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3.5.0
3.4.0
3.3.0
3.2.2
3.2.1
3.2.0
Korean
English
Chinese
Czech
Dutch
French
German
Hungarian
Italian
Japanese
Polish
Portuguese
Spanish
Korean
English
Chinese
Czech
Dutch
French
German
Hungarian
Italian
Japanese
Polish
Portuguese
Spanish
Main
API manual(V1.32)
소개(Introduction)
설치 가이드
헤더파일 사용하기
라이브러리 링크하기
권장 운용 사양
라이브러리 구성
프로그래밍 유의사항
로봇 연결/해제
로봇 초기화
제어권 관리
로봇 운용 모드
로봇 운용 상태
로봇 상태 천이
프로그램 실행 및 종료
로봇 안전 설정 기능 제한
정의(Definition)
상수 및 열거형 정의
enum.ROBOT_STATE
enum.ROBOT_CONTROL
enum.MONITORING_SPEED
enum.SPEED_MODE
enum.ROBOT_SYSTEM
enum.ROBOT_MODE
enum.ROBOT_SPACE
enum.SAFE_STOP_RESET_TYPE
enum.MANAGE_ACCESS_CONTROL
enum.MONITORING_ACCESS_CONTROL
enum.COORDINATE_SYSTEM
enum.JOG_AXIS
enum.JOINT_AXIS
enum.TASK_AXIS
enum.FORCE_AXIS
enum.MOVE_REFERENCE
enum.MOVE_MODE
enum.FORCE_MODE
enum.BLENDING_SPEED_TYPE
enum.STOP_TYPE
enum.MOVEB_BLENDING_TYPE
enum.SPLINE_VELOCITY_OPTION
enum.GPIO_CTRLBOX_DIGITAL_INDEX
enum.GPIO_CTRLBOX_ANALOG_INDEX
enum.GPIO_ANALOG_TYPE
enum.GPIO_TOOL_DIGITAL_INDEX
enum.MODBUS_REGISTER_TYPE
enum.DRL_PROGRAM_STATE
enum.PROGRAM_STOP_CAUSE
enum.PATH_MODE
enum.CONTROL_MODE
enum.DATA_TYPE
enum.VARIABLE_TYPE
enum.SUB_PROGRAM
enum.SINGULARITY_AVOIDANCE
enum.MESSAGE_LEVEL
enum.POPUP_RESPONSE
enum.MOVE_HOME
enum.BYTE_SIZE
enum.STOP_BITS
enum.PARITY_CHECK
enum.RELEASE_MODE
enum.SAFETY_MODE
enum.SAFETY_STATE
enum.SAFETY_MODE_EVENT
enum.COG_REFERENCE
enum.ADD_UP
enum.OUTPUT_TYPE
로그 및 알람 정의
LOG_LEVEL
LOG_GROUP
LOG_CODE
콜백 함수 정의
TOnMonitoringStateCB
TOnMonitoringDataCB
TOnMonitoringDataExCB
TOnMonitoringCtrlIOCB
TOnMonitoringCtrlIOExCB
TOnMonitoringModbusCB
TOnLogAlarmCB
TOnMonitoringAccessControlCB
TOnHommingCompletedCB
TOnTpInitializingCompletedCB
TOnMonitoringSpeedModeCB
TOnMasteringNeedCB
TOnProgramStoppedCB
TOnDisconnectedCB
TOnTpPopupCB
TOnTpLogCB
TOnTpGetUserInputCB
TOnTpProgressCB
TOnMonitoringRobotSystemCB
TOnMonitoringSafetyStateCB
구조체 정의
struct.SYSTEM_VERSION
struct.MONITORING_DATA
struct.MONITORING_DATA_EX
struct.MONITORING_CTRLIO
struct.MONITORING_CTRLIO_EX
struct.MONITORING_MODBUS
struct.LOG_ALARM
struct.MOVE_POSB
struct.ROBOT_POSE
struct.USER_COORDINATE
struct.MESSAGE_POPUP
struct.MESSAGE_INPUT
struct.MESSAGE_PROGRESS
struct.FLANGE_SERIAL_DATA
struct.FLANGE_SER_RXD_INFO
struct.READ_FLANGE_SERIAL
struct. INVERSE_KINEMATIC_RESPONSE
struct.UPDATE_SW_MODULE_RESPONSE
struct.CONFIG_JOINT_RANGE
struct.GENERAL_RANGE
struct.CONFIG_GENERAL_RANGE
struct.POINT_2D
struct.POINT_3D
struct.LINE
union.CONFIG_SAFETY_FUNCTION
struct._tStopCode
struct.CONFIG_INSTALL_POSE
struct.CONFIG_SAFETY_IO
struct.CONFIG_SAFETY_IO_EX
union.VIRTUAL_FENCE_OBJECT
struct.CONFIG_VIRTUAL_FENCE
struct.CONFIG_SAFE_ZONE
struct.ENABLE_SAFE_ZONE
struct.SAFETY_OBJECT_SPHERE
struct.SAFETY_OBJECT_CAPSULE
struct.SAFETY_OBJECT_CUBE
struct.SAFETY_OBJECT_OBB
struct.SAFETY_OBJECT_POLYPRISM
union.SAFETY_OBJECT_DATA
struct.SAFETY_OBJECT
struct.CONFIG_PROTECTED_ZONE
struct.CONFIG_COLLISION_MUTE_ZONE_PROPERTY
struct.CONFIG_COLLISION_MUTE_ZONE
struct.SAFETY_TOOL_ORIENTATION_LIMIT
struct.CONFIG_TOOL_ORIENTATION_LIMIT_ZONE
struct.CONFIG_NUDGE
struct.CONFIG_COCKPIT_EX
struct.CONFIG_IDLE_OFF
struct.WRITE_MODBUS_DATA
struct.WRITE_MODBUS_RTU_DATA
struct.MODBUS_DATA
struct.MODBUS_DATA_LIST
struct.CONFIG_WORLD_COORDINATE
struct.CONFIG_CONFIGURABLE_IO
struct.CONFIG_CONFIGURABLE_IO_EX
struct.CONFIG_TOOL_SHAPE
struct.CONFIG_TOOL_SYMBOL
struct.CONFIG_TCP_SYMBOL
struct.CONFIG_TOOL_LIST
struct.CONFIG_TOOL_SHAPE_SYMBOL
struct.CONFIG_TCP_LIST
struct.CONFIG_TOOL_SHAPE_LIST
struct.SAFETY_CONFIGURATION_EX
struct.SAFETY_CONFIGURATION_EX2
struct.SAFETY_CONFIGURATION_EX2_V3
struct.ROBOT_VEL
struct.ROBOT_FORCE
struct.CONFIG_SAFETY_IO_OP
struct.MONITORING_CTRLIO_EX2
struct.ROBOT_WELDING_DATA
struct.WELDING_CHANNEL
struct.CONFIG_WELDING_INTERFACE
struct.CONFIG_WELD_SETTING
struct.GET_WELDING_SETTING_RESPONSE
struct.ADJUST_WELDING_SETTING
struct.CONFIG_TRAPEZOID_WEAVING_SETTING
struct.CONFIG_ZIGZAG_WEAVING_SETTING
struct.CONFIG_CIRCULE_WEAVING_SETTING
struct.CONFIG_SINE_WEAVING_SETTING
struct.CONFIG_WELDING_DETAIL_INFO
struct.CONFIG_ANALOG_WELDING_INTERFACE
struct.CONFIG_ANALOG_WELDING_SETTING
struct.ANALOG_WELDING_ADJUST_SETTING
struct.CONFIG_DIGITAL_WELDING_IF_MAPPING_DATA
struct.CONFIG_DIGITAL_WELDING_INTERFACE_PROCESS
struct.CONFIG_DIGITAL_WELDING_INTERFACE_MODE
struct.CONFIG_DIGITAL_WELDING_INTERFACE_TEST
struct.CONFIG_DIGITAL_WELDING_INTERFACE_CONDITION
struct.CONFIG_DIGITAL_WELDING_INTERFACE_OPTION
struct.CONFIG_DIGITAL_WELDING_INTERFACE_PROCESS2
struct.CONFIG_DIGITAL_WELDING_INTERFACE_MONITORING
