[{"id":"ci_ae563835f4e67240721708b83fb89bd996dcb3603b57a192dd129a39f71eda6a","title":"DRL Basic Syntex","path":"/en/programming-manual/3.2.0/publish/drl-basic-syntex","children":[{"id":"ci_fa4fe207b70bcbf42a7cad4262f04dda052343721399bf0b16f0235e309ace13","title":"Basic Syntax","path":"/en/programming-manual/3.2.0/publish/basic-syntax","children":[{"id":"ci_73e0c95afbe12f92c05b42c1691df131e3f73a6ed5516c3a577e95378fef2f1b","title":"Indent","path":"/en/programming-manual/3.2.0/publish/indent","children":[]},{"id":"ci_9d856de8ad323f4afa2bfb1f4e7ca5783f0bbb8f19207d2ad4afe9c7c0d00871","title":"Comment","path":"/en/programming-manual/3.2.0/publish/comment","children":[]}]},{"id":"ci_dfd3542a1ba5d9f936147c07c7ff8ecd0dc0f4ce4e51d4520c29c7e100364f94","title":"Variable","path":"/en/programming-manual/3.2.0/publish/variable","children":[{"id":"ci_c27d8e28b359a14ee3c2c91c5ebfc68a2f06327d02c157fb3dae11f8542ae6ff","title":"Variable name","path":"/en/programming-manual/3.2.0/publish/variable-name","children":[]},{"id":"ci_404b0432dadb1de4d34ee6ef97c7480a6550962a1105e0b599b14e10715d9967","title":"Numeric value","path":"/en/programming-manual/3.2.0/publish/numeric-value","children":[]},{"id":"ci_218f1cfa6a4ffc72edb3f4a30395fe8357e06029d2cc0f9e4b83a874d526333f","title":"String","path":"/en/programming-manual/3.2.0/publish/string","children":[]},{"id":"ci_8a59944e80fcd0d92b88ab3443812ca1310ce9fb90b6a9f5c457070e7ddce16b","title":"list","path":"/en/programming-manual/3.2.0/publish/list","children":[]},{"id":"ci_f6b499649935e38c131ae3fbc53ed4b51a2ce797ac02327b6430b8e650b0d02a","title":"tuple","path":"/en/programming-manual/3.2.0/publish/tuple","children":[]},{"id":"ci_4e349b2b59b5d7d623621e5e5ca91cb915d44f62ecbb95610378158578b308dd","title":"dictionary","path":"/en/programming-manual/3.2.0/publish/dictionary","children":[]}]},{"id":"ci_f53b2ebc4733e3f6375a4f44c672808492b0c134dd803a7422d1a7a619d5ea47","title":"Function","path":"/en/programming-manual/3.2.0/publish/function","children":[{"id":"ci_7f44887378189299309b06aa96e1c56bd167f09672f53c55f358252e28b5b050","title":"Function Syntax","path":"/en/programming-manual/3.2.0/publish/function-syntax","children":[]},{"id":"ci_310f8f6ec19734c6bd98494dcd1dbbf81b3dcf27aca7679c2302a2b2950fa500","title":"Scoping rule","path":"/en/programming-manual/3.2.0/publish/scoping-rule","children":[]},{"id":"ci_8ae9195827ee5535a8ef090a3c3557622fdca58809410de8ac685d9ad0ca4769","title":"Parameter mode","path":"/en/programming-manual/3.2.0/publish/parameter-mode","children":[]}]},{"id":"ci_fd5b72a6752650acaee311493f849014f0b2af4e1e5a62adc0ab0edc727b86a3","title":"Control Statement","path":"/en/programming-manual/3.2.0/publish/control-statement","children":[{"id":"ci_23eadf29bf220c7a921d4df45dcaafa95938d97c1213ca4d5d5ec3ab556f36e8","title":"pass","path":"/en/programming-manual/3.2.0/publish/pass","children":[]},{"id":"ci_0700d584b5897b24d8212fc43be1b10321cace86fd70565eb9eddc838101a11f","title":"if","path":"/en/programming-manual/3.2.0/publish/if","children":[]},{"id":"ci_226d74d87774a74230f6bafccbc80c55d9b1e1b16a7cc36e63f90663f689cf84","title":"while","path":"/en/programming-manual/3.2.0/publish/while","children":[]},{"id":"ci_bc532af1f1c01ea00cdba4ed21732b7200b0a21c88262d8cceea56b70fc2856f","title":"for","path":"/en/programming-manual/3.2.0/publish/for","children":[]},{"id":"ci_1477e04a50d84886afe7483697abcaed82f7d9b295503a9c3c5ca8b31b7882b8","title":"break","path":"/en/programming-manual/3.2.0/publish/break","children":[]},{"id":"ci_83906d9e3d99b5ab8f5f11faa593a5294cc0be75e3b6208218c34b4c93e8bf39","title":"continue","path":"/en/programming-manual/3.2.0/publish/continue","children":[]},{"id":"ci_b401a03640ac4c9bb48dba55f8f0918b09b018278c31f75f399f0f3fae166e83","title":"Else in a loop","path":"/en/programming-manual/3.2.0/publish/else-in-a-loop","children":[]}]}]},{"id":"ci_1167892c17c25990a0e963d15ea9e439f654f17c68a9d115a854adf8cfbc3c91","title":"Motion-related Commands","path":"/en/programming-manual/3.2.0/publish/motion-related-commands","children":[{"id":"ci_774ba1043f6216502427acf125444de51ac11ec2cca49e761c20afe0759323f4","title":"Pos Creation","path":"/en/programming-manual/3.2.0/publish/pos-creation","children":[{"id":"ci_8de50d2fa960cad2f59441ee61f504d45e86b5baea4d97f00115e9dd326eebc7","title":"posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)","path":"/en/programming-manual/3.2.0/publish/posj-j1-0-j2-0-j3-0-j4-0-j5-0-j6-0","children":[]},{"id":"ci_1f91581cdcbad37803f956d01e4f0228098607058129a6c1829c001bf82ebced","title":"posx(x=0, y=0, z=0, A=0, B=0, C=0, ori_type=None, sol=None, turn=None)","path":"/en/programming-manual/3.2.0/publish/posx-x-0-y-0-z-0-a-0-b-0-c-0","children":[]},{"id":"ci_6ae3b6f5cfdb52afdb35a465c24dbe0a6f7fab2cc5c3e7a1a1cfb4abc4626569","title":"trans(pos, delta, ref, ref_out, ori_type_out)","path":"/en/programming-manual/3.2.0/publish/trans-pos-delta-ref-ref_out","children":[]},{"id":"ci_355988233fa00159b44f833db1d1e0e3620b13ff30f5417a139113081a4dd27c","title":"posb(seg_type, posx1, posx2=None, radius=0)","path":"/en/programming-manual/3.2.0/publish/posb-seg_type-posx1-posx2-none-radius-0","children":[]},{"id":"ci_acf853f05cf8b95ad4233c74ad937be6782f6f854fb6c9a96d2a23fc0a75985f","title":"fkin(pos, ref, ori_type)","path":"/en/programming-manual/3.2.0/publish/fkin-pos-ref","children":[]},{"id":"ci_9d86c9bd1ace29abc679889fb3016f43296f9543dafda8342b0f06de5e06a054","title":"ikin(pos, sol_space, ref, ref_pos_opt, iter_threshold)","path":"/en/programming-manual/3.2.0/publish/ikin-pos-sol_space-ref-ref_pos_opt-iter_threshold","children":[]},{"id":"ci_f92e9d0d7fa9bbc3363c70207a313de171aa9e0e4fdd0a3714efcfa8a45c71f6","title":"addto(pos, add_val=None)","path":"/en/programming-manual/3.2.0/publish/addto-pos-add_val-none","children":[]},{"id":"ci_62bfa297df7d31e814aa282eb6a366fe95d3887dcc591aea7b211d61b213736a","title":"ikin_norm(pos, sol_space, ref, ref_pos_opt)","path":"/en/programming-manual/3.2.0/publish/ikin_norm-pos-sol_space-ref-ref_pos_opt","children":[]}]},{"id":"ci_84deaa46b930a75c307c631a233bb12d104236741adde9abc97d64a10cfc3c8a","title":"Motion settings","path":"/en/programming-manual/3.2.0/publish/motion-settings","children":[{"id":"ci_7154aea1274c6cab6f41670f4e66791990db1cfd0e37e54d00982f341d65927f","title":"set_velj(vel)","path":"/en/programming-manual/3.2.0/publish/set_velj-vel","children":[]},{"id":"ci_ade90887943a3f5ce178954f50337d1427170912fabb90627cf744155a0d964e","title":"set_accj(acc)","path":"/en/programming-manual/3.2.0/publish/set_accj-acc","children":[]},{"id":"ci_61529cdb1762609d9fa8ad9f632095482a96a79fc36eedd3797bd1ae273fb100","title":"set_velx(vel1, vel2)","path":"/en/programming-manual/3.2.0/publish/set_velx-vel1-vel2","children":[]},{"id":"ci_280e2aab9e63401298bfcb2b69fbae3440421baa2e7810873102162f1b3ad880","title":"set_velx(vel)","path":"/en/programming-manual/3.2.0/publish/set_velx-vel","children":[]},{"id":"ci_028b4bace64ac54a12893b324c1f2955a8bc770d088b344b81c0258e39e7c83d","title":"set_accx(acc1, acc2)","path":"/en/programming-manual/3.2.0/publish/set_accx-acc1-acc2","children":[]},{"id":"ci_4ee3962dabe8374a2b7966c8bfd92034d5d0d54186ea4867532c9f9a84c60bef","title":"set_accx(acc)","path":"/en/programming-manual/3.2.0/publish/set_accx-acc","children":[]},{"id":"ci_54ae0e27504d186f07122195b9f3680e6432d1e83dbd7863a4dc82c1ba04c919","title":"set_tcp(name)","path":"/en/programming-manual/3.2.0/publish/set_tcp-name","children":[]},{"id":"ci_33b0cb682088f7e06f12ed085e83d9babac24ebaba4a37f49ee130a0ab17a335","title":"set_ref_coord(coord)","path":"/en/programming-manual/3.2.0/publish/set_ref_coord-coord","children":[]},{"id":"ci_e8fe721db2d6f8e1388ce9fd436f06f6242deee54f7387ef6f6ee8c5fcfde4a5","title":"set_auto_acceleration_mode(mode, ratio)","path":"/en/programming-manual/3.2.0/publish/set_auto_acceleration_mode-mode-ratio","children":[]}]},{"id":"ci_abce0736f803167f469b978014da3d821ba22eeec58dfe3cbb0deaa08d38f755","title":"Synchronous Motion","path":"/en/programming-manual/3.2.0/publish/synchronous-motion","children":[{"id":"ci_ffd769a530163720a1970465c434f35d3a7452eb693137ceb3fcaaed9ee4739f","title":"movej()","path":"/en/programming-manual/3.2.0/publish/movej","children":[]},{"id":"ci_4bd8754f5460d39968e5a446274c978ca9dfd443591d2e376f90f757b020c15b","title":"movel()","path":"/en/programming-manual/3.2.0/publish/movel","children":[]},{"id":"ci_6fc673d5c3eb0179a3cbcc44fda5e8f1dce4166d8f453f210969f684d2630c09","title":"movejx()","path":"/en/programming-manual/3.2.0/publish/movejx","children":[]},{"id":"ci_559cc2ee6bb7228d6ffe5edb8f385924d3b2f4dae77b6152686c27576a80224f","title":"movec()","path":"/en/programming-manual/3.2.0/publish/movec","children":[]},{"id":"ci_7272dfa1ef6f5f036dbfb31538fefbca2b71e696c67e4184a0b1e0fd3d9843ea","title":"movesj()","path":"/en/programming-manual/3.2.0/publish/movesj","children":[]},{"id":"ci_976312189388327add1f4dc723ee2f8beacb2147a6e13c3a1546efb58fb46601","title":"movesx()","path":"/en/programming-manual/3.2.0/publish/movesx","children":[]},{"id":"ci_bb33333eba98d419db1f8f30f8946531a0eed7614edeef36778448e5df3e60bb","title":"moveb()","path":"/en/programming-manual/3.2.0/publish/moveb","children":[]},{"id":"ci_5331105c55058d39b3a64211a5bd8d1b368e2b26dc85c6c608d587b7cd3d5d0d","title":"move_spiral()","path":"/en/programming-manual/3.2.0/publish/move_spiral","children":[]},{"id":"ci_9eedf627bb535ac5268bba5c8b979b2da7bb34fca7b451a4fb12f9e7f08569cc","title":"move_periodic()","path":"/en/programming-manual/3.2.0/publish/move_periodic","children":[]},{"id":"ci_3afac17b3907f6bafcea55562eb97b1ab0e76f28776c6ce09de10257f1e20d35","title":"move_home()","path":"/en/programming-manual/3.2.0/publish/move_home","children":[]}]},{"id":"ci_6d76d0bd8258993efbd436bacc3ce538d706f051a6f65abcae0b6ae5f3c8bc73","title":"Asynchronous