Only after users have read all instructions first and have a full understanding of the content of this manual and have correctly set the TM Robot according to the ...
Software Manual TMflow Software version: 1.82. This Manual contains information of the Techman Robot product series (hereinafter referred to as the TM.
Software Manual TMflow
Original Instruction
i I626-E-09
This Manual contains information of the Techman Robot product series (hereinafter referred to as the TM Robot). The information contained herein is the property of Techman Robot Inc. (hereinafter referred to as the Corporation). No part of this publication may be reproduced or copied in any way, shape or form without prior authorization from the Corporation. No information contained herein shall be considered an offer or commitment. It may be subject to change without notice. This Manual will be reviewed periodically. The Corporation will not be liable for any error or omission.
logo is registered trademark of TECHMAN ROBOT INC. in Taiwan and other countries and the company reserves the ownership of this manual and its copy and its copyrights.
Software Manual TMflow Software version: 1.82
Contents
Revision History Table ................................................................................................................................20 1. General...................................................................................................................................................21
Overview .......................................................................................................................................21 Warning and Caution Symbols.......................................................................................................21 Safety Precautions ........................................................................................................................22 Validation and Responsibility .........................................................................................................23 Limitation of Liability ......................................................................................................................23 Functional Note Symbol.................................................................................................................23 2. Start up and Activation............................................................................................................................24 Overview .......................................................................................................................................24 Start Up .........................................................................................................................................24
Plug in the Power ....................................................................................................................24 Start up from Packing Pose.....................................................................................................24 Standard Start Up ...................................................................................................................28 TM Robot HMI TMflow Operation ............................................................................................29
Local Operation Method ...................................................................................................30 Wireless Access Point Connection Method.......................................................................30 Wired Network Connection Method ..................................................................................31 3. Safety Settings .......................................................................................................................................33 Overview .......................................................................................................................................33 Safety Permission Settings ............................................................................................................33 Safety Setting ................................................................................................................................33 Performance Safety Settings...................................................................................................34 Human Machine Safety Settings ..........................................................................................35 Safety IO Settings ...................................................................................................................38 Resume Setting of User Connected External Safeguard Input Port ..................................39 Resume Setting of User Connected External Safeguard Input Port for Human - Machine Safety Settings .............................................................................................................................39 Safeguard Port Setting for the Hardware Version prior to 2.00 (inclusive).........................40 Enabling Device Setting (HW 3.2 or newer exclusive) ......................................................40 Cartesian Limit A & B ..............................................................................................................41 Project Speed Adjustment Setting ...........................................................................................41 Switch between Modes ...........................................................................................................42 4. Start Your First Project............................................................................................................................44 Overview .......................................................................................................................................44
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Initial Setting..................................................................................................................................44 M/A Mode and FreeBot..................................................................................................................44 Build and Run Your First Project ....................................................................................................46 Shutdown ......................................................................................................................................49 5. Operation Interface.................................................................................................................................51 Overview .......................................................................................................................................51 Login/Logout..................................................................................................................................51 Connection ....................................................................................................................................52
Local Connection ....................................................................................................................52 Remote Connection ................................................................................................................52 View ..............................................................................................................................................53 Display Board..........................................................................................................................53 Flow ........................................................................................................................................55 IO ............................................................................................................................................56 Simulator.................................................................................................................................56 Status......................................................................................................................................57 Vision Viewer ..........................................................................................................................57 Run Setting....................................................................................................................................58 Project ...........................................................................................................................................59 Project Editing Toolbar ............................................................................................................60
Create New Project...........................................................................................................60 Save Project .....................................................................................................................61 Open Project.....................................................................................................................61 Step Run ..........................................................................................................................62 Point Manager ..................................................................................................................63 Base Manager ..................................................................................................................65 Controller ..........................................................................................................................66 Variables...........................................................................................................................70 EditBlock ..........................................................................................................................70
Current Base and Base List ............................................................................................71 Current TCP and TCP List ..............................................................................................71 Display Manager.............................................................................................................72 Node Menu and Flow Editing Area ..........................................................................................73 Project Function Menu ............................................................................................................74 Search Function ...............................................................................................................75 Operation Space...............................................................................................................76
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Modbus Device.................................................................................................................76 Set IO while Project Error .................................................................................................76 Set IO while Project Stop..................................................................................................76 Stop Watch .......................................................................................................................76 View..................................................................................................................................77 F/T Sensor........................................................................................................................77 Serial Port.........................................................................................................................78
Path Generate ................................................................................................................79 Joint Loading ..................................................................................................................80 Network Device ..............................................................................................................80 Robot Setting.................................................................................................................................81 Wizard.....................................................................................................................................81 Vision Setting ..........................................................................................................................81 TCP.........................................................................................................................................81 IO Setup..................................................................................................................................81 Safety......................................................................................................................................82 Controller ................................................................................................................................82 Speech....................................................................................................................................82 End Button ..............................................................................................................................83 Component .............................................................................................................................84 Operation Space ...................................................................................................................84 Command..............................................................................................................................84 Connection............................................................................................................................84 Posture Setting......................................................................................................................85 Global Variables ....................................................................................................................86 Text File Manager..................................................................................................................86 TMmanager...........................................................................................................................86 Motion Setting .......................................................................................................................86 System Setting ..............................................................................................................................87 Language ................................................................................................................................88 System Update .......................................................................................................................88 Group......................................................................................................................................89 User Account...........................................................................................................................90 Network Setting.......................................................................................................................90 Import/Export ..........................................................................................................................91 Date Time................................................................................................................................93
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Administrator Setting ...............................................................................................................93 Network Service ......................................................................................................................94
Backup\Restore.....................................................................................................................95 Input/Display Devices ............................................................................................................96
Pop-out Keyboard ...........................................................................................................96 Input Devices (HW 3.2 or newer exclusive).....................................................................97 Auto Remote Mode ...............................................................................................................97 Hard Disk Space Analysis .....................................................................................................98 6. Point and Base .....................................................................................................................................100 Overview .....................................................................................................................................100 Base and Right-hand Rule...........................................................................................................101 Right-hand Rule ....................................................................................................................101 Types of Base .......................................................................................................................101 Robot Base.....................................................................................................................101 Vision Base.....................................................................................................................102 Custom Base ..................................................................................................................102 Tool Coordinate ..............................................................................................................103 Point Parameter...........................................................................................................................103 Base Shift..............................................................................................................................104 Tool Shift ...............................................................................................................................106 7. Create Base .........................................................................................................................................108 Create Vision Base ......................................................................................................................108 Create a Custom Base ................................................................................................................108 Create New Base Node ...............................................................................................................109 Create a New Base by Multiple Bases .................................................................................. 110 Create a New Base with Two Vision Bases.....................................................................110 Create a New Base with Three Vision Bases .................................................................. 110 Create a New Base with Three Points ................................................................................... 111 Create a New Base with Three Points on the Vision Base .............................................. 112 Create a New Base with Three Dynamic Points..............................................................113 8. Create the TCP.....................................................................................................................................114 Overview .....................................................................................................................................114 TCP Setting .................................................................................................................................114 Create Parameters of TCP with Hand Guidance Teaching .................................................... 115 Create Tool Center Point by Input Parameters ...................................................................... 118 9. Motion Programming ............................................................................................................................120
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Overview .....................................................................................................................................120 Point to Point (PTP) .....................................................................................................................121
PTP is the Fastest Way to Move ...........................................................................................121 Speed of PTP Motion ............................................................................................................121 Plan for PTP Movement ........................................................................................................122 PTP Smart Pose Choosing....................................................................................................122 Line .............................................................................................................................................123 Line Moves the Shortest Distance.........................................................................................123 Speed of Line Motion ............................................................................................................123 Plan for Line Movement ........................................................................................................124 Two-Steps Motion (WayPoint)......................................................................................................125 WayPoint...............................................................................................................................125 Plan for WayPoint Movement ................................................................................................126 Blending ......................................................................................................................................127 Blending in Movement...........................................................................................................127 Blending Speed Change Chart..............................................................................................127 Set the Blending Percentage.................................................................................................127 Set the Blending by Radius ...................................................................................................128 Motion Nodes ..............................................................................................................................128 Point Node ............................................................................................................................130
Generation Method of Point node ...................................................................................130 Point Node Setting..........................................................................................................131 F-Point Node.........................................................................................................................131 Move Node............................................................................................................................133 Plan for the Move Node ..................................................................................................134 Circle Node ...........................................................................................................................134 Circle Node Setting.........................................................................................................134 Reach End Point.............................................................................................................135 Target Central Angle .......................................................................................................135 Path Node .............................................................................................................................136 Path and PLine ...............................................................................................................136 Path Node Setting ..........................................................................................................136 Path File Import and Export ............................................................................................138 Pallet Node ...........................................................................................................................138 Listen Node...........................................................................................................................140 10. Logic Programming.............................................................................................................................142
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Overview ...................................................................................................................................142 Variable System.........................................................................................................................142
Local Variables....................................................................................................................142 Global Variables............................................................................................................143
Logic Nodes ..............................................................................................................................145 Start Node...........................................................................................................................145 SET Node ...........................................................................................................................145 IF Node ...............................................................................................................................149 WaitFor Node ......................................................................................................................150 Gateway Node ....................................................................................................................150 M-Decision Node.................................................................................................................151
Process .....................................................................................................................................152 Process Nodes....................................................................................................................152 Subflow Node......................................................................................................................154 Thread.................................................................................................................................156
11. Vision Node ........................................................................................................................................157 12. Communication and Display ...............................................................................................................159
Modbus......................................................................................................................................159 Modbus System Hardware Structure...................................................................................159 Modbus System Software Structure ....................................................................................159 Set Modbus TCP ..........................................................................................................159 Set Modbus RTU ..........................................................................................................160 Application of Modbus in Project .........................................................................................160
Network .....................................................................................................................................164 Network Node .....................................................................................................................165
IO ..............................................................................................................................................166 User Defined IO ..................................................................................................................166 External IO ..........................................................................................................................166 Status IO .............................................................................................................................167
Command Node ........................................................................................................................167 TmComm Instruction Set.....................................................................................................168 File Command.....................................................................................................................174
Log Node...................................................................................................................................177 Display Node .............................................................................................................................178 Voice Node ................................................................................................................................179 13. Component.........................................................................................................................................181
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14. Force Related Node............................................................................................................................184 Compliance node.......................................................................................................................184 F/T Sensor.................................................................................................................................188 Communication Setting .......................................................................................................188 Position Setting ...................................................................................................................189 Import/Export Settings of F/T Sensor ..................................................................................191 Force Value and Charts.......................................................................................................191 Touch Stop Node .......................................................................................................................192 Function Type: Compliance .................................................................................................192 Function Type: Line .............................................................................................................193 Touch Stop Function Type: Force Sensor............................................................................195 Smart Insert Node .....................................................................................................................197 Approaching ........................................................................................................................197 Approaching principle description .................................................................................197 Approaching parameters setting ...................................................................................198 Searching............................................................................................................................199 Method for searching: Spiral .........................................................................................200 Method for searching: Linear ........................................................................................201 Pushing ...............................................................................................................................202 Parameter Setting.........................................................................................................202 Force Control Node ...................................................................................................................203
15. Operation Space.................................................................................................................................210 Overview ...................................................................................................................................210 Operation Space Setting Page ..................................................................................................211 Add / Modify Page .....................................................................................................................212 Plane Page .........................................................................................................................212 Cube Page ..........................................................................................................................213 Operation Space Setting Page in the Project Editing Page........................................................214 Export/Import Operation Space..................................................................................................216 Export Operation Space ......................................................................................................216 Import Operation Space ......................................................................................................216
16. TM Component Editor.........................................................................................................................219 Starting to create your first component ......................................................................................219 Overview .............................................................................................................................219 TM Component Editor settings ............................................................................................219 Start node.....................................................................................................................219
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Node settings................................................................................................................222 TM Component Editor Naming Rule....................................................................................224
Component Naming......................................................................................................224 Global Variables Naming ..............................................................................................225 Devices......................................................................................................................................226 Modbus Devices..................................................................................................................226 Network Devices .................................................................................................................226 Force Sensing Devices .......................................................................................................227 Features & Applicable Examples ...............................................................................................227 Global Variables ..................................................................................................................227 Use component in TM Component Editor............................................................................228 Component Inheritance .......................................................................................................228 The example of point parameterization application..............................................................229 The example of making parameterized devices...................................................................231 Use thread in TM Component Editor ...................................................................................232 Use subflow in TM Component Editor .................................................................................232 Hide parameters..................................................................................................................232 Using your component...............................................................................................................233 Open the component...........................................................................................................233 Import/Export Components .................................................................................................234 17. Collision Check Node .........................................................................................................................235 Appendix A: Modbus List ..........................................................................................................................236 Appendix B: Display of Indication Light Ring.............................................................................................251 Appendix C: Tables of Safety Parameter Upper and Lower Bounds .........................................................255 Appendix D: Ethernet Slave Data Table....................................................................................................263 Appendix E: PROFINET Data Table .........................................................................................................269 Appendix F: Error Descriptions and Suggestions......................................................................................274
Figures Figure 1: Release the Emergency Switch .....................................................................................25 Figure 2: The Three Lights on The Robot Stick Flashing ..............................................................25 Figure 3: The Indication Light Ring of The End Module Flashing in Light Blue .............................25 Figure 4: The Recommended Operating Sequence of Moving the Joints of TM Robot from Packing Pose to Safe Posture.............................................................................................................26 Figure 5: The Recommended Operating Sequence of Moving the Joints of X series TM Robot from Packing Pose to Safe Posture ...............................................................................................26
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Figure 6: The Indication Light Ring of The End Module Returns to Blue Light ..............................27 Figure 7: The Normal Poses.........................................................................................................28 Figure 8: Release the Emergency Switch of Robot Stick ..............................................................28 Figure 9: The Power Light on The Robot Stick Flashing ...............................................................29 Figure 10: Wireless Access Point Connection Method (1/2) .........................................................30 Figure 11: Wireless Access Point Connection Method (2/2) .........................................................30 Figure 12: Wired Network Connection Method (1/2) .....................................................................32 Figure 13: Wired Network Connection Method (2/2) .....................................................................32 Figure 14: Safety Setting ..............................................................................................................34 Figure 15: Angle Setting ...............................................................................................................35 Figure 16: Human Machine Safety Settings (1/2) ......................................................................36 Figure 17: Human Machine Safety Settings (2/2) ......................................................................38 Figure 18: Safety IO Settings........................................................................................................39 Figure 19: Auto Mode / Manual Mode (1/3) ..................................................................................45 Figure 20: Auto Mode / Manual Mode (2/3) ..................................................................................45 Figure 21: Auto Mode / Manual Mode (3/3) ..................................................................................45 Figure 22: The Robot Stick for HW 3.2 or newer ..........................................................................46 Figure 23: Build and Run Your First Project (1/5) .........................................................................47 Figure 24: Build and Run Your First Project (2/5) .........................................................................47 Figure 25: Build and Run Your First Project (3/5) .........................................................................48 Figure 26: Build and Run Your First Project (4/5) .........................................................................49 Figure 27: Build and Run Your First Project (5/5) .........................................................................49 Figure 28: Shutdown ....................................................................................................................50 Figure 29: Function Menu.............................................................................................................51 Figure 30: Get/Release Control (Local) ........................................................................................52 Figure 31: View ............................................................................................................................53 Figure 32: Display(1/3) .................................................................................................................54 Figure 33: Display(2/3) .................................................................................................................54 Figure 34: Display(3/3) .................................................................................................................55 Figure 35: IO ................................................................................................................................56 Figure 36: Simulator .....................................................................................................................57 Figure 37: Status ..........................................................................................................................57 Figure 38: Vision Viewer...............................................................................................................58 Figure 39: Single Project Icon.......................................................................................................59 Figure 40: Project Editing Page ....................................................................................................60 Figure 41: Open and Delete Project View.....................................................................................62
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Figure 42: Step Run .....................................................................................................................63 Figure 43: Point Manager (1/2).....................................................................................................64 Figure 44: Point Manager (2/2).....................................................................................................64 Figure 45: Base Manager .............................................................................................................66 Figure 46: Controller.....................................................................................................................66 Figure 47: Controller (IO Control) .................................................................................................68 Figure 48: Controller (FreeBot Control).........................................................................................69 Figure 49: EditBlock .....................................................................................................................71 Figure 50: Base List......................................................................................................................71 Figure 51: Tool List.......................................................................................................................72 Figure 52: Display Manager..........................................................................................................72 Figure 53: Project Edit (1/3)..........................................................................................................73 Figure 54: Project Edit (2/3)..........................................................................................................74 Figure 55: Project Edit (3/3)..........................................................................................................74 Figure 56: Project Function Menu.................................................................................................75 Figure 57: Searching Pane ...........................................................................................................76 Figure 58: Stop Watch Setting Page.............................................................................................77 Figure 59: View Tool Floating Window .........................................................................................77 Figure 60: Serial Port (1/2) ...........................................................................................................78 Figure 61: Serial Port (2/2) ...........................................................................................................78 Figure 62: Robot Setting...............................................................................................................81 Figure 63: Output Default Value Setting .......................................................................................82 Figure 64: Speech Setting ............................................................................................................83 Figure 65: Gripper Button .............................................................................................................84 Figure 66: Posture Setting ............................................................................................................85 Figure 67: System Setting ............................................................................................................88 Figure 68: Language Setting ........................................................................................................88 Figure 69: System Update (1/2)....................................................................................................89 Figure 70: System Update (2/2)....................................................................................................89 Figure 71: Group ..........................................................................................................................90 Figure 72: User Account...............................................................................................................90 Figure 73: Network Setting (1/2) ...................................................................................................91 Figure 74: Network Setting (2/2) ...................................................................................................91 Figure 75: Date Time....................................................................................................................93 Figure 76: Administrator Setting ...................................................................................................94 Figure 77: Network Services.........................................................................................................94
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Figure 78: Backup\Restore ...........................................................................................................96 Figure 79: Pop-out Keyboard........................................................................................................97 Figure 80: Input Devices...............................................................................................................97 Figure 81: Auto Remote Mode (1/2) .............................................................................................98 Figure 82: Auto Remote Mode (2/2) .............................................................................................98 Figure 83: Base Value of the Point .............................................................................................100 Figure 84: Coordinate Axis Rotation ...........................................................................................100 Figure 85: Right-Hand Base .......................................................................................................101 Figure 86: Robot Base................................................................................................................102 Figure 87: Servoing Vision Base is on the Camera.....................................................................102 Figure 88: Fix-point Vision Base is on the Object .......................................................................102 Figure 89: Tool Coordinates .......................................................................................................103 Figure 90: Point Parameter Information ......................................................................................104 Figure 91: Shift Function of Point Node ......................................................................................104 Figure 92: Base Shift Schematic Diagram ..................................................................................105 Figure 93: Node with Base Shift .................................................................................................105 Figure 94: Node with Tool Shift ..................................................................................................106 Figure 95: Tool Shift Using Keep Pose.......................................................................................106 Figure 96: Tool Shift Using Keep Path........................................................................................107 Figure 97: Base Manager ...........................................................................................................108 Figure 98: Build a Base by 3 Points............................................................................................109 Figure 99: New Base Node.........................................................................................................110 Figure 100: Create a New Base with Two Vision Bases .............................................................110 Figure 101: Create a New Base with Three Vision Bases...........................................................111 Figure 102: Create a New Base with Three Points .....................................................................112 Figure 103: Create a New Base with Three Points on the Vision Base.......................................112 Figure 104: Create a New Base with Three Dynamic Points.......................................................113 Figure 105: TCP Definition .........................................................................................................114 Figure 106: TCP Setting .............................................................................................................115 Figure 107: Set the times of calibration.......................................................................................116 Figure 108: Teaching Screen .....................................................................................................116 Figure 109: The Robot Posture Needs to Change during Teaching (1/2)....................................117 Figure 110: The Robot Posture Needs to Change during Teaching (1/2)....................................117 Figure 111: Save Teaching Result..............................................................................................118 Figure 112: Manual Input TCP Values ........................................................................................119 Figure 113: TM Robot Motion Types ..........................................................................................120
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Figure 114: PTP Motion..............................................................................................................121 Figure 115: Speed of PTP Motion...............................................................................................122 Figure 116: PTP Application Examples.......................................................................................122 Figure 117: PTP Smart Pose Choosing ......................................................................................123 Figure 118: Line Motion Simulation ............................................................................................123 Figure 119: Speed of Line Motion...............................................................................................123 Figure 120: Link to Project Speed...............................................................................................124 Figure 121: Line Application Example ........................................................................................125 Figure 122: WayPoint Motion Status ..........................................................................................125 Figure 123: WayPoint Setting .....................................................................................................126 Figure 124: WayPoint Application Examples ..............................................................................126 Figure 125: Blending in Space....................................................................................................127 Figure 126: Blending Speed Change Chart ................................................................................127 Figure 127: Set the Blending Percentage or Set the Blending by Radius....................................128 Figure 128: Motion Nodes Support Variable as the Inputs ..........................................................129 Figure 129: Speed Adjust and Speed Indication on the Node.....................................................130 Figure 130: Point Node...............................................................................................................130 Figure 131: Point Node Setting...................................................................................................131 Figure 132: F-Point Node ...........................................................................................................132 Figure 133: F-Point Node Setting ...............................................................................................132 Figure 134: Adjust F-Point Parameter during Project Running....................................................133 Figure 135: Move Node Setting ..................................................................................................133 Figure 136: Plan for the Move Node ...........................................................................................134 Figure 137: The Circle Node Plans Arc Path with 3-Point Setting Circle.....................................134 Figure 138: Circle Node Setting..................................................................................................135 Figure 139: The Circle Motion Status of Reach End Point Settting .............................................135 Figure 140: The Circle Motion Status of Set Angle =270° ...........................................................136 Figure 141: PLine Blending Relationship Chart ..........................................................................136 Figure 142: Path Node Setting ...................................................................................................137 Figure 143: Pallet Node (1/2)......................................................................................................138 Figure 144: Pallet Node (2/2)......................................................................................................139 Figure 145: Pallet Patterns .........................................................................................................139 Figure 146: Listen Node .............................................................................................................140 Figure 147: Variable System ......................................................................................................142 Figure 148: Global Variable Setting ............................................................................................144 Figure 149: Global Variables after Project Is Run .......................................................................144
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Figure 150: SET Node................................................................................................................146 Figure 151: Variable Count.........................................................................................................146 Figure 152: Expression Editor Parameters (1/2) .........................................................................147 Figure 153: Expression Editor Parameters (2/2) .........................................................................148 Figure 154: Add Expression .......................................................................................................148 Figure 155: Analog I/O Setting ...................................................................................................149 Figure 156: IF Node....................................................................................................................149 Figure 157: IF Node Stop Criteria Setting ...................................................................................150 Figure 158: Gateway Node Judges Five Conditions ...................................................................151 Figure 159: IF Node Judges Four Conditions .............................................................................151 Figure 160: Stop Node Ends Project ..........................................................................................152 Figure 161: Goto Node Flow Transfer ........................................................................................153 Figure 162: Goto Node Connection ............................................................................................153 Figure 163: Warp Node Transfers to another Project..................................................................153 Figure 164: Subflow Node Modularization Concept ....................................................................154 Figure 165: Menu to Create Subpages.......................................................................................155 Figure 166: Select a subflow in the subflow node (1/2)...............................................................155 Figure 167: Select a subflow in the subflow node (2/2)...............................................................156 Figure 168: Thread.....................................................................................................................156 Figure 169: Vision Node .............................................................................................................157 Figure 170: Vision Node Flow.....................................................................................................157 Figure 171: Vision Node Setting .................................................................................................158 Figure 172: Robot Modbus Protocol ...........................................................................................159 Figure 173: Modbus Device Access ...........................................................................................160 Figure 174: Modbus TCP Local IP..............................................................................................161 Figure 175: Modbus Device Setting............................................................................................162 Figure 176: Modbus X Axis Position Parameter Setting..............................................................162 Figure 177: Save the Variable of Modbus Value.........................................................................163 Figure 178: Use the obtained variable of SET node to obtain the value of Modbus ....................163 Figure 179: Display displays the value obtained by Modbus.......................................................164 Figure 180: Network Setting .......................................................................................................165 Figure 181: Status IO Setting (1/2) .............................................................................................167 Figure 182: Status IO Setting (2/2) .............................................................................................167 Figure 183: Instruction Set Communicates with HMI ..................................................................168 Figure 184: Enable TmComm Instruction Set .............................................................................168 Figure 185: Directive Summary Flow..........................................................................................170
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Figure 186: Command Node Gets RS-232 Information ..............................................................171 Figure 187: Set and Open Serial Port (1/2).................................................................................171 Figure 188: Set and Open Serial Port (2/2).................................................................................172 Figure 189: Read Data and Receive as a Variable .....................................................................172 Figure 190: SET Node Setting....................................................................................................173 Figure 191: Display Node Displays the Obtained Value..............................................................174 Figure 192: Remotely Add Notepad and Write information .........................................................176 Figure 193: Display Node Displays Received Variables .............................................................176 Figure 194: Remotely Delete Notepad File .................................................................................177 Figure 195: Log Node Gets the Current Angle............................................................................177 Figure 196: Log Node Setting.....................................................................................................178 Figure 197: Node Text Example .................................................................................................178 Figure 198: Display Node Displays the Robot's Position.............................................................179 Figure 199: Voice Node in TMflow Application............................................................................179 Figure 200: Select Components .................................................................................................181 Figure 201: Robot Setting Page Component ..............................................................................182 Figure 202: Gripper Button Setting Page ....................................................................................183 Figure 203: Compliance Node ....................................................................................................184 Figure 204: Compliance Node Teach Setting .............................................................................186 Figure 205: Line Direction ..........................................................................................................187 Figure 206: Rotation Direction ....................................................................................................187 Figure 207: Compliance Variable Selection ................................................................................187 Figure 208: F/T Sensor...............................................................................................................188 Figure 209: Read Values after Setting F/T Sensor .....................................................................189 Figure 210: Position Setting........................................................................................................190 Figure 211: Select Position Setting.............................................................................................190 Figure 212: Input Values ............................................................................................................191 Figure 213: Charts......................................................................................................................191 Figure 214: Touch Stop-Compliance Settings ............................................................................192 Figure 215: Touch Stop-Line Settings ........................................................................................194 Figure 216: Force Sensor ...........................................................................................................195 Figure 217: Force Sensor ...........................................................................................................196 Figure 218: Approaching Principle..............................................................................................198 Figure 219: Approaching Parameter Setting...............................................................................199 Figure 220: Spiral Searching Method .........................................................................................199 Figure 221: Line Searching Method (1/2)....................................................................................200
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Figure 222: Line Searching Method (2/2)....................................................................................200 Figure 223: Spiral Searching Parameter Setting Interface ..........................................................201 Figure 224: Linear Searching Parameter Setting Interface .........................................................202 Figure 225: Pushing Parameter Interface ...................................................................................203 Figure 226: Force Control Node Settings....................................................................................203 Figure 227: Tool Coordinate System ..........................................................................................204 Figure 228: Base Coordinate System .........................................................................................204 Figure 229: Trajectory Coordinate System .................................................................................205 Figure 230: Possible Conversion Error .......................................................................................205 Figure 231: F/T Operation Modes Setpoint..............................................................................206 Figure 232: F/T Operation Modes Trajectory (1/3) ...................................................................207 Figure 233: F/T Operation Modes Trajectory (2/3) ...................................................................207 Figure 234: F/T Operation Modes Trajectory (3/3) ...................................................................208 Figure 235: Stop Criteria F/T Reached ....................................................................................209 Figure 236: Operation Space Setting..........................................................................................211 Figure 237: Plane .......................................................................................................................212 Figure 238: Cube (1/2) ...............................................................................................................213 Figure 239: Cube (2/2) ...............................................................................................................214 Figure 240: Project Editing Page and Operation Space Setting..................................................215 Figure 241: Click the Save Button to Save the File.....................................................................216 Figure 242: Start Node ...............................................................................................................220 Figure 243: Component Icon Resolution.....................................................................................221 Figure 244: Node Setting (1/2) ...................................................................................................223 Figure 245: Node Setting (2/2) ...................................................................................................224 Figure 246: Global Variables Naming .........................................................................................226 Figure 247: Global Variables ......................................................................................................227 Figure 248: The Example of Point Parameterization Application (1/4) ........................................229 Figure 249: The Example of Point Parameterization Application (2/4) ........................................229 Figure 250: The Example of Point Parameterization Application (3/4) ........................................230 Figure 251: The Example of Point Parameterization Application (4/4) ........................................231 Figure 252: The Example of Making Parameterized Devices......................................................231 Figure 253: Hide Parameters......................................................................................................233 Figure 254: Open the Component ..............................................................................................234 Figure 255: Collision Check Node ..............................................................................................235
Tables
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Table 1: Hardware Versions and Applicability...............................................................................21 Table 2: Warning and Caution Symbols........................................................................................22 Table 3: Functional Note Symbols ................................................................................................23 Table 4: Keyboard Hot Keys in TMflow.........................................................................................60 Table 5: FreeBot Degree of Freedom Limitation ...........................................................................69 Table 6: User Defined IO Setting Table ........................................................................................82 Table 7: Valid Blending Setting (Moving from P1 to P2) .............................................................128 Table 8: Variable Data Types .....................................................................................................143 Table 9: SET Syntax List ............................................................................................................147 Table 10: If Judgment Operators ................................................................................................150 Table 11: TM Robot Coordinates in the Modbus List ..................................................................160 Table 12: User Defined IO Setting Table ....................................................................................166 Table 13: TmComm Instruction set.............................................................................................170 Table 14: File Commands ..........................................................................................................175 Table 15: Spiral Searching Function Setting Parameters Definition ............................................201 Table 16: Linear Searching Function Setting Parameter Definition .............................................202 Table 17: Pushing Parameter Definitions....................................................................................202 Table 18: Component Naming....................................................................................................224 Table 19: Naming Rule for Items after Components ...................................................................225 Table 20: Modbus Classify ......................................................................................................236 Table 21: Modbus Robot Status 1 ...........................................................................................236 Table 22: Modbus Robot Status 2 ...........................................................................................236 Table 23: Modbus Control Box DI/O ........................................................................................237 Table 24: Modbus End Module ................................................................................................237 Table 25: Modbus Control Box AI/O ........................................................................................238 Table 26: Modbus External Module .........................................................................................238 Table 27: Safety Connector (1/2)................................................................................................239 Table 28: Safety Connector (2/2)................................................................................................239 Table 29: Modbus Robot Coordinate .......................................................................................240 Table 30: Modbus Robot Coordinate (When Touch Stop node is triggered) ............................242 Table 31: Modbus Run Setting ................................................................................................242 Table 32: Modbus TCP Value..................................................................................................243 Table 33: Modbus Robot Stick.................................................................................................243 Table 34: Modbus - Project Speed .............................................................................................243 Table 35: Modbus - End Module Button......................................................................................244 Table 36: Modbus Stick Status (Pressed)................................................................................244
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Table 37: Modbus TCP Speed ................................................................................................245 Table 38: Modbus TCP Force..................................................................................................245 Table 39: Modbus Joint Torque ...............................................................................................245 Table 40: Modbus Joint Speed ................................................................................................245 Table 41: Modbus Joint Current...............................................................................................245 Table 42: Modbus Joint Temperature ......................................................................................246 Table 43: Modbus Current Base ..............................................................................................246 Table 44: Modbus Safety Stop Criteria ....................................................................................247 Table 45: Modbus Collaborative Mode ....................................................................................247 Table 46: Modbus Running Timer............................................................................................247 Table 47: Modbus Up Time .....................................................................................................248 Table 48: Modbus Others 1 .....................................................................................................248 Table 49: Modbus Others 2 .....................................................................................................249 Table 50: Modbus Others 3 .....................................................................................................249 Table 51: Modbus Others 4 .....................................................................................................250 Table 52: Blinking Ratio..............................................................................................................252 Table 53: Light Indications..........................................................................................................253 Table 54: Quick References of Color/Blinking ............................................................................254 Table 55: Safety Parameter Table - TM5-700/ TM5M-700..........................................................255 Table 56: Safety Parameter Table - TM5X-700 ..........................................................................256 Table 57: Safety Parameter Table - TM5-900/ TM5M-900..........................................................257 Table 58: Safety Parameter Table - TM5X-900 ..........................................................................258 Table 59: Safety Parameter Table - TM14/ TM14M ....................................................................259 Table 60: Safety Parameter Table - TM14X ...............................................................................260 Table 61: Safety Parameter Table - TM12/ TM12M ....................................................................261 Table 62: Safety Parameter Table - TM12X ...............................................................................262
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Revision History Table
Revision Code 01 02
03 04 05 06 07 08 09
Date October 2018 December 2018
July 2019 August 2019 December 2019
April 2020 August 2020 February 2021 March 2021
Revised Content Original release Software update from 1.68.6000 to 1.68.6800. Redefined the LED light color and added safety monitoring functions to hand guiding. Updated Chapter 4. Minor test fixes. Added Appendix B for indication light ring display. Added 1.72.3500 features Added X model information Added 1.76.3300 features Added 1.76.6300 features Added 1.80 features Added 1.82 features Added 1.82.2 features
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1. General
Overview TMflow is a graphical HMI. Its purpose is to provide users with a complete, convenient and simple interface for robot motion and logic programming environments. Through the graphical HMI, users can simply manage and set the parameters of the robot, and use the graphical flow chart to plan the robot movement and process logic. At the same time, the interface design of TMflow considers the use of touch screens, allowing you to manage multiple robots from a single Windows tablet. Users and system integrators of TM Robot must read and fully understand this chapter before using this robot. In addition, before users perform any operation on the robot in accordance with this manual, it is necessary to read and comply with the Safety Manual for the corresponding product's hardware and software version, and the Hardware Installation Manual for the corresponding hardware version, before the operation can be performed.
This manual applies to TMflow Version 1.82 or above. Confirm your software version before using and reading this manual. To check the software version, click on the interface on TMflow. The applicability of this software to the hardware versions of each TM Robot is as follows:
Hardware Version
Applicability
HW 3.0, 3.1, 3.2
Applicable
Table 1: Hardware Versions and Applicability
NOTE: In this software, the naming rules for custom names and paths are restricted to use: letters (both uppercase and lowercase letters), digits, and underscore.
Warning and Caution Symbols The Table below shows the definitions of the warning and caution levels used in this manual. Pay close attention to them when reading each paragraph, and observe them to avoid personal injuries or equipment damage.
DANGER: Identifies an imminently hazardous situation which, if not avoided, is likely to result in serious injury, and might result in death or severe property damage.
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WARNING: Identifies a potentially hazardous situation which, if not avoided, will result in minor or moderate injury, and might result in serious injury, death, or significant property damage.
CAUTION: Identifies a potentially hazardous situation which, if not avoided, might result in minor injury, moderate injury, or property damage.
Table 2: Warning and Caution Symbols
Safety Precautions
DANGER: This product can cause serious injury or death, or damage to itself and other equipment, if the following safety precautions are not observed:
All personnel who install, operate, teach, program, or maintain the system must read the Hardware Installation Manual, Software Manual, and Safety Manual for the software and hardware version of this product, and complete a training course for their responsibilities in regard to the robot.
Read Manual Label Impact Warning
All personnel who design the robot system must read the Hardware Installation Manual, Software Manual, and Safety Manual for the software and hardware version of this product, and must comply with all local and national safety regulations for the location in which the robot is installed.
The TM Robot shall be used according to its intended use. Results of the risk assessment may require the use of additional risk reduction measures. Power to the robot and its power supply must be locked out and tagged out or have means to
control hazardous energy or implement energy isolation before any maintenance is performed.
Dispose of the product in accordance with the relevant rules and regulations of the country or
area where the product is used.
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Validation and Responsibility The information provided in this Manual does not include how to design, install and operate a complete arm application, nor does it involve the peripheral devices that will affect the overall system safety. The design and installation of the complete system must comply with the standards and regulations for safety requirements in the country located. Users or integrators should understand safety laws and safety regulations in the local country, and avoid major risks present in the entire system. This includes but is not limited to: Risk assessment of the whole system Adding other machines and additional risk reduction measures based on the results of the risk
assessment Using appropriate software safety features Ensuring the user will not modify any safety measures Ensuring all systems are correctly designed and installed Clearly labeling user instructions Clearly marked symbols for installation of the robot arm and the integrator contact details Making accessible relevant documents, including the risk assessment and this manual.
Limitation of Liability No safety-related information shall be considered a guarantee by the Corporation that a TM Robot will not cause personnel injury or property damage.
Functional Note Symbol The following table defines the functional note symbols used in this manual. Read the paragraphs carefully.
IMPORTANT: This symbol represents the relevant functional details to assist the programming and use.
NOTE: This symbol represents the relevant functional use tips to assist programming efficiency
Table 3: Functional Note Symbols
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2. Start up and Activation
Overview This manual instructs users of TM Robot to perform start up procedures for the first time. Users must first read and follow the Safety Manual for the corresponding product's software and hardware version, and the Hardware Installation Manual for the corresponding hardware version to install the TM Robot correctly and properly before executing the operation of this chapter; otherwise, it may result in serious risks.
WARNING: The following chapters of this manual will describe how to install the TM Robot after unpacking the box. If it is your first time to install TM Robot without learning all the installation process starting from unpacking the new product, especially when the robot has been installed in a working environment, pay attention to the following items in order to perform first time installation and startup operation according to this manual: 1. In order to avoid the risks of resuming work caused by the changes of the original
working environment and configuration, check with the responsible person for the working environment and keep all necessary configuration records, such as software settings and all hardware wirings. 2. Remove all IOs for the external connection of the Control Box, including analog IO, digital IO, EtherCAT connection port and network ports. Remove all air lines or external power lines connecting to the optional equipment before Commissioning. 3. Remove all Control Box external USB interface, serial port, and external connection / external storage device connections of the network interface. 4. Uninstall any added objects / end-effectors installed to the end flange and any electrical connections between the end effector and the End Module / Control Box. 5. Uninstall any hardware that is installed outside the robot body.
Start Up Plug in the Power Plug the Power Cable of Control Box into the power socket.
WARNING: For the procedure from product unpacking to plugging the Power Cable of the Control Box into the power socket, read and follow the corresponding contents of the Hardware Installation Manual.
Start up from Packing Pose
Step 1. Press the Emergency Switch of the Robot Stick.
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Step 2. Step 3.
Press the Power Button of the Robot Stick to start the power supply of the Control Box. Release the Emergency Switch of the Robot Stick by twisting it a quarter-turn clockwise when the light on Robot Stick starts blinking.
Figure 1: Release the Emergency Switch
The three lights on the Robot Stick keep flashing. For the buttons, lights, and switch on the Robot Stick, refer to the Hardware Installation Manual.
Figure 2: The Three Lights on The Robot Stick Flashing
CAUTION:
While booting up, if the Emergency Switch on the Robot Stick is kept pressed, the User Connected ESTOP Input is kept open, or the User Connected ESTOP Input Port without Robot ESTOP Output is kept open, the boot process cannot be complete. Follow the instructions shown on the screen to restart the robot.
Step 4.
The Indication Light Ring of the End Module flashes in red during startup. After the start up is completed, the Indication Light Ring of the End Module flashes in light blue, representing that it is in the Safe Start Up Mode.
Figure 3: The Indication Light Ring of The End Module Flashing in Light Blue
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Step 5.
Hold the FREE Button on the End Module to release the brakes and manually move the robot to a relatively safe position. If this is the first time unpacking the robot, follow the illustrations below to release joints from initial posture.
Figure 4: The Recommended Operating Sequence of Moving the Joints of TM Robot from Packing Pose to Safe Posture
Figure 5: The Recommended Operating Sequence of Moving the Joints of X series TM Robot from Packing Pose to Safe Posture
DANGER: Pay attention when the FREE Button is pressed and the brake is released. The robot's body will sag due to gravity. When the FREE Button is pressed to unlock the brake, be sure to support the end of robot and expect some sagging, and hold the end of robot, to prevent harm such as pinching of the Operator. If there are any problems with the robot sagging, release the FREE Button immediately, and the brake of each robot joint will be locked again.
DANGER: There is no force compensation in Safe Start Up Mode. This means that it requires more force to move each joints directly against the motor drive.
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CAUTION: If you do not follow the above instructions to move the robot to the safe posture shown in the above figure, but continue to operate downwards to release the Emergency Switch, it may cause certain joints of the robot (especially the fifth joint) to be outside the joint angle limit when the robot returns to a normal state. At this time, the robot will not be able to start correctly and the red light will be on. In this condition, press the Emergency Switch again and repeat this step to the correct safe posture as shown in the figure.
CAUTION: During Joint Position Calibration, each joint of the robot will perform a calibration motion. Make sure the robot pose is in a clear space of at least 5 degrees per joint to perform the calibration motion before calibration. At the same time, make sure the TCP, which may be a long distance from the robot flange, will not cause harm during the calibration motion.
Step 6.
Press and hold the Stop Button on the Robot Stick for about three seconds, and the robot will enter the calibration process. During calibration, joints of the robot may move slightly. After the calibration is completed, the Indication Light Ring of the End Module will return to blue light, indicating that the robot has entered the Auto Mode successfully and it can be used normally.
Figure 6: The Indication Light Ring of The End Module Returns to Blue Light
CAUTION: When the startup from the Packing Pose is complete, use the TMflow controller page to move the robot posture to the origin first (each joint angle: 0, 0, 0, 0, 0, 0), and then use the FreeBot teaching to move the robot to the Normal Pose (each joint angle: 0, 0, 90, 0, 90, 0) as shown in the figure below. Note that the joint 2 pointing directions of the Normal Pose and the safe posture after unpacking the box are opposite.
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Figure 7: The Normal Poses
Standard Start Up Step 1. Check that the robot's posture is safe. Step 2. Check that the Emergency Switch of Robot Stick is released.
Figure 8: Release the Emergency Switch of Robot Stick
Step 3. Press the Power Button on the Robot Stick to start the robot.
CAUTION: While booting up, if the Emergency Switch on the Robot Stick is kept pressed, the User Connected ESTOP Input is kept open, or the User Connected ESTOP Input Port without Robot ESTOP Output is kept open, the boot process cannot be complete. Follow the instructions shown on the screen to restart the robot.
Step 4.
Check the screen on the Control Box. It should now indicate that the system entered startup mode. The power light on the Robot Stick will keep flashing, too.
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Figure 9: The Power Light on The Robot Stick Flashing
Step 5.
When the controller is starting up, the Indication Light Ring of the End Module displays flashing red light. During the process, the robot will run automatic calibration, and each joint of the robot will move slightly to calibrate.
CAUTION: During Joint Position Calibration period, each point of the robot will perform a calibration motion. Make sure the robot pose is in a clear space of at least 5 degrees per joint to perform the calibration motion before calibration. At the same time, make sure the TCP, which may be a long distance to the robot flange, will not cause harm during the calibration motion.
Step 6.
After the controller start up is done, the Indication Light Ring of the End Module will constantly display blue light. The robot can be used normally at this time.
TM Robot HMI TMflow Operation TMflow and the TM Robot can be connected in ways as below: Connect with the monitor, keyboard and mouse to the Control Box. This enables to start
TMflow. Download the TMflow Client from customer area of the official website, and then install it on
a Windows-based computer (e.g. Windows Laptop/ Windows Tablet). Connect to the robot in a wired or a wireless network.
NOTE: Minimum requirements of the client device to install TMflow are as follows:
Operating System: CPU: RAM: Hard Drive Space: Display Resolution: Peripherals: Supported Languages:
Additional
Windows 7 SP 1 Intel i5 series compatibles or above 4 GB at least 2 GB of available space 1366 by 768 USB ports and Ethernet ports English, Traditional Chinese, Simplified Chinese, Japanese, German, Korean, Vietnamese, Spanish, French, Italian, Danish, Dutch, Czech, Hungarian, Romanian, Portuguese, Turkish, Polish, Thai 1. 2010Redistributable_bcredist (x64/x86)
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Requirements:
2. 2013Redistributable_bcredist (x64/x86) 3. 2015Redistributable_bcredist (x64/x86) 4. .Net Framework 4.52 or above.
Local Operation Method
Step 1. Step 2.
Step 3.
Connect the screen, mouse, and keyboard, to the Control Box. Navigate to and click Login. Administrator by default is not set with password. Click OK to login directly. Click Get Control to get control of the robot.
Wireless Access Point Connection Method
Step 1. Step 2.
Install TMflow on client device. Connect the robot to the same physical AP or entity AP of the same network segment.
Physical AP Figure 10: Wireless Access Point Connection Method (1/2) Step 3. Connect the client network to the above local area network.
Physical AP Figure 11: Wireless Access Point Connection Method (2/2)
Step 4. Open TMflow on the client device, click the upper left corner
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Step 5.