struct.CONFIG_DIGITAL_WELDING_INTERFACE_OTHER
struct.DIGITAL_WELDING_RESET
struct.CONFIG_DIGITAL_WELDING_MODE
struct.CONFIG_DIGITAL_WELDING_CONDITION
struct.CONFIG_DIGITAL_WELDING_ADJUST
struct.MEASURE_TCP_WELDING
struct.TACK_WELDING_SETTING
struct.DIGITAL_FORCE_WRITE_DATA
struct.ROBOT_DIGITAL_WELDING_DATA
struct.DIGITAL_WELDING_COMM_STATE
함수(Function)
로봇 연결 함수
CDRFLEx.open_connection
CDRFLEx.close_connection
로봇 속성 함수
CDRFLEx.get_system_version
CDRFLEx.get_library_version
CDRFLEx.get_robot_mode
CDRFLEx.set_robot_mode
CDRFLEx.get_robot_state
CDRFLEx.set_robot_control
CDRFLEx.set_robot_system
CDRFLEx.get_robot_speed_mode
CDRFLEx.set_robot_speed_mode
CDRFLEx.get_program_state
CDRFLEx.get_robot_system
CDRFLEx.set_safe_stop_reset_type
CDRFLEx.get_current_pose
CDRFLEx.get_current_posj
CDRFLEx.get_desired_posj
CDRFLEx.get_current_velj
CDRFLEx.get_current_posx
CDRFLEx.get_desired_posx
CDRFLEx.get_current_tool_flange_posx
CDRFLEx.get_current_velx
CDRFLEx.get_desired_velx
CDRFLEx.get_joint_torque
CDRFLEx.get_control_space
CDRFLEx.get_external_torque
CDRFLEx.get_tool_force
CDRFLEx.get_current_solution_space
CDRFLEx.get_last_alarm
CDRFLEx.get_solution_space
CDRFLEx.get_orientation_error
CDRFLEx.get_control_mode
CDRFLEx.get_current_rotm
CDRFLEx.get_safety_configuration
콜백함수 등록 함수
CDRFLEx.set_on_monitoring_state
CDRFLEx.set_on_monitoring_data
CDRFLEx.set_on_monitoring_data_ex
CDRFLEx.set_on_monitoring_ctrl_io
CDRFLEx.set_on_monitoring_ctrl_io_ex
CDRFLEx.set_on_monitoring_modbus
CDRFLEx.set_on_log_alarm
CDRFLEx.set_on_tp_popup
CDRFLEx.set_on_tp_log
CDRFLEx.set_on_tp_progress
CDRFLEx.set_on_tp_get_user_input
CDRFLEx.set_on_monitoring_access_control
CDRFLEx.set_on_homming_completed
CDRFLEx.set_on_tp_initializing_completed
CDRFLEx.set_on_monitoring_speed_mode
CDRFLEx.set_on_mastering_need
CDRFLEx.set_on_program_stopped
CDRFLEx.set_on_disconnected
CDRFLEx.set_on_monitoring_robot_system
CDRFLEx.set_on_monitoring_safety_state
제어권 관리 함수
CDRFLEx.manage_access_control
기본 제어 함수
CDRFLEx.jog
CDRFLEx.move_home
모션 제어 함수
CDRFLEx.movej
CDRFLEx.movesj
CDRFLEx.movesx
CDRFLEx.move_spiral
CDRFLEx.move_periodic
CDRFLEx.amovej
CDRFLEx.amovel
CDRFLEx.amovec
CDRFLEx.amovesj
CDRFLEx.amovesx
CDRFLEx.amoveb
CDRFLEx.amove_spiral
CDRFLEx.amove_periodic
CDRFLEx.stop
CDRFLEx.move_pause
CDRFLEx.move_resume
CDRFLEx.mwait
CDRFLEx.trans
CDRFLEx.fkin
CDRFLEx.ikin
CDRFLEx.set_ref_coord
CDRFLEx.check_motion
CDRFLEx.enable_alter_motion
CDRFLEx.alter_motion
CDRFLEx.disable_alter_motion
CDRFLEx.servoj
CDRFLEx.servol
CDRFLEx.speedj
CDRFLEx.speedl
CDRFLEx.moveb
CDRFLEx.ikin(Extension)
CDRFLEx.movejx
CDRFLEx.amove_spiral(Extension)
CDRFLEx.movel
CDRFLEx.movec
로봇 설정 함수
CDRFLEx.add_tool
CDRFLEx.del_tool
CDRFLEx.set_tool
CDRFLEx.get_tool
CDRFLEx.add_tcp
CDRFLEx.del_tcp
CDRFLEx.set_tcp
CDRFLEx.get_tcp
CDRFLEx.set_tool_shape
CDRFLEx.get_workpiece_weight
CDRFLEx.reset_workpiece_weight
CDRFLEx.set_singularity_handling
CDRFLEx.setup_monitoring_version
CDRFLEx.config_program_watch_variable
CDRFLEx.set_user_home
CDRFLEx.servo_off
CDRFLEx.release_protective_stop
CDRFLEx.change_collision_sensitivity
CDRFLEx.set_safety_mode
CDRFLEx.set_auto_servo_off
CDRFLEx.set_workpiece_weight
I/O 제어 함수
CDRFLEx.set_tool_digital_output
CDRFLEx.get_tool_digital_input
CDRFLEx.get_tool_digital_output
CDRFLEx.set_digital_output
CDRFLEx.get_digital_input
CRDFLEx.get_digital_output
CDRFLEx.set_mode_analog_input
CDRFLEx.set_mode_analog_output
CDRFLEx.set_analog_output
CDRFLEx.get_analog_input
CDRFLEx.add_modbus_signal
CDRFLEx.del_modbus_signal
CDRFLEx.set_modbus_output
CDRFLEx.get_modbus_input
CDRFLEx.flange_serial_open
CDRFLEx.flange_serial_close
CDRFLEx.flange_serial_write
CDRFLEx.get_tool_analog_input
CDRFLEx.set_tool_digital_output_level
CDRFLEx.set_tool_digital_output_type
CDRFLEx.set_mode_tool_analog_input
프로그램 제어 함수
CDRFLEx.drl_start
CDRFLEx.drl_stop
CDRFLEx.drl_pause
CDRFLEx.drl_resume
CDRFLEx.change_operation_speed
CDRFLEx.save_sub_program
CDRFLEx.tp_popup_response
CDRFLEx.tp_get_user_input_response
힘/강성 제어 및 기타 사용자 편의 함수
CDRFLEx.parallel_axis
CDRFLEx.parallel_axis(fTargetPos1, fTargetPos2, fTargetPos3, eTaskAxis, eSourceRef)
CDRFLEx.parallel_axis(eSourceVec, eTaskAxis, eTargetRef)
CDRFLEx.align_axis
CDRFLEx.align_axis(fTargetPos1, fTargetPos2, fTargetPos3, fSourceVec, eTaskAxis, eTargetRef)
CDRFLEx.align_axis(eTargetVec, eSourceVec, eTaskAxis, eTargetRef)
CDRFLEx.is_done_bolt_tightening
CDRFLEx.task_compliance_ctrl
CDRFLEx.release_compliance_ctrl
CDRFLEx.set_stiffnessx
CDRFLEx.calc_coord
CDRFLEx.set_user_cart_coord
CDRFLEx.set_user_cart_coord(iReqId, fTargetPos, eTargetRef)
CDRFLEx.set_user_cart_coord(fTargetPos, fTargetOrg, eTargetRef)
