run a Program

Run a Program Line by Line
Set Break Point
Change Running Speed

Monitoring Variables

Debug Variables
System Parameters

PART 2. Path generation

CAD-based Path Generation

Open Cad-based Path Generation Pane

3D View Control

View Control
Object visibility
Viewpoint
Projection

Object Control

Object selection
Related objects selection
Object deletion
Object transformation
Object property display

Load CAD files

Generate Path

Edge path generation
Offset sweep path generation
Zigzag sweep path generation

Edit Path

Change path orientation
Split path segment
Merge path segment
Change path direction
Change path sequence

Create Shape

Create point
Create line/curve
Edit line/curve
Create Plane/Surface
Edit Plane/Surface
Create Group

Transform Objects Into Robot Space
Create Script
Overall Practice

Other Usage Tips

Various methods to open the operation window
Open multiple operation windows
Undo and Redo
Status bar information

PART 3. Pallet Path Generation Manual

Creating Pallet Path

Open Work Window
Create Project

Create Pattern

Create Pattern main window
Plate setup
Product setup
Calibration setup

Layout Setup

Layout Main window
Auto Create Product
Approaching Property Setup

Layer Setup

Layer Main Window

3D Screen Manipulation

Create Pallet Path

Create Path
Analyze Generated Code

PART 4. Service Manual

System Log Backup
Fault Log Analysis
Troubleshooting Guide

Inverter Setting

Homing Offset Setting
Axis No, HW Min/Max Limit Setting
Robot Serial Number Setting
Robot License Setting
Motor Type Setting
Calibration Parameter Setting
Component Setting (Only A Series)
JTS Calibration Setting (Only M & H Series)
Motor Calibration Setting (Only A Series)
Friction Setting (Only A Series)
FTS Calibration Setting (Only A Series)
Firmware Update
Inverter Gain Setting

Robot Calibration

Kinematic Calibration
Kinematic Calibration (V2)
JTS Calibration
Friction Calibration (Only A model)
FTS Calibration (Only A model)

Integration Update

API manual(V1.32)

소개(Introduction)

설치 가이드

헤더파일 사용하기
라이브러리 링크하기
권장 운용 사양
라이브러리 구성

프로그래밍 유의사항

로봇 연결/해제
로봇 초기화
제어권 관리
로봇 운용 모드
로봇 운용 상태
로봇 상태 천이
프로그램 실행 및 종료
로봇 안전 설정 기능 제한

정의(Definition)

상수 및 열거형 정의

로그 및 알람 정의

LOG_LEVEL
LOG_GROUP
LOG_CODE

콜백 함수 정의

TOnMonitoringStateCB
TOnMonitoringDataCB
TOnMonitoringDataExCB
TOnMonitoringCtrlIOCB
TOnMonitoringCtrlIOExCB
TOnMonitoringModbusCB
TOnLogAlarmCB
TOnMonitoringAccessControlCB
TOnHommingCompletedCB
TOnTpInitializingCompletedCB
TOnMonitoringSpeedModeCB
TOnMasteringNeedCB
TOnProgramStoppedCB
TOnDisconnectedCB
TOnTpPopupCB
TOnTpLogCB
TOnTpGetUserInputCB
TOnTpProgressCB
TOnMonitoringRobotSystemCB
TOnMonitoringSafetyStateCB

