[{"id":"ci_18b52d45a59d2e8f08d31acc1e8f1e43b4caba981fa6a5c217bae48fb8532b0b","title":"DRL Basic Syntex","path":"/en/programming-manual/3.2.1/publish/drl-basic-syntex","children":[{"id":"ci_70a215d7b0b89a715ca8fb191841291788c74a32f05cc6a8aa7c4421021c4e35","title":"Basic Syntax","path":"/en/programming-manual/3.2.1/publish/basic-syntax","children":[{"id":"ci_d14d8ab1be97cedce55fbcdc4ad4935c07cf69e200326b8056838e120cdf3ceb","title":"Indent","path":"/en/programming-manual/3.2.1/publish/indent","children":[]},{"id":"ci_55556eb61a63eb82c92398a653dc989bc1ca9d2c7888f4f3842e11496f414144","title":"Comment","path":"/en/programming-manual/3.2.1/publish/comment","children":[]}]},{"id":"ci_bf938d0e0bfdcd1e8438ba439e8d18e9816dedb150cb01dc7c208f4f67623a75","title":"Variable","path":"/en/programming-manual/3.2.1/publish/variable","children":[{"id":"ci_19f80778e9f44bae21ba4a24067c6d02119dc9c9de69ebe925824eabf790845d","title":"Variable name","path":"/en/programming-manual/3.2.1/publish/variable-name","children":[]},{"id":"ci_8ed79bce30cc4bdb2f29040cea570e815c4e0ea344d94bd53156b31c2f6131b2","title":"Numeric value","path":"/en/programming-manual/3.2.1/publish/numeric-value","children":[]},{"id":"ci_29539901f349dabd8553ba9fccaa1d7e595c02a4252959030c1589c3a65df8fe","title":"String","path":"/en/programming-manual/3.2.1/publish/string","children":[]},{"id":"ci_9d43def5610a40e71034d4c06bd5d0f2060b42d119907751b2af2693bc2fc312","title":"list","path":"/en/programming-manual/3.2.1/publish/list","children":[]},{"id":"ci_5f8b5800780b87f2768505157d5f67fd3aeeb19c34d90e278efb4ca3281afb27","title":"tuple","path":"/en/programming-manual/3.2.1/publish/tuple","children":[]},{"id":"ci_f02a7b075c24291003324671506bf66e231f55ee1aa4ea9bc3a230ba181659fe","title":"dictionary","path":"/en/programming-manual/3.2.1/publish/dictionary","children":[]}]},{"id":"ci_43f2842ac0474dc78d9bdc692018ff45e9e1bcf02dd425d6454b2b674864b12f","title":"Function","path":"/en/programming-manual/3.2.1/publish/function","children":[{"id":"ci_7b52c7592ae28dd243b710f548eceb6d8adc4a84d1e06940ca6821bade98bced","title":"Function Syntax","path":"/en/programming-manual/3.2.1/publish/function-syntax","children":[]},{"id":"ci_7ccbf06cf40554971fefdf00bd212294504d59bbb708375befefed686d6f83b6","title":"Scoping rule","path":"/en/programming-manual/3.2.1/publish/scoping-rule","children":[]},{"id":"ci_944587c7059cba33609fe9f77cd9dafb8862746f372576cd9c78a7aa3e4013c9","title":"Parameter mode","path":"/en/programming-manual/3.2.1/publish/parameter-mode","children":[]}]},{"id":"ci_b50e69b14213a8af42affa716bfeaf197662d49765573f81eaccbdc8342f2ee2","title":"Control Statement","path":"/en/programming-manual/3.2.1/publish/control-statement","children":[{"id":"ci_b26f35f6b4fb13235152be38066e18c4a2c072bc0ae6cf8b75f87700b492a88e","title":"pass","path":"/en/programming-manual/3.2.1/publish/pass","children":[]},{"id":"ci_ef95ba057f60fbe631f5de00f08c30ac721fd49b0cd86c9cb2aa1bb305414ad7","title":"if","path":"/en/programming-manual/3.2.1/publish/if","children":[]},{"id":"ci_e0f48a2b8a694ca774c3701e76481b7a84675931a08fd699ca79c7014537b541","title":"while","path":"/en/programming-manual/3.2.1/publish/while","children":[]},{"id":"ci_4445149b589d1c8cdf29b5f8ef9e62d41ac84653de05a0a1ddc3a5ec07fd9940","title":"for","path":"/en/programming-manual/3.2.1/publish/for","children":[]},{"id":"ci_688e5a8c5dea1e6ade5e4ac3c916f2f0410e5c9c6e305215297a92c4fc9bcf42","title":"break","path":"/en/programming-manual/3.2.1/publish/break","children":[]},{"id":"ci_8aa69287ecb841b020c98ad70ef5f64e60f34d71d33f1a63569da118b383528f","title":"continue","path":"/en/programming-manual/3.2.1/publish/continue","children":[]},{"id":"ci_3aebd831454ea0b04d557c32661f312b227431231fced130f142e7f9d0d7f373","title":"Else in a loop","path":"/en/programming-manual/3.2.1/publish/else-in-a-loop","children":[]}]}]},{"id":"ci_8a35d88094b7ec3f0493f71a3a30694073c772a780cb216d68a8ee99148e919b","title":"Motion-related Commands","path":"/en/programming-manual/3.2.1/publish/motion-related-commands","children":[{"id":"ci_55db66a771c2b16b74b3e2b79dd8997187a6de632a6d598d677c5da4ad80f2cc","title":"Pos Creation","path":"/en/programming-manual/3.2.1/publish/pos-creation","children":[{"id":"ci_2a848e0b2959402cf8b276c8d7b676ccddd5ff475b07573f92a8222b2a4b9358","title":"posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)","path":"/en/programming-manual/3.2.1/publish/posj-j1-0-j2-0-j3-0-j4-0-j5-0-j6-0","children":[]},{"id":"ci_32d2125859a2e7370630cb11fd1033abd22ee8a68f280f6941fd7b905a821052","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/3.2.1/publish/posx-x-0-y-0-z-0-a-0-b-0-c-0","children":[]},{"id":"ci_95e89f8e7a5454b58b8bbac9fc5929dfcd84cd13ddc8e2696a42ecdaba3fe5e5","title":"trans(pos, delta, ref, ref_out, ori_type_out)","path":"/en/programming-manual/3.2.1/publish/trans-pos-delta-ref-ref_out","children":[]},{"id":"ci_1e4b80bea20cea6c0fd91dc48c1b2e81de1b5b08c094b85de32c19e88dad518b","title":"posb(seg_type, posx1, posx2=None, radius=0)","path":"/en/programming-manual/3.2.1/publish/posb-seg_type-posx1-posx2-none-radius-0","children":[]},{"id":"ci_562e9b40a25ce60e13cc76c1193f79d3e0732afd930d21f02489a6beabdd1124","title":"fkin(pos, ref, ori_type)","path":"/en/programming-manual/3.2.1/publish/fkin-pos-ref","children":[]},{"id":"ci_6f77bbc1feae91ced9aae3fcf84c95f05b5d10c072bdcc107b50c39868fe5cd3","title":"ikin(pos, sol_space, ref, ref_pos_opt, iter_threshold)","path":"/en/programming-manual/3.2.1/publish/ikin-pos-sol_space-ref-ref_pos_opt-iter_threshold","children":[]},{"id":"ci_151f869606c4017b47a8a0b4c6c4a56cd59ef06a388c9ff9728d2f17f44f7a4a","title":"addto(pos, add_val=None)","path":"/en/programming-manual/3.2.1/publish/addto-pos-add_val-none","children":[]},{"id":"ci_15f0a4330ffa0b2cf64470087fa249e378e018187c26f2dac047d764d57d07b5","title":"ikin_norm(pos, sol_space, ref, ref_pos_opt)","path":"/en/programming-manual/3.2.1/publish/ikin_norm-pos-sol_space-ref-ref_pos_opt","children":[]}]},{"id":"ci_49f06aa46c83c1dbdab5fb70c98e21b2e6a2af14597c634aca030c739e325906","title":"Motion settings","path":"/en/programming-manual/3.2.1/publish/motion-settings","children":[{"id":"ci_ed840319e0cc4ea2b2c09e5d64f0d740a1ceb43bdfbb170af75c8e232b20df6e","title":"set_velj(vel)","path":"/en/programming-manual/3.2.1/publish/set_velj-vel","children":[]},{"id":"ci_e81c8837ff28ffc05393da9f75394c5bd4faea57d175be015e2201ef23a7b3e8","title":"set_accj(acc)","path":"/en/programming-manual/3.2.1/publish/set_accj-acc","children":[]},{"id":"ci_c71bb0ef1800466e2e5fd69166506402a94284f31f17df50dfc0ee1354501a53","title":"set_velx(vel1, vel2)","path":"/en/programming-manual/3.2.1/publish/set_velx-vel1-vel2","children":[]},{"id":"ci_e1231d766b579318732a4661b3ff976424e3182c6d969e15bd119d028ade11d3","title":"set_velx(vel)","path":"/en/programming-manual/3.2.1/publish/set_velx-vel","children":[]},{"id":"ci_e4917cd96b9935439aeff88f2ffd92c84fdf9f0c9cb93dc7f6461dcb06eabfa2","title":"set_accx(acc1, acc2)","path":"/en/programming-manual/3.2.1/publish/set_accx-acc1-acc2","children":[]},{"id":"ci_b2a4c537c26d6dac666c9f509e476dbda039a6a67fc48e404574bc09a66eb518","title":"set_accx(acc)","path":"/en/programming-manual/3.2.1/publish/set_accx-acc","children":[]},{"id":"ci_cf1b83ac64c09f4470151c9a4b587b9b9b5fedff400458ad61544ef3fede63bd","title":"set_tcp(name)","path":"/en/programming-manual/3.2.1/publish/set_tcp-name","children":[]},{"id":"ci_2878c6cc49ceadec332b7d834d9987971e914890d2659176a63bf2b2d8a67c06","title":"set_ref_coord(coord)","path":"/en/programming-manual/3.2.1/publish/set_ref_coord-coord","children":[]},{"id":"ci_d7108985eecb9808c5e389c8032d17e507520879811947e799157139202458fc","title":"set_auto_acceleration_mode(mode, ratio)","path":"/en/programming-manual/3.2.1/publish/set_auto_acceleration_mode-mode-ratio","children":[]}]},{"id":"ci_adc1604cffc415d95a13a120604846c0fad54a679706a8a062ad3db359432fb5","title":"Synchronous