Step 6. Step 7.
the robot list, and wait for the corresponding Robot name to appear on the connection screen. Click the robot icon twice to connect with the robot. Ensure that all the robots in this network segment appear in the screen. Users can distinguish which robot to be connected by the robot's Robot ID (the number displayed below the QR code on the Robot Stick). When the robot connection is successful, the icon will appear in the screen on the robot and the robot icon will appear in the upper right corner. Click Get Control to control the robot.
CAUTION: Do not mistakenly insert the network cable into the dedicated EtherCAT port of the Control Box. This action will trigger a robot error.
NOTE:
The connected device will display a green icon, and any other device will display a red icon.
Wired Network Connection Method
Step 1. Step 2.
Step 3. Step 4.
Step 5.
Step 6. Step 7.
Install TMflow on the client device.
Connect the robot and client device to the same physical AP or the physical AP
on the same network segment, or connect the two ends of the network wires to
the robot Control Box and Client.
Connect the client network to the above local area network.
Open TMflow on the client device, click the upper left corner
to refresh the
robot list, and wait for the corresponding Robot ID to appear on the connection
screen.
Click the robot icon twice to connect with the robot. Ensure that all robots in this
network segment appear in the screen. Users can distinguish which robot to be
connected by the robot's Robot ID.
When the robot connection is successful, the icon will appear on the robot
in the screen and the icon of robot appears on the upper right corner.
Click Get Control to control the robot.
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Physical AP
Figure 12: Wired Network Connection Method (1/2)
Figure 13: Wired Network Connection Method (2/2)
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3. Safety Settings
Overview This chapter will introduce the safety settings interface of the TM Robot, including the Safety Permission Settings and Safety Setting.
NOTE: Upgrading the software with previous versions of hardware will not upgrade the version of the safety system.
Safety Permission Settings Users and administrators of TM Robot must set appropriate account password permissions before starting to use the TM Robot, with appropriate arrangements for access to operator permission for safety configuration.
When users have completed the startup and activation according to the previous chapter, and entered the TMflow interface with the default account password to get the control of robot, navigated to and clicked Setting to enter the setting page, an option labelled Safety will appear on this page. This is the safety setting operation area of the product as well as all important settings for the robot. If settings are altered arbitrarily, it will cause danger during operation. For proper permission settings, refer to 5.8.3 Group and 5.8.4 User Account to create accounts for authorization to access the safety related setting permissions and grant permission to access Setting, and set all other account and group privileges to access Setting to change the safety permission settings.
Safety Setting On the Safety Setting page, there are functions including Performance Safety Settings, Human Machine Safety Settings, Safety IO Settings, Cartesian Limit A, Cartesian Limit B, and Project Speed Adjustment Setting. These function returns a Safety Checksum at the left of the item separator line at top right to verify the system integrity. Changes in these functions renew the Safety Checksum if saved. There is also a timestamp of the last modified date and time at the bottom left of the screen. The timestamp is updated and expressed according to ISO 8601 every time users click the Save button for new parameters.
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NOTE: In TMflow Software version 1.74 and earlier versions: Performance Safety Settings is named Safety Stop Criteria. Human Machine Safety Settings is named Collaborative Mode Setting. Safety IO Settings is named Safeguard Port Setting. Cartesian Limit is not available.
Figure 14: Safety Setting
Performance Safety Settings On this page, users can set the TCP speed of the robot, the force of the TCP, the Hand Guide TCP Speed Limit as an individual speed limit categorized as a cat.2 stop, as well as the speed, the torque, and the position of each joint. For the related physical meanings and the definition of the safety functions and the precautions that they represent, read and follow the instructions in the Safety Manual before the operation or setting can be performed. Users can refer to Appendix C. for values applicable to each model.
NOTE: When using with Hand Guide, if the pull speed by hand reaches to the Hand Guide TCP Speed Limit, users will feel the resistance feedback. Under such circumstances, lower the strength to pull to keep from triggering the protective stop.
The default value of the stop criteria is designed to provide a relatively safer working capability of
the robot. A higher upper limit can be set by users. If users want to reach 100% project speed
without triggering these stop criteria, set the limit to the upper limit for each input slot. Since the
capability of the robot is still related to the pose, motion, TCP length, and payload, without these
stop criteria, the robot is still protected by the maximum allowable torque of each joint and stops.
In addition, regarding the life of the robot, refer to the Hardware Installation Manual of the
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respective model for the value of rated torque and the limit for repeated peak torque of each joint.
CAUTION: Angle Setting: For example, when the first joint position is set to 270° and -270°, then the angle range in 270°~ 271° and -270°~ -271° will become reducing range shown as the blue area in the figure. When joint 1 moves into this range, the basic moving speed of the robot will be switched to 250mm/sec for line motion and 5% for PTP motion, to form an angle buffer region to prevent possible overshoot to the joint limit. At the same time, the angle range in 271°~ 274° and -271°~ -274° is the 2nd buffer range for joint limit as the red area in the figure. When the joint angle arrives this area robot will stop moving. Users can only operate the robot by pressing FREE Button to make the robot leave this area.
Figure 15: Angle Setting
CAUTION: For different TM Robot models the maximum angle limits of each joint may be different. Refer to the product specifications according to the product model and hardware version.
Human Machine Safety Settings When User Connected External Safeguard Input Port for Human Machine Safety Settings is triggered, TM Robot will run at a slower speed and a lower joint torque stop criteria by the users' settings. At this time, a purple light will be added to the Indication Light Ring for users to distinguish whether the robot is switch into Human Machine Safety Settings. Users can refer to Appendix C. for values applicable to each model.
DANGER: Note that the functions described in this section are only to assist users in setting the Human Machine safety parameters and settings more conveniently. Users should still perform complete risk assessment according to the robot use environment and conditions before the robot is used. TM Robot clearly specifies the following potential residual risks: There is a risk that causes the robot to hit a human body at full speed due to improper use of safe space settings or by running incorrect projects.
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DANGER: If using the Compliance function in TMflow, speed is not controlled in Human - Machine Safety Settings. The robot will still run Compliance function according to the force you set. If you want to use Compliance function with Human - Machine Safety Setting, complete a complete risk assessment and set appropriate force values.
The parameters of Human Machine Safety Settings can be divided into two parts: one is Body Region Risk Setting and the other is More Limit Setting. The Body Region Risk Setting page is shown in the figure below.
Figure 16: Human Machine Safety Settings (1/2)
For Body Region Risk Setting, users can set the human body region that may be in contact with the robot in collaborative workspace according to the requirements. The calculation result on the right side of this interface displays the robot's running speed in the collaborative workspace. The setting value can be saved after being confirmed by users.The calculation result includes the value of the automatic reduced moving speed, the value of the automatic reduced point-to-point movement speed, and the minimum possible contact area between the robot's external device and human body when entering the collaborative workspace. Users must check the confirmation field in the lower right corner before saving the setting value, to confirm the area where the robot's external device may be in contact with the human body is larger than or equal to the area confirmation value.
This feature is designed for users to quickly set up an initial robot application in collaborative workspace following the biomechanical limits of each body region listed in ISO/TS 15066*. Users should still perform risk assessment on real application before deployment. Users shall take
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responsibility for human body region which is not listed in this graph, and ensure the robot does not have any chance to be in contact with any vulnerable body region such as spine and hindbrain.
*Default parameters are recommended based on tests with tool length of 135mm and weight of 0.43kg.
NOTE: Users can set the deceleration time manually in the field after When robot enters
the collaborative workspace, the speed setting will be achieved within.
Default Available range
TM700/900 150 ms
150~800 ms
TM12/14 300 ms
300~800 ms
Check Enable G-Sensor to increase the robot's sensitivity to collision detections. This function alone is an auxiliary to increase sensitivity on top of the safety function and not safety rated, and this function works in all mounting poses. Once this function is enabled, the impact force will decrease, and the reduction of stopping time can be negligible. While practicing the risk assessment, users should disable this function.
DANGER: This function is designed to automatically adjust the speed of robot in the collaborative workspace following the biomechanical limits of each body region listed in ISO/TS 15066. Users should consider more and take responsibility for human body regions not listed separately in the graph by themselves. Also, make sure that the robot does not have any chance to come into contact with any particularly vulnerable body region like spine, neck, or head.
DANGER: The user connected external safeguard input for Human - Machine safety settings provide users a quick and initial robot application in collaborative workspace following the biomechanical limits of each body region listed in ISO/TS 15066. Though users can further adjust the TCP speed, TCP force, joint speed and the joint torque of robot, users should still perform risk assessment on real application before deployment. Also note that users shall take responsibility for human body region which is not listed in this graph, and ensure the robot does not have any chance to be in contact with any vulnerable body region such as spine and hindbrain.
For setting more detailed parameters, users can go to More Limit Setting page.
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Figure 17: Human Machine Safety Settings (2/2)
In the More Limit Setting page of Human Machine Safety Settings, users can further adjust the TCP speed, TCP force, joint speed and the joint torque of robot. Note that the modified values higher than default values will be highlighted with blue borders, the minimum possible contact area calculation will be removed. In this case, it's user's responsibility and liability to perform risk assessment and validate safety parameters due to the modification. The values can be saved after confirmed by users.
Safety IO Settings This page is to set up the function of User Connected External Safeguard for the TM Robot. For the electrical connection of the User Connected External Safeguard, refer to the relevant section of the Hardware Installation Manual with the respective hardware version.
Safety IO Settings comes with User Connected External Safeguard Input Port and User Connected External Safeguard Input Port for Human - Machine Safety Settings. For the definition of each safeguard, refer to the Safety Manual for the respective software and hardware version. Note that users should set up this item appropriately according to the risk assessment.
NOTE: In TMflow Software version 1.74 and earlier versions: User Connected External Safeguard Input Port is named Safeguard Port A:
Safeguard Pause or Safeguard Port Setting Pause. User Connected External Safeguard Input Port for Human - Machine Safety
Settings is named Safeguard Port B: Safeguard Collaborative Mode or Safeguard Port Setting Collaborative Mode. Enabling Device Setting is not available.
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Figure 18: Safety IO Settings
Resume Setting of User Connected External Safeguard Input Port Manual Reset (recommended): For Manual Reset, after the robot has been paused
through User Connected External Safeguard Input Port, even if the trigger condition is removed, users must manually use the Play/Pause Button on the Robot Stick to release the pause and return to the original project process and project speed. Auto Reset: For Auto Reset, after the robot has been paused through User Connected External Safeguard Input Port and once the trigger condition is removed, the robot will automatically release the pause and return to the original project process and project speed. Mute Joint Torque Monitoring and TCP Force Limit when User Connected External Safeguard Input signal "LOW": Check this function to deactivate joint torque monitoring and TCP force limit when User Connected External Safeguard Input signal "LOW".
Resume Setting of User Connected External Safeguard Input Port for Human - Machine Safety Settings Manual Reset: For Manual Reset, after the robot has been triggered into Human
Machine Safety Settings, even if the triggered condition is removed, users must manually use the Play/Pause Button to pause the robot motion and press the Play/Pause Button again from the Robot Stick to return to the original project process and project speed. Auto Reset (by default for HW 3.0 or earlier): For Auto Reset, after the robot has been triggered into Human Machine Safety Settings, and once the triggered condition is
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removed, the robot will automatically return to the original project process and project speed.
Safeguard Port Setting for the Hardware Version prior to 2.00 (inclusive) The former section refers to the setting of hardware version 3.2. The Safeguard Port of hardware version 2.00 has the functions of switching to pause and triggering the Collaborative Mode. For the connection and use, refer to the corresponding hardware version of the Hardware Installation Manual. Users shall set up this item appropriately according to the risk assessment.
Pause: The Safeguard Port will trigger pause. The following settings will set up the Safeguard Port to reset mechanism during the pause.
Manual Reset (recommended): When you choose Manual Reset, after the robot is paused through Safeguard Port, even if the trigger condition is removed, users can only operate the Play/Pause Button or the same action from the Robot Stick to release pause and return to the original project process and project speed.
Auto Reset: When you choose Auto Reset, after the robot paused through Safeguard Port. Once the trigger condition is removed, the robot will automatically return to the original project process and project speed.
Collaborative Mode: Safeguard Port will trigger the Collaborative Mode. Once the trigger condition is removed, the robot will automatically return to the original project process and project speed.
Enabling Device Setting (HW 3.2 or newer exclusive) Enabling Device provides the dual channel input ports for users to connect to a three-position enabling device. Check to box to apply the setting. Note that the status of this safety setting will not affect the operation in Auto Mode. When this setting is enabled and connected to the enabling switch, in Manual Mode, all manual control operations are enabled only when users press the three position enabling device in the middle position. If the Enabling Device is released or fully pressed, the robot performs a protective stop. When starting a manual trial run of the project pressing the PLAY button, the Enabling Device should be pressed in the middle position. When Enabling Device is released or fully pressed during the Manual Trial Run mode, the Project Speed will always automatically return to 5%. Connect this function only to the three-position enabling device compliant with IEC60204-1. Note that the input of this function has two input statuses only, so the Enabling Device should not have an enabled output during the procedure from the fully pressed status to the fully released status.
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Cartesian Limit A & B For users of HW 3.2 or newer, Cartesian Limit A & B are available as a cube or a cylinder with Operation Space disabled to set the bounds for the robot movement. Any violation to the safety plane from TCP and/or elbow limits of position will result in a Cat.2 stop for Cartesian Limit A and trigger Human-Machine Safety Setting in Cartesina Limit B.
To use Cartesian Limit A or B, follow the steps below. 1. Navigate to and click Setting > Safety > Cartesian Limit A or B. 2. Check Enable Cartesian Limit & Disable Operation Space and check TCP or elbow for
Limits of position. 3. Select from Cube or Cylinder in Cartesian Setting.
For Cube, proceed to check the desired axes bounds, and, in the next fields, input the integer values of the desired distance in millimeters. Be sure to make the difference between the upper bound and the lower bound larger than 120 in millimeters.
For Cylinder, proceed to check the desired axis bounds or R for the radius, and, in the next fields, input the integer values of the desired distance in millimeters. Be sure to make the difference between the upper bound and the lower bound larger than 120 in millimeters.
NOTE: For robots set with Cartesian Limits, it is not possible to run a project with an Operation Space.
Project Speed Adjustment Setting Project Speed Adjustment Setting is available to users to adjust or restrict motion speed during project executions for safety and security.
To use Project Speed Adjustment Setting, follow the steps below.
1. Navigate to and click Setting > Safety > Project Speed Adjustment Setting. 2. Check Enable Manual Trial Run Mode Speed Adjustment to set the project running with a
flexible speed or uncheck to fix to 5% speed in Manual Trial Run Mode.
3. Check Enable Auto Mode Speed Adjustment to let users adjust speed in project executions under Auto Mode. Once checked, it is recommended for users to set the speed
adjustement password immediately. The passward is blank by default. When the password is set, click the Reset Password button to set the password again.
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4. Click Save to keep the setting or Default to restore the defaults.
As users check either item in Project Speed Adjustment Setting, the speed adjustment icon with a stop sign turns to a tick sign appearing between the speed indicator and the Safety Checksum icon, and users can learn from the speed adjustment icon to know if it is available to adjust speed in the current mode.
NOTE: Once checked Enable Auto Mode Speed Adjustment, if the robot is in auto remote mode, users can use external commands such as Modbus Slave to adjust the project speed rather than input the speed adjustement password in View.
Switch between Modes Switching between Auto mode and Manual mode is prohibited/rejected by the system under these conditions:
1. The project is running in Auto Mode. 2. The project is running in Manual High Speed Mode. 3. The robot is in Hand Guide Mode. 4. SF15 Enabling Device is triggered (Enabling Device is continuously held in middle position) in
Manual Mode. 5. A Cat. 0 or Cat. 1 stop is in effect.
To switch from Auto Mode to Manual Mode, first press the Stop Button to stop robot operation if the project is running. Once the project is stopped, press the Mode Switch Button on the robot Stick and the operation mode will be switched to Manual Mode.
To switch from Manual Mode to Auto Mode, press and hold the Mode Switch Button for a few seconds. Once the Mode Indicators on the Robot Stick start blinking, press the +/- buttons on the Robot Stick in this order: "+ - + + -" to change to Auto mode. Go to the pages of View, Run Setting, or Connect to press and hold the M/A Mode Button and press the +/- buttons on the Robot Stick in this order: "+ - + + -" to change to Auto mode. The robot will stay still in Auto mode until you press the play button on the robot stick.
When the robot performs trial run in Manual Mode again, the project speed will start with the initial speed at 5%. Refer to 4.4 Build and Run Your First Project for how to set the project speed.
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DANGER: Prior to selecting automatic operation, any suspended safeguards must be set back to full functionality.
NOTE: To lock the robot stick in either Auto mode or Manual mode, press and hold the +
Button and the Button at the same time until either the blue LED or the green LED blinks, and then press the +/- Button in the sequence of "-, +, -, -, +". The robot stick is now locked in the respective mode, and the system beeps when any button is pressed on the locked robot stick. To unlock the robot stick in either Auto mode or Manual mode, press and hold the + Button and the Button at the same time until either the blue LED or the green LED blinks, and then press the +/- Button in the sequence of "-, +, -, -, +". The robot stick is now unlocked in the respective mode. Users can press and hold the power button on the robot stick to shut down the system.
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4. Start Your First Project
Overview This chapter will describe how to create and run your first project. Only after users have read all instructions and have a full understanding of the content of this manual and have correctly set the TM Robots according to the contents of Chapters 2 and 3, can procedures in this chapter be performed.
IMPORTANT: Before starting the very first project, confirm that the User Connected External Safeguard Input Port for Human-Machine Safety Settings is OPEN and the robot is in the Human Machine Safety Settings state as the Indication Light Ring of the End Module is flashing purple. Refer to the section of Safety Connection in corresponding hardware version of the Hardware Installation Manual for details.
Initial Setting When your device is connected to the TM robot for the first time, follow the wizard steps to complete the following settings:
Step 1. Step 2. Step 3. Step 4. Step 5.
Follow the steps to set up the robot. Select the interface language. Set the system time. Set the Network settings. Perform voice settings.
Navigate to , and click Setting > Wizard to reset if required.
M/A Mode and FreeBot Confirm the Operation Mode of the robot at this time. Check the mode Indicator on the Robot Stick, and identify whether the lamp position is marked as MANUAL (Manual Mode) or AUTO (Auto Mode). The mode can also be identified by the Indication Light Ring of the End Module, where green light is Manual Mode, and the blue light is Auto Mode. If it is still in Auto Mode, press the M/A Mode Switch Button on the Robot Stick to switch to the Manual Mode to perform the follow-up operations of this chapter. When the indicator of the M/A Mode Switch Button is green and the Indication Light Ring of the End Module is green, it is in Manual Mode.
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Figure 19: Auto Mode / Manual Mode (1/3)
Auto Mode
Manual Mode
Figure 20: Auto Mode / Manual Mode (2/3)
In Manual Mode, press the FREE Button to hand guide the robot. The hand guiding function is limited to Manual Mode.
Figure 21: Auto Mode / Manual Mode (3/3)
IMPORTANT: Make sure the robot stays still, and no extra force applies to the external force sensor, such as touching the tool or the external force sensor by hand, before releasing the FreeBot button. If releasing the FreeBot button while the robot is moving, the robot might vibrate or hop for the brake, which may result in errors on joints in the extreme conditions.
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NOTE: For users of HW 3.2 or newer, the robot stick comes with the speed indication LEDs as shown below.
Figure 22: The Robot Stick for HW 3.2 or newer
Build and Run Your First Project If this is the first time you are unpacking the TM Robot, there will be no project in the robot. You can build your first project according to the instructions of this section. The following project target is to run back and forth between two points (P1 and P2). The setting method is as follows:
DANGER: Only after users have read all instructions first and have a full understanding of the content of this manual and have correctly set the TM Robot according to the contents of Chapters 2 and 3, can procedures in of this chapter be performed.
Step 1.
Step 2. Step 3.
Confirm the Operation Mode of the robot. If it is not in Manual Mode, press M/A Mode Button to switch to Manual Mode. Navigate to , and click Project to enter the Project Editing Page. Choose to create a new project and enter the project name.
IMPORTANT: The project naming supports Latin alphabet in upper case and lower case (A-Z, a-z), numbers
(0-9), and the character "_". Do not use reserved words such as var in naming.
Step 4. Step 5.
Enter the project name. The maximum number of characters for naming a project is 100. Press the FREE Button to move the robot to any point by hand guiding and press the POINT Button to let the project flow generate the point. You can see that the robot automatically names this point as P1 and has been automatically added after the Start Node and automatically highlighted.
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Figure 23: Build and Run Your First Project (1/5)
Step 6. Press the FREE Button and move the robot to any other point by hand guiding. Press the POINT Button to record this point and generate P2.
Step 7. Drag a Goto Node from the nodes menu onto the project flow. Step 8. Click the pencil icon and click on Set Goto Target. Choose P1. Step 9. Press the save icon to complete the project editing. Step 10. Press the Play/Pause Button on the Robot Stick in the Project Editing Page to start
running the project. At this time, the Indication Light Ring will flash in green. Each time you start running a project in Manual Mode, the Robot Stick looks as shown.
Figure 24: Build and Run Your First Project (2/5)
Step 11. In the trial run, the process speed of the project will start at initial speed of 5% as shown on the top right of the Project Editing Page.
Step 12. Press the + button (increase running speed) / - button (decrease running speed) on the Robot Stick, to increase or decrease the project speed of the robot. Adjust the speed of
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the robot at this time for an appropriate speed. (You can read the set project speed from the % number displayed at the top right of the operation interface.)
Figure 25: Build and Run Your First Project (3/5)
Step 13. After setting your preferred project speed, press and hold the M/A Mode Button to store the project speed. If ended and stopped without any error, the project will be labeled Tested.
Step 14. Step 15.
Press the Stop Button on the Robot Stick, and go to the Run Setting page to check your current project file labeled Tested. You can also go to the pages of View, Run Setting, or Connect to press and hold the M/A Mode Button and press the +/- buttons on the Robot Stick in this order: "+ - + + -" to change to Auto mode. The robot will stay still in Auto Mode until you press the play button on the robot stick. Remember that if you perform a trial run in Manual Mode again, the project speed will start with the initial speed at 5%. You must perform the previous steps again to set the project speed. Press the Play/Pause Button in Auto Mode. The speed remains at the project running speed you set, and the speed cannot be changed in Auto Mode.
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Figure 26: Build and Run Your First Project (4/5)
Step 16.
Congratulations on your successful completion of project editing and running. Press the Stop Button on the Robot Stick to stop running the project.
Figure 27: Build and Run Your First Project (5/5)
Step 17.
Switch over to Manual Mode. After stopped the project, you can press the M/A button on the Robot Stick to switch over to Manual Mode.
WARNING: Running the self-constructing project before completing adequate training may lead to body collision or human injuries due to the unforeseen robot actions.
Shutdown There are two shutdown methods:
Method 1:
In TMflow, navigate to , click Shutdown, and choose Shutdown. When the warning message appears, click OK to shut the system down properly.
Method 2:
Press and hold the power button of the Robot Stick, and release the button when you hear a beep sound. The power indicator of the Robot Stick is flashing in red and the robot performs shutdown.
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Figure 28: Shutdown
DANGER: The following Shutdown methods are prohibited: 1. Unplugging the power plug directly 2. Loosening the power cord of Control Box directly 3. Loosening the power of robot body directly
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5. Operation Interface
Overview The chapter will introduce the operation interface of TMflow, including the icons in the function menu: Login/Logout, Connect, View, Run Setting, Project, Setting, and System.
Navigate to and click to expand the function menu. The listed icons from top to bottom are: Login/Logout: login/logout to start/stop using the robot Connect: list the available robots View: display page when the project is running Run Setting: project list and the default project to run Project: create or edit the project Setting: the robot setting System: the system setting Shutdown: turn off the system
Figure 29: Function Menu
NOTE: When connected from a client device, there is another icon, Leave. The selection is available when the mouse cursor moves onto the immediate
vicinity of the icon or the text in the function menu.
Login/Logout
The login window will pop up when clicking Login. Enter your account number and password to start
using the robot.
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CAUTION: The default account is administrator, and the default password is blank.
Refer to Chapter 2 for details, from start up to complete login: Start up and Activation.
Connection Local Connection To control the robot with the screen, keyboard and mouse via the Control Box, follow the instructions below to log in and connect. After completing login, click Get Control as shown below to control the robot. To release the control to the robot, click Release Control. Refer to Chapter 2 for the details.
Figure 30: Get/Release Control (Local)
Remote Connection To control the robot from a remote device (desktop, laptop, or tablet), follow the instructions below before login. Click the upper left corner to refresh the robot list. Available robots will be displayed with their images, models, IDs, Nicknames, IP addresses, and occupancy in the list. Double-click the available robot to bring up the Login pop-up window and allow for login. Click the Get Control button below the robot to get control. To release the control, click Release Control again. Refer to Chapter 2 for details. A warning message will prompt users to use the same version of TMflow for connection if the versions between the client and the host are different.
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NOTE: The addresses of Modbus Slave, EtherNet/IP Adapter, PROFINET IO Device, and Ethernet Slave for robot stick commands (Play/Pause, +, -, Stop) cannot be written to when the robot is in Manual Mode or when users get control permission in Auto Mode.
View In the view page, users can monitor project progress and the robot, as the figures below from left to right are Display Board, IO, Simulator, Status, Force Sensor, and Vision Viewer.
Figure 31: View
IMPORTANT:
The robot provides remote and local multi-logins, but only one person can get control at a time.
Display Board In Display Board, users can monitor the project running status such as the vision job result at left and the status display at right. The status display contains both descriptions and variables that
can be switched by
and
buttons on the upper right corner. The
description content can be changed through the Display node, and the variable can be changed
through the Display Management in the project.
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Figure 32: Display(1/3)
Once the robot is in auto mode, users can see the page for speed adjustment password input after clicking the variable button. If checked Enable Auto Mode Speed Adjustment in Project Speed Adjustment Setting of the robot, users can adjust the project speed at the local site after entering the speed adjustment password.
Figure 33: Display(2/3)
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Figure 34: Display(3/3)
NOTE: When an error occurred: In Manual mode
1. The system will return to the Project Editing Page, highlight the node induced the error, and expand the system log with the error code.
2. If there is no account currently logged in or the logged in account does not come with the privilege to open the project, the system will not return to the Project Editing Page but expand the system log with the error code.
3. The contents in the Display Board does not go away even if users go back the Project Editing Page until the project runs again.
4. The system log does not fold up automatically. In Auto mode
1. The system log expanded at right and the once grayed out Flow button turned on on the top left.
2. Users can click Flow to generate the project flow with the node induced the error highlighted. If the flow did not induce the error, the highlight is on the last executed node.
3. The system displays the page induced the error only and highlights the node induced the error.
4. Users can switch to Manual mode to correct the node induced the error with the function menu or press the play button of the robot stick without correcting to make the Flow button gray out and the system log fold up automatically.
Flow
In Manual Mode, the flow will be displayed with the focus on the current processing node while the project is running. Switch off the Auto Focus-Tracking icon at top right to scale the flow with the + and the button at bottom right. Through this page, users can conveniently monitor the
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process as well as properly optimize and modify the process. In Auto Mode, this page will not display.
IO IO provides IO status monitoring and operation tools for users to monitor the status of the digital/analog input and to operate the digital/analog outputs in this page. When the project is running, the IO is controlled by the project and cannot be changed manually.
Figure 35: IO
Simulator In Simulator, users can monitor the current robot posture. Press and hold Ctrl on the keyboard and, with the right button of the mouse depressed, rotate the 3D model by dragging the mouse. Press and hold Ctrl and, with the left button of the mouse depressed, zoom in and out of the 3D model by dragging the mouse up or down. Press and hold Ctrl and, with the middle button depressed, move the 3D model by dragging the mouse. Press the icon on the screen to scale the sight of view to a proper size. The information of the Joint Angle and TCP Coordinate status of Robot base is at the right.
NOTE: If your mouse comes with a scroll wheel, it is the middle button. If your mouse does not come with a scroll wheel or a middle button, you can press the left and the right buttons simultaneously to function as the middle button.
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Figure 36: Simulator
Status In Status, Controller Temperature, Robot Voltage, Robot Power Consumption, Robot Current, Control Box I/O Current, and Tool Side I/O Current can be monitored. The currently running project or preset project will be displayed on the upper right corner.
Figure 37: Status
Vision Viewer In Vision Viewer, users can check results, images, and variables ended up with the vision job. While the project is running, this page stays at which the current vision job finished and keeps updating, and users can pause the project and check with the finished vision job in the meanwhile. When the project is stopped, information of the vision job and images remain in Vision Viewer
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until the next project execution. Vision Viewer is available in Manual Mode, Auto Mode, and TMflow client.
The resolution in the Vision Viewer Live Video is 640*480. If the system comes with the external SSD, users can use the magnifier to enlarge the selected region on the Live Video for 1, 2, or 4 times.The magnifer is not available if no external SSD is presented or not checked Save Source Image in Save Job > Save Image Setting of the vision job.
NOTE: If the variable outputs more than the available length in Vision Viewer, users can
move the cursor on the variable and the system will prompt its entire content. Use the slider for the outputs beyond the available viewing area.
IMPORTANT: The TM SSD is a requisite for using Vision Viewer with TM 3DVision to check images.
Figure 38: Vision Viewer
The finished vision jobs will append to the right as thumbnails in the list below Live Video. When the project is paused or stopped, click on the thumbnail will highlight the thumbnail and the job name and the camera type will show above the list. Double-click on the thumbnail to view the respective vision job. Use the left arrow on the list to go back.
Run Setting
In Run Setting, all executable projects can be viewed. For instance,
displayed on the file
represents this project is running currently,
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Mode. If the project is to be run in Auto Mode, it must go through the Trial Run process. The running method of Trial Run is performed in Manual Mode. After adjusting the speed, while the project is running, press and hold the M/A Mode Button and press the +/- buttons on the Robot Stick in this order: "+ - + + -" to change to Auto Mode and complete the project with complete Trial Run procedure and ensure the safety while running. The robot will stay still in Auto mode until you press the play button on the robot stick. Remember that if you perform trial run in Manual Mode again, the project speed will start with the initial speed at 5%.
Figure 39: Single Project Icon
Project Navigate to and click Project to start creating and editing the flow. As shown in the figure below, the top is the Project Editing Toolbar, and the left is the node menu, the right sidebar contains system log and system function menu. Move the mouse cursor on the icon to read its function on the ribbon. show At the top right, icons at the right of the item separator line can be clicked for more information by clicking to expand the system log folded at the right and to check the TMflow version. Icons at the left of the item separator line are for indications only such as suggests your device occupied the robot, , no one occupied the robot, and , someone occupied the robot. The number comes with /s suggests the TCP speed, and the percentage suggests the project speed. For HW 3.2 users, the robot stick comes with the color LED speed meter, and the speed meter syncs with the project speed of TMflow.
NOTE: There would be some buffer/deviation between the number suggested as the TCP
speed and the value calculated from safety monitoring function. The suggested number as the TCP speed is for reference only. The number suggested as the TCP speed renews approximately every 1 second.
While editing the project, users can click to expand the system function menu folded at the right, and click to redo or click to undo changes of adding normal nodes, duplicating normal nodes, or deleting normal nodes up to 5 steps.
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NOTE: The 5 steps of redo or undo changes do not apply to adding, duplicating, and deleting of the Component, the Subflow, and the Thread as well as normal nodes that disappear due to the operations of the Component, the Subflow, and the Thread.
Hot Key
Ctrl shift P Ctrl shift M
Function
Play/Pause M/A
Hot Key
Esc Enter
Function
X, escape OK
Hot Key
Ctrl Z Ctrl Y
Function
Undo Redo
Ctrl shift [ -
Ctrl N
New project Ctrl C
Copy
Ctrl shift ] + Ctrl shift 9 Info Ctrl shift E Error Log
Ctrl S Ctrl O
Save project Open project
Ctrl V Delete
Paste Delete
Table 4: Keyboard Hot Keys in TMflow
Hot Key
F1 F2 F3
F4
F5 F6
Function
Step run Diagnosis Point Manager Base Manager
Controller
Variables
Figure 40: Project Editing Page
Project Editing Toolbar
The project editing toolbar is located at the top of the Project Editing Page. From left to right the functions are Create New Project, Save Project, Open Project, Step Run, Diagnosis, Point Manager, Base Manager, Controller, Variables, EditBlock, Current Base and Base List, Current Tool and Tool List, and Display Manager.
Create New Project Click to create a new project. The project naming supports Latin alphabet letters in upper case and lower case (A-Z, a-z), digits (0-9), and the character `_'. The maximum number of
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characters can be used in naming a project is 100.
NOTE: Check Component Editor to create components. Refer to 16 TM Component Editor for
details. Check Conveyor Tracking to create projects for conveyor tracking. Refer to TM Conveyor
Tracking User Manual for details.
IMPORTANT: When saving the file, if there is a file with the same filename, it will be overwritten. Save the
file with care to avoid file loss.
Save Project Click to save the project. The project naming supports Latin alphabet letters in upper case and lower case (A-Z, a-z), digits (0-9), and the character `_'. The project is saved with the date and the time of build and last updated. If the previous project is not closed properly, a message will prompt when the project is opened. If select Yes, the last saved file version will be opened and all subsequent modifications will be discarded. If select No, the file will open with the last state before closing, and for users to perform the file saving operation.
NOTE: A warning message will prompt users to save the current project if unsaved. Click Yes to save and close the project, No to simply close the project, or Cancel to ignore the message.
Open Project Click to open existing projects. Projects are listed with the build date and the modified date. Users can sort projects in the list with the buttons of reverse alphabetical, alphabetical, or chronological. Click the Batch Delete button to select multiple projects to delete. Click on the name of the project to select the project to delete. Repeat the step if there are more projects to delete or check the box next to Select all to select all projects, and click Delete button to delete the projects. Click the left arrow icon on the top left to exit.
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Figure 41: Open and Delete Project View
IMPORTANT: The currently opened project cannot be deleted and deleted projects cannot be restored.
Step Run
Step Run is used to confirm accuracy of the edited motion. The first node of a Step Run can
be a Start, a Point Node, or any node that is not grayed out. This allows users to easily
evaluate the correctness of the node/motion. Step Run can start running from the selected
node to have the robot moving by pressing and holding
on the screen or the + button on
the Robot Stick. At any time, releasing
on the screen or the + button on the Robot
Stick will stop the robot movement, and pressing and holding
on the screen or the +
button on the Robot Stick again will start the robot moving from where it stopped. When the
Step Run pane displays (Node name)_finish, the node running is completed. Release
on the screen or the + button on the Robot Stick and press and hold again to continue to the
next node. If the Step Run window is open, the FREE button at the End Module cannot be
used to hand guide the robot. Also, both the variable system and the decision formula will not
operate. When there is a logical branch node (e.g., If Node, Gateway Node) the path of pass
or fail can be selected freely to check that each decision branch's internal motion
programming is correct using Step Run.
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Figure 42: Step Run
IMPORTANT: When using Step Run through a Subflow node, click RUN to enter the Subflow page, or click another node to skip the Subflow steps. Although the variable system will not operate, the Vision node will run. The Vision node parameter value and output value can be refreshed through a Step Run Vision node to facilitate subsequent programming and fine tuning. Since the variable system will not work, the Pallet node will only run for the first point.
Point Manager Point Manager lists all points and their parameters including the category of points: General point, fine-tuning point, dynamic point, the reference Base to which the point is attached, and the tools used by the point. For the creation and applicable nodes of all categories of points, refer to the Point node, F-Point node, and Touch Stop node. In the Point Manager,
represents Vision Base, and represents Custom Base. Click the pencil icon at the left side of the point to go to the information page of the point where users can modify the point name and find out the reference coordinates, tools, and detail coordinates of the point: [X, Y, Z, Rx, Ry, Rz]. Users can set the type of motion with either PTP or Line and its speed at the bottom.
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Figure 43: Point Manager (1/2)
Users can use the dropdown to filter available points in the list and sort the list with the buttons of the point list, reverse alphabetical, alphabetical, or chronological. Click Batch Delete to select multiple points to delete. The exclamation mark denotes unused in the flow. For example, if Point["P1"].Value functions in the flow, no exclamation mark will present since it regards P1 as used in the flow. However, if written as Point[var_A].Value and var_A = "P1", it may regard P1 as not used in the flow.
Figure 44: Point Manager (2/2)
Controller: Enable the Controller to operate robot. Overwrite new pose to this point: Write the current robot position and posture at this
point and overwrite the original value.
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Re-record on Another Base: Re-record this point on another Base, change the reference coordinate.
Re-record on Another TCP: Re-record another tool for the point when users want to run the same position with a different tool. After selecting TCP, users can select Keep Pose to hold the flange position and transfer the TCP position or Keep Path to transfer the flange position and hold the point position. Click OK when done.
Save as: Save as other point with new name. Delete This Point: Delete the selected point.
IMPORTANT: The point system and the nodes are mutually independent. The changes made in the Point Manager will be applied to all the nodes that use this point. Before the change, check all the nodes sharing this point again to avoid the occurrence of unintended motion.
Base Manager
Base Manager will list all the Bases that can be used, the
tag will indicate the Base
used by the robot at that time, represents Vision Base, and represents Custom Base. Click the pencil icon at the left side of the specific Base to access the information page
of the Base. Clicking Set as the current base will change the current reference coordinate
used by the robot to this Base. Beneath that information, there are tools provided for users to
operate the Base. Refer to Chapter 6 Point and Base for the definition of Base and 7.2
Create a Custom Base for the details on how to create a Custom Base.
Users can use dropdown to filter available base in the list, and sort the list with the buttons of base list, reverse alphabetical, alphabetical, or chronological. Click the Batch Delete button to select multiple bases to delete. The exclamation mark denotes unused in the flow. For example, if Base["base1"].Value functions in the flow, no exclamation mark will present since it regards base1 as used in the flow. However, if written as Base[var_A].Value and var_A = "base1", it may regard base1 as not used in the flow.
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Figure 45: Base Manager
Controller Controller provides users with direct control of the robot from motion control, IO control and FreeBot settings. Motion control includes three tabs: Joint, Base, and Tool, which correspond respectively to "move according to the joint angle setting", "move according to the robot Base or the current Base", and "move according to the Tool Coordinate".
The Robot Link icon above the Joint tab is in green and connected when the I/O states, the safety connector states and the coordinates values are correct. If in gray, the Robot Link is disconnected, and the states and the values are not adequate for reference.
Figure 46: Controller
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Motion Control: In the tab of Joint, Base, or Tool tabs, there are two kinds of motion control methods: Single-joint/single-axis movement To use single joint/single-axis movement, click the joint/axis to be moved first, then press or on the left bottom corner, or press the + or - button on the Robot Stick to move the joint/axis in a positive or negative direction. Moving to a specific target To move a specific target, enter the target in the textbox on the right, then press and hold the Move button below to move the robot to the target position.
NOTE: The selections in the dropdowns, the solid circles, and the input values in the fields
will remain even after switching the tabs until users exit the Controller. Controller comes with the protection mechanism to prevent the joint to report the
hardware error with the oversized interpolations from sending the position command with a large gap.
IMPORTANT: The Base tab is used to move to a specified target with respect to the specified Base, and the Tool tab is used to move in a specified direction with respect to the Tool Coordinate.
IO Control: Click IO tab to open the IO control page. In the IO control, the output value of each IO can be controlled independently, including Control Box IO, End Module IO, Camera Module IO, and Safety Connector IO. For detailed IO specifications and applications, refer to Chapter 12.3 IO.
NOTE: Safety Connector IO is for HW 3.2 or newer exclusive. Safety Connector IO is read-only and users cannot change the state in TMflow.
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Figure 47: Controller (IO Control)
FreeBot: In FreeBot, it defaults to Robot Joints as the Control Mode and the movement limits of the robot while pressing the FREE Button can be set. The settings are divided into Free all joints, Free XYZ, Free RXYZ, SCARA like and Custom Setting. When the control mode is Robot Joints, Check Clear Payload and press the FREE Button to clear payload for obtaining the correct TCP force and joint torque.
Users can set the Control Mode to F/T Sensor for hand guiding in the current project and select the F/T sensor in the dropdown if installed an F/T sensor to the robot. If users exit the project, hand guiding with the F/T sensor becomes unavailable until users set the Control Mode to F/T Sensor in Controller again.
NOTE: Users cannot hand guide when the project is running. All safety functions are effective in hand guiding with the F/T sensor. The indication light ring turns to red if an error occurred after users pressed the
FREE Button to begin hand guiding with the F/T sensor. Press the FREE Button in the End Module or the Stop Button on Robot Stick to troubleshoot the error to turn the indication light ring to green and start over.
IMPORTANT: Make sure the robot stays still, and no extra force applies to the external force sensor, such as touching the tool or the external force sensor by hand, before releasing the FreeBot button. If releasing the FreeBot button while the robot is moving, the robot might vibrate or hop for the brake, which may result in errors on joints in the extreme conditions.
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Figure 48: Controller (FreeBot Control)
Free all joint: Freely drag the robot while pressing the FREE Button. Free XYZ: Use the FREE Button to make the robot performing translation-only
motion in Robot Base. Free RXYZ: Use the FREE Button to make the robot performing rotation-only
motion in Robot Base. SCARA like: Use the FREE Button to make the robot performing motion on X, Y, Z,
RZ directions of Robot Base as the traditional SCARA robots. This mode is suitable for teaching simple pick and place jobs to avoid accidentally causing unnecessary rotation in degrees of freedom when teaching. Custom Setting: Freely set the degree of freedom to be released and fixed, to facilitate hand guiding. Once set the selection, it prompts an error message window if there is no box checked in Base Coordinate or Toor Coordinate.
Button Free all joint
Free XYZ Free RXYZ SCARA Custom Setting
Function Six Degrees of Freedom, the robot end movement and posture change are not restricted Three Degrees of Freedom, the robot end can only move XYZ directions. Three Degrees of Freedom, the end can only change its orientation Four Degrees of Freedom (X, Y, Z, RZ) Degrees of Freedom to be set by users.
Table 5: FreeBot Degree of Freedom Limitation
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IMPORTANT: The FreeBot setting is still valid after the controller page is closed. Therefore, if users find that the robot cannot be moved in certain degree of freedom, check whether the FreeBot setting is correct.
Variables TMflow has its own variable system. All types, names, and initial values of all variables can be seen in the variable list. The variable types include both single variables and arrays, and the new variables can be added through the Create Variable button or the Create Array button. In the naming rule of variables, only the digits, underscore, and letters (both uppercase and lowercase letters) are supported. Users can sort variables in the list with the buttons of reverse alphabetical, alphabetical, or chronological.
Users can use Import/Export to read text files as entities, and users can break them down into pieces or trace them back to the plain code with programming. The text file to read must be less than 2MB in the assigned path. Users can use Text File Manager in Robot Setting to check text files in the list. Variables created with the type of string can read data in the text files as values. Array, Global Variables, and Variables created with other types are not supported.
IMPORTANT: Use " " to enclose the string when inputting the string value to avoid being
treated as a variable. Do not use reserved words such as var in naming.
EditBlock By extending the EditBlock menu, multiple nodes can be selected, either by dragging the mouse, while pressing the left mouse button, to draw a frame around the desired icons, or by simply clicking each desired icon. Clicking a selected icon deselects it. Users can drag and drop all the selections, click the Copy and Paste icon to copy and paste all selected nodes, or perform Base Shift or Speed Adjust for all nodes. Moreover, users can set Payload with a value or a variable in integer, float, or double, check the options in Blending to reduce the number of robotic brakes and the cycle time, and Precise Positioning to set how nodes locate in particular. All EditBlock related behaviors, including copy-and-paste function, can only be performed under the same project.
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Figure 49: EditBlock
Current Base and Base List Base list will list all Bases for this project and also indicates the Current Base. In the base list, the front symbol represents the type of Base, and represents Vision Base, represents Custom Base. The Base displayed in the box is the Current Base and can be replaced through clicking the list.
IMPORTANT: When users click on the Base List and add a new point, the point will be recorded on the Current Base.
Figure 50: Base List
Current TCP and TCP List
TCP list will list all the TCPs. In the TCP list, the front symbol represents the type of tool,
represents the general TCP, and
represents the built-in TCP list of the hand-eye
camera. The TCP displayed in the box is the current TCP, and can be replaced by clicking on
the list.
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IMPORTANT: When users click the TCP list and add a new point, the point will be recorded with the current TCP.
Figure 51: Tool List
Display Manager In Display Manager, users can set the variables to be displayed on the display panel and interact with users when the project is running. Variables are divided into two types: displayed to users and input by users. The page where users may input variable value can be protected with a password, to avoid unauthorized operators intervening with or modifying the robot's motion behaviors by modifying the variables. On the top part of the display management panel, the time period of the refreshing of the display of variables can be selected from 300, 500, or 1000 in milliseconds. The variable will update the display information according to the set time. Set the refresh time appropriately to avoid users receiving wrong variable information.