구조체 정의

struct.SYSTEM_VERSION
struct.MONITORING_DATA
struct.MONITORING_DATA_EX
struct.MONITORING_CTRLIO
struct.MONITORING_CTRLIO_EX
struct.MONITORING_MODBUS
struct.LOG_ALARM
struct.MOVE_POSB
struct.ROBOT_POSE
struct.USER_COORDINATE
struct.MESSAGE_POPUP
struct.MESSAGE_INPUT
struct.MESSAGE_PROGRESS
struct.FLANGE_SERIAL_DATA
struct.FLANGE_SER_RXD_INFO
struct.READ_FLANGE_SERIAL
struct. INVERSE_KINEMATIC_RESPONSE
struct.UPDATE_SW_MODULE_RESPONSE
struct.CONFIG_JOINT_RANGE
struct.GENERAL_RANGE
struct.CONFIG_GENERAL_RANGE
struct.POINT_2D
struct.POINT_3D
struct.LINE
union.CONFIG_SAFETY_FUNCTION
struct._tStopCode
struct.CONFIG_INSTALL_POSE
struct.CONFIG_SAFETY_IO
struct.CONFIG_SAFETY_IO_EX
union.VIRTUAL_FENCE_OBJECT
struct.CONFIG_VIRTUAL_FENCE
struct.CONFIG_SAFE_ZONE
struct.ENABLE_SAFE_ZONE
struct.SAFETY_OBJECT_SPHERE
struct.SAFETY_OBJECT_CAPSULE
struct.SAFETY_OBJECT_CUBE
struct.SAFETY_OBJECT_OBB
struct.SAFETY_OBJECT_POLYPRISM
union.SAFETY_OBJECT_DATA
struct.SAFETY_OBJECT
struct.CONFIG_PROTECTED_ZONE
struct.CONFIG_COLLISION_MUTE_ZONE_PROPERTY
struct.CONFIG_COLLISION_MUTE_ZONE
struct.SAFETY_TOOL_ORIENTATION_LIMIT
struct.CONFIG_TOOL_ORIENTATION_LIMIT_ZONE
struct.CONFIG_NUDGE
struct.CONFIG_COCKPIT_EX
struct.CONFIG_IDLE_OFF
struct.WRITE_MODBUS_DATA
struct.WRITE_MODBUS_RTU_DATA
struct.MODBUS_DATA
struct.MODBUS_DATA_LIST
struct.CONFIG_WORLD_COORDINATE
struct.CONFIG_CONFIGURABLE_IO
struct.CONFIG_CONFIGURABLE_IO_EX
struct.CONFIG_TOOL_SHAPE
struct.CONFIG_TOOL_SYMBOL
struct.CONFIG_TCP_SYMBOL
struct.CONFIG_TOOL_LIST
struct.CONFIG_TOOL_SHAPE_SYMBOL
struct.CONFIG_TCP_LIST
struct.CONFIG_TOOL_SHAPE_LIST
struct.SAFETY_CONFIGURATION_EX
struct.SAFETY_CONFIGURATION_EX2
struct.SAFETY_CONFIGURATION_EX2_V3
struct.ROBOT_VEL
struct.ROBOT_FORCE
struct.CONFIG_SAFETY_IO_OP
struct.MONITORING_CTRLIO_EX2
struct.ROBOT_WELDING_DATA
struct.WELDING_CHANNEL
struct.CONFIG_WELDING_INTERFACE
struct.CONFIG_WELD_SETTING
struct.GET_WELDING_SETTING_RESPONSE
struct.ADJUST_WELDING_SETTING
struct.CONFIG_TRAPEZOID_WEAVING_SETTING
struct.CONFIG_ZIGZAG_WEAVING_SETTING
struct.CONFIG_CIRCULE_WEAVING_SETTING
struct.CONFIG_SINE_WEAVING_SETTING
struct.CONFIG_WELDING_DETAIL_INFO
struct.CONFIG_ANALOG_WELDING_INTERFACE
struct.CONFIG_ANALOG_WELDING_SETTING
struct.ANALOG_WELDING_ADJUST_SETTING
struct.CONFIG_DIGITAL_WELDING_IF_MAPPING_DATA
struct.CONFIG_DIGITAL_WELDING_INTERFACE_PROCESS
struct.CONFIG_DIGITAL_WELDING_INTERFACE_MODE
struct.CONFIG_DIGITAL_WELDING_INTERFACE_TEST
struct.CONFIG_DIGITAL_WELDING_INTERFACE_CONDITION
struct.CONFIG_DIGITAL_WELDING_INTERFACE_OPTION
struct.CONFIG_DIGITAL_WELDING_INTERFACE_PROCESS2
struct.CONFIG_DIGITAL_WELDING_INTERFACE_MONITORING
struct.CONFIG_DIGITAL_WELDING_INTERFACE_OTHER
struct.DIGITAL_WELDING_RESET
struct.CONFIG_DIGITAL_WELDING_MODE
struct.CONFIG_DIGITAL_WELDING_CONDITION
struct.CONFIG_DIGITAL_WELDING_ADJUST
struct.MEASURE_TCP_WELDING
struct.TACK_WELDING_SETTING
struct.DIGITAL_FORCE_WRITE_DATA
struct.ROBOT_DIGITAL_WELDING_DATA
struct.DIGITAL_WELDING_COMM_STATE

함수(Function)

로봇 연결 함수

CDRFLEx.open_connection
CDRFLEx.close_connection

로봇 속성 함수

CDRFLEx.get_system_version
CDRFLEx.get_library_version
CDRFLEx.get_robot_mode
CDRFLEx.set_robot_mode
CDRFLEx.get_robot_state
CDRFLEx.set_robot_control
CDRFLEx.set_robot_system
CDRFLEx.get_robot_speed_mode
CDRFLEx.set_robot_speed_mode
CDRFLEx.get_program_state
CDRFLEx.get_robot_system
CDRFLEx.set_safe_stop_reset_type
CDRFLEx.get_current_pose
CDRFLEx.get_current_posj
CDRFLEx.get_desired_posj
CDRFLEx.get_current_velj
CDRFLEx.get_current_posx
CDRFLEx.get_desired_posx
CDRFLEx.get_current_tool_flange_posx
CDRFLEx.get_current_velx
CDRFLEx.get_desired_velx
CDRFLEx.get_joint_torque
CDRFLEx.get_control_space
CDRFLEx.get_external_torque
CDRFLEx.get_tool_force
CDRFLEx.get_current_solution_space
CDRFLEx.get_last_alarm
CDRFLEx.get_solution_space
CDRFLEx.get_orientation_error
CDRFLEx.get_control_mode
CDRFLEx.get_current_rotm
CDRFLEx.get_safety_configuration