Motion","path":"/en/programming-manual/3.2.1/publish/synchronous-motion","children":[{"id":"ci_6b936d56be4ce6f82a11703485a7764c55c121be98fa2bb5d926842a5f5a042d","title":"movej()","path":"/en/programming-manual/3.2.1/publish/movej","children":[]},{"id":"ci_054529ea4df56648c18178499009dcc5beb257a734498b0f6d7a4d0ed4e18d4d","title":"movel()","path":"/en/programming-manual/3.2.1/publish/movel","children":[]},{"id":"ci_27c597815febb83f044adfef1d51e96bd5fdf9d92bfd2951c7188c6b3fcd2991","title":"movejx()","path":"/en/programming-manual/3.2.1/publish/movejx","children":[]},{"id":"ci_0139020adaeeb3baa922694e9d77754a6a508ef5809030a43f9d4580d8a9529e","title":"movec()","path":"/en/programming-manual/3.2.1/publish/movec","children":[]},{"id":"ci_227743d3387f07069bf93ebea992770e92491f1d71e41ffb30c72969c08ea573","title":"movesj()","path":"/en/programming-manual/3.2.1/publish/movesj","children":[]},{"id":"ci_104afee674e5141fccfd53d410480521bc1f6f6bb61d49f3182af719bb0c7ce8","title":"movesx()","path":"/en/programming-manual/3.2.1/publish/movesx","children":[]},{"id":"ci_edf38f1370d7dba6ca081cb9f317e3a1b19c0a988e9a4d3c52466b9894a1abb7","title":"moveb()","path":"/en/programming-manual/3.2.1/publish/moveb","children":[]},{"id":"ci_6636a9eed49058a8ad450893130b3c97f8b0939054fc78ed7da91d25ff39e082","title":"move_spiral()","path":"/en/programming-manual/3.2.1/publish/move_spiral","children":[]},{"id":"ci_cbfaf46f7ba6433d3a3cff949b81a0e4b177b3cd263f0a9798ba77fcd31da8ea","title":"move_periodic()","path":"/en/programming-manual/3.2.1/publish/move_periodic","children":[]},{"id":"ci_8e7a3e447860aa5f749112f589c2f6686472652d53dd571576dafb631664b278","title":"move_home()","path":"/en/programming-manual/3.2.1/publish/move_home","children":[]}]},{"id":"ci_b2993dc9c1985b4b87c99b76f2182f340095351d3ec2a1f2a92767fac8e6baa9","title":"Asynchronous Motion","path":"/en/programming-manual/3.2.1/publish/asynchronous-motion","children":[{"id":"ci_f6671234e8dc1fbc012312900ee2d6eaf418301a824df62a75a9d362c1239059","title":"amovej()","path":"/en/programming-manual/3.2.1/publish/amovej","children":[]},{"id":"ci_c67c4bb0b879ab6be6439422b78811853eb620a8970174ed90e588bfb2fbd0c0","title":"amovel()","path":"/en/programming-manual/3.2.1/publish/amovel","children":[]},{"id":"ci_f30092ec54d8c1dc163bd87dcf8af9709e053edd5587cea7652ea280ce47e707","title":"amovejx()","path":"/en/programming-manual/3.2.1/publish/amovejx","children":[]},{"id":"ci_90970d37c8fa81b79d494edf481578df32ca1bb1278013ee736b0fe53607b154","title":"amovec()","path":"/en/programming-manual/3.2.1/publish/amovec","children":[]},{"id":"ci_10719284ff5d0e30bb001132ea9c969d2d4cbd7398dd561930085bfb5756c2f5","title":"amovesj()","path":"/en/programming-manual/3.2.1/publish/amovesj","children":[]},{"id":"ci_b8ddddeaf3b5950f43f6d9deca5c6661819b56ee6169cf21089eb016eea8f855","title":"amovesx()","path":"/en/programming-manual/3.2.1/publish/amovesx","children":[]},{"id":"ci_7d2302357507dbcb1f425d558891cbed226e38ff9cdfbe3ed9a5c35a7f08befb","title":"amoveb()","path":"/en/programming-manual/3.2.1/publish/amoveb","children":[]},{"id":"ci_aea77b5bb42dd575223dd00019b80d34f7d2cc46eebaeea34f5dfc95ba94ad9b","title":"amove_spiral()","path":"/en/programming-manual/3.2.1/publish/amove_spiral","children":[]},{"id":"ci_f3826c31f469188e52c098e3455aea20e89d9672dbb2ed13ef5a5594862353f3","title":"amove_periodic()","path":"/en/programming-manual/3.2.1/publish/amove_periodic","children":[]}]},{"id":"ci_ef3d43621b72ef2f7fc80474d1449bd8a6a197ef4363352c8e8aec1065f35d39","title":"Additional Functions","path":"/en/programming-manual/3.2.1/publish/additional-functions","children":[{"id":"ci_d7caf58a5cbad0c7ed0757f1228b9be2e7209c76f190e0dfa318a6bf12dadeaf","title":"mwait(time=0)","path":"/en/programming-manual/3.2.1/publish/mwait-time-0","children":[]},{"id":"ci_ac6091dd7ca837001d7c0fd4f70f35a8590be960c9102e698d288ec34b253544","title":"begin_blend(radius=0)","path":"/en/programming-manual/3.2.1/publish/begin_blend-radius-0","children":[]},{"id":"ci_e081513cb896e86969ce6e364d9596b6db4ad20bf0d695e6d32ce25e0719526f","title":"end_blend()","path":"/en/programming-manual/3.2.1/publish/end_blend","children":[]},{"id":"ci_ba291378852f905bd9c237eaafd060a8c9e915ef2dcb34eef25ea7716b30b06b","title":"check_motion()","path":"/en/programming-manual/3.2.1/publish/check_motion","children":[]},{"id":"ci_23399eb088b6e818252e74db3b648bb912ea763050829b7171db632052fae7b6","title":"stop(st_mode)","path":"/en/programming-manual/3.2.1/publish/stop-st_mode","children":[]},{"id":"ci_8ef99ee92544dc3547e0b46f9949fd8b3252f01138eed435740499440e480da8","title":"change_operation_speed(speed)","path":"/en/programming-manual/3.2.1/publish/change_operation_speed-speed","children":[]},{"id":"ci_4e6e8c48945711fe9e2c3765e62ecffeef2a1f880d1aca78b2dce0f8997d1b6e","title":"wait_manual_guide()","path":"/en/programming-manual/3.2.1/publish/wait_manual_guide","children":[]},{"id":"ci_6eea0bc024f564aeed7a216cbc25cda25b379b4464eeceb481d003c29b4163ea","title":"wait_nudge()","path":"/en/programming-manual/3.2.1/publish/wait_nudge","children":[]},{"id":"ci_9a36cffa75f5ed1e8545de18823a4651ca9a7b13433ecc810083640d77ca79ec","title":"enable_alter_motion(n,mode,ref,limit_dPOS,limit_dPOS_per)","path":"/en/programming-manual/3.2.1/publish/enable_alter_motion-n-mode-ref-limit_dpos-limit_dp","children":[]},{"id":"ci_18526ce79f620cf720fb1a73c3627e4fab2ceaaca2240bff201af29284f26c76","title":"alter_motion(pos)","path":"/en/programming-manual/3.2.1/publish/alter_motion-pos","children":[]},{"id":"ci_a0f7e51a5793f8ec4952ff11899c52411e59b35d4721c3f2ec5f042060f4270c","title":"disable_alter_motion()","path":"/en/programming-manual/3.2.1/publish/disable_alter_motion","children":[]},{"id":"ci_ffb00a8d29c68a821c900e6516da7d87f74e0fc736232ac177692420e3bd31f5","title":"check_robot_mastering()","path":"/en/programming-manual/3.2.1/publish/check_robot_mastering","children":[]},{"id":"ci_e1e6e48f052a122237e238a5026c473bacee3b6dedb766e95a0b881c4b89adeb","title":"motion_pause()","path":"/en/programming-manual/3.2.1/publish/motion_pause","children":[]},{"id":"ci_b9a944181bb1ee6114db903b7456e3b2d8b2e4176475562fa66bc8f1d6dae28e","title":"motion_resume()","path":"/en/programming-manual/3.2.1/publish/motion_resume","children":[]}]},{"id":"ci_0e9ab36fa5018d3327001baed8f5c58035a7f4f9ed7c8117fce2f40ff91ed296","title":"Servo Motion","path":"/en/programming-manual/3.2.1/publish/servo-motion","children":[{"id":"ci_a4760457143cd399489baa5047059641ea53bfd2a59ffa47fe2bd838979533d3","title":"servoj()","path":"/en/programming-manual/3.2.1/publish/servoj","children":[]},{"id":"ci_96c6c6f7a50b0ad9100eda5d3341fb2db99a05269155fd946673d91856e36481","title":"servol()","path":"/en/programming-manual/3.2.1/publish/servol","children":[]},{"id":"ci_b07b7da7b204d3bcc88d2013e802dd9dc4bbfc3063c07e8e895022e70e99719f","title":"speedj()","path":"/en/programming-manual/3.2.1/publish/speedj","children":[]},{"id":"ci_fd6833c5d4f92033b2b91459da6fa07f900369b6a84d847994631df4f42682ac","title":"speedl()","path":"/en/programming-manual/3.2.1/publish/speedl","children":[]}]}]},{"id":"ci_d1b5ed1886ae9e41eeef4c30cfbf286882bf44b8a926223e1154681c5330e639","title":"Auxiliary Control Commands","path":"/en/programming-manual/3.2.1/publish/auxiliary-control-commands","children":[{"id":"ci_244e7c9367587fb27be0b9740d874fd5e61cc72ef56af9718152062f75c722c2","title":"Robot Current Value","path":"/en/programming-manual/3.2.1/publish/robot-current-value","children":[{"id":"ci_c83821a1a836688b6f547aa52838ecfda53d17a9aebe15fafe741d652c9e4882","title":"get_current_posj()","path":"/en/programming-manual/3.2.1/publish/get_current_posj","children":[]},{"id":"ci_144c4d4549fbbf0aad8e7ee78b12a1650fce08e3e346afe65b2b91fb7228327e","title":"get_current_velj()","path":"/en/programming-manual/3.2.1/publish/get_current_velj","children":[]},{"id":"ci_d813a7a0332484091645e72803ef6fcbc4c111a0bed37b75e136c60bd978c879","title":"get_current_posx(ref, ori_type)","path":"/en/programming-manual/3.2.1/publish/get_current_posx-ref","children":[]},{"id":"ci_5f763d405c34208fbe82f95836864a2493c757e2a787505820ac316682b7316a","title":"get_current_tool_flange_posx(ref, ori_type)","path":"/en/programming-manual/3.2.1/publish/get_current_tool_flange_posx-ref","children":[]},{"id":"ci_012102d1e0cc86ae130bfa607620486f2a5b8b79aa215474b2a3e35eb969257e","title":"get_current_velx(ref)","path":"/en/programming-manual/3.2.1/publish/get_current_velx-ref","children":[]},{"id":"ci_b9f4bc14ec1ae1ba015593a2f72a1ae258c6639bbf0d0af7717d7918cade681f","title":"get_current_rotm(ref)","path":"/en/programming-manual/3.2.1/publish/get_current_rotm-ref","children":[]},{"id":"ci_64d83896b5b555e062e7ec6388f3a126d693b80348efe30754014b75dd355b4f","title":"get_joint_torque()","path":"/en/programming-manual/3.2.1/publish/get_joint_torque","children":[]},{"id":"ci_77d27a80f6d37ca0bdec5c07b254e3e1f24d09d47a59d0390cf34e1cb28159f6","title":"get_external_torque()","path":"/en/programming-manual/3.2.1/publish/get_external_torque","children":[]},{"id":"ci_5cff573f2dc07e84646e5f083a8e6d113edbd8a131c162efe20dc70a4e912217","title":"get_tool_force(ref)","path":"/en/programming-manual/3.2.1/publish/get_tool_force-ref","children":[]}]},{"id":"ci_33c40e5b4fc1e825f0f80f90964b41c5ee68d47bda1950a9efef1702e0ff18b9","title":"Robot Target