Motion","path":"/en/programming-manual/3.2.0/publish/asynchronous-motion","children":[{"id":"ci_88d58ee2980d5542ec71d7c3c7883c6e9d32f38655f999a204418bcaa15b3208","title":"amovej()","path":"/en/programming-manual/3.2.0/publish/amovej","children":[]},{"id":"ci_a1300eccd93e92e734b255d64375c38fb52c50eec0b04b2e80b23dfe1a0014e4","title":"amovel()","path":"/en/programming-manual/3.2.0/publish/amovel","children":[]},{"id":"ci_692af53b1a87c8de771339596dd991809f0de367d574db24698497e61a736b8d","title":"amovejx()","path":"/en/programming-manual/3.2.0/publish/amovejx","children":[]},{"id":"ci_0f6fc6cbad17838b82da98a8b5c68097b856cf4c6df294d9b4df5290cd9182d4","title":"amovec()","path":"/en/programming-manual/3.2.0/publish/amovec","children":[]},{"id":"ci_86677df84b1eff964a8488e060f148354b1512931436e6682b1eb6ed8bac46c6","title":"amovesj()","path":"/en/programming-manual/3.2.0/publish/amovesj","children":[]},{"id":"ci_8757a7a01db843ac047991fa494cf4175042c60cd0c58e62be75837dafdf7d6e","title":"amovesx()","path":"/en/programming-manual/3.2.0/publish/amovesx","children":[]},{"id":"ci_ab7bea9196563bde2f118d51311b140e1f8cedcfe6633a4b6e520b305e98e68c","title":"amoveb()","path":"/en/programming-manual/3.2.0/publish/amoveb","children":[]},{"id":"ci_3ecf811b5b8895be7b889dd925024150e91fa3881278cf034ce20eafd3bf1d4c","title":"amove_spiral()","path":"/en/programming-manual/3.2.0/publish/amove_spiral","children":[]},{"id":"ci_7363bddf715adb8541e757a0a22bdd29fb766c4983393887b3ae2de4218ef98e","title":"amove_periodic()","path":"/en/programming-manual/3.2.0/publish/amove_periodic","children":[]}]},{"id":"ci_45f5309271e0e3b4c9ad5dbd604d3cb880f6edcac638c85400842885f784ca33","title":"Additional Functions","path":"/en/programming-manual/3.2.0/publish/additional-functions","children":[{"id":"ci_0028f706c21698d132e2a7085919f4b7e0e71c6548d7c629b024e04e34d8d9b2","title":"mwait(time=0)","path":"/en/programming-manual/3.2.0/publish/mwait-time-0","children":[]},{"id":"ci_381439a32712f14a91a2028c4477ec68048c836049ee1ef00fb9d35d4601c1f5","title":"begin_blend(radius=0)","path":"/en/programming-manual/3.2.0/publish/begin_blend-radius-0","children":[]},{"id":"ci_b7cff860082fcb062aec44c061d2bc630bf773090e8dfbda5c039a236c30196e","title":"end_blend()","path":"/en/programming-manual/3.2.0/publish/end_blend","children":[]},{"id":"ci_c609d100f40dcaea8f30059e03ca70e2411f26c5d05b5e636a15ebc3ff5bc3e9","title":"check_motion()","path":"/en/programming-manual/3.2.0/publish/check_motion","children":[]},{"id":"ci_30a60f310cca7a54821094dfed5f5c7b038012abba17a09bb8217fa4b453367a","title":"stop(st_mode)","path":"/en/programming-manual/3.2.0/publish/stop-st_mode","children":[]},{"id":"ci_2e95db5098deef61cfa13820373f282d84caceac79b58e705bd5a890bccbb2e0","title":"change_operation_speed(speed)","path":"/en/programming-manual/3.2.0/publish/change_operation_speed-speed","children":[]},{"id":"ci_c9ff1f0216e07cc2052b3b55332742b3dc86a12b168b933f2bd5d88fafb90a1a","title":"wait_manual_guide()","path":"/en/programming-manual/3.2.0/publish/wait_manual_guide","children":[]},{"id":"ci_2822b90df541eed169333e4dd8d7f3e4b8d7cde6e7343e19db28279df721a642","title":"wait_nudge()","path":"/en/programming-manual/3.2.0/publish/wait_nudge","children":[]},{"id":"ci_9480ce1b0d7ffb961d75eb00d14b6956121b3c20e29a0fef4dbccc85fe0e133b","title":"enable_alter_motion(n,mode,ref,limit_dPOS,limit_dPOS_per)","path":"/en/programming-manual/3.2.0/publish/enable_alter_motion-n-mode-ref-limit_dpos-limit_dp","children":[]},{"id":"ci_f4827c02dbfcc00bded07c7191d5c4714f94a9ca78292e428bd912dadf8cf48e","title":"alter_motion(pos)","path":"/en/programming-manual/3.2.0/publish/alter_motion-pos","children":[]},{"id":"ci_742478ac514c82f4b2e331d8f1abbefc538af43d66c6de59a310b7004bc70469","title":"disable_alter_motion()","path":"/en/programming-manual/3.2.0/publish/disable_alter_motion","children":[]},{"id":"ci_e1164fc52eeb2833333cafd83a17f3ed12078c8113d330afc2f39033a9cb61b7","title":"check_robot_mastering()","path":"/en/programming-manual/3.2.0/publish/check_robot_mastering","children":[]},{"id":"ci_0035d3b0a9d6594f72cd540e14e75d66185dbebee52747f73bc502e4194c7201","title":"motion_pause()","path":"/en/programming-manual/3.2.0/publish/motion_pause","children":[]},{"id":"ci_cc120dab60c979d37e8825a73156789cb9d643ee9647dc9944907eafff7f2da9","title":"motion_resume()","path":"/en/programming-manual/3.2.0/publish/motion_resume","children":[]}]},{"id":"ci_23fd0e1999114e818d33be196045ce8495219dc62f25d10871e68743ef9a75d8","title":"Servo Motion","path":"/en/programming-manual/3.2.0/publish/servo-motion","children":[{"id":"ci_374b68cfb2b0411228b45c619d24e3e242cf6d38e067952b84554eb4f2744c0b","title":"servoj()","path":"/en/programming-manual/3.2.0/publish/servoj","children":[]},{"id":"ci_27b0d9a515a14b8bfa8650ed2856c729bcfab5bc6f4d385209a63682854e6cb5","title":"servol()","path":"/en/programming-manual/3.2.0/publish/servol","children":[]},{"id":"ci_3bfb1d2b461dabca2c89256bcac1b5c6b1a665ca8584da6c6a7d9b94a96e7a10","title":"speedj()","path":"/en/programming-manual/3.2.0/publish/speedj","children":[]},{"id":"ci_eb4fef864d8ad6d3942ffd408761bb17a011ea8f0003cddba15c845d38579aea","title":"speedl()","path":"/en/programming-manual/3.2.0/publish/speedl","children":[]}]}]},{"id":"ci_48d60d572a6e1e9a4c71c3d2b9b8c9f40ae85a2ad5ce30c9c51c511c54c4635b","title":"Auxiliary Control Commands","path":"/en/programming-manual/3.2.0/publish/auxiliary-control-commands","children":[{"id":"ci_0fdcb0bd0fe7a360a206e66048d6d93e6c7676ed6e09044ec3f970b6a6b73e50","title":"Robot Current Value","path":"/en/programming-manual/3.2.0/publish/robot-current-value","children":[{"id":"ci_72ce43214702eb8031ea24a6915dd22eb3d122a307f88aeea84a7fe3d794c0d9","title":"get_current_posj()","path":"/en/programming-manual/3.2.0/publish/get_current_posj","children":[]},{"id":"ci_48d265dfc514c00fbc47cfae871c8d1940376bb3b5b2f78212fa724ae5a56808","title":"get_current_velj()","path":"/en/programming-manual/3.2.0/publish/get_current_velj","children":[]},{"id":"ci_fee4c9f03a0481f71802bd70ef97de9d937f213a2d53b946f22c8a3b40428f6c","title":"get_current_posx(ref, ori_type)","path":"/en/programming-manual/3.2.0/publish/get_current_posx-ref","children":[]},{"id":"ci_2dddd3ecd211428d2bb16a38be003266ed1e61b5e27cc40ba041ee5dc1cf3650","title":"get_current_tool_flange_posx(ref, ori_type)","path":"/en/programming-manual/3.2.0/publish/get_current_tool_flange_posx-ref","children":[]},{"id":"ci_9f0098b38568f493dd8803b9d1b122b923635b48aee565d64b9e160b9ad6cd8d","title":"get_current_velx(ref)","path":"/en/programming-manual/3.2.0/publish/get_current_velx-ref","children":[]},{"id":"ci_f181ce098fb0ec3ebfba254bc1166c0197079fbb7a77ed050dfa336951213c1a","title":"get_current_rotm(ref)","path":"/en/programming-manual/3.2.0/publish/get_current_rotm-ref","children":[]},{"id":"ci_fa0b4cc38312922c7fd6a7ffff5edd3931167166b189408d51eb7185566adf57","title":"get_joint_torque()","path":"/en/programming-manual/3.2.0/publish/get_joint_torque","children":[]},{"id":"ci_0a2ab5e24a129d25586745cabc0bb278cca559a3eee306df4114e129111e0e9d","title":"get_external_torque()","path":"/en/programming-manual/3.2.0/publish/get_external_torque","children":[]},{"id":"ci_17414d2715a8eb0f2e7a3ae673bfad26f8c19d0d4022fb5f9227f0fe645c0ea0","title":"get_tool_force(ref)","path":"/en/programming-manual/3.2.0/publish/get_tool_force-ref","children":[]}]},{"id":"ci_e72ee2cc40fe25eee674b54059f03e98dfdaad209d379a937dcb90af80c68646","title":"Robot Target Value","path":"/en/programming-manual/3.2.0/publish/robot-target-value","children":[{"id":"ci_61d4d6ce035e188c92f33a88219772681ea494c8867eb71700b8bd96d5d24fa8","title":"get_desired_posj()","path":"/en/programming-manual/3.2.0/publish/get_desired_posj","children":[]},{"id":"ci_c73e17c2a96fb0e58db6d80e674d2ea21e4141b146dcaa6ec00b849f00422225","title":"get_desired_velj()","path":"/en/programming-manual/3.2.0/publish/get_desired_velj","children":[]},{"id":"ci_38dc2b11eb9fc1c92dfc570f9b2c1eedfe09ced8d26af7b753112d0c61222678","title":"get_desired_posx(ref, ori_type)","path":"/en/programming-manual/3.2.0/publish/get_desired_posx-ref","children":[]},{"id":"ci_6631abdd43947a1aae332393062f481feb3f5a334eb917d4155385140ff49739","title":"get_desired_velx(ref)","path":"/en/programming-manual/3.2.0/publish/get_desired_velx-ref","children":[]}]},{"id":"ci_1cad842e5cf36ed8f08614072bad1f14b9b300dbe7505699932e8f4d1a6c8769","title":"Control