콜백함수 등록 함수

CDRFLEx.set_on_monitoring_state
CDRFLEx.set_on_monitoring_data
CDRFLEx.set_on_monitoring_data_ex
CDRFLEx.set_on_monitoring_ctrl_io
CDRFLEx.set_on_monitoring_ctrl_io_ex
CDRFLEx.set_on_monitoring_modbus
CDRFLEx.set_on_log_alarm
CDRFLEx.set_on_tp_popup
CDRFLEx.set_on_tp_log
CDRFLEx.set_on_tp_progress
CDRFLEx.set_on_tp_get_user_input
CDRFLEx.set_on_monitoring_access_control
CDRFLEx.set_on_homming_completed
CDRFLEx.set_on_tp_initializing_completed
CDRFLEx.set_on_monitoring_speed_mode
CDRFLEx.set_on_mastering_need
CDRFLEx.set_on_program_stopped
CDRFLEx.set_on_disconnected
CDRFLEx.set_on_monitoring_robot_system
CDRFLEx.set_on_monitoring_safety_state

제어권 관리 함수

CDRFLEx.manage_access_control

기본 제어 함수

CDRFLEx.jog
CDRFLEx.move_home

모션 제어 함수

로봇 설정 함수

CDRFLEx.add_tool
CDRFLEx.del_tool
CDRFLEx.set_tool
CDRFLEx.get_tool
CDRFLEx.add_tcp
CDRFLEx.del_tcp
CDRFLEx.set_tcp
CDRFLEx.get_tcp
CDRFLEx.set_tool_shape
CDRFLEx.get_workpiece_weight
CDRFLEx.reset_workpiece_weight
CDRFLEx.set_singularity_handling
CDRFLEx.setup_monitoring_version
CDRFLEx.config_program_watch_variable
CDRFLEx.set_user_home
CDRFLEx.servo_off
CDRFLEx.release_protective_stop
CDRFLEx.change_collision_sensitivity
CDRFLEx.set_safety_mode
CDRFLEx.set_auto_servo_off
CDRFLEx.set_workpiece_weight

I/O 제어 함수

CDRFLEx.set_tool_digital_output
CDRFLEx.get_tool_digital_input
CDRFLEx.get_tool_digital_output
CDRFLEx.set_digital_output
CDRFLEx.get_digital_input
CRDFLEx.get_digital_output
CDRFLEx.set_mode_analog_input
CDRFLEx.set_mode_analog_output
CDRFLEx.set_analog_output
CDRFLEx.get_analog_input
CDRFLEx.add_modbus_signal
CDRFLEx.del_modbus_signal
CDRFLEx.set_modbus_output
CDRFLEx.get_modbus_input
CDRFLEx.flange_serial_open
CDRFLEx.flange_serial_close
CDRFLEx.flange_serial_write
CDRFLEx.get_tool_analog_input
CDRFLEx.set_tool_digital_output_level
CDRFLEx.set_tool_digital_output_type
CDRFLEx.set_mode_tool_analog_input

프로그램 제어 함수

CDRFLEx.drl_start
CDRFLEx.drl_stop
CDRFLEx.drl_pause
CDRFLEx.drl_resume
CDRFLEx.change_operation_speed
CDRFLEx.save_sub_program
CDRFLEx.tp_popup_response
CDRFLEx.tp_get_user_input_response

힘/강성 제어 및 기타 사용자 편의 함수

CDRFLEx.parallel_axis

CDRFLEx.parallel_axis(fTargetPos1, fTargetPos2, fTargetPos3, eTaskAxis, eSourceRef)
CDRFLEx.parallel_axis(eSourceVec, eTaskAxis, eTargetRef)

CDRFLEx.align_axis

CDRFLEx.align_axis(fTargetPos1, fTargetPos2, fTargetPos3, fSourceVec, eTaskAxis, eTargetRef)
CDRFLEx.align_axis(eTargetVec, eSourceVec, eTaskAxis, eTargetRef)

CDRFLEx.is_done_bolt_tightening
CDRFLEx.task_compliance_ctrl
CDRFLEx.release_compliance_ctrl
CDRFLEx.set_stiffnessx
CDRFLEx.calc_coord

CDRFLEx.set_user_cart_coord

CDRFLEx.set_user_cart_coord(iReqId, fTargetPos, eTargetRef)
CDRFLEx.set_user_cart_coord(fTargetPos, fTargetOrg, eTargetRef)
CDRFLEx.set_user_cart_coord(fTargetVec, fTargetOrg, eTargetRef)