Value","path":"/en/programming-manual/3.2.1/publish/robot-target-value","children":[{"id":"ci_6f1c16025b96605fad73095fa0a638ecc9faaec103d529425cdfcb47c572ab38","title":"get_desired_posj()","path":"/en/programming-manual/3.2.1/publish/get_desired_posj","children":[]},{"id":"ci_9fc2edb13550a46a72d342e632780e2ea5ebc925304d4491cd1ca395b1b6eca4","title":"get_desired_velj()","path":"/en/programming-manual/3.2.1/publish/get_desired_velj","children":[]},{"id":"ci_643946ce05a4d682c26ecbe9e69a290aa0a8e5351ff207a9768e69b2ee50284a","title":"get_desired_posx(ref, ori_type)","path":"/en/programming-manual/3.2.1/publish/get_desired_posx-ref","children":[]},{"id":"ci_f73149aa5c5cd024d789fd6e46433e31b4a16868590e78989f3360161d7e48e7","title":"get_desired_velx(ref)","path":"/en/programming-manual/3.2.1/publish/get_desired_velx-ref","children":[]}]},{"id":"ci_71fd3700a7d70fa9abc0283080ee5dd3ae77baeab5b1de1ceb7f2521bd867075","title":"Control State Value","path":"/en/programming-manual/3.2.1/publish/control-state-value","children":[{"id":"ci_c70b0f5eb5ab34d6ec0e1191c1c15b72b51b2f9e31937f40a1855ee2b00134c3","title":"get_control_mode()","path":"/en/programming-manual/3.2.1/publish/get_control_mode","children":[]},{"id":"ci_d15ea66235e34e8106b6694f37d57527472ea9b9250938a5fb35250e676764d3","title":"get_control_space()","path":"/en/programming-manual/3.2.1/publish/get_control_space","children":[]},{"id":"ci_c039810c924bb01dd6f5a38f11a72abef2b60f1d9b59ba8e6959250b0206e539","title":"get_current_solution_space()","path":"/en/programming-manual/3.2.1/publish/get_current_solution_space","children":[]},{"id":"ci_199ac1108a9021f39b52c6511e39429de53d78b5cea7cc1eb6f783656e782b07","title":"get_solution_space(pos)","path":"/en/programming-manual/3.2.1/publish/get_solution_space-pos","children":[]},{"id":"ci_f3b84a83800d46f6adac43f0d43826c4be852156c2fd77a2140c75648ef8dcf7","title":"get_orientation_error(xd, xc, axis)","path":"/en/programming-manual/3.2.1/publish/get_orientation_error-xd-xc-axis","children":[]}]}]},{"id":"ci_048c0f1ed720ec3d3e24684b22df6b3e635e75a6a6a487a4eacca0bd23d1fceb","title":"Other Settings Command","path":"/en/programming-manual/3.2.1/publish/other-settings-command","children":[{"id":"ci_fe7a4d2cc01a509b8467dbcf1635eb6eab480e470558a830786ca931edb77132","title":"Tool/Workpiece Settings","path":"/en/programming-manual/3.2.1/publish/tool-workpiece-settings","children":[{"id":"ci_69187d6843352dda445323ceef4ef1a9ec235fdc3945fe6b4b240bd6ca70b273","title":"get_workpiece_weight()","path":"/en/programming-manual/3.2.1/publish/get_workpiece_weight","children":[]},{"id":"ci_e3f235f93cc6cde99d61d78b004babb617b844d7f14b451edd795c9efcaf243c","title":"reset_workpiece_weight()","path":"/en/programming-manual/3.2.1/publish/reset_workpiece_weight","children":[]},{"id":"ci_fbc89adf3fde67e861a9635fe192c6818a539c1585c9b4c089d51210ad3781be","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/3.2.1/publish/set_workpiece_weight-weight-0-0-cog-0-0-0-0-0-0-co","children":[]},{"id":"ci_b65216412deecbc98bfda081b7aeb368c862b5fbbd70d3f3684177ab49a6fd41","title":"set_tool_shape(name)","path":"/en/programming-manual/3.2.1/publish/set_tool_shape-name","children":[]},{"id":"ci_494b37a7050491b08359ead79927e1dc89e14ba1e778a20b97d1b063f3b3e965","title":"set_tool(name, start_time, transition_time)","path":"/en/programming-manual/3.2.1/publish/set_tool-name-start_time-transition_time","children":[]}]},{"id":"ci_26ce4e95ed01c299c8a0b1c544c9b171df90cc793db01e79dc36bdd8fe3f0ff9","title":"Control Mode Settings","path":"/en/programming-manual/3.2.1/publish/control-mode-settings","children":[{"id":"ci_54e26761bfa3de7bfc72f83164b7de80279d08c6dd5182ecec166fc46965ff29","title":"set_singularity_handling(mode)","path":"/en/programming-manual/3.2.1/publish/set_singularity_handling-mode","children":[]},{"id":"ci_549aaafc0a2e8d479f3b38a08df0404819edbeb5a490f000b99fba588baedb02","title":"set_singular_handling_force(mode)","path":"/en/programming-manual/3.2.1/publish/set_singular_handling_force-mode","children":[]},{"id":"ci_3653407852385fd035660d32b017f0e1c5b162abcd35885acb659d73462fb2e8","title":"set_palletizing_mode(mode)","path":"/en/programming-manual/3.2.1/publish/set_palletizing_mode-mode","children":[]},{"id":"ci_a56cf7cf745b00462e37e4612af758471be8662d6b2f5aefc34e65d61ffd7432","title":"set_motion_end(mode)","path":"/en/programming-manual/3.2.1/publish/set_motion_end-mode","children":[]}]}]},{"id":"ci_d3bc50548a54b4aadb6f4e26ed167f9c1e72b418faeaf5083772ae3795297e9a","title":"Force/Stiffness Control and Other User-Friendly Features","path":"/en/programming-manual/3.2.1/publish/force-stiffness-control-and-other-user-friendly-fe","children":[{"id":"ci_5a03dcee777be0b6975477a035a77f128bbccb1d744d2d6b9990d03ecae05d0c","title":"Force/Compliance Control","path":"/en/programming-manual/3.2.1/publish/force-compliance-control","children":[{"id":"ci_61bc61206a3f8655fa8bee5872419a9352a6f1c94d928293975df999df9177ac","title":"release_compliance_ctrl()","path":"/en/programming-manual/3.2.1/publish/release_compliance_ctrl","children":[]},{"id":"ci_0c4230c6f2bcec0091c043bb20a61475329226b8a0f9a73bec9d9fc87e4e49be","title":"task_compliance_ctrl(stx, time)","path":"/en/programming-manual/3.2.1/publish/task_compliance_ctrl-stx-time","children":[]},{"id":"ci_c768a0a054f658c1320ebeb656ce5f2fa61bb8a0adf8263741efa69833cbd173","title":"set_stiffnessx(stx, time)","path":"/en/programming-manual/3.2.1/publish/set_stiffnessx-stx-time","children":[]},{"id":"ci_dee5301122a0b0e0efc2b45f76496970e8f820ad350b035136663bad6f9d4f2a","title":"set_desired_force(fd, dir, time, mod)","path":"/en/programming-manual/3.2.1/publish/set_desired_force-fd-dir-time-mod","children":[]},{"id":"ci_451100a377f8c81ac630dd8f084d005af833d841f3a7c9488801e48a827caf04","title":"release_force(time=0)","path":"/en/programming-manual/3.2.1/publish/release_force-time-0","children":[]},{"id":"ci_39ebf1cbce96533ed985c5b37f5c1a501406e047be26b824838c972eeaeaa420","title":"get_force_control_state()","path":"/en/programming-manual/3.2.1/publish/get_force_control_state","children":[]},{"id":"ci_34d38f79c7b8736bb0db8efd3c6a62590398f17fc7c8521cbe7634c15c3918f7","title":"set_damping_factor(damping_factor, time)","path":"/en/programming-manual/3.2.1/publish/set_damping_factor-damping_factor-time","children":[]},{"id":"ci_7a1c5f4f5dbdbd9fe134286c4fde57744d888dade9ea779e14885b68efcfbf8f","title":"set_force_factor(force_factor, time)","path":"/en/programming-manual/3.2.1/publish/set_force_factor-force_factor-time","children":[]}]},{"id":"ci_1c11a8f3dd391f15b312713f12ce5ebe415f83b11847b1da223e0190a239d4ef","title":"User-friendly Functions","path":"/en/programming-manual/3.2.1/publish/user-friendly-functions","children":[{"id":"ci_b92aa2653665713bc7637e14c1f935ec2c1f12120906994e11104265a6357b26","title":"parallel_axis(x1, x2, x3, axis, ref)","path":"/en/programming-manual/3.2.1/publish/parallel_axis-x1-x2-x3-axis-ref","children":[]},{"id":"ci_29eb1103bbdb06ef14596550777cf1190204cdd5c036065811e4998fa26e32b3","title":"parallel_axis(vect, axis, ref)","path":"/en/programming-manual/3.2.1/publish/parallel_axis-vect-axis-ref","children":[]},{"id":"ci_7e2fbc2561efa6bd67f79f26894d65c24df95cc8ab637679ae2866718a364df1","title":"align_axis(x1, x2, x3, pos, axis, ref)","path":"/en/programming-manual/3.2.1/publish/align_axis-x1-x2-x3-pos-axis-ref","children":[]},{"id":"ci_ceb4f909299f6ef3bce88fa80f2ffd480cb418b89aec4b4c29f45f8c88464cdc","title":"align_axis(vect, pos, axis, ref)","path":"/en/programming-manual/3.2.1/publish/align_axis-vect-pos-axis-ref","children":[]},{"id":"ci_f48545852991def43021e278ffceab6ce3805aaa1d798084963b70cb31983299","title":"is_done_bolt_tightening(m=0, timeout=0, axis=None)","path":"/en/programming-manual/3.2.1/publish/is_done_bolt_tightening-m-0-timeout-0-axis-none","children":[]},{"id":"ci_3a2578b3da7c1fb880ad8a61d31b911b975734ec77891712d1a25d4ec9e07172","title":"calc_coord(x1, x2, x3, x4, ref, mod, ori_type_out)","path":"/en/programming-manual/3.2.1/publish/calc_coord-x1-x2-x3-x4-ref-mod","children":[]},{"id":"ci_22d25f528983093b3486f8d9b5c2a73abf10a71c59707445da2eaa803eeb7641","title":"set_user_cart_coord(pos, ref)","path":"/en/programming-manual/3.2.1/publish/set_user_cart_coord-pos-ref","children":[]},{"id":"ci_ca5764d977653b994364a6854775b6ac3b04568404225fbcba335aa32f066fbb","title":"set_user_cart_coord(x1, x2, x3, pos, ref)","path":"/en/programming-manual/3.2.1/publish/set_user_cart_coord-x1-x2-x3-pos-ref","children":[]},{"id":"ci_0fc46016899e0ab4edee490e5971d0d7a73f6638eb1d2d02116babe452efe44d","title":"set_user_cart_coord(u1, v1, pos, ref)","path":"/en/programming-manual/3.2.1/publish/set_user_cart_coord-u1-v1-pos-ref","children":[]},{"id":"ci_012dd4dc61d10106ac747b25d7425c37abf629e7957efa39a396a6accddf1a92","title":"overwrite_user_cart_coord(id, pos, ref, apply_mod)","path":"/