CDRFLEx.set_user_cart_coord(fTargetVec, fTargetOrg, eTargetRef)
CDRFLEx.overwrite_user_cart_coord
CDRFLEx.get_user_cart_coord
CDRFLEx.set_desired_force
CDRFLEx.release_force
CDRFLEx.check_position_condition_abs
CDRFLEx.check_position_condition_rel
CDRFLEx.check_position_condition
CDRFLEx.check_force_condition
CDRFLEx.check_orientation_condition
CDRFLEx.check_orientation_condition(eForceAxis, fTargetMin, fTargetMax, eForceReference)
CDRFLEx.check_orientation_condition(eForceAxis, fTargetMin, fTargetMax, fTargetPos, eForceReference)
CDRFLEx.coord_transform
CDRFLEx.set_palletizing_mode
CDRFLEx.query_modbus_data_list
실시간 외부 제어(Realtime Control)
실시간 외부 제어 소개
버전
통신 연결 함수
CDRFLEx.connect_rt_control
CDRFLEx.disconnect_rt_control
정보 조회 함수
CDRFLEx.get_rt_control_input_version_list
CDRFLEx.get_rt_control_output_version_list
CDRFLEx.get_rt_control_input_data_list
CDRFLEx.get_rt_control_output_data_list
설정 함수
CDRFLEx.set_rt_control_input
CDRFLEx.set_rt_control_output
운용 함수
CDRFLEx.start_rt_control
CDRFLEx.stop_rt_control
CDRFLEx. set_on_rt_monitoring_data
CDRFLEx.read_data_rt
CDRFLEx.write_data_rt
서브 모션 함수
CDRFLEx.set_velj_rt
CDRFLEx.set_accj_rt
CDRFLEx.set_velx_rt
CDRFLEx.set_accx_rt
CDRFLEx.servoj_rt
CDRFLEx.servol_rt
CDRFLEx.speedj_rt
CDRFLEx.speedl_rt
CDRFLEx.torque_rt
어플리케이션 명령어(Application Command)
용접(Welding)
set_on_monitoring_welding_data
set_on_monitoring_analog_welding_data
set_on_monitoring_digital_welding_data
app_weld_weave_cond_trapezoidal
app_weld_weave_cond_zigzag
app_weld_weave_cond_circular
app_weld_weave_cond_sinusoidal
app_weld_enable_analog
app_weld_set_weld_cond_analog
app_weld_adj_welding_cond_analog
app_weld_set_interface_eip_m2r_process
app_weld_set_interface_eip_r2m_mode
app_weld_set_interface_eip_r2m_process
app_weld_set_interface_eip_r2m_test
app_weld_set_interface_eip_r2m_condition
app_weld_set_interface_eip_r2m_option
app_weld_set_interface_eip_m2r_process2
app_weld_set_interface_eip_m2r_monitoring
app_weld_set_interface_eip_m2r_other
app_weld_reset_interface
app_weld_enable_digital
app_weld_set_weld_cond_digital
app_weld_adj_welding_cond_digital
measure_welding_tcp
set_welding_cockpit_setting
set_digital_welding_monitoring_mode
app_weld_adj_motion_offset
set_welding_cockpit_setting_time_setting
User manual (V3.5.0)
PART 1. 안전 매뉴얼
주의사항
제품의 용도 및 위험성 평가
로봇의 모드와 상태
로봇의 모드
모드별 상태와 플랜지 LED 색상
제품의 보증 및 책임
안전기능
안전정격 정지하위기능
안전정격 정지기능
안전정격 감시기능
안전정격 입출력
안전기능의 설정
안전 신호 입출력(Safety I/O)
안전 정지 모드(Safety Stop Modes)
넛지(Nudge)
구역(Zone)
공간 제한(Space Limit)
로봇 제한치(Robot Limits)
기타 안전 대책
법적 고지
잠재적 위험
선언 및 인증
유럽 Declaration of Incorporation (Original)
유럽 기계류 지침(Machinery Directive) 조화표준 인증
유럽 전자파적합성 지침(EMC Directive) 조화표준 인증
미국 국가지정시험소(NRTL) 인증 (US, CANADA)
기능안전(Functional Safety) 인증
자율안전확인신고(KCs)
정지거리와 정지시간
측정 방법 및 조건
M1013 정지분류(Stop Category)
M0609 정지분류(Stop Category)
M0617 정지분류(Stop Category)
M1509 정지분류(Stop Category)
H2017 정지분류(Stop Category)
H2515 정지분류(Stop Category)
안전 파라메터 상하한 범위와 기본값
PART 2. 로봇 시작하기
로봇 설치 1
로봇 설치 2
초기 구동
툴 설치하기
I/O 테스트
PART 3. 설치 매뉴얼
설치 시 주의 사항
제품 소개
로봇 시스템 구성 및 설명
명판과 라벨
제품 사양, 일반
로봇의 사양
설치 환경
하드웨어 설치
로봇 설치 준비
시스템 연결
로봇과 툴 연결하기
컨트롤러 전원 스위치 켜기/끄기
PART 4. 인터페이스
플랜지 I/O
컨트롤러 I/O 연결
아날로그 I/O 단자 (TBAIO) 구성하기
엔코더 입력 단자(TBEN1, TBEN2) 구성하기
Configurable 디지털 I/O (TBCI1 - 4, TBCO1 - 4) 구성하기
디지털 입출력 전원 단자 (TBPWR) 구성하기
안전용 접점 입력 단자 (TBSFT) 구성하기
안전용 전압 입력 단자(TBSI) 구성하기
네트워크 연결
외부 장치 연결
확장 프로토콜 설정 및 사용
ModbusTCP Slave 설정하기
General Purpose Register(GPR) 사용하기
PART 5. 로봇 관리
운송
유지보수
폐기 및 환경
PART 6. DART-Platform 매뉴얼
시스템 전원 온/오프
프로그램 화면 구성 알아보기
로봇 이해하기
서보 온 알아보기
Backdrive 모듈
Recovery 모듈
Robot Parameters 모듈
Robot Settings
I/O Alias & Mount
Coordinates
Home Position
Cockpit
I/O Settings
Tool Settings
Safety Settings
로봇 제한치 및 안전
Safety Zone
공간 제한과 구역의 형태
공간 제한과 구역의 설정
Nudge
Safety Setting Review
Remote Control 모듈
원격 제어 모드 실행 절차
원격 제어 모드
Task Editor 모듈
Task Editor 로봇 모션 속성 알아보기
Task Editor Move Command 기본 개념 알아보기
Task Editor Command 순응/힘 제어 개념 알아보기
순응(Compliance) 명령어 예제 따라하기
힘(Force) 명령어 예제 따라하기
Sub/Call Sub 알아보기
SubTask / CallSubTask
명령어
디버그 플레이어
작업자 개입(Operator Intervention) 기능
Signal Commands
디바이스 모듈 연동 예제
Status 모듈
I/O Overview
제어기 입출력
플랜지 입출력
Slave Monitoring
Logs 모듈
Store 모듈
Settings 모듈
시스템 정보
언어 설정하기
Password 설정 및 변경
Network 항목에서 설정하기
Robot 설정하기
로봇 업데이트 및 복원
데이터 관리하기
알림 위치 설정하기
모듈 업데이트
Jog Plus 모듈
Jog 화면
Move 화면
Align 화면
부록
부록. 시스템 사양
컨트롤러 사양
CS-11P (AC Controller)
CS-12P (DC Controller)
티치펜던트
매니퓰레이터 사양
M/H Series
부록. DC 컨트롤러
DC 컨트롤러 (CS-12P)
부록. H시리즈 핸들링 가이드
부록. Doosan Robot 허용 Torque
부록. IP 강화 Cube module 설치 가이드
부록. DART Platform 설치 환경(권장)
Dart-Bridge Manual
알아두기
Dart-Bridge 솔루션이란?