CDRFLEx.overwrite_user_cart_coord
CDRFLEx.get_user_cart_coord
CDRFLEx.set_desired_force
CDRFLEx.release_force
CDRFLEx.check_position_condition_abs
CDRFLEx.check_position_condition_rel
CDRFLEx.check_position_condition
CDRFLEx.check_force_condition

CDRFLEx.check_orientation_condition

CDRFLEx.check_orientation_condition(eForceAxis, fTargetMin, fTargetMax, eForceReference)
CDRFLEx.check_orientation_condition(eForceAxis, fTargetMin, fTargetMax, fTargetPos, eForceReference)

CDRFLEx.coord_transform
CDRFLEx.set_palletizing_mode
CDRFLEx.query_modbus_data_list

실시간 외부 제어(Realtime Control)

실시간 외부 제어 소개

버전

통신 연결 함수

CDRFLEx.connect_rt_control
CDRFLEx.disconnect_rt_control

정보 조회 함수

CDRFLEx.get_rt_control_input_version_list
CDRFLEx.get_rt_control_output_version_list
CDRFLEx.get_rt_control_input_data_list
CDRFLEx.get_rt_control_output_data_list

설정 함수

CDRFLEx.set_rt_control_input
CDRFLEx.set_rt_control_output

운용 함수

CDRFLEx.start_rt_control
CDRFLEx.stop_rt_control
CDRFLEx. set_on_rt_monitoring_data
CDRFLEx.read_data_rt
CDRFLEx.write_data_rt

서브 모션 함수

CDRFLEx.set_velj_rt
CDRFLEx.set_accj_rt
CDRFLEx.set_velx_rt
CDRFLEx.set_accx_rt
CDRFLEx.servoj_rt
CDRFLEx.servol_rt
CDRFLEx.speedj_rt
CDRFLEx.speedl_rt
CDRFLEx.torque_rt

어플리케이션 명령어(Application Command)

용접(Welding)

set_on_monitoring_welding_data
set_on_monitoring_analog_welding_data
set_on_monitoring_digital_welding_data
app_weld_weave_cond_trapezoidal
app_weld_weave_cond_zigzag
app_weld_weave_cond_circular
app_weld_weave_cond_sinusoidal
app_weld_enable_analog
app_weld_set_weld_cond_analog
app_weld_adj_welding_cond_analog
app_weld_set_interface_eip_m2r_process
app_weld_set_interface_eip_r2m_mode
app_weld_set_interface_eip_r2m_process
app_weld_set_interface_eip_r2m_test
app_weld_set_interface_eip_r2m_condition
app_weld_set_interface_eip_r2m_option
app_weld_set_interface_eip_m2r_process2
app_weld_set_interface_eip_m2r_monitoring
app_weld_set_interface_eip_m2r_other
app_weld_reset_interface
app_weld_enable_digital
app_weld_set_weld_cond_digital
app_weld_adj_welding_cond_digital
measure_welding_tcp
set_welding_cockpit_setting
set_digital_welding_monitoring_mode
app_weld_adj_motion_offset
set_welding_cockpit_setting_time_setting

ROS manual(V1.14)

Doosan ROS package 설치

동작 모드

Virtual mode
Real mode

dsr_description

dsr_description <robot_model>.launch

dsr_moveit_config 관련

dsr_moveit_config
dsr_control + moveit
MoveIt Commander

dsr_launcher

dsr_example

Single Robot
Multi Robot
Gripper
Mobile robot

dsr_msgs

Topic

RobotState.msg
RobotStop.msg
RobotError.msg
LogAlarm.msg
ModbusState.msg
JogMultiAxis.msg

Service/motion

Trans.srv
Fkin.srv
Ikin.srv
SetRefCoord.srv
MoveJoint.srv
MoveLine.srv
MoveJointx.srv
MoveCircle.srv
MoveSplineJoint.srv
MoveSplineTask.srv
MoveBlending.srv
MoveSpiral.srv
MovePeriodic.srv
MoveWait.srv
MovePause.srv
MoveResume.srv
MoveStop.srv
Jog.srv
JogMulti.srv
CheckMotion.srv
ChangeOperationSpeed.srv
EnableAlterMotion.srv
AlterMotion.srv
DisableAlterMotion.srv
SetSingularityHandling.srv

Service/system

GetRobotMode.srv
SetRobotMode.srv
GetRobotSystem
SetRobotSystem.srv
GetRobotSpeedMode.srv
SetRobotSpeedMode.srv
SetSafeStopResetType.srv
GetCurrentPose.srv
GetLastAlarm.srv

Service/aux_control

GetControlMode.srv
GetControlSpace.srv
GetCurrentPosj.srv
GetCurrentVelj.srv
GetDesiredPosj.srv
GetDesiredVelj.srv
GetCurrentPosx.srv
GetCurruntToolFlangePosx.srv
GetCurrentVelx.srv
GetDesiredPosx.srv
GetDesiredVelx.srv
GetCurrentSolutionSpace.srv
GetCurrentRotm.srv
GetJointTorque.srv
GetExternalTorque.srv
GetToolForce.srv
GetSolutionSpace.srv
GetOrientationError.srv