State Value","path":"/en/programming-manual/3.2.0/publish/control-state-value","children":[{"id":"ci_eb75d2a973804fffad3a4b28d39b9fbe82d1b5b8507be1f5f503ed601490866f","title":"get_control_mode()","path":"/en/programming-manual/3.2.0/publish/get_control_mode","children":[]},{"id":"ci_d1d8c146adfcfaad6542359e32e6ae1dfcfb86f970530db41601478d7e774cc0","title":"get_control_space()","path":"/en/programming-manual/3.2.0/publish/get_control_space","children":[]},{"id":"ci_6b6095f39507ed7874dba77edaf97ca315bd57bc8e80a23ddb1423d2e5e1447b","title":"get_current_solution_space()","path":"/en/programming-manual/3.2.0/publish/get_current_solution_space","children":[]},{"id":"ci_a26b0711646e69bd3ebe4df40c13dc56f6cf6189ea726f2b5ec6da1c968216ab","title":"get_solution_space(pos)","path":"/en/programming-manual/3.2.0/publish/get_solution_space-pos","children":[]},{"id":"ci_79dc99c078a5caa275b60838389129e8fcf9e3bfc17a44a4c422d3b76701af14","title":"get_orientation_error(xd, xc, axis)","path":"/en/programming-manual/3.2.0/publish/get_orientation_error-xd-xc-axis","children":[]}]}]},{"id":"ci_91e286560529061dac16c23c72f34c331bc9f5550e22d062087eabaa1846b007","title":"Other Settings Command","path":"/en/programming-manual/3.2.0/publish/other-settings-command","children":[{"id":"ci_642758d0e0cd33e25e548dac7654379ade0a586aea0e28a859ae3e1516d79801","title":"Tool/Workpiece Settings","path":"/en/programming-manual/3.2.0/publish/tool-workpiece-settings","children":[{"id":"ci_7bffce40c5fe053bdd6d6d0c82fd013903bcd20a3e20ca30676e29f704522dc5","title":"get_workpiece_weight()","path":"/en/programming-manual/3.2.0/publish/get_workpiece_weight","children":[]},{"id":"ci_c4db08b93513a8a0ecf485f66dcb1738f37522dccbbbc827f19a287d33d6a357","title":"reset_workpiece_weight()","path":"/en/programming-manual/3.2.0/publish/reset_workpiece_weight","children":[]},{"id":"ci_a1bb90235ca6e87dd0b0fefda3f63589cffbee26ba6c65aea708ead879742bc5","title":"set_workpiece_weight(weight=0.0, cog=[0.0,0.0,0.0], cog_ref=DR_CUR_TCP, add_up=DR_REPLACE, start_time=None, transition_time=None)","path":"/en/programming-manual/3.2.0/publish/set_workpiece_weight-weight-0-0-cog-0-0-0-0-0-0-co","children":[]},{"id":"ci_68f2981f5b6cd573e7495fe8d8e255a04d8937a2b66bbd210a691e47daab4b72","title":"set_tool_shape(name)","path":"/en/programming-manual/3.2.0/publish/set_tool_shape-name","children":[]},{"id":"ci_89a8bc06637a2655da0e047a275617bbea626f596e806bd5e71cd3fd8eb7d573","title":"set_tool(name, start_time, transition_time)","path":"/en/programming-manual/3.2.0/publish/set_tool-name-start_time-transition_time","children":[]}]},{"id":"ci_357f7e360291fe6f41fd9f5977b0df1f9af3b388088471b6fa53aebdce6f180c","title":"Control Mode Settings","path":"/en/programming-manual/3.2.0/publish/control-mode-settings","children":[{"id":"ci_a062a4fc1f5bd7cd95cba654bf4dab8e40779ff7d6d3325d4f5d663f5c1fdbb6","title":"set_singularity_handling(mode)","path":"/en/programming-manual/3.2.0/publish/set_singularity_handling-mode","children":[]},{"id":"ci_c4627b4d6c9ce74cb3f71ad14cf45b3f734c317bdc7fbbaabcbca99699ad65a2","title":"set_singular_handling_force(mode)","path":"/en/programming-manual/3.2.0/publish/set_singular_handling_force-mode","children":[]},{"id":"ci_b306aa1c8b71770bcb43c8a7a016944f3bc93845568097cadfcf5c1c53cd1fe8","title":"set_palletizing_mode(mode)","path":"/en/programming-manual/3.2.0/publish/set_palletizing_mode-mode","children":[]},{"id":"ci_33cebf6152244af6983e29a00d3aaffa6f70c39f21af106f538e7b5aaa1d274f","title":"set_motion_end(mode)","path":"/en/programming-manual/3.2.0/publish/set_motion_end-mode","children":[]}]}]},{"id":"ci_5aa0a158828c7091b654b59db35301ff1ea2d389c04a2a784da7c468cc54ff7a","title":"Force/Stiffness Control and Other User-Friendly Features","path":"/en/programming-manual/3.2.0/publish/force-stiffness-control-and-other-user-friendly-fe","children":[{"id":"ci_f1e39d2cb6d13a50ac0287de200e7c14e89288e85b0267bcba7ace2c5f4a7d82","title":"Force/Compliance Control","path":"/en/programming-manual/3.2.0/publish/force-compliance-control","children":[{"id":"ci_886b7fdad1a32773b4163fb041282aef3d205bc84055586da8fde00097818a50","title":"release_compliance_ctrl()","path":"/en/programming-manual/3.2.0/publish/release_compliance_ctrl","children":[]},{"id":"ci_373733854a240854ad4e12eb8509cf7542307a9f506a74a3c5bbafaed8525cb8","title":"task_compliance_ctrl(stx, time)","path":"/en/programming-manual/3.2.0/publish/task_compliance_ctrl-stx-time","children":[]},{"id":"ci_43016a60098a7853f8ac991a56313d9c87567ae2f85cf6f4d9256cd71c7a4a5e","title":"set_stiffnessx(stx, time)","path":"/en/programming-manual/3.2.0/publish/set_stiffnessx-stx-time","children":[]},{"id":"ci_a5b0e29b3ff05945f556aaff7ae5d08f4c9963b52ccd5a0d29e6479166222845","title":"set_desired_force(fd, dir, time, mod)","path":"/en/programming-manual/3.2.0/publish/set_desired_force-fd-dir-time-mod","children":[]},{"id":"ci_0a5efe4eb0f7bd39307b831342f11c2a9ca425893a757f12dc00f8666dc869fa","title":"release_force(time=0)","path":"/en/programming-manual/3.2.0/publish/release_force-time-0","children":[]},{"id":"ci_75d76bf0d9fd578a6b8bbaef72eeca6e6fbc58fef07e597391ff8e7d834439ae","title":"get_force_control_state()","path":"/en/programming-manual/3.2.0/publish/get_force_control_state","children":[]},{"id":"ci_a6ec040af69232841dd183a86f61aa4699935d4c1619513cc94419768c5a4788","title":"set_damping_factor(damping_factor, time)","path":"/en/programming-manual/3.2.0/publish/set_damping_factor-damping_factor-time","children":[]},{"id":"ci_e1883b49d3a12e1c9872672abe8bedea0ea4b88d2a8fcf2ce24d3a6298512274","title":"set_force_factor(force_factor, time)","path":"/en/programming-manual/3.2.0/publish/set_force_factor-force_factor-time","children":[]}]},{"id":"ci_6492ee431894a00ef8ea5e7313ae2fd278aaadfcf0eae30126a1254fd5d2ae42","title":"User-friendly Functions","path":"/en/programming-manual/3.2.0/publish/user-friendly-functions","children":[{"id":"ci_9d154fa9bda933e6ea16c6c2b8e79413ac8755c94820b33505e23e1a2d18772e","title":"parallel_axis(x1, x2, x3, axis, ref)","path":"/en/programming-manual/3.2.0/publish/parallel_axis-x1-x2-x3-axis-ref","children":[]},{"id":"ci_d54e7f2c6c95239719f7ca7ba282aae3efb898a74d4ba0981d2d23ad375c0087","title":"parallel_axis(vect, axis, ref)","path":"/en/programming-manual/3.2.0/publish/parallel_axis-vect-axis-ref","children":[]},{"id":"ci_287e0ea1542ae9f31e7d9d174186393d75f788ccc779798bec833e4121e3226b","title":"align_axis(x1, x2, x3, pos, axis, ref)","path":"/en/programming-manual/3.2.0/publish/align_axis-x1-x2-x3-pos-axis-ref","children":[]},{"id":"ci_0bd90d7cc3f122e06841ca39b3423db165ec8b1055ae51130ac70ba8d735cd87","title":"align_axis(vect, pos, axis, ref)","path":"/en/programming-manual/3.2.0/publish/align_axis-vect-pos-axis-ref","children":[]},{"id":"ci_41ad905c4a1b8a50e4d97f12822377cad7b51a2c7a0a9ffa246a4ef254a5277a","title":"is_done_bolt_tightening(m=0, timeout=0, axis=None)","path":"/en/programming-manual/3.2.0/publish/is_done_bolt_tightening-m-0-timeout-0-axis-none","children":[]},{"id":"ci_657e7ef88ca34df5f39b324bfbb33ceb9bb9995f52cebe62578ae5bc08d418c9","title":"calc_coord(x1, x2, x3, x4, ref, mod, ori_type_out)","path":"/en/programming-manual/3.2.0/publish/calc_coord-x1-x2-x3-x4-ref-mod","children":[]},{"id":"ci_46761f5d0acaaadbfe0059bf198881b639aa79460d3aa78926e340944c55ff4b","title":"set_user_cart_coord(pos, ref)","path":"/en/programming-manual/3.2.0/publish/set_user_cart_coord-pos-ref","children":[]},{"id":"ci_5b2764f9f8d489934cf887ec63a90839787e4c01265857e2a81b1f8a0d0dfe1c","title":"set_user_cart_coord(x1, x2, x3, pos, ref)","path":"/en/programming-manual/3.2.0/publish/set_user_cart_coord-x1-x2-x3-pos-ref","children":[]},{"id":"ci_29a29ba4957d62b4fa5cbdbbdd7b4d5e57e4e386962af14eb3cad7b3d23a2cc3","title":"set_user_cart_coord(u1, v1, pos, ref)","path":"/en/programming-manual/3.2.0/publish/set_user_cart_coord-u1-v1-pos-ref","children":[]},{"id":"ci_660dc05e23663a115091947b81c1e580bbef5c471a6a8f96049bae4bbbd310d5","title":"overwrite_user_cart_coord(id, pos, ref, apply_mod)","path":"/en/programming-manual/3.2.0/publish/overwrite_user_cart_coord-id-pos-ref-apply_mod","children":[]},{"id":"ci_efc291ae44a9e9f91812c1719035ffce0bc6ad945a83c072fd449d0bb3116cdb","title":"get_user_cart_coord(id, ori_type)","path":"/en/programming-manual/3.2.0/publish/get_user_cart_coord-id","children":[]},{"id":"ci_d7902579dfdf72657b0401ad8070eb1804d6dc4d28aa4ae2202abe34c25008c7","title":"check_position_condition(axis, min, max, ref, mod, pos)","path":"/en/programming-manual/3.2.0/publish/check_position_condition-axis-min-max-ref-mod-pos","children":[]},{"id":"ci_ac0901eacbb34806a782ffb05fd642d109308edb8b0166130c1663aa69658858","title":"check_force_condition(axis, min, max, ref)","path":"/en/programming-manual/3.2.0/publish/check_force_condition-axis-min-max-ref","children":[]},{"id":"ci_561e685fc6df194dd1f8f2e7228c568c468bf811491732529b70decd15a90321","title":"check_orientation_condition(axis, min, max, ref, mod)","path":"/en/programming-manual/3.2.0/publish/check_orientation_condition-axis-min-max-ref-mod","children":[]},{"id":"ci_4672eb955817de4c4b3be0a7c5b2694779fa82ccb7b7535b6385e89dd91fe5a9","title":"check_orientation_condition(axis, min, max, ref, mod, pos)","path":"/en/programming-manual/3.2.0/publish/check_orientation_condition-axis-min-max-ref-mod-p","children":[]},{"id":"ci_44bf4049bc894580851782c4859860c1a9b78d281e2b1829bcee6bf4c096fecb","title":"coord_transform(pose_in, ref_in, ref_out, ori_type_out)","path":"/en/programming-manual/3.2.0/publish/coord_transform-pose_in-ref_in-ref_out","children":[]},{"id":"ci_62d7cf7b7eee454956c4a74b56e040e2971350987b88502ec38257cc367edd78","title":"get_pattern_point(pos1, pos2, pos3, pos4, index, pattern, row, column, stack, stack_offset, point_offset, ori_type_out=None)","path":"/en/programming-manual/3.2.0/publish/get_pattern_point-pos1-pos2-pos3-pos4-index-patter","children":[]}]}]},{"id":"ci_379ab46a2345368d60675507e64aedd27e13779a751d8b059eb13464be923329","title":"System