시스템 요구사양 및 지원 정보
퀵가이드
프로그램 구성
Dart-Bridge 프로그램
시작 화면
기본 화면
Dart-Bridge 모듈
Dart-Bridge 모듈 시작 화면
Dart-Bridge 모듈 기본 화면
Device Manager 모듈
디바이스 데이터 목록 화면
디바이스 데이터 편집 화면
Basic Devices 모듈
End Effector
Gripper SA (Single Acting)
Gripper DA (Double Acting)
Tool
Screw Driver
Machine
Press Machine
Turning Center
Molding Machine
Peripherals
Bolt Feeder
Pallet
External Encoder
Conveyor Tracker
Basic, Pick & Place, Process 명령어 모듈
Basic
Set Digial IO
Contact
Door Open Close
Pick & Place
Pick
Place
Interlock Pick
Interlock Place
Pick Bolt
Insert
Process
Airblowing
Polishing
Deburring
Gluing
Bolting
End Task
Conveyor 명령어 모듈
사용 전 주의사항
디바이스 설정 (Device Manager)
External Encoder 설정
엔코더 채널
A-B상 모드
Z상 모드
S상 모드
인버스 모드
설정 확인
Conveyor Tracker 설정
통신
컨베이어 좌표계
컨베이어 속도
명령어 설정 (Task Editor)
Conveyor Coordinates
Conveyor Tracking
기타 참고 사항
Pick & Place (1 Conveyor)
Pick & Place (2 Conveyor)
Multi 작업물 Handling
Classic Welding 모듈
아날로그 용접 설정
아날로그 용접기 설정
아날로그 용접 조건 설정
디지털 용접 설정
디지털 용접기 설정
디지털 용접 조건 설정
위빙 조건 설정
사다리꼴 위빙
원형 위빙
지그재그 위빙
정현파형 위빙
C 파형 위빙
오프셋 및 기울임각 설정(공통)
용접 토치 설정
용접 프로그래밍(Task Editor)
용접 명령어
용접 모니터링
아날로그 용접 모니터링
디지털 용접 모니터링
태크 용접(가용접, Tack Wedling)
상세 가이드
데이터 변환
데이터 마이그레이션
로봇 파라미터 파일 적용
태스크 파일 실행
Policy&Notice
법적고지
이용약관
개인정보처리방침 등
쿠키 정책
OSS Notice
DART Studio Manual (V3.4.0)
PART 1. 사용자 매뉴얼
설치하기
소프트웨어 개요
레이아웃 살펴보기
창 표시/숨기기
창 레이아웃 및 테마 변경
소프트웨어 테마 변경
소프트웨어 언어 설정
제어기 연결
IO 시뮬레이터
시스템 모니터링
모니터링 바
모니터링 창
그래프 창
지원되는 데이터 유형
그래프 보기
그래프 레이아웃 변경
모니터링 제어
모션 모니터링 창
시각화된 객체
3D 뷰어 사용법
시스템 제어
제어 권한
로봇 환경 설정
로봇 환경 설정 화면 열기
로봇 환경 설정 UI
현재 시스템 구성 가져오기
안전 구성 설정을 위한 일반적인 장치
안전 파라미터
안전 영역 개요 (제어기 버전 GF020400 까지 유효)
안전 영역 설정 (제어기 버전 GF020400 까지 유효)
안전 영역 개요 (제어기 버전 GF020500부터 유효)
안전 영역 설정 (제어기 버전 GF020500부터 유효)
툴
모드버스 IO
좌표계
수동 모션
조인트 조그
조인트 모션
태스크 조그
태스크 모션
정렬 모션
호밍
팩킹
팩킹 및 언팩킹하기
IO 제어
고장 복구
복구 동작
백드라이브 모드
테스크 관리자
프로젝트 탐색기
DRL 프로그램 실행
DRL 편집기 사용하기
함수 개요
코드 자동 완성
정의로 이동
모든 참조 찾기
스크립트 업로드
북마크
프로그램 저장 및 열기
DRL 편집기 살펴보기
새 프로그램 생성
구문 강조
텍스트로 현재 위치 가져오기
주석
DRL 가이드
DRL 가이드 열기
DRL 명령어 검색
단축키 목록
프로그램 실행
라인 별로 프로그램 실행하기
중단 점 설정하기
실행 속도 변경
모니터링 변수
디버그 변수
시스템 변수
PART 2. 경로 생성(Path generation)
CAD 기반 경로 생성
작업창 열기
3차원 화면 조작
화면 제어
개체 표시
화면 시점 설정
투영 방법 설정
개체 조작
개체 선택
주변 개체 자동 선택
개체 삭제
개체 변환
개체 속성 표시
형상 파일 읽기
경로 생성하기
윤곽선 경로 생성
오프셋 스윕 경로 생성
지그재그 스윕 경로 생성하기
경로 편집하기
경유점 방향 조정
경로 세그먼트 분할
경로 세그먼트 결합
경로 방향 변경
경로 순서 변경
형상 생성하기
점 생성
직선/곡선 생성
직선/곡선 편집
평면/곡면 생성
평면/곡면 편집
그룹 생성
형상/경로를 로봇 좌표계로 변환하기
스크립트 생성하기
경로 생성 실습
기타 사용 팁
기능 실행
작업창 여러 개 띄우기
실행 취소와 다시 실행
상태 표시바
PART 3. 팔레타이징(Palletizing)
팔레트 경로 생성하기
작업 창 열기
프로젝트 생성
패턴 생성
패턴 생성 메인창
플레이트 설정
프로덕트 설정
캘리브레이션 설정
레이아웃 설정
레이아웃 메인 창
프로덕트 자동 생성
접근 속성 설정
레이어 설정
레이어 메인창
3차원 화면 조작 및 설정
팔레트 경로 생성
경로 생성
생성 코드 분석
PART 4. 서비스 매뉴얼
시스템 로그 백업
폴트 로그 분석
문제 해결 가이드
인버터 설정
호밍 오프셋 설정
축 번호, 하드웨어 하한/상한 설정
로봇 일련번호 설정
로봇 라이선스 설정
모터 타입 설정
보정 파라미터 설정
부품 설정 (A 시리즈 전용)
JTS 보정 설정 (M & H 시리즈 전용)
모터 보정 설정 (A 시리즈 전용)
마찰 계수 설정 (A시리즈 전용)
FTS 보정 설정 (A시리즈 전용)
펌웨어 업데이트
인버터 게인 설정
로봇 보정
기구학 보정 (V2)
기구학 보정
JTS 보정
마찰 보정 (A모델인 경우)
FTS 보정 (A모델인 경우)
통합 업데이트
ROS manual(V1.14)
Doosan ROS package 설치
동작 모드
Virtual mode
Real mode
dsr_description
dsr_description <robot_model>.launch
dsr_moveit_config 관련
dsr_moveit_config
dsr_control + moveit
MoveIt Commander
dsr_launcher
dsr_example
Single Robot
Multi Robot
Gripper
Mobile robot
dsr_msgs
Topic
RobotState.msg
RobotStop.msg
RobotError.msg
LogAlarm.msg
ModbusState.msg
JogMultiAxis.msg
Service/motion
Trans.srv
Fkin.srv
Ikin.srv
SetRefCoord.srv
MoveJoint.srv
MoveLine.srv
MoveJointx.srv
MoveCircle.srv
MoveSplineJoint.srv
MoveSplineTask.srv
MoveBlending.srv
MoveSpiral.srv
MovePeriodic.srv
MoveWait.srv
MovePause.srv
MoveResume.srv
MoveStop.srv
Jog.srv
JogMulti.srv
CheckMotion.srv
ChangeOperationSpeed.srv
EnableAlterMotion.srv
AlterMotion.srv
DisableAlterMotion.srv
SetSingularityHandling.srv
Service/system
GetRobotMode.srv
SetRobotMode.srv
GetRobotSystem
SetRobotSystem.srv
GetRobotSpeedMode.srv
SetRobotSpeedMode.srv
SetSafeStopResetType.srv
GetCurrentPose.srv
GetLastAlarm.srv
Service/aux_control
GetControlMode.srv
GetControlSpace.srv
GetCurrentPosj.srv
GetCurrentVelj.srv
GetDesiredPosj.srv
GetDesiredVelj.srv
GetCurrentPosx.srv
GetCurruntToolFlangePosx.srv
GetCurrentVelx.srv
GetDesiredPosx.srv
GetDesiredVelx.srv
GetCurrentSolutionSpace.srv
GetCurrentRotm.srv
GetJointTorque.srv
GetExternalTorque.srv
GetToolForce.srv
GetSolutionSpace.srv
GetOrientationError.srv
Service/tcp
ConfigCreateTcp.srv
ConfigDeleteTcp.srv
GetCurrentTcp.srv
SetCurrentTcp.srv
Service/tool
ConfigCreateTool.srv
ConfigDeleteTool.srv
GetCurrentTool.srv
SetCurrentTool.srv
Service/force
ParallelAxis1.srv
ParallelAxis2.srv
AlignAxis1.srv
AlignAxis2.srv
IsDoneBoltTightening.srv
ReleaseComplianceCtrl.srv
TaskComplianceCtrl.srv
SetStiffnessx.srv
CalcCoord.srv
SetUserCartCoord1.srv
SetUserCartCoord2.srv
SetUserCartCoord3.srv
OverwriteUserCartCoord.srv
GetUserCartCoord.srv
SetDesiredForce.srv
ReleaseForce.srv
CheckPositionCondition.srv
CheckForceCondition.srv
CheckOrientationCondition1.srv
CheckOrientationCondition2.srv
CoordTransform.srv
GetWorkpieceWeight.srv
ResetWorkpieceWeight.srv
Service/IO
SetCtlBoxDigitalOutput.srv
GetCtlBoxDigitalOutput.srv
GetCtlBoxDigitalInput.srv
SetToolDigitalOutput.srv
GetToolDigitalOutput.srv