Figure 52: Display Manager
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Node Menu and Flow Editing Area In the Project Editing Page, users can create projects. The node menu in the left side is a list of nodes that can be used. Drag the icon of each node to the Flow Editing Area to create Flow. Users can click the pencil icon on the node to name the node in the field next to Node Name if available. The maximum characters available in the field is 50.
Figure 53: Project Edit (1/3)
The green triangle at the top left of the tab denotes in use currently. At the top right of the project
editing page, users can click , , or to sort the tabs of the project editing pages in the
orders of reverse alphabetical, alphabetical, or chronological, and click switch between subflows.
as a dropdown to
At the bottom right of the project editing page, users can click or to change display
percentage for easier reading, click to enable automatic connection mode by clicking any two nodes in the automatic connection mode to connect both of the nodes based on the clicking
order, and click programming.
again to exit the automatic connection mode upon completion of
NOTE: Tabs will be sorted by types with colors in the order of the following.
Thread (pale yellow) > Subflow (pale blue) Identical user-defined names of threads are sorted chronologically. If you use a touch screen for project editing, automatic connection mode will
greatly simplify your connection process, dragging between each endpoint is no longer needed, simply enable the automatic connection mode and click on the nodes desired to be connected to connect.
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Users can click at the top right, select nodes, and click the icon of the desired arrangement at the top right to align nodes in the page as shown below. The first selected node acts as the alignment node for the other nodes. If the first node is deselected, the second selected node becomes the alignment node.
Figure 54: Project Edit (2/3)
Figure 55: Project Edit (3/3)
Project Function Menu The Project Function Menu will display the settings and tools related to the project, including search function, Operation Space, Modbus Device, Set IO while Project Error, Set IO while Project Stop, Stop Watch, View, F/T Sensor, Serial Port, Path Generate, Joint Loading, and
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Network Device.
Figure 56: Project Function Menu
Search Function
In Search Function, the search can be performed by the node name or variable name. Click
the first search box to determine the search target (searching with node name or variable
name used in the node). If searching with a node name, select
, and input the keyword
in the search box
behind it. If searching with a variable, select
, and input
the variable in the input box. The in the input box can be clicked to input from the pop up
variable list, or input the keyword directly. The search limit condition can be specified below
the search box, for users to narrow the search range so that users can filter out the desired
targets. If you want to jump to a specific search result, click in front of the item in the result list directly. Users can enter an asterisk in the node name to search for all similar nodes in the
process. If an exclamation mark is displayed in the search result, it denotes that the node has
not been set, and users must enter the node to complete the required settings.
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Figure 57: Searching Pane
Operation Space Operation Space can be used to set the operation space configuration of the project. Refer to Chapter 15 Operation Space for instructions.
Modbus Device Modbus Device can be used to set the Modbus master/client in the project. Refer to 12.1 Modbus for instructions.
Set IO while Project Error This tool can set the IO output status when the project has an error. Refer to 12.3 IO for instructions.
Set IO while Project Stop This tool can set the IO output status when the project stops. Refer to 12.3 IO for instructions.
Stop Watch Through Stop Watch, users can calculate the running time elapsed between two nodes, plan the motion, manage the production cycles more conveniently through the Stop Watch runtime analysis tool, and optimize time for each flow. After clicking Stop Watch, click New to add a stop watch. Stop Watch includes four parts, the beginning node, the ending node, records in a specific variable, and the note description. Check the bullet before Start or End. Then, click the note to be configured to complete the configuration. To save the variable, when Stop Watch is running, the time result obtained while running can be output as the
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variable to help users analyze this parameter. Select a double type variable in the variable list and fill in the variable box to use this function.
Figure 58: Stop Watch Setting Page
View
View provides users with a quick view of the current camera's live image. The camera name
can be selected in the upper left corner of the image. Click the camera adjustment parameters.
below the image to bring up
Figure 59: View Tool Floating Window
F/T Sensor Refer to 14.2 F/T Sensor for instructions.
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Serial Port Users can add devices with serial communication interfaces in Serial Port. Simply click the icon of Serial Port to manage the serial port devices.
Figure 60: Serial Port (1/2)
Figure 61: Serial Port (2/2)
To add a device, click Add, enter values for Device Name, Com port, Baud rate, Data bit, Stop bit, Parity, Time Out in the respective fields as well as check the flow control options, and then click OK.
To edit a device, click on the name of the device, and click on the pencil icon to edit. Every field but Device Name is editable.
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To delete a device, click on the name of the device, and click .
NOTE: The Modbus tab in Expression Editor is replaced by the Connection tab, and
Modbus is in the Protocol dropdown. The Baud rate dropdown offers choices of: 300, 1200, 2400, 4800, 9600, 14400,
19200, 38400, 57600, 115200. Users can also input a custom baud rate in the dropdown.
Path Generate In Path Generate, users can generate complex curves by hand guiding with the F/T sensor. Simply click the icon of Path Generate to use the function.
Create a new motion record. Open a motion record or a path file. Save as a path file applicable to the path node.
Choose the base and the tool in the dropdowns at top right. Click the record icon to start recording the path. Hand guide the robot moving while recording is in progress. Click the stop icon to stop recording.
Click the Time button to set Time Sampling parameters. Click the Position button to set Position Sampling parameters. Points on the path in the 3D viewer vary from Time Sampling and Position Sampling.
Click the Run button for the trial run with the recorded path. Users can set Direction, Data Type, or Speed. Click the Move (+) button or the + button of the robot stick to move the robot along the recorded path. Hold the button for continuous moving. Click the Reset button to set Direction, Data Type, or Speed again.
NOTE: The motion record is generated after recording the path with the lowest possible sample rate and the distance log. The motion record is not applicable to the path node. Save the motion record as a path file to use in the path node.
IMPORTANT: Make sure the robot stays still, and no extra force applies to the external force sensor, such as touching the tool or the external force sensor by hand, before releasing the FreeBot button. If releasing the FreeBot button while the robot is moving, the robot might vibrate or hop for the brake, which may result in errors on joints in the extreme conditions.
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Joint Loading Joint Loading can monitor the loading that every node brings to the robot joints and keep repeating peak torque away. Simply click the icon of Joint Loading to use the function.
Follow the steps below to use Joint Loading: 1. Click the switch next to Display Indicator to turn on or off the rectangle encloses each
node in the project. 2. Check or uncheck the desired levels of the risk indication on each node. 3. Click the Apply button to have the setting take effect.
Once Display Indicator turned on and all levels of the risk checked, the rectangle encloses each node in yellow for High Risk, green for Low Risk, and gray for Unknown. To turn off the rectangle encloses each node, switch off Display Indicator in Joint Loading.
Gray (unknown) denotes the system did not execute this part of motion during the last operation, and thus the system cannot figure the output of each joint during the actual process. Yellow (high risk) denotes the output at some joints is higher than the allowable repetitive peak torque. The condition of the output, in the long run, will considerably affect the service life of the joint. Users can increase the joint acceleration time or decrease the joint motion speed to reduce the joint unit loading.
Below the Apply button, every node in the project will be listed with the type and the name. Joint Loading on every node takes effect after the project execution. The high risk node will
come with the reference speed reduction ration in the list. Users can click , , or to sort the listed nodes in the orders of reverse alphabetical, alphabetical, or chronological.
Network Device Users can add new network devices in Network Device. Click the Network Device icon to go through the setting.
To add a network device, click Add Device. Fill the device name, the IP address, and the port in the respective fields, and click OK.
To edit a network device, select the device in the list and click the pencil icon. Edit the data in the field to edit, and click OK.
To delete a network device, select the device in the list, and click .
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Robot Setting The parameters related to the robot can be set in Robot Setting. The parameters, from left to right and from top to bottom are: Wizard, Vision Setting, TCP, IO Setting, Safety, Controller, Speech, End Button, Component, Operation Space, Command, Connection, Posture Setting, TMmanager, Global Variable, Text File Manager, Motion Setting.
Figure 62: Robot Setting
Wizard The robot setting Wizard will guide users through robot basic settings step by step, including language, time and date, network setting and speech setting.
Vision Setting Vision Setting allows users to modify the camera parameters, calibrate the camera, and manage vision job files.
TCP In TCP setting, users can create a TCP through FreeBot teaching and Manual-inputting parameters. Refer to 8.2 TCP Setting for instructions.
IO Setup In IO Setup, the default value of the output signal at the time of starting up, and the meaning represented by the Self-Defined IO can be set. Using Self-Defined IO, users can trigger or read the button on the Robot Stick with an external device through the IO port on the Control Box. After the setting is complete, click the Save button in the lower right corner to save the setting.
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Figure 63: Output Default Value Setting
Control Box Input channel
9 10 11 12 13
15
Meaning
Control Box Output channel
Stick + button
9
Stick - button
10
Stick M/A Mode button
11
Stick Play button
12
Stick Stop button
13
14
Simulated E-Stop button
15
Table 6: User Defined IO Setting Table
Meaning
Stick + button Stick - button Stick M/A Mode Button Stick Play Button Stick Stop Button System Error Indicator Simulated E-Stop button
Safety In Safety, users can set Safe Stop criteria, Safeguard Port Setting, etc. Refer to Chapter 3 Safety Settings for details.
Controller Refer to 5.6.1.7 Controller for details.
Speech In Speech, users can set the speech parameters, including the buzzer, speech function and error message broadcasting or not, broadcast language, speed and volume. To use the speech function, connect a speaker to the Control Box.
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Figure 64: Speech Setting
CAUTION: If using "Speak and Move", the speech will be saved into a buffer and deleted only if the system finished speaking it. That means, if the Voice is used in a Thread with a quick loop, the buffer size will increase quickly, that the robot might keep speaking without ever stopping.
End Button In End Button, users can set the behaviors of pressing the Gripper Button and the Vision Button on the End Module.
For the Gripper Button, if the gripper used is a general I/O type gripper, click Grip to set the IO signal required to close the gripper. Click Release to set the IO signal required to open the gripper. If the gripper in use needs TM Component to operate, select the user-defined component. Refer to Chapter 13 Component for use of TM Component.
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Figure 65: Gripper Button
To set the Vision Button for common vision jobs or Smart-Pick: 1. Navigate to , and click Setting. 2. Click the End Button icon. 3. Click Vision Button, and click the bullet before Vision Button or Smart Pick.
Component In Component, users can select the component to be started from the Component List. Refer to 13 Component and 16 TM Component Editor for details.
Operation Space For the method of using Operation Space, refer to Chapter 15 Operation Space.
Command In Command, users can check the command status as well as enable or delete the command from the Command List. Click the Save button to take effect. Refer to 12.4 Command for details.
Connection In Connection, users can set Modbus Slave related settings ,TM Ethernet Slave, and Profinet Server. Make sure the card does secure to the designated slot and the cable does connect to the appropriate port before setting items in Connection.
For Modbus Slave, the system provides two Modbus communication methods: Modbus TCP
and Modbus RTU. Click
on the top to turn on/off the mode. Once TCP is turned on,
the system works as a Modbus TCP server for user configured clients with IP filtered and
permissions to access robot data. If RTU is turned on, it is possible to access robot data with
configurations via serial connections. Click the Code Table button in the lower left corner to open
the Modbus slave encoding definition file.
To use TM Ethernet Slave, click
on the top to turn on/off the mode. Once turned on,
the system works as a socket server for users to configure clients with IP filtered and permissions
to access robot data. TM Ethernet Slave follows the protocol introduced in the manual
Expression Editor and Listen Node.
To use Profinet Server, click
on the top to turn on/off the mode. Once turned on, the
system works as a server for Profinet supported devices to access robot data. The context after
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STATUS denotes the current Profinet Server status. For Endianness, users can click on the respective bullet to place the most significant byte first and the least significant byte last with Big-endian or the opposite with Little-endian. To check the data table, click the Code Table button.
To use the Profinet functions in Expression Editor Setting: 1. Click the right field of the expression. 2. Click the Connection tab, and select Profinet in Protocol dropdown. 3. Select the desired item in the Function dropdown.
NOTE: When turning on Profinet Sever, if a message prompts users for the listed field bus is enabled, please disable the current activated field bus
before changing the setting. for rebooting the robot, please power cycle the robot to change the firmware of the
field bus device and manually enable the target field bus in the setting again. for failed to activate device, please check the device and the driver are both installed
correctly.
Posture Setting Posture Setting provides a convenient tool for users to quickly move the robot to a commonly used pose. They are Packing Pose, Normal Pose, and Home Pose from top to bottom. Packing Pose can reduce the space occupied by the robot to help users pack and transport the robot. Normal Pose is the most common work starting pose of the TM Robot, and Home Pose is the pose with all joint rotation angles are 0 degrees.
Figure 66: Posture Setting
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NOTE: Click on
at top right of the 3D viewer for the instructions of the mouse operations.
Global Variables The use of Global Variables is similar to the variable system in the project, but the variables in this system can be used in all projects. Refer to 10.2.1.1 Global Variables for instructions on using Global Variables.
Text File Manager The Text File Manager contains a list of text files and IODD files that have been imported to the control box. String variables from the Variables menu can be used to read data from imported text files. Array, Global Variables, and Variables of other types do not support this feature.
TMmanager In TMmanager, users can send robot data to the TMmanager at a remote site to make use of the data.
To start send robot data to the TMmanager at a remote site, follow the steps below. 4. Navigate to , and click Setting. 5. Click the TMmanager icon. 6. Check Enable TMmanager. 7. If required, check Enable auto upload data to server for the remote site to obtain the IP
setting and the related parameters of the robot. 8. In the fields below Server Setting ,fill the IP address and port number of the remote site. 9. Click OK when done.
Motion Setting In Motion Setting, users can set Automatic Speed Suppression to have the robot adjust its rate of motion by the custom values of the TCP speed and the Joint Speed. Check the box before Automatic Speed Suppression, refer to the formula of Target speed to input the values in the fields next to A and B, and click SAVE when done.
The robot goes with a variety scale of speed fluctuations at different settings of motion speed.
In general, the speed fluctuation will be small in low motion speed and large in high motion speed.
A stands for the tolerance value of the speed fluctuation in low TCP speed limit while the
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robot is in low motion speed. B stands for the tolerance ratio of the speed fluctuation in high TCP speed limit while the
robot is in high motion speed.
NOTE: To avoid setting the speed off the limit, value A adapts better in the low TCP speed limit, and value B, the high TCP speed limit.
High TCP speed limit value TCP speed limit A B Target speed Speed fluctuation
Low TCP speed limit value
TCP speed limit
A B Target speed Speed fluctuation
The custom values of the TCP speed and the Joint Speed are set in Setting>Safety>Performance Settings and Setting>Safety>Human-Machine Safety Settings>More Limit Setting for normal mode and collaborative mode, respectively.
NOTE: Motion Setting is applicable to the following nodes: Point Node, Circle Node, Pallet Node, Move Node, F-Point Node, Touch Stop Node (Line), Vision Node (Fixed Point), Vision Node (Servoing), and Path Node.
System Setting System Setting includes settings related to this software. From left to right and from top to bottom, they are: Language, System Update, Group, User Account, Network, Import/Export, Date and Time, Administrator Setting, Network Service, Backup/Restore, Input/Display Device, Auto Remote mode, and Hard Disk Space.
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Figure 67: System Setting
Language
Select the icon of the language to display on the system. Click pack if available.
to update with the language
Figure 68: Language Setting
System Update To update the TMflow on the robot, users need to download and unzip the update files from the website of the Company. Then, place all the content generated from the unzipped files into the root directory of the USB flash drive labeled with TMROBOT as shown.
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Figure 69: System Update (1/2)
Plug into the USB port on the Control Box, select USB\TMROBOT, and click the Update button at the bottom the System Update page to start the update.
Figure 70: System Update (2/2)
NOTE: Users can add network resources in Network Service to make the connection path list under Device/Network and update the system via the network with good connection quality.
Group
In this setting, the user group can be created. Enter the Group name in the right pane. Select the
scope of this Group's permissions when creating, including run setting, project, settings, view,
system. Press OK after settings are completed to create the Group. After creating the Group,
click to modify information, or click to delete a group.
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Figure 71: Group
User Account In this setting, the User Account can be created. Enter the Name and the Password in the right pane to Add User. Users must select the Group to set the access permissions when creating the User Account. After creating the User Account, click to modify information, or click to delete the User Account.
Figure 72: User Account
Network Setting In Network Setting, the currently enabled connection list will be displayed. Click the item to set its parameters. If users choose Get IP from DHCP, the current connection IP will be grayed out.
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Figure 73: Network Setting (1/2)
Figure 74: Network Setting (2/2)
Import/Export In Import/Export, users can import items from the flash drive or export items to the flash drive. The label of the flash drive must be TMROBOT. Insert the flash drive to the Control Box before using the function.
To use the Export function: Click the Export button at the top left, and then select the desired file in the Select file box. Click the item in this box to add the item to the Selected files box. After completing the new addition, click Export at the bottom right to start the Export procedure.
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To use the Import function: Click on the Import button at the top left, select the robot of the data source in the flash drive from the robot list, and then select the desired data from the Select file box. Click an item in this box to add the item to the Selected files box. After completing the new addition, click Import at the bottom right to start the Import procedure.
NOTE: While using Import/Export, if there are duplicated Project files in the Selected files box, after clicking either Import or Export at the bottom, users can choose from YES to overwrite, NO to save as, or CANCEL to cancel the Import or Export. Checking the box next to Apply to all folders will apply YES (overwrite) to all remaining duplicates.
Available data types to import or export: Log, Hardware Record, Project, TCP, Command, Component, Point Base, Operation Space, Global Variable, Path, Modbus, F/T Sensor, Network Service, Text file, IODD Files, Ethernet Slave, Backup File, Leasing Backup.
Examples:
To export the settings relative to the F/T To import the settings relative to the F/T
sensor along with the project:
sensor along with the project:
1. Navigate to , click System >
1. Navigate to , click System >
Import/Export.
Import/Export.
2. Click Export on the top left, and click
2. Click Import on the top left, and click F/T
Project.
Sensor at the bottom left.
3. Select the name of the project to export 3. Select the robot to apply the imported
in Select Files. Once selected, the
setting in the Robot List prompted and
project to export will be listed in
click OK.
Selected Files.
4. Select the project to apply the imported
4. Repeat Step 3 if you wish to select more
setting in the Project List prompted and
projects to export.
click OK.
5. Click Export at the bottom right to export 5. Select the project to import in the Import
projects when done selecting.
Project List prompted and click OK.
6. Select the name of the setting listed in
Selected Files.
7. Click Import at the bottom right to import
the setting.
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NOTE: The exported backup file will be compressed and encrypted. The backup file will be exported to the path as below.
\TM_Export\(Computer Namer + Robot ID)\Backup Coupler ID, Computer ID, and Robot ID will be checked while importing backup
files. The number of the backup files on the system is limited to 5. Delete the backup
files on the system if unable to import backup files.
Date Time In Date Time, users can change the date and time of the system as well as set the time zone with the option to enable daylight saving.
Figure 75: Date Time
Administrator Setting In Administrator Setting, the administrator password can be changed. The default password is blank. To ensure the security of robot use and data, change the password after the first login.
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Figure 76: Administrator Setting
Network Service In Network Service, users can upload logs, robot data, and vision images to a remote host on a timely basis with multiple connections and accounts.
To go to Network Service, navigate to , and click System > Network Service.
Figure 77: Network Services
To set the remote host to upload, follow the steps below.
1. In the UNC field, use the uniform naming convention to input the address of the remote host.
If authentication is required, input the user account and the password in the respective fields.
Check Show if you wish to see the password in plain text. Use Login and Logout to test the
connection.
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2. Check Auto Login if you wish to establish the connection when the system is on. 3. Select items to upload by checking the respective boxes, and set the interval or a specific
time to upload. Check On Error if you wish to upload when an error occurred. 4. Repeat step 1 through 3 if you have other hosts to upload.
NOTE: Users can set FTP protocol for the connection in the UNC field, for example: ftp://test:1234@192.168.1.100:99. "test" stands for the account, "1234" after the colon is the respective password,
and "192.168.1.100:99" denotes the resource IP address and the port number.
To start a project to upload to the remote host, follow the steps below. 1. Navigate to , and click Project. 2. Start a new project or open an existing one. 3. Drag a log node to the workspace, and click the pencil icon of the node. 4. In the Save Device field, select the desired item in the dropdown menu, and set the directory
to upload in the Save Directory field. Click OK when done. 5. Make sure the nodes in the workspace are connected properly, and run the project.
IMPORTANT: The TM SSD is a requisite for using Network Service with TM 3DVision to upload images.
Backup\Restore This function allows users to backup and restore the current TMflow version, including projects, TCPs, robot parameters and all other contents. A backup file will be generated by clicking the Backup button. After users upgrade the TMflow version, the restore function can be used to restore the previous version and the file content. When executing the Restore function, it will show a window and display "After restoring the backup file, the current data will be removed. Do you want to restore the backup file? (Yes / No)". Click Yes or No to proceed.
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Figure 78: Backup\Restore
IMPORTANT: The number of backup files is limited to five.
Input/Display Devices Pop-out Keyboard
Check the box next to Enable Pop-out Keyboard and click the keyboard icon at the top right to toggle the pop-out keyboard as a means of characters input.
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Figure 79: Pop-out Keyboard
Input Devices (HW 3.2 or newer exclusive) This function provides users with options to set Input Devices with Keyboard or Tablet or Pendant. Pendant comes with four more hot keys, Ctrl shift P (Play/Pause), Ctrl shift M (M/A), Ctrl shift [ (-), and Ctrl shift ] (+), than Keyboard or Tablet does.
Figure 80: Input Devices
Auto Remote Mode Auto Remote Mode allows users to remote control the robot with commands from external sources. Users can check the box next to Enable Auto Remote Mode to get the remote controller icon ready at the right of the item separator line, and further check Enter Auto Remote Mode when Boot-up or Enter Auto Remote Mode when switching to Auto Mode to set the system in Auto Remote Mode after the next booting-up or to set the system in Auto Remote Mode automatically when switching to Auto mode.
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Figure 81: Auto Remote Mode (1/2)
At the right of the item separator line, a gray remote controller icon denotes Auto Remote Mode is enabled but not active, and a red remote controller icon denotes Auto Remote Mode is enabled and active. To switch between Auto Mode and Auto Remote Mode, make sure: 1. No project is running. 2. Get robot control in Auto Mode. 3. Click the remote controller icon.
Figure 82: Auto Remote Mode (2/2)
Hard Disk Space Analysis In Hard Disk Space analysis, the storage spce of the robot displays as a bar graph. When the
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available storage space is lower than 10 , users can go to the management page of each project (text/xml files, projects, AI models, log files, backup files) to delete the specific item of data or click the Clean button in the Hard Disk Space analysis page to remove log files for three days old and older.
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6. Point and Base
Overview In the projection of any point in three-dimensional space is the position of the point on the Base.
Figure 83: Base Value of the Point
To describe a point, in addition to X, Y, Z coordinate positions, it is also necessary to define its direction in the space Rx, Ry, Rz to describe the posture of the point in the space.
Figure 84: Coordinate Axis Rotation
The Base is a system that defines the corresponding position and posture of the robot in three-dimensional space. In the TM Robot, Base is divided into four categories: Robot Base, Custom Base, Tool Coordinate, and Vision Base.
This Chapter will introduce the basic direction judgment method for the Base first, and define the
physical meaning of the Robot Base, so that users can understand the Base of robot, and use the
controller system to move the robot in the specified Base. Finally, how to convert between different
Bases will be introduced, which is for users to complete the work flow without reprogramming the
project in the situation of absolute position changes while relative positions do not change.
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Base and Right-hand Rule Right-hand Rule The Right-hand Rule is a method of determining the direction of the three-dimensional Base. In the system of Base of robot, the right-hand coordinate system can be used to determine the positive direction of the Z-axis, as shown in the illustration, the thumb, index finger, and middle finger represent the right hand coordinate X-axis, Y-axis, and Z-axis respectively, and three fingers are perpendicular to each other. In addition, the Right-hand Rule also determines the positive rotation direction of the coordinate axis in the three-dimensional space, bending finger. The direction pointed by the finger is the positive rotation direction of the coordinate axis.
Figure 85: Right-Hand Base
Types of Base The Bases defined in the robot are Robot Base, Custom Base, Vision Base and Tool Coordinate according to the purpose. Users can complete the point planning and application in the space using intuitive methods, according to these different base applications.
Robot Base Robot Base is also called the world coordinate system. It is defined as the Base of the robot. When the robot is running, no matter how the position or posture is changed, it will not affect the direction and position of the initial point of the coordinates.
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Figure 86: Robot Base
Vision Base Vision Base can be further divided into visual servoing positioning and fixed-point positioning. The concept of visual servoing positioning is to approach the object with camera, so the Base is created on the camera. In fixed-point positioning, the relationship between the image coordinate and the robot is known to calculate the positioning object with absolute coordinates and its Base is created on the object.
Figure 87: Servoing Vision Base is on the Camera
Figure 88: Fix-point Vision Base is on the Object
The robot's vision can be simply built with the Base in parallel to the operation plane, allowing users to complete assembly, processing, and other related applications on an inclined plane, and can also use the Vision Base to position the robot in the space.
Custom Base The Custom Base provides users with a method for creating the reference Base of the motion node. Users can jog the robot to move to the origin, any point on the X-axis and XY
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planes of the Base, to create a Custom Base, refer to 7.2 Create a Custom Base for details.
Tool Coordinate Tool Coordinate is used to define the position and orientation of the robot TCP. Before using the Tool Coordinate, the orientation and posture of the TCP must be defined (refer to Chapter 8, "Create "). If the TCP is not defined, the flange center point will be used as the origin of the Base. In the same project, if the tool is worn out or the tool is changed, you only need to redefine the Tool Coordinate without having to reprogram the flow.
Figure 89: Tool Coordinates
Point Parameter For the robot-defined Point Parameter, in addition to defining the position and orientation of each point, it will also regulate the recorded Base of each point and the tools it applies to. If the tool it applies is T0, represents No Tool.
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Figure 90: Point Parameter Information
If users need to apply different tools on the same project, or perform the same operation on different operation planes, different information can be reassigned to the created point. This section explains the advanced settings in the Point node as an example, this setting can be divided into two categories of Base Shift and Tool Shift to modify the Base of point and the tool applied.
Figure 91: Shift Function of Point Node
Base Shift The Base Shift is to transfer the point to another Base without changing the position and orientation of its relative Base. In this example, the coordinate is rotated, translated, to convert to another Base. In this new Base, the position and orientation of the point relative to its reference Base is not changed. In the case of change in absolute position, the relative position is
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maintained. This function allows users to complete the same job on different Bases.
Figure 92: Base Shift Schematic Diagram Record point P1 on Base 1. At this time, use the Base Shift to change the reference coordinate of the point to the new base, Base 2. This operation will not modify the data of original point, only valid for this set node, and the modified node Base will be presented within a pink box.
Figure 93: Node with Base Shift
IMPORTANT: This function is different from re-record on another base in the Point Manager. The function of re-record on another base is to present the position and orientation of the point with respect to another Base. Therefore, the absolute position of the original point is not changed.
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NOTE: Base Shift works on Robot Base, Vision Bases, and Custom Bases for motion nodes. Base Shift or Tool Shift does not reset after importing points from existing points in the
node. Base Shift or Tool Shift is possible to shift to the current base or the current tool.
Tool Shift Record point P1 on T1. At this time, use Tool Shift to change the tool T1 applied to P1 to tool T2. In practical applications, this function can be used if the tool is worn out or the same path is completed using different tools. This function is divided into two categories: Keep Pose and Keep Path. The same as the Base Shift, this operation does not modify the data of the origin position, is only valid for this set node, and the tool icon of the modified node will be rounded with pink borders.
Figure 94: Node with Tool Shift
Keep Pose: If the tool selected when the robot records the path is incorrect, the Keep Pose function of Tool Shift can be used to substitute the correct tool parameters of this node. This setting will not cause changes to the robot's pose and position, that is, it overlaps with the original track when running the project.
Figure 95: Tool Shift Using Keep Pose
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Keep Path: The robot will try to make the point recorded with the new tool the same as the old tool's point, and further change the robot's pose to conform to the new tool's setting; however, it may not be achieved due to space or robot mechanism limitations.
Figure 96: Tool Shift Using Keep Path
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7. Create Base
Create Vision Base Vision Base can be generated through Vision Node in the Flow, which can be defined based on the target object or on the camera depending on which method is being chosen (Servoing or Fixed-Point).
Create a Custom Base Click on the Base Manager above the Project Editing Page. Users can use three points to create a new Base. Since the information of each point is recorded on the Base, only three points need to be redefined when changing the work plane. It is possible to implement the motion on another plane without reprogramming.
Figure 97: Base Manager
There are three buttons in the center of the three-point Base. From left to right, they are Set the Base Origin, Set any Point on X-axis of the Base, and set the Base on any Point on the Positive X Positive Y Plane. Refer to 6.2 Base and Right-hand Rule to use the Base correctly.
Users can use the controller button below to enable the controller to operate the robot, or use the FreeBot mode to pull the robot to the target position ("Pointing 0,0,0", "Point on X-axis", "Point on Surface"). Pressing the corresponding button at this time will record the robot's current position at this point. After the setting is completed, the exclamation mark in front of the button will disappear. Once all three points are set, press "OK" to create the Base.
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NOTE: Build a Base by 3 Points
Figure 98: Build a Base by 3 Points There are 3 buttons representing the 3 points which define a base, i.e. Origin (0,0,0), Point on X-axis, and Point on Surface, refer to 6.2.1 Right-hand Rule. Users can use the controller button below to enable the controller to operate the robot, or use the FreeBot mode to pull the robot to the target position (Pointing 0,0,0, Point on X-axis, and Point on Surface). Press the corresponding button at this time will record the robot's current position at this point. After the setting is completed, the exclamation mark in front of the button will disappear. After all three points are set, press OK to create the base. This point is the TCP point.
Create New Base Node Drag the New Base Node from the left side. After clicking Edit on the upper left of the node, users can select to create a new base with vision bases or create a new base with three points.
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Figure 99: New Base Node
Create a New Base by Multiple Bases Create a New Base with Two Vision Bases
This function is to create a new Base with two Vision Bases. While the project is running, if the relative distance between the two updated Vision Bases fall within the tolerance range set by users, it is possible to create a new Base, or the node will go to the path of fail.
Figure 100: Create a New Base with Two Vision Bases
Create a New Base with Three Vision Bases This function is to create a new Base with three Vision Bases, and use the position of the first Vision Base as the initial position, the second Vision Base to set the direction the x axis, and the third Vision Base to set the fiducial orientation. Since this function only uses the
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position to create the new Base, it cannot be affected by the error of the visual recognition angle, and it is applicable to situations where the angle is required to be highly stable. While the project is running, users can set the tolerance ranges of the initial position to the second Vision Base and the third Vision Base. If the calculated distance falls within the tolerance range set by users, a new Base will be created, or the node will go to the path of fail.
Figure 101: Create a New Base with Three Vision Bases Create a New Base with Three Points This function is to create a new Base with the three points such as the points on the Vision Bases, the Dynamic Points, and the points in general to be used together. The two common situations create a new Base with three points on the Vision Base and create a new Base with three Dynamic Points, are described below.
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Figure 102: Create a New Base with Three Points
Create a New Base with Three Points on the Vision Base In situations where it is not possible to create a new Base by visual recognitions, users can create a new Base with the points recorded on the Vision Bases. By using the New Base node, it is possible to launch the Point Manager and use the points in the Point Manager. The first selected point sets the initial position of the Base, the second selected point sets the direction the x axis, and the third selected point sets the fiducial orientation. As illustrated below, P1, P2, and P3 are applied to create a new Base. Since the points are recorded on the Vision Base, the newly created Base changes as the Vision Base changes.
Figure 103: Create a New Base with Three Points on the Vision Base
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Create a New Base with Three Dynamic Points Rather than using points on the Vision Bases, this function uses the Dynamic Points built by the Touch Stop nodes to create a new base. In situations where it is not possible to create a new Base by visual recognitions, users can create a new Base with the Dynamic Points built by three Touch Stops. The first Touch Stop sets the initial position of the Base, the second Touch Stop sets the direction the x axis, and the third Touch Stop sets the fiducial orientation.
Figure 104: Create a New Base with Three Dynamic Points
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8. Create the TCP
Overview The TCP (Tool Center Point) is the reference point for tool interaction with the workpiece. The TCP includes six parameters: X Coordinate, Y Coordinate, Z Coordinate, Rx Coordinate, Ry Coordinate, and Rz Coordinate. The TCP is attached to the end of the robot, and is referenced from the center coordinates of the flange.
On the robot, apart from the position and orientation reference values of the six elements, the tool weights and the inertia values can also be input to compensate the performance during operation to avoid misreading the effect of the tool on the robot as an external force. The TCP Setting can be accessed from the Robot Setting page.
Figure 105: TCP Definition
TCP Setting This section describes how to get parameters of TCP from "Teaching" or "Manual Input or choose from Saved File".
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Figure 106: TCP Setting
Create Parameters of TCP with Hand Guidance Teaching The principle of creating the TCP by teaching is to teach the robot to reach the same point in the space through a different posture, to calculate the position of TCP relative to the robot end flange automatically. The Calibration Pin Set sold by the Corporation or a custom-made calibration tool can be used to calibrate the fixed calibration point in the space during the teaching process. The number of calibrations varies depending on users' operation method and accuracy requirements. The number of teachings on the TCP is at least 4 times.
Follow steps below to create a TCP by teaching:
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1. Set the times of calibration and the mass of tools
Figure 107: Set the times of calibration
The position of the TCP is clearly marked on the tool. In this example, the tool is a Calibration Pin Set, and the TCP is located at the tip of the needle. 2. Fix the Calibration Needle on a solid surface.
Figure 108: Teaching Screen
3. Align the end of tool to the calibration point by teaching, and follow by clicking the record on the screen.
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Figure 109: The Robot Posture Needs to Change during Teaching (1/2)
Figure 110: The Robot Posture Needs to Change during Teaching (1/2)
4. Repeat this action until completed and the TCP numerical results and error values are displayed. After confirming that there is no mistake, input the tool name to save the file, and set it as the current tool for the robot.
5. After teaching is completed, the positioning result will be displayed.
NOTE: It is recommended to calibrate this value equal or less than 0.3 to ensure accuracy.
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IMPORTANT: In addition to users' human errors and the number of calibrations, the error of establishing a TCP by teaching is also related to the selected teaching poses. The more joints that you change, and the more you change each one, the better. Between each teaching point, rotate each joint, to achieve the best calibration result.
NOTE: When using the Calibration Pin Set to teach TCP, the controller can be used to fine-tune the moving robot. Between each teaching point, it is still necessary to ensure that 1 to 6 joints are rotated.
6. The calibration result can be saved for future use.
Figure 111: Save Teaching Result
Create Tool Center Point by Input Parameters If users clearly know the TCP relative to the position of robot end flange, the coordinate parameters can be input manually. After the input is completed, click Save as to create a new TCP. To modify the TCP parameter values, click Open to select the item to be modified from the list, and after the modification is completed, click Apply in the lower right corner to save the changes and set this TCP to the current TCP to be used by the robot. In this interface, all TCP data on the robot can be managed. Click Open to open the TCP list of the robot. Click behind the item to delete the TCP data.
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Figure 112: Manual Input TCP Values
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9. Motion Programming
Overview This chapter will introduce the robot's commonly used motion nodes, describe its basic features and motion modes, and help users understand blending.
PTP
Line
WayPoint
Figure 113: TM Robot Motion Types
PTP (Point to Point): The robot moves to the target point along the closest path of the joint angle space
Line: The tool moves in a straight line at the specified speed
NOTE: User can set PTP and Line speed via variables. However, the motion of the point node comes with the issues of mixing trajectories because the point node must calculate the motion commands in advance. Accordingly, if the speed variable of the point node is changed in other threads, the speed of the robot will not be the current value of the variable.
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To ensure the correctness of the speed variable in the motion command with the point node, users need to add a Wait For node or update the speed variable ahead of the point node in the same flow.
WayPoint: The tool performs two-stage path movement at the set percentage of Z-axis height or distance, and it is often used for pick and place applications.
NOTE: To maintain the smoothness and the continuity of the motion, the flow in process calculates and sets each value in the nodes with the logic and the sequence of the programming. The calculation is made much earlier than the time to actually perform the motion. If using variables as the parameters in the motion nodes, users must insert other nodes such as the Set nodes, the Network nodes, or the Listen nodes before the motion node to assign the correct values to the variables.
Point to Point (PTP) PTP is the Fastest Way to Move The PTP mode determines the robot's motion by calculating the angular variation of each axis, and is not limited by the singularity point. If the robot's motion is not limited, it is recommended to select PTP.
IMPORTANT: Singular points are described in the Safety Manual.
Figure 114: PTP Motion
Speed of PTP Motion The PTP speed is based on the motion joint that takes the longest time. The PTP mode may
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cause the TCP to exceed speed limit, especially when the arm length is longer, and should be avoided. Speed percentage and time to top speed can be set in PTP speed setting.
Figure 115: Speed of PTP Motion Plan for PTP Movement In the example, working with the TCP T4 to move the workpiece from P1 to P2 does not need to limit the robot movement path, using the PTP setting at the P2 Point node, after the robot reaches P1. In this case after the arm reaches P1, the fastest movement path will be planned to move to P2.
Figure 116: PTP Application Examples
PTP Smart Pose Choosing By default, in PTP motion, the system will choose the configuration determined from the recorded robot pose and move to the target point. This feature has the system ignore the configuration from recorded robot pose and choose the most efficient configuration on the way to the goal. This feature is applicable to Vision, Point, F-Point, and Path. However, it is not applicable to Move and CV Point.
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Figure 117: PTP Smart Pose Choosing Line
Line Moves the Shortest Distance A straight line is the shortest distance between two points. The Line mode specifies that the path between the two points is planned as a straight line.
Figure 118: Line Motion Simulation Speed of Line Motion Line mode may cause joint speeding. Try to avoid speeding close to a singularity point, or make the posture large-angle movements over a short distance.
Figure 119: Speed of Line Motion
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Percentage of Typical Speed and absolute speed value can be set in Line speed setting. The available range of ABS Speed is from 0 to 4500 mm/s, and the available ABS Time to top speed is from 150 to 9999 ms. Check the box next to Link to project speed to align the speed with the project speed.
Figure 120: Link to Project Speed
The typical speed is the suggested maximum speed of a regular application, and is the linear speed of the center of the tool flange of the robot, used in the specified cycles defined in these specifications: Repeatability Maximum Payload
If users want to set higher speed, use the ABS setting in the node. The maximum speed of the robot is highly dependent on the pose of the robot and joint motion. Refer to the maximum joint speed in the specification for the composition of velocities of the tool end.
Plan for Line Movement The figure below explains that this project sets two points P1, P2, and tool T22. Using the Line setting at the P2 Point node, after the arm reaches P1, it will move to P2 with Line path.
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Figure 121: Line Application Example
IMPORTANT: ABS (Absolute) speed setting, including Point, Path, Move, and nodes can be used when the speed is linked with Project Speed. When not clicked, the arm motion maintains the ABS set speed. The warning window will pop up when the speed setting exceeds 250mm/s, and check automatically, display "Speed exceeds 250mm/s, needs to be linked with Project Speed ".
Two-Steps Motion (WayPoint) WayPoint The two-step movement will maintain a part of Z-axis displacement on the point Base. When the 1st step XY axis is aligned and in position, the 2nd step will move toward the Z-axis. This is often used in pick-and-place applications. To plan the motion from the 1st step to the 2nd step, users can choose either PTP to Line or Line to Line motion.
Figure 122: WayPoint Motion Status
The movement is taken as approaching motions with moving sequence from the 1st step to the 2nd step when the target point direction is on the direction of +Z in the tool coordinate, and the movement is taken as leaving motions with moving sequence from the 2nd step to the 1st step when target point direction is on the direction of -Z in the tool coordinate.
The approach and departure of the WayPoint motion is set by the system automatically with the
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following criteria: For approaching motions, users have to set the target point on the same direction as the
Z-axis of the robot's tool coordinate with the starting point. For departing motions, users have to set the target point on the opposite direction from the
Z-axis of the robot's tool coordinate with the starting point.
Figure 123: WayPoint Setting
Users can set the value of Percentage with the slider or the respective field, or Distance in mm to maintain height with the respective field. Also, users can use the Var button to set the value with a variable. If the variable for percentage is larger than 100, the system uses 100. If it is smaller than 0, it equals to 0. The data type of the variable must be integer.
Plan for WayPoint Movement The following figure is an example to illustrate that if there are obstacles around the workpiece to be picked, extra care is needed to avoid a collision. This project creates a point P1, sets the WayPoint motion mode, retains a Z axis height before reaching P1 point, and then goes downward to pick the workpiece, to prevent a collision.
Figure 124: WayPoint Application Examples
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Blending Blending in Movement In the process of planning a trajectory, the robot will not exactly pass through each programmed point, which has the advantages of reducing the number of robotic brakes and reducing wear and shortening the cycle time. As shown in the figure below, a movement from P1 to P3 is planned, and P2 does not need to be exactly in the path. In this case, Blending can be set at P2 point.
Figure 125: Blending in Space
Blending Speed Change Chart The cycle time can be shortened by Blending as shown in the figure below.
P2 Blend = Yes
speed
A
P1
+
B
Time
=
final speed
P2
Time
BlendValue = Blending Percent Blending Percent = B / A
Figure 126: Blending Speed Change Chart
Set the Blending Percentage Users can click By Percentage to set the blending percentage in Line, PTP, and Circle motion modes.
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Figure 127: Set the Blending Percentage or Set the Blending by Radius
Set the Blending by Radius In Line mode, users can click By Radius to set the Blending by radius. Line is a commonly used motion mode in Point Nodes. For details, refer to the sections with corresponding titles of this manual.
IMPORTANT: As shown in the table below, blending can improve the smooth running of robot, but when the Blending radius has been set by Line motion, blending with Circle and PTP cannot be used.
P2 P1
PLine
Line
%
Radius
PTP Waypoint Circle
Pallet
Path
PLine
Line
% Radius
PTP
Waypoint
Circle
Pallet
-
Path
Notice: Blending is available in the insertion of IF nodes and unavailable in the insertion of the Wait For node insertion as well as the connection of the Listen Node. Set DO while moving is unavailable to move blending and go back to the previous subflow.
Table 7: Valid Blending Setting (Moving from P1 to P2)
Motion Nodes
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Payloads of motion nodes support variables as inputs. The available data types of the variables include integer, float, and double. This feature is applicable to Point, Pallet, Move, Circle, Path, F-Point, Compliance, Touch Stop, and Force Control.
Figure 128: Motion Nodes Support Variable as the Inputs
Also, users can adjust the speed, the payload, the blending settings, and the precise positioning option of motion nodes by selecting nodes to adjust in advance and clicking on the respective buttons in the Edit Block menu to adjust in a batch. This feature is applicable to Vision (PTP, Line), Point (PTP, Line, Waypoint), Pallet (PTP, Line, Waypoint), Move (PTP, Line, Joint), Circle (Line), F-Point (PTP, Line, Waypoint), CVPoint (Line), CVCircle (Line), and Path (PTP, Line, Pline, %); however, it is not applicable to Touch Stop, Compliance, Smart Insert.
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Figure 129: Speed Adjust and Speed Indication on the Node.
Point Node
Users can see the motion type of the point node at the right of the node as shown. Icons for the
motion types are
The linked image cannot be displayed. The file may have been moved, renamed, or deleted. Verify that the link poinTtshetolinthkeedcoimrreacgteficleanannodt lboecadtisopnl.ayed. The file may have been moved, renamed, or deleted. Verify that the link points to the correct file and location.
for PTP, for Line, and
The linked image cannot be displayed. The file may have been moved, renamed, or deleted. Verify that the link points to the correct file and location.
for WayPoint.
Figure 130: Point Node
Generation Method of Point node TMflow currently has two methods to generate a Point. The point generated will be entered on the list of Point Manager.
1. Drag the Point Node from the node menu to the Project Editing Area to add the new point.
2. Click POINT at the End Module to add the point.
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Point Node Setting The Point Node can be set to motion mode, Blending, Base Shift and Tool Shift. The robot will determine the mode of moving to this point according to the above setting.
Figure 131: Point Node Setting
Motion mode setting: Set motion type. If selected PTP, users can set the Target Type to Cartesian Coordinate for the robot moving to the target point based on its Cartesian coordinates or Joint Angle based on its joint angles.
Point Management: Can choose from a existing point or open the Point Manager Blending setting: Set blending type Advanced setting: Base shifting / Tool shifting Payload: Load setting of robot end Precise positioning: Whether moves to the point precisely
IMPORTANT: If you have not selected Precise Positioning, the robot arm will not stop at the Precision Point but instead directly move on to running the next command. If you select Precise Positioning, the robot arm will wait until motion along all axes has stabilized at the Precision Point before moving on to running the next command.