Service/tcp

ConfigCreateTcp.srv
ConfigDeleteTcp.srv
GetCurrentTcp.srv
SetCurrentTcp.srv

Service/tool

ConfigCreateTool.srv
ConfigDeleteTool.srv
GetCurrentTool.srv
SetCurrentTool.srv

Service/force

ParallelAxis1.srv
ParallelAxis2.srv
AlignAxis1.srv
AlignAxis2.srv
IsDoneBoltTightening.srv
ReleaseComplianceCtrl.srv
TaskComplianceCtrl.srv
SetStiffnessx.srv
CalcCoord.srv
SetUserCartCoord1.srv
SetUserCartCoord2.srv
SetUserCartCoord3.srv
OverwriteUserCartCoord.srv
GetUserCartCoord.srv
SetDesiredForce.srv
ReleaseForce.srv
CheckPositionCondition.srv
CheckForceCondition.srv
CheckOrientationCondition1.srv
CheckOrientationCondition2.srv
CoordTransform.srv
GetWorkpieceWeight.srv
ResetWorkpieceWeight.srv

Service/IO

SetCtlBoxDigitalOutput.srv
GetCtlBoxDigitalOutput.srv
GetCtlBoxDigitalInput.srv
SetToolDigitalOutput.srv
GetToolDigitalOutput.srv
GetToolDigitalIntput.srv
SetCtlBoxAnalogOutputType.srv
SetCtlBoxAnalogInputType.srv
SetCtlBoxAnalogOutput.srv
GetCtlBoxAnalogInput.srv

Service/modbus

ConfigCreateModbus.srv
ConfigDeleteModbus.srv
SetModbusOutput.srv
GetModbuInput.srv

Service/DRL

DrlStart.srv
DrlStop.srv
DrlPause.srv
DrlResume.srv
GetDrlState.srv

Service/gripper

SerialSendData.srv
RobotiqMove.srv

DRL 명령어

로봇 모드

set_robot_mode(robot_mode)
get_robot_mode()
get_last_alarm()
set_safe_stop_reset_type(reset_type)
set_robot_speed_mode(speed_mode)
get_robot_speed_mode()
set_robot_system(robot_system)
get_robot_system()
get_robot_state()

User manual (V3.5.0)

PART 1. 안전 매뉴얼

주의사항
제품의 용도 및 위험성 평가

로봇의 모드와 상태

로봇의 모드
모드별 상태와 플랜지 LED 색상

제품의 보증 및 책임

안전기능

안전정격 정지하위기능
안전정격 정지기능
안전정격 감시기능
안전정격 입출력

안전기능의 설정

안전 신호 입출력(Safety I/O)
안전 정지 모드(Safety Stop Modes)
넛지(Nudge)
구역(Zone)
공간 제한(Space Limit)
로봇 제한치(Robot Limits)

기타 안전 대책
법적 고지
잠재적 위험

선언 및 인증

유럽 Declaration of Incorporation (Original)
유럽 기계류 지침(Machinery Directive) 조화표준 인증
유럽 전자파적합성 지침(EMC Directive) 조화표준 인증
미국 국가지정시험소(NRTL) 인증 (US, CANADA)
기능안전(Functional Safety) 인증
자율안전확인신고(KCs)

정지거리와 정지시간

측정 방법 및 조건
M1013 정지분류(Stop Category)
M0609 정지분류(Stop Category)
M0617 정지분류(Stop Category)
M1509 정지분류(Stop Category)
H2017 정지분류(Stop Category)
H2515 정지분류(Stop Category)

안전 파라메터 상하한 범위와 기본값

PART 2. 로봇 시작하기

로봇 설치 1
로봇 설치 2
초기 구동
툴 설치하기
I/O 테스트

PART 3. 설치 매뉴얼

설치 시 주의 사항

제품 소개

로봇 시스템 구성 및 설명
명판과 라벨
제품 사양, 일반

로봇의 사양
설치 환경

하드웨어 설치

로봇 설치 준비
시스템 연결
로봇과 툴 연결하기

컨트롤러 전원 스위치 켜기/끄기

PART 4. 인터페이스

플랜지 I/O

컨트롤러 I/O 연결

아날로그 I/O 단자 (TBAIO) 구성하기
엔코더 입력 단자(TBEN1, TBEN2) 구성하기
Configurable 디지털 I/O (TBCI1 - 4, TBCO1 - 4) 구성하기
디지털 입출력 전원 단자 (TBPWR) 구성하기
안전용 접점 입력 단자 (TBSFT) 구성하기
안전용 전압 입력 단자(TBSI) 구성하기