GetToolDigitalIntput.srv
SetCtlBoxAnalogOutputType.srv
SetCtlBoxAnalogInputType.srv
SetCtlBoxAnalogOutput.srv
GetCtlBoxAnalogInput.srv
Service/modbus
ConfigCreateModbus.srv
ConfigDeleteModbus.srv
SetModbusOutput.srv
GetModbuInput.srv
Service/DRL
DrlStart.srv
DrlStop.srv
DrlPause.srv
DrlResume.srv
GetDrlState.srv
Service/gripper
SerialSendData.srv
RobotiqMove.srv
DRL 명령어
로봇 모드
set_robot_mode(robot_mode)
get_robot_mode()
get_last_alarm()
set_safe_stop_reset_type(reset_type)
set_robot_speed_mode(speed_mode)
get_robot_speed_mode()
set_robot_system(robot_system)
get_robot_system()
get_robot_state()
Programming manual(V3.2.2)
DRL Basic Syntex
Basic Syntax
Indent
Comment
Variable
Variable name
Numeric value
String
list
tuple
dictionary
Function
Function Syntax
Scoping rule
Parameter mode
Control Statement
pass
if
while
for
break
continue
Else in a loop
Motion-related Commands
Pos Creation
posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)
posx(x=0, y=0, z=0, A=0, B=0, C=0, ori_type=None, sol=None, turn=None)
trans(pos, delta, ref, ref_out, ori_type_out)
posb(seg_type, posx1, posx2=None, radius=0)
fkin(pos, ref, ori_type)
ikin(pos, sol_space, ref, ref_pos_opt, iter_threshold)
addto(pos, add_val=None)
ikin_norm(pos, sol_space, ref, ref_pos_opt)
Motion settings
set_velj(vel)
set_accj(acc)
set_velx(vel1, vel2)
set_velx(vel)
set_accx(acc1, acc2)
set_accx(acc)
set_tcp(name)
set_ref_coord(coord)
set_auto_acceleration_mode(mode, ratio)
Synchronous Motion
movej(pos, vel, acc, time, radius, mod, ra, ref)
movel(pos, vel, acc, time, radius, ref, mod, ra, app_type)
movejx(pos, vel, acc, time, radius, ref, mod, ra, sol)
movec(pos, pos2, vel, acc, time, radius, ref, mod, angle, ra, ori, app_type)
movesj(pos_list, vel, acc, time, mod)
movesx(pos_list, vel, acc, ref, mod, vel_opt)
moveb(pos_list, vel, acc, time, ref, mod, app_type)
move_spiral(rev, rmax, lmax, vel, acc, time, axis, ref)
move_periodic(amp, period, atime, repeat, ref)
move_home(target)
Asynchronous Motion
amovej(pos, vel, acc, time, mod, ra, ref)
amovel(pos, vel, acc, time, ref, mod, ra, app_type)
amovejx(pos, vel, acc, time, ref, mod, ra, sol)
amovec(pos, pos2, vel, acc, time, ref, mod, angle, ra, ori, app_type)
amovesj(pos_list, vel, acc, time, mod)
amovesx(pos_list, vel, acc, time, ref, mod, vel_opt)
amoveb(pos_list, vel, acc, time, ref, mod, app_type)
amove_spiral(rev, rmax, lmax, vel, acc, time, axis, ref)
amove_periodic(amp, period, atime, repeat, ref)
Additional Functions
mwait(time=0)
begin_blend(radius=0)
end_blend()
check_motion()
stop(st_mode)
change_operation_speed(speed)
wait_manual_guide()
wait_nudge()
enable_alter_motion(n,mode,ref,limit_dPOS,limit_dPOS_per)
alter_motion(pos)
disable_alter_motion()
check_robot_mastering()
motion_pause()
motion_resume()
Servo Motion
servoj(pos, vel, acc, time)
servol(pos, vel, acc, time)
speedj(vel, acc, time)
speedl(vel, acc, time)
Auxiliary Control Commands
Robot Current Value
get_current_posj()
get_current_velj()
get_current_posx(ref, ori_type)
get_current_tool_flange_posx(ref, ori_type)
get_current_velx(ref)
get_current_rotm(ref)
get_joint_torque()
get_external_torque()
get_tool_force(ref)
Robot Target Value
get_desired_posj()
get_desired_velj()
get_desired_posx(ref, ori_type)
get_desired_velx(ref)
Control State Value
get_control_mode()
get_control_space()
get_current_solution_space()
get_solution_space(pos)
get_orientation_error(xd, xc, axis)
Other Settings Command
Tool/Workpiece Settings
get_workpiece_weight()
reset_workpiece_weight()
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)
set_tool_shape(name)
set_tool(name, start_time, transition_time)
Control Mode Settings
set_singularity_handling(mode)
set_singular_handling_force(mode)
set_palletizing_mode(mode)
set_motion_end(mode)
Force/Stiffness Control and Other User-Friendly Features
Force/Compliance Control
release_compliance_ctrl()
task_compliance_ctrl(stx, time)
set_stiffnessx(stx, time)
set_desired_force(fd, dir, time, mod)
release_force(time=0)
get_force_control_state()
set_damping_factor(damping_factor, time)
set_force_factor(force_factor, time)
User-friendly Functions
parallel_axis(x1, x2, x3, axis, ref)
parallel_axis(vect, axis, ref)
align_axis(x1, x2, x3, pos, axis, ref)
align_axis(vect, pos, axis, ref)
is_done_bolt_tightening(m=0, timeout=0, axis=None)
calc_coord(x1, x2, x3, x4, ref, mod, ori_type_out)
set_user_cart_coord(pos, ref)
set_user_cart_coord(x1, x2, x3, pos, ref)
set_user_cart_coord(u1, v1, pos, ref)
overwrite_user_cart_coord(id, pos, ref, apply_mod)
get_user_cart_coord(id, ori_type)
check_position_condition(axis, min, max, ref, mod, pos)
check_force_condition(axis, min, max, ref)
check_orientation_condition(axis, min, max, ref, mod)
check_orientation_condition(axis, min, max, ref, mod, pos)
coord_transform(pose_in, ref_in, ref_out, ori_type_out)
get_pattern_point(pos1, pos2, pos3, pos4, index, pattern, row, column, stack, stack_offset, point_offset, ori_type_out=None)
System Commands
IO Related
set_digital_output(index, val =None)
set_digital_outputs(bit_list)
set_digital_outputs(bit_start, bit_end, val)
set_digital_output(index, val=None, time=None, val2=None)
get_digital_input(index)
get_digital_inputs(bit_list)
get_digital_inputs(bit_start, bit_end)
wait_digital_input(index, val, timeout=None)
set_tool_digital_output(index, val=None)
set_tool_digital_outputs(bit_list)
set_tool_digital_outputs(bit_start, bit_end, val)
set_tool_digital_output(index, val=None, time=None, val2=None)
get_tool_digital_input(index)
get_tool_digital_inputs(bit_list)
get_tool_digital_inputs(bit_start, bit_end)
wait_tool_digital_input(index, val, timeout=None)
set_mode_analog_output(ch, mod )
set_mode_analog_input(ch, mod )
set_analog_output(ch, val)
get_analog_input(ch)
set_output(port_type, index, val=None, time=None, val2=None)
get_input(port_type, index)
wait_input(port_type, index, val, timeout=None, condition=None)
wait_analog_input(ch, condition, val, timeout=None)
wait_tool_analog_input(ch, condition, val, timeout=None)
TP Interface
tp_popup(message, pm_type=DR_PM_MESSAGE, button_type=0)
tp_log(message)
tp_get_user_input(message, input_type)
Thread
thread_run(th_func_name, loop=False)
thread_stop(th_id)
thread_pause(th_id)
thread_resume(th_id)
thread_state(th_id)
Integrated example - Thread
Others
wait(time)
exit()
sub_program_run(name)
drl_report_line(option)
set_fm(key, value)
get_robot_model()
get_robot_serial_num()
check_robot_jts()
check_robot_fts()
start_timer()
end_timer()
message_to_dp(event_name, strdata)
send_load_module(package, sub_type, active)
send_unload_module(unique_id)
Mathematical Function
Basic Function
ceil(x)
floor(x)
pow(x, y)
sqrt(x)
log(x, b)
d2r(x)
r2d(x)
random()
Trigonometric functions
sin(x)
cos(x)
tan(x)
asin(x)
acos(x)
atan(x)
atan2(y, x)
Linear algebra
norm(x)
rotx(angle)
roty(angle)
rotz(angle)
rotm2eul(rotm)
rotm2rotvec(rotm)
eul2rotm([alpha,beta,gamma])
eul2rotvec([alpha,beta,gamma])
eul2rpy([alpha,beta,gamma])
rpy2eul([yaw,pitch,roll])
rotvec2eul([rx,ry,rz])
rotvec2rotm([rx,ry,rz])
htrans(posx1,posx2,ori_type_out)
get_intermediate_pose(posx1,posx2,alpha,ori_type_out)
get_distance(posx1, posx2)
get_normal(x1, x2, x3)
add_pose(posx1,posx2,ori_type_out)
subtract_pose(posx1,posx2,ori_type_out)
inverse_pose(posx1)
dot_pose(posx1, posx2)
cross_pose(posx1, posx2)
unit_pose(posx1)
External Communication Commands
Serial
serial_open(port=None, baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits=DR_STOPBITS_ONE)
serial_close(ser)
serial_state(ser)
serial_set_inter_byte_timeout(ser, timeout=None)
serial_write(ser, tx_data)
serial_read(ser, length=-1, timeout=-1)
serial_get_count()
serial_get_info(id)
Integrated Example - Serial
Flange I/O - Serial
flange_serial_open(baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)
flange_serial_close()
flange_serial_write(tx_data, port=1)
flange_serial_read(timeout=None, port = 1)
Integrated Example - Serial(Flange I/O)
Tcp/Client
client_socket_open(ip, port)
client_socket_close(sock)
client_socket_state(sock)
client_socket_write(sock, tx_data)
client_socket_read(sock, length=-1, timeout=-1)
Integrated example (Tcp/Client)
Tcp/Server
server_socket_open(port)
server_socket_close(sock)
server_socket_state(sock)
server_socket_write(sock, tx_data)
server_socket_read(sock, length=-1, timeout=-1)
Integrated example - Tcp/Server
Modbus
add_modbus_signal(ip, port, name, reg_type, index, value=0, slaveid=255)
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)
add_modbus_signal_multi(ip, port, slaveid=255, name=None, reg_type=DR_HOLDING_REGISTER, start_address=0, cnt=1)
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)
del_modbus_signal(name)
del_modbus_signal_multi(name)
set_modbus_output(iobus, value)
set_modbus_outputs(iobus_list, val_list)
set_modbus_output_multi(iobus, val_list)
get_modbus_input(iobus)
get_modbus_inputs(iobus_list)
get_modbus_inputs_list(iobus_list)
get_modbus_input_multi (iobus)
wait_modbus_input(iobus, val, timeout=None)
set_modbus_slave(address, val)
get_modbus_slave(address)
modbus_crc16(data)
modbus_send_make(send_data)
modbus_recv_check(recv_data)
modbus_unsigned_to_signed(unsigned_data)
Industrial Ethernet (EtherNet/IP,PROFINET)
set_output_register_bit(address, val)
set_output_register_int(address, val)
set_output_register_float(address, val)
get_output_register_bit(address)
get_output_register_int(address)
get_output_register_float(address)
get_input_register_bit(address)
get_input_register_int(address)
get_input_register_float(address)
FOCAS
focas_connect(ip, port, timeout)
focas_disconnect(handle)
focas_pmc_read_bit(handle, addr_type, start_num, bit_offset)
focas_pmc_read_char(handle, addr_type, start_num, read_count)
focas_pmc_read_word(handle, addr_type, start_num, read_count)
focas_pmc_read_long(handle, addr_type, start_num, read_count)
focas_pmc_read_float(handle, addr_type, start_num, read_count)
focas_pmc_read_double(handle, addr_type, start_num, read_count)
focas_get_error_str(handle, errorCode)
Application Commands
External Encoder Setting Commands
set_extenc_polarity(channel, polarity_A, polarity_B, polarity_Z, polarity_S)
set_extenc_mode(channel, mode_AB, pulse_AZ, mode_Z, mode_S, inverse_cnt)
get_extenc_count(channel)
clear_extenc_count(channel)
Conveyor Tracking
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.