F-Point Node This Node can perform fine tuning of X, Y, Z Axis ±10mm and Rx, Ry, Rz±5° at the existing point. During the project execution, the F-Point variable can also be corrected in the View page. In addition, since inputting variable to fine tuning point is not a safe action when the project is running, the login password protection is designed on the interface. Set and use the settings
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appropriately. Figure 132: F-Point Node
Figure 133: F-Point Node Setting
IMPORTANT: In a single project, the number of F-Points is limited to 20.
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Figure 134: Adjust F-Point Parameter during Project Running
Move Node In this node, users can set values from the Base X, Y, Z, RX, RY, RZ or six-axis angles J1~J6 to determine robot movement distance/angle, and then perform relative movement from current position.
Figure 135: Move Node Setting
Joint angles can be set to determine the relative movement of the robot Relative movement of distance and angle can be set The set relative movement distance can be replaced by a variable
To choose a base in this node:
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1. Click the pencil icon on this node. 2. Click on Tool or Current Base below Choose Base. 3. When the list prompt is displayed, select an item and click OK.
Plan for the Move Node As shown below, users can pick up the stack with a move node. By increasing the z value with each cycle, using the variable, by 5 cm, the four objects can be moved in four cycles.
Figure 136: Plan for the Move Node
Circle Node Circle Node Setting
The Circle node plans the path pass through point P2 (pass point) and end point P3, and uses P1 (current positon) as the path start point, and plans an arc movement.
Figure 137: The Circle Node Plans Arc Path with 3-Point Setting Circle
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Figure 138: Circle Node Setting
To use the circle node: Step 1 Create a starting point before adding the circle node. Step 2 In the circle node, set the Pass Point and the End Point. Step 3 Define path arc length with angle. Step 4 Configure the Speed Setting.
Reach End Point In 3-point setting circle, users can define the path arch length, and the robot will move from P1 Start Point to P3 End Point through P2. Select Keep Rotation to make the robot move and not change its pose along the trajectory. On the contrary, select Linear Interpolation to make the robot move and chage its pose along the trajectory as shown below.
Linear Interpolation
Keep Rotation
Figure 139: The Circle Motion Status of Reach End Point Setting
Target Central Angle Define the path arc with angle and the 3-point setting circle to make the robot move along
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thearc with the target central angle. The angle can be a variable in integer. Along the trajectory, the robot pose will not change after P1.
Figure 140: The Circle Motion Status of Set Angle =270°
Path Node This node can read and run the .Path path file and control the robot to move according to the path in the .Path file.
Path and PLine The Path file is a collection of points that can be generated by a third-party CAD-to-Path software partnered with TM Plug&Play. PLine is a special motion mode of the Path file, and its blending setting is different from that of the Line, providing that the robot can smoothly move between dense points.
PLine
P2 Blend = Yes R
C
B
End Blending
Start Blending
A
From A to B to C
BlendValue = Blending Percent Blending Percent = R / Distance between A&B
Figure 141: PLine Blending Relationship Chart
Path Node Setting Path File: Select Path to run from the Imported Path File or a string variable with a path
file name. Speed: Set the speed percentage when the path is running. Applicable to the 1st point at
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the same time. Users can also check the box before Link to project speed to align the node speed with the project speed. Data Type: Select Time for motions with inconsistent speed or stops and Position for consistent speed motions. Direction: Set to go Forward or Backward along the path. First Point Motion Setting: In the initial point setting, the PLine mode can be selected only when the 1st point of the path is PLine, and the speed setting is ABS. If selected PTP, users can set the Target Type to Cartesian Coordinate for the robot moving to the target point based on its Cartesian coordinates or to Joint Angle based on its joint angles. Path Management Path Property: Path Property displays the Tool and Base of the Path. Users can
also save new Path files and change the Base in this Menu. Path Task: IO Setting of Point on Path
NOTE: When selecting the point in Path Task, the target point is the display parameter value plus 1. For example, the display parameter 0 denotes the first point of the path.
Advanced setting: Base shifting / Tool shifting Change payload to: If equipped, set the weight of the device at the end of the robot in kilogram. Precise positioning: Whether moves to the point precisely
Figure 142: Path Node Setting
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Path File Import and Export Refer to 5.8.6 Import/Export for Path File Import/Export. When importing the Path file, import Base and Tool together, setting the same name of (i.e. Path1_Base, Path1_Tool) in the Base and Tool list of the flow. Path file import is only applicable to user-specified projects and preset with Robot Base and NoTool if there is no Base and Tool information. Users can also use the path file generated from Path Generate. Refer to 5.6.3.10 Path Generate for details.
Pallet Node This node can set three-point coordinates and the values of row and column to control the robot's motion between the rows and the columns. There are a total of two modes, applicable to regular display applications, such as: pallet placement applications.
Pallet Pattern: Set the pallet pattern that goes from the left or the right line by line with or without carriage returns.
3 points establish Pallet: The 1st Point is the start point of the 1st row and determines the robot posture. The 2nd Point is the end point of the 1st row, and the 3rd Point is the end point of the last row.
Number of Rows and Columns: Define the number rows and columns.
Figure 143: Pallet Node (1/2)
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Figure 144: Pallet Node (2/2)
Figure 145: Pallet Patterns
Number of layers and the thickness of each layer: Set number of levels and height of each level
The direction of the pallet: bottom-up or top-down Pallet will automatically generate a set of variables of row, column, and layer numbers,
connected to Pallet movement position
NOTE: 1. Users can use the function of Correlate to variable to correlate the row and
column with variables. After variables are assigned to the row and column, the variables can be used to manipulate or display which slot in the Pallet is to be implemented. The amounts of the target column, row, and level are their correlated variables plus 1. For example, the target row is the third row, and the value of its correlated variable is 2. 2. Teaching points without following the sequence of the chosen pattern may result in the opposite of Z-axis.
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IMPORTANT: Pallet needs to work with a Loop in order to move to the next position of the Pallet.
Listen Node In the Listen Node, a socket server can be established and be connected by an external device to communicate according to the defined protocol. All the functions available in Expression Editor can also be executed in Listen Node.
Figure 146: Listen Node
Send Message: When entering this node, it will initiate a message Print Log: Enable Communication Log (shown on the right) Connection Timeout: When entering this node, if more than the Connection Timeout (milliseconds) passes without connecting, it will timeout. If <= 0, no timeout Data Timeout: When connected, the timeout will be exceeded if no communication packet arrives in Data Timeout milliseconds. If <= 0, no timeout
Socket Server is set up after the project is running and closed after the project is stopped. When
the Socket Server is successfully established, the IP and Port will be displayed in the Notice Log
window on the right.
IP
HMI System Network IP Address
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Port 5890
When the process enters the Listen Node, it stays in the Listen Node until it triggers and leaves with the exit condition.
Pass: Fail:
Executes ScriptExit() or item stopped 1. Connection Timeout 2. Data Timeout 3. Before the Socket Server been established successfully, the flow process has
entered the Listen Node
The commands received by the listen node will be executed in order. If the command is not valid, an error message will be returned carrying the line number with errors. If the command is valid, it will be executed.
The commands can be divided into two categories. The first category is commands which can be accomplished in instance, like assigning variable value. The second category is commands that need to be executed in sequence, like motion commands and IO value assignment. The second category command will be placed in the queue and executed in order. Refer to the manual Expression Editor and Listen Node for details on commands and communication format.
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10. Logic Programming
Overview This Chapter will introduce the logic nodes commonly used in TMflow programming, explain its basic features and use methods, and let users understand how to let robots understand instructions and commands and determine the next motion. In the area of logic programming, the most important aspect is the application of variables. In TMflow, variables are mainly divided into two categories: Global Variables and Local Variables, therefore, this chapter will introduce variables first and explain how to assign them. It then covers basic explanations and examples of how the logic nodes are paired with these variables.
Variable System Local Variables Local Variables can only be called in a single project, and their effective range is only within the project that created these variables. Variables are created through the Variable tab, at the top of the TMflow interface. In this page, a single variable or array variable can be declared and assigned a value. According to the different data formats, TMflow provides six types of variables: int, float, string, double, bool, and byte. The meaning of the variables is shown in the table below. If no value is assigned, a string initial value of empty, and the remaining variables default to 0. The newly added local variables will appear in the project's variable system, and begin with "var_" to represent local variables in the variable system. Users can use dropdown to filter available variables in the list, and sort variables in the list with the buttons of reverse alphabetical, alphabetical, or chronological. Click the Batch Delete button to select multiple variables to delete. The exclamation mark denotes unused in the flow.
Figure 147: Variable System
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Type string
int float
double bool byte
Type Description String Integer
Saved Data Structure composed of characters, such as
"TMflow" (double quotes must be added to enclose the
string)
-231~231 - 1
Floating point number (decimal)
10-37~1038 (Effective digit 6~7 digits)
Double-precision floating-point number
10-307~10308 (Effective digit 15~16 digits)
Boolean
True, False
Byte
Table 8: Variable Data Types
-27~27 - 1
After clicking the newly added variable, the declaration of a variable can be performed. For example, the integer type variable TM_Robot=0 can be declared.
In addition to declaring a single variable, variable arrays can also be declared. The array declaration method is to set the name of the array variable and the size of the array. The default size is 0. As an array with size 10 and name Array is declared, the Array {0, 0, 0, 0, 0, 0, 0, 0, 0, 0} can be obtained. If users want to obtain the first value of the array, Array[0] can be called in calling the array SET Node.
To edit a variable or an array, select the item and click the pencil icon. For variables or arrays, the data type is not editable, and for arrays, the array size is not editable, either. Users can edit variables or arrays with naming staring with var_ only.
IMPORTANT: The number of first element of the array is 0.
Global Variables The Global Variables can be accessed by clicking Global Variable in Robot Setting.
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Global Variable values can be accessed or changed in different projects.
Figure 148: Global Variable Setting
As shown in the figure below, an integer type Global Variable is declared as a. The newly added Global Variable will appear in the project's variable list, and it will be represented as a Global Variable starting with "g_".
Figure 149: Global Variables after Project Is Run
If, for example, users create a global variable with a name of `a', this will be displayed by TMflow as "g_a", indicating that it is a global variable. The global variable "g_a" defaults to a value of zero. If the SET node increments the value of "g_a" by one each time it is executed, after running the project 66 times the value of "g_a" will be 66. At this point, any other project
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that accesses "g_a" will get the value 66 for the variable.
IMPORTANT: Global variables will not be re-initialized when the system shuts down. They will retain their value.
Logic Nodes
Note:
Due to the limited I/O status refresh rate of the system, Safety I/O status reading is designed for monitoring mainly. Conditional statements in logical nodes such as If Node and Gateway Node involving in Safety I/O statuses are not recommended, otherwise the project may not execute as users expected.
Start Node In this node, users can view and set the initial state of the current project such as the initial project running speed in Manual mode (the initial project running speed in Manual Mode is fixed at 5% by default). Also, users can reset the states of DO and AO at the beginning of the project to initialize DO and AO before the project starts. Check Enable continuous motion to prevent the IO writing from interrupting the robot moving along the path of points for a smooth process of moving. Enable continuous motion is unchecked by default. Check Enable busy loop optimization to keep from intensive uses of CPU due to th busy loops.
Note: More than 20 threads of execution will overload the system. There is no way to reduce the loading even if checked Enable busy loop optimization.
SET Node This node can set the states of IO, and change the type and value of variables. When passing through this node, all parameters in the node will be changed to the set result.
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Figure 150: SET Node
In the application of variables, the SET Node can add and subtract variables, associate with the IF Node to select the path, or interrupt the infinite path of the project. As shown below, set an integer type of variable count=0. Each time it passes through the SET Node, the count value is incremented by 1. Users can use Display to show the number of times the project has been run.
Figure 151: Variable Count
Syntax a+= b
a-= b
Meaning a=a+b
a=a-b
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a = b
a=ab
a/= b
a = a/b
a=b
Specifies the value of a is b
Table 9: SET Syntax List
NOTE: Point, Base, TCP, VPoint, IO, Robot, and FTSensor in the flows are now parameterized, and users can write variables as parameters to the objects and read from the parameters for calculations or applications with their types, Name/IDs, and attributes. For more details, Refer to the manual of Expression Editor and Listen Node.
Figure 152: Expression Editor Parameters (1/2)
NOTE: 1. Using parameterized objects is the same as using user defined variables.
Parameterized objects can be used without declarations to get or modify point data through the syntax in the project operations and make the robot move with more flexibility. The expression comes with three parts: item, index, and attribute. 2. A base index is added to the base parameters to act as the choice of the bases, eg. Base["(base name) ",(base index) ].value[ ]. The default value is 0 if there is no number assigned to base index. 3. Writing to the bases parameters is added with the same syntax as shown above. Only the value is writable, and other properties are read only.
If there are multiple equations in Expression Editor, users can click on the equation to move, and use the triangles to move the equation up and down for the process sequence.
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Figure 153: Expression Editor Parameters (2/2) In the box below, the existing variables can be selected and used for calculation.
Figure 154: Add Expression
The SET Node can also set the Analog IO such as enabling Analog IO while passing through the SET Node and giving the external device a specific voltage until a different node stops the output voltage.
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Figure 155: Analog I/O Setting
IF Node In real robot operations, different conditions may result from many factors. For example, job failure, success, and communication errors may occur in various function nodes. These results will return the corresponding variable values. Users can use the IF node to handle these conditions according to different variables. The IF node can judge or compare the state of IO, the state of a Variable, and judge the state of Compliance as well as take the Yes or No path according to whether the condition of the judgment is reached.
Figure 156: IF Node
Operator
Description
<
Less than
>
More than
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==
Equal to
<=
Less than or Equal to
>=
More than or Equal to
!=
Not Equal to
Table 10: If Judgment Operators
In the judgment of stop criteria, as shown in the figure below, the variables obtained from the result in this project are used to program the following flow.
Figure 157: IF Node Stop Criteria Setting
WaitFor Node The main function of the WaitFor Node is to hold the project, and continue to run after the set conditions are met. It can be set according to IO, Time, Variables and other conditions to judge whether to resume the run.
Gateway Node The Gateway node is a conditional judgment formula which is similar to IF Node. Instead of output as YES or NO (IF Node), the Gateway node has a corresponding number of sub-nodes called CASE. When the project flow reaches a Gateway node, CASE would be judged from the list in Case Settings with a top-down approach. Users can use the arrows up and down to reorder the cases. If any condition is met, the project flow would continue from the output of that CASE sub-node, and the judgment of the rest of the CASEs are skipped.
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Figure 158: Gateway Node Judges Five Conditions
As shown above, there are 4 conditioned CASEs (and 1 Default case) which is relevant to using 4 IF Nodes as shown in the figure below. From the view point of simplicity, Gateway nodes can simplify the layout and increase visibility of the flow.
Figure 159: IF Node Judges Four Conditions
NOTE: If no conditions are matched, the project flow would remain deadlocked at the Gateway node. Therefore, it is necessary to have a default case so that the project flow can continue which is practical by leaving the last case sub-node with no condition
M-Decision Node The M-Decision node comes with respective numbers of sub-nodes called CASE similar to Gateway Node. When the project flow reaches a M-Decision node, the flow pauses and prompts users to decide the CASE condition. Once decided, the project flow would continue from the output of that CASE sub-node.
NOTE: When the flow reaches the M-Decision node:
1. Users cannot change the project speed.
2. The message box prompts users making decisions in the view page, and
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only those who get control of the system can make decisions. M-Decision node is applicable to the main project flow, subflow, and thread.
Process Process Nodes Flow nodes are mainly divided into four major categories: Pause, Stop, Goto, and Warp. The function of the Pause node is the same as the pause on the Robot Stick. If the project is running, and passes the Pause node, the project is paused. The Robot Stick can be used to override the Pause, so the project continues to run. Users can use voice function in a Pause node. The robot will read out the content when reaches the node.
The function of the Stop Node is the same as the Stop Button on the Robot Stick, as shown in the figure below. If the project is running, and passes the Stop Node, the project is ended. No node can be connected after Stop. If a Stop node does not exist in the flow, the project will not end automatically. It is necessary to press the Stop Button on the Robot Stick to end the project.
Figure 160: Stop Node Ends Project
The Goto Node provides users with unconditional transfer in the TMflow. When passing through this Node, it will directly transfer to the set target Node, as shown in the figure, to use the Goto Node. If the condition of the judgment formula is met, the next step transfers to P1 directly. Although the application of Goto can be achieved using the connection method, the complexity of the line will reduce the readability of the flow. The Goto Node will display the connection path only when the node is clicked, and the path of the connection will be displayed and indicated by red lines.
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Figure 161: Goto Node Flow Transfer
Figure 162: Goto Node Connection
The Warp Node transfers control the flow to another project and proceeds to run the target project. Nodes in the original project that occur after the Warp are not executed. The parameters of Variables, Base, and Tools will not pass to another project. If users want to transfer Variables between two projects, Global Variables can be used. As shown in the figure, when the TMflow of project runs beyond the Warp Node, the execution is transferred to another project.
Figure 163: Warp Node Transfers to another Project
Since the Warp node applies to transfer the flow between projects, the time consumed to warp between projects varies from the mechanism for the initiations and the terminations of the projects. To run the Warp node at its best efficiency, mind each of the following as listed:
1. No warning while the project is running. 2. Do not insert the dongle key.
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3. Operate in Auto Mode. 4. The warp target speeds up after running for the second time.
NOTE: Users can use variables of type string to store project names to warp.
Subflow Node When the number of Nodes in the flow becomes large, certain blocks of the project may be used repeatedly. If the Nodes in these repeated blocks need to be modified, it may cause inconsistencies in the parameters; therefore, the Subflow Node of TMflow can be used. This Node will create a new page, and share the Variables, Tool parameters, Bases with the original page. The concept of modularization created with this method allows users to simplify the project editing flow, and improves the readability of the flow. During flow programming, it is recommended to use Subflow to simplify the whole flow, as shown in the figure, in this project the nodes running the same action only need to be programmed once.
Figure 164: Subflow Node Modularization Concept
The Subflow Node can be dragged into the flow from the node menu. If the current project does not have any Subflow pages, a new page will be added automatically. If the current project already has Subflow pages, a query box will pop up, asking whether to create a new page. In
addition, users can click
at the top left of the project editing page to add a new Subflow
page, and connect the Subflow in the field of Select Subflow of the Subflow Node. If this page
needs to be deleted, click the Edit icon of the Start Node in the Subflow page to delete.
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Figure 165: Menu to Create Subpages
Figure 166: Select a subflow in the subflow node (1/2)
Users can click next the field of Select Subflow to switch the tab of the flow editing page to the selected subflow in the background.
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Figure 167: Select a subflow in the subflow node (2/2)
Thread TMflow provides the function of Thread, allowing state monitoring and data acquisition to be independent from the robot. Click the query box popped up on the top left of the flow tab to add a Thread page.
Figure 168: Thread
Inside the Thread page, only these actions can be added to the Project Editing Page: the logic to judge, and the value of the node to display. No motion node is available in the Thread page. There are two types of thread pages, the Thread Page, and the Non-pause Thread Page. When the project is paused, the Thread Page is also paused at the same time, and the Non-pause Thread Page does not pause so that users can still read data or update variables in the Non-pause Thread Page. To delete the page, click the Edit icon of the Start node in the subpage to delete.
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11. Vision Node
The Vision Node provides the creation of a plane with fixed-point type, servo type, and object type as well as a variety of AOI identification functions. The display of a Vision Node in flow, in the most complicated situation, each affiliate icon is shown in the figure below: The Base icon on the right side is for which Base is to record the Vision node of this Vision Job, and the Base icon on the left side is for which Base is to be generated by this Vision Job.
Figure 169: Vision Node TM Robot records the relative relationship of objects by recording the points on different Vision Bases. If the environment changes, the robot can be compensated by coordinate transformation without re-teaching the robot's point positions. The position, as shown in the following figure, records the point P1 on the Vision Base to complete the task of pick, and performs the placement operation at the fixed position P2.
Figure 170: Vision Node Flow
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Select a vision job to execute from the list in Vision Job or a string variable with a vision job file name.Part of the vision functions can generate Variables such as the string of the barcode, the number of objects, the color of identify, etc. The following is a multi-object recognition function, which outputs the number of objects found. In Line of Motion Setting, users can check the box next to Link to project speed to align the speed with the project speed.
Figure 171: Vision Node Setting
IMPORTANT: When using the Vision Bases, make sure to choose the correct Base from the list
on the upper right corner as Current Base. Do not use reserved words such as var to name vision jobs.
Refer to Software Manual: TMvision for further details.
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12. Communication and Display
Modbus Modbus is a Master/Slave type communication protocol. Users can use Modbus Master to read or write the parameters and save them in the robot register, such as position, posture and IO status. Users can program with the obtained parameters or monitor the status of robot. TM Robot provides two protocol versions of Modbus: Modbus TCP and Modbus RTU for users to get data from the external Modbus device or robot register. The external device, such as IPC or PLC, can also send commends to the TM Robot to get the related data as Master.
Figure 172: Robot Modbus Protocol
NOTE: Master is also called Client; Slave is also called Server.
Modbus System Hardware Structure Modbus is divided into two protocol versions: Modbus TCP and Modbus RTU. Modbus TCP uses RJ45 for communication. There is only one position in the Control Box that can use RJ45 to perform communication of Modbus TCP: The "LAN" port marked in the Hardware Installation Manual. On the other hand, Modbus RTU uses a serial port for communication. Regarding the above connection approaches, refer to the instructions in the Hardware Installation Manual for the location of the connectors.
Modbus System Software Structure
Set Modbus TCP
In the TMflow Setting page, click Connection to access the Modbus Slave Page, users
must confirm that the IP is obtained in order to enable the Modbus TCP function. IP filter can
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set the network mask, and the communication with the robot must be in the set domain.
Set Modbus RTU In the Modbus Slave RTU setting page, parameters need to be synchronized with the external device before use. After the parameters are confirmed, Modbus RTU then can be opened through the Serial Port, allowing the robot to communicate with different devices.
Application of Modbus in Project The value obtained by Modbus can be used for many applications, such as writing the robot's status to an external device via Modbus. The settings inside the TCP / RTU devices are the same. The following will use the Modbus TCP reading the robot's x direction coordinates as the example for description.
Name X Y Z
FC
Type R/W
04
7001~7002
1B59~1B5A
Float
R
04
7003~7004
1B5B~1B5C
Float
R
04
7005~7006
1B5D~1B5E
Float
R
Table 11: TM Robot Coordinates in the Modbus List
First click Modbus Device from the list on the right side of TMflow to build the relevant parameters for the TCP device.
Figure 173: Modbus Device Access
After adding a TCP device, users can set the parameters of the TCP device manually, such as
name, address and other related information, or import from IODD files supposed users have
imported items and checked files in Text File Manager. Users still have to add the Modbus
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Devices and communication parameters manually. The only thing that IODD files do automatically is create the Address (Signal) Settings. After completing the setting, press OK to save. Using TMflow to get the robot parameters, users can directly use the preset local IP to operate. Then, click Edit to add the pre-read/write location in this device.
NOTE: To import IODD Files, make sure the files store in the path
\TM_Export\RobotName\XmlFiles\IODD of a flash drive labeled TMROBOT where RobotName denotes the ID of the robot. To apply the imported IODD files for IO Link applications: Click the pencil icon of the item listed in Modbus Device, and click Import from IODD. Click the field next to IODD File to select the imported IODD file, and click OK when done to view the functions in Modbus Device's Setting.
Figure 174: Modbus TCP Local IP
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Figure 175: Modbus Device Setting
IMPORTANT: If communicating with an external device, then it is necessary to set the IP address and related parameters of the external device.
Users can view the list of Modbus, in the lower left of the Modbus setting page, and input address of 7001, variable type as Float according to the list. After setting, users can program the Flow, and the subsequent maintenance can also be set using the Modbus Device on the right side. The following will use these settings to program Flow, and read the current X coordinate position of the robot. Users must create a variable to store the X coordinate value in the register.
IMPORTANT: Big-endian is the high byte stored at the lowest memory address and must be checked here.
Figure 176: Modbus X Axis Position Parameter Setting
In this example, a float type variable var_Position_X is created, so that the variable var_Position_X gets the robot's coordinate value in the X direction. Use the Set Node to insert the new Variables and the Variables obtained by Modbus into the upper text box, and use the Display node to verify whether the X coordinate value obtained in the Modbus address is correct.
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Figure 177: Save the Variable of Modbus Value
Figure 178: Use the obtained variable of SET node to obtain the value of Modbus
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Figure 179: Display displays the value obtained by Modbus
NOTE: The Modbus addresses for robot stick commands (Play/Pause, +, -, Stop) cannot be
written to when the robot is in Manual Mode. Use the external device to read the Modbus address 7320~7321 for the last error
code. The system would renew any SI/SO states on related memory address for HW 3.2 or
newer exclusively.
Network Once all network parameters in the Network setting are set, users can use the Network node to have the robot communicate with the external devices through the network. Users are recommended to put the external devices and the robot on the same subnet. Refer to 5.6.3.12 Network Device for the external device settings.
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Figure 180: Network Setting
Network Node The Network node can be set to communicate with external devices.
To set the Network node, follow the steps below. 1. Drag a Network node in the node menu to the flow editing area. 2. Click the pencil icon on the node 3. In the field of Node Name, fill the desired name. 4. Select the device to communicate with in the box next to Choose Device.
To add a device: Click Add Device. Enter the name, the IP address, the port number of the device into the respective fields, and click OK.
To edit a device, select the device in the box next to Choose Device and click Edit Device. Fill the information to edit in the respective fields, and click OK.
To delete a device, select the device in the box next to Choose Device, click Edit Device, and click Delete.
5. Click on the bullet to select from either Receive from variable or Send for inbound or outbound traffic. For Receive from variable, click on the box next to Variable to assign a variable to store the inbound messages. In the box next to Maximum received data time, fill the desired maximum time in milliseconds to receive data, or click the Var button to select a variable to apply. For Send, click on the bullet next to Typing to edit the desired message in the box below or click on the pencil icon to add more expressions to the box as the outbound message, or click on the bullet next to Variable and select a variable in the box to
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assign a variable for the outbound message. 6. In the field of Extra Idle Time, fill the desired time in milliseconds, or click the Var button and
the box next to Extra Idle Time to select a variable. 7. If you wish to know the connection status, click on the box next to Connection Status, and
assign a variable from the list to have the variable store the connection status. 8. Click OK when done.
NOTE: The system will report an error and light in red if no device is in the node setting.
IO TM Robot provides users with both digital IO and analog IO. Digital IO controls two states, represented by H and L (High/Low). High represents the output voltage of the Control Box, which is 24 V. If Low, then the output voltage will be pulled to GND.
The Control Box configures 16 sets of digital IOs and 6 sets of analog IOs. Users can use the SET node to give the AO specific voltage (-10V~10V) to complete the job in actual operation.
User Defined IO Using Self-Defined IO, users can trigger or read the button on the Robot Stick with external devices through the IO ports on the Control Box. After the setting is complete, click Save in the lower right corner to save the setting.
Control Box Input channel
9 10 11 12 13
15
Meaning
Control Box Output channel
Stick + button
9
Stick - button
10
Stick M/A Mode
11
Stick Play button
12
Stick Stop button
13
14
Simulated E-Stop button
15
Table 12: User Defined IO Setting Table
Meaning
Stick + button Stick - button Stick M/A Mode button Stick Play button Stick Stop button System Error Indicator Simulated E-Stop button
External IO TM Robot provides external IO extension functions, which can be extended by the TM Plug &Play EtherCAT IO extension modules and the added IO interface port can be called by the controller to
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test, and to complete the flow programming by the SET node.
Status IO Status IO is used when the project is stopped or in error. The status of the IO is changed to the set value according to these conditions and can be accessed from the Project Function Menu. Click the icon "Set IO while Project Errors" or "Set IO while Project Stops" to access the setting page.
Figure 181: Status IO Setting (1/2)
Figure 182: Status IO Setting (2/2)
Command Node For special applications, such as reading a file, RS232 data, and other functions, users can import the
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executable file into the robot and use the Command Node to call the Shadow Server. The Shadow Server should be slave while the Command node in the flow is Master. There are 2 built-in Shadow Servers: File and TmComm which will be introduced in the following section.
NOTE: Enabled or disabled items in the command list will take effect only after each
power cycle.
The system will report an error and light in red if no device is in the node setting.
Figure 183: Instruction Set Communicates with HMI Navigate to , and click Setting > Command to enable TmComm Instruction Set in Command List.
Figure 184: Enable TmComm Instruction Set
TmComm Instruction Set
The TmComm instruction set can read and write strings to the RS232 communication terminal.
Before use, it is necessary to ensure that the TmComm in the instruction set is enabled. After
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confirming that it is enabled, click Command Port 36900 inside the flow and use the Command node to send corresponding strings or variables to this Port, and create a string type variables to accept the returned results.
ComSet ComOpen ComWrite ComRead
ComReadAfter ComClose
ComCheckBuffer
Function
Example
Function Example Function Example Function
Example
Function
Example
Function Example Function
Example
Set the serial port, the following parameters are port name, baud rate, parity, data bits, stop bits ComSet = 3 9600 n 8 1 3: Set as Com3 9600: baud rate [n | e | m | o | s]: Checking code, n:None, e: Even, M: Mark, o: Odd, s: Space 8: Length of data 1: stop bit Open the set Serial port, you must first open before you can transfer data ComOpen = 3 3: Set as Com3 Write data to the serial port ComWrite = 3 John is good boy. 3: Set as Com3 John is good boy.: The first non-blank visible character after serial port number 3 is the data start command Read the data in the current serial port ComRead = 3 3: Set as Com3 * This command will read all data of the buffer in the command serial port number and send it back. It is recommended to first check whether there is enough data in the buffer to read, in order to avoid reading the data but unable to identify it. Take serial port data and remove the starting specified string ComReadAfter = 3 abc 3: Set as Com3 abc: Specified string *This command will read all the data of the buffer in the command serial port number and send it back. It is recommended to check whether there is enough data in the buffer to read, in order to avoid reading the data but unable to identify it. Close serial port ComClose = 3 3: Set as Com3 Check the serial port buffer data length ComCheckBuffer = 3 eq 5 3: Set as Com3 [eq | le | ge | lt | gt] eq: =, le: <=, ge: >=, lt: <, gt: > 5: Data length Check whether the length of the data in the Com3 buffer is equal to 5 *return: [y | n]
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ComClearBuffer ComReadPos
Function Clear the unread data in the serial port
Example ComClearBuffer = 3 3: Set as Com3
Function Take the serial port content, return the specified length of data after the specified address
ComReadPos = 3 15 4 8
3: Set as Com3
15: Total read length
4: Return data from the fourth character (counting from 0)
8: Specify the length of returned data
Example
Assume that there is information 123456789ABCDEFKKK in the buffer of the current serial port3
The instruction ComReadPos = 3 15 4 8 will read the first 15
(123456789ABCDEF) characters, leaving only KKK three characters in the
buffer area.
At the same time, the 8-character length data (56789ABC) will be returned
from the 4th character.
Table 13: TmComm Instruction set
Figure 185: Directive Summary Flow
In this example, insert the RS-232 into Com1 of the TM Control Box, and communicate with the robot using RS232. After the obtained values have been processed with data analysis, the results will be displayed on the Display Node.
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Figure 186: Command Node Gets RS-232 Information
ComSet is used to set the serial port. After setting, ComOpen will open the set serial port again. In order to avoid overload, the process can be used with a WaitFor node as the interval, or use the wait time in the Command node as the interval. After ComOpen is opened, if no more strings are required to request data, then set the serial port to read and use the string to receive.
Figure 187: Set and Open Serial Port (1/2)
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Figure 188: Set and Open Serial Port (2/2)
Figure 189: Read Data and Receive as a Variable
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At this time, the variable var_receive will receive a string of characters. Users can conduct string disassembly, type conversion, analysis conversion, etc., according to the protocol of product specification to convert it into a readable state and use it as TMflow variables. Click the field next to Command Port to select the port in the Command List to apply. In the box next to Maximum received data time, fill the desired maximum time in milliseconds to receive data, or click the Var button to select a variable to apply. In the field of Extra Idle Time, fill the desired time in milliseconds, or click the Var button and the box next to Extra Idle Time to select a variable to apply.
Figure 190: SET Node Setting
Finally, the obtained value is displayed on the screen using the Display node, and the Goto node is used to update the value continuously.
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Figure 191: Display Node Displays the Obtained Value
NOTE: The Network node can function exactly like the Command Node by using the localhost IP address (127.0.0.1) and the command port number (e.g. 36900 for TmComm command).
File Command The File Command provides users with operations of reading, modifying, and deleting files in the shared folder. Users can communicate with the robot through RJ45. Confirm that it is enabled from Command List before using. After confirmed, use the Command node to send corresponding strings or variables to this port, and create string type variables to accept the returned results, and complete the flow programming with this concept.
Write
Function And Example
Add 001.txt to file folder on the remote computer and write test=001 Write = 1 1 \\169.254.158.75\file\001.txt test=001 1: mode, currently fixed at 1 1: Write mode, 1 is to generate a new file for writing, 2 is to write an existing file \\169.254.158.75\file: write target (IP location and folder) 001.txt: text file name to be written Test=001: What to write Successful write will return: \\169.254.158.75\file\001.txt Error return content: Command length error:illegal parameter File path error: FILEEMPTY
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Delete Read Search
Function And Example
Function And Example
Function And Example
Delete 001.txt in remote computer file folder Delete = 1 1 \\169.254.158.75\file\001.txt all 1: mode, currently fixed at 1 1: delete mode, 1 delete file, 2 delete the specified content in the file \\169.254.158.75\file: Delete target (IP location and folder) 001.txt: text file name to be deleted All: constant Example 2: 001.txt in the remote computer's file folder, delete test=001 Delete = 1 2 \\169.254.158.75\file\001.txt test Success return content: None Error return content: Command length error:illegal parameter File path error: FILEEMPTY No deletion specified in the file: Delete Failed Read Example 1: Reading the contents of 001.txt in the remote computer's file folder (example: test=001) Read = 1 \\169.254.158.75\file\001.txt test 1: Read variable value \\169.254.158.75\file: Read target (IP location and folder) 001.txt: text file name to read Test: content to read Success return content: Variable content, such as example 1 will return 001 Error return content: Command length error:illegal parameter File path error: FILEEMPTY No specified content read in file: KEYWORDEMPTY Search for the existence of 001.txt in the remote computer file folder Search = 1 \\169.254.158.75\file\001.txt Definitions: 1: search file \\169.254.158.75\file: Search target (IP location and folder) 001.txt: text file name to search for Success return content: File exist Error return content: File path error or file does not exist: FILEEMPTY
Table 14: File Commands
The method of using File Command, using write/delete as an example: In Command node, Send Input writes instruction, then receives the Write return result through the new Variable. In this example, a string type Variable, receive, is added. Use the Command1 node to create a text file with filename of TM_Robot in the location of 168.254.158.74. The text file content is text=001,
and in Command2, use receive variable to receive File Command for the return value of
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Command1. Use the Display node to display the received value receive on the screen.
Figure 192: Remotely Add Notepad and Write information
Figure 193: Display Node Displays Received Variables
In the example below, In Command1, send delete command to delete text file with filename of TM_Robot in the location of 168.254.158.74.
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Figure 194: Remotely Delete Notepad File
NOTE: The Network node can function exactly like the Command Node by using the localhost IP address (127.0.0.1) and the command port number (e.g. 36900 for TmComm command).
Log Node The client end can set up the network to create shared folder and communicate with the robot through the LAN. In the project, the set Variables and strings can be saved to this shared folder with this Node. The users can use their own computers to view the history messages stored in the Log Node in the Shared Folder. As shown in the figure below, the robot motion is programmed in the main flow, and the Thread constantly writes its angle information into the text.
Figure 195: Log Node Gets the Current Angle
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NOTE: In the Content field of the log node, user can input text or click the Var button to select a variable to apply. The variable list comes with the data type of the variable.
Figure 196: Log Node Setting
Figure 197: Node Text Example
Display Node The function of the Display Node is to display the specified variable or string on the screen according to the format specified by users. For example, it can be used to display the state of variables, the value obtained by the serial port, the parameters of the robot, or the results of running. In addition, the Display area can change the background color and text color, users can change the color according to the results, and seven colors are supported: red, green, blue, yellow, black, white, and gray.
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Figure 198: Display Node Displays the Robot's Position
Voice Node When running through Voice Node, the speakers, headphones and other devices can be used to broadcast the set of text or variables. According to different usage, it can be divided into talking while moving (Speak and Move), or moving after finishing talking (Speak, then Move). The syntax is the same as that of the Display Node.
Figure 199: Voice Node in TMflow Application
For example, users can create a string type variable Hello, and input the combination of Variable and string in the Voice node. At this time, the external broadcast device will say "Hello World" according to the setting. Be careful that if a space is not added in front of World, then it will become "HelloWorld", and the result with this error will be different from the expected result.
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IMPORTANT: If using Speak and Move, the speech will be saved into a buffer and deleted only if the system finished speaking it. That means, if the Voice is used in a Thread with a quick loop, the buffer size will increase rapidly, that the robot might keep speaking without end.
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13. Component
Component is an independent software package for the robot applications. For TM Plug&Play supported items, users do not need to write additional programs or dig into technical documents of both parties before integrating, but import the software package to use in TMflow directly. Place the downloaded component in the folder named TM_Export in root directory of a USB drive labeled with TMROBOT. Insert the USB drive into to Control Box and navigate to > System > Import/Export to import the component onto the robot.
NOTE: The file path for every type of file that can be Imported/Exported by the TM robot is as: TMROBOT:\TM_Export\RobotName\FileType\FileName\ . The path names in bold font must follow an exact, case-sensitive naming convention and the others can be named and renamed as users please.
Figure 200: Select Components
After importing, the software package must be activated in the Component List by navigating to > Setting > Component before using. Once activated, the imported software package will be added to the left side of TMflow, and users can use it directly by dragged it to the flow.
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Figure 201: Robot Setting Page Component
The setting parameters of each component are not the same. Refer to 16.1.2 TM Component Editor settings for details.
IMPORTANT: Certain Components need to use the Command to communicate with the robot. When the certain component is imported, the corresponding Command will be added in the Command list. Confirm whether the corresponding instruction set is enabled.
TMflow provides a simpler process programming method for the gripper-type software packages. On the robot setting page, click the Gripper Button to set the job triggered by the Gripper Button at the End Module. The concept is when pressing the Gripper Button, a set of Component is added in the flow and executed once, and two Components are used in sequence (remember that some of the grippers need to be executed with SET Component to be applicable). In practical applications, the robot uses the FREE Button, working with the buttons of End Module record the gripper and point, to complete flow programming without TMflow control.
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Figure 202: Gripper Button Setting Page For making components, refer to 16 TM Component Editor.
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14. Force Related Node
NOTE: In the force related nodes, users can set the target force for the robot to operate based on the reference coordinate to. However, the reading of F/T graph and parameterized objects is the force sensed by the F/T sensor concerning the reference coordinate in the nodes. According to the law of action and reaction, the sensor reading will equal to a negative value of the target force for the robot to operate.
Compliance node The Compliance node can set the force limit on the robot movement along a single axis. This setting can be used for various applications of collision testing, object assembly, and object searching. Users can determine the direction of robot motion based on the Tool or the Base.
Figure 203: Compliance Node
Choose Base: Select Tool or Current Base, and click OK to have the robot move accordingly
Compliance Setting: Select Single Axis to define the direction (axis), distance, target force/Torque, speed of the compliance, Teach to use manual teaching method, or Advanced to define force/torque, distance limit, and target speed for applicable directions of the compliance.
Single Axis Direction:
X, Y, Z, Rx, Ry, Rz For (X, Y, Z), the parameters are in (mm, N, mm/s)
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Force limit: Linear speed limit:
For (Rx, Ry, Rz), the parameters are in (degree, mNm, degree/s)
30~150 N
Torque limit:
5000~15000 mNm
30~100 m/s
Angular speed limit: 30~180 degree/s
Stop Criteria: Timeout: This node will be released if the set time is reached before or while running the job Resisted: When the resistance is sensed, the speed at the robot end is close to zero, and the node is released Digital Input: Set a digital input signal to release this node once a specific DI is triggered Stroke % for DI Detection: Applicable to Single Axis and Teach. Detects DI along the moving distance in the single axis. Stops and outputs the variable with Error (6) if DI is detected below the stroke percentage. Stops and outputs the variable with IO Triggered (4) if DI is detected above the stroke percentage. Analog Input: Set an analog input signal, when met, this node is released
Others Output Variable: An int variable can be used to show the result of the Compliance, meaning which criteria has been triggered in the first place, and should have the following possibilities: 2: Timeout 3: Distance Reach 4: Digital Input (or Analog Input) triggered after the Stroke % 5: Resisted 6: ERROR (including TCP speed over limit, incorrect timing of DI triggered, and etc.) 14: Over Speed Change payload to: Define the payload on TCP if any payload existed Compliance Duration when Stop: Set the length of the time to switch between force control and position control. Defaults to 200, the value is valid between 0 and 1000 as an integer and supports the variable setting. Resistance on non-target motion direction: Reduce the vibration of the robot. Set to High Resistance for applications with great reactions against the robot TCP.
Test: Test the performance. The robot will actually start moving at 3% of project speed when this button is pressed.
The compliance settings of the Node comes with: Single Axis, Teach, and Advanced. Refer to the example description in this Section for single axis. For teaching, the Compliance node can choose to
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teach with line direction or rotation direction. Users can use the two points of teaching to perform relative movement to complete the assembly, collision and other jobs. After setting the relevant parameters, users can specify the speed of motion and other additional stop conditions in the motion mode, to ensure that the tool will not be damaged. In the Compliance mode, the safety settings still function.
Figure 204: Compliance Node Teach Setting
Teaching setting: Teach in a line direction or rotation direction. Refer to the figures below for details.
Teaching Point: Set two points and calculate the direction and distance. The two points are not the actual recorded points, and the movement method is relative movement similar to the Move node.
Range Adjustment: Provide Users with direct adjustment of distance or angle in the original direction without resetting the teaching point.
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Figure 205: Line Direction
Figure 206: Rotation Direction Users can pre-program the solution for any possible situation according to the result of Variable returned by the Compliance node, and coordinated with the IF node.
Figure 207: Compliance Variable Selection
NOTE: Users can use Advanced In Compliance Setting as a way to edit the force and the torque on each axis in compliance motions without force sensor and to function more practically to setup the application strategy. Users can choose axes as rigid or compliant and decide the target force. Advanced is useful for applications with high force/torque tolerances. The minimum force is 30 N, and the minimum torque is 5000 mNm.
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F/T Sensor TM Robot integrates F/T sensors from a variety of brands into TMflow for users to configure and utilize instantly. Users can click the icon of F/T sensor at the right of the Project Editing Page to select and configure F/T sensors as shown below.
Figure 208: F/T Sensor
After configuring the F/T Sensor communication and position settings, users can use the configured F/T sensor.
Communication Setting Users can configure the model numbers and the communication ports of the TM Robot supported F/T sensors in the communication setting of F/T Sensor.
To configure the communication setting, follow the steps.
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1. Click the icon of F/T sensor, and click Add Device. 2. Select Communication Setting. 3. Fill a desired name in the field of Device Name. 4. Select Vendor/Model and Com port of the F/T sensor in the respective dropdowns. 5. Click OK when done.
NOTE: Users can fill self-defined names in field of Device Name, select vendor/Model of the installed F/T sensor as well as Com port that the installed F/T sensor plugged in, and click OK to complete the setting. Baud Rate, Data Bit, Stop Bit, and Parity are for confirmations only and not configurable by users.
Once the setting is done, users are able to view the configured F/T sensor and values of axes on each direction sensed by the F/T sensor listed in F/T sensor as shown.
Figure 209: Read Values after Setting F/T Sensor
NOTE: Click Automatic measuring mass center and mass will generate values in Tool Gravity Compensation Setting.
Position Setting
Users can define the position of the F/T sensor to the TM Robot flange in Position Setting to
convert the coordinates that the F/T sensor measured to the coordinates of the robot flange. The
calculation method of the F/T sensor position is as shown in the figure below. Users have to
measure the values of X, Y, and Z of the F/T sensor to the TM Robot flange and confirm the
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rotation angle RX, RY, and RZ based on the angle the F/T sensor installed onto the TM Robot flange.
Figure 210: Position Setting After confirming the positions and the angles the F/T sensor installed onto the TM Robot flange, users can fill the values of the positions and the angles in Position Setting as shown below.