en/programming-manual/3.2.1/publish/overwrite_user_cart_coord-id-pos-ref-apply_mod","children":[]},{"id":"ci_f224efe724d5617c077db1cfc7ae08610b93229f1325c91e43a9a91a44c9d042","title":"get_user_cart_coord(id, ori_type)","path":"/en/programming-manual/3.2.1/publish/get_user_cart_coord-id","children":[]},{"id":"ci_d002c4d9fdb1a0152096ea5f020dd210138772dc158300170d56fb261b727345","title":"check_position_condition(axis, min, max, ref, mod, pos)","path":"/en/programming-manual/3.2.1/publish/check_position_condition-axis-min-max-ref-mod-pos","children":[]},{"id":"ci_e9bb48095f6b2f72bff1112b5be7bed07f7ab79d7ab9853380088cec204cabff","title":"check_force_condition(axis, min, max, ref)","path":"/en/programming-manual/3.2.1/publish/check_force_condition-axis-min-max-ref","children":[]},{"id":"ci_82e6c3b623d04b0b916bdab8c3a61ffad24721d9f480ee8dfd4f679680202aef","title":"check_orientation_condition(axis, min, max, ref, mod)","path":"/en/programming-manual/3.2.1/publish/check_orientation_condition-axis-min-max-ref-mod","children":[]},{"id":"ci_efe3d48a44bf8ef8018064ea03cd4c2016e8ff7ad228ecb493cd856505ae1688","title":"check_orientation_condition(axis, min, max, ref, mod, pos)","path":"/en/programming-manual/3.2.1/publish/check_orientation_condition-axis-min-max-ref-mod-p","children":[]},{"id":"ci_c56800b3ec3b9d683a0b539c6b8b6d5b4456784d97464b1857522c2f6618fe90","title":"coord_transform(pose_in, ref_in, ref_out, ori_type_out)","path":"/en/programming-manual/3.2.1/publish/coord_transform-pose_in-ref_in-ref_out","children":[]},{"id":"ci_06d4ec17b156373a0e25c5958d89301a98073f68e174a3c6771fb1a679910eea","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/3.2.1/publish/get_pattern_point-pos1-pos2-pos3-pos4-index-patter","children":[]}]}]},{"id":"ci_0beca2bbb18ef3321fb5644299d513a0e399264945b68f3486c2c6183b517470","title":"System Commands","path":"/en/programming-manual/3.2.1/publish/system-commands","children":[{"id":"ci_54259615e0101ae92cbbb3f4ef1dab58d6d6e5e6e755e0105e00d404d7cdb1c2","title":"IO Related","path":"/en/programming-manual/3.2.1/publish/io-related","children":[{"id":"ci_611daf6be2dc41fe9020a523295d2da9594cfc4299666e6c34afa9bd0a606e72","title":"set_digital_output(index, val =None)","path":"/en/programming-manual/3.2.1/publish/set_digital_output-index-val-none","children":[]},{"id":"ci_bb644e8b715319d16bfb082c8725e40194040c28af6b4456d82becc164977a90","title":"set_digital_outputs(bit_list)","path":"/en/programming-manual/3.2.1/publish/set_digital_outputs-bit_list","children":[]},{"id":"ci_69e0852cec83185afb2912df53ae9c9d5b1de1b57a07a7ff9cbfab71fb0caab3","title":"set_digital_outputs(bit_start, bit_end, val)","path":"/en/programming-manual/3.2.1/publish/set_digital_outputs-bit_start-bit_end-val","children":[]},{"id":"ci_e561cc81652bccbfd2b60002faa300a5cfbc61a909a7a5922e7fa00e4e7938b6","title":"set_digital_output(index, val=None, time=None, val2=None)","path":"/en/programming-manual/3.2.1/publish/set_digital_output-index-val-none-time-none-val2-n","children":[]},{"id":"ci_03411a654171f2ac45d2bf11ffc6ddd4a751b47faa94d5854ab3db792b468c60","title":"get_digital_input(index)","path":"/en/programming-manual/3.2.1/publish/get_digital_input-index","children":[]},{"id":"ci_3d3f1938520eba93c20e23b92cabb6bb0c40dfdbee9ac200bde741cd68645505","title":"get_digital_inputs(bit_list)","path":"/en/programming-manual/3.2.1/publish/get_digital_inputs-bit_list","children":[]},{"id":"ci_acae5a43bddba5c0045d908cb7b9142f58b8ad236b7896b5f89c7f7ce6bbae43","title":"get_digital_inputs(bit_start, bit_end)","path":"/en/programming-manual/3.2.1/publish/get_digital_inputs-bit_start-bit_end","children":[]},{"id":"ci_f568f3a5b8a43b2862753fdba7e10aae4b2063c597c1cbfa00ad224ccc90486d","title":"wait_digital_input(index, val, timeout=None)","path":"/en/programming-manual/3.2.1/publish/wait_digital_input-index-val-timeout-none","children":[]},{"id":"ci_2aa3d0bb11cdaa3d906030aabe427b2422807567ad2fa731e3a0b4455dcc0287","title":"set_tool_digital_output(index, val=None)","path":"/en/programming-manual/3.2.1/publish/set_tool_digital_output-index-val-none","children":[]},{"id":"ci_5cde1beb8360c7c50725517c90bbb1eb5466c5730d40d30f09d4935bd6d1ea12","title":"set_tool_digital_outputs(bit_list)","path":"/en/programming-manual/3.2.1/publish/set_tool_digital_outputs-bit_list","children":[]},{"id":"ci_c9699d5683a66f5fa29c59d7829e8bcb7f23f250954e91f2ff4f2df0c261b86e","title":"set_tool_digital_outputs(bit_start, bit_end, val)","path":"/en/programming-manual/3.2.1/publish/set_tool_digital_outputs-bit_start-bit_end-val","children":[]},{"id":"ci_b42575662074281350c4d3f62601de06039494721ef93fe114ed55f815840191","title":"set_tool_digital_output(index, val=None, time=None, val2=None)","path":"/en/programming-manual/3.2.1/publish/set_tool_digital_output-index-val-none-time-none-v","children":[]},{"id":"ci_ad72c3db2636c0d5f14dcb12fd42cc6cdf0b184baa1de50cb991080a2579a1fa","title":"get_tool_digital_input(index)","path":"/en/programming-manual/3.2.1/publish/get_tool_digital_input-index","children":[]},{"id":"ci_08c54c93ce7dfb11cf65bf943fd616166c87e3280c48d24846c613239253ee16","title":"get_tool_digital_inputs(bit_list)","path":"/en/programming-manual/3.2.1/publish/get_tool_digital_inputs-bit_list","children":[]},{"id":"ci_97e3ef1123ef26ea3d537dcc2322d4edd3bd3702fb88616f52900a6edbc9e791","title":"get_tool_digital_inputs(bit_start, bit_end)","path":"/en/programming-manual/3.2.1/publish/get_tool_digital_inputs-bit_start-bit_end","children":[]},{"id":"ci_7f812cd781cdb7248473d5d4ed37b78c0a37378560b9b315c35d28d4aaa01260","title":"wait_tool_digital_input(index, val, timeout=None)","path":"/en/programming-manual/3.2.1/publish/wait_tool_digital_input-index-val-timeout-none","children":[]},{"id":"ci_882da64e0f9fefb4354329b9f8634cdadd01208d513d03a0c8f7e34d5c02fcf1","title":"set_mode_analog_output(ch, mod )","path":"/en/programming-manual/3.2.1/publish/set_mode_analog_output-ch-mod","children":[]},{"id":"ci_0b0aae3feb0fe3667e83f670f2556df1a5c6b87d0833abcc7fed10ca366b0143","title":"set_mode_analog_input(ch, mod )","path":"/en/programming-manual/3.2.1/publish/set_mode_analog_input-ch-mod","children":[]},{"id":"ci_1766180950ff7b2a38847fc34cdb50a93fce8893b7f60dece7ea8bcb2cbf44fe","title":"set_analog_output(ch, val)","path":"/en/programming-manual/3.2.1/publish/set_analog_output-ch-val","children":[]},{"id":"ci_83e145307b96c9dd440a26305495477588591465af5f8444d210cc0b0727c5d5","title":"get_analog_input(ch)","path":"/en/programming-manual/3.2.1/publish/get_analog_input-ch","children":[]},{"id":"ci_a215d8cbed3540e977e0d6702001334c0fa740947f6dc056d71e458bffca81d1","title":"set_output(port_type, index, val=None, time=None, val2=None)","path":"/en/programming-manual/3.2.1/publish/set_output-port_type-index-val-none-time-none-val2","children":[]},{"id":"ci_972186cce6bfe38b2f36c650107e69fb3d764b88cb8edf597ea3830ef89bb2c2","title":"get_input(port_type, index)","path":"/en/programming-manual/3.2.1/publish/get_input-port_type-index","children":[]},{"id":"ci_253c926910d834f22d9938a4f86152bb73d487a56dea695da79fd37c4d5d4c8b","title":"wait_input(port_type, index, val, timeout=None, condition=None)","path":"/en/programming-manual/3.2.1/publish/wait_input-port_type-index-val-timeout-none-condit","children":[]},{"id":"ci_a3cc23390282764fe7ba41b230346e131376283b33912d58858ff1412f4da2cc","title":"wait_analog_input(ch, condition, val, timeout=None)","path":"/en/programming-manual/3.2.1/publish/wait_analog_input-ch-condition-val-timeout-none","children":[]},{"id":"ci_c260f0e2fc2cb975e1759bf1205745fa41ee653db5dc20fb8fd47b98a124f5b8","title":"wait_tool_analog_input(ch, condition, val, timeout=None)","path":"/en/programming-manual/3.2.1/publish/wait_tool_analog_input-ch-condition-val-timeout-no","children":[]}]},{"id":"ci_2d3a2fc4a5fbf64e18a8b759ac255ffd4a64fa52ad275000389576cda9654263","title":"TP