get_conveyor_obj(conv_id, timeout=None, container_type=DR_FIFO, obj_offset_coord=None)
tracking_conveyor(conv_id, time=0.3)
untracking_conveyor(conv_id, time=0.3)
Welding
app_weld_enable_digital()
app_weld_disable_digital()
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])
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])
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], ...)
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])
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],...)
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])
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], ...)
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],...)
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,...)
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)
app_weld_get_welding_cond_digital()
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, ...)
app_weld_disable_analog()
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])
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)
app_weld_get_welding_cond_analog()
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])
app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])
app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])
app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])
A-Series Command
Controller
get_function_input(index)
Manual PDF download
ROS 2 Docs.
API Docs.
Legacy manual
Main
DRL Basic Syntex
Basic Syntax
Indent
Comment
Variable
Variable name
Numeric value
String
list
tuple
dictionary
Function
Function Syntax
Scoping rule
Parameter mode
Control Statement
pass
if
while
for
break
continue
Else in a loop
Motion-related Commands
Pos Creation
posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)
posx(x=0, y=0, z=0, A=0, B=0, C=0, ori_type=None, sol=None, turn=None)
trans(pos, delta, ref, ref_out, ori_type_out)
posb(seg_type, posx1, posx2=None, radius=0)
fkin(pos, ref, ori_type)
ikin(pos, sol_space, ref, ref_pos_opt, iter_threshold)
addto(pos, add_val=None)
ikin_norm(pos, sol_space, ref, ref_pos_opt)
Motion settings
set_velj(vel)
set_accj(acc)
set_velx(vel1, vel2)
set_velx(vel)
set_accx(acc1, acc2)
set_accx(acc)
set_tcp(name)
set_ref_coord(coord)
set_auto_acceleration_mode(mode, ratio)
Synchronous Motion
movej(pos, vel, acc, time, radius, mod, ra, ref)
movel(pos, vel, acc, time, radius, ref, mod, ra, app_type)
movejx(pos, vel, acc, time, radius, ref, mod, ra, sol)
movec(pos, pos2, vel, acc, time, radius, ref, mod, angle, ra, ori, app_type)
movesj(pos_list, vel, acc, time, mod)
movesx(pos_list, vel, acc, ref, mod, vel_opt)
moveb(pos_list, vel, acc, time, ref, mod, app_type)
move_spiral(rev, rmax, lmax, vel, acc, time, axis, ref)
move_periodic(amp, period, atime, repeat, ref)
move_home(target)
Asynchronous Motion
amovej(pos, vel, acc, time, mod, ra, ref)
amovel(pos, vel, acc, time, ref, mod, ra, app_type)
amovejx(pos, vel, acc, time, ref, mod, ra, sol)
amovec(pos, pos2, vel, acc, time, ref, mod, angle, ra, ori, app_type)
amovesj(pos_list, vel, acc, time, mod)
amovesx(pos_list, vel, acc, time, ref, mod, vel_opt)
amoveb(pos_list, vel, acc, time, ref, mod, app_type)
amove_spiral(rev, rmax, lmax, vel, acc, time, axis, ref)
amove_periodic(amp, period, atime, repeat, ref)
Additional Functions
mwait(time=0)
begin_blend(radius=0)
end_blend()
check_motion()
stop(st_mode)
change_operation_speed(speed)
wait_manual_guide()
wait_nudge()
enable_alter_motion(n,mode,ref,limit_dPOS,limit_dPOS_per)
alter_motion(pos)
disable_alter_motion()
check_robot_mastering()
motion_pause()
motion_resume()
Servo Motion
servoj(pos, vel, acc, time)
servol(pos, vel, acc, time)
speedj(vel, acc, time)
speedl(vel, acc, time)
Auxiliary Control Commands
Robot Current Value
get_current_posj()
get_current_velj()
get_current_posx(ref, ori_type)
get_current_tool_flange_posx(ref, ori_type)
get_current_velx(ref)
get_current_rotm(ref)
get_joint_torque()
get_external_torque()
get_tool_force(ref)
Robot Target Value
get_desired_posj()
get_desired_velj()
get_desired_posx(ref, ori_type)
get_desired_velx(ref)
Control State Value
get_control_mode()
get_control_space()
get_current_solution_space()
get_solution_space(pos)
get_orientation_error(xd, xc, axis)
Other Settings Command
Tool/Workpiece Settings
get_workpiece_weight()
reset_workpiece_weight()
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)
set_tool_shape(name)
set_tool(name, start_time, transition_time)
Control Mode Settings
set_singularity_handling(mode)
set_singular_handling_force(mode)
set_palletizing_mode(mode)
set_motion_end(mode)
Force/Stiffness Control and Other User-Friendly Features
Force/Compliance Control
release_compliance_ctrl()
task_compliance_ctrl(stx, time)
set_stiffnessx(stx, time)
set_desired_force(fd, dir, time, mod)
release_force(time=0)
get_force_control_state()
set_damping_factor(damping_factor, time)
set_force_factor(force_factor, time)
User-friendly Functions
parallel_axis(x1, x2, x3, axis, ref)
parallel_axis(vect, axis, ref)
align_axis(x1, x2, x3, pos, axis, ref)
align_axis(vect, pos, axis, ref)
is_done_bolt_tightening(m=0, timeout=0, axis=None)
calc_coord(x1, x2, x3, x4, ref, mod, ori_type_out)
set_user_cart_coord(pos, ref)
set_user_cart_coord(x1, x2, x3, pos, ref)
set_user_cart_coord(u1, v1, pos, ref)
overwrite_user_cart_coord(id, pos, ref, apply_mod)
get_user_cart_coord(id, ori_type)
check_position_condition(axis, min, max, ref, mod, pos)
check_force_condition(axis, min, max, ref)
check_orientation_condition(axis, min, max, ref, mod)
check_orientation_condition(axis, min, max, ref, mod, pos)
coord_transform(pose_in, ref_in, ref_out, ori_type_out)
get_pattern_point(pos1, pos2, pos3, pos4, index, pattern, row, column, stack, stack_offset, point_offset, ori_type_out=None)
System Commands
IO Related
set_digital_output(index, val =None)
set_digital_outputs(bit_list)
set_digital_outputs(bit_start, bit_end, val)
set_digital_output(index, val=None, time=None, val2=None)
get_digital_input(index)
get_digital_inputs(bit_list)
get_digital_inputs(bit_start, bit_end)
wait_digital_input(index, val, timeout=None)
set_tool_digital_output(index, val=None)
set_tool_digital_outputs(bit_list)
set_tool_digital_outputs(bit_start, bit_end, val)
set_tool_digital_output(index, val=None, time=None, val2=None)
get_tool_digital_input(index)