Figure 211: Select Position Setting
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Figure 212: Input Values
Import/Export Settings of F/T Sensor TMflow supports import/export settings of F/T Sensor. Users can export the configured F/T sensor settings and import to the other TM Robots. All users have to do is to export the projects with F/T sensor settings configured and the settings relative to the F/T sensor will be exported along. Refer to 5.8.6 Import/Export for details
Force Value and Charts Once the settings of the F/T sensor are configured, users can observe lines of forces and torques of the F/T sensor in the charts as shown below. Users can also view the fluctuations of forces and torques in the running task while editing in TMflow. To show the charts, click the F/T Graph button. Click the dropdown next to Choose Device for the values read from the sensor or the calculated by the node with the axis and the direction. Check the box before the force or the torque to show the graph on the charts. Check Auto Scaling to have the system scale the detected values automatically or set the maximum and the minimum manually.
Figure 213: Charts
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The line charts can float on the Project Page and show in the Display Board.
NOTE: F3D and T3D represent resultant force and resultant torque respectively, namely that
F3D = 2 + 2 + 2 T3D = 2 + 2 + 2
Touch Stop Node The Touch Stop node comes with three function types: Compliance, Line, and Force Sensor.
Function Type: Compliance Capable of setting the force limit when the robot moves along a single Base, this setting can be used for various applications of object searching, creating a new Base, and recording the current coordinate value of triggering Touch Stop.
Figure 214: Touch Stop-Compliance Settings
Choose Base: Select Tool or Current Base, and click OK to have the robot move accordingly.
Setting: Select Single Axis to define the direction (axis), distance, target force/Torque,
speed of the compliance, Teach to use manual teaching method, or Advanced to define
force/torque, distance limit, and target speed for applicable directions of compliance. Stop Criteria:
Timeout: Set the length of time to stop and release this node Resisted: When the resistance is sensed, the speed at the robot end is close to zero,
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and the node is released Variable: Set rules to determine variables Digital Input: Set a digital input signal to release this node once a specific DI is triggered Stroke % for DI Detection: Applicable to Single Axis and Teach. Detects DI along
the moving distance in the single axis. Stops and outputs the variable with Error (6) if DI is detected below the stroke percentage. Stops and outputs the variable with IO Triggered (4) if DI is detected above the stroke percentage. Analog Input: Set an analog input signal that, when met, the node is released. Others: Output Variable: Set Stroke % for DIO Detection Receiving Variable Change payload to: If equipped, set the weight of the device at the end of the robot in kilogram. Compliance Duration when Stop: Set the length of time to switch between force control and position control. Defaults to 200 milliseconds, the value is valid between 0 and 1000 milliseconds as an integer and supports the variable setting. Resistance on non-target motion direction: Reduce the vibration of the robot. Set to High Resistance for applications with great reactions against the robot TCP. Record Stopping Position on POINT: Select from the Stopping position or the Triggered position and fill the name in the field below to record the robot position at the time being as a dynamic point when the robot puts on the brake. The dynamic point will be in Point Manager when you have:
clicked Test clicked OK or run/Step Run the flow Test: Test the performance. The robot will actually start moving at 3% of project speed when this button is pressed.
NOTE: On all stop criteria, the Touch Stop points recorded to Modbus devices. Refer to Modbus Robot Coordinate (When Touch Stop node is triggered) for details.
Function Type: Line This function is designed to set the robot's line movement along a Single Axis, or direction Teach, and works with the external signals to stop the robot motion. This setting can be used for sensors on external tools to record the position. Users can determine the direction of robot motion based on the Tool or the base.
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Figure 215: Touch Stop-Line Settings
Choose Base: Select Tool or Current Base, and click OK to have the robot move accordingly
Setting: Set the robot to move along the direction of a single axis or teach using manual teaching.Check the box next to Link to project speed to align the speed with the project speed.
Stop Criteria: Variable: Set rules to judge from the outcomes of variables in expressions Digital Input: Set a digital Input signal to release this node once a specific DI is triggered Analog Input: Set an analog input signal that, when met, the node is released.
Others: Braking distance: Set the distance available from 0 to 5 mm for the robot putting the brake on digital input or analog input. The maximum distance available is 5 mm. An input value larger than 5 will give an error message. Change payload to: If equipped, set the weight of the device at the end of the robot in kilograms.
Record Stopping Position on POINT: Select from the Stopping position or the Triggered position and enter the name in the field below to record the robot position, as a dynamic point, at the time when the robot puts on the brake. The dynamic point will be in Point Manager when you have: clicked Test clicked OK and Run/Step Run the flow Test: Test the performance. The robot will actually start moving at 3% of project speed
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when this button is pressed.
Touch Stop Function Type: Force Sensor Of the three function types in a Touch Stop node, Force Sensor is the only one that uses the force sensor to proceed with the force touch stop measurement. Once configured, users can select Force Sensor to assign the desired device as shown below, and use the device to measure the sensed force along the named directions.
Figure 216: Force Sensor
To select a configured force sensor, follow these steps. 1. Click the pencil icon of the Touch Stop node. 2. Click the Force sensor button in Function Type. 3. Click the box next to Choose device to select from the list of the configured force sensors. 4. Click OK when done.
Set to Zero for Force Sensor before Execution: For more precise measured values while running force tasks, users can check this feature prior to running force tasks. This feature sets zero to every current axis value of the force sensor, so the returned force values reflect the actual force in the force tasks.
Choose Base: Select Tool or Current Base, and click OK to have the robot move accordingly.
Setting: Set the robot to move along the direction of a single axis, teach using manual teaching.
Stop Criteria:
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Force Reached: There are three type of force reached to choose: Force, F3D, and T3D as shown below.
Figure 217: Force Sensor
NOTE: Force will change the measurement unit based on users' setting in Single Axis. In other words, if users set Direction to Rx, Ry, or Rz, the measurement unit will change from N to Nm. Force/Torque monitors the forces/torques along the named directions. Once it reaches the preset values of the forces/torques, the robot stops the detection movement to proceed with the next assigned movement, namely that forces/torques along the other directions but not the named directions will not fulfill the stop criteria of the Touch Stop node while the project is in progress.
Timeout: Set the length of time to stop and release this node Variable: Set rules to judge from the outcomes of variables in expressions Digital Input: Set a digital Input signal to release this node once a specific DI is
triggered Analog Input: Set an analog input signal that, when met, the node is released. Others: Output Variable: Set Stroke % for DIO Detection Receiving Variable Change payload to: If equipped, set the weight of the device at the end of the robot in
kilograms.
NOTE:
Force and torque will be obtained when the tool of the robot collides with environment.
The reaction force/torque will also operate at robot. If the robot switches to position
control, the robot might generate a safety alarm due to reaction force/torque. In order to
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avoid the error safety alarm, the Touch Stop node will turn control mode to Compliance when force/torque reaches users' stop criteria. Users can set payload which is the weight from the robot flange to the end of the tool for having better Compliance operation.
Compliance Duration when Stop: Set the length of the time to switch between force control and position control. Defaults to 200 milliseconds, the value is valid between 0 and 1000 milliseconds as an integer and supports the variable setting.
Record Stopping Position on POINT: Select from the Stopping position or the Triggered position and enter the name in the field below to record the robot position, as a dynamic point, at the time when the robot puts on the brake. The dynamic point will be in Point Manager when you have: clicked Test clicked OK and Run/Step Run the flow Test: Test the performance. The robot will actually start moving at 3% of project speed when this button is pressed.
NOTE: The system will report an error and light in red if no device is in the node setting.
Smart Insert Node The Smart Insert Node allows the robot to perform assembly/pushing jobs. The smart design enables difficult object assembly/pushing jobs to be completed through simple and quick setting. The inserting action of Smart Insert Node can be divided into three steps: Approaching, Searching, and Pushing. This Node needs to be worked with the cooperating force sensor in TM Plug&Play for use. The following describes the three steps of pushing.
Approaching Approaching principle description
Before using the Smart Insert node, users should place the inserting object as close to the assembly as possible. In the Approaching step, the robot will move in the z axis direction of the Tool Coordinate until the force sensor detects 5 Newtons (N).
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Figure 218: Approaching Principle
(a) Try to position the robot as close to the socket as possible (b) When the contact force is 5 Newtons, the robot ends Approaching
IMPORTANT: Since the contact force needs to reach 5 Newtons, for the Approaching step to end, users need to confirm that the socket and object to be inserted are able to withstand at least 5 Newtons of force, so as not to damage the product.
Approaching parameters setting The Approaching of the Smart Insert Node provides three setting parameters:
Approaching Speed 0.5 to 10 mm/s
Moving Distance Limit 1 to 100 mm
Time Out 1 to 20 s
Note that the approaching direction of the Smart Insert Node is the Z axis direction of the Tool Coordinate.
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Figure 219: Approaching Parameter Setting Searching After ending Approaching, the robot switches to Searching. Searching can be divided into two strategies: Spiral and Linear. The figure below is the motion method of the Spiral strategy. This searching strategy uses the Approaching contact point as the center of the spiral, and searches outward in a spiral motion until the stop condition is met. If users select Linear for searching, the robot will follow the selected axis to perform Line search until the stop condition is met, as shown in the figure. Regardless of Spiral or Linear, the robot exerts the Contact Force as a constant downward force in the Tool Z-axis direction during searching.
Figure 220: Spiral Searching Method
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Figure 221: Line Searching Method (1/2)
The stop criteria of Searching comes with Completed Searching and Stop Searching. If the plug enters the socket, the combined force of X-Y Plane will be greater than 5 Newtons (N), and the contact force on the z-axis equals 0. This is judged as Completed Searching and goes to the final stage of Inserting. Stop Searching is determined by the robot being unable to find the socket within the search conditions, such as the searching time or distance being too long.
Figure 222: Line Searching Method (2/2)
When the XY combined force of collision is greater than 5 Newtons, it is judged as Completed Searching.
Method for searching: Spiral In Spiral searching, the Searching Radius, Circling Frequency or Tangential Speed, Height Tolerance, and Time Out need to be set. These parameters are shown in the Table below.
Terminology Contact Force Searching Radius
Circling Frequency
Definition Tool Coordinate Z-axis contact force Maximum radius of spiral searching motion Number of circles per second
Setting Range 5~10N
1~30mm
0.5~1.5Hz
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Tangential Speed
Speed of circling per second
1~90mm/s
Height Tolerance
Maximum height of the robot in Tool Coordinate Z axis
1~100mm
Timeout
Maximum searching time
1000~20000 ms
Table 15: Spiral Searching Function Setting Parameters Definition
Note that during the spiral searching process, the robot may move out of the boundary of the socket, and misjudge it as Inserting Point Found. Setting a Height Tolerance can prevent this from occurring.
NOTE: In general, if the geometry shape of the inserting object is circular, such as positioning pins, it is recommended to use the spiral searching method; if the geometry shape of the insert object is rectangular, it is recommended to set the searching method to Linear.
Figure 223: Spiral Searching Parameter Setting Interface
Method for searching: Linear Different from the Spiral searching, the Linear searching can set the power of the Tool Coordinate Z axis contact force and the Linear searching direction (Searching Direction). The Linear searching parameters are defined as shown in the Table below.
Terminology Contact Force
Searching Direction
Searching Speed
Definition Tool Coordinate Z-axis contact force Select Tool Coordinate X, Y, -X, or -Y axis search direction Speed of linear searching
Setting Range 5~10N
-----
0.5~10mm/s
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Maximum searching distance
Maximum distance to search
1~100mm
Timeout
Maximum Searching Time
1000~20000 ms
Table 16: Linear Searching Function Setting Parameter Definition
Figure 224: Linear Searching Parameter Setting Interface
Pushing After completing steps in Searching, the plug has been aligned with the socket. During Pushing, the robot will move in the Z-axis direction until the stop condition is reached, such as detecting the Z-axis contact force or the stroke distance. If X, Y, RX, RY, and RZ detect external force resistance, the Smart Insert node will automatically move smoothly in the opposite direction of the collision to avoid causing interference during pushing.
Parameter Setting Parameter setting of Pushing is similar to the Linear Searching. Users can set the Contact Force, Pushing Speed, Moving Distance Limit and Time Out of the Pushing process. The definition and setting of each parameter is shown in the Table below.
Terminology Contact Force Pushing Speed Moving distance Limit Timeout
Definition Tool Coordinate Z-axis contact force Moving speed of linear pushing
Setting Range 5-150N 0.5-10mm/s
Maximum moving distance
1-100mm
Maximum searching time
1-20sec
Table 17: Pushing Parameter Definitions
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Figure 225: Pushing Parameter Interface
NOTE: The system will report an error and light in red if no device is in the node setting.
Force Control Node The Force Control node comes with three reference coordinates and two operation modes for applications such as polishing, grinding, and deburring.
Figure 226: Force Control Node Settings
Choose device: Select a configured force sensor from the list Set to zero for force sensor before execution:
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This function will zero the value of each axis of the current force gauge. Therefore, when entering the task force, the obtained force values can reflect the real physical forces that occur. Coordinate Systems Define F/T sensor in one of the three coordinate systems. Tool: Couple the coordinates of the force sensor and the coordinates of TCP directionally.
Figure 227: Tool Coordinate System Base: Record the current TCP pose and apply measured force built with this base. The
pose can record on another Base.
Figure 228: Base Coordinate System
In base system, users only need to move the robot into the measuring pose, record the point of the pose, and select the point in Import from existing points to define the force sensor coordinate system with the select point. Trajectory: The coordinate of FT sensor changes along with the path (speed tangent direction).
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: = ..× () (() .. ) : = × .. : = ..
Figure 229: Trajectory Coordinate System
NOTE: 1. The direction of the trajectory movement cannot be parallel to the TCP of Tool Z. 2. When the TCP of the robot does not have the XYZ direction speed at two
consecutive machining points as shown in the figure below, the force sensor coordinate system may be incorrectly operated and resulting in unexpected results. It is recommended to change the machining path or select Tool or Base as the reference coordinate system.
Figure 230: Possible Conversion Error
The two consecutive processing points on the TCP position of the robot, if in fixed-point motion, may cause the force sensor coordinate system conversion error.
F/T Operation Modes
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Select from two of the F/T operation modes. Setpoint: Use Setpoint to set the XYZ axial force and the Rx, Ry, and RZ axial moments
as required as shown in the figure below. The positive and negative values set represent the direction of force control. Users can click the Var button to select a variable as a value to apply. In the axial PID values of the force control, the parameters of the five sets of PIDs are provided from weak to strong. Users can click the Advanced button to set the PID values according to each axial force control and click the Var button to select a variable as a value to apply. In order to avoid the robot movement control speed being too fast after adjusting the PID parameters, users can set the maximum speed value of the robot movement in the speed limit. If the robot exceeds the speed limit, the robot will immediately stop and report the error.
To have the robot perform force control in a known safe space, users can set the range of the robot movement. The system will move the robot in a cube with the length in accordance with the set value. The available range is 0~4000mm.
Figure 231: F/T Operation Modes Setpoint
NOTE: Users can adjust PID values for specific applications. However, self-adjusting the PID parameters may cause the robot to control the divergence and cause vibrations or errors. For the Kd (Derivative gain) value, the suggested initial value of adjustment is 0.001. During the adjustment, a joint error may occur for generating large deviation in the control command sent to the joint (e.g. error code 0x0005FFCB). To recover from the error, press and release the Emergency Switch of the Robot Stick to safely start up again.
Trajectory: When the robot task needs to follow a specific machining path and maintain
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the force control while moving along the path, the operation mode Trajectory can be selected. The force/torque, PID settings, and speed limits for each axis are the same as Setpoint. To import the movement path of the force control, users can add or select Subflow in the Choose F/T Subflow option as shown below.
Figure 232: F/T Operation Modes Trajectory (1/3)
Figure 233: F/T Operation Modes Trajectory (2/3)
In the F/T Subflow of the Trajectory, the TCP of the path needs to be consistent with the TCP of the previous position of the Force Control node as shown in the figure below; otherwise the robot will stop immediately and report an error that the difference is too big. Users can click the Var button to select a variable as a value to apply.
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Figure 234: F/T Operation Modes Trajectory (3/3)
Stop Criteria: Timeout: Set the length of time to stop and release this node. Click the Var button to select a variable as a value to apply. Allowable Position Tolerances: When the robot follows the machining path for force control, because the position of the workpiece is not the same as the path planning, it may cause the robot to move in the direction of force control resulting in machining errors. Users can set the allowable machining error. If the actual machining path is different from the planned path and exceeds the allowable machining error, the robot will release the Force Control node. Click the Var button to select a variable as a value to apply. Variable: Set rules to judge from the outcomes of variables in expressions Digital Input: Set a digital Input signal to release this node once a specific DI is triggered Analog Input: Set an analog input signal that, when met, the node is released. F/T Reached: Set the values of the force or the torque on the custom axes as the criteria to detect. Check the box before Use Absolute Values to use absolute values only. Other than F3D and T3D, users can set negative values for the opposite direction of the force or the torque.
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Figure 235: Stop Criteria F/T Reached
Others: Output Variable: Set Stroke % for DIO Detection Receiving Variable Change payload to: If equipped, set the weight of the device at the end of the robot in kilograms. Click the Var button to select a variable as a value to apply. Compliance Duration when Stop: Set the length of the time between force control and position control. Defaults to 200 milliseconds, the value is valid between 0 and 1000 milliseconds as an integer and supports the variable setting. Click the Var button to select a variable as a value to apply.
Test: Test the performance. The robot will actually start moving at 3% of project speed when this button is pressed.
NOTE: The system will report an error and light in red if no device is in the node setting.
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15. Operation Space
Overview TMflow provides two spatial characteristics of plane and cube for operation space environment construction. When the robot crosses different operation spaces while running, the robot will switch between stop, Reduced Mode, and full speed mode. When calculating the position of the robot and its related actions in Operation Spaces, the TCP is used as the reference point. In other words, the position of the TCP decides the actions in Operation Spaces of the robot. When working in the Reduced Mode, all the safety settings, including TCP speed, TCP force, joint torque etc. follows the settings in Human Machine Safety Settings. When working in the full speed mode, all the safety settings includes TCP speed, TCP force, joint torque and etc. follows the settings in Performance Safety Settings. However, pay attention that this function is not a safety function defined by TM Robot. This function is only suitable for dividing operation space, assisting users in understanding the spatial concept during teaching and programming, or letting the robot decelerate in advance to allow smoother deceleration before the robot moves through a safety sensor installed in the space.
Regarding switching and triggering of Human - Machine Safety Settings, use the User Connected External Safeguard Port for Human - Machine Safety Settings of this product. Add appropriate safety devices such as appropriate installation and configuration of safety sensors connected to the safety protection port with dual channel connections.
DANGER: This function cannot be mistakenly used as a safety function. Users must conduct a comprehensive risk assessment according to the environment and conditions of use, and configure equipment such as a grating, laser scanner and others that comply with the safety regulations, and work with the safety protection port of this product from the external device to trigger the Human - Machine Safety Settings or pause. Set the operation environment correctly, or use other appropriate safety designs to prevent people from entering the robot's full speed space. This function is only to assist users in understanding the space concept more easily during the teaching and programming process. The Reduced Plane / Space function should only be used in the teaching process to know the Reduced Space and full-speed running area, instead of being mistakenly used for switching between the Human Machine Safety Settings and full speed mode, and mistakenly viewed as a safety function. While using Stop Plane/Space during teaching, users should take this function as a way to avoid setting the point or the motion across the prohibited area but not as a safety function. The Corporation clearly specifies the following potential residual risks: There is a risk that causes the robot to hit human body at full speed due to improper use of safe space settings or running incorrect projects.
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Operation Space Setting Page Click Operation Space in the Robot Setting Page to access the Operation Space Setting Page. As shown in the figure below, the left side of this page provides space setting, the middle is the virtual robot interface, and the right side is the controller interface.
Figure 236: Operation Space Setting
Add new plane: Add plane Add new cube: Add cube Delete: Delete the selected characteristics Set Point: Reset characteristics Reduced Plane: Switch to reduced plane Stop Plane: Switch to stop plane Reverse Stop Plane: Check to reverse stop plane Pre-deceleration Distance Setting: Pre-deceleration distance
NOTE: Click on
at top right of the 3D viewer for instructions on mouse operations. Thelinkedimagecannotbedisplayed. Thefilemayhavebeenmoved,renamed,ordeleted.Verifythatthelinkpointstothecorrectfileandlocation.
The list will display all build-in characteristics. When users click on the characteristics in the list, the
robot virtual interface located in the center will display the selected characteristics in dark blue, and
users can delete, reset and perform other actions on the selected characteristics. When the robot is
about to enter the deceleration zone, the robot will start deceleration in advance, but the state of the
Indication Light Ring of the End Module will not change.
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Add / Modify Page Plane Page
Figure 237: Plane
The Add/Modify Plane Page can be accessed by clicking the button to add a new plane or clicking button to reset characteristics after selecting the plane characteristics. On this page, users can build a plane by setting three points. The setting order of the three points can be random, and the robot virtual interface will display the corresponding color ball. When the three points are set, a dark blue virtual plane will appear. At this time, clicking OK will lead to building the plane. It is necessary to pay attention that once the phenomenon of common point or collinearity occurs, it is not possible to build the virtual plane. The button function list is shown below.
Set the 1st Point Set the 2nd Point Set the 3rd Point
Confirm build Plane Cancel build Plane
OK Cancel
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Cube Page
Figure 238: Cube (1/2)
The Add/Modify Cube Page can be accessed by clicking the button to add cube or clicking the button to reset characteristics after selecting the cube characteristics. On this page, users can build a cube with the four points setting by TCP. The setting order of the four points can be random but in accordance with relative relationships as illustrated on the screen. The robot virtual interface will display the corresponding color ball. When the four points are set, a dark blue virtual cube will appear. At this time, clicking the OK button will lead to building the cube. It is necessary to pay attention that once the phenomenon of common point or collinearity occurs, it is not possible to build the cube. The button function list is shown below.
Set the 1st Point Set the 2nd Point Set the 3rd Point Set the 4th Point
Confirm creating the cube Cancel creating the cube
Confirm Cancel
Once completed building the operation space, users can identify objects in the 3D screen as shown below. The whole sphere is the maximum movable range of the robot, the reduced space is in green, the full speed space is in red, and the stop space is the space removed from the robot's movable range.
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Figure 239: Cube (2/2)
DANGER: The convenient setting of the operation space is achieved by a complex spatial geometry algorithm, which may result in a space division that is not as expected by users under certain specific setting conditions. Users must fully check whether the result of the space sphere in the 3D image is as expected before saving the settings. Improper use of a safe space configuration, or saving unexpected settings, or an incorrectly run project, can all cause situations where the robot hits a human body at full speed.
Operation Space Setting Page in the Project Editing Page After building the plane, users can go to the Project Editing Page and click Operation Space in the project function menu for Operation Space Setting.
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Figure 240: Project Editing Page and Operation Space Setting
The Intelligent Slowdown function in the lower left of the figure above provides the ability for the robot to automatically pre-decelerate in the schedule of the project node. If this function is checked, when the project is running, the system will calculate whether the robot's next node position crosses the space. If the space is crossed, then the robot will start deceleration at the current node.
DANGER: The Intelligent Slowdown function only judges whether the initial position and end point of the robot TCP enters the deceleration zone from the full-speed zone or not. Therefore, if the initial position and the end point are both located in the full-speed zone, and the TCP position enters the deceleration zone during the operation, the smart pre-deceleration function will not activate.
In the Project Function Menu of Project Editing Page, click Operation Space > Preview to display the 3D simulator with the selected operation space in Select Operation Space Setting and the base in Choose binding base. To modify the operation space, click Edit. Users are responsible for checking the correctness of the displayed operation space and maintaining its safety before saving it. If not correct, click Edit to remove the last plane and set again. The system will save the operation space displayed in the 3D simulator after clicking Save. Binding Base is a convenient function for users to record the definition of the operations space in the ambient bases, but please note that binding is a one-time action. If the Base is updated in other interfaces after binding, it is necessary to go back to this page to bind again.
Preview: Display the generated operation space on the 3D simulator. Edit: Delete, add, or edit planes to modify the operation space displayed in the 3D
simulator.
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Save: Save the Operation Space displayed in the 3D Simulator.
After clicking the Preview button, if the set page needs to be modified, click the Edit button below to modify the screen.
Figure 241: Click the Save Button to Save the File
If the modification is completed, click the Save button on the top left to save the file. If modification is not required, then click the back arrow on the top left to return to the setting page without saving.
Export/Import Operation Space Export Operation Space Users can export the saved operation space for use in general or along with the project for use in particular.
For use in general, operation space links and related scenery files are exported together as steps below. 1. Navigate to , click System > Import/Export. 2. Click Export on the top left, and click Operation. 3. Click Export at the bottom right to export.
For use in particular with the project, operation space links and related scenery files are exported together along with the project file. Refer to examples in 5.8.6 Import/Export.
Import Operation Space Users can import created operations spaces to use in TMflow.
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NOTE: If imported from TMstudio, rename the file to SafetySpace and put the file in the path TM_Export\Robotname\ on a flash drive labeled TMROBOT where Robotname denotes the ID of the robot. After importing, users are able to open the operation space with the scenery file by clicking the open icon in the Operation Space Setting Page.
The icon before the file name denotes the operation space comes with the scenery file, and the object name and its dependent base will be shown at the top right of the 3D viewer when moving the mouse cursor on the object in the scenery file.
Users can select items named with (CAD) in the list at left as the operation space with the scenery file for the project. The actual position of the CAD in the scene will update as the dependent base updates. This is a great help for the collision check node to detect the collisions between the robot and the objects in the scene.
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The base in the scenery file and the vision job will be included in the project while saving for using the project, and a window will prompt users to overwritten for existed names. When completed, users can select the base with TMstudio scenery and the vision job in Base Manager and the vision node, respectively.
To import operation spaces: 1. Navigate to , click System > Import/Export. 2. Click Import on the top left, and click Operation Space at the bottom left. 3. Select the robot to apply the imported setting in the Robot List prompted and click OK. 4. Select the project to apply the imported setting in the Project List prompted and click OK. 5. Select the project to import in the Import Project List prompted and click OK. 6. Select the name of the setting listed in Selected Files. 7. Click Import at the bottom right to import the setting.
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16. TM Component Editor
TM Component Editor provides developers the capability to compile nodes into components, which can be easily reused by other projects. It greatly simplifies the flow structure of repeating or similar applications. In addition, based on the diversity of product features, developer can plan the possible moving path of the robot in advance with TM Component Editor or design with the positioning of Landmark to create a variety of components applicable to screw driving, welding, polishing, and grinding.
IMPORTANT: TM Component is not designed for confidential encapsulation. Do not use TM Component in confidential usage.
Starting to create your first component Overview A component can consist of a variety of the features to make the flow structure simple as well as reusable in other projects. TM Component Editor provides developers with a complete mechanism to create components. Among the nodes, the Start node is able to configure the component's basic parameters such as its display icon, its usage, as well as its available Global Variables and its instruments. Moreover, developers are able to provide users with the flexibility to modify the parameters on demand. To help users to understand the usage scenarios of the developer's component quickly, TM Component Editor manages a naming rule.
TM Component Editor settings Start node
Developers can click on the Start node for basic settings. In the basic settings, Provider is the name of the developer, Name and Type stand for the name and the type of the node respectively, and Icon is the image to represent the component. In addition, TM Component Editor can pack available Global Variables and instruments together into the component, and show the results in the branches of the Gateway node.
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Figure 242: Start Node
Provider: Provider is the name of the developer or the company that packs the component. When dragging a created component as a node in TMflow, the information of the developer will be displayed in the field as the creator.
IMPORTANT: Components will not be saved if they do not follow the correct naming convention. This includes but is not limited to using "Omron" or "Techman" affiliated names as the provider.
Icon Name: Users can use a desired name for the component listed in the node menu. The icon name is for used in the node menu only. Once dragged into flow editing area, it displays the component name.
Name: Name is the name of the currently selected node. Developers may edit the name in the edit function of the node to optimize the visibility of the flow. This item can be used by developers to check the correctness of the current modifying node.
Type: Type can be used by developers to check the correctness of the current modifying node.
This component can be used in TM Component Editor: This item sets if the component is available for use in TM Component Editor. Refer to 16.3.2 Use component in TM Component Editor for the usage.
This component can be placed in thread: This item sets if the component is available for use in a thread. To tick, the component must not come without motion nodes, or it will get a denial while saving the file.
Icon: Developers can set up two different icons for "normal" and "clicked" status of
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the component. Only image files in the USB drive labeled with TMROBOT can be imported.
IMPORTANT: The component's icon supports PNG image files only, and the suggested maximum resolution is 73 x 73 pixels to avoid distortion or blur.
Figure 243: Component Icon Resolution
Manual: Developers can import a manual file in XPS format, from the USB drive labeled with TMROBOT, to guide users. Once imported the XPS file, users can click the icon to check its correctness.
IMPORTANT: Make sure the file size of your XPS is less than 10MB or it will not be accepted.
Select Exit From Gateway nodes: This item sets the branches of the component. Developers have to select a Gateway node as the exit of the component and the possible results branch over the Gateway node exits according to the logic. Users can process the flow with the respective programs provided by the developers.
IMPORTANT: You can change the variables in the results with the SET node while planning the flow, and use Case in the Gateway node to judge the variables in the results and lead the results to the different position. If the selected Gateway node as the exit comes with child nodes, the child nodes will be ignored.
Command List: This item sets the checked command sets embedded into the Component. When users import the component, the checked command list will be imported also.
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TCP List: This item sets the checked TCP list embedded into the Component. When users import the Component, the parameters will be imported also. The prefix of the TCP has to go with the first two names (Application_Provider_) of the project name in TM Component Editor; otherwise, they will not appear in TM Component Editor.
Global Variable List: This item sets the Global Variables used by the developer embedded into the Component, so the variable conveyance in different Components is achievable. The first two names have to be identical to the names in the project; otherwise, they will not appear in TM Component Editor. For the naming rule of TM Component Editor, refer to 16.1.3 TM Component Editor Naming Rule.
IMPORTANT: Inappropriate changes of the project names in TM Component may result in missing of the embedded Global Variables.
Node settings Sort: This item sorts the orders of the nodes present in the Component. The smaller the number is, the higher the order is.
IMPORTANT: The available input range of the order to sort is from 0 to 1024. If the input number is beyond the maximum, the returned value is 1024.
Are setting items in this node visible: This item sets the node in TM Component Editor to be editable by users. When an IF node is set to Display and its flow is packed in a component, clicking edit in the component will present the node in the component as shown below.
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. Figure 244: Node Setting (1/2)
Displayed on Basic/Advanced setting list: This item sorts the nodes present in the component. Developers of TM Component Editor can partition the levels of the nodes present in the component. First-time users can begin with the basic functions and the simplified interface, and advanced users can check Advanced for more advanced applications.
IMPORTANT: Once Advanced is checked, the nodes present in the component will be rearranged by the input number of Sort.
Display Item: This item sets the items available for users to modify in the Component. For example, if the IF node is set to Display as shown below and Digital I/O and Analog I/O are both checked, after the component is dragged into the project, users can select parameters of Digital I/O and Analog I/O to append or modify by checking the boxes in Display Item of the IF node in the Component.
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Figure 245: Node Setting (2/2)
DeviceReadOnly: This item is applicable to force control related nodes. Developers can set the properties of the force sensing devices to DeviceReadOnly to lock available force sensing devices and prevent users from modifying them. Refer to 16.3.4 The example of point parameterization application for detailed applications.
TM Component Editor Naming Rule The naming rule is intended to help users understand the purpose of the component quickly and completely. To help developers understand component development consistently and intuitively, TM Component Editor regulates the naming in part of the parameters to enhance readability with applicable categories of components, which will go through one by one in the following.
Component Naming The naming rule of TM Component Editor goes by Application_Provider_Model_Version_Function.
Name Application Provider Model Version Function
Description & Examples GRIPPER Omron Adaptive V001 GRIP
Table 18: Component Naming
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IMPORTANT: Do not use reserved words such as var in naming.
The maximum characters available in naming compounded with the component and the vision task is 126, otherwise the vision task may not function normally.
Item
Variable
point
Set
Base Vision Base Device Global Variable TCP
Rule
component name # _item name component name # _item name component name # _item name component name # _item name vision_comp onent name # _item name component name # _item name item name
Examples Component Name A_B_C_V001_D
A_B_C_V001_D
A_B_C_V001_D
A_B_C_V001_D
A_B_C_V001_D
A_B_C_V001_D A_B_C_V001_D
Item Name var_A
Name for Imported Component
A_B_C_V001_D1_var_A
P1
A_B_C_V001_D1_P1
SET
A_B_C_V001_D1_SET
Base1
A_B_C_V001_D1_Base1
vision_Landmark
vision_A_B_C_V001_D1_Land mark
mrtu_Gripper
A_B_C_V001_D1_mrtu_Gripper
A_B_Variable
A_B_Variable
item name A_B_C_V001_D A_B_TCP
A_B_TCP
Table 19: Naming Rule for Items after Components
Global Variables Naming The prefix of a Global Variable has to be the first two names (Application_Provider_) of the project name in TM Component Editor. Inappropriate naming of Global Variables may result in existing Global Variables being overwritten. Refer to 16.3.1 Global Variables for Global Variable applications.
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Figure 246: Global Variables Naming
IMPORTANT: Inappropriate changes of project names in TM Component may result in missing of the embedded Global Variables.
Devices In TM Component Editor, you can edit the devices in advance, such as F/T Sensor devices, Modbus devices, Network devices, and embed the devices in the Component. The supported devices of TM Robot will be covered one by one below.
Modbus Devices In TM Component Editor, you can set the parameters of the Modbus TCP/RTU devices and have the devices embedded in the Component. By dragging the Component in TMflow to have a Modbus device added, users can configure the Modbus device in the list at the right of the screen.
IMPORTANT: The local IP will not be embedded in the Modbus device of the component by default. To use a local IP, add a new device and input 127.0.0.1 and 502 as the IP address and port number respectively.
Network Devices
In TM Component Editor, users can add a new network device newly added by the Network
node embedded to the Component. Dragging the Component in TMflow will add a Network
device.
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Force Sensing Devices In TM Component Editor, you can have the parameters of communication and physics in the force sensing devices embedded in the Component. By dragging the component in TMflow, users can merely configure the serial port address to match the actually connected address for making use of the Component established with the device in the flow. If DeviceReadOnly is checked, users of the component will be limited to use the developer set devices. Refer to 16.3.5 The example of making parameterized devices for the method to limit available devices in the component
Features & Applicable Examples This section goes through the principal ideas of programming, techniques, examples including Global Variables, Subflows, parameterizations, etc. The applicable methods and scenarios are introduced below as a reference for developers to program in simple ways.
Global Variables Users can click Global Variables in Robot Setting to enter the Global Variable system. With Global Variables, TM Component Editor may deliver values to various Components. The example below divides the components of the Gripper Button into SET, GRIP, and RELEASE. SET is for setting parameters of the Gripper Button. GRIP and RELEASE go without parameter settings but merely hold and free the object respectively.
Figure 247: Global Variables
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If parameters of the Gripper Button are set in GRIP, the settings in GRIP will refresh to the defaults when adding a new component, which means the parameters of GRIP of the Gripper Button will return to the values set by the developer. However, if the parameters are changed in SET as Global Variables, the Gripper Button will apply the user setting parameters while executing GRIP and RELEASE.
IMPORTANT: Global Variables will not lose their values because of a system shutdown. When using a Global Variable, the prefix of the Global Variable has to go with the first two names (Application_Provider_) of the project name in TM Component Editor.
Use component in TM Component Editor A TM Component Editor programmed component can check "This component can use in TM Component Editor" in the right via the Start node. This feature is applicable to the secondary development of Components such as the developers of force sensing devices, who can integrate the existing Component of the Gripper Button to expand the component's functions and save time and development costs.
IMPORTANT: Once the component established by packing the project, the parameters of the component used in TMflow will apply the names, Application_Provider_Model_Version_Function, in order. Users have to define the prefixes of the Components used in TM Component Editor on their own.
NOTE: If variables of a Component in TM Component Editor are set for users' modifications, developers can make the respective variables in the Component equal to custom variables and types in TM Component Editor, and have users modify the Variables by the SET node.
Component Inheritance If there is a Component node in TMflow, then dragging another identical Component can select whether to inherit the previous Component. If selected to inherit, the declared variables, devices, coordinates, and TCP parameters will be shared; otherwise, different serial names will apply to the declared variables, devices, coordinates, and TCP parameters. If the Component is generated by the Gripper Button, it will inherit from the last inherited source first. If the last operation is add or there is no source of the last inheritance, it will inherit from the last added item.
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IMPORTANT: Inheritance merely shares variables, bases, positions, and TCP parameters from components, but not the modified values of the parameters in the node. (The setting values in the nodes will keep the defaults of the developers.)
The example of point parameterization application If developers are unable to estimate the number of points in TM Component Editor, they can achieve through parameterization and the string processing function in TMflow. As an example, the component programming of the plugin illustrates below.
Figure 248: The Example of Point Parameterization Application (1/4)
Figure 249: The Example of Point Parameterization Application (2/4)
In the flow above, the coordinate of the Component plugin comes from a 3D CAD file. To
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developers, the user's coordinates and the number remain unknown. This example uses the X-axis as an explanation. Developers can plan the string structure that users understand easily in advance, and use the string processing function in TMflow to retrieve the position of the X-axis by means of the matrix format. Then, developers can replace the position of a single point with the parameterization function for the string returned. Finally, determine whether all plug-in processes are completed according to the size of the matrix.
NOTE: Parameterization does not include the status of Operation Space, Set IO while Project Error, Set IO while Project Stop, and Stop Watch.
Figure 250: The Example of Point Parameterization Application (3/4)
With this architecture, the algorithm is programmed by TMflow to disassemble the string to deal with the number of points unknown. The following figure shows users an example of a string structure in this component. Users can change the point as needed.
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Figure 251: The Example of Point Parameterization Application (4/4)
NOTE: The point positions required in the example above can be achieved by using the Command node to read the notepad in the network shared folder or by importing from a text file in Variable if the data type is string.
The example of making parameterized devices As shown below, developers can use the device parameterization function to restrict modules under the name of the device and use the DeviceReadOnly property to prohibit users from changing devices. This method can limit available devices in the component.
Figure 252: The Example of Making Parameterized Devices
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Use thread in TM Component Editor The thread function is available in TM Component Editor, so status monitoring and data acquisition are independent of the robot, and the thread page precedes data interception and analysis. Users are able to read the data or renew the variables in the thread page. Components cannot be dragged into thread pages of the project. If needed, users can delete the page by selecting delete at the edit window of the Start node in the child page.
IMPORTANT:
If there is a component coming with the thread page in TMflow, no new thread page will come into being when clicking inherit. However, a new thread page will come into being when clicking add a new component. Developers have to be careful to plan the flow to avoid logical conflicts resulted from threads between components.
NOTE: 1. Non-pause Thread is applicable to a component. 2. If setting the node in the thread as a display item, the display item will
present in light blue. 3. When users put numerous identical components selected to inherit in the
flow and, all the parameters of the components to inherit in the thread will update in synchronicity.
Use subflow in TM Component Editor While programming components in TM Component Editor, as the number of nodes increases, some blocks in the Component could be reused or nodes in the blocks could be categorized. It is possible that the poor modifications in the nodes of the block results in inconsistent parameters. Therefore, using the Subflow node page to frame the concept of modularization, users can simplify the flow of the component programming as well as enhance the readability of the logic in the programming. It is recommended to use the Subflow pages as much as possible while programming the Component. To delete the page, select delete at the edit window of the Start node in the child page.
Hide parameters TM Component Editor lets developers cover part of parameters. After selecting variables, bases, and points in TM Component Editor, developers can select whether to show parameters in the base manager, the base list, the point manager, and the variable list in TMflow after dragging the packed Component in the flow.
Software Manual TMflow Software version: 1.82
232
Figure 253: Hide Parameters
Using your component Once you have completed the Component programming, you can export the Component to various projects or make the Component available to others. The following goes through how to open the Component and use it in the Project Page as well as how to make it available to others.
Open the component When selecting the Gateway node as the exit in TM Component Editor and clicking save, TMflow will create a component with the project. In the meantime, users can activate the created Component in the Component List by navigating to > Setting > Component, and the Component should come out as a node to the left of flow.
Software Manual TMflow Software version: 1.82
233
Figure 254: Open the Component
Import/Export Components Navigate to > System > Import/Export to export the component to the USB driver labeled with TMROBOT and import the component onto the users' TM control box and to make it available to users.
IMPORTANT: After being imported, it is required to activate the component in the
Component List by navigating to > Setting > Component before using. A component that is imported with the same name as a component in use will overwrite the settings of the component in use.
NOTE: Components created in newer versions of TMflow are not applicable to older versions of TMflow.
Software Manual TMflow Software version: 1.82
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17. Collision Check Node
The Collision Check Node comes with solutions to provide against issues of the robot's interfering in the self test and the collisions between the gripper and the box. With proper settings and editing based on the scene exported by TMstudio or the simple box container built in TMvision, users can simulate robot motions with robot parts, tools, and virtual boxes to check target motions in advance for collisions in 3D random bin picking applications, large tools, critical poses, and etc.
Before using the collision check node in TMflow, users should use TM Studio to configure the robot model and import the gripper CAD file for the zero point and the angle settings with the flange attached. When the TCP of the gripper is set, export the gripper CAD file zipped with files of xml, tcp, and stp to a flash drive labeled TMROBOT. Next, refer to 5.8.6 Import/Export to import the zipped file in TMflow by selecting TCP for the data type, and refer to 8.2.2 Create Tool Center Point by Input Parameters to adjust values. Also, users can add a new vision job to generate a vision base array after recognized to use in the collision check node.
In TMflow, drag a collision check node from the node menu to the Flow Editing Area, and use the node to create a subflow for teaching points. The maximum nodes available in this subflow is 100. The teaching points will be checked with collisions. Once the flow turns to the collision check node in the project page, the flow proceeds to the nodes in the subflow for collision checking. If there is no collision, the flow will depart from Pass of the collision check node; otherwise, the flow will depart from Fail of the collision check node. In addition, users can set the Safety Distance as a buffer for the robot to detect collisions and select Simulation Speed to apply to the trial run in the 3D simulator.
Figure 255: Collision Check Node
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Appendix A: Modbus List
Classify Read coils Read discrete inputs Read holding registers Read input registers Write single coil Write singe register Write multiple coils Write multiple registers
Function Code
Signal Type
01
Digital Output
02
Digital Input
03
Register Output
04
Register Input
05
Digital Output
06
Register Output
15
Digital Output
16
Register Output
Table 20: Modbus Classify
R/W
Note
R
R
R
TMflow Modbus
R
signal type and
Modbus function
W
code table.