Commands","path":"/en/programming-manual/3.2.0/publish/system-commands","children":[{"id":"ci_e4b67bf7c5715efbfb534e7baa5c3198a278323198bb608ea5554129dc1a0e37","title":"IO Related","path":"/en/programming-manual/3.2.0/publish/io-related","children":[{"id":"ci_1b856bb00ae31f4c2dfdcddd2c41ae7e12e559441229e0ca9ff2213a3f0e539d","title":"set_digital_output(index, val =None)","path":"/en/programming-manual/3.2.0/publish/set_digital_output-index-val-none","children":[]},{"id":"ci_c1cccd238a947750bff8ef6ea07d3c0d67455679adbe7eb33d458735ff17fa69","title":"set_digital_outputs(bit_list)","path":"/en/programming-manual/3.2.0/publish/set_digital_outputs-bit_list","children":[]},{"id":"ci_ac9dbd59e0f137da6cdd9929a72ab1ca5c19a164ef17fb776fb7a1fbdb881508","title":"set_digital_outputs(bit_start, bit_end, val)","path":"/en/programming-manual/3.2.0/publish/set_digital_outputs-bit_start-bit_end-val","children":[]},{"id":"ci_8367b7a769b8cedfb6ac99d84ff92f2994e232f9ade2bceeb3d511e49215ed30","title":"set_digital_output(index, val=None, time=None, val2=None)","path":"/en/programming-manual/3.2.0/publish/set_digital_output-index-val-none-time-none-val2-n","children":[]},{"id":"ci_2cf404151fcbb1a094a8baf92587d70b1d5c5c06169f8d61c30d478d081dbe4e","title":"get_digital_input(index)","path":"/en/programming-manual/3.2.0/publish/get_digital_input-index","children":[]},{"id":"ci_c776608026e7845a2789786c91ad8635a813787f760024283c85cf2f533208ac","title":"get_digital_inputs(bit_list)","path":"/en/programming-manual/3.2.0/publish/get_digital_inputs-bit_list","children":[]},{"id":"ci_b87e392aa9b202e777fdf3a29e494929913a937acc9be68bea15d8d14bae295d","title":"get_digital_inputs(bit_start, bit_end)","path":"/en/programming-manual/3.2.0/publish/get_digital_inputs-bit_start-bit_end","children":[]},{"id":"ci_2a50a4eef00c8a77a4379f5e47ba96e5a2cfb39de2e1aa7918e9f3b6d6366d57","title":"wait_digital_input(index, val, timeout=None)","path":"/en/programming-manual/3.2.0/publish/wait_digital_input-index-val-timeout-none","children":[]},{"id":"ci_88b6222f7c326f2f0213b20af29086c22830bccf86650238b8f877070b8bdcd3","title":"set_tool_digital_output(index, val=None)","path":"/en/programming-manual/3.2.0/publish/set_tool_digital_output-index-val-none","children":[]},{"id":"ci_54c8d6c090c14025b82e5a4249b1166b730847fb2db053adcdc6f07a1970c600","title":"set_tool_digital_outputs(bit_list)","path":"/en/programming-manual/3.2.0/publish/set_tool_digital_outputs-bit_list","children":[]},{"id":"ci_79c8b588b2ec3a321aaa0cddc553836dbe5bb25a42a92a18e871a7f558e20269","title":"set_tool_digital_outputs(bit_start, bit_end, val)","path":"/en/programming-manual/3.2.0/publish/set_tool_digital_outputs-bit_start-bit_end-val","children":[]},{"id":"ci_7c5086ae8e513bb1c30b6f97342c5cea7b94306a1a5c1c5c954e34b3b88f1d65","title":"set_tool_digital_output(index, val=None, time=None, val2=None)","path":"/en/programming-manual/3.2.0/publish/set_tool_digital_output-index-val-none-time-none-v","children":[]},{"id":"ci_5ac4a99cd9eb11ba0c06f4298448565e3db19cbb50144b2104b5044d09c97d54","title":"get_tool_digital_input(index)","path":"/en/programming-manual/3.2.0/publish/get_tool_digital_input-index","children":[]},{"id":"ci_bfb2755f052b73301f67449618ff1dd97504261acbe6ddfaa8bd71c3c4f2e675","title":"get_tool_digital_inputs(bit_list)","path":"/en/programming-manual/3.2.0/publish/get_tool_digital_inputs-bit_list","children":[]},{"id":"ci_ccdda087c56fffe0d0b0716ae4bfbf0a17907ef50d63b7fc646a5eea74e59d7f","title":"get_tool_digital_inputs(bit_start, bit_end)","path":"/en/programming-manual/3.2.0/publish/get_tool_digital_inputs-bit_start-bit_end","children":[]},{"id":"ci_d6a9faba658e83dfff0a6d544bb693ff8639c5bd321dab74b8dd91bfce172921","title":"wait_tool_digital_input(index, val, timeout=None)","path":"/en/programming-manual/3.2.0/publish/wait_tool_digital_input-index-val-timeout-none","children":[]},{"id":"ci_574e4082e7c7266ed27a633378c5201625ab6460ac42f364363b3a05adfbe28a","title":"set_mode_analog_output(ch, mod )","path":"/en/programming-manual/3.2.0/publish/set_mode_analog_output-ch-mod","children":[]},{"id":"ci_a447fa8d90385d8fc2c8e1ee063c8f8c4758a277614a16848ca728e5d6b09e88","title":"set_mode_analog_input(ch, mod )","path":"/en/programming-manual/3.2.0/publish/set_mode_analog_input-ch-mod","children":[]},{"id":"ci_9f2b7635d38b6dc7df05763b580314a596cad61e4b8cc243ef9f4405c5abdc8c","title":"set_analog_output(ch, val)","path":"/en/programming-manual/3.2.0/publish/set_analog_output-ch-val","children":[]},{"id":"ci_58a8c58771486cbae4361f7b49f3003d6977e16a1dd485f12287b1dbec1a25c4","title":"get_analog_input(ch)","path":"/en/programming-manual/3.2.0/publish/get_analog_input-ch","children":[]},{"id":"ci_5de2dac2c38ac4e6b5279fab3541508eb48798311615692ee606f09f4851d1ab","title":"set_output(port_type, index, val=None, time=None, val2=None)","path":"/en/programming-manual/3.2.0/publish/set_output-port_type-index-val-none-time-none-val2","children":[]},{"id":"ci_fe0a7eefe11f4a6074030d8f5f19f918c6d9658a9d9c510a37449a1c17f574bf","title":"get_input(port_type, index)","path":"/en/programming-manual/3.2.0/publish/get_input-port_type-index","children":[]},{"id":"ci_0ba0059beef3815f498a23659dbf9e55a3a1062037cf37e32140ab66463b2cf5","title":"wait_input(port_type, index, val, timeout=None, condition=None)","path":"/en/programming-manual/3.2.0/publish/wait_input-port_type-index-val-timeout-none-condit","children":[]},{"id":"ci_5ec121f74f9d23f9370693e79a7e8464afd14b87638597d27cece1ae076e98c4","title":"wait_analog_input(ch, condition, val, timeout=None)","path":"/en/programming-manual/3.2.0/publish/wait_analog_input-ch-condition-val-timeout-none","children":[]},{"id":"ci_200cf77dd6b64254217aca8470ad2e52c61544d52e8709d21c38ea1049903683","title":"wait_tool_analog_input(ch, condition, val, timeout=None)","path":"/en/programming-manual/3.2.0/publish/wait_tool_analog_input-ch-condition-val-timeout-no","children":[]}]},{"id":"ci_c5519a76ed4086a5ec0ecdb20f11d936e7a2aba84e580870da6c41deb64529dd","title":"TP Interface","path":"/en/programming-manual/3.2.0/publish/tp-interface","children":[{"id":"ci_9410c7963b7ae1357630f7dcb6fddb33d040c920ca9bde9fda7be3dd175fbbf3","title":"tp_popup(message, pm_type=DR_PM_MESSAGE, button_type=0)","path":"/en/programming-manual/3.2.0/publish/tp_popup-message-pm_type-dr_pm_message-button_type","children":[]},{"id":"ci_e06dd47fa34aa0e450e5dff24afa0e0531b04b267cef3259e17adbfc943e2ba4","title":"tp_log(message)","path":"/en/programming-manual/3.2.0/publish/tp_log-message","children":[]},{"id":"ci_d63764895591f63ea1db4de55df44fbe59ab0ac716d8432f8941513ba53ab622","title":"tp_get_user_input(message, input_type)","path":"/en/programming-manual/3.2.0/publish/tp_get_user_input-message-input_type","children":[]}]},{"id":"ci_8ec09f7bae5b65e301ed2ecf45819e38f8dd687470d73181ef52c1cb6b80b81d","title":"Thread","path":"/en/programming-manual/3.2.0/publish/thread","children":[{"id":"ci_62b4a3b124fb8833c5e3c8d5974e80c648f97920d31cc9f76102f15c2c34151d","title":"thread_run(th_func_name, loop=False)","path":"/en/programming-manual/3.2.0/publish/thread_run-th_func_name-loop-false","children":[]},{"id":"ci_482eca6985ae73808b31e6da9a34b8b67f574b275a68b6367c65f6a75b7b6a97","title":"thread_stop(th_id)","path":"/en/programming-manual/3.2.0/publish/thread_stop-th_id","children":[]},{"id":"ci_650596c1bf9ac058db93f76b773c5eaadfa0705df804ef284d7321ff0a89f73b","title":"thread_pause(th_id)","path":"/en/programming-manual/3.2.0/publish/thread_pause-th_id","children":[]},{"id":"ci_24516d6c6e14fb46853c6b81ab36b7bf93b122a24ca917e8cbed55a7d2524e1a","title":"thread_resume(th_id)","path":"/en/programming-manual/3.2.0/publish/thread_resume-th_id","children":[]},{"id":"ci_5f0541d012aceaf34933e8159a110f4d19f2024bc298b46d189fe401a9a072d9","title":"thread_state(th_id)","path":"/en/programming-manual/3.2.0/publish/thread_state-th_id","children":[]},{"id":"ci_e3b447c5db0e86fc90953b07bef30b477d1361f46579a240449ba7f550d60c5c","title":"Integrated