Interface","path":"/en/programming-manual/3.2.1/publish/tp-interface","children":[{"id":"ci_f2b117477c08f127cf0525cc6bdfe27b8727b2b8ec7b8c22fd5d2901d379baaa","title":"tp_popup(message, pm_type=DR_PM_MESSAGE, button_type=0)","path":"/en/programming-manual/3.2.1/publish/tp_popup-message-pm_type-dr_pm_message-button_type","children":[]},{"id":"ci_2977b60509e228f6f8e817483d03c817848660e87a66f48b92973f3eb1f80f36","title":"tp_log(message)","path":"/en/programming-manual/3.2.1/publish/tp_log-message","children":[]},{"id":"ci_acdcae86b291a2ea11a26dd6e9b08eb4bb9b85a2ae1aa8a181b90cb51b1e2814","title":"tp_get_user_input(message, input_type)","path":"/en/programming-manual/3.2.1/publish/tp_get_user_input-message-input_type","children":[]}]},{"id":"ci_7ba0bf4d1457d79caf6bf48631eb49047101e6e932872017f84281772e1eecf5","title":"Thread","path":"/en/programming-manual/3.2.1/publish/thread","children":[{"id":"ci_32bac91dc2eb06a3685ace6106318f1acd4e66ccf313b06b0caca48e2ed44799","title":"thread_run(th_func_name, loop=False)","path":"/en/programming-manual/3.2.1/publish/thread_run-th_func_name-loop-false","children":[]},{"id":"ci_7b070042db68cac3328e06c8d0449626b47794e26b927e4acacec08cbace9c31","title":"thread_stop(th_id)","path":"/en/programming-manual/3.2.1/publish/thread_stop-th_id","children":[]},{"id":"ci_ba10a6a125efecdaabc3c2e649db97d95910d8f9fea0f465c884be5af4bbc2c8","title":"thread_pause(th_id)","path":"/en/programming-manual/3.2.1/publish/thread_pause-th_id","children":[]},{"id":"ci_79f2b5174af976d945841f8452a2ad201aafb1fbfba315f5412cf256551a9a72","title":"thread_resume(th_id)","path":"/en/programming-manual/3.2.1/publish/thread_resume-th_id","children":[]},{"id":"ci_764004f58e9b91f0549adc0804db400f6bbf749cb6eb981f6c848001c2f0bd5b","title":"thread_state(th_id)","path":"/en/programming-manual/3.2.1/publish/thread_state-th_id","children":[]},{"id":"ci_b88d93164b3fae6e42d45c56379131db20825e33fb1a75614c575b3365d25755","title":"Integrated example - Thread","path":"/en/programming-manual/3.2.1/publish/integrated-example-thread","children":[]}]},{"id":"ci_9f7aa61e2e2983b8c91470196cee10406063c15d97f713aa14e989fa5d0bc89b","title":"Others","path":"/en/programming-manual/3.2.1/publish/others","children":[{"id":"ci_e0c7b4618480636afa6d630f42d0a2bb594445f40557ee02bc5ffafb4cd4e7bc","title":"wait(time)","path":"/en/programming-manual/3.2.1/publish/wait-time","children":[]},{"id":"ci_c5d30aecc14f994942a74cfdc79077852ed05ba088a3ba5368776a606ed06e11","title":"exit()","path":"/en/programming-manual/3.2.1/publish/exit","children":[]},{"id":"ci_f197a4274ef14f7ec8d93902b30163280fc92f5c6bae12d3d991f6d1f98ded28","title":"sub_program_run(name)","path":"/en/programming-manual/3.2.1/publish/sub_program_run-name","children":[]},{"id":"ci_bd0f9c48b0355f431889cc72ae310dda0f506290435dfee9b74f283ed28fed7e","title":"drl_report_line(option)","path":"/en/programming-manual/3.2.1/publish/drl_report_line-option","children":[]},{"id":"ci_65dfc1e0557eac604da9b4e763717937eb5afd9ce7e07f81cdbd77608f7ab8df","title":"set_fm(key, value)","path":"/en/programming-manual/3.2.1/publish/set_fm-key-value","children":[]},{"id":"ci_5afa80285046db8dcc6b43a8d8535696c0c8d24a56dd44197829826762af394d","title":"get_robot_model()","path":"/en/programming-manual/3.2.1/publish/get_robot_model","children":[]},{"id":"ci_f8786321635317c0327026e02d9f89f6116d3880f0e503d1e1eb68293d29fd92","title":"get_robot_serial_num()","path":"/en/programming-manual/3.2.1/publish/get_robot_serial_num","children":[]},{"id":"ci_43417128f96580c77ad02ccef858d0169b9655bcfd0ea06e1f49286c9504be34","title":"check_robot_jts()","path":"/en/programming-manual/3.2.1/publish/check_robot_jts","children":[]},{"id":"ci_b7aaa66f6431b71ba8ac5bba59b2d626bc1bfc06972ff149d96f982f28caee21","title":"check_robot_fts()","path":"/en/programming-manual/3.2.1/publish/check_robot_fts","children":[]},{"id":"ci_a6d8a5787e8d6e52ed7ba1dcb4ccf477b07d59818e4bac2e09da292f74ab9cb7","title":"start_timer()","path":"/en/programming-manual/3.2.1/publish/start_timer","children":[]},{"id":"ci_3e7ebde1baf01e9874367357048c43227e33eb149f988fe402dc67d4ed197023","title":"end_timer()","path":"/en/programming-manual/3.2.1/publish/end_timer","children":[]},{"id":"ci_74aed097cb4bf81c86ac940bd0520d24333d20231fb5ea260aa42ff2882d5d5b","title":"message_to_dp(event_name, strdata)","path":"/en/programming-manual/3.2.1/publish/message_to_dp-event_name-strdata","children":[]},{"id":"ci_c1d2f867bb3baf4378fd6153a7ca4699cabd0b2773db6192811f0b5f36384031","title":"send_load_module(package, sub_type, active)","path":"/en/programming-manual/3.2.1/publish/send_load_module-package-sub_type-active","children":[]},{"id":"ci_4035ca8970babe52bd3ea4c3a1f4640ec514cfaffd8125507cc283c6e83905cf","title":"send_unload_module(unique_id)","path":"/en/programming-manual/3.2.1/publish/send_unload_module-unique_id","children":[]}]}]},{"id":"ci_66c7d15630d91333d544bc04193e5a4f21ee9994a8b4df6bcafd0241127e0649","title":"Mathematical Function","path":"/en/programming-manual/3.2.1/publish/mathematical-function","children":[{"id":"ci_ab38915ed4b046bb20e812a6a003ce738356c6b6709e30b1dfa15235cebaab7d","title":"Basic Function","path":"/en/programming-manual/3.2.1/publish/basic-function","children":[{"id":"ci_a3bb96db1871ce9cd17724f03a1eecaa45235f5d15ca9c0abfc8b57b87a6e71c","title":"ceil(x)","path":"/en/programming-manual/3.2.1/publish/ceil-x","children":[]},{"id":"ci_03fcc6200b9bedab48bbcf136a36108c0902b2833568e9d229d148a342ade1e6","title":"floor(x)","path":"/en/programming-manual/3.2.1/publish/floor-x","children":[]},{"id":"ci_4e269f4685fad2e865abd674eb432a2c840aaadcef23156fa78111d5c18dbad3","title":"pow(x, y)","path":"/en/programming-manual/3.2.1/publish/pow-x-y","children":[]},{"id":"ci_5ad76ff84e0dcccf524942f8a76e39a63af6eb3a7be17c0062e45fbdb0580d2e","title":"sqrt(x)","path":"/en/programming-manual/3.2.1/publish/sqrt-x","children":[]},{"id":"ci_8ac1c9095cb2bb4e562efefa27f6b7c9d63d6c1ac70783cf7afee1fb27fdd7f6","title":"log(x, b)","path":"/en/programming-manual/3.2.1/publish/log-x-b","children":[]},{"id":"ci_f291c5f580f4c132c6b2287ed9af05a6e8f1813cd36f7840af3f58564d2f23e1","title":"d2r(x)","path":"/en/programming-manual/3.2.1/publish/d2r-x","children":[]},{"id":"ci_cbcf692a0aa07e946bba6ebd851657c2595aea6c397bfc1dde63115cf42c3e85","title":"r2d(x)","path":"/en/programming-manual/3.2.1/publish/r2d-x","children":[]},{"id":"ci_1154e3773d18a3b5cac6575c534471d6e1ea9f8a5bee592c8b6e681984715be2","title":"random()","path":"/en/programming-manual/3.2.1/publish/random","children":[]}]},{"id":"ci_66b41b0d76873df871eb5698c067504a1209a5330a04d2ddda3e3c790590a995","title":"Trigonometric functions","path":"/en/programming-manual/3.2.1/publish/trigonometric-functions","children":[{"id":"ci_492761403347ff107c1be67218cde506cd8336583e2aad68b9c592e4540413b9","title":"sin(x)","path":"/en/programming-manual/3.2.1/publish/sin-x","children":[]},{"id":"ci_589600a2d42887ca41f7830ba985bee134697461b0e76834e7780f733ab85701","title":"cos(x)","path":"/en/programming-manual/3.2.1/publish/cos-x","children":[]},{"id":"ci_7101990018c6d11068ab847910ab0d44f3fc3302babc076dafb9552740e5ece1","title":"tan(x)","path":"/en/programming-manual/3.2.1/publish/tan-x","children":[]},{"id":"ci_7e0451263b6331ce88e6ff6153d4b224c7011e3b09ae19249ba3bb934673b01e","title":"asin(x)","path":"/en/programming-manual/3.2.1/publish/asin-x","children":[]},{"id":"ci_d41210673728b4047b709d4045d8aee421dafea0d89baef6d5fa25dfafee573a","title":"acos(x)","path":"/en/programming-manual/3.2.1/publish/acos-x","children":[]},{"id":"ci_e985f366a03e30fe2fd80f99991be2217210a811e34672ad0dacd242b0a2c1c4","title":"atan(x)","path":"/en/programming-manual/3.2.1/publish/atan-x","children":[]},{"id":"ci_d9da7b3513d4286f31d9bba9ec07e093412f7cbc8e7a559bad6c7ba11899c2bd","title":"atan2(y, x)","path":"/en/programming-manual/3.2.1/publish/atan2-y-x","children":[]}]},{"id":"ci_d6350af32de1bebbfb9f09e574d5fdd3ab6359424305f085a68a62b409f68c44","title":"Linear algebra","path":"/en/programming-manual/3.2.1/publish/linear-algebra","children":[{"id":"ci_9f0c71c563aa614e254d35969485b0db242fe65be8ee5f1dec2002160a8a69ba","title":"norm(x)","path":"/en/programming-manual/3.2.1/publish/norm-x","children":[]},{"id":"ci_2682b11529a07e5b9bf8d5c3a0c6d70150007e290fae20efd70194b97bb810ea","title":"rotx(angle)","path":"/en/programming-manual/3.2.1/publish/rotx-angle","children":[]},{"id":"ci_5d300153c3e9275ef1c88e996aa8f4a43fee2fb1b60870f93b4cfa09fc08f33f","title":"roty(angle)","path":"/en/programming-manual/3.2.1/publish/roty-angle","children":[]},{"id":"ci_2b7809fe3ad7ae5ed5dfcf95a200aeb71ef9d06f37942ebcfaa5539972083cf1","title":"rotz(angle)","path":"/en/programming-manual/3.2.1/publish/rotz-angle","children":[]},{"id":"ci_a68bfcc5f283010ffc451d4f7975f2ef6fd09dc21007117023fcfb737454bd03","title":"rotm2eul(rotm)","path":"/en/programming-manual/3.2.1/publish/rotm2eul-rotm","children":[]},{"id":"ci_7fbd359c6a5f3ffb251eddb6296eefec286cc3b5eda1afc0d5c3b76be20b8944","title":"rotm2rotvec(rotm)","path":"/en/programming-manual/3.2.1/publish/rotm2rotvec-rotm","children":[]},{"id":"ci_6fb7ba63127e3ac71757c6106f9ea2b83f93867222db8ee2dd374221878b506e","title":"eul2rotm([alpha,beta,gamma])","path":"/en/programming-manual/3.2.1/publish/eul2rotm-alpha-beta-gamma","children":[]},{"id":"ci_679e5054eeb60da95238deff8f4784439747286c64e4404ca5de6be826cfac0c","title":"eul2rotvec([alpha,beta,gamma])","path":"/en/programming-manual/3.2.1/publish/eul2rotvec-alpha-beta-gamma","children":[]},{"id":"ci_d1b30d3f0956dae8eb83ce5e5d7