W
W
W
Robot Status 1 Error or Not
FC
Type
02
7201
1C21
Bool
Project Running or Not
02
7202
1C22
Bool
Project Editing or Not
02
7203
1C23
Bool
Project Pause or Not
02
7204
1C24
Bool
Get Control or Not
02
7205
1C25
Bool
Light
01/05 7206
1C26
Bool
Safety IO (User Connected External 02 Safeguard Input Port (Pause))
7207
1C27
Bool
E-Stop
02
7208
1C28
Bool
Table 21: Modbus Robot Status 1
R/W Note
Yes:1
R
No: 0
R
Yes:1 No: 0
R
Yes:1
No: 0
Yes:1 R
No: 0
Yes:1
R
No: 0
R/W
Enable: 1 Disable: 0
R
Triggered: 1
Restored: 0
Triggered: 1 R
Restored: 0
Robot Status 2
FC
Auto Remote Mode Enable or not
02
7209
1C29
Type Bool
Auto Remote Mode Active 05
7210
1C2A
Bool
Auto Remote Mode Active
Speed Adjustment Enable or not
02
7210
1C2A
Bool
02
7211
1C2B
Bool
Table 22: Modbus Robot Status 2
R/W
Note
R
Enable: 1 Disable: 0
Active: 1
W
Inactive: 0 (Need Get Control in Auto
Mode)
Active: 1 R
Inactive: 0
R
Enable: 1 Disable: 0
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Control Box DI/O DO 0 DO 1 DO 2 DO 3 DO 4 DO 5 DO 6 DO 7 DO 8 DO 9 DO 10 DO 11 DO 12 DO 13 DO 14 DO 15 DI 0 DI 1 DI 2 DI 3 DI 4 DI 5 DI 6 DI 7 DI 8 DI 9 DI 10 DI 11 DI 12 DI 13 DI 14 DI 15
FC
Type
R/W
Note
01/05 0000
0000
Bool
R/W
01/05 0001
0001
Bool
R/W
01/05 0002
0002
Bool
R/W
01/05 0003
0003
Bool
R/W
01/05 0004
0004
Bool
R/W
01/05 0005
0005
Bool
R/W
01/05 0006
0006
Bool
R/W
01/05 0007
0007
Bool
R/W
01/05 0008
0008
Bool
R/W
01/05 0009
0009
Bool
R/W
01/05 0010
000A
Bool
R/W
01/05 0011
000B
Bool
R/W
01/05 0012
000C
Bool
R/W
01/05 0013
000D
Bool
R/W
01/05 0014
000E
Bool
R/W
01/05 02
0015 0000
000F 0000
Bool Bool
R/W
High: 1
R
Low: 0
02
0001
0001
Bool
R
02
0002
0002
Bool
R
02
0003
0003
Bool
R
02
0004
0004
Bool
R
02
0005
0005
Bool
R
02
0006
0006
Bool
R
02
0007
0007
Bool
R
02
0008
0008
Bool
R
02
0009
0009
Bool
R
02
0010
000A
Bool
R
02
0011
000B
Bool
R
02
0012
000C
Bool
R
02
0013
000D
Bool
R
02
0014
000E
Bool
R
02
0015
000F
Bool
R
Table 23: Modbus Control Box DI/O
End Module
FC
Type
DI 0
02
0800
0320
Bool
DI 1
02
0801
0321
Bool
DI 2
02
0802
0322
Bool
DO 3
01/05 0800
0320
Bool
DO 1
01/05 0801
0321
Bool
DO 2
01/05 0802
0322
Bool
DO 3
01/05 0803
0323
Bool
AI 0
04
0800~0801 0320~0321 Float
Table 24: Modbus End Module
Software Manual TMflow Software version: 1.82
R/W
Note
R
R
R
R/W
High: 1 Low: 0
R/W
R/W
R/W
R
237
Control Box AI/O AO 0 AI 0 AI 1
FC
Type
R/W
Note
03/16 0000~0001
0000~0001
Float
R/W
04
0000~0001
0000~0001
Float
R
04
0002~0003
0002~0003
Float
R
Table 25: Modbus Control Box AI/O
External Module AO AI DO DI
FC
starting with
starting with
03/16
0900~0901 (Max:1698~1699)
0384 ~0385 (Max: 06A2~06A3)
starting with
starting with
04
0900~0901
0384 ~0385
(Max:1698~1699)
(Max: 06A2~06A3)
starting with
starting with
01/05
0900
0384
(Max:1699)
(Max: 06A2)
starting with
starting with
02
0900
0384
(Max:1699)
(Max: 06A2)
Table 26: Modbus External Module
Type R/W Note Float R/W
Float
R
Bool R/W
Bool
R
NOTE:
(A 10 = 0900 + 100 × + ~ 0901 + 100 × + ) ( 10 = 0900 + 100 × + )
0900 is the starting address for all external modules, and each module comes an interval of 100 between its starting address and the starting address of the other external modules.
M = the external module number starting with 0. N = the number of expansion I/Os on the external module starting with 0.
Suppose you have 2 external modules with 64 expansion I/Os on each. The external module numbers will be 0 and 1 respectively. The addresses in decimal of the first external module are ranging from 0900 to 0963, and the addresses in decimal of the second external module are ranging from 1000 to 1063.
Safety Connector
FC
SO 0
02
0100
SO 1
02
0101
SO 2
02
0102
0064 0065
0066
Software Manual TMflow Software version: 1.82
Type R/W
Note1
Note2
Bool Bool Bool
R
Robot ESTOP Output
Support
R
User Connected External Safeguard Output
Hardware 3.2 or
User Connected External
newer
R
Safeguard Output for
version
238
Safety Connector
FC
SO 3
02
SO 4
02
0103 0104
Type R/W
Note1
HumanMachine Safety
Settings
0067
Bool
R
Robot Internal Protective Stop Output
0068
Bool
R
Robot Encoder Standstill Output
Table 27: Safety Connector (1/2)
Note2
only. High: 1 Low: 0
Safety Connector
FC
SI 0
02
SI 1
02
SI 2
02
SI 3
02
SI 4
02
0200 0201
0202
0203 0204
Type R/W
Note1
00C8
Bool
User Connected ESTOP R
Input
00C9
Bool
R
User Connected External
Safeguard Input (Pause)
User Connected External
00CA
Bool
R
Safeguard Input for HumanMachine Safety
Settings (Collaborative)
00CB
Bool
User Connected Enabling R
Device Input
User Connected ESTOP
00CC
Bool
R
Input without Robot
ESTOP Output
Table 28: Safety Connector (2/2)
Note2
Support Hardware
3.2 or newer version only. High: 1 Low: 0
Robot Coordinate X (Cartesian coordinate w.r.t.
current Base without tool)
FC 04 7001~7002
Y (Cartesian coordinate w.r.t. current Base without tool)
04 7003~7004
Z (Cartesian coordinate w.r.t. current Base without tool)
04 7005~7006
Rx (Cartesian coordinate w.r.t. current Base without tool)
04 7007~7008
Ry (Cartesian coordinate w.r.t. current Base without tool)
04 7009~7010
Rz (Cartesian coordinate w.r.t. current Base without tool)
04 7011~7012
Joint 1
04 7013~7014
Joint 2
04 7015~7016
Joint 3
04 7017~7018
Joint 4
04 7019~7020
Joint 5
04 7021~7022
Joint 6
04 7023~7024
Software Manual TMflow Software version: 1.82
1B59~1B5A
1B5B~1B5C
1B5D~1B5E
1B5F~1B60
1B61~1B62
1B63~1B64 1B65~1B66 1B67~1B68 1B69~1B6A 1B6B~1B6C 1B6D~1B6E 1B6F~1B70
Type Float
Float
Float
Float
Float
Float Float Float Float Float Float Float
R/W Note1
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
Note2 mm
mm
mm
degree
degree
degree degree degree degree degree degree degree
239
Robot Coordinate
FC
Type
X (Cartesian coordinate w.r.t. current Base with tool)
04 7025~7026
1B71~1B72
Float
Y(Cartesian coordinate w.r.t. current Base with tool)
04 7027~7028
1B73~1B74
Float
Z (Cartesian coordinate w.r.t. current Base with tool)
04 7029~7030
1B75~1B76
Float
Rx (Cartesian coordinate w.r.t. current Base with tool)
04 7031~7032
1B77~1B78
Float
Ry (Cartesian coordinate w.r.t. current Base with tool)
04 7033~7034
1B79~1B7A
Float
Rz (Cartesian coordinate w.r.t. current Base with tool)
04 7035~7036
1B7B~1B7C Float
X (Cartesian coordinate w.r.t. Robot Base without tool)
04 7037~7038
1B7D~1B7E Float
Y (Cartesian coordinate w.r.t. Robot Base without tool)
04 7039~7040
1B7F~1B80
Float
Z (Cartesian coordinate w.r.t. Robot 04 7041~7042
Base without tool)
1B81~1B82
Float
Rx (Cartesian coordinate w.r.t. Robot Base without tool)
04 7043~7044
1B83~1B84
Float
Ry (Cartesian coordinate w.r.t. Robot Base without tool)
04 7045~7046
1B85~1B86
Float
Rz (Cartesian coordinate w.r.t. Robot Base without tool)
04 7047~7048
1B87~1B88
Float
X (Cartesian coordinate w.r.t. Robot Base with tool)
04 7049~7050
1B89~1B8A
Float
Y (Cartesian coordinate w.r.t. Robot Base with tool)
04 7051~7052
1B8B~1B8C Float
Z (Cartesian coordinate w.r.t. Robot Base with tool)
04
7053~7054
1B8D~1B8E Float
Rx (Cartesian coordinate w.r.t. Robot Base with tool)
04 7055~7056
1B8F~1B90
Float
Ry (Cartesian coordinate w.r.t. Robot Base with tool)
04 7057~7058
1B91~1B92
Float
Rz (Cartesian coordinate w.r.t. Robot Base with tool)
04 7059~7060
1B93~1B94
Float
Table 29: Modbus Robot Coordinate
R/W Note1
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
Note2 mm mm mm degree degree degree mm mm mm degree degree degree mm mm mm degree degree degree
Robot Coordinate
(When Touch Stop node is
FC
triggered)
X (Cartesian coordinate w.r.t. current Base without tool)
04 7401~7402
Y (Cartesian coordinate w.r.t. current Base without tool)
04 7403~7404
Z (Cartesian coordinate w.r.t. 04 7405~7406 Software Manual TMflow Software version: 1.82
1CE9~1CEA 1CEB~1CEC 1CED~1CEE
Type R/W Note1 Note2
Float R Float R Float R
Dword mm
Dword Dword
mm
mm 240
Robot Coordinate (When Touch Stop node is
triggered)
current Base without tool) Rx (Cartesian coordinate w.r.t.
current Base without tool) Ry (Cartesian coordinate w.r.t.
current Base without tool) Rz (Cartesian coordinate w.r.t.
current Base without tool) Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6
X (Cartesian coordinate w.r.t. current Base with tool)
Y (Cartesian coordinate w.r.t. current Base with tool)
Z (Cartesian coordinate w.r.t. current Base with tool)
Rx (Cartesian coordinate w.r.t. current Base with tool)
Ry (Cartesian coordinate w.r.t. current Base with tool)
Rz (Cartesian coordinate w.r.t. current Base with tool)
X (Cartesian coordinate w.r.t. Robot Base without tool)
Y (Cartesian coordinate w.r.t. Robot Base without tool)
Z (Cartesian coordinate w.r.t. Robot Base without tool)
Rx (Cartesian coordinate w.r.t. Robot Base without tool)
Ry (Cartesian coordinate w.r.t. Robot Base without tool)
Rz (Cartesian coordinate w.r.t. Robot Base without tool)
X (Cartesian coordinate w.r.t. Robot Base with tool)
Y (Cartesian coordinate w.r.t. Robot Base with tool)
Z (Cartesian coordinate w.r.t. Robot Base with tool)
FC
04 7407~7408
04 7409~7410
04 7411~7412 04 7413~7414 04 7415~7416 04 7417~7418 04 7419~7420 04 7421~7422 04 7423~7424 04 7425~7426
04 7427~7428
04 7429~7430
04 7431~7432
04 7433~7434
04 7435~7436
04 7437~7438 04 7439~7440
04 7441~7442
04 7443~7444
04 7445~7446
04 7447~7448
04 7449~7450
04 7451~7452
04 7453~7454
1CEF~1CF0 1CF1~1CF2 1CF3~1CF4 1CF5~1CF6 1CF7~1CF8 1CF9~1CFA 1CFB~1CFC 1CFD~1CFE 1CFF~1D00 1D01~1D02 1D03~1D04 1D05~1D06 1D07~1D08 1D09~1D0A 1D0B~1D0C 1D0D~1D0E 1D0F~1D10 1D11~1D12 1D13~1D14 1D15~1D16 1D17~1D18 1D19~1D1A 1D1B~1D1C 1D1D~1D1E
Type R/W Note1 Note2
Float R
Float R
Float R Float R Float R Float R Float R Float R Float R Float R
Float R
Float R
Float R
Float R
Float R
Float R Float R
Float R
Float R
Float R
Float R
Float R
Float R
Float R
Dword degree
Dword degree
Dword
Dword Dword Dword Dword Dword Dword
Dword
degree
degree degree degree degree degree degree
mm
Dword mm
Dword mm
Dword degree
Dword degree
Dword degree
Dword mm Dword mm
Dword mm
Dword degree
Dword degree
Dword degree
Dword mm
Dword mm
Dword mm
Software Manual TMflow Software version: 1.82
241
Rx (Cartesian coordinate w.r.t. 04 7455~7456
1D1F~1D20
Float R
Dword
Robot Base with tool)
Ry (Cartesian coordinate w.r.t. 04 7457~7458
1D21~1D22
Float R
Dword
Robot Base with tool)
Rz (Cartesian coordinate w.r.t. 04 7459~7460
1D23~1D24
Float R
Dword
Robot Base with tool)
Table 30: Modbus Robot Coordinate (When Touch Stop node is triggered)
degree degree degree
NOTE: When the field of Record Stopping Position on POINT in the touch stop node is not
empty, it writes the corresponding coordinate values of the dynamic point to the Modbus addresses.
Run Setting
FC
Type
Current Project
04 7701~7799 1E15~1E77 String
Change Current Project (Auto Mode only)
06/16
7701~7799 1E15~1E77 String
Table 31: Modbus Run Setting
R/W Note
Use \0 to mark the end of the
R
string.
W
(Auto Mode only)
NOTE:
Users can change the "default" project in Auto Mode via Modbus. Use \0 for reading as the suffix for the ending symbol such as TMflow\0 for the project named TMflow. The \0 denotes 0x00 but not 0x5C 0x30.
The write command is available only when in Auto Mode and the robot is inactive.
TCP Value X (TCP Value)
FC
04 7354~7355
Y (TCP Value)
04 7356~7357
Z (TCP Value)
04 7358~7359
RX (TCP Value)
04 7360~7361
RY (TCP Value)
04 7362~7363
RZ (TCP Value)
04 7364~7365
Mass (TCP Value)
04 7366~7367
Ixx (Principal moments of 04
inertia)
7368~7369
Iyy (Principal moments of 04
inertia)
7370~7371
Izz (Principal moments of inertia)
04
7372~7373
X (Mass center frames with
principal axes w.r.t. tool 04 7374~7375
frame)
Y (Mass center frames with 04 7376~7377
Software Manual TMflow Software version: 1.82
1CBA~1CBB 1CBC~1CBD 1CBE~1CBF 1CC0~1CC1 1CC2~1CC3 1CC4~1CC5 1CC6~1CC7
1CC8~1CC9
Type Float Float Float Float Float Float Float
Float
1CCA~1CCB Float
1CCC~1CCD Float
1CCE~1CCF Float 1CD0~1CD1 Float
R/W Note1
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
Note2 mm mm mm degree degree degree Kg
mm mm
242
TCP Value
FC
principal axes w.r.t. tool
frame)
Z (Mass center frames with
principal axes w.r.t. tool 04
frame)
RX (Mass center frames with
principal axes w.r.t. tool 04
frame)
RY (Mass center frames with
principal axes w.r.t. tool 04
frame)
RZ (Mass center frames with
principal axes w.r.t. tool 04
frame)
Type R/W Note1
7378~7379
1CD2~1CD3 Float R
Dword
7380~7381
1CD4~1CD5 Float R
Dword
7382~7383
1CD6~1CD7 Float R
Dword
7384~7385
1CD8~1CD9 Float R
Table 32: Modbus TCP Value
Dword
Note2
mm degree degree degree
Robot Stick Project Running Speed
M/A Mode Play/Pause
Stop Stick+ Stick-
FC Type
04 7101
1BBD
Int16
04 7102
1BBE
Int16
05 7104
1BC0
Bool
05 7105
1BC1
Bool
05 7106
1BC2
Bool
05 7107
1BC3
Bool
Table 33: Modbus Robot Stick
R/W R R W W W W
Note % A:1; M:2
Triggered as 1 received.
Project Speed Project Speed
FC
Type R/W
04
7101
1BBD
Int16 R
Note %
%
(Auto Mode only)
Change Project Speed 06
7101
1BBD
Int16 W
Project speed can only be
written multiples of five. (5Project Speed100)
Table 34: Modbus - Project Speed
Software Manual TMflow Software version: 1.82
243
NOTE:
Play/Pause, Stop, Stick+, Stick- and Change Project Running Speed can only be written in the
following situation.
Stick+, Stick- and Change Project Running Speed can only be written that speed adjustment
function is enabled. (Speed Adjustment can refer to "FC: 02, Address 7211")
Stick +, Stick- and Change Project Running Speed can only be written with external devices, so it
cannot be written on the local side [127.0.0.1].
Mode
Client non get control Modbus RTU
Modbus TCP/RTU
Client Get control Modbus TCP
Manual Mode
Auto Mode
In the Auto Remote Mode
(Auto Remote Mode can refer to "FC: 02,
Address 7209")
Play/Pause Stop Stick+ Stick-
N/A Play/Pause Stop Stick+ Stick-
Change Project Running Speed Play/Pause
Stop Stick+ StickChange Project Running Speed
End module button (Pressed) FreeBot
FC
02
7170
1C02
Type Bool
R/W R
Table 35: Modbus - End Module Button
Note Pressed=1 Release =0
Stick Status (Pressed) Power Button
FC
02
7150
1BEE
Type Bool
R/W R
M/A Mode
02
7151
1BEF
Bool
R
Play/Pause
02
7152
1BF0
Bool
R
Stop
02
7153
1BF1
Bool
R
Stick+
02
7154
1BF2
Bool
R
Stick-
02
7155
1BF3
Bool
R
Table 36: Modbus Stick Status (Pressed)
Note
Pressed=1 Release =0
TCP Speed FC
X
04
Y
04
Z
04
RX
04
RY
04
7859~7860 7861~7862 7863~7864 7865~7866 7867~7868
1EB3~1EB4 1EB5~1EB6 1EB7~1EB8 1EB9~1EBA 1EBB~1EBC
Software Manual TMflow Software version: 1.82
Type Float Float Float Float Float
R/W R R R R R
Note1 Dword Dword Dword Dword Dword
Note2 degree/s degree/s degree/s degree/s degree/s
244
TCP Speed FC
RZ
04
7869~7870
1EBD~1EBE
Type Float
R/W R
Note1 Dword
TCP Speed 04 7871~7872 1EBF~1EC0 Float R Dword
Table 37: Modbus TCP Speed
Note2 degree/s
mm/s (According to current tool)
3 = 2 + 2 + 2
TCP Force FX FY FZ F3D
FC
Type R/W Note1
Note2
04
7801~7802
1E79~1E7A Float R Dword
N
04
7803~7804
1E7B~1E7C Float R Dword
N
04
7805~7806
1E7D~1E7E Float R Dword
N
04
7807~7808
1E7F~1E80 Float R Dword
N
Table 38: Modbus TCP Force
Joint Torque FC
Joint 1
04
Joint 2
04
Joint 3
04
Joint 4
04
Joint 5
04
Joint 6
04
Type R/W Note1
7901~7902
1EDD~1EDE Float R
Dword
7903~7904
1EDF~1EE0 Float R
Dword
7905~7906
1EE1~1EE2 Float R
Dword
7907~7908
1EE3~1EE4 Float R
Dword
7909~7910
1EE5~1EE6 Float R
Dword
7911~7912
1EE7~1EE8 Float R
Dword
Table 39: Modbus Joint Torque
Note2 mNm mNm mNm mNm mNm mNm
Joint Speed
FC
Type R/W Note1
Note2
Joint 1
04
7913~7914
1EE9~1EEA Float R Dword
degree/s
Joint 2
04
7915~7916
1EEB~1EEC Float R Dword
degree/s
Joint 3
04
7917~7918
1EED~1EEE Float R Dword
degree/s
Joint 4
04
7919~7920
1EEF~1EF0 Float R Dword
degree/s
Joint 5
04
7921~7922
1EF1~1EF2 Float R Dword
degree/s
Joint 6
04
7923~7924
1EF3~1EF4 Float R Dword
degree/s
Table 40: Modbus Joint Speed
Joint Current
FC
Joint 1
04
Joint 2
04
Joint 3
04
Joint 4
04
Joint 5
04
Joint 6
04
7925~7926
1EF5~1EF6
Type R/W Float R
7927~7928
1EF7~1EF8 Float R
7929~7930
1EF9~1EFA Float R
7931~7932
1EFB~1EFC Float R
7933~7934
1EFD~1EFE Float R
7935~7936
1EFF~1F00 Float R
Table 41: Modbus Joint Current
Note1 Dword Dword Dword Dword Dword Dword
Note2 mA mA mA mA mA mA
Joint Temperature
FC
Software Manual TMflow Software version: 1.82
Type R/W Note1
Note2 245
Joint Temperature
Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6
FC
Type R/W Note1
Note2
04
7937~7938
1F01~1F02 Float R Dword
Celsius
04
7939~7940
1F03~1F04 Float R Dword
Celsius
04
7941~7942
1F05~1F06 Float R Dword
Celsius
04
7943~7944
1F08~1F08 Float R Dword
Celsius
04
7945~7946
1F09~1F0A Float R Dword
Celsius
04
7947~7948
1F0B~1F0C Float R Dword
Celsius
Table 42: Modbus Joint Temperature
Current Base X Y Z RX RY RZ
FC 04 8300~8301
206C~206D
Type
R/W
Float
R
04 8302~8303 206E~206F
Float
R
04 8304~8305
2070~2071
Float
R
04 8306~8307
2072~2073
Float
R
04 8308~8309
2074~2075
Float
R
04 8310~8311
2076~2077
Float
R
Table 43: Modbus Current Base
Note mm mm mm degree degree degree
Safety Stop Criteria FC
TCP Speed
04
TCP Speed under Hand 04 Guide Mode
TCP Force
04
Joint 1 Speed
04
Joint 2 Speed
04
Joint 3 Speed
04
Joint 4 Speed
04
Joint 5 Speed
04
Joint 6 Speed
04
Joint 1 Torque
04
Joint 2 Torque
04
Joint 3 Torque
04
Joint 4 Torque
04
Joint 5 Torque
04
Joint 6 Torque
04
Min Joint 1 Position
04
Max Joint 1 Position
04
Min Joint 2 Position
04
Max Joint 2 Position
04
Min Joint 3 Position
04
Max Joint 3 Position
04
Min Joint 4 Position
04
Max Joint 4 Position
04
Min Joint 5 Position
04
8001~8002
8003~8004
8005~8006 8007~8008 8009~8010 8011~8012 8013~8014 8015~8016 8017~8018 8019~8020 8021~8022 8023~8024 8025~8026 8027~8028 8029~8030 8031~8032 8033~8034 8035~8036 8037~8038 8039~8040 8041~8042 8043~8044 8045~8046 8047~8048
Software Manual TMflow Software version: 1.82
1F41~1F42
1F43~1F44
1F45~1F46 1F47~1F48 1F49~1F4A 1F4B~1F4C 1F4D~1F4E 1F4F~1F50 1F51~1F52 1F53~1F54 1F55~1F56 1F57~1F58 1F59~1F5A 1F5B~1F5C 1F5D~1F5E 1F5F~1F60 1F61~1F62 1F63~1F64 1F65~1F66 1F67~1F68 1F69~1F6A 1F6B~1F6C 1F6D~1F6E 1F6F~1F70
Type R/W Float R
Float R
Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R
Note1 Dword
Dword
Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword
Note2 m/sec
m/sec
N degree/s degree/s degree/s degree/s degree/s degree/s
Nm Nm Nm Nm Nm Nm degree degree degree degree degree degree degree degree degree
246
Safety Stop Criteria Max Joint 5 Position Min Joint 6 Position Max Joint 6 Position
FC
Type R/W Note1
04
8049~8050
1F71~1F72 Float R Dword
04
8051~8052
1F73~1F74 Float R Dword
04
8053~8054
1F75~1F76 Float R Dword
Table 44: Modbus Safety Stop Criteria
Note2 degree degree degree
Collaborative Mode FC
TCP Speed
04
TCP Speed under Hand Guide Mode
04
TCP Force
04
Joint 1 Speed
04
Joint 2 Speed
04
Joint 3 Speed
04
Joint 4 Speed
04
Joint 5 Speed
04
Joint 6 Speed
04
Joint 1 Torque
04
Joint 2 Torque
04
Joint 3 Torque
04
Joint 4 Torque
04
Joint 5 Torque
04
Joint 6 Torque
04
Motion Speed
04
PTP Speed
04
Minimum possible contact area
04
GSensor
02
Deceleration Time
04
8101~8102
8103~8104
8105~8106 8107~8108 8109~8110 8111~8112 8113~8114 8115~8116 8117~8118 8119~8120 8121~8122 8123~8124 8125~8126 8127~8128 8129~8130 8155~8156 8157~8158
8159~8160
1FA5~1FA6
1FA7~1FA8
1FA9~1FAA 1FAB~1FAC 1FAD~1FAE 1FAF~1FB0 1FB1~1FB2 1FB3~1FB4 1FB5~1FB6 1FB7~1FB8 1FB9~1FBA 1FBB~1FBC 1FBD~1FBE 1FBF~1FC0 1FC1~1FC2 1FDB~1FDC 1FDD~1FDE
1FDF~1FE0
Type R/W Float R
Float R
Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R Float R
Float R
8161
1FE1
Bool
R
8162
1FE2
Int16 R
Table 45: Modbus Collaborative Mode
Note1 Dword
Dword
Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword Dword
Dword
Enable: 1 Disable: 0
ms
Note2 m/sec
m/sec
N degree/s degree/s degree/s degree/s degree/s degree/s
Nm Nm Nm Nm Nm Nm mm/sec %
cm ×cm
Running Timer Day Hour
Minute Second
FC
Type R/W
Note
04 8200~8201 2008~2009
04
8202
200A
04
8203
200B
04
8204
200C
Int32 Int16 Int16 Int16
R
R Current project running time.
(It the project is stopped, it
R
will return to 0.)
R
Table 46: Modbus Running Timer
Up Time Day Hour
Minute Second
FC
04 8206~8207
04
8208
04
8209
04
8210
200E~200F
2010 2011 2012
Software Manual TMflow Software version: 1.82
Type Int32 Int16 Int16 Int16
R/W R R R R
Note Time elapsed since the controller was started
247
Table 47: Modbus Up Time
Others 1
FC
Current Time: Year
04
Current Time: Month
04
Current Time: Date
04
Current Time: Hour
04
Current Time: Minute 04
Current Time: Second 04
IPC Connect Number 04
HMI Version
04
User Connect Limit
04
Modbus Proxy Port
04
Last Error Code
04
Last Error Time: Year 04
Last Error Time: Month 04
Last Error Time: Date 04
Last Error Time: Hour 04
Last Error Time: Minute 04
Last Error Time: Second 04
Control Box Serial Number 04
7301
1C85
Type Int16
7302
1C86
Int16
7303
1C87
Int16
7304
1C88
Int16
7305
1C89
Int16
7306
1C8A
Int16
7307
1C8B
Int16
7308~7312 1C8C~1C90 String
7330
1CA2
Int16
7319
1C97
Int16
7320~7321 1C98~1C99 Int32
7322
1C9A
Int16
7323
1C9B
Int16
7324
1C9C
Int16
7325
1C9D
Int16
7326
1C9E
Int16
7327
1C9F
Int16
7561~7570 1D89~ 1D92 String
Table 48: Modbus Others 1
R/W Note
R
R
R
R
R
R
R
User Connect Limit
R
R
0: No limit
R
5432
R
Dword
R
R
R
R
R
R
R
Others 2 Controller Temperature
Manipulator Voltage Manipulator Power
Consumption Manipulator Current Control Box IO Current End Module IO Current
Sreserve 1 Sreserve 2 Sreserve 3 Sreserve 4 Sreserve 5 Sreserve 6 Sreserve 7 Sreserve 8 Sreserve 9 Sreserve 10 Sreserve 11 Sreserve 12 Sreserve 13 Sreserve 14
FC
04 7340~7341
04 7342~7343
04 7344~7345
04 7346~7347 04 7348~7349 04 7350~7351 04 7501~7502 04 7503~7504 04 7505~7506 04 7507~7508 04 7509~7510 04 7511~7512 04 7513~7514 04 7515~7516 04 7517~7518 04 7519~7520 04 7521~7522 04 7523~7524 04 7525~7526 04 7527~7528
Software Manual TMflow Software version: 1.82
1CAC~1CAD 1CAE~1CAF
1CB0~1CB1
1CB2~1CB3 1CB4~1CB5 1CB6~1CB7 1D4D~1D4E 1D4F~1D50 1D51~1D52 1D53~1D54 1D55~1D56 1D57~1D58 1D59~1D5A 1D5B~1D5C 1D5D~1D5E 1D5F~1D60 1D61~1D62 1D63~1D64 1D65~1D66 1D67~1D68
Type Float Float
Float
Float Float Float Float Float Float Float Float Float Float Float Float Float Float Float Float Float
R/W Note1
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
R
Dword
Note2 Celsius Voltage Watt A mA mA
248
Others 2 Sreserve 15 Sreserve 16 Sreserve 17 Sreserve 18 Sreserve 19 Sreserve 20 Sreserve 21 Sreserve 22 Sreserve 23 Sreserve 24 Sreserve 25 Sreserve 26 Sreserve 27 Sreserve 28 Sreserve 29 Sreserve 30
FC
Type R/W Note1
04 7529~7530
1D69~1D6A Float R
Dword
04 7531~7532
1D6B~1D6C Float R
Dword
04 7533~7534
1D6D~1D6E Float R
Dword
04 7535~7536
1D6F~1D70 Float R
Dword
04 7537~7538
1D71~1D72 Float R
Dword
04 7539~7540
1D73~1D74 Float R
Dword
04 7541~7542
1D75~1D76 Float R
Dword
04 7543~7544
1D77~1D78 Float R
Dword
04 7545~7546
1D79~1D7A Float R
Dword
04 7547~7548
1D7B~1D7C Float R
Dword
04 7549~7550
1D7D~1D7E Float R
Dword
04 7551~7552
1D7F~1D80 Float R
Dword
04 7553~7554
1D81~1D82 Float R
Dword
04 7555~7556
1D83~1D84 Float R
Dword
04 7557~7558
1D85~1D86 Float R
Dword
04 7559~7560
1D87~1D88 Float R
Dword
Table 49: Modbus Others 2
Note2
Others 3
Robot Light
FC Type
04 7332
1CA4
Int16
R/W Note
0: Light off, when the emergency stop button is
pressed.
1: Solid Red, fatal error. 2: Flashing Red, Robot is initializing. 3: Solid Blue, standby in Auto Mode. 4. Flashing Blue, in Auto Mode. 5: Solid Green, standby in Manual Mode.
6. Flashing Green, in Manual Mode.
9: Alternating Blue&Red, Auto Mode error.
10: Alternating Green&Red, Manual Mode error.
13. Alternating Purple&Green, in Manual Mode
R
( User Connected External Safeguard Input Port
for Human - Machine Safety Settings trigger).
14. Alternating Purple&Blue, in Auto Mode ( User
Connected External Safeguard Input Port for
Human - Machine Safety Settings trigger).
17. Alternating White&Green, in Manual Mode &
Reduced Space.
18. Alternating White&Blue, in Auto Mode &
Reduced Space. 19. Flashing light blue, representing that it enters the Safe Startup Mode.
Table 50: Modbus Others 3
Others 4 User Define Area
FC 01/03/05/06
9000~9999
Software Manual TMflow Software version: 1.82
2328~270F
Type User-define
R/W Note R/W
249
Table 51: Modbus Others 4
Software Manual TMflow Software version: 1.82
250
Appendix B: Display of Indication Light Ring
Users can recognize the operation mode and status of TM Robot from the Indication Light Ring. Each light indication is the combination of a maximum 2 different colors. The colors are additionally combined with different ratios of blinking time period to provide additional status information of the robot. There are 2 main categories of light indication: Special Light Indication and Regular Light Indication.
Special Light Indication Initializing: Alternating between Red and Light Off equally Updating: Alternating between Red and Light Off equally (doubled speed) Safe Start Up Mode: Alternating between Light Blue and Light Off equally Fatal Error(Need to re-boot): Solid Red Light (Buzzer emits a long beep)
Regular Light Indication The regular Light Indication is alternating between 2 categories of light indication: Operation Mode Light Indication and Auxiliary Light Indication. The ratio of blinking time period of these 2 light indications indicates different status of the robot. In addition, the display color of Auxiliary Light Indication is prioritized according to the status.
Operation Mode Light Indication Auto Mode: Blue Manual Mode: Green Not in Operation: Light Off
Auxiliary Light Indication (Sort by display priority) Error: Red Trip User Connected External Safeguard Input Port for Human - Machine Safety Settings: Purple Entering Reduced Space: White Normal: Light Off
Software Manual TMflow Software version: 1.82
251
Ratio of blinking time period The table below shows the rule of ratio of blinking time period between Operation Mode Light Color and Auxiliary Light Color.
Blinking Ratio
Status
Operation Mode Auxiliary Light
Light Indication Indication
Error
50%
50%
Paused
10%
90%
(Trip User Connected External Safeguard Input Port or
paused in project)
Normal
100%
-
Trip User Connected
90%
10%
Not Paused
Project is not running (Incl. Step Run)
External Safeguard Input Port for Human Machine Safety Settings
or entering Reduced
Space
Project is running (Incl. Trial Run)
50%
50%
Table 52: Blinking Ratio
The table below shows all combination of Regular Light Indication
Operation mode
Manual Mode
Running status
Project is not running (Incl. Step Run) (Manual Control Mode)
Project is running (Manual Trial Run Mode )
Space/Status of Safety Trigger
Full Speed Space /Normal
Reduced Space
Trip User Connected External Safeguard Input Port for Human Machine Safety Settings
Error
Full Speed Space /Normal
Reduced Space
Trip User Connected External Safeguard Input Port for Human Machine Safety Settings
Error
Operation Mode Light Indication Green (100%) Green (90%)
Green (90%)
Green (50%) Green (50%) Green (50%)
Green (50%)
Green (50%)
Auxiliary Light Indication
White (10%) Purple (10%)
Red (50%) Light Off (50%) White (50%) Purple (50%)
Red (50%)
Software Manual TMflow Software version: 1.82
252
Operation mode
Auto Mode
Running status
Paused (Trip User Connected External Safeguard Input Port Port or paused in Trial Run)
Project is not running
Project is running
Paused (Trip User Connected External Safeguard Input Port or paused in project)
Space/Status of Safety Trigger
Full Speed Space /Normal
Reduced Space
Trip User Connected External Safeguard Input Port for Human Machine Safety Settings
Error
Full Speed Space /Normal
Reduced Space
Trip User Connected External Safeguard Input Port for Human Machine Safety Settings
Error
Full Speed Space /Normal
Reduced Space
Trip User Connected External Safeguard Input Port for Human Machine Safety Settings
Error
Full Speed Space /Normal
Reduced Space
Trip User Connected External Safeguard Input Port for Human Machine Safety Settings
Error
Operation Mode Light Indication Green (10%) Green (10%)
Green (10%)
Green (50%) Blue (100%) Blue (90%)
Blue (90%)
Blue (50%) Blue (50%) Blue (50%)
Blue (50%)
Blue (50%) Blue (10%) Blue (10%)
Blue (10%)
Blue (50%)
Table 53: Light Indications
Auxiliary Light Indication
Light Off (90%) White (90%) Purple (90%)
Red (50%) White (10%) Purple (10%)
Red (50%) Light Off (50%) White (50%) Purple (50%)
Red (50%) Light Off (90%) White (90%) Purple (90%)
Red (50%)
The color of Entering Reduced Space is Purple in the software version prior to 1.68.6800
Software Manual TMflow Software version: 1.82
253
The table below is a quick reference of how to recover from different kinds of error/ status.
Color/Blinking
Description
Troubleshooting
Alternating between Green/Red light Manual Mode Error
(with 2 beeps from buzzer)
Alternating between Blue/Red light (with 2 beeps from buzzer)
Auto Mode Error
Light blue light
Safe Start up Mode
Press the FREE Button in the End Module or the Stop Button on Robot Stick to troubleshoot the error. After switching to Manual Mode, press the FREE Button in the End Module or the Stop Button on Robot Stick to troubleshoot. Press Stop Button for 3 seconds to return to original Mode
Flashing red light
Robot is initializing.
Not Applicable
Light off
Light off Buzzer emits a long beep Solid red light Buzzer emits a long beep
Emergency stop pressed
Category 0 stop
Release the Emergency Switch to turn to Safe Start up Mode
Shutdown and Restart required
Fatal error
Shutdown and Restart required
Table 54: Quick References of Color/Blinking
Software Manual TMflow Software version: 1.82
254
Appendix C: Tables of Safety Parameter Upper and Lower Bounds
TM5-700/ TM5M-700
Default Value
Min. Value Max. Value
Unit
Performance Safety Settings
TCP Speed TCP Force Hand Guide TCP Speed Limit
J1 J2 J3 Joint Speed J4 J5 J6 J1 J2 J3 Joint Torque J4 J5 J6
1.5
0
4.5
m/sec
150
0
450
N
1.5
0
4.5
m/sec
190
0
190
deg/sec
190
0
190
deg/sec
190
0
190
deg/sec
235
0
235
deg/sec
235
0
235
deg/sec
235
0
235
deg/sec
65
0
170
Nm
65
0
170
Nm
65
0
170
Nm
15
0
45
Nm
15
0
45
Nm
15
0
45
Nm
Human-Machine Safety Settings
TCP Speed TCP Force Hand Guide TCP Speed Limit
Joint Speed
J1-J6
Vary from the Body
0
Region selected.
0
1.5
m/sec
450
N
Default, Min. and Max. Values are the same as Performance Safety Setting.
Joint Torque Reduce Time
J1
65
0
170
Nm
J2
65
0
170
Nm
J3
65
0
170
Nm
J4
15
0
45
Nm
J5
15
0
45
Nm
J6
15
0
45
Nm
150
150
800
ms
J1
J2
J3 Joint Position
J4
J5
J6
X
Y
Cartesian Limit A/B
Z
R
-
-270
270
deg
-
-180
180
deg
-
-155
155
deg
-
-180
180
deg
-
-180
180
deg
-
-270
270
deg
-
-3000
3000
mm
-
-3000
3000
mm
-
-3000
3000
mm
-
0
359
deg
-
60
3000
mm
Table 55: Safety Parameter Table - TM5-700/ TM5M-700
Software Manual TMflow Software version: 1.82
255
TM5X-700
Performance Safety Settings
TCP Speed TCP Force Hand Guide TCP Speed Limit
Joint Speed
Joint Torque
TCP Speed TCP Force Hand Guide TCP Speed Limit Joint Speed
J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6
J1-J6
Default Value 1.5 150 1.5 190 190 190 235 235 235 65 65 65 15 15 15
Vary from the Body Region selected.
Min. Value 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Max. Value 4.5 450 4.5 190 190 190 235 235 235 170 170 170 45 45 45 1.5 450
Unit m/sec N m/sec deg/sec deg/sec deg/sec deg/sec deg/sec deg/sec Nm Nm Nm Nm Nm Nm m/sec N
Default, Min. and Max. Values are the same as Performance Safety Setting.
Human-Machine Safety Settings
J1
J2
J3 Joint Torque
J4
J5
J6
Reduce Time
J1
J2
J3 Joint Position
J4
J5
J6
X
Y
Cartesian Limit A/B
Z
R
65
0
170
Nm
65
0
170
Nm
65
0
170
Nm
15
0
45
Nm
15
0
45
Nm
15
0
45
Nm
150
150
800
ms
-
-360
360
deg
-
-360
360
deg
-
-155
155
deg
-
-360
360
deg
-
-360
360
deg
-
-360
360
deg
-
-3000
3000
mm
-
-3000
3000
mm
-
-3000
3000
mm
-
0
359
deg
-
60
3000
mm
Table 56: Safety Parameter Table - TM5X-700
Software Manual TMflow Software version: 1.82
256
TM5-900/ TM5M-900
Performance Safety Settings
TCP Speed TCP Force Hand Guide TCP Speed Limit
Joint Speed
Joint Torque
TCP Speed TCP Force Hand Guide TCP Speed Limit Joint Speed
J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6
J1-J6
Default Value 1.5 150 1.5 190 190 190 235 235 235 65 65 65 15 15 15
Vary from the Body Region selected.
Min. Value 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Max. Value 4.5 450 4.5 190 190 190 235 235 235 170 170 170 45 45 45 1.5 450
Unit m/sec N m/sec deg/sec deg/sec deg/sec deg/sec deg/sec deg/sec Nm Nm Nm Nm Nm Nm m/sec N
Default, Min. and Max. Values are the same as Performance Safety Setting.
Human-Machine Safety Settings
J1
J2
J3 Joint Torque
J4
J5
J6
Reduce Time
J1
J2
J3 Joint Position
J4
J5
J6
X
Y
Cartesian Limit A/B
Z
R
65
0
170
Nm
65
0
170
Nm
65
0
170
Nm
15
0
45
Nm
15
0
45
Nm
15
0
45
Nm
150
150
800
ms
-
-270
270
deg
-
-180
180
deg
-
-155
155
deg
-
-180
180
deg
-
-180
180
deg
-
-270
270
deg
-
-3000
3000
mm
-
-3000
3000
mm
-
-3000
3000
mm
-
0
359
deg
-
60
3000
mm
Table 57: Safety Parameter Table - TM5-900/ TM5M-900
Software Manual TMflow Software version: 1.82
257
TM5X-900
Performance Safety Settings
TCP Speed TCP Force Hand Guide TCP Speed Limit
Joint Speed
Joint Torque
TCP Speed TCP Force Hand Guide TCP Speed Limit Joint Speed
J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6
J1-J6
Default Value 1.5 150 1.5 190 190 190 235 235 235 65 65 65 15 15 15
Vary from the Body Region selected.
Min. Value 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Max. Value 4.5 450 4.5 190 190 190 235 235 235 170 170 170 45 45 45 1.5 450
Unit m/sec N m/sec deg/sec deg/sec deg/sec deg/sec deg/sec deg/sec Nm Nm Nm Nm Nm Nm m/sec N
Default, Min. and Max. Values are the same as Performance Safety Setting.
Human-Machine Safety Settings
J1
J2
J3 Joint Torque
J4
J5
J6
Reduce Time
J1
J2
J3 Joint Position
J4
J5
J6
X
Y
Cartesian Limit A/B
Z
R
65
0
170
Nm
65
0
170
Nm
65
0
170
Nm
15
0
45
Nm
15
0
45
Nm
15
0
45
Nm
150
150
800
ms
-
-360
360
deg
-
-360
360
deg
-
-155
155
deg
-
-360
360
deg
-
-360
360
deg
-
-360
360
deg
-
-3000
3000
mm
-
-3000
3000
mm
-
-3000
3000
mm
-
0
359
deg
-
60
3000
mm
Table 58: Safety Parameter Table - TM5X-900
Software Manual TMflow Software version: 1.82
258
TM14/ TM14M
Performance Safety Settings
TCP Speed TCP Force Hand Guide TCP Speed Limit
Joint Speed
Joint Torque
TCP Speed TCP Force Hand Guide TCP Speed Limit Joint Speed
J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6
J1-J6
Default Value 1.5 150 1.5 130 130 190 160 160 190 120 120 65 15 15 15
Vary from the Body Region selected.
Min. Value 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Max. Value 4.5 450 4.5 130 130 190 160 160 190 350 350 170 45 45 45 1.5 450
Unit m/sec N m/sec deg/sec deg/sec deg/sec deg/sec deg/sec deg/sec Nm Nm Nm Nm Nm Nm m/sec N
Default, Min. and Max. Values are the same as Performance Safety Setting.
Human-Machine Safety Settings
J1
J2
J3 Joint Torque
J4
J5
J6
Reduce Time
J1
J2
J3 Joint Position
J4
J5
J6
X
Y
Cartesian Limit A/B
Z
R
65
0
350
Nm
65
0
350
Nm
65
0
170
Nm
15
0
45
Nm
15
0
45
Nm
15
0
45
Nm
300
300
800
ms
-
-270
270
deg
-
-180
180
deg
-
-163
163
deg
-
-180
180
deg
-
-180
180
deg
-
-270
270
deg
-
-3000
3000
mm
-
-3000
3000
mm
-
-3000
3000
mm
-
0
359
deg
-
60
3000
mm
Table 59: Safety Parameter Table - TM14/ TM14M
Software Manual TMflow Software version: 1.82
259
TM14X
Performance Safety Settings
TCP Speed TCP Force Hand Guide TCP Speed Limit
Joint Speed
Joint Torque
TCP Speed TCP Force Hand Guide TCP Speed Limit Joint Speed
J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6
J1-J6
Default Value 1.5 150 1.5 130 130 190 160 160 190 120 120 65 15 15 15
Vary from the Body Region selected.
Min. Value 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Max. Value 4.5 450 4.5 130 130 190 160 160 190 350 350 170 45 45 45 1.5 450
Unit m/sec N m/sec deg/sec deg/sec deg/sec deg/sec deg/sec deg/sec Nm Nm Nm Nm Nm Nm m/sec N
Default, Min. and Max. Values are the same as Performance Safety Setting.
Human-Machine Safety Settings
J1
J2
J3 Joint Torque
J4
J5
J6
Reduce Time
J1
J2
J3 Joint Position
J4
J5
J6
X
Y
Cartesian Limit A/B
Z
R
65
0
350
Nm
65
0
350
Nm
65
0
170
Nm
15
0
45
Nm
15
0
45
Nm
15
0
45
Nm
300
300
800
ms
-
-360
360
deg
-
-360
360
deg
-
-163
163
deg
-
-360
360
deg
-
-360
360
deg
-
-360
360
deg
-
-3000
3000
mm
-
-3000
3000
mm
-
-3000
3000
mm
-
0
359
deg
-
60
3000
mm
Table 60: Safety Parameter Table - TM14X
Software Manual TMflow Software version: 1.82
260
TM12/ TM12M
Performance Safety Settings
TCP Speed TCP Force Hand Guide TCP Speed Limit
Joint Speed
Joint Torque
TCP Speed TCP Force Hand Guide TCP Speed Limit Joint Speed
J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6
J1-J6
Default Value 1.5 150 1.5 130 130 190 190 190 190 120 120 65 15 15 15
Vary from the Body Region selected.