example - Thread","path":"/en/programming-manual/3.2.0/publish/integrated-example-thread","children":[]}]},{"id":"ci_fc15fdf3b45e385ce25e7d8667ee86fca7b4a566f50a2fda46e7c2cd552eb32a","title":"Others","path":"/en/programming-manual/3.2.0/publish/others","children":[{"id":"ci_9dd38878790a1e3e8eb62b6bfb8f3552fe0fb8ac0089017976e8e7ce5e2d0bcb","title":"wait(time)","path":"/en/programming-manual/3.2.0/publish/wait-time","children":[]},{"id":"ci_12b43d934454eb45381fc5356c4a2b5df4e659bc5f1f88a506cc651f6a8a3e57","title":"exit()","path":"/en/programming-manual/3.2.0/publish/exit","children":[]},{"id":"ci_84cc2056e7bce926624df770eaf691d1436db1d4b7bef2ddcc138f7f6e1e89c0","title":"sub_program_run(name)","path":"/en/programming-manual/3.2.0/publish/sub_program_run-name","children":[]},{"id":"ci_80c4ef1db5ad7e546cd86f6db2e91626d6b1f172299ecae645f06520e79b6cf1","title":"drl_report_line(option)","path":"/en/programming-manual/3.2.0/publish/drl_report_line-option","children":[]},{"id":"ci_26ccdfd381ca0891536afcd92a0aa0ab7a8853a72f72471a4a0df9e2e57c0a81","title":"set_fm(key, value)","path":"/en/programming-manual/3.2.0/publish/set_fm-key-value","children":[]},{"id":"ci_b05b719c7e906c7c0b837232b153cf5d04276cbd702a9597b89b34e4418d7c4c","title":"get_robot_model()","path":"/en/programming-manual/3.2.0/publish/get_robot_model","children":[]},{"id":"ci_35ad3dbdd92d33b5ebd797ffd49b994c785e08aaeae7e75b49d9b534da38159a","title":"get_robot_serial_num()","path":"/en/programming-manual/3.2.0/publish/get_robot_serial_num","children":[]},{"id":"ci_756c2e152ddba0b8b6a53fff5966f23089e3e939b3598efed0301771764a00ff","title":"check_robot_jts()","path":"/en/programming-manual/3.2.0/publish/check_robot_jts","children":[]},{"id":"ci_e776fc94cda34950fc43e4619bb7bc28ba82d1c00fe42ea2fc68a4221a0c5e9d","title":"check_robot_fts()","path":"/en/programming-manual/3.2.0/publish/check_robot_fts","children":[]},{"id":"ci_0d58a03d820fb2772216cdc55ab5e98c90658504b6a7cfb078d0b22406c63755","title":"start_timer()","path":"/en/programming-manual/3.2.0/publish/start_timer","children":[]},{"id":"ci_f7d5d58487c643573ddec815da04bdf9da8369a5b087be2b7672ed5a58f65346","title":"end_timer()","path":"/en/programming-manual/3.2.0/publish/end_timer","children":[]}]}]},{"id":"ci_a8356e5c684b01a77104413b4263a83c440f2c6a178e84c6e99910b5063313e0","title":"Mathematical Function","path":"/en/programming-manual/3.2.0/publish/mathematical-function","children":[{"id":"ci_da1b86b8b0d5494c3fad01fd9aae9f0ca944dd1120ee349de87a08453b1b8a11","title":"Basic Function","path":"/en/programming-manual/3.2.0/publish/basic-function","children":[{"id":"ci_563844532ff7468e4fbde4dea9db99efdca5a818127025b2e52c231d237c2156","title":"ceil(x)","path":"/en/programming-manual/3.2.0/publish/ceil-x","children":[]},{"id":"ci_86d2d85769492fab9e12aa8622d650595f17cb0d95f13431ada3cb6998d8f69a","title":"floor(x)","path":"/en/programming-manual/3.2.0/publish/floor-x","children":[]},{"id":"ci_e0a7631e5d6a87771b883c0bdc741b9b0f9b09575d32d2c464728bb6e64fa845","title":"pow(x, y)","path":"/en/programming-manual/3.2.0/publish/pow-x-y","children":[]},{"id":"ci_543b87b998833b39a8411003bd53538a42de2386648cedce9c6d6469a83c2769","title":"sqrt(x)","path":"/en/programming-manual/3.2.0/publish/sqrt-x","children":[]},{"id":"ci_1a51dc3f769f15896690f065aec27f4c011e041480ad0cac7aad784ccf186db9","title":"log(x, b)","path":"/en/programming-manual/3.2.0/publish/log-x-b","children":[]},{"id":"ci_230eacb52f63429fa842246b489dd6fa60d2d65c791ec899caf46f422784b70f","title":"d2r(x)","path":"/en/programming-manual/3.2.0/publish/d2r-x","children":[]},{"id":"ci_de0c8b15558893657ee96575f689121085e4139c22d6c41e2a4b37d08ff734e4","title":"r2d(x)","path":"/en/programming-manual/3.2.0/publish/r2d-x","children":[]},{"id":"ci_6284e404ab389b66209347376c97693beb3b931fa1b970c8a177c1dda845ed65","title":"random()","path":"/en/programming-manual/3.2.0/publish/random","children":[]}]},{"id":"ci_1f2abada45fdb45a19308733742aa3e3a3721e475dc9a8ba77f7eadafcbef1d0","title":"Trigonometric functions","path":"/en/programming-manual/3.2.0/publish/trigonometric-functions","children":[{"id":"ci_f24142e6f0e435516399edf6142e80303cf5b651fd8184d8105dee33b3bae6b2","title":"sin(x)","path":"/en/programming-manual/3.2.0/publish/sin-x","children":[]},{"id":"ci_391e628584bf1f3b0452f0811f5ed427a5e8b9f05689e4e24349d5b307210be2","title":"cos(x)","path":"/en/programming-manual/3.2.0/publish/cos-x","children":[]},{"id":"ci_8475e26a92e53453da68d0916e4da4488178ab942f8db0d9dbd154e4a0793ae6","title":"tan(x)","path":"/en/programming-manual/3.2.0/publish/tan-x","children":[]},{"id":"ci_c9559efa6098ab25afe972b5ca94495dfbfb74bd8cd95a08494c06b9f896469c","title":"asin(x)","path":"/en/programming-manual/3.2.0/publish/asin-x","children":[]},{"id":"ci_c9323ba6fd7a3ecc2136a6b4b53d6934150b591130fadf76c6efd5f9528da12c","title":"acos(x)","path":"/en/programming-manual/3.2.0/publish/acos-x","children":[]},{"id":"ci_26809ddd266a78d562dd9dc297ad557fdd3acf8c51901e0102c8c5399b72f1ab","title":"atan(x)","path":"/en/programming-manual/3.2.0/publish/atan-x","children":[]},{"id":"ci_30e9967bab45463595b4796cae5d0487124a60908607834ee8c7bb64562b0429","title":"atan2(y, x)","path":"/en/programming-manual/3.2.0/publish/atan2-y-x","children":[]}]},{"id":"ci_420d0f300fd042e6423bac52a20474c84fd55be97f8c8a1ad1f2b83659d59e9c","title":"Linear algebra","path":"/en/programming-manual/3.2.0/publish/linear-algebra","children":[{"id":"ci_7d3d2df8efa9f4f6b5ed5bf16f391f2cfab1a48aae53a8972a1b9bd8a016092e","title":"norm(x)","path":"/en/programming-manual/3.2.0/publish/norm-x","children":[]},{"id":"ci_3387c5c4fdb72fbb4bdbd464013e392b4a7ae2a74dcb728ca71fcd4c6c20bda8","title":"rotx(angle)","path":"/en/programming-manual/3.2.0/publish/rotx-angle","children":[]},{"id":"ci_0414840444976f13ab888df5c720334cf19b26180785747a14123e2db4c56fb3","title":"roty(angle)","path":"/en/programming-manual/3.2.0/publish/roty-angle","children":[]},{"id":"ci_a56506944c524c0b89ddebb50a04125a243f63c82f794d3a0a2ecd122d6e787b","title":"rotz(angle)","path":"/en/programming-manual/3.2.0/publish/rotz-angle","children":[]},{"id":"ci_9344831b7bb89b19648aae23336bae809061cc84f681eaccf3eba415fe63601a","title":"rotm2eul(rotm)","path":"/en/programming-manual/3.2.0/publish/rotm2eul-rotm","children":[]},{"id":"ci_eca4daf165c355f5995197981cca9ba4fa1aac829b202d76383d60b15e2cb063","title":"rotm2rotvec(rotm)","path":"/en/programming-manual/3.2.0/publish/rotm2rotvec-rotm","children":[]},{"id":"ci_8dba1e446bfe755ab70989479ee98f360147090b878953041d3a7fb345ced913","title":"eul2rotm([alpha,beta,gamma])","path":"/en/programming-manual/3.2.0/publish/eul2rotm-alpha-beta-gamma","children":[]},{"id":"ci_48986e2d1826ccddd01897b5e9bf44f8bff19297027a4f3513e32ae418001c29","title":"eul2rotvec([alpha,beta,gamma])","path":"/en/programming-manual/3.2.0/publish/eul2rotvec-alpha-beta-gamma","children":[]},{"id":"ci_6cbf0871228859e15a469d8dd5df72e4fdb1b838912f0e96c2f1dbe2fdd1d494","title":"eul2rpy([alpha,beta,gamma])","path":"/en/programming-manual/3.2.0/publish/eul2rpy-alpha-beta-gamma","children":[]},{"id":"ci_6221954d863983853117428515c42fcd41fb133632db4b3d11ff736d24ec9bfc","title":"rpy2eul([yaw,pitch,roll])","path":"/en/programming-manual/3.2.0/publish/rpy2eul-yaw-pitch-roll","children":[]},{"id":"ci_e87ee74e5051c504822eabc32111d103d07936517362af0285dea5dccfcca381","title":"rotvec2rotm([rx,ry,rz])","path":"/en/programming-manual/3.2.0/publish/rotvec2rotm-rx-ry-rz","children":[]},{"id":"ci_cfa8ba140d869eab81572f5b5dd9cb166d222d4b8ec2b169fad836389ff8e35b","title":"htrans(posx1,posx2,ori_type_out)","path":"/en/programming-manual/3.2.0/publish/htrans-posx1-posx2","children":[]},{"id":"ci_04d8d4f3a319364fac5548382138683bac921341ac183351c596d893ee0a2e78","title":"get_intermediate_pose(posx1,posx2,alpha,ori_type_out)","path":"/en/programming-manual/3.2.0/publish/get_intermediate_pose-posx1-posx2-alpha","children":[]},{"id":"ci_2bb90e7b9a2c6bb230a2b69b8b1d1ff263aac7a823f665cfbda53faae98e30b3","title":"get_distance(posx1, posx2)","path":"/en/programming-manual/3.2.0/publish/get_distance-posx1-posx2","children":[]},{"id":"ci_9dd5d8581cf0338153fb9082849ef313313eb721c9c0a104ddd2ae1e32c617b2","title":"get_normal(x1, x2, x3)","path":"/en/programming-manual/3.2.0/publish/get_normal-x1-x2-x3","children":[]},{"id":"ci_bff4abd55a5aab0b3887193831d282d5967de970ed6afdf0e5960b6e8410041a","title":"add_pose(posx1,posx2,ori_type_out)","path":"/en/programming-manual/3.2.0/publish/add_pose-posx1-posx2","children":[]},{"id":"ci_7ad2b4a5fc883d2e23ac828557c37bf1ac46a9e05b05ead6a014cb94a2ac3ccf","title":"subtract_pose(posx1,posx2,ori_type_out)","path":"/en/programming-manual/3.2.0/publish/subtract_pose-posx1-posx2","children":[]},{"id":"ci_371e93c65da8d5cfb231f6a2c9fe32b93c9696df3777ff7007e00dd3de15aaba","title":"inverse_pose(posx1)","path":"/en/programming-manual/3.2.0/publish/inverse_pose-posx1","children":[]},{"id":"ci_6f850deaedf737320c3b0f0ea19b57a243be9d3ceb7678817477ae21e727ea9d","title":"dot_pose(posx1, posx2)","path":"/en/programming-manual/3.2.0/publish/dot_pose-posx1-posx2","children":[]},{"id":"ci_d4fd64e855f4bcfd43ff23b80ec2e3450744face5e60dabc5b66c0d688030028","title":"cross_pose(posx1, posx2)","path":"/en/programming-manual/3.2.0/publish/cross_pose-posx1-posx2","children":[]},{"id":"ci_2318474924a313824938ca3ce2be4fac1382dcfec65666456e18ffa6bb868283","title":"unit_pose(posx1)","path":"/en/programming-manual/3.2.0/publish/unit_pose-posx1","children":[]},{"id":"ci_69113f4e39ed0a60b9a8c5de690c0c308213d46d483d88dc76f4323c50b78c2a","title":"rotvec2eul([rx,ry,rz])","path":"/en/programming-manual/3.2.0/publish/rotvec2eul-rx-ry-rz","children":[]}]}]},{"id":"ci_1c711108d4903fa5a98fc50d71ce3e2f019700f1b0db038eb70ec144bce99c27","title":"External