c63d8abbcdd99e02f9e9efae39471597647b8","title":"eul2rpy([alpha,beta,gamma])","path":"/en/programming-manual/3.2.1/publish/eul2rpy-alpha-beta-gamma","children":[]},{"id":"ci_5becb4d95f01325d513411e1533dd53f86c38d4cbb50bb88e895feeb7c24525c","title":"rpy2eul([yaw,pitch,roll])","path":"/en/programming-manual/3.2.1/publish/rpy2eul-yaw-pitch-roll","children":[]},{"id":"ci_ea30afdffbcf8e6984532c8dea820b71aa79d4863c0c7740eb9a30c4c23b719d","title":"rotvec2eul([rx,ry,rz])","path":"/en/programming-manual/3.2.1/publish/rotvec2eul-rx-ry-rz","children":[]},{"id":"ci_b423cd1d5728b80cb1a35319121993b78dd563535b7dd4fddad981b3899a8261","title":"rotvec2rotm([rx,ry,rz])","path":"/en/programming-manual/3.2.1/publish/rotvec2rotm-rx-ry-rz","children":[]},{"id":"ci_670fc563a06ae2c44e43cc045893f59fb6f5160bad4addad353bc8a9889b2f6a","title":"htrans(posx1,posx2,ori_type_out)","path":"/en/programming-manual/3.2.1/publish/htrans-posx1-posx2","children":[]},{"id":"ci_b8f8621470b3cb2bbba1ebf0161bf5eb0331525f0344d3e0acb7db82dc324ddc","title":"get_intermediate_pose(posx1,posx2,alpha,ori_type_out)","path":"/en/programming-manual/3.2.1/publish/get_intermediate_pose-posx1-posx2-alpha","children":[]},{"id":"ci_7682674c8b8efa35fb5ae459c1672577a721fab2e9dc04dc75e4d2c00cbeae0c","title":"get_distance(posx1, posx2)","path":"/en/programming-manual/3.2.1/publish/get_distance-posx1-posx2","children":[]},{"id":"ci_f9f5a7f11c542172f2405aee4306e3a4ce3ef1735710f89d80d5c5e96c4ffd9d","title":"get_normal(x1, x2, x3)","path":"/en/programming-manual/3.2.1/publish/get_normal-x1-x2-x3","children":[]},{"id":"ci_0298f67c533dc7ce910e7aabdd304f0ff0daa54c19f9fdce19470b7f19e17135","title":"add_pose(posx1,posx2,ori_type_out)","path":"/en/programming-manual/3.2.1/publish/add_pose-posx1-posx2","children":[]},{"id":"ci_a809922572f5716ab6088a11885d9fe39b536e5c249b61282e8c1d820e7ef4e4","title":"subtract_pose(posx1,posx2,ori_type_out)","path":"/en/programming-manual/3.2.1/publish/subtract_pose-posx1-posx2","children":[]},{"id":"ci_81446230474dde96f1c953424fb92560802034307b6c33e92ac3c86c4a6cbc91","title":"inverse_pose(posx1)","path":"/en/programming-manual/3.2.1/publish/inverse_pose-posx1","children":[]},{"id":"ci_7f234f81dc4749645952da904fb8324290eebf7b4be7af0a396b5f8e7cf7c730","title":"dot_pose(posx1, posx2)","path":"/en/programming-manual/3.2.1/publish/dot_pose-posx1-posx2","children":[]},{"id":"ci_e841b001caf9c2e0f537a57213b49b7da2b3e1f6c8ce1155207a8e1fd65b6c03","title":"cross_pose(posx1, posx2)","path":"/en/programming-manual/3.2.1/publish/cross_pose-posx1-posx2","children":[]},{"id":"ci_6fa870bac406c65cedd06c5ee0801e1f50d39f226b3eac4b4ad27ce37a397837","title":"unit_pose(posx1)","path":"/en/programming-manual/3.2.1/publish/unit_pose-posx1","children":[]}]}]},{"id":"ci_48d9b4c4247fb3843aeae6137bd7f678d730adf777b9de3dc4cab7aba6006479","title":"External Communication Commands","path":"/en/programming-manual/3.2.1/publish/external-communication-commands","children":[{"id":"ci_872d5f638d92b6378876ee28442434ff6400059865b5f19d967d9d3d4d6fa6dd","title":"Serial","path":"/en/programming-manual/3.2.1/publish/serial","children":[{"id":"ci_a6ec13e4614d3e8c5f8f802ea27f86f7083337a1b0fd40b8a87f1c86ebcf1a2f","title":"serial_open(port=None, baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits=DR_STOPBITS_ONE)","path":"/en/programming-manual/3.2.1/publish/serial_open-port-none-baudrate-115200-bytesize-dr_","children":[]},{"id":"ci_9ad4f1ce8c8c1a2c40efb93518b91a3b254bf9bd5b4ae5077955931cb6a91bd6","title":"serial_close(ser)","path":"/en/programming-manual/3.2.1/publish/serial_close-ser","children":[]},{"id":"ci_7ec28d1ca9c78a77c1e111fa7a5d2ffc18f1b87655e88b46f2c3204d175e2715","title":"serial_state(ser)","path":"/en/programming-manual/3.2.1/publish/serial_state-ser","children":[]},{"id":"ci_d8195112d169d78c8dc7109913bbc7682718ef8ae2ea83bf9370490b7ffd0627","title":"serial_set_inter_byte_timeout(ser, timeout=None)","path":"/en/programming-manual/3.2.1/publish/serial_set_inter_byte_timeout-ser-timeout-none","children":[]},{"id":"ci_aebea7989527a7007057693016689f33242e07cc14a8231329b5154f0b6e1103","title":"serial_write(ser, tx_data)","path":"/en/programming-manual/3.2.1/publish/serial_write-ser-tx_data","children":[]},{"id":"ci_11c109593806e0510552761cb4cbb61dc1a28c48c4f41c4ae7bbfa95fbc73d2a","title":"serial_read(ser, length=-1, timeout=-1)","path":"/en/programming-manual/3.2.1/publish/serial_read-ser-length-1-timeout-1","children":[]},{"id":"ci_5bd70d4ec9d962a55037363c6be29dd82bbd840087b6a0b1404b6d504b4d1760","title":"serial_get_count()","path":"/en/programming-manual/3.2.1/publish/serial_get_count","children":[]},{"id":"ci_08a2f3eb6c7b3ccdedf1b3d2733ff06a16d87d49d19bc57352c5ef4bd18d6a05","title":"serial_get_info(id)","path":"/en/programming-manual/3.2.1/publish/serial_get_info-id","children":[]},{"id":"ci_5c3bbd2cf33191271c9d0fc57e83ff22289ad44f9c0874167aaf1e403aa67135","title":"Integrated Example - Serial","path":"/en/programming-manual/3.2.1/publish/combined-example-serial","children":[]}]},{"id":"ci_7c813b1ba8f44fc5d25e1cfeef20bbc971ec850dda6e26cd997a780ba4795afd","title":"Flange I/O - Serial","path":"/en/programming-manual/3.2.1/publish/flange-i-o","children":[{"id":"ci_b7f9110ffb5675cb4e4b669f0c1f4d752020002393f9da83b07761da315dfac6","title":"flange_serial_open(baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)","path":"/en/programming-manual/3.2.1/publish/flange_serial_open-baudrate-115200-bytesize-dr_eig","children":[]},{"id":"ci_707006910fe5699f2bc5dabf5909cda9eb0a543d48aaede3649917e267f0474b","title":"flange_serial_close()","path":"/en/programming-manual/3.2.1/publish/flange_serial_close","children":[]},{"id":"ci_1c715a3c946ea347391c038299fe72cbe697329dc9faf46d76205aed91a5eaac","title":"flange_serial_write(tx_data, port=1)","path":"/en/programming-manual/3.2.1/publish/flange_serial_write-tx_data","children":[]},{"id":"ci_29b78ba71e12f25d9b67de6d3be706f0b666343b744f9a028ca93d2147a6665b","title":"flange_serial_read(timeout=None, port = 1)","path":"/en/programming-manual/3.2.1/publish/flange_serial_read-timeout-none","children":[]},{"id":"ci_7dd8725e33d29ca3487e80674638be7f7cb50f6c5bb112af33724926cb867a1d","title":"Integrated Example - Serial(Flange I/O)","path":"/en/programming-manual/3.2.1/publish/integrated-example-a-series-command","children":[]}]},{"id":"ci_bdd3b4ba40c3cd0909e0d6b83760f95e080d25f9d7b796ef4d307ba01f7ffeca","title":"Tcp/Client","path":"/en/programming-manual/3.2.1/publish/tcp-client","children":[{"id":"ci_b5485f644c437feff8927954694f6746a715b24fee6f23c23be5f18e674fec1f","title":"client_socket_open(ip, port)","path":"/en/programming-manual/3.2.1/publish/client_socket_open-ip-port","children":[]},{"id":"ci_08043800d35cd3f946a2ee2385bda671d480facca1ce9ef8c17ba35f095c1c94","title":"client_socket_close(sock)","path":"/en/programming-manual/3.2.1/publish/client_socket_close-sock","children":[]},{"id":"ci_f8ac414a2dccafc762f5146d66de87fe408ed0edb4aa6dfa5e2963ce2cf5fae6","title":"client_socket_state(sock)","path":"/en/programming-manual/3.2.1/publish/client_socket_state-sock","children":[]},{"id":"ci_add3dcdb904df2732d5650a69483bbad4fb2fee8eacb0ea826bb259e9a0e87a9","title":"client_socket_write(sock, tx_data)","path":"/en/programming-manual/3.2.1/publish/client_socket_write-sock-tx_data","children":[]},{"id":"ci_d4fb12202f18dae9f921527729382bf24728b7046f76c94b3aff6c63033a23ce","title":"client_socket_read(sock, length=-1, timeout=-1)","path":"/en/programming-manual/3.2.1/publish/client_socket_read-sock-length-1-timeout-1","children":[]},{"id":"ci_706b7cf3737257131da756253e79f29ac4e53050c03e53102525bf81ed541270","title":"Integrated example (Tcp/Client)","path":"/en/programming-manual/3.2.1/publish/integrated-example-tcp-client","children":[]}]},{"id":"ci_f46c2b39c9f8e04a4721ff6895c6fa3e8c54fc540d810c755f3d5e57308934c4","title":"Tcp/Server","path":"/en/programming-manual/3.2.1/publish/tcp-server","children":[{"id":"ci_56ba0ba5c262851ce0670c617319b2b5037f3a7a415a375391fcb1f7a40afb79","title":"server_socket_open(port)","path":"/en/programming-manual/3.2.1/publish/server_socket_open-port","children":[]},{"id":"ci_609f542e8c8e114d80f02de77741978337b5acfbba28d94d6209c570894e05fe","title":"server_socket_close(sock)","path":"/en/programming-manual/3.2.1/publish/server_socket_close-sock","children":[]},{"id":"ci_867b44bf51d8be4494927b0ece91af020c9cca84778a14ef10a25197fb205b6c","title":"server_socket_state(sock)","path":"/en/programming-manual/3.2.1/publish/server_socket_state-sock","children":[]},{"id":"ci_19bf35a194abbfd9a9949eefade0bae94c7686daf2fb614b9cf23787826bdef2","title":"server_socket_write(sock, tx_data)","path":"/en/programming-manual/3.2.1/publish/server_socket_write-sock-tx_data","children":[]},{"id":"ci_5988c74779744c09a4d6eee497a2e10941c96b900b4806929847aa87f2b8d410","title":"server_socket_read(sock, length=-1, timeout=-1)","path":"/en/programming-manual/3.2.1/publish/server_socket_read-sock-length-1-timeout-1","children":[]},{"id":"ci_b21702c1a940c901e0e1c9e6fddc8927a0b8fd5fb9eb570953735fca6d1b1e33","title":"Integrated