get_tool_digital_inputs(bit_list)
get_tool_digital_inputs(bit_start, bit_end)
wait_tool_digital_input(index, val, timeout=None)
set_mode_analog_output(ch, mod )
set_mode_analog_input(ch, mod )
set_analog_output(ch, val)
get_analog_input(ch)
set_output(port_type, index, val=None, time=None, val2=None)
get_input(port_type, index)
wait_input(port_type, index, val, timeout=None, condition=None)
wait_analog_input(ch, condition, val, timeout=None)
wait_tool_analog_input(ch, condition, val, timeout=None)
TP Interface
tp_popup(message, pm_type=DR_PM_MESSAGE, button_type=0)
tp_log(message)
tp_get_user_input(message, input_type)
Thread
thread_run(th_func_name, loop=False)
thread_stop(th_id)
thread_pause(th_id)
thread_resume(th_id)
thread_state(th_id)
Integrated example - Thread
Others
wait(time)
exit()
sub_program_run(name)
drl_report_line(option)
set_fm(key, value)
get_robot_model()
get_robot_serial_num()
check_robot_jts()
check_robot_fts()
start_timer()
end_timer()
message_to_dp(event_name, strdata)
send_load_module(package, sub_type, active)
send_unload_module(unique_id)
Mathematical Function
Basic Function
ceil(x)
floor(x)
pow(x, y)
sqrt(x)
log(x, b)
d2r(x)
r2d(x)
random()
Trigonometric functions
sin(x)
cos(x)
tan(x)
asin(x)
acos(x)
atan(x)
atan2(y, x)
Linear algebra
norm(x)
rotx(angle)
roty(angle)
rotz(angle)
rotm2eul(rotm)
rotm2rotvec(rotm)
eul2rotm([alpha,beta,gamma])
eul2rotvec([alpha,beta,gamma])
eul2rpy([alpha,beta,gamma])
rpy2eul([yaw,pitch,roll])
rotvec2eul([rx,ry,rz])
rotvec2rotm([rx,ry,rz])
htrans(posx1,posx2,ori_type_out)
get_intermediate_pose(posx1,posx2,alpha,ori_type_out)
get_distance(posx1, posx2)
get_normal(x1, x2, x3)
add_pose(posx1,posx2,ori_type_out)
subtract_pose(posx1,posx2,ori_type_out)
inverse_pose(posx1)
dot_pose(posx1, posx2)
cross_pose(posx1, posx2)
unit_pose(posx1)
External Communication Commands
Serial
serial_open(port=None, baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits=DR_STOPBITS_ONE)
serial_close(ser)
serial_state(ser)
serial_set_inter_byte_timeout(ser, timeout=None)
serial_write(ser, tx_data)
serial_read(ser, length=-1, timeout=-1)
serial_get_count()
serial_get_info(id)
Integrated Example - Serial
Flange I/O - Serial
flange_serial_open(baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits = DR_STOPBITS_ONE)
flange_serial_close()
flange_serial_write(tx_data, port=1)
flange_serial_read(timeout=None, port = 1)
Integrated Example - Serial(Flange I/O)
Tcp/Client
client_socket_open(ip, port)
client_socket_close(sock)
client_socket_state(sock)
client_socket_write(sock, tx_data)
client_socket_read(sock, length=-1, timeout=-1)
Integrated example (Tcp/Client)
Tcp/Server
server_socket_open(port)
server_socket_close(sock)
server_socket_state(sock)
server_socket_write(sock, tx_data)
server_socket_read(sock, length=-1, timeout=-1)
Integrated example - Tcp/Server
Modbus
add_modbus_signal(ip, port, name, reg_type, index, value=0, slaveid=255)
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)
add_modbus_signal_multi(ip, port, slaveid=255, name=None, reg_type=DR_HOLDING_REGISTER, start_address=0, cnt=1)
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)
del_modbus_signal(name)
del_modbus_signal_multi(name)
set_modbus_output(iobus, value)
set_modbus_outputs(iobus_list, val_list)
set_modbus_output_multi(iobus, val_list)
get_modbus_input(iobus)
get_modbus_inputs(iobus_list)
get_modbus_inputs_list(iobus_list)
get_modbus_input_multi (iobus)
wait_modbus_input(iobus, val, timeout=None)
set_modbus_slave(address, val)
get_modbus_slave(address)
modbus_crc16(data)
modbus_send_make(send_data)
modbus_recv_check(recv_data)
modbus_unsigned_to_signed(unsigned_data)
Industrial Ethernet (EtherNet/IP,PROFINET)
set_output_register_bit(address, val)
set_output_register_int(address, val)
set_output_register_float(address, val)
get_output_register_bit(address)
get_output_register_int(address)
get_output_register_float(address)
get_input_register_bit(address)
get_input_register_int(address)
get_input_register_float(address)
FOCAS
focas_connect(ip, port, timeout)
focas_disconnect(handle)
focas_pmc_read_bit(handle, addr_type, start_num, bit_offset)
focas_pmc_read_char(handle, addr_type, start_num, read_count)
focas_pmc_read_word(handle, addr_type, start_num, read_count)
focas_pmc_read_long(handle, addr_type, start_num, read_count)
focas_pmc_read_float(handle, addr_type, start_num, read_count)
focas_pmc_read_double(handle, addr_type, start_num, read_count)
focas_get_error_str(handle, errorCode)
Application Commands
External Encoder Setting Commands
set_extenc_polarity(channel, polarity_A, polarity_B, polarity_Z, polarity_S)
set_extenc_mode(channel, mode_AB, pulse_AZ, mode_Z, mode_S, inverse_cnt)
get_extenc_count(channel)
clear_extenc_count(channel)
Conveyor Tracking
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.
get_conveyor_obj(conv_id, timeout=None, container_type=DR_FIFO, obj_offset_coord=None)
tracking_conveyor(conv_id, time=0.3)
untracking_conveyor(conv_id, time=0.3)
Welding
app_weld_enable_digital()
app_weld_disable_digital()
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])
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])
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], ...)
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])
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],...)
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])
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], ...)
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],...)
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,...)
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)
app_weld_get_welding_cond_digital()
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, ...)
app_weld_disable_analog()
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])
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)
app_weld_get_welding_cond_analog()
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])
app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])
app_weld_weave_cond_circular(wv_offset=[0,0], wv_ang=0, wv_param=[3,3,0.3,0.3])
app_weld_weave_cond_sinusoidal(wv_offset=[0,0], wv_ang=0, wv_param=[3,0.6])
A-Series Command
Controller
get_function_input(index)
Breadcrumbs
Programming manual(V3.2.2)
External Communication Commands
On this Page
Flange I/O - Serial