Communication Commands","path":"/en/programming-manual/3.2.0/publish/external-communication-commands","children":[{"id":"ci_2b901e9d0eb2998dd90b8fce29d286eb850fb8ae3b68d731964da5fb004a85f7","title":"Serial","path":"/en/programming-manual/3.2.0/publish/serial","children":[{"id":"ci_b2d842a3fb4d3594c80fb8292e74408b8088c71c48dc7227e4de76c79298b721","title":"serial_open(port=None, baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits=DR_STOPBITS_ONE)","path":"/en/programming-manual/3.2.0/publish/serial_open-port-none-baudrate-115200-bytesize-dr_","children":[]},{"id":"ci_392ad63e5296e16bf4085ba9abc8026bf0cb4ad22b6aa48a9245072cdad3ec16","title":"serial_close(ser)","path":"/en/programming-manual/3.2.0/publish/serial_close-ser","children":[]},{"id":"ci_829b884abf45cce8daa70b8af67878ebb0f5b682d669a3c48ffd634704a1ca4d","title":"serial_state(ser)","path":"/en/programming-manual/3.2.0/publish/serial_state-ser","children":[]},{"id":"ci_36ef8b7864b59fbf73acdd7b905e80c622a04439eea8da3e598757fa397a97c9","title":"serial_set_inter_byte_timeout(ser, timeout=None)","path":"/en/programming-manual/3.2.0/publish/serial_set_inter_byte_timeout-ser-timeout-none","children":[]},{"id":"ci_edbda57751f5c5bdb4858f12ff3583e691cb794f2f2830d8a232d24ef0ed2723","title":"serial_write(ser, tx_data)","path":"/en/programming-manual/3.2.0/publish/serial_write-ser-tx_data","children":[]},{"id":"ci_4c17e8c193a5fabc4e220eb515ff2904213d75b64f10411b14ca67aa7b6c6174","title":"serial_read(ser, length=-1, timeout=-1)","path":"/en/programming-manual/3.2.0/publish/serial_read-ser-length-1-timeout-1","children":[]},{"id":"ci_d6060ce559fc0f6d6857a2b7abb79d53254cf8e4a0f02d1910c0470992620069","title":"serial_get_count()","path":"/en/programming-manual/3.2.0/publish/serial_get_count","children":[]},{"id":"ci_c3622d241877d2b433737677cf313d666e3523333e23285ef0a6651f6c34565a","title":"serial_get_info(id)","path":"/en/programming-manual/3.2.0/publish/serial_get_info-id","children":[]},{"id":"ci_97ad0cb423f3928a6ea653dbdf3f4ff58722e056eba50209609214b10533ad1e","title":"Combined Example - Serial","path":"/en/programming-manual/3.2.0/publish/combined-example-serial","children":[]}]},{"id":"ci_dca1c656952ab9610484dbe775de0adf2571dcef70f51210cc05eea1ce424480","title":"Tcp/Client","path":"/en/programming-manual/3.2.0/publish/tcp-client","children":[{"id":"ci_bd47e11380e3352617ac09e5f61044c90e61e566c088afdcc85fa2a523b5719c","title":"client_socket_open(ip, port)","path":"/en/programming-manual/3.2.0/publish/client_socket_open-ip-port","children":[]},{"id":"ci_d465db97ddb4e947307943401d075e971a0d95b76fa5ac149856a95dfc74df9c","title":"client_socket_close(sock)","path":"/en/programming-manual/3.2.0/publish/client_socket_close-sock","children":[]},{"id":"ci_e6c7fc051b5d4f3835b80716cc461cae7b1ee37ce03b08fcb7de66e1e8e5b6c9","title":"client_socket_state(sock)","path":"/en/programming-manual/3.2.0/publish/client_socket_state-sock","children":[]},{"id":"ci_cc008bf3397c2ad66cdbe4360606300f25fba74620c0697c7032e4c0315f7a33","title":"client_socket_write(sock, tx_data)","path":"/en/programming-manual/3.2.0/publish/client_socket_write-sock-tx_data","children":[]},{"id":"ci_5f8d6840e6e56dd802d676846406d27d47635d0edde25d08a79a4341b9bba629","title":"client_socket_read(sock, length=-1, timeout=-1)","path":"/en/programming-manual/3.2.0/publish/client_socket_read-sock-length-1-timeout-1","children":[]},{"id":"ci_a5f98c0bd803f298c322c2a4fdc6b04f1595273fcc4d24fa3a7eccdb7ebb0a6e","title":"Integrated example (Tcp/Client)","path":"/en/programming-manual/3.2.0/publish/integrated-example-tcp-client","children":[]}]},{"id":"ci_355a26465321e8c0fb9661fe388458dd570bb3efe970a671ea780330c43a3895","title":"Tcp/Server","path":"/en/programming-manual/3.2.0/publish/tcp-server","children":[{"id":"ci_f590cfc3c88b04afdb410fe812edc6efe2089f6255197d2cd5230b7b07225a6c","title":"server_socket_open(port)","path":"/en/programming-manual/3.2.0/publish/server_socket_open-port","children":[]},{"id":"ci_3f14100a057caeabea6bf28d14b884167a983fbe3535bc533dedede4f6614bea","title":"server_socket_close(sock)","path":"/en/programming-manual/3.2.0/publish/server_socket_close-sock","children":[]},{"id":"ci_922a7f325f713d98cf64241d7189f7a5b6a707812506eff2b2ac74a945ffea13","title":"server_socket_state(sock)","path":"/en/programming-manual/3.2.0/publish/server_socket_state-sock","children":[]},{"id":"ci_d423040341fcf0f5a695261ffc981038beaac1da5285579eba025aeae8f068e6","title":"server_socket_write(sock, tx_data)","path":"/en/programming-manual/3.2.0/publish/server_socket_write-sock-tx_data","children":[]},{"id":"ci_9cc6b0b22071e2e4f4b0b337d336e9edc565ab871bb8f3d04b5d888ad817fad5","title":"server_socket_read(sock, length=-1, timeout=-1)","path":"/en/programming-manual/3.2.0/publish/server_socket_read-sock-length-1-timeout-1","children":[]},{"id":"ci_71683c8a927971b20ab3602aee9334a3f76cbb92cc9cc43bb942b6058d175e02","title":"Integrated example - Tcp/Server","path":"/en/programming-manual/3.2.0/publish/integrated-example-tcp-server","children":[]}]},{"id":"ci_29cb634883ac8a82a3c83e16a16c955c6139bbf3f82d9db7a83e2a8bbf19d361","title":"Modbus","path":"/en/programming-manual/3.2.0/publish/modbus","children":[{"id":"ci_739680cd4c3d5d281ef7515ef3d17019e2dbdbc337bdab3c2aeeed6724a07b5e","title":"add_modbus_signal(ip, port, name, reg_type, index, value=0, slaveid=255)","path":"/en/programming-manual/3.2.0/publish/add_modbus_signal-ip-port-name-reg_type-index-valu","children":[]},{"id":"ci_5884ba6d3ec78dcb9ea7642b48526e653eef59725950679e32ed7e870c6a1c5c","title":"add_modbus_rtu_signal(slaveid=1, port=None, baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits=DR_STOPBITS_ONE, name, reg_type, index, value=0)","path":"/en/programming-manual/3.2.0/publish/add_modbus_rtu_signal-slaveid-1-port-none-baudrate","children":[]},{"id":"ci_e87b5374ba9bc1165bda957673bb6dc62211b075b688a8890467ae82a472c335","title":"add_modbus_signal_multi(ip, port, slaveid=255, name=None, reg_type=DR_HOLDING_REGISTER, start_address=0, cnt=1)","path":"/en/programming-manual/3.2.0/publish/add_modbus_signal_multi-ip-port-slaveid-255-name-n","children":[]},{"id":"ci_31a255997290a949deac9eabc5a8a7a2b5ea96ddd4143bbe2a0e57bdf32e3c82","title":"add_modbus_rtu_signal_multi(slaveid=1, port=None, baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits=DR_STOPBITS_ONE, name=None, reg_type=DR_HOLDING_REGISTER, start_address=0, cnt=1)","path":"/en/programming-manual/3.2.0/publish/add_modbus_rtu_signal_multi-slaveid-1-port-none-ba","children":[]},{"id":"ci_794c402d536db4a348aff9dfb4e6ce96caf1555cf9508dca2ee073a3957ed95d","title":"del_modbus_signal(name)","path":"/en/programming-manual/3.2.0/publish/del_modbus_signal-name","children":[]},{"id":"ci_bfc66a157061da134d438186f34083cc8c4f02e5310e9b26b56b04f9301dda5f","title":"del_modbus_signal_multi(name)","path":"/en/programming-manual/3.2.0/publish/del_modbus_signal_multi-name","children":[]},{"id":"ci_3fa6929a37cad8df3b3d780c19ae9521e148933d40ce666d1ad6716dc216fba3","title":"set_modbus_output(iobus, value)","path":"/en/programming-manual/3.2.0/publish/set_modbus_output-iobus-value","children":[]},{"id":"ci_40f56dc1ad71b7e540f7bca9be592de847ed759227b0b3e6d586708fe88a047d","title":"set_modbus_outputs(iobus_list, val_list)","path":"/en/programming-manual/3.2.0/publish/set_modbus_outputs-iobus_list-val_list","children":[]},{"id":"ci_02657a71027fb3f0156f4e16d74717920f193cbb6df1dc8aafe937b3da19ca06","title":"set_modbus_output_multi(iobus, val_list)","path":"/en/programming-manual/3.2.0/publish/set_modbus_output_multi-iobus-val_list","children":[]},{"id":"ci_7a1d0f85ee20f541352c12b00d33a62c5274b78a8d74ddf1517636da9dcd102e","title":"get_modbus_input(iobus)","path":"/en/programming-manual/3.2.0/publish/get_modbus_input-iobus","children":[]},{"id":"ci_2e2221babf074926489e8074695ffba8d4aafeb880cfd4e9fe7a73a68924907a","title":"get_modbus_inputs(iobus_list)","path":"/en/programming-manual/3.2.0/publish/get_modbus_inputs-iobus_list","children":[]},{"id":"ci_675a7073e7f977e7532f6d9f228d3a8119e07dd59333e89e07741c4909ee22f3","title":"get_modbus_inputs_list(iobus_list)","path":"/en/programming-manual/3.2.0/publish/get_modbus_inputs_list-iobus_list","children":[]},{"id":"ci_465b92143179f0e5bc2e1181ff1483c4259338cf35123e739d645c00f84a037c","title":"get_modbus_input_multi (iobus)","path":"/en/programming-manual/3.2.0/publish/get_modbus_input_multi-iobus","children":[]},{"id":"ci_1dc7daa17a4147abb9c61fe35e214afc5a5e4568a411bca485e4c7c55478c4d8","title":"wait_modbus_input(iobus, val, timeout=None)","path":"/en/programming-manual/3.2.0/publish/wait_modbus_input-iobus-val-timeout-none","children":[]},{"id":"ci_c859552d5a16aef98351ff12a7eb3aecd1e6f458f360901e7720c14a9da51c3d","title":"set_modbus_slave(address, val)","path":"/en/programming-manual/3.2.0/publish/set_modbus_slave-address-val","children":[]},{"id":"ci_af282850ab6155a926825f24668dd1fca1ecb42b89cefb4d88b21aec321fc455","title":"get_modbus_slave(address)","path":"/en/programming-manual/3.2.0/publish/get_modbus_slave-address","children":[]},{"id":"ci_d6c77948839ce29d12fe3e2e2110b963c7aa85f23468b051213fe65da1e305fd","title":"modbus_crc16(data)","path":"/en/programming-manual/3.2.0/publish/modbus_crc16-data","children":[]},{"id":"ci_8b7e08a59c755eef611b52d0c2bdea8e6a58e193283a2585a51855cf0f394d76","title":"modbus_send_make(send_data)","path":"/en/programming-manual/3.2.0/publish/modbus_send_make-send_data","children":[]},{"id":"ci_fbbfe325cab2565925d6be76fbb85adf94d25fd3a70696fbbc0623f11d77f767","title":"modbus_recv_check(recv_data)","path":"/en/programming-manual/3.2.0/publish/modbus_recv_check-recv_data","children":[]},{"id":"ci_968aede42ddd6c32ef7ba9cee1ce4652a0376014b95032b973f7093328cbaeaa","title":"modbus_unsigned_to_signed(unsigned_data)","path":"/en/programming-manual/3.2.0/publish/modbus_unsigned_to_signed-unsigned_data","children":[]}]},{"id":"ci_0615ccf66393dd7d7d7816d6a5f2fc66726f0f50c4322ce66db8ca4d45736001","title":"Industrial Ethernet (EtherNet/IP,PROFINET)","path":"/en/programming-manual/3.2.0/publish/industrial-ethernet-ethernet-ip-profinet","children":[{"id":"ci_9a22d57d360e7c06671d230191d6afc2f92aeae8e70d7ed8e28f7bc262bde28e","title":"set_output_register_bit(address, val)","path":"/en/programming-manual/3.2.0/publish/set_output_register_bit-address-val","children":[]},{"id":"ci_b9067de30e8b53de45f483b89a5a5bf31895cfff7d5d0932e7daf67088fc1502","title":"set_output_register_int(address, val)","path":"/en/programming-manual/3.2.0/publish/set_output_register_int-address-val","children":[]},{"id":"ci_a8c61a1a37dd9407e37ca3c1c18986827458ad2c71462c3313ac28283f73ae3d","title":"set_output_register_float(address, val)","path":"/en/programming-manual/3.2.0/publish/set_output_register_float-address-val","children":[]},{"id":"ci_a3d3d8266e2aecd42ef9fb5e907a42ab33421307a9420215a8d8feb6430cb41b","title":"get_output_register_bit(address)","path":"/en/programming-manual/3.2.0/publish/get_output_register_bit-address","children":[]},{"id":"ci_d640ee85954e39e5a5baaf749c697436555390955a683f0d189e28934b9c492f","title":"get_output_register_int(address)","path":"/en/programming-manual/3.2.0/publish/get_output_register_int-address","children":[]},{"id":"ci_56774b24f9cf12b8a2e3fdcfddde1c199936d7c7cb4fe4575c21b9eefd6b38c2","title":"get_output_register_float(address)","path":"/en/programming-manual/3.2.0/publish/get_output_register_float-address","children":[]},{"id":"ci_9d580888f53f0f0c45cc87f2d621337a87129b8b48d28ea2ea329ede4a65b6c5","title":"get_input_register_bit(address)","path":"/en/programming-manual/3.2.0/publish/get_input_register_bit-address","children":[]},{"id":"ci_c480252759323b0a03dfd26bd84c3480994d1df5fae10c7f018b57839974e0fb","title":"get_input_register_int(address)","path":"/en/programming-manual/3.2.0/publish/get_input_register_int-address","children":[]},{"id":"ci_a4fcc2623e69c8c9343f12c91c4b87479d60494cb28bc1642eb99559367021ca","title":"get_input_register_float(address)","path":"/en/programming-manual/3.2.0/publish/get_input_register_float-address","children":[]}]},{"id":"ci_c370b1eccd6f0690cc226978c72a686727a7a7271685c2b620cf2a3ff874ab50","title":"FOCAS","path":"/en/programming-manual/3.2.0/publish/focas","children":[{"id":"ci_23a4f9d63ec0225b250beb7425a6a77bbae7daf170699e941480ad66e94679b8","title":"focas_connect(ip, port, timeout)","path":"/en/programming-manual/3.2.0/publish/focas_connect-ip-port-timeout","children":[]},{"id":"ci_6817cacbedf3d93e12f6cf356201bc342e4a75ea5c76e20b1d4542db3cd6959d","title":"focas_disconnect(handle)","path":"/en/programming-manual/3.2.0/publish/focas_disconnect-handle","children":[]},{"id":"ci_da6e85615fdaf6bde1066a2b1fd42384104b973bda23f807418a5e991e0b73a7","title":"focas_pmc_read_bit(handle, addr_type, start_num, bit_offset)","path":"/en/programming-manual/3.2.0/publish/focas_pmc_read_bit-handle-addr_type-start_num-bit_","children":[]},{"id":"ci_18d2b90024f4d336da0a78d6691b7884e14d4b494633134d8a13d339cf883d30","title":"focas_pmc_read_char(handle, addr_type, start_num, read_count)","path":"/en/programming-manual/3.2.0/publish/focas_pmc_read_char-handle-addr_type-start_num-rea","children":[]},{"id":"ci_e23bebaa11bc01b4a676823532900a18175b9a48cb6168e2721c8ab9ebdf66df","title":"focas_pmc_read_word(handle, addr_type, start_num, read_count)","path":"/en/programming-manual/3.2.0/publish/focas_pmc_read_word-handle-addr_type-start_num-rea","children":[]},{"id":"ci_c17fb3297dbf8903af44d75e1141cb6ff0ed66c5c3dec602c99869eb1807be50","title":"focas_pmc_read_long(handle, addr_type, start_num, read_count)","path":"/en/programming-manual/3.2.0/publish/focas_pmc_read_long-handle-addr_type-start_num-rea","children":[]},{"id":"ci_353852ee64d3d7e150f6305f1d82c49c75b7a48a2cfca7558c061806617b3f8d","title":"focas_pmc_read_float(handle, addr_type, start_num, read_count)","path":"/en/programming-manual/3.2.0/publish/focas_pmc_read_float-handle-addr_type-start_num-re","children":[]},{"id":"ci_873285abf507ea2874a79f3174a16ffe54bfc73c7181bf19cfbcd387446e8341","title":"focas_pmc_read_double(handle, addr_type, start_num, read_count)","path":"/en/programming-manual/3.2.0/publish/focas_pmc_read_double-handle-addr_type-start_num-r","children":[]},{"id":"ci_d7c606b9ccb8d3ad7c8a438f367b934015ea09b8535fadc1db41e852748eb3d6","title":"focas_get_error_str(handle, errorCode)","path":"/en/programming-manual/3.2.0/publish/focas_get_error_str-handle-errorcode","children":[]}]}]},{"id":"ci_c8dfb4483ce68f0dda6ac93f931c3503385d934bfb745374a0b2f68660b7937e","title":"Application Commands","path":"/en/programming-manual/3.2.0/publish/application-commands","children":[{"id":"ci_6f12ba7858b92d65bac098eb363a4cf123c81c2004d5b553a3b2eb0875d88a92","title":"External Encoder Setting Commands","path":"/en/programming-manual/3.2.0/publish/external-encoder-setting-commands","children":[{"id":"ci_5d36e76ddf8e11b7f436d7a31d910acb1b9496f18442a9bc3f11ed9d42987b81","title":"set_extenc_polarity(channel, polarity_A, polarity_B, polarity_Z, polarity_S)","path":"/en/programming-manual/3.2.0/publish/set_extenc_polarity-channel-polarity_a-polarity_b-","children":[]},{"id":"ci_a6359a702d7b964c25dd97b0e1e37416e25a5290e36cd41a4c61a8c8078faaec","title":"set_extenc_mode(channel, mode_AB, pulse_AZ, mode_Z, mode_S, inverse_cnt)","path":"/en/programming-manual/3.2.0/publish/set_extenc_mode-channel-mode_ab-pulse_az-mode_z-mo","children":[]},{"id":"ci_be00a87161b5def1a3b37b19d4015d804b3ea486436f02fab17db7c0e4f1d3cd","title":"get_extenc_count(channel)","path":"/en/programming-manual/3.2.0/publish/get_extenc_count-channel","children":[]},{"id":"ci_92ca91fc2205750c68650bc0bcb01c033e805e182ac70a662fcbc0e044e97633","title":"clear_extenc_count(channel)","path":"/en/programming-manual/3.2.0/publish/clear_extenc_count-channel","children":[]}]},{"id":"ci_a7c4e756fa7d33678a844c9367ee1d7c7f67a631c174eeb4ecb07b7b7178edb6","title":"Conveyor Tracking","path":"/en/programming-manual/3.2.0/publish/conveyor-tracking","children":[{"id":"ci_0291c3fc0186ff23f6ddabe1679751abf17c00a17dc4a05f7a0f14e672fbf0d1","title":"set_conveyor_ex(name=””, conv_type=0, encoder_channel=1, triggering_mute_time=0.0, count_per_dist=5000, conv_coord=posx(0,0,0,0,0,0), ref=DR_BASE, conv_speed=100.0, speed_filter_size=500, min_dist=0.0, max_dist=1000.0, watch_window=100.","path":"/en/programming-manual/3.2.0/publish/set_conveyor_ex-name-conv_type-0-encoder_channel-1","children":[]},{"id":"ci_7a71ec20f67d487ce4a4ff68d7b18cf56a3c360a2c5e88b6287573c52e9873d6","title":"get_conveyor_obj(conv_id, timeout=None, container_type=DR_FIFO, obj_offset_coord=None)","path":"/en/programming-manual/3.2.0/publish/get_conveyor_obj-conv_id-timeout-none-container_ty","children":[]},{"id":"ci_0cde53fe76dbcc0c15887481d4babcae096f3b318aad5dd963973c2c341f737d","title":"tracking_conveyor(conv_id, time=0.3)","path":"/en/programming-manual/3.2.0/publish/tracking_conveyor-conv_id-time-0-3","children":[]},{"id":"ci_aed2be4562eb185569b492db1d3aea6f6373bed34f2219d0ae30b1e983ab2d6c","title":"untracking_conveyor(conv_id, time=0.3)","path":"/en/programming-manual/3.2.0/publish/untracking_conveyor-conv_id-time-0-3","children":[]}]},{"id":"ci_0888f8966564967d031d36f29aa0242e4b4bd456a161f3b69225bc9c89b757a8","title":"Welding","path":"/en/programming-manual/3.2.0/publish/welding","children":[{"id":"ci_b644693fea509085f86c9823b63c211c0d22983b1763b58801e7c9cbab7ec647","title":"app_weld_enable_digital()","path":"/en/programming-manual/3.2.0/publish/app_weld_enable_digital","children":[]},{"id":"ci_db68a3b90d604a4b1d58dbd806464ca916133253403bbc08ce674d3cdeec491a","title":"app_weld_disable_digital()","path":"/en/programming-manual/3.2.0/publish/app_weld_disable_digital","children":[]},{"id":"ci_0457bf38e0cd59909fdf2a22a216898b70d40733f3144be4b88bd76f280dc340","title":"app_weld_set_interface_eip_r2m_process(welding_start=[0,0,0,0,0,0,0,0,0], robot_ready=[0,0,0,0,0,0,0,0,0], error_reset=[0,0,0,0,0,0,0,0,0])","path":"/en/programming-manual/3.2.0/publish/app_weld_set_interface_eip_r2m_process-welding_sta","children":[]},{"id":"ci_546eca85a8be5654764f5d9199aa47bc014507793b45c7df444282eebd4e81a6","title":"app_weld_set_interface_eip_r2m_mode(welding_mode=[0,0,0,0,0,0,0,0,0], s_2t=[0,0,0,0,0,0,0,0,0], pulse_mode=[0,0,0,0,0,0,0,0,0],wm_opt1=[0,0,0,0,0,0,0,0,0])","path":"/en/programming-manual/3.2.0/publish/app_weld_set_interface_eip_r2m_mode-welding_mode-0","children":[]},{"id":"ci_2ccd7bfe4692c25beaa02468e88c634ec7c2e68c2712ad2d9071bad20dfd9616","title":"app_weld_set_interface_eip_r2m_test(gas_test=[0,0,0,0,0,0,0,0,0], inching_plus=[0,0,0,0,0,0,0,0,0], inching_minus=[0,0,0,0,0,0,0,0,0], blow_out_torch=[0,0,0,0,0,0,0,0,0], simulation=[0,0,0,0,0,0,0,0,0], ts_opt1=[0,0,0,0,0,0,0,0,0], ...)","path":"/en/programming-manual/3.2.0/publish/app_weld_set_interface_eip_r2m_test-gas_test-0-0-0","children":[]},{"id":"ci_5359c2aea4a86971ba787bd9b9f0d52b8138c4f213741c0064b324647d6fb157","title":"app_weld_set_interface_eip_r2m_condition(job_num=[0,0,0,0,0,0,0,0,0], synergic_id=[0,0,0,0,0,0,0,0,0], r_wire_feed_speed=[0,0,0,0,0,0,0,0,0], voltage_corret=[0,0,0,0,0,0,0,0.0,0.0], dynamic_correct=[0,0,0,0,0,0,0,0,0])","path":"/en/programming-manual/3.2.0/publish/app_weld_set_interface_eip_r2m_condition-job_num-0","children":[]},{"id":"ci_f857f9ecd6816ad9a590de54a95655718b426878bbe44379600383f596205d2b","title":"app_weld_set_interface_eip_r2m_option(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0], opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0],...)","path":"/en/programming-manual/3.2.0/publish/app_weld_set_interface_eip_r2m_option-opt1-0-0-0-0","children":[]},{"id":"ci_7b41ce638a390396d6139c7ae4c1391074c6ec5cef82b22e93ee784ef16d1734","title":"app_weld_set_interface_eip_m2r_process(current_flow=[0,0,0,0,0,0,0,0,0], process_active=[0,0,0,0,0,0,0,0,0], main_current=[0,0,0,0,0,0,0,0,0], machine_ready=[0,0,0,0,0,0,0,0,0], comm_ready=[0,0,0,0,0,0,0,0,0])","path":"/en/programming-manual/3.2.0/publish/app_weld_set_interface_eip_m2r_process-current_flo","children":[]},{"id":"ci_02f39cb3bd46627616b29d9d0fa1457018699cc22ffba83008f3050f993a1f9a","title":"app_weld_set_interface_eip_m2r_monitoring(welding_voltage=[0,0,0,0,0,0,0,0,0], welding_current=[0,0,0,0,0,0,0,0,0], wire_feed_speed=[0,0,0,0,0,0,0,0,0], wire_stick=[0,0,0,0,0,0,0,0,0], error=[0,0,0,0,0,0,0,0,0], ...)","path":"/en/programming-manual/3.2.0/publish/app_weld_set_interface_eip_m2r_monitoring-welding_","children":[]},{"id":"ci_d02d4ea2fe042ddaccaba8111f75b3bcd8f00e06b94d6686deeef4ad6d170f34","title":"app_weld_set_interface_eip_m2r_other(opt1=[0,0,0,0,0,0,0,0,0], opt2=[0,0,0,0,0,0,0,0,0], opt3=[0,0,0,0,0,0,0,0,0], opt4=[0,0,0,0,0,0,0,0,0], opt5=[0,0,0,0,0,0,0,0,0], opt6=[0,0,0,0,0,0,0,0,0], opt7=[0,0,0,0,0,0,0,0,0],...)","path":"/en/programming-manual/3.2.0/publish/app_weld_set_interface_eip_m2r_other-opt1-0-0-0-0-","children":[]},{"id":"ci_7d1cc146aa49b85fc49258d81dad807f10c251c0aa25ad308fc0c75185495f27","title":"app_weld_set_weld_cond_digital(flag_dry_run=0, vel_target=0, vel_min=0, vel_max=0, welding_mode=0, s_2t=0, pulse_mode=0, wm_opt1=0, simulation=0, ts_opt1=0, ts_opt2=0,...)","path":"/en/programming-manual/3.2.0/publish/app_weld_set_weld_cond_digital-flag_dry_run-0-vel_","children":[]},{"id":"ci_1307d3c8e71be9503b94db71201f4f027af4b690c9e3908b67fac5180204097d","title":"app_weld_adj_welding_cond_digital(flag_reset=None, f_target=None, vel_target=None, wv_offset=None, wv_width_ratio=None, dynamic_cor=None, voltage_cor=None, job_number=None, synergic_id=None)","path":"/en/programming-manual/3.2.0/publish/app_weld_adj_welding_cond_digital-flag_reset-none-","children":[]},{"id":"ci_986d436ac89e319b6681f6b07a2b9a9b6484b09eb48cbf35dd0fd66db958d59e","title":"app_weld_get_welding_cond_digital()","path":"/en/programming-manual/3.2.0/publish/app_weld_get_welding_cond_digital","children":[]},{"id":"ci_17d38624f73965937eec1e2ffbb9bd7bac0af5720e1afa4e09b74488ee380f1e","title":"app_weld_enable_analog(ch_v_out=[1,0], spec_v_out=[0,0,0,0], ch_f_out=[2,0], spec_f_out=[0,0,0,0], ch_v_in=[1,0], spec_v_in=[0,0,0,0], ch_c_in=[2,0], spec_c_in=[0,0,0,0],ch_arc_on=1,ch_gas_on=2,ch_inching_fwd=3,ch_inching_bwd=4, ...)","path":"/en/programming-manual/3.2.0/publish/app_weld_enable_analog-ch_v_out-1-0-spec_v_out-0-0","children":[]},{"id":"ci_512de250dc378b9a1d78b14784eeeb94d7ddbf17be08c238be5ff962edade984","title":"app_weld_disable_analog()","path":"/en/programming-manual/3.2.0/publish/app_weld_disable_analog","children":[]},{"id":"ci_d7269c9c37b05e34db519e3f8e2a1375327165a9f62b6233bd20d6c2b926ec26","title":"app_weld_set_weld_cond_analog(flag_dry_run=0, v_target=0, f_target=0, vel_target=0, vel_min=0, vel_max=0, weld_proc_param=[0.2,0.2,0.5,0.5,0.5,0.2,0.2,0.5,0.5])","path":"/en/programming-manual/3.2.0/publish/app_weld_set_weld_cond_analog-flag_dry_run-0-v_tar","children":[]},{"id":"ci_99652969f3e26e0d5f4f8dabba0135d51ada210370907a5d80da9692cb3a84c2","title":"app_weld_adj_welding_cond_analog(flag_reset=0, v_target=None, f_target=None, vel_target=None, wv_offset=None, wv_width_ratio=None)","path":"/en/programming-manual/3.2.0/publish/app_weld_adj_welding_cond_analog-flag_reset-0-v_ta","children":[]},{"id":"ci_82deea31a4a6ca3b5ea8d174774d83a82b5dbb1aaf9e4cbd8d9838eef86f7544","title":"app_weld_get_welding_cond_analog()","path":"/en/programming-manual/3.2.0/publish/app_weld_get_welding_cond_analog","children":[]},{"id":"ci_2cfc342b8968a74be1eb049bc62053d6df9497c46dce67061cbd93c2efb3498a","title":"app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0, wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])","path":"/en/programming-manual/3.2.0/publish/app_weld_weave_cond_trapezoidal-wv_offset-0-0-wv_a","children":[]},{"id":"ci_7d5ffcf6886727f47eda74a9f83bbb9b61b9ecd4d7c3792a84e7b4b871ccf801","title":"app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])","path":"/en/programming-manual/3.2.0/publish/app_weld_weave_cond_zigzag-wv_offset-0-0-wv_ang-0-","children":[]},{"id":"ci_dc45a0c5167bd931a2524d235415be2d8791e72db03a19c110ea537988bd7030","title":"app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])","path":"/en/programming-manual/3.2.0/publish/app_weld_weave_cond_circular-wv_offset-0-0-wv_ang-","children":[]},{"id":"ci_1349bc3409ed6521176f08b8a40c647f1f35083c257f6e634681783a92529796","title":"app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])","path":"/en/programming-manual/3.2.0/publish/app_weld_weave_cond_sinusoidal-wv_offset-0-0-wv_an","children":[]}]}]},{"id":"ci_8f52ea42d2a0a6d45f4f53338e282695e1c3f839820a1a712ceadd2b5b5a723c","title":"A-Series Command","path":"/en/programming-manual/3.2.0/publish/a-series-command","children":[{"id":"ci_6647b4907179232cef288a0318c78c276b10774cd2f9b1ccd413de5e9ae1d57b","title":"Controller","path":"/en/programming-manual/3.2.0/publish/controller","children":[{"id":"ci_769f826227ff2fa91e4d7c064c8a4ad937fa81c5ecf6ff09d81faeb7ab6c7ef2","title":"get_function_input(index)","path":"/en/programming-manual/3.2.0/publish/get_function_input-index","children":[]}]},{"id":"ci_642b69436d0fa39c4e1b2272eae80fb744335e06fde40504969d1dd1ca2ad00a","title":"Flange I/O","path":"/en/programming-manual/3.2.0/publish/flange-i-o","children":[{"id":"ci_a00e3341113d395205aff9c194118f135c9b901eeff7d45ae7f0aaa6af7ee74f","title":"flange_serial_open(baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)","path":"/en/programming-manual/3.2.0/publish/flange_serial_open-baudrate-115200-bytesize-dr_eig","children":[]},{"id":"ci_3683e6ecb4f702c9e5bf2c902194d7251374839af04b6d1bceee0a2a641fc513","title":"flange_serial_close()","path":"/en/programming-manual/3.2.0/publish/flange_serial_close","children":[]},{"id":"ci_71f6df6f8d6553b1849967152390536de3fe5fb8a64d85daf3743e8a353ed15d","title":"flange_serial_write(tx_data)","path":"/en/programming-manual/3.2.0/publish/flange_serial_write-tx_data","children":[]},{"id":"ci_d17195476d65878868f314f723a656314d4f5070c2c2635c8e3059152a849a26","title":"flange_serial_read(timeout=None)","path":"/en/programming-manual/3.2.0/publish/flange_serial_read-timeout-none","children":[]},{"id":"ci_f9f170fb5e60025543c182709a447807fa9b6ab3a927af1a839e6d9830fcc695","title":"Integrated example - A-Series Command","path":"/en/programming-manual/3.2.0/publish/integrated-example-a-series-command","children":[]}]}]}]