example - Tcp/Server","path":"/en/programming-manual/3.2.1/publish/integrated-example-tcp-server","children":[]}]},{"id":"ci_9557f2d7ca1a05775a387298e6ce3cea061d22897c4666d4394d588d39032877","title":"Modbus","path":"/en/programming-manual/3.2.1/publish/modbus","children":[{"id":"ci_0445ae8d39cc0c0726e8139039926e9dadef9a8ffb89cda7bba197c490607114","title":"add_modbus_signal(ip, port, name, reg_type, index, value=0, slaveid=255)","path":"/en/programming-manual/3.2.1/publish/add_modbus_signal-ip-port-name-reg_type-index-valu","children":[]},{"id":"ci_e057d39bddf6836138d6ada636e1a050f87495759ad177011b5e71f168efc342","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/3.2.1/publish/add_modbus_rtu_signal-slaveid-1-port-none-baudrate","children":[]},{"id":"ci_cdba4fb72ad5f0203e73b2ff61dc483bf186b89bd3cb9e15084023f31bb27f52","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/3.2.1/publish/add_modbus_signal_multi-ip-port-slaveid-255-name-n","children":[]},{"id":"ci_f1032aa1641c1200cb1d8f900b231a33e598ae3eba71025ed25f7e63ce3a8dea","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/3.2.1/publish/add_modbus_rtu_signal_multi-slaveid-1-port-none-ba","children":[]},{"id":"ci_cd8ecc33b4a2846d207d6cca154d8f400ed82774000c56d7694068f79a8a06de","title":"del_modbus_signal(name)","path":"/en/programming-manual/3.2.1/publish/del_modbus_signal-name","children":[]},{"id":"ci_c0d9f3e676a0793cb461293576021a40c555e70e5e1e3feb9d824245c2f1040c","title":"del_modbus_signal_multi(name)","path":"/en/programming-manual/3.2.1/publish/del_modbus_signal_multi-name","children":[]},{"id":"ci_2169b105aeda1eefd25ea43dfbbe96afa8e31da83eca6819746b8c4a42410662","title":"set_modbus_output(iobus, value)","path":"/en/programming-manual/3.2.1/publish/set_modbus_output-iobus-value","children":[]},{"id":"ci_3f89fb0f2fe2f2d6223677d4542b54136ef857cbfa6d8934eee2ca21aedb3a27","title":"set_modbus_outputs(iobus_list, val_list)","path":"/en/programming-manual/3.2.1/publish/set_modbus_outputs-iobus_list-val_list","children":[]},{"id":"ci_c66276d11b819fe1506ce1c226d43c0ee6f357fcc529f97bec883e98987169e6","title":"set_modbus_output_multi(iobus, val_list)","path":"/en/programming-manual/3.2.1/publish/set_modbus_output_multi-iobus-val_list","children":[]},{"id":"ci_a97c4912e48c2445edfe9278ea898da459a4414453088dfb0a31ab412a28f111","title":"get_modbus_input(iobus)","path":"/en/programming-manual/3.2.1/publish/get_modbus_input-iobus","children":[]},{"id":"ci_9db14463e3b6ff4480c5278134849c21c5051c6bd0e540e41cd5de7c04f34c52","title":"get_modbus_inputs(iobus_list)","path":"/en/programming-manual/3.2.1/publish/get_modbus_inputs-iobus_list","children":[]},{"id":"ci_b4b410c56b9d472eac5e0086a3992a176e86e602e133751a70d5efb4e0441cfb","title":"get_modbus_inputs_list(iobus_list)","path":"/en/programming-manual/3.2.1/publish/get_modbus_inputs_list-iobus_list","children":[]},{"id":"ci_e2eaa3b029a355a1d93d21a1b99486940f43de2ca1ac90b49b53bd1afe768c90","title":"get_modbus_input_multi (iobus)","path":"/en/programming-manual/3.2.1/publish/get_modbus_input_multi-iobus","children":[]},{"id":"ci_9ac6a7e4fc3e74fb25462767c4f37b630a4caca6b3cf34381ca6ab93d1abd9f7","title":"wait_modbus_input(iobus, val, timeout=None)","path":"/en/programming-manual/3.2.1/publish/wait_modbus_input-iobus-val-timeout-none","children":[]},{"id":"ci_20b8f774588ad4c6251cf458e13025bed1e26b6712ab7cb729b5a20a327d7d4c","title":"set_modbus_slave(address, val)","path":"/en/programming-manual/3.2.1/publish/set_modbus_slave-address-val","children":[]},{"id":"ci_0717863fe403e0a1e84dbad13256a1fb5efa60926238537a0579db7577445268","title":"get_modbus_slave(address)","path":"/en/programming-manual/3.2.1/publish/get_modbus_slave-address","children":[]},{"id":"ci_29b865f9212febbe163a62b8738806504c6a465e6fafee575da67534d9c2b86c","title":"modbus_crc16(data)","path":"/en/programming-manual/3.2.1/publish/modbus_crc16-data","children":[]},{"id":"ci_8e3d11c3bba13dbd17969cd0fee3130f612e19a41ae1062b65f3a5ecd7a6da96","title":"modbus_send_make(send_data)","path":"/en/programming-manual/3.2.1/publish/modbus_send_make-send_data","children":[]},{"id":"ci_d859c5d9e2bd8c64e25139c3302f019229917e8d6a5c5eea1e199de0ba89b9db","title":"modbus_recv_check(recv_data)","path":"/en/programming-manual/3.2.1/publish/modbus_recv_check-recv_data","children":[]},{"id":"ci_072d9e27b1ead0b0c71a933dc231a9dfac2f6dc496d852922b16c031dd3afee2","title":"modbus_unsigned_to_signed(unsigned_data)","path":"/en/programming-manual/3.2.1/publish/modbus_unsigned_to_signed-unsigned_data","children":[]}]},{"id":"ci_bc9dd3bf08b2f4c43178f6d9d4c186692a8084ae5e50dceeb59c4c4c71186957","title":"Industrial Ethernet (EtherNet/IP,PROFINET)","path":"/en/programming-manual/3.2.1/publish/industrial-ethernet-ethernet-ip-profinet","children":[{"id":"ci_203651fda0b288dc3d117e453db9faa861c6403028504f5daa4d9cc22be5daf6","title":"set_output_register_bit(address, val)","path":"/en/programming-manual/3.2.1/publish/set_output_register_bit-address-val","children":[]},{"id":"ci_6d0baa50e000e7ab84fb9d60a781ec33de6c5e7a824289e43555665fbaeef1a9","title":"set_output_register_int(address, val)","path":"/en/programming-manual/3.2.1/publish/set_output_register_int-address-val","children":[]},{"id":"ci_c3cd5f94568d7dd86b78f677d6faa0fa70ed3b76185014a104fbc9d710a728a2","title":"set_output_register_float(address, val)","path":"/en/programming-manual/3.2.1/publish/set_output_register_float-address-val","children":[]},{"id":"ci_c4b58bda3ccad46bf24e5941d0aaf379eb11451acb5b0e3a6a42b12ba43f26c7","title":"get_output_register_bit(address)","path":"/en/programming-manual/3.2.1/publish/get_output_register_bit-address","children":[]},{"id":"ci_29c0a06f102cf9fde7f307a77c6c04e5430c6da31d2cb6bea4078c5c0683e49c","title":"get_output_register_int(address)","path":"/en/programming-manual/3.2.1/publish/get_output_register_int-address","children":[]},{"id":"ci_84eb5fc931ac52162335e7815be5b2bae189e6173a2d727957197285f0132b80","title":"get_output_register_float(address)","path":"/en/programming-manual/3.2.1/publish/get_output_register_float-address","children":[]},{"id":"ci_aa901db6e00d0c4293d833e90b65dcd754fa56a62043976691837e44673064a8","title":"get_input_register_bit(address)","path":"/en/programming-manual/3.2.1/publish/get_input_register_bit-address","children":[]},{"id":"ci_eee8d10b17f05b518a54a692cd198f5086500f726573e5a24a496512fa9e4b84","title":"get_input_register_int(address)","path":"/en/programming-manual/3.2.1/publish/get_input_register_int-address","children":[]},{"id":"ci_64a9d5d0bfa2aca600307db9a9886f67c041e4294c3eae13122163b127862671","title":"get_input_register_float(address)","path":"/en/programming-manual/3.2.1/publish/get_input_register_float-address","children":[]}]},{"id":"ci_c85a2ab26962f8c4194e643eecdab42207ef2342175840cfffbfb9eb5f003137","title":"FOCAS","path":"/en/programming-manual/3.2.1/publish/focas","children":[{"id":"ci_414c64d29c4fcd83ec010e5be1e2d4d55b0de5c69bbdfe541688e2565af255d2","title":"focas_connect(ip, port, timeout)","path":"/en/programming-manual/3.2.1/publish/focas_connect-ip-port-timeout","children":[]},{"id":"ci_e8890d67a788e6bdfcde4dcd21be7e8b49b584a1915417465ac2b2b10f8572a0","title":"focas_disconnect(handle)","path":"/en/programming-manual/3.2.1/publish/focas_disconnect-handle","children":[]},{"id":"ci_f9a5a3db4a241f6ad98a6262b8c07c38456a709d9069815f5976e71cc968bc5c","title":"focas_pmc_read_bit(handle, addr_type, start_num, bit_offset)","path":"/en/programming-manual/3.2.1/publish/focas_pmc_read_bit-handle-addr_type-start_num-bit_","children":[]},{"id":"ci_36ec11048e4a57863210eae05a41ca23e1227f7bc9ee6d980bc2e33eb680bcea","title":"focas_pmc_read_char(handle, addr_type, start_num, read_count)","path":"/en/programming-manual/3.2.1/publish/focas_pmc_read_char-handle-addr_type-start_num-rea","children":[]},{"id":"ci_a9360aac1041667c45ce19c6fa2fef3ee3168e5210ee6169f5209467953d289f","title":"focas_pmc_read_word(handle, addr_type, start_num, read_count)","path":"/en/programming-manual/3.2.1/publish/focas_pmc_read_word-handle-addr_type-start_num-rea","children":[]},{"id":"ci_cc92058388296b9a231abe3e8a1cea349c58c1df25a3a9cf0a9e85dc4c8736e8","title":"focas_pmc_read_long(handle, addr_type, start_num, read_count)","path":"/en/programming-manual/3.2.1/publish/focas_pmc_read_long-handle-addr_type-start_num-rea","children":[]},{"id":"ci_be5a1f3ad9619d88ea2498902bddfcd7fa49caf6cf9d6e2c9679af048e09870a","title":"focas_pmc_read_float(handle, addr_type, start_num, read_count)","path":"/en/programming-manual/3.2.1/publish/focas_pmc_read_float-handle-addr_type-start_num-re","children":[]},{"id":"ci_14247bb2ad0cbaabf6f262b7c3762cf808803e933dada6fe1792f4d9b159c20e","title":"focas_pmc_read_double(handle, addr_type, start_num, read_count)","path":"/en/programming-manual/3.2.1/publish/focas_pmc_read_double-handle-addr_type-start_num-r","children":[]},{"id":"ci_335ff61b95fc7af1ca67704c312ac6847dee012375435c5af14ea43de0607c89","title":"focas_get_error_str(handle, errorCode)","path":"/en/programming-manual/3.2.1/publish/focas_get_error_str-handle-errorcode","children":[]}]}]},{"id":"ci_33058cac5e245ec4b24257b57f051964893f5aff512840836b9572382c6c8c98","title":"Application