네트워크 연결

외부 장치 연결
확장 프로토콜 설정 및 사용
ModbusTCP Slave 설정하기
General Purpose Register(GPR) 사용하기

PART 5. 로봇 관리

운송
유지보수
폐기 및 환경

PART 6. DART-Platform 매뉴얼

시스템 전원 온/오프
프로그램 화면 구성 알아보기
로봇 이해하기
서보 온 알아보기
Backdrive 모듈
Recovery 모듈

Robot Parameters 모듈

Robot Settings

I/O Alias & Mount
Coordinates
Home Position
Cockpit
I/O Settings

Tool Settings

Safety Settings

로봇 제한치 및 안전

Safety Zone

공간 제한과 구역의 형태
공간 제한과 구역의 설정

Nudge

Safety Setting Review

Remote Control 모듈

원격 제어 모드 실행 절차
원격 제어 모드

Task Editor 모듈

Task Editor 로봇 모션 속성 알아보기
Task Editor Move Command 기본 개념 알아보기
Task Editor Command 순응/힘 제어 개념 알아보기
순응(Compliance) 명령어 예제 따라하기
힘(Force) 명령어 예제 따라하기
Sub/Call Sub 알아보기
SubTask / CallSubTask
명령어
디버그 플레이어
작업자 개입(Operator Intervention) 기능

Signal Commands

디바이스 모듈 연동 예제

Status 모듈

I/O Overview

제어기 입출력
플랜지 입출력

Slave Monitoring

Logs 모듈
Store 모듈

Settings 모듈

시스템 정보
언어 설정하기
Password 설정 및 변경
Network 항목에서 설정하기
Robot 설정하기
로봇 업데이트 및 복원
데이터 관리하기
알림 위치 설정하기
모듈 업데이트

Jog Plus 모듈

Jog 화면
Move 화면
Align 화면

부록

부록. 시스템 사양

컨트롤러 사양

CS-11P (AC Controller)
CS-12P (DC Controller)

티치펜던트

매니퓰레이터 사양

M/H Series

부록. DC 컨트롤러

DC 컨트롤러 (CS-12P)

부록. H시리즈 핸들링 가이드
부록. Doosan Robot 허용 Torque
부록. IP 강화 Cube module 설치 가이드
부록. DART Platform 설치 환경(권장)

Programming manual (V3.5.0)

DRL Basic Syntax

기본 문법

들여쓰기
주석

변수

변수명
수치
문자
list
tuple
dictionary

함수

함수 문법
스코핑 룰
인수 모드

제어문

pass
if
while
for
break
continue
반복문의 else

모션 관련 명령어

위치 생성

posj()
posx()
trans()
posb()
fkin()
ikin()
addto()
ikin_norm()
get_projected_posx()

모션 설정

set_velj()
set_accj()
set_velx()
set_accx()
set_ref_coord()
set_auto_acceleration_mode()

동기 모션

movej()
movel()
movejx()
movec()
movesj()
movesx()
moveb()
move_spiral()
move_periodic()
move_home()

비동기 모션

amovej()
amovel()
amovejx()
amovec()
amovesj()
amovesx()
amoveb()
amove_spiral()
amove_periodic()

추가 기능

mwait()
begin_blend()
end_blend()
check_motion()
stop()
change_operation_speed()
wait_manual_guide()
wait_nudge()
enable_alter_motion()
alter_motion()
disable_alter_motion()
check_robot_mastering()
motion_pause()
motion_resume()

서보 모션

servoj()
servol()
speedj()
speedl()

제어 보조 명령어

로봇 현재값

get_current_posj()
get_current_velj()
get_current_posx()
get_current_tool_flange_posx()
get_current_velx()
get_current_rotm()
get_joint_torque()
get_external_torque()
get_tool_force()

로봇 목표값

get_desired_posj()
get_desired_velj()
get_desired_posx()
get_desired_velx()

제어 상태값

get_control_mode()
get_control_space()
get_current_solution_space()
get_solution_space()
get_orientation_error()

로봇 안전 설정 파라미터

get_cockpit()
get_collision_sensitivity()
get_configurable_io()
get_current_tool_shape()
get_general_range()
get_idle_off()
get_install_pose()
get_io_speed_ratio()
get_joint_range()
get_modbus_data_list()
get_nudge()
get_safety_data_version()
get_safety_function()
get_safety_io()
get_safety_zone_cnt()
get_safety_zone_list()
get_tcp_list()
get_tcp_symbol()
get_tool_list()
get_tool_shape_list()
get_tool_shape_symbol()
get_tool_symbol()
get_user_coord_cnt()
get_user_coord()
get_world_coord()

기타 설정 명령어

툴/작업물 설정

get_workpiece_weight()
reset_workpiece_weight()
set_workpiece_weight()
set_tcp()
get_current_tcp()
set_temp_tcp()
get_temp_tcp()
reset_temp_tcp()
set_tool()
get_current_tool()
set_temp_tool()
get_temp_tool()
reset_temp_tool()
set_tool_shape()
set_tool_digital_output_type()
set_tool_digital_output_level()
get_tool_analog_input()
set_mode_tool_analog_input()