Min. Value 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Max. Value 4.5 450 4.5 130 130 190 190 190 190 350 350 170 45 45 45 1.5 450
Unit m/sec N m/sec deg/sec deg/sec deg/sec deg/sec deg/sec deg/sec Nm Nm Nm Nm Nm Nm m/sec N
Default, Min. and Max. Values are the same as Performance Safety Setting.
Human-Machine Safety Settings
J1
J2
J3 Joint Torque
J4
J5
J6
Reduce Time
J1
J2
J3 Joint Position
J4
J5
J6
X
Y
Cartesian Limit A/B
Z
R
65
0
350
Nm
65
0
350
Nm
65
0
170
Nm
15
0
45
Nm
15
0
45
Nm
15
0
45
Nm
300
300
800
ms
-
-270
270
deg
-
-180
180
deg
-
-166
166
deg
-
-180
180
deg
-
-180
180
deg
-
-270
270
deg
-
-3000
3000
mm
-
-3000
3000
mm
-
-3000
3000
mm
-
0
359
deg
-
60
3000
mm
Table 61: Safety Parameter Table - TM12/ TM12M
Software Manual TMflow Software version: 1.82
261
TM12X
Performance Safety Settings
TCP Speed TCP Force Hand Guide TCP Speed Limit
Joint Speed
Joint Torque
TCP Speed TCP Force Hand Guide TCP Speed Limit Joint Speed
J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6
J1-J6
Default Value 1.5 150 1.5 130 130 190 190 190 190 120 120 65 15 15 15
Vary from the Body Region selected.
Min. Value 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Max. Value 4.5 450 4.5 130 130 190 190 190 190 350 350 170 45 45 45 1.5 450
Unit m/sec N m/sec deg/sec deg/sec deg/sec deg/sec deg/sec deg/sec Nm Nm Nm Nm Nm Nm m/sec N
Default, Min. and Max. Values are the same as Performance Safety Setting.
Human-Machine Safety Settings
J1
J2
J3 Joint Torque
J4
J5
J6
Reduce Time
J1
J2
J3 Joint Position
J4
J5
J6
X
Y
Cartesian Limit A/B
Z
R
65
0
350
Nm
65
0
350
Nm
65
0
170
Nm
15
0
45
Nm
15
0
45
Nm
15
0
45
Nm
300
300
800
ms
-
-360
360
deg
-
-360
360
deg
-
-166
166
deg
-
-360
360
deg
-
-360
360
deg
-
-360
360
deg
-
-3000
3000
mm
-
-3000
3000
mm
-
-3000
3000
mm
-
0
359
deg
-
60
3000
mm
Table 62: Safety Parameter Table - TM12X
Software Manual TMflow Software version: 1.82
262
Appendix D: Ethernet Slave Data Table
Item Name (ID)
Description
Type Size *A **W Note
Robot_Error
Error or Not
bool 1
R
Yes:1 No: 0
Project_Run Project Running or Not bool 1
R
Yes:1 No: 0
Project_Edit Project Editing or Not bool 1
R
Yes:1 No: 0
Project_Pause Project Pause or Not bool 1
R
Yes:1 No: 0
Get_Control
Get Control or Not
bool 1
R
Yes:1 No: 0
Safeguard_A
Safety IO (Safeguard Port A trigger)
bool
1
R
Triggered: 1 Restored: 0
ESTOP
Emergency Stop
bool 1
R
Triggered: 1 Restored: 0
Camera_Light
Light
byte 1 R/W M/A Enable: 1 Disable: 0
Robot_Model
Robot Model
string 1
R
Error_Code
Last Error Code
int
1
R
Format: Hexadecimal
Format:
Error_Time
Last Error Time
string 1
R
[YYYY]-[MM]-[DD]T[hh]:[mm] :[ss.sss]
Coord_Base_ Flange
Cartesian coordinate w.r.t. current Base without tool
float
6
R
Unit: mm
Joint_Angle
Joint 1 angle - Joint 6 angle
float
6
R
Unit: degree
Coord_Base_ Tool
Cartesian coordinate w.r.t. current Base with
tool
float
6
R
Unit: mm
Coord_Robot_ Flange
Cartesian coordinate w.r.t. Robot Base without tool
float
6
R
Unit: mm
Coord_Robot_ Tool
Cartesian coordinate w.r.t. Robot Base with
tool
float
6
R
Unit: mm
Cartesian coordinate
Touch_Coord_ Base_Flange
w.r.t. current Base without tool
(When touchstop node
float
6
R
Unit: mm
be triggered)
Joint 1 angle - Joint 6
Touch_Joint_A
angle
ngle_Stop (When touchstop node
float
6
R
be triggered)
Unit: degree
Cartesian coordinate
Touch_Coord_ Base_Tool
w.r.t. current Base with tool
(When touchstop node
float
6
R
be triggered)
Unit: mm
Software Manual TMflow Software version: 1.82
263
Item Name (ID)
Description
Type Size *A **W Note
Cartesian coordinate
Touch_Coord_ Robot_Flange
w.r.t. Robot Base without tool
(When touchstop node
float
6
R
Unit: mm
be triggered)
Cartesian coordinate
Touch_Coord_ Robot_Tool
w.r.t. Robot Base with tool
(When touchstop node
float
6
R
Unit: mm
be triggered)
TCP_Force Tool Force FX,FY,FZ float 3
R
Unit: N
TCP_Force3D
Tool Force FX,FY,FZ 3D
float
1
R
Unit: N
TCP_Speed
Tool Speed X,Y,Z,RX,RY,RZ
float 6
R
Unit: mm/s, deg/s
TCP_Speed3 D
Tool Speed X,Y,Z 3D
float
1
R
Unit: mm/s
Joint_Speed
Joint Speed
float 6
R
Unit: deg/s
Joint_Torque
Joint Torque 1 - 6
float 6
R
Unit: mNm
TCP_Name
TCP Name
string 1
R
TCP_Value
TCP Value
float 6
R
Unit: mm
TCP_Mass
Mass (TCP Value)
float 1
R
Unit: kg
TCP_MOI
Ixx, Iyy, Izz (Principal moments of inertia)
float
3
R
Mass center frames
TCP_MCF with principal axes w.r.t. float 6
R
Unit: mm
tool frame
Base_Name
Base Name
string 1
R
Base_Value
Base Value
float 6
R
Unit: mm
HandCamera_ Value
HandCamera TCP Value
float 6
R
Unit: mm
Project_Name
Project Name
string 1 R/W A
Project_Speed Project Running Speed int
1
R
Unit: %
MA_Mode
M/A Mode
int
1
R
None:0, A:1; M:2
Stick_PlayPau se
Play/Pause Button
bool 1 R/W A*** Triggered as 1 received
Stick_Stop
Stop Button
bool 1 R/W A*** Triggered as 1 received
Stick_Plus
Stick+ Button
bool 1 R/W A*** Triggered as 1 received
Stick_Minus
Stick- Button
bool 1 R/W A*** Triggered as 1 received
Safety_TCP_ Speed
Safety Setting: Non-Collaborative Stop
Criteria: TCP Speed
float
1
R
Unit: m/s
Software Manual TMflow Software version: 1.82
264
Item Name (ID)
Description
Type Size *A **W Note
Safety_TCP_ Speed_Hand
Guide
Safety Setting: Non-Collaborative Stop
Criteria: TCP Speed under hand guide mode
float
1
R
Unit: m/s
Safety_TCP_F orce
Safety Setting: Non-Collaborative Stop
Criteria: TCP Force
float
1
R
Unit: N
Safety Setting:
Safety_Joint_ Speed
Non-Collaborative Stop Criteria: Joint 1 - Joint 6
float
6
R
Unit: deg/sec
Speed
Safety Setting:
Safety_Joint_T Non-Collaborative Stop
orque
Criteria: Joint 1 - Joint 6
float
6
R
Unit: Nm
Torque
Safety Setting:
Safety_Joint_ Angle_Min
Non-Collaborative Stop Criteria: Min Joint 1
float
6
R
Unit: degree
-Joint 6 angle
Safety Setting:
Safety_Joint_ Angle_Max
Non-Collaborative Stop Criteria: Max Joint 1
float
6
R
Unit: degree
-Joint 6 angle
Col_TCP_Spe ed
Safety Setting: Collaborative Stop Criteria: TCP Speed
float
1
R
Unit: m/s
Col_TCP_Spe ed_HandGuid
e
Safety Setting: Collaborative Stop Criteria: TCP Speed under hand guide mode
float
1
R
Unit: m/s
Col_TCP_For ce
Safety Setting: Collaborative Stop Criteria: TCP Force
float
1
R
Unit: N
Safety Setting:
Col_Joint_Spe Collaborative Stop
ed
Criteria: Joint 1 - Joint 6
float
6
R
Unit: deg/sec
Speed
Safety Setting:
Col_Joint_Tor que
Collaborative Stop Criteria: Joint 1 - Joint 6
float
6
R
Unit: Nm
Torque
Col_Motion_S peed
Safety Setting: Collaborative Speed:
Motion Speed
float
1
R
Unit: mm/s
Software Manual TMflow Software version: 1.82
265
Item Name (ID)
Description
Type Size *A **W Note
Col_PTP_Spe ed
Safety Setting: Collaborative Speed:
PTP Speed
float
1
R
Unit: %
Col_Decelerati on_Time
Safety Setting: Collaborative Deceleration Time
int
1
R
Unit: ms
Col_Contact_ Area
Safety Setting: Collaborative Minimum possible contact area
float
1
R
Unit: cm x cm
Safety_GSens Safety Setting: Enable
or
G-Sensor
bool
1
R
Yes:1 No: 0
ControlBox_S N
Serial Number of Control Box
string 1
R
Controller_Te mperature
Controller Temperature
float
1
R
Unit: Celsius
Manipulator_V Voltage consumed by
oltage
robot arm
float
1
R
Unit: Voltage
Manipulator_C Power consumed by
onsumption
robot arm
float
1
R
Unit: Watt
Manipulator_C Current consumed by
urrent
robot arm
float
1
R
Unit: Ampere
ControlBox_IO Total Current output of
_Current
Controlbox IO Ports
float
1
R
Unit: mA
End_IO_Curre Total Current output of
nt
End Module IO Ports
float
1
R
Unit: mA
Format:
Current_Time
Current Time
string 1
R
[YYYY]-[MM]-[DD]T[hh]:[mm]
:[ss.sss]
TMflow_Versio n
TMflow Version
string 1
R
Format: X.XX.XXXX
DHTable
{ theta1, alpha1, a1, d1,
joint_type1,
DHTable
lower_bound1, upper_bound1; theta2,
float
42
R
Unit: mm | deg joint_type: always 0
alpha2, .... ,
upper_bound6 } forms a
7x6 matrix
DeltaDH
DeltaDH Format: { d_theta1, d_alpha1, d_a1, d_d1, d_beta1; d_theta2, float 30 R
d_alpha2, .... , d_beta6 } forms a 5x6
matrix
Unit: mm | deg d_XXX: delta value of relative item in DHTable. d_beta: delta value of rotation angle at y axis of relative joint coordinate.
Software Manual TMflow Software version: 1.82
266
Item Name (ID)
Description
Type Size *A **W Note
Robot_Light
Ctrl_DO? Ctrl_DI? Ctrl_AO? Ctrl_AI? End_DO? End_DI? End_AO? End_AI? Ext?_DO
Robot Light
Digital Output #? Digital Output #? Analog Output #? Analog Output #? Digital Output #? Digital Output #? Analog Output #? Analog Output #? External Module #?
Digital Output
0: Light off, when the
emergency stop button is
pressed.
1: Solid Red, fatal error.
2: Flashing Red, Robot is
initializing.
3: Solid Blue, standby in Auto
Mode.
4. Flashing Blue, in Auto
Mode.
5: Solid Green, standby in
Manual Mode.
6. Flashing Green, in Manual
Mode.
9: Alternating Blue&Red,
Auto Mode error.
int
1
R
10: Alternating Green&Red, Manual Mode error.
13. Alternating
Purple&Green, in Manual
Mode (Safeguard Port B
trigger).
14. Alternating Purple&Blue,
in Auto Mode (Safeguard
Port B trigger).
17. Alternating White&Green,
in Manual Mode & Reduced
Space.
18. Alternating White&Blue,
in Auto Mode & Reduced
Space.
19. Flashing light blue,
representing that it enters the
Safe Startup Mode.
byte 1 R/W M/A High:1 Low:0
byte 1
R
High:1 Low:0
byte 1 R/W M/A Unit: Voltage
byte 1
R
Unit: Voltage
byte 1 R/W M/A High:1 Low:0
byte 1
R
High:1 Low:0
byte 1 R/W M/A Unit: Voltage
byte 1
R
Unit: Voltage
byte 128 R/W M/A High:1 Low:0
Ext?_DO_Mas k
External Module #? Digital Output Mask
byte 128 R/W M/A High:Set Value Low:Ignore
Software Manual TMflow Software version: 1.82
267
Item Name (ID)
Ext?_DI
Ext?_AO Ext?_AO_Mas
k Ext?_AI
*Accessibility
Description
Type Size *A **W Note
External Module #? Digital input
External Module #? Analog Output
byte 128 R
High:1 Low:0
byte 128 R/W M/A Unit: Voltage
External Module #? Analog Output Mask
byte 128 R/W M/A High: Set Value Low:Ignore
External Module #? Analog input
byte 128
R
Unit: Voltage
**Writable Mode ***Refer to Safety Manual for details
Software Manual TMflow Software version: 1.82
268
Appendix E: PROFINET Data Table
Robot to Master Device
TM_1_T2O_RobotInfo Item Name ControlBoxID RobotModel HMIVersion
(48 bytes)
Starting Byte
Size
0
16 bytes
16
16 bytes
32
16 bytes
Data Type string string string
Note
TM_2_T2O_SystemAndError Item Name Error_Code Error_Time_YY Error_Time_MM Error_Time_DD Error_Time_hh Error_Time_mm Error_Time_ss RobotLink System_Temperature System_Voltage System_Consumption System_Current Control_Current End_Current Current_Time_YY Current_Time_MM Current_Time_DD Current_Time_hh Current_Time_mm Current_Time_ss RemoteCount SystemAndError_Reserved
(64bytes)
Starting Byte
Size
48
4 bytes
52
4 bytes
56
1 byte
57
1 byte
58
1byte
59
1 byte
60
1 byte
61
1 byte
62
4 bytes
66
4 bytes
70
4 bytes
74
4 bytes
78
4 bytes
82
4 bytes
86
4 bytes
90
1 byte
91
1 byte
92
1 byte
93
1 byte
94
1 byte
95
1 byte
96
16 bytes
Data Type
Note
byte[4]
int32 Format: [YYYY]
byte Format: [MM]
byte Format: [DD]
byte Format: [hh]
byte Format:[mm]
byte Format:[ss]
byte Yes:1 No: 0
float Unit: Celsius
float Unit: Voltage
float Unit: Watt
float Unit: Ampere
float Unit: mA
float Unit: mA
int32 Format: [YYYY]
byte Format: [MM]
byte Format: [DD]
byte Format: [hh]
byte Format:[mm]
byte Format:[ss]
byte
Reserved
TM_3_T2O_RunSetting Item Name AutoRun_ProjectName
(80 bytes)
Starting Byte
Size
112
64 bytes
Project_Status
176
1 byte
RobotLight
177
Software Manual TMflow Software version: 1.82
1 byte
Data Type
Note
string
(bit0:isError,1:isPlay,2:isEdi
t,3:isPause,4:isPermission,
byte 5:SafetyIO(GuardA),6:E-St
op,7:
RunSetting_Reserved)
byte 0: Light off, when the
269
StickSpeed
StickStatus ManualAuto CameraLight RunSetting_Reserved
emergency stop button is
pressed. 1: Solid Red, fatal error. 2: Flashing Red, Robot is
initializing.
3: Solid Blue, standby in
Auto Mode. 4. Flashing Blue, in Auto Mode.
5: Solid Green, standby in
Manual Mode.
6. Flashing Green, in
Manual Mode. 9: Alternating Blue&Red, Auto Mode error.
10: Alternating Green&Red,
Manual Mode error.
13. Alternating
Purple&Green, in Manual Mode (Safeguard Port B trigger).
14. Alternating
Purple&Blue, in Auto Mode
(Safeguard Port B trigger).
17. Alternating White&Green, in Manual Mode & Reduced Space.
18. Alternating White&Blue,
in Auto Mode & Reduced
Space. 19. Flashing light blue, representing that it enters the Safe Startup Mode.
Unit: %
Project speed can only be
178
1 byte
byte
written multiples of five (5 Project Speed100)
*Refer to safety manual for
detail
179
1 byte
byte
(bit0:PlayPause,1:Stop,2:Pl us,3:Minus)
180
1 byte
byte A:1; M:2
181
1 byte
byte Enable: 1 Disable: 0
182
10 bytes Reserved
TM_4_T2O_TCP Item Name
(68 bytes)
Starting Byte
Size
Software Manual TMflow Software version: 1.82
Data Type
Note
270
Current_TCP_Value Current_TCP_Mass Current_TCP_MOI Current_TCP_MCF TCP_Reserved
192
24 bytes
float[6] Unit: mm
216
4 bytes
float Unit: kg
220
12 bytes
float[3] Unit: mm-kg
232
24 bytes
float[6] Unit: mm
256
4 bytes Reserved
TM_5_T2O_Coordinate Item Name Current_Base_Value Coord_Joint Coord_CurrBase_Tool Coord_RobotBase_Tool Coordinate_Reserved
(168 bytes)
Starting Byte
Size
260
24 bytes
284
24 bytes
308
24 bytes
332
24 bytes
356
72 bytes
Data Type
Note
float[6] Unit: mm, deg
float[6] Unit: degree
float[6] Unit: mm, deg
float[6] Unit: mm, deg
Reserved
TM_6_T2O_TCPForce Item Name TCP_Force TCP_Force3D TCP_Speed3D Joint_Torque TCPForce_Reserved
(88 bytes)
Starting Byte
Size
428
12 bytes
440
4 bytes
444
4 bytes
448
24 bytes
472
44 bytes
Data Type
Note
float[3] Unit: N
float Unit: N
float Unit: mm/s
float[6] Unit: mNm
Reserved
TM_7_T2O_IO Item Name CtrlBox_DI CtrlBox_DO CtrlBox_AI CtrlBox_AO EndModule_DI EndModule_DO EndModule_AI IO_Reserved
(24 bytes)
Starting Byte
Size
516
2 bytes
518
2 bytes
520
8 bytes
528
4 bytes
532
1 byte
533
1 byte
534
4 bytes
538
2 bytes
Data Type
Note
byte[2] High: 1 Low: 0 ***
byte[2] High: 1 Low: 0 ***
float[2] Unit: Voltage
float Unit: Voltage
byte High: 1 Low: 0 ***
byte High: 1 Low: 0 ***
float Unit: Voltage
Reserved
TM_8_T2O_RegisterBit Item Name Register_Bit
(16 bytes)
Starting Byte
Size
540
16 bytes
Data Type bool[128]**
Note
TM_9_T2O_RegisterInt Item Name Register_Int
(120 bytes)
Starting Byte
Size
556
120 bytes
Data Type int32[30]
Note
TM_10_T2O_RegisterFloat
(120 bytes)
Software Manual TMflow Software version: 1.82
271
Item Name Register_Float
Starting Byte
Size Data Type
676
120 bytes float[30]
Note
TM_11_T2O_SystemReserved1 Item Name SystemReserved1
(64 bytes)
Starting Byte
Size
796
64 bytes
Data Type byte[64]
Note
TM_12_T2O_SystemReserved2 Item Name SystemReserved2
(64 bytes)
Starting Byte
Size
860
64 bytes
Data Type byte[64]
Note
End 924
Master Device to Robot
TM_1_O2T_RunSetting Item Name
StickStatus
CameraLightMask CameraLight AutoRun_ProjectName_Mask AutoRun_ProjectName RunSetting_Reserved
(132 bytes) Starting Byte Size
0
1 byte
1
1 byte
2
1 byte
3
1 byte
4
64 bytes
68
64 bytes
Data Type
Note
(bit0:PlayPause, 1:Stop,
byte
2:Plus, 3:Minus) *Refer to safety manual
for detail.
byte Set: 1, Ignore: 0
byte Enable: 1 Disable: 0
byte
Set: 1, Ignore: 0 *Auto Mode Only
string *Auto Mode Only
Reserved
TM_2_O2T_IO Item Name CtrlBox_DO_Mask CtrlBox_DO EndModule_DO_Mask EndModule_DO CtrlBox_AO_Mask IO_Reserved1 CtrlBox_AO IO_Reserved2
(16 bytes)
Starting Byte Size
132
2 bytes
134
2 bytes
136
1 byte
137
1 byte
138
1 byte
139
1 byte
140
4 bytes
144
4 bytes
Data Type
Note
byte[2] Set: 1, Ignore: 0 ***
byte[2] High: 1 Low: 0 ***
byte Set: 1, Ignore: 0 ***
byte High: 1 Low: 0 ***
byte Set: 1, Ignore: 0
byte
float Unit: Voltage
Reserved
TM_3_O2T_RegisterBit Item Name Register_Bit
(16 bytes)
Starting Byte Size
148
16 bytes
Data Type bool[128]**
Note
TM_4_O2T_RegisterInt
(120 bytes)
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Item Name Register_Int
Starting Byte Size Data Type
164
120 bytes int[30]
Note
TM_5_O2T_RegisterFloat Item Name Register_Float
(120 bytes)
Starting Byte Size Data Type
284
120 bytes float[30]
Note
TM_6_O2T_SystemReserved1 Item Name SystemReserved1
(64 bytes)
Starting Byte Size
404
64 bytes
Data Type byte[64]
Note
TM_7_O2T_SystemReserved2 Item Name SystemReserved2
(64 bytes)
Starting Byte Size
468
64 bytes
Data Type byte[64]
Note
End 532
** In TMflow, bool array data will be processed as byte array with the same array item number. Refer to Expression Editor manual for detail. *** Independently set one channel with one bit.
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Appendix F: Error Descriptions and Suggestions
ErrorDescription00000000 No Alarm ErrorDescription00000001 Inverse Kinematics Failure, Working Range Issue ErrorDescription00000005 Stop Motion Command ErrorDescription00000009 Robot Controller Function Library Issue ErrorDescription0000000A Cartesian Space Move Failure From Robot Base Space ErrorDescription00000010 Tool Connected Failure With Robot ErrorDescription00000011 Inverse Kinematics Failure, Motion Blending Issue ErrorDescription00000012 Inverse Kinematics Failure, Interpolation Points Issue ErrorDescription00000013 PTP function Failure in Driver ErrorDescription00000014 Over Range Between the Interpolation Points ErrorDescription00000015 Create Circle Path Failed ErrorDescription00000016 Motion Failure due to Max Points Counts Issue in the NURBS ErrorDescription00000017 Forward Kinematics Failure, Interpolation Points Issue ErrorDescription00000018 Inverse Jacobian Matrices Failure jacobian ErrorDescription00000019 Timeout in Steady State Error in Motion Process. ErrorDescription0000001A Motion Failure when Moving at Constant Speed ErrorDescription00000021 Velocity or Angular Velocity Over Range ErrorDescription00000022 Force or Torque Over Range ErrorDescription00000023 Both Alarm in Error(HEX)21 and Error(HEX)22 ErrorDescription00000024 Shock Alarm in the Robot ErrorDescription00000028 Driver mode switching timeout. ErrorDescription0000002D Joint Signature mismatch with vendor ErrorDescription0000002E gear ratio is not match the model ErrorDescription0000002F Pose error by g-sensor g sensor ErrorDescription00000030 Over Current in the Power Supply 24V, I/O Board Alarm ErrorDescription00000031 Safety function initialized failure ErrorDescription00000032 Disconnect with safety monitor module ErrorDescription00000033 TCP Speed over the criterion on the manual mode ErrorDescription00000035 Joint Drivers Alarm ErrorDescription00000036 Absolution Position Calibration Failure in the Joint Drivers. ErrorDescription00000037 Clear Robot Alarm Failure ErrorDescription00000038 Failed to turn Servo On in Joint Driver ErrorDescription00000039 Failed to turn into Safe OP Mode in the EtherCAT Loop. ErrorDescription0000003A Failed to turn into OP Mode in the EtherCAT Loop. ErrorDescription0000003B The Joint Numbers of the Robot does not match the Default Setting ErrorDescription0000003C This Model is not supported ErrorDescription0000003D Emergency Button Pressed before the Robot Initialization finished. ErrorDescription0000003E the 48V power NG on the ESM-PreOP mode ErrorDescription00000040 Joint ESI does not match the Default Setting ErrorDescription00000041 Failed to execute SDO command ErrorDescription00000042 Failed to read Manufacturer ID ErrorDescription00000043 Failed to initialize EtherCAT ErrorDescription00000044 Failed to turn into DC SYNC in the EtherCAT Loop ErrorDescription00000045 Joint in the boot mode is waiting for flash the firmware. ErrorDescription00000048 the 48V power NG on the ESM-OP mode
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ErrorDescription00000049 Power supply 48V failure ErrorDescription0000004A Timeout in the EtherCAT Loop ErrorDescription0000004B The Slave Numbers does not Match the Default Numbers ErrorDescription0000004C Failed to Access EEPROM Data in the Power Board ErrorDescription0000004D Failed to Access Live Data ErrorDescription0000004E The S/N of the Joints does not match the default setting ErrorDescription0000004F Power Board is Missing ErrorDescription00000050 Power Board Lost Connection ErrorDescription00000051 Power Board Over Heat ErrorDescription00000052 "Robot performed Cat.1 stop." ErrorDescription00000053 The Current or Voltage in the 48V Power Supply is out of range ErrorDescription00000054 The Current is still out of range under current limit constrain ErrorDescription00000055 The Current is out of range in the 24V Power Supply ErrorDescription00000056 I/O Board Lost Connection ErrorDescription00000057 Joints Lost Connection ErrorDescription00000058 HMI Lost Connection with Robot Controller ErrorDescription00000059 System Reset ErrorDescription0000005A System Shut Down ErrorDescription0000005B Motion Stopped by Robot Stick key ErrorDescription0000005C Buzzer Failure in the Robot Stick Key ErrorDescription0000005D EtherCAT Loop Lost Connection EtherCAT ErrorDescription0000005E An alarm occurs in the Safety Monitor Board ErrorDescription0000005F An Alarm is triggered by Input Pin in the Safety Monitor Board ErrorDescription00000060 The Motion Command Executed with manual mode at the same time ErrorDescription00000061 The Motion Command Executed with Compliance Mode at the same time ErrorDescription00000062 The Pose of the Robot is closer to the singularity in the manual mode ErrorDescription00000063 The Pose of the Robot is closer to the singularity in the Compliance Mode ErrorDescription0000006A It is a test command to disconnect with safety monitor board ErrorDescription0000006E [Error][Safety Function]Encoder Standstill function activated ErrorDescription0000006F 3D Viewer Lost Connection ErrorDescription00000070 Vision Servoing Failure ErrorDescription00000071 Stop the Vision Servoing Process ErrorDescription00000072 The Pose of the Robot Over the Position or Close to the Singularity during Vision Servoing Process ErrorDescription00000073 Alarms occurred in Data Flow in Vision Servoing ErrorDescription00000074 Operation Mode Switching Failure occurred in the Joint Drivers during Vision Servoing ErrorDescription00000075 Vision Servoing failed to get image ErrorDescription00000076 There is an Alarm in Blending Process in the Vision Servoing Block ErrorDescription00000080 TmSync : Group Members Over Specification ErrorDescription00000081 TmSync : Group Members Alarm ErrorDescription00000082 TmSync : Group Members Lost Connection ErrorDescription00000083 TmSync : Robot Lost connection ErrorDescription00000084 TmSync : Robot ID Conflict In The Group ErrorDescription00000085 TmSync : MacID Conflict In The Group ErrorDescription00000086 TmSync : Enable networking with specified NIC Failure ErrorDescription00000090 Process Line Motion Failure ErrorDescription000000A0 [Error][Safety Function]Violate Encoder Standstill when no motion is allowed. ErrorDescription000000A1 [Error][Safety Function]Violate Encoder Standstill when error occurred. ErrorDescription000000A2 [Error][Safety Function]Violate Encoder Standstill when Safeguard Port A triggered
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ErrorDescription000000A3 [Error][Safety Function]Violate Encoder Standstill when no motion is allowed. ErrorDescription000000A4 [Error][Safety Function]Violate Encoder Standstill in stop area ErrorDescription000000A6 [Error][Safety Function] Discrapency was detected between dual channels Internal Protective Output. ErrorDescription000000A7 [Error][Safety Function] Discrapency was detected between dual channels Encoder Standstill Output. ErrorDescription000000A8 [Warning][External Device] Discrapency was detected between dual channels of Emergency Stop Port. ErrorDescription000000A9 [Warning][External Device] Discrapency was detected between dual channels of Safeguard Port A. ErrorDescription000000AA [Warning][External Device] Discrapency was detected between dual channels of Safeguard Port B. ErrorDescription000000AB [Warning][External Device] Discrapency was detected between dual channels of Enabling Device Ports. ErrorDescription000000AD [Error][Safety Function] Discrapency was detected between dual channels of Emergency Stop Output. ErrorDescription000000AE [Error][Safety Function] Discrapency was detected between dual channels of Safeguard Port A Output. ErrorDescription000000AF [Error][Safety Function] Discrapency was detected between dual channels of Safeguard Port B Output. ErrorDescription000000B0 HMI SerialPort COM Lost Connection with Robot Controller ErrorDescription000000F0 HIM Command to shout down the robot system ErrorDescription00008000 [Warning][External Device] Discrepancy was detected between dual channels of Robot Stick ESTOP Port. ErrorDescription00008001 [Warning][External Device] Discrepancy was detected between dual channels of User Connected ESTOP Input
Port. ErrorDescription00008002 [Warning][External Device] Discrepancy was detected between dual channels of User Connected External
Safeguard Input Port. ErrorDescription00008003 [Warning][External Device] Discrepancy was detected between dual channels of User Connected External
Safeguard Input Port for Human Machine Safety Settings. ErrorDescription00008004 [Warning][External Device] Discrepancy was detected between dual channels of User Connected Enabling Device
Input Port. ErrorDescription00008005 [Warning][External Device] Discrepancy was detected between dual channels of User Connected ESTOP Input Port
without Robot ESTOP Output. ErrorDescription00008006 [Warning][External Device] Discrepancy was detected between dual channels of Safeguard Port. ErrorDescription00008007 [Warning][External Device] Discrepancy was detected between dual channels of Safeguard Port. ErrorDescription00008008 [Error][Safety Function] Discrepancy was detected between dual channels of Robot ESTOP Output Port. ErrorDescription00008009 [Error][Safety Function] Discrepancy was detected between dual channels of User Connected External Safeguard
Output Port. ErrorDescription0000800A [Error][Safety Function] Discrepancy was detected between dual channels of User Connected External Safeguard
Output Port for Human Machine Safety Settings. ErrorDescription0000800B [Error][Safety Function] Discrepancy was detected between dual channels of Robot Internal Protective Stop Output
Port. ErrorDescription0000800C [Error][Safety Function] Discrepancy was detected between dual channels of Robot Encoder Standstill Output Port. ErrorDescription0000FF00 Self-Collision ErrorDescription0000FF01 [Error][Safety Function]Momentum exceeds limit ErrorDescription0000FF02 [Error][Safety Function]Power exceeds limit ErrorDescription0000FF03 Collaboration Area ErrorDescription0000FF04 [Error][Safety Function]TCP speed exceeds limit ErrorDescription0000FF05 [Error][Safety Function]TCP force exceeds limit ErrorDescription0000FF06 [Error][Safety Function]J1 Position exceeds limit ErrorDescription0000FF07 [Error][Safety Function]J1 Velocity exceeds limit ErrorDescription0000FF08 [Error][Safety Function]J1 Torque exceeds limit ErrorDescription0000FF09 [Error][Safety Function]J2 Position exceeds limit ErrorDescription0000FF0A [Error][Safety Function]J2 Velocity exceeds limit ErrorDescription0000FF0B [Error][Safety Function]J2 Torque exceeds limit ErrorDescription0000FF0C [Error][Safety Function]J3 Position exceeds limit ErrorDescription0000FF0D [Error][Safety Function]J3 Velocity exceeds limit
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ErrorDescription0000FF0E [Error][Safety Function]J3 Torque exceeds limit ErrorDescription0000FF0F [Error][Safety Function]J4 Position exceeds limit ErrorDescription0000FF10 [Error][Safety Function]J4 Velocity exceeds limit ErrorDescription0000FF11 [Error][Safety Function]J4 Torque exceeds limit ErrorDescription0000FF12 [Error][Safety Function]J5 Position exceeds limit ErrorDescription0000FF13 [Error][Safety Function]J5 Velocity exceeds limit ErrorDescription0000FF14 [Error][Safety Function]J5 Torque exceeds limit ErrorDescription0000FF15 [Error][Safety Function]J6 Position exceeds limit ErrorDescription0000FF16 [Error][Safety Function]J6 Velocity exceeds limit ErrorDescription0000FF17 [Error][Safety Function]J6 Torque exceeds limit ErrorDescription0000FF18 J7 Position exceeds limit ErrorDescription0000FF19 J7 Velocity exceeds limit ErrorDescription0000FF1A J7 Torque exceeds limit ErrorDescription0000FF20 [Error][Hardware]Solenoid current is NG ErrorDescription0000FF21 [Error][Hardware]Joint movement range is NG in brake release status ErrorDescription0000FFA0 [Error][Hardware]The voltage on DCBUS is too low (40V) ErrorDescription0000FFA1 [Error][Hardware]The voltage on DCBUS is too high (60V) ErrorDescription0000FFA2 The acceleration on X direction of G sensor is out of range ErrorDescription0000FFA3 The acceleration on Y direction of G sensor is out of range ErrorDescription0000FFA4 The acceleration on Z direction of G sensor is out of range ErrorDescription0000FFA5 [Error][Hardware]The temperature on PCB is too high (90 degree Celsius) ErrorDescription0000FFA6 [Error][Hardware]The current in U phase of motor is too high ErrorDescription0000FFA7 [Error][Hardware]The current in V phase of motor is too high ErrorDescription0000FFA8 [Error][Hardware]The current in W phase of motor is too high ErrorDescription0000FFA9 The overcurrent is protected by current sensor of U phase ErrorDescription0000FFAA The overcurrent is protected by current sensor of V phase ErrorDescription0000FFAB [Error][Hardware]The protection is on for motor hold ErrorDescription0000FFAC The initial angle of three phase of motor is not correct ErrorDescription0000FFAD The index angle of encoder is not calibrated ErrorDescription0000FFAE [Error][Hardware]Overcurrent in DCBUS ErrorDescription0000FFAF [Error][System]The communication of EtherCAT is timeout ErrorDescription0000FFB1 [Error][System]The communication of SPI is timeout ErrorDescription0000FFB2 Illegal interrupt to MCU ErrorDescription0000FFB3 The watch dog of MCU is timeout ErrorDescription0000FFB4 The initialization of joint coordinate is timeout ErrorDescription0000FFB5 FW version doesn't match HW version ErrorDescription0000FFB6 The process in main loop is timeout ErrorDescription0000FFB7 Brake release failed. ErrorDescription0000FFB8 [Error][Hardware]Gate Driver NG ErrorDescription0000FFB9 [Error][Hardware]MOFSET NG ErrorDescription0000FFBA [Error][Hardware]Current Sensor NG ErrorDescription0000FFC0 The deviation is too high when initializing joint coordinate ErrorDescription0000FFC1 Runin process R2: Z index miss ErrorDescription0000FFC2 Runin process R2: multi Z index happened ErrorDescription0000FFC3 Runin process R2: U signal NG ErrorDescription0000FFC4 Runin process R2: V signal NG ErrorDescription0000FFC5 Runin process R2: W signal NG ErrorDescription0000FFC6 Runin process R2: the sequence of UVW is NG
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ErrorDescription0000FFC7 Runin process R2: AB signal is NG ErrorDescription0000FFC8 Failure in loading data from EEPROM ErrorDescription0000FFC9 The electrical angle of motor is not correct (warning) ErrorDescription0000FFCA [Error][Hardware]Multi Z index happened in encoder output ErrorDescription0000FFCB The deviation between command and current position is too high ErrorDescription0000FFCC [Error][Hardware]The Z index signal is missing ErrorDescription0000FFCD [Error][Hardware]Encoder connection failed ErrorDescription0000FFCE [Error][Hardware]The compensation of encoder signal is too high ErrorDescription0000FFCF [Error][Hardware]The protection is on for motor hold (type 2) ErrorDescription0000FFD0 The UVW signal of encoder is NG ErrorDescription0000FFD1 [Error][Hardware]The data is abnormal when reading magnetic encoder. ErrorDescription0000FFD2 [Error][Hardware]The magnet is NG judged by magnetic encoder ErrorDescription0000FFD3 [Error][Hardware]The origin of joint module is out of preset ErrorDescription0000FFD4 The data in EEPROM is dislocated ErrorDescription0000FFD5 The parameters for joint module are abnormal ErrorDescription0000FFD6 The process of I2C control flow is out of control ErrorDescription0000FFD7 Runin process R2: index calibration failed ErrorDescription0000FFD8 [Hardware][Error]The resistance of UVW of motor is abnormal ErrorDescription0000FFD9 [Hardware][Error]The connection of UVW of motor is not correct ErrorDescription0000FFDA Runin process R2: the current in UVW phase is NG ErrorDescription0000FFDB Runin process R4: UVW calibration result is out of limit ErrorDescription0000FFDC Runin process : G sensor calibration result is out of limit ErrorDescription0000FFDD An error occurs when command changes the control mode. ErrorDescription0000FFDE Changing EtherCAT ESM when PDS is in OP mode ErrorDescription0000FFDF Unknown EtherCAT ESM command ErrorDescription0000FFE0 [Hardware][Error]The voltage of DC bus is low in EtherCAT OP mode ErrorDescription0000FFE1 Online multiturn calibration failed ErrorDescription0000FFE2 The magnetic encoder data is not stable in the position initialization process ErrorDescription0000FFE3 The joint angle between "power on" and "position initialization" exceeds limit ErrorDescription0000FFE4 [Error][System]The position initialization process is timeout ("Z search" is not finished) ErrorDescription0000FFE5 The position initialization process is timeout ErrorDescription0000FFE6 The result is NG in position initialization process ErrorDescription0000FFE7 Runin process: the process of g sensor calibration is NG ErrorDescription0000FFE8 [Hardware][Error]The output of g sensor is NG ErrorDescription0000FFE9 The check sum result from EEPROM data is abnormal ErrorDescription0000FFEA [Hardware][Error]The voltage of 5V is NG ErrorDescription0000FFEB [Hardware][Error]The voltage of 12V is NG ErrorDescription0000FFEC The ADC compensation is out of limit ErrorDescription0000FFED [Error][Hardware]The compensation of encoder signal is too high in ABS mode ErrorDescription0000FFEE The deviation is too high between latching index and position initialization process ErrorDescription0000FFEF The parameters of magnetic encoder are abnormal ErrorDescription00013880 Illegal dimension of a matrix or vector ErrorDescription00013881 At least one element of a matrix or vector is with illegal index ErrorDescription00013882 Illegal rotation matrix ErrorDescription00013883 Illegal homogeneous transformation ErrorDescription00013884 Illegal skew matrix ErrorDescription00013885 Illegal square matrix ErrorDescription00013886 Matrix inverse failed
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ErrorDescription00013887 Illegal norm value ErrorDescription00013888 Householder transformation failed ErrorDescription00013889 Eigen value calculation failed ErrorDescription0001388A Illegal number of Eigen values ErrorDescription0001388B Matrix is singular ErrorDescription0001388C Illegal upper/lower triangular matrix ErrorDescription0001388D Elementary matrix operation failed ErrorDescription0001388E Gaussian Elimination failed ErrorDescription0001388F Null space does not exist ErrorDescription00013890 QR decomposition failed ErrorDescription00013891 QR iteration diverged ErrorDescription00013892 Circle path center calculation failed ErrorDescription00013893 Circle path planning initialization failed ErrorDescription00013894 Kalman gain calculation failed ErrorDescription00013895 Kalman filter initialization need to be done ErrorDescription00013896 Illegal index to get/set a component of a matrix/vector ErrorDescription00013897 Illegal size/format of function input variables ErrorDescription00013898 Illegal size/format of function returned variables ErrorDescription00013899 Solve A sin(x) + B cos(x) = C failed ErrorDescription0001389A Solve AX = XB failed ErrorDescription0001389B Effective data is not enough ErrorDescription0001389C Specific axis are parallel ErrorDescription0001389D Solve A =XBY failed ErrorDescription0001389E No initial guessing matrix ErrorDescription0001389F Transform type mismatch ErrorDescription000138A0 Illegal dimension of a quaternion ErrorDescription000138A1 Illegal string format of a quaternion ErrorDescription000138A2 Quaternion setting failed ErrorDescription000138A3 Quaternion transfer to angle-axis failed ErrorDescription000138A4 Failed to get rotation vector via quaternion ErrorDescription000138A5 Failed to solve sub-block Eigen value ErrorDescription00013C68 End effector data file does not yet been loaded ErrorDescription00013C69 The end effector has existed already ErrorDescription00013C6A At least one end effector should be selected for your task ErrorDescription00013C6B Illegal end effector data format ErrorDescription00013C6C Illegal end effector serial number ErrorDescription00013C6D This end effector is not on our list ErrorDescription00013C6E End effector should be connected ErrorDescription00013C6F End effector should be disconnected ErrorDescription00013C70 Setting end effector parameters to robot object failed ErrorDescription00013C71 End effector parameters acquisition from end effector object failed ErrorDescription00013C72 End effector connection with robot failed ErrorDescription00013C73 End effector has connected with robot ErrorDescription00013C74 End effector reconnection with robot failed ErrorDescription00013C75 End effector data lost ErrorDescription00014050 Illegal DOF of robot ErrorDescription00014051 The total number of robot parameters is illegal ErrorDescription00014052 Illegal DOF of generalized Cartesian position, velocity, or acceleration
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ErrorDescription00014053 Illegal DOF of joint position, velocity, or acceleration ErrorDescription00014054 Joint type mismatch ErrorDescription00014055 Illegal link frame SN ErrorDescription00014056 Forward kinematics calculation failed ErrorDescription00014057 Illegal robot configuration (dimension or content) ErrorDescription00014058 Inverse kinematics calculation failed ErrorDescription00014059 Illegal Robot ID ErrorDescription0001405A At least one joint position is not in its working range ErrorDescription0001405B This function supports only robots with 6 DOF or above ErrorDescription0001405C Robot status update failed ErrorDescription0001405D Load robot configure file failed ErrorDescription0001405E Save robot configure file failed ErrorDescription0001405F Illegal robot configuration number ErrorDescription00014060 This function is dummy, just used for override ErrorDescription00014061 Jacobian calculation failed ErrorDescription00014062 Jacobian inverse failed ErrorDescription00014063 Speed transfer via Jacobian failed ErrorDescription00014064 Robot is at singular point ErrorDescription00014065 Differential orientation transfer failed ErrorDescription00014066 The transfer between geometric and analytical Jacobian failed ErrorDescription00014067 Forward dynamics computation failed ErrorDescription00014068 Inertia tensor computation failed ErrorDescription00014069 Inverse dynamics computation failed ErrorDescription0001406A Robot dynamic parameter ID matrix computation failed ErrorDescription0001406B End effector dynamic parameter ID matrix computation failed ErrorDescription0001406C ID parameter format can not be formed ErrorDescription0001406D Cartesian/Joint space trajectory transfer failed ErrorDescription0001406E Acquiring equivalent axis-angle rotation matrix between two frames failed ErrorDescription0001406F Task/object frame establishing failed ErrorDescription00014070 TCP calibration process initialization failed ErrorDescription00014071 TCP calibration process initialization has done ErrorDescription00014072 Illegal number of changing robot postures for TCP calibration ErrorDescription00014073 TCP calibration process initialization has not done yet ErrorDescription00014074 Record Robot posture failed in TCP calibration ErrorDescription00014075 TCP computation failed ErrorDescription00014076 Task frame establishing process initialization has not yet been done ErrorDescription00014077 Task frame establishing calculation failed ErrorDescription00014078 At least one of Position, Px, or Py is not recorded in task frame establishing process ErrorDescription00014079 Linking task frame failed ErrorDescription0001407A Illegal number of task parameters ErrorDescription0001407B Task space coordinates transfer failed : from RTX to HMI ErrorDescription0001407C Task space coordinates transfer failed : from HMI to RTX ErrorDescription0001407D teach point transfer on task space failed ErrorDescription0001407E Target approaching failed ErrorDescription0001407F Move to target with respect to tool base failed ErrorDescription00014080 Move to target with respect to base failed ErrorDescription00014081 DH compensation failed ErrorDescription00014082 DH compensation stops, this will not affect robot moving
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ErrorDescription00014083 Move distance with respect to base frame failed ErrorDescription00014084 Robot flipping failed ErrorDescription00014085 Failed to check whether robot can flip ErrorDescription00014086 IK solution jumping ErrorDescription00014087 Inner workspace limit ErrorDescription00014088 Outer workspace limit ErrorDescription00014089 Wrist singularity ErrorDescription0001408A Out of outer workspace ErrorDescription0001408B Out of inner workspace ErrorDescription0001408C Infinite solution. No solution is selected ErrorDescription0001408D Undefined error ErrorDescription0001408E Homing check failed ErrorDescription0001408F Modify IK solution failed ErrorDescription00014090 At least one joint position will reach boundary ErrorDescription00014091 Check robot configuration failed ErrorDescription000140AA Set robot parameter from string failed ErrorDescription000140AB Acquiring robot flange generalized position failed ErrorDescription000140AC Acquiring robot tool generalized position failed ErrorDescription000140AD Series frames transform failed ErrorDescription000140AE Failed to calculate Jacobian due to DH error ErrorDescription000140AF Generalized Cartesian position transfer between frames failed ErrorDescription000140B0 Load delta DH file failed ErrorDescription000140B1 At least one joint position is not in the range , -180 deg~ 180 deg ErrorDescription00014438 Illegal DOF of eye in hand transform ErrorDescription00014439 Initialization of EIH calibration process failed ErrorDescription0001443A Initialization of EIH calibration process has not yet been done ErrorDescription0001443B Obtaining initial posture 'P0' failed in EIH calibration ErrorDescription0001443C Moving to next posture 'Pi' failed in EIH calibration ErrorDescription0001443D Data pattern processing failed in SCARA's EIH calibration ErrorDescription0001443E Forward/Inverse indexing of data pattern processing failed in SCARA's EIH calibration ErrorDescription0001443F EIH transform calculation failed ErrorDescription00014440 Camera is attached with the translational axis, and it does not move ErrorDescription00014441 Camera does not move, but image changes ErrorDescription00014442 Current image data is invalid ErrorDescription00014443 Initialization of camera intrinsic parameter calibration process failed ErrorDescription00014444 There are constraints on the effective robot moving area, please change the initial robot posture or the virtual radius ErrorDescription00014445 Initialization of camera intrinsic parameter calibration process failed ErrorDescription00014446 Initialization of camera intrinsic parameter calibration process has not yet been done ErrorDescription00014447 Get current robot Cartesian posture failed ErrorDescription00014448 Change tool parameters failed ErrorDescription00014449 Change robot tip's orientation failed ErrorDescription0001444A Visual move01 failed ErrorDescription0001444B Visual move11 failed ErrorDescription0001444C Visual move02 failed ErrorDescription0001444D EIH calibration should be done first ErrorDescription0001444E Inverse the interaction matrix failed ErrorDescription0001444F Visual move03 failed ErrorDescription00014450 Visual move04 failed