Commands","path":"/en/programming-manual/3.2.1/publish/application-commands","children":[{"id":"ci_2d7f9231f7f500c53b43cb146ae17ecc8cfc85496e70e4011c3fdbc760425fae","title":"External Encoder Setting Commands","path":"/en/programming-manual/3.2.1/publish/external-encoder-setting-commands","children":[{"id":"ci_1627c8bcba96839e13230acee11278143e1e6bd870d9e2e58e51390bcdbc0557","title":"set_extenc_polarity(channel, polarity_A, polarity_B, polarity_Z, polarity_S)","path":"/en/programming-manual/3.2.1/publish/set_extenc_polarity-channel-polarity_a-polarity_b-","children":[]},{"id":"ci_a1225f5f8a950aeafc9925122718bd33544143706da990f791910bc63c27fad1","title":"set_extenc_mode(channel, mode_AB, pulse_AZ, mode_Z, mode_S, inverse_cnt)","path":"/en/programming-manual/3.2.1/publish/set_extenc_mode-channel-mode_ab-pulse_az-mode_z-mo","children":[]},{"id":"ci_926b97ccff873d49090f1cf1c8ea8f1eec80eccea57d2a2a6185870e245fb440","title":"get_extenc_count(channel)","path":"/en/programming-manual/3.2.1/publish/get_extenc_count-channel","children":[]},{"id":"ci_5c6429c834f19cf8f3a4040caa999036fa12b653b0f4c6c44433b6a76b768b11","title":"clear_extenc_count(channel)","path":"/en/programming-manual/3.2.1/publish/clear_extenc_count-channel","children":[]}]},{"id":"ci_a832d23614602d99e39552a384d87c244f35bc4122e75ad22f6824533beb6c1d","title":"Conveyor Tracking","path":"/en/programming-manual/3.2.1/publish/conveyor-tracking","children":[{"id":"ci_8122a629145259df441f7ebe93545398446902890275e457d6280090e9f3714a","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/3.2.1/publish/set_conveyor_ex-name-conv_type-0-encoder_channel-1","children":[]},{"id":"ci_8adc4ca01f48fe8819505dd2541a98619c3d335ccde77efcdc1e730496c7efe6","title":"get_conveyor_obj(conv_id, timeout=None, container_type=DR_FIFO, obj_offset_coord=None)","path":"/en/programming-manual/3.2.1/publish/get_conveyor_obj-conv_id-timeout-none-container_ty","children":[]},{"id":"ci_4ac5fc53d9fabefd15de7f5df1fb09631f8f0cde89477d602d8ad27c9aa62943","title":"tracking_conveyor(conv_id, time=0.3)","path":"/en/programming-manual/3.2.1/publish/tracking_conveyor-conv_id-time-0-3","children":[]},{"id":"ci_68ce29226c34d83a30948a0880f17ada8c2d079b0b23b24106cb8a1f69c2585c","title":"untracking_conveyor(conv_id, time=0.3)","path":"/en/programming-manual/3.2.1/publish/untracking_conveyor-conv_id-time-0-3","children":[]}]},{"id":"ci_8044f84bae393acfbfb096667f1b376d52ca7444cab07d7928a2e01f492c0fce","title":"Welding","path":"/en/programming-manual/3.2.1/publish/welding","children":[{"id":"ci_dcc1bf99a13c494bf7d255cc7fc9b479f31bf2bc3104af4f24430947bf53615e","title":"app_weld_enable_digital()","path":"/en/programming-manual/3.2.1/publish/app_weld_enable_digital","children":[]},{"id":"ci_2ca62219055f038455a1094a4ac987cf425864671c24afc9a70a9eb9fa0ee54d","title":"app_weld_disable_digital()","path":"/en/programming-manual/3.2.1/publish/app_weld_disable_digital","children":[]},{"id":"ci_22cfd945ddd3d0347f885db7b1b8ac03f4b19cedde712e173dd9648331b58395","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/3.2.1/publish/app_weld_set_interface_eip_r2m_process-welding_sta","children":[]},{"id":"ci_79eff031f13a856064f7b5d1f2fcc80d97c652840ebef47b8988c1b90fc99efe","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/3.2.1/publish/app_weld_set_interface_eip_r2m_mode-welding_mode-0","children":[]},{"id":"ci_e8905b1e6e16568dac974d5afc60b4dded13aa48713d25534d029f58f245b613","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/3.2.1/publish/app_weld_set_interface_eip_r2m_test-gas_test-0-0-0","children":[]},{"id":"ci_835113904d91e9bda572b9c14462dbec1722cfa8474adc756675719a2b51d1ec","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/3.2.1/publish/app_weld_set_interface_eip_r2m_condition-job_num-0","children":[]},{"id":"ci_32cc4ce2e9519045cdfd8a7bc49820e55351c0005ad38369ae9f6e8a789db2a8","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/3.2.1/publish/app_weld_set_interface_eip_r2m_option-opt1-0-0-0-0","children":[]},{"id":"ci_00e1efd37fb09e2e99ea5159ab7a0bd6b39a62de0eec3252ea9339aee8361731","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/3.2.1/publish/app_weld_set_interface_eip_m2r_process-current_flo","children":[]},{"id":"ci_79e8118292312e2486e7af2dd2e45d89461cb65d5a855e7a4cca509662306bd9","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/3.2.1/publish/app_weld_set_interface_eip_m2r_monitoring-welding_","children":[]},{"id":"ci_f63a42c950e1b018b4f7efd4f56a8df4f0ed0a833ddf64fcc56f13bbba28ee24","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/3.2.1/publish/app_weld_set_interface_eip_m2r_other-opt1-0-0-0-0-","children":[]},{"id":"ci_9e8c407a0636387ee5ba469557b0c584773af8565b624f06730027f408beac5d","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/3.2.1/publish/app_weld_set_weld_cond_digital-flag_dry_run-0-vel_","children":[]},{"id":"ci_d0874262c67de1e905f011f5953e1b57da1a2cca081dd4d5b52ad378f9ff3fb4","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/3.2.1/publish/app_weld_adj_welding_cond_digital-flag_reset-none-","children":[]},{"id":"ci_96e55a54327ee79cffa20b716eb3344023eca2f2f91ab95a928e8a06fdc70df8","title":"app_weld_get_welding_cond_digital()","path":"/en/programming-manual/3.2.1/publish/app_weld_get_welding_cond_digital","children":[]},{"id":"ci_5cf1737758a2d595746555d1b510359465189cf46afde8063594ec3f9dc66304","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/3.2.1/publish/app_weld_enable_analog-ch_v_out-1-0-spec_v_out-0-0","children":[]},{"id":"ci_168e3336a6a379e58977adca10eebe49aef175fdf47100c823477a298a668c1d","title":"app_weld_disable_analog()","path":"/en/programming-manual/3.2.1/publish/app_weld_disable_analog","children":[]},{"id":"ci_b134dde5166adceae279a3461fb025c89e4ce322bf7b2e840e22c7bb9a03c6d2","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/3.2.1/publish/app_weld_set_weld_cond_analog-flag_dry_run-0-v_tar","children":[]},{"id":"ci_a33718121b67331396aa3a9815ee99370e30f8f784f62febbb6cbafb5456c765","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/3.2.1/publish/app_weld_adj_welding_cond_analog-flag_reset-0-v_ta","children":[]},{"id":"ci_d09130fe8ac22024b264d19680ffe1739084b0f620908bc29a2bf5e72a45c0b7","title":"app_weld_get_welding_cond_analog()","path":"/en/programming-manual/3.2.1/publish/app_weld_get_welding_cond_analog","children":[]},{"id":"ci_530c1374806c281565ffe27c1fa091478e24e0cde60ca42277090a409807af43","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/3.2.1/publish/app_weld_weave_cond_trapezoidal-wv_offset-0-0-wv_a","children":[]},{"id":"ci_0694529ecca6bdaf475ff240ca06f1319bfae8e66ee3feb9026767219ce8e777","title":"app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])","path":"/en/programming-manual/3.2.1/publish/app_weld_weave_cond_zigzag-wv_offset-0-0-wv_ang-0-","children":[]},{"id":"ci_9c48a7bc03b5ebe641bb598f4483370258b5385b5c16b683a091858e080012e4","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/3.2.1/publish/app_weld_weave_cond_circular-wv_offset-0-0-wv_ang-","children":[]},{"id":"ci_6125f37c6a14069178c9aa3a9b478bfd276ae0eaa091c57e9221a6d02319aa83","title":"app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])","path":"/en/programming-manual/3.2.1/publish/app_weld_weave_cond_sinusoidal-wv_offset-0-0-wv_an","children":[]}]}]},{"id":"ci_4f91ba54e1aa847f18108eed5bd3b7f8baf5d5170fa35ca3d516539478bde9e1","title":"A-Series Command","path":"/en/programming-manual/3.2.1/publish/a-series-command","children":[{"id":"ci_00309b0d6606b40d7d7ea5b29eb3527a1a4adb3fd29a422c9eeb11b53af23cc7","title":"Controller","path":"/en/programming-manual/3.2.1/publish/controller","children":[{"id":"ci_658a68f44edbe40c631efd19edbad55a487e9931c98b451cf9da95860df238e4","title":"get_function_input(index)","path":"/en/programming-manual/3.2.1/publish/get_function_input-index","children":[]}]}]}]