제어 모드 설정

set_singularity_handling()
set_singular_handling_force()
set_palletizing_mode()
set_motion_end()

LED 설정

set_state_led_color()
set_state_led_off()
state_led_reset()

힘/순응 제어 및 기타 사용자 편의 기능

힘/순응 제어

release_compliance_ctrl()
task_compliance_ctrl()
set_stiffnessx()
set_desired_force()
release_force()
get_force_control_state()
set_damping_factor()
set_force_factor()
set_external_force_reset()

사용자 편의 기능

parallel_axis()
align_axis()
is_done_bolt_tightening()
calc_coord()
set_user_cart_coord()
overwrite_user_cart_coord()
get_user_cart_coord()
check_position_condition()
check_force_condition()
check_orientation_condition()
coord_transform()
get_pattern_point()
get_cockpit_input()

시스템 명령어

IO 관련

set_digital_output()
set_digital_outputs()
get_digital_input()
get_digital_inputs()
wait_digital_input()
set_tool_digital_output()
set_tool_digital_outputs()
get_tool_digital_input()
get_tool_digital_inputs()
wait_tool_digital_input()
set_mode_analog_output()
set_mode_analog_input()
set_analog_output()
get_analog_input()
set_output()
get_input()
wait_input()
wait_analog_input()
wait_tool_analog_input()

TP 연동

tp_popup()
tp_log()
tp_get_user_input()

Thread

thread_run()
thread_stop()
thread_pause()
thread_resume()
thread_state()
통합 예제 - Thread

기타

wait()
exit()
sub_program_run()
drl_report_line()
set_fm()
get_robot_model()
get_robot_serial_num()
check_robot_jts()
check_robot_fts()
start_timer()
end_timer()
message_to_dp()
send_load_module()
send_unload_module()

수학 함수

기본 함수

ceil(x)
floor(x)
pow(x, y)
sqrt(x)
log(x, b)
d2r(x)
r2d(x)
random()

삼각함수

sin(x)
cos(x)
tan(x)
asin(x)
acos(x)
atan(x)
atan2(y, x)

선형대수

norm(x)
rotx(angle)
roty(angle)
rotz(angle)
rotm2eul(rotm)
rotm2rotvec(rotm)
eul2rotm([alpha,beta,gamma])
eul2rotvec([alpha,beta,gamma])
eul2rpy([alpha,beta,gamma])
rpy2eul([yaw,pitch,roll])
rotvec2eul([rx,ry,rz])
rotvec2rotm([rx,ry,rz])
htrans()
get_intermediate_pose()
get_distance()
get_normal()
add_pose()
subtract_pose()
inverse_pose()
dot_pose()
cross_pose()
unit_pose()

외부 통신 명령어

Serial

serial_open()
serial_close()
serial_state()
serial_set_inter_byte_timeout()
serial_write()
serial_read()
serial_get_count()
serial_get_info()
통합 예제 - Serial

플랜지 I/O

flange_serial_open()
flange_serial_read()
flange_serial_write()
flange_serial_close()
통합 예제 - Serial(플랜지 I/O)

Tcp/Client

client_socket_open()
client_socket_close()
client_socket_state()
client_socket_write()
client_socket_read()
통합 예제 (Tcp/Client)

Tcp/Server

server_socket_open()
server_socket_close()
server_socket_state()
server_socket_write()
server_socket_read()
통합 예제 - Tcp/Server

Modbus

add_modbus_signal()
add_modbus_rtu_signal()
add_modbus_signal_multi()
add_modbus_rtu_signal_multi()
del_modbus_signal()
del_modbus_signal_multi()
set_modbus_output()
set_modbus_outputs()
set_modbus_output_multi()
get_modbus_input()
get_modbus_inputs()
get_modbus_inputs_list()
get_modbus_input_multi()
wait_modbus_input()
set_modbus_slave()
get_modbus_slave()
modbus_crc16()
modbus_send_make()
modbus_recv_check()
modbus_unsigned_to_signed()

Industrial Ethernet (EtherNet/IP,PROFINET)

set_output_register_bit()
set_output_register_int()
set_output_register_float()
get_output_register_bit()
get_output_register_int()
get_output_register_float()
get_input_register_bit()
get_input_register_int()
get_input_register_float()

FOCAS

focas_connect()
focas_disconnect()
focas_pmc_read_bit()
focas_pmc_read_char()
focas_pmc_read_word()
focas_pmc_read_long()
focas_pmc_read_float()
focas_pmc_read_double()
focas_get_error_str()

Application 명령어

External Encoder 설정 명령어

set_extenc_polarity()
set_extenc_mode()
get_extenc_count()
clear_extenc_count()

Conveyor Tracking

set_conveyor_ex()
get_conveyor_obj()
tracking_conveyor()
untracking_conveyor()

Welding

app_weld_enable_digital()
app_weld_disable_digital()
app_weld_set_interface_eip_r2m_process()
app_weld_set_interface_eip_r2m_mode()
app_weld_set_interface_eip_r2m_test()
app_weld_set_interface_eip_r2m_condition()
app_weld_set_interface_eip_r2m_option()
app_weld_set_interface_eip_m2r_process()
app_weld_set_interface_eip_m2r_monitoring()
app_weld_set_interface_eip_m2r_other()
app_weld_set_weld_cond_digital()
app_weld_adj_welding_cond_digital()
app_weld_get_welding_cond_digital()
app_weld_enable_analog()
app_weld_disable_analog()
app_weld_set_weld_cond_analog()
app_weld_adj_welding_cond_analog()
app_weld_get_welding_cond_analog()
app_weld_get_extreme_point()
app_weld_adj_motion_offset()
app_weld_weave_cond_trapezoidal()
app_weld_weave_cond_zigzag()
app_weld_weave_cond_circular()
app_weld_weave_cond_sinusoidal()
app_weld_weave_cond_cwave()
app_weld_signal_contact_status()

A-Series 전용 명령어

컨트롤러

get_function_input()

Manual PDF download
ROS 2 Docs.
API Docs.
Legacy manual

Main

PART 1. User Manual

Setup

Software Overview

Layout Overview
Show or Hide a Window
Change the Layout and Theme
Change the Software Theme
Change the Software Language
Connect to the Controller
IO Simulator

System Monitoring

Monitoring Bar
Monitoring Window

Graph Window

Supported Data Types
Browse the Graph
Change the Graph Layout
Control Monitoring

Motion Monitoring Window

Visualized Objects
Use the 3D Viewer

System Control

Control Authority

Robot Configuration

Open Robot Configuration Window
Robot Configuration UI
Get Current System Configuration
General Procedure to Set Robot Configuration
Safety Parameter
Safety Zone Overview (Valid for GF020400)
Safety Zone Setting (Valid for GF020400)
Safety Zone Overview (Valid from GF020500)
Safety Zone Setting (Valid from GF020500)
Tool
Modbus IO
Coordinate System

Manual Motion

Joint Jog
Joint Move
Task Jog
Task Move
Align Motion
Homing

Packing

Packing or Unpacking

IO Control

Fault Recovery

Recovery Motion
Backdrive Mode

Task Manager

Project Explorer
DRL Program Running

Use DRL Editor

DRL Editor Overview
Syntax Highlighting
Create a New Program
Save and Load a Program
Comment
Bookmark
Get Current Position as Text
Function Outline
Code Completion
Go to definition
Find References
Upload scripts to smart TP

DRL Guide

Open DRL Guide
Search DRL Command

Shortcut List

Run a Program

Run a Program Line by Line
Set Break Point
Change Running Speed

Monitoring Variables

Debug Variables
System Parameters

PART 2. Path generation

CAD-based Path Generation

Open Cad-based Path Generation Pane

3D View Control

View Control
Object visibility
Viewpoint
Projection

Object Control

Object selection
Related objects selection
Object deletion
Object transformation
Object property display

Load CAD files

Generate Path

Edge path generation
Offset sweep path generation
Zigzag sweep path generation

Edit Path

Change path orientation
Split path segment
Merge path segment
Change path direction
Change path sequence

Create Shape

Create point
Create line/curve
Edit line/curve
Create Plane/Surface
Edit Plane/Surface
Create Group

Transform Objects Into Robot Space
Create Script
Overall Practice

Other Usage Tips

Various methods to open the operation window
Open multiple operation windows
Undo and Redo
Status bar information

PART 3. Pallet Path Generation Manual

Creating Pallet Path

Open Work Window
Create Project

Create Pattern

Create Pattern main window
Plate setup
Product setup
Calibration setup

Layout Setup

Layout Main window
Auto Create Product
Approaching Property Setup

Layer Setup

Layer Main Window

3D Screen Manipulation

Create Pallet Path

Create Path
Analyze Generated Code

PART 4. Service Manual

System Log Backup
Fault Log Analysis
Troubleshooting Guide

Inverter Setting

Homing Offset Setting
Axis No, HW Min/Max Limit Setting
Robot Serial Number Setting
Robot License Setting
Motor Type Setting
Calibration Parameter Setting
Component Setting (Only A Series)
JTS Calibration Setting (Only M & H Series)
Motor Calibration Setting (Only A Series)
Friction Setting (Only A Series)
FTS Calibration Setting (Only A Series)
Firmware Update
Inverter Gain Setting

Robot Calibration

Kinematic Calibration
Kinematic Calibration (V2)
JTS Calibration
Friction Calibration (Only A model)
FTS Calibration (Only A model)

Integration Update

Breadcrumbs

DART Studio Manual (V3.4.0)
PART 1. User Manual

On this Page

System Monitoring

If the program is connected to the controller, system status information is updated.

Pagination

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Monitoring Bar

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