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ErrorDescription00014451 Visual move05 failed ErrorDescription00014452 Visual move15 failed ErrorDescription00014453 Visual move06 failed ErrorDescription00014454 Visual move07 failed ErrorDescription00014455 Visual move17 failed ErrorDescription00014456 Illegal number of taking image data ErrorDescription00014457 The link frame attached with EIH camera does not match user's definition ErrorDescription00014458 Record each robot and camera posture in EIH calibration failed ErrorDescription00014459 Illegal camera extrinsic parameter matrix ErrorDescription0001445A Illegal number of changing robot posture ErrorDescription0001445B Rotate around Y axis failed ErrorDescription0001445C Move along X axis failed ErrorDescription0001445D Rotate around Z axis failed ErrorDescription0001445E Get EIH transform failed ErrorDescription0001445F Set EIH transform failed ErrorDescription00014820 Move camera to target failed ErrorDescription00014C08 Feature point coordinates transfer (robot base frame to image frame) failed ErrorDescription00014C09 Feature point coordinates transfer (robot base frame to camera frame) failed ErrorDescription00014C0A Establishing interaction matrix of a single image point failed ErrorDescription00014C0B The working depth on optic axis can not be zero ErrorDescription00014C0C The camera focus can not be zero ErrorDescription00014C0D Acquiring joint velocity command failed ErrorDescription00014C0E Illegal number of feature points ErrorDescription00014C0F Illegal number of image errors ErrorDescription00014C10 The DOF of image point must be 2 ErrorDescription00014C11 Camera should be attached with flange/tool frame ErrorDescription00014C12 The visual servo damping factor should be positive ErrorDescription00014C13 Acquiring joint velocity command (via two feature points) failed ErrorDescription00014C14 Visual servo simulation test failed ErrorDescription00014FF0 Initialization of DH calibration process failed ErrorDescription00014FF1 Initialization of DH calibration process has not yet been done ErrorDescription00014FF2 Record Robot posture failed in DH calibration ErrorDescription00014FF3 Transfer between frame 0 and (i-1) failed ErrorDescription00014FF4 Transfer between frame i and N failed ErrorDescription00014FF5 Transfer between frame 0 and i failed ErrorDescription00014FF6 DH calibration calculation (for SCARA type robot) failed ErrorDescription00014FF7 DH calibration calculation (for 6DOF type robot) failed ErrorDescription00014FF8 Calculate DH compensation terms failed ErrorDescription00014FF9 DH compensation failed ErrorDescription00014FFA DH calibration moving guided by vision failed ErrorDescription00014FFB TCP calibration move failed ErrorDescription00014FFC DH align error over 0.3 mm ErrorDescription00014FFD Error on joint 1-5 over 1 degree! ErrorDescription000153D8 Acquiring parallel list position failed ErrorDescription000153D9 In parallel list application, at least two points coincides ErrorDescription000153DA Parallel list number should be large than 1 in one dimension ErrorDescription000153DB Align the x-y plane of tool frame with that of base frame failed ErrorDescription000153DC Illegal geometric plane data
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ErrorDescription000153DD Align the x-y plane of tool frame with that of user defined frame failed ErrorDescription000153DE Align the x-y plane of tool frame with that of task frame failed ErrorDescription000153DF Acquiring object avoidance point failed ErrorDescription000153E0 The robot configuration does not match that used in vision system ErrorDescription000153E1 Acquiring robot's joint position corresponding to its flange's generalized Cartesian position failed ErrorDescription000153E2 Calculating the generalized Cartesian force acting on robot's TCP failed ErrorDescription000153E3 Calculating the effective norm of the generalized Cartesian force acting on robot's TCP failed ErrorDescription000157C0 Right arm failed ErrorDescription000157C1 Left arm failed ErrorDescription00020000 [Error][Hardware]Camera NOT found ErrorDescription00020001 Camera in use ErrorDescription00020002 Unexpected error ErrorDescription00020003 [Error][Hardware]Camera is disconnected. Please check whether the connection of camera is broken or the USB
slots are overloaded. ErrorDescription00020004 Unmatched job version. The job was made by PreAPR version but current Vision is APR version ErrorDescription00020005 [Warning][User Setting]Missing Dongle Key: ... ErrorDescription00020006 Grab image failed ErrorDescription00020007 Vision error ErrorDescription00020008 [Error][Vision]Job NOT found ErrorDescription00020009 [Error][Vision]Actioner is busy ErrorDescription0002000A This job can only be run on X64 platform ErrorDescription0002000B Servoing and Vision-IO threads conflict ErrorDescription0002000C [Error][Vision]Vision result save to storage fail ErrorDescription0002000D [Error][Vision]External HTTP setting missing ErrorDescription0002000E [Error][Vision]AI model missing ErrorDescription00030001 [Error][User Setting]Invalid plane points ErrorDescription00030002 [Error][User Setting]Invalid cube points ErrorDescription00030003 [Error][User Setting]Failed to build operation space with the new plane ErrorDescription00030004 [Error][User Setting]Failed to build operation space with the new stop plane ErrorDescription00030005 Invalid selected planes ErrorDescription00030006 Incorrect command format ErrorDescription00030007 Detection point is out of safety space ErrorDescription00031000 [Error][System]Can not connect to Viewer ErrorDescription00031001 Send data to Viewer failed ErrorDescription00031002 Receive data from Viewer failed ErrorDescription00031003 Get invalid data from Viewer ErrorDescription00031004 Get no data from Viewer ErrorDescription00031005 Invalid Point ErrorDescription00031006 Invalid Parameter ErrorDescription00031007 Over angle limit ErrorDescription00040000 Client is not connected to any proxy server ErrorDescription00040001 Undefined error code ErrorDescription00040002 HMI server error ErrorDescription00040003 Robot is unlocked ErrorDescription00040004 Undefined Signal ErrorDescription00040005 [Error][Flow]Program Exception ErrorDescription00040006 Write SystemFile.ini failed ErrorDescription00040007 [Hardware][Error]Robot is not connected
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ErrorDescription00040008 Illegal Privilege ErrorDescription00040009 Log In/Out failed ErrorDescription0004000A [info.]Robot is locked ErrorDescription0004000B Set System Time failed ErrorDescription0004000C Set TCP failed ErrorDescription0004000D File Transfer failed ErrorDescription0004000E Under FreeBot ErrorDescription0004000F [Error][Software]Delete project failed ErrorDescription00040010 Generate file error ErrorDescription00040011 [Error][Motion]Step run failed ErrorDescription00040012 Changed base failed ErrorDescription00040013 [Error][Motion]Change TCP failed ErrorDescription00040014 [Error][System]Generate Prog File failed ErrorDescription00040015 [Warning][Hardware]Fan rpm less than 1000 ErrorDescription00040016 [User Setting][Error]Invalid Parameter ErrorDescription00040017 Base Not Found ErrorDescription00040018 [Error][Software]Base is in use ErrorDescription00040019 Point Not Found ErrorDescription0004001A Operation Space Binding failed ErrorDescription0004001B Set Component List failed ErrorDescription0004001C [Error][Flow]Start Node Not Connected ErrorDescription0004001D Failed to re-record the point to another base ErrorDescription0004001E [Error][User Setting]User number over limit ErrorDescription0004001F [Error][User Setting]Ownership has been acquired ErrorDescription00040020 Only can owner delete ownership ErrorDescription00040021 [Error][Software]New Base failed ErrorDescription00040022 [Error][User Setting]Compliance teach failed ErrorDescription00040023 [Error][User Setting]Line teach failed ErrorDescription00040024 Internal Error ErrorDescription00040025 Incorrect Control Mode ErrorDescription00040026 Robot Cmd failed ErrorDescription00040027 [Error][External Device]USB Error ErrorDescription00040028 Project Is Running ErrorDescription00040029 Project Is Editing ErrorDescription0004002A [Error][Flow]Project does not exist ErrorDescription0004002B [System][Error]Project File Load Error ErrorDescription0004002C [System][Error]Project Compile failed ErrorDescription0004002D [Error][System]Project Run failed ErrorDescription0004002E [info.][System]Project Locked ErrorDescription0004002F [info.]Connected to a new Proxy Server ErrorDescription00040030 Force-Torque sensor is not found ErrorDescription00040031 [Error][External Device]Force-Torque sensor open failed ErrorDescription00040032 Set Modbus Device failed ErrorDescription00040033 Delete Modbus Device failed ErrorDescription00040034 Force-Torque sensor data is not updated ErrorDescription00040035 [Error][External Device]Force-Torque sensor data does not response ErrorDescription00040036 [info.]Point Type is Offline ErrorDescription00040037 [Error][System]Set watch node failed
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ErrorDescription00040038 [Error]Node is in offline mode ErrorDescription00040039 Base name is not accepted ErrorDescription0004003A [Error][User Setting]Over maximum loading ErrorDescription0004003B [Error][User Setting]Over maximum loading with TCP loading ErrorDescription0004003C NotActive ErrorDescription0004003D SendDataFail ErrorDescription0004003E ReceiveDataFail ErrorDescription0004003F InvalidReturnValue ErrorDescription00040040 GetNoDataFromEmulator ErrorDescription00040041 CheckOptimalSpeed ErrorDescription00040042 Move Pose for F/T Sensor error ErrorDescription00040043 Compute Tool Mass and Centroid for F/T Sensor error ErrorDescription00040044 Save Tool to F/T Sensor error ErrorDescription00040045 Step run failed because of variables parameter ErrorDescription00040046 Out of Cartesian limits set. Please check if the TCP or elbow is out of the Cartesian limits ErrorDescription00040047 Robot TCP and/or elbow exceeds Cartesian limit ErrorDescription00040048 This project has existed, could not create new project ErrorDescription00040049 The project is blocked from running due to the expiration of leasing ErrorDescription0004004A Path record state error ErrorDescription0004004B Path record fail ErrorDescription0004004C Invalid Nodes in TM SmartEdge ErrorDescription0004004D [Error] [Flow] Component object not found ErrorDescription0004004E [Error] [Flow] Component has motion node ErrorDescription0004004F [Error] [Flow] Fail to execute Component ErrorDescription00040050 [Error] [Hardware] IO Device not found ErrorDescription00040070 Safety checksum mismatch between HMI and safety parameters. ErrorDescription00040100 Certification does not match
Please download the latest certification file from website to start the installation process. The installation process will not proceed. ErrorDescription00040101 Certification does not match Please request the certification file from the product provider, and put it under TMflow folder located under the installation directory to enable TMflow Editor. Program will be terminated automatically. ErrorDescription00040102 [Warning][User Setting]Host and client versions conflict [Cause]The software version between the robot (host) and Tmflow.exe (client) is not matched [Caution]Check both versions of the robot (host) and the Tmflow.exe on PC (client) if they are matched or not [Precaution] If the versions are not matched, there would be possibly to trigger unexpected errors for certain functions [Solution]Click OK to close the pop up window Make sure both versions of the robot (host) and the Tmflow.exe on PC (client) are matched before login ErrorDescription00040103 [Error][User Setting]Certification does not match. Please get the certification file from the product provider, and put it under TMflow folder located under the installation directory to enable TMflow Editor. Program will be closed automatically. [Cause]Certification for the corresponding HMI does not match [Caution]1. Check if the certification file on Techman folder is the correct version if this happens on Tmflow.exe 2. Check if the certification file on the USB drive exists or if it is the correct version for HMI update [Solution]1. Click OK to close the pop up window 2. Replace the file with the correct one
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Make sure the certification file is correct ErrorDescription00040104 MD5 file is not existed. ErrorDescription00040105 MD5 is not matched, the file may be damaged. ErrorDescription00040F80 ProxyServer initialize failure ErrorDescription00040F81 ProxyServer initialize failure, TcpListener error ErrorDescription00040F82 ProxyServer initialize failure, ServerParams error ErrorDescription00040F83 ProxyServer initialize failure, ConfigData error ErrorDescription00040F84 ProxyServer initialize failure, SystemFile error ErrorDescription00040F85 ProxyServer initialize failure, OpenActioner error ErrorDescription00040F86 ProxyServer initialize failure, OpenService error ErrorDescription00040F90 [Error] [External Device] Application Mode missing dongle key ErrorDescription00041000 EtherCAT mode error ErrorDescription00041001 FreeBot error ErrorDescription00041002 [Error][System]Internal high speed communication failure ErrorDescription00041003 [Error][Motion]Robot motion error ErrorDescription00041004 Robot command error ErrorDescription00041005 Robot controller error ErrorDescription00041006 RETEX4 build failed ErrorDescription00041007 Simulate mode error ErrorDescription00041008 [Error][Motion]Over Working Area ErrorDescription00041009 Rtx start failure ErrorDescription0004100A Rtx lincense failure ErrorDescription0004100B Robot System is not ready ErrorDescription0004100C Robot performed Cat.1 stop ErrorDescription00042000 Actioner Start failed ErrorDescription00042001 Actioner Run failed ErrorDescription00042002 Actioner Pause failed ErrorDescription00042003 Actioner Warning ErrorDescription00042004 Actioner exception when Start Or Pause ErrorDescription00042005 Actioner exception when Stop ErrorDescription00042006 Actioner write file error ErrorDescription00042007 Actioner code error ErrorDescription00042008 Actioner variable type mismatch ErrorDescription00042009 Actioner execute robot failed ErrorDescription0004200A Error during project warp ErrorDescription0004200B Variable is not found ErrorDescription0004200C Node missing essential property ErrorDescription0004200D Vision Job is not valid ErrorDescription0004200E Component no condition match ErrorDescription0004200F [Error] [Flow] IF/Geteway no condition match ErrorDescription00042010 Missing Dongle Key ErrorDescription00042011 Actioner is null ErrorDescription00042012 Project is not running ErrorDescription00042013 Project is not initialize done ErrorDescription00042014 Set variables fail ErrorDescription00042015 [Error] [Flow] [Link to project speed] is disabled, the velocity exceed 250 mm/s. ErrorDescription00043000 Vision server error ErrorDescription00043001 Vision is not initialized
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ErrorDescription00043002 Vision SmartPick error ErrorDescription00043003 [Vision][Error]Vision Job file error ErrorDescription00043004 [Vision][Error]Vison job file not found ErrorDescription00043005 Vision command format error ErrorDescription00043006 [Error][Hardware]Vision reply message error ErrorDescription00043007 Vision job is not started ErrorDescription00043008 Vision unknown command received ErrorDescription00043009 Vision found nothing ErrorDescription0004300A Vision actioner time-out ErrorDescription0004300B [Error][VISION]Vision actioner reply data is not applicable ErrorDescription0004300C Vision job is already running ErrorDescription0004300D Vision actioner initialization fail ErrorDescription0004300E Vision calibration error ErrorDescription0004300F [Error] [Vision] Invalid function call when calling VisionActionerDO ErrorDescription00043010 [Error] [Vision] Vision job not exist ErrorDescription00044000 [info.]Modbus object initializing ErrorDescription00044001 Modbus socket read ErrorDescription00044002 Modbus error ErrorDescription00044003 [info.][com.]Modbus data wrote ErrorDescription00044004 Modbus data received ErrorDescription00044005 [info.]Modbus serial port open ErrorDescription00044200 [Error]Field bus device general error ErrorDescription00044201 [Error]Field bus device driver error ErrorDescription00044202 [Error]Field bus device communication error ErrorDescription00044203 [Error]Field bus device exception error ErrorDescription00044204 [Error] [Hardware] Failed to activate device. Check if the correct device and driver are installed. ErrorDescription00044205 Setup wrong field bus device firmware and config ErrorDescription00044300 [info.]Profinet enable ErrorDescription00044301 [info.]Profinet disable ErrorDescription00044302 [Error]Profinet enable fail ErrorDescription00044303 [Error]Profinet disable fail ErrorDescription00044304 [Error][Com.]Profinet read fail ErrorDescription00044305 [Error][Com.]Profinet write fail ErrorDescription00044400 [info.]EtherCAT enable ErrorDescription00044401 [info.]EtherCAT disable ErrorDescription00044402 [Error]EtherCAT enable fail ErrorDescription00044403 [Error]EtherCAT disable fail ErrorDescription00044404 [Error][Com.]EtherCAT read fail ErrorDescription00044405 [Error][Com.]EtherCAT write fail ErrorDescription00044500 [info.]EtherNet/IP enable ErrorDescription00044501 [info.]EtherNet/IP disable ErrorDescription00044502 [Error]EtherNet/IP enable fail ErrorDescription00044503 [Error]EtherNet/IP disable fail ErrorDescription00044504 [Error][Com.]EtherNet/IP read fail ErrorDescription00044505 [Error][Com.]EtherNet/IP write fail ErrorDescription00045000 [Error][External Device]USB with correct name does not exist. ErrorDescription00045001 [Error][Software]No Space for External Device ErrorDescription00045002 No support offered
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ErrorDescription00045003 [Error][com.]Data exchange failed. File may be accessed. ErrorDescription00045004 [Error][Com.]File not found ErrorDescription00045005 [Error][Com.]Read data file failed ErrorDescription00045006 [Error][Com.]Client connect server failed ErrorDescription00045007 [Error][Com.]Client connection failed ErrorDescription00045008 [Error][Com.]Client send command failed ErrorDescription00045009 Command timeout ErrorDescription0004500A [Error][Com.]TCP listener error ErrorDescription0004500B [Error][Com.]Configure network failed ErrorDescription0004500C [Hardware][Error]No Space for Application Directory ErrorDescription0004500D UNC path could not be access ErrorDescription00045010 Network IP is conflict ErrorDescription00045011 No any network adapters ErrorDescription00045020 [Warning] [System] The free space of the hard disk is less than 15G. ErrorDescription00045021 [Error] [System] The remaining capacity of the hard disk is less than 10G. ErrorDescription00045100 [Error][Software]Incomplete update ErrorDescription00045101 Application update is not executed ErrorDescription00046000 Web command error ErrorDescription00047000 TMManager object initialization error ErrorDescription00048000 [Error][Flow]Invalid syntax error ErrorDescription00048001 [Flow][Error]Invalid number format ErrorDescription00048002 [Flow][Error]Duplicated cases of switch ErrorDescription00048003 [Flow][Error]Duplicate declaration ErrorDescription00048004 [Error][Flow]Invalid expression error ErrorDescription00048005 Undefined variables ErrorDescription00048006 [Error][Flow]Undefined functions ErrorDescription00048007 [Flow][Error]Function operation is not allowed ErrorDescription00048008 [Error][Flow]Array operation is not allowed ErrorDescription00048009 [Error][Flow]Array Index is not an integer number ErrorDescription0004800A [Error][Flow]Calculation is not a Number ErrorDescription0004800B [Error][Flow]Calculation is not an Integer Number ErrorDescription0004800C [Error][Flow]Calculation is not a Variables ErrorDescription0004800D [Flow][Error]Calculation is not an Integer Variables ErrorDescription0004800E [Error][Software]Calculation is not a Boolean ErrorDescription0004800F [Error][Flow]Data type is different, can not assign operation ErrorDescription00048010 [Error][Software]Data type is different, can not compare operation ErrorDescription00048011 [Error][Flow]Invalid Number Range ErrorDescription00048012 [Error][Software]Missing Right Parentheses ErrorDescription00048013 [Error][Flow]Missing Right Brackets ErrorDescription00048014 [Error][Flow]Missing Right Brace ErrorDescription00048015 [Error][Flow]Target Node is not exist ErrorDescription00048016 [info.][Flow]Division by Zero ErrorDescription00048017 [info.][Flow]Modulo by Zero ErrorDescription00048018 [Error][Flow]Invalid Array Index ErrorDescription00048019 Invalid Type Value ErrorDescription0004801A Invalid Index Value ErrorDescription0004801B [Error][Flow]Invalid Number Value ErrorDescription0004801C [Error][External Device]Force-Torque sensor open failed
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ErrorDescription0004801D [Error][Com.]Modbus open failed ErrorDescription0004801E Serial Port open failed ErrorDescription0004801F [Error][Flow]Exception Error ErrorDescription00048020 [Error][Com.]Modbus read failed ErrorDescription00048021 [Error][Com.]Modbus write failed ErrorDescription00048022 File operation error ErrorDescription00048023 File read error ErrorDescription00048024 File create error ErrorDescription00048025 File write error ErrorDescription00048026 File delete error ErrorDescription00048027 File does not exist ErrorDescription00048028 File size is too large ErrorDescription00048029 File is read only ErrorDescription0004802A [Error] [Flow] The function synatx could not called in thread ErrorDescription0004802B Array datatype is different, could not operation ErrorDescription0004802C Array size is max ErrorDescription0004802D Array start index is invalid ErrorDescription0004802E Ethernet Slave (TCP/IP Server) is disabled ErrorDescription0004802F Ethernet Slave (TCP/IP Server) Item name does not exist ErrorDescription00048030 Ethernet Slave (TCP/IP Server) Item value is error ErrorDescription00048031 [Error] [User Setting] Network device or IP address port is invalid ErrorDescription00048032 UNC Path is not allowed ErrorDescription00048033 UNC Path could not be access ErrorDescription00048034 The function synatx could not called in TM SmartEdge ErrorDescription00048035 Parameterized key is not exist ErrorDescription00048036 Parameterized value is invalid ErrorDescription00048037 Parameterized property is not support ErrorDescription00048038 Parameterized Safety need HW3.2 or above ErrorDescription00048601 [Warning][Flow]Warning Counter ErrorDescription00048602 [Warning][Flow]Warning for String Format ErrorDescription00048603 [Warning][Flow]Warning for Number Value maybe missing ErrorDescription00048604 [Flow][Warning]Warning for String Format include Variables ErrorDescription00048605 [Flow][Warning]Warning for Network path could not be access ErrorDescription00048A00 Could not Play if Previous Project is not stopped ErrorDescription0004F000 Common Info ErrorDescription00050000 No Error ErrorDescription0005FF20 [Error][Hardware]Solenoid current is NG ErrorDescription0005FF21 [Error][Hardware]Joint movement range is NG in brake release status ErrorDescription0005FFA0 [Error][Hardware]The voltage on DCBUS is too low (40V) ErrorDescription0005FFA1 [Error][Hardware]The voltage on DCBUS is too high (60V) ErrorDescription0005FFA2 The acceleration on X direction of G sensor is out of range ErrorDescription0005FFA3 The acceleration on Y direction of G sensor is out of range ErrorDescription0005FFA4 The acceleration on Z direction of G sensor is out of range ErrorDescription0005FFA5 [Error][Hardware]The temperature on PCB is too high (90 degree Celsius) ErrorDescription0005FFA6 [Error][Hardware]The current in U phase of motor is too high ErrorDescription0005FFA7 [Error][Hardware]The current in V phase of motor is too high ErrorDescription0005FFA8 [Error][Hardware]The current in W phase of motor is too high ErrorDescription0005FFA9 The overcurrent is protected by current sensor of U phase
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ErrorDescription0005FFAA The overcurrent is protected by current sensor of V phase ErrorDescription0005FFAB [Error][Hardware]The protection is on for motor hold ErrorDescription0005FFAC The initial angle of three phase of motor is not correct ErrorDescription0005FFAD The index angle of encoder is not calibrated ErrorDescription0005FFAE [Error][Hardware]Overcurrent in DCBUS ErrorDescription0005FFAF [Error][System]The communication of EtherCAT is timeout ErrorDescription0005FFB1 [Error][System]The communication of SPI is timeout ErrorDescription0005FFB2 Illegal interrupt to MCU ErrorDescription0005FFB3 The watch dog of MCU is timeout ErrorDescription0005FFB4 The initialization of joint coordinate is timeout ErrorDescription0005FFB5 FW version doesn't match HW version ErrorDescription0005FFB6 The process in main loop is timeout ErrorDescription0005FFB7 Brake release failed. ErrorDescription0005FFB8 [Error][Hardware]Gate Driver NG ErrorDescription0005FFB9 [Error][Hardware]MOFSET NG ErrorDescription0005FFBA [Error][Hardware]Current Sensor NG ErrorDescription0005FFC0 The deviation is too high when initializing joint coordinate ErrorDescription0005FFC1 Runin process R2: Z index miss ErrorDescription0005FFC2 Runin process R2: multi Z index happened ErrorDescription0005FFC3 Runin process R2: U signal NG ErrorDescription0005FFC4 Runin process R2: V signal NG ErrorDescription0005FFC5 Runin process R2: W signal NG ErrorDescription0005FFC6 Runin process R2: the sequence of UVW is NG ErrorDescription0005FFC7 Runin process R2: AB signal is NG ErrorDescription0005FFC8 Failure in loading data from EEPROM ErrorDescription0005FFC9 The electrical angle of motor is not correct (warning) ErrorDescription0005FFCA [Error][Hardware]Multi Z index happened in encoder output ErrorDescription0005FFCB The deviation between command and current position is too high ErrorDescription0005FFCC [Error][Hardware]The Z index signal is missing ErrorDescription0005FFCD [Error][Hardware]Encoder connection failed ErrorDescription0005FFCE [Error][Hardware]The compensation of encoder signal is too high ErrorDescription0005FFCF [Error][Hardware]The protection is on for motor hold (type 2) ErrorDescription0005FFD0 The UVW signal of encoder is NG ErrorDescription0005FFD1 [Error][Hardware]The data is abnormal when reading magnetic encoder. ErrorDescription0005FFD2 [Error][Hardware]The magnet is NG judged by magnetic encoder ErrorDescription0005FFD3 [Error][Hardware]The origin of joint module is out of preset ErrorDescription0005FFD4 The data in EEPROM is dislocated ErrorDescription0005FFD5 The parameters for joint module are abnormal ErrorDescription0005FFD6 The process of I2C control flow is out of control ErrorDescription0005FFD7 Runin process R2: index calibration failed ErrorDescription0005FFD8 [Hardware][Error]The resistance of UVW of motor is abnormal ErrorDescription0005FFD9 [Hardware][Error]The connection of UVW of motor is not correct ErrorDescription0005FFDA Runin process R2: the current in UVW phase is NG ErrorDescription0005FFDB Runin process R4: UVW calibration result is out of limit ErrorDescription0005FFDC Runin process : G sensor calibration result is out of limit ErrorDescription0005FFDD An error occurs when command changes the control mode. ErrorDescription0005FFDE Changing EtherCAT ESM when PDS is in OP mode ErrorDescription0005FFDF Unknown EtherCAT ESM command
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ErrorDescription0005FFE0 [Hardware][Error]The voltage of DC bus is low in EtherCAT OP mode ErrorDescription0005FFE1 Online multiturn calibration failed ErrorDescription0005FFE2 The magnetic encoder data is not stable in the position initialization process ErrorDescription0005FFE3 The joint angle between "power on" and "position initialization" exceeds limit ErrorDescription0005FFE4 [Error][System]The position initialization process is timeout ("Z search" is not finished) ErrorDescription0005FFE5 The position initialization process is timeout ErrorDescription0005FFE6 The result is NG in position initialization process ErrorDescription0005FFE7 Runin process: the process of g sensor calibration is NG ErrorDescription0005FFE8 [Hardware][Error]The output of g sensor is NG ErrorDescription0005FFE9 The check sum result from EEPROM data is abnormal ErrorDescription0005FFEA [Hardware][Error]The voltage of 5V is NG ErrorDescription0005FFEB [Hardware][Error]The voltage of 12V is NG ErrorDescription0005FFEC The ADC compensation is out of limit ErrorDescription0005FFED [Error][Hardware]The compensation of encoder signal is too high in ABS mode ErrorDescription0005FFEE The deviation is too high between latching index and position initialization process ErrorDescription0005FFEF The parameters of magnetic encoder are abnormal ErrorDescriptionF0000000 () ErrorDescriptionF0000001 The Auto Remote Mode button can only be used under Auto Mode.
Please switch to Auto Mode , Get control permission and make sure no project is running to use. ErrorDescriptionF0000002 For switching between Auto Mode and Auto Remote Mode, please make sure the following terms:
1. No project is running. 2. Get robot control permission under Auto Mode. 3. Click the Auto Remote Mode button. ErrorDescriptionF0000020 Network Service Command Error ErrorDescriptionF0000021 UNC format is wrong ErrorDescriptionF0000022 Invalid Period ErrorDescriptionF0000023 Invalid Time ErrorDescriptionF0000024 Login pass ErrorDescriptionF0000025 Login fail ErrorDescriptionF0000026 Logout pass ErrorDescriptionF0000027 Logout fail ErrorDescriptionF0000028 Over the number of log upload allowed ErrorDescriptionF0000029 Over the number of robot data allowed ErrorDescriptionF000002A Over the number of vision images allowed ErrorDescriptionF000002B Over the number of UNC Setting ErrorDescriptionF000002C UNC is duplicated ErrorDescriptionF0000040 Maintenance mode command error ErrorDescriptionF0000041 Maintenance mode missing dongle key ErrorDescriptionF0000042 Calibration project is not exist ErrorDescriptionF0000043 Calibration project name is duplicated ErrorDescriptionF0000044 Robot is not ready to active ErrorDescriptionF0000045 Get robot posture fail ErrorDescriptionF0000046 Robot ID is not setting ErrorDescriptionF0000047 File is not exist ErrorDescriptionF0000048 Get file fail ErrorDescriptionF0000049 Drive disk is not TMRobot brand ErrorDescriptionF0000060 File checksum or form type error
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ErrorDescriptionF0000061 File path/name error ErrorDescriptionF0000062 Program object error ErrorDescriptionF0000063 File's version error ErrorDescriptionF0000064 File's form type error ErrorDescriptionF0000065 Communicate Mode error ErrorDescriptionF0000066 User-defined item exceeds limit ErrorDescriptionF0000067 Item's name is invalid ErrorDescriptionF0000068 Item's name is duplicate ErrorDescriptionF0000069 Item's data type is invalid ErrorDescriptionF000006A Item's data length is invalid ErrorDescriptionF000006B Item's data accessibility is invalid ErrorDescriptionF000006C Item's data writable mode is invalid ErrorDescriptionF000006D File save fail ErrorDescriptionF000006E Program Exception ErrorDescriptionF0000080 Error while IODD xml file loading ErrorDescriptionF0000081 Invalid IODD xml file format ErrorDescriptionF0000082 IODD xml file contains invalid value ErrorDescriptionF00000A0 Set fail ErrorDescriptionF00000A1 Power cycle robot to change the firmware of the field bus device, and manually enable the target field bus setting
again. ErrorDescriptionF00000C0 Backup file cannot be imported. Please select another backup file ErrorDescriptionF00000C1 The number of Backup files is limited to five. Please delete the local backup files ErrorDescriptionF00000C2 Leasing Backup already exists. Please delete the local leasing backup ErrorDescriptionF00000E0 Invalid Command ErrorDescriptionF00000E1 Already Login ErrorDescriptionF00000E2 Already Logout ErrorDescriptionF00000E3 Invalid User Name Or Password ErrorDescriptionF00000E4 File Existed ErrorDescriptionF00000E5 Not In Auto Mode ErrorDescriptionF00000E6 Not In Manual Mode ErrorDescriptionF00000E7 Robot Is Running ErrorDescriptionF00000E8 Speed is over limit ErrorSuggestion00000001 [Cause]Motion assigned is invalid, mostly because of over working range
[Caution]1. Check if the robot is under Singularity 2. Check if the motion assigned in MOVE node is out of specification [Additional Explanation] This error is not likely happens, instead, the system will report error code ErrorSuggestion00000009 [Additional Explanation] If the settings of MOVE node is out of specification, such as, moving along X axis by 99999 mm [Additional Explanation] If the motion assigned is sure to be correct but with this error occurs, contact and report to Techman Robot Inc. [Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button Adjust the motion related nodes in the current project 1. Make sure the points used in a Project would not lead to any Singularity 2. Make sure the motion (distance, rotation) assigned in move is available ErrorSuggestion00000005 Clear this error and keep on going
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ErrorSuggestion00000009 [Cause]Motion assigned is invalid [Caution]1. Check if the robot is under Singularity 2. Check if the motion assigned in MOVE node is out of specification [Additional Explanation] If the settings of MOVE node is out of specification, such as, moving along X axis by 99999 mm [Additional Explanation] If the motion assigned is sure to be correct but with this error occurs, contact and report to Techman Robot Inc. [Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button Adjust the motion related nodes in the current project 1. Make sure the points used in a Project would not lead to any Singularity 2. Make sure the motion (distance, rotation) assigned in move is available
ErrorSuggestion0000000A [Cause]1. 3 points which build a coordinate frame are on the same line 2. Motion path set at the position that Robot arm cannot reach. 3. End point set at the singularity. [Caution]1. Check if the custom base is set properly 2. Check if the path used is reachable or not [Precaution] Improper custom base or path might lead to unexpected risk to safety [Solution]1. Click Stop on the robot stick to restore the error status 2. Correct the invalid settings 3. if this problem still occurs, contact a qualified service engineer for further analysis with log files Make sure that these 3 points which build a coordinate frame were not on the same line or adjust the flow to let motion path in the working range and away from the singularity
ErrorSuggestion00000010 Please make sure that motion path is in the working range and the path is far away from the singularity ErrorSuggestion00000011 Please make sure that motion path is in the working range and the path is far away from the singularity ErrorSuggestion00000012 [Cause]Motion assigned is invalid, mostly because of singularity
[Caution]1. Check if the robot is under Singularity 2. Check if the motion assigned in MOVE node may lead to any singularity [Additional Explanation] This error is not likely happens, instead, the system will report error code ErrorSuggestion00000009 [Additional Explanation] If the motion assigned is sure to be correct but with this error occurs, contact and report to Techman Robot Inc. [Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button Adjust the motion related nodes in the current project 1. Make sure the points used in a Project would not lead to any Singularity 2. Make sure the motion (distance, rotation) assigned in move is available ErrorSuggestion00000013 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000014 [Cause]The current approaching action requires a huge variation of joint angles which is over the ability that the motors can do in a single servo command. [Caution]1. Check if the current posture or the destination point is near a singularity point. 2. Check if the motion path would likely pass through an internal singularity point. 3. Check if the project speed or speed settings of the points are too fast. [Additional Explanation] If the robot moves under the circumstances of singularity (both internal and external) with LINE on motion setting, that may easily cause this error. [Solution]Stop Category: 2
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To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Avoid postures or motion paths near singularities. 2. Decrease speed If you want to keep the posture or motion path smooth. ErrorSuggestion00000015 Please make sure that these 3 points which build the circular path are not on the line. ErrorSuggestion00000016 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000017 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000018 Please make sure that motion path is in the working range and the path is far away from the singularity ErrorSuggestion00000019 [Cause]Robot can not be stop at the assigned point position with Precise positioning option is checked. [Caution] [Additional Explanations] Since the joint driver can not move to the assigned point position successfully, it would cause this error. [Solution]To restore the robot from Error Status : 1. Press STOP button on the robot stick, or 2. Press FREE button. ErrorSuggestion0000001A [Cause]Robot detects the LINE motion can not be executed successfully. [Caution]Check if the motion is LINE while the blending radius is set to 0 [Additional Explanations] Robot detects the user input the invalid values in the By Radius settings which can not be executed successfully. [Additional Explanation] This could probably happens on POINT or MOVE node [Solution]To restore the robot from Error Status : 1. Press STOP button on the robot stick, or 2. Press FREE button. Before running project, check if there is any motion related nodes set to be LINE while the blending radius is set to 0 ErrorSuggestion00000021 [Cause]The robot detected an exceeding TCP speed or Joint speed which is over the limit of the Safety Settings [Caution]1. Check and make sure the TCP speed limit or Joint speed limit on Settings\Safety Settings\Safety Stop Criteria is suitable. 2. Check and make sure the TCP speed limit or Joint speed limit on, Settings\Safety Settings\Collaborative Setting\More Limit Setting, is suitable for Collaborative Mode 3. Make sure the settings of TCP used are correct, especially the Pose of TCP. 4. Check if the issued point is PTP on motion setting. 5. Check if the issued point is LINE on motion setting(ABS).
[Precaution] This error message would only show in the servo log and would be read by system's voice. It will not be displayed in an HMI error window. [Additional Explanation] If the robot moves under the circumstances of singularity (both internal and external) with PTP on motion setting, that may easily cause this error. [Solution]Stop Category: 2 To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Avoid postures or motion paths near singularities. 2. Decrease the speed If you want to keep the posture or motion path smooth. 3. Make sure the speed limit values of the Safety Settings are suitable in both Manual/Auto Mode and Collaborative Mode. ErrorSuggestion00000022 [Cause]The robot detected an exceeding TCP force or Joint torque which is over the limit of the Safety Setting
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[Caution]1. Check if the robot collides with anything. 2. Check and make sure the TCP force limit or Joint torque on Settings\Safety Settings\Safety Stop Criteria is suitable. 3. Check and make sure the TCP force limit or Joint torque on Settings\Safety Settings\Collaborative Setting\More Limit Setting is suitable for Collaborative Mode 4. Make sure the settings of all TCP/Joint torque used are correct including the pose of TCP, Mass, Mass Center Frame and Principal Moments of Inertia. 5. Make sure the payload setting is correct on every motion related node of the flow, e.g. Point, Move, Pallet, etc. 6. Make sure there are no sudden pauses/stops in the project while the robot is moving at high speed. [Precaution] Tool with Mass Center Frame far from the flange will add heavy external torque onto the robot. Without the correct TCP settings (including, TCP pose, Mass, Mass Center Frame and Principal Moments of Inertia), the Servo System would likely mistake this for an error. [Precaution] This error message would only show in the servo log and would be read by system's voice. It will not be displayed in an HMI error window. [Additional Explanation] The result of TCP force is achieved by calculation. This calculation will be dysfunctional when the robot passes through a singularity zone, and could mistakenly trigger this error. [Solution]Stop Category: 2 To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Avoid postures or motion paths near singularities. 2. Decrease the speed If you want to keep the posture or motion path smooth. 3. Make sure the speed limit values of the Safety Settings are suitable in both Manual/Auto Mode and Collaborative Mode. ErrorSuggestion00000023 [Cause]TCP speed and force are both over limit at the same time. [Caution]1. Check if the robot has been moving too fast currently 2. Check if the robot has collided to anything [Additional Explanation] This error code is not likely happen, low possibility, since it always trigger either ErrorSuggestion21 or ErrorSuggestion22 at the first place [Precaution] Assess if it is necessary to drag the robot to a safer space by safe startup mode [Solution]1. Click Stop on the robot stick to restore the error status 2. Reduce the payload or the motion speed 3. Revise the safety criteria 1. Make sure the speed of the current is within specification 2. Make sure the robot would not collide with the surroundings during project run ErrorSuggestion00000024 [Cause]The robot detected an intense shake. [Caution]1. Check if the robot collided with anything in Collaborative Mode. 2. Check the robot stability while the project is running.
[Precaution] The environment or location of the robot should be stable. [Solution]1. Ensure that the robot's posture, location and motion does not collide with anything 2. Move or place the robot in a location where it is stable while a project is running 1. Ensure that the robot's posture, location and motion does not collide with anything. 2. Move or place the robot in a location where it is stable while a project is running. ErrorSuggestion00000028 Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000002D [Cause] joint type is not match the product of the vendor.
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ErrorSuggestion0000002E gear ratio is not match the model ErrorSuggestion0000002F Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third
party designated maintenance unit. ErrorSuggestion00000030 [Cause]I/O Board's current over the spec range(1.5A).
[Caution] [Additional Explanations] If the external devices are abnormal that cause current are too large, it would cause this error. [Solution]1. Remove all external devices first 2. After restart the robot, the problem still occurs, contact a qualified service engineer for further analysis. Make sure all external device will not consumed over 1.5A from Control box IO ErrorSuggestion00000031 Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000032 Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000033 [Cause]The TCP speed is too high and over safety setting during any operation in manual mode [Caution]Check if the TCP speed is too low on Safety Settings Check if the TCP position is too far away from the flange [Additional Explanation] This error is not likely happen, usually, other error safety related error code might be triggered first [Solution]1. Click Stop on the robot stick to restore the error status 2. Adjust the TCP setting and the Safety Setting 3. Decrease the setting of the velocity and the setting of the angular velocity on the manual mode. Make sure the safety settings is suitable Make sure any motion related operation (Hand-guiding, step-run, Controller) moves within the safety settings ErrorSuggestion00000035 [Cause]System has detected an error on joint driver [Caution]Check the other error code come along with it. [Additional Explanation] If there is any joint's driver component error occur.it world all report this error code but user can check the next error code which along with tis error to get the further information. [Solution]To restore the robot from Error Status : 1. Depend on the error code after this error, find the corresponding error code description in the error code table. Depend on the error code after this error, find the corresponding error code description in the error code table. ErrorSuggestion00000036 Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000037 Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000038 Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000039 Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000003A Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000003B [Cause]The Joint number will be different with the joint number in setting [Caution]Check if any Robot Joint has been replaced recently [Additional Explanation] This often occurs if the robot joint(s) been replaced or fixed but without proper update on EEPROM [Solution]Contact a qualified service engineer for further analysis [Agent-only] Make sure EEPROM be updated after replacing a Joint module or Power board ErrorSuggestion0000003C [Cause]EtherCAT connection failure during power on
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[Caution]1. Check if the robot cable is connected or not 2. If the robot cable is well connected, have a qualified service engineer to check if the Ethernet cable between Power Control Board and IPC Board is connected properly [Restriction] Power off the system and also un-plug the power cable before opening the control box [Additional Explanation] This error would only happen during power on, and is shown on the HMI Error Page only. [Solution]1. Power off the system first 2. Check and confirm the corresponding wire/cable is connected properly 3. Power on the system
Before power on the system, you could double check robot cable is well connected to the Control Box ErrorSuggestion0000003D Please release the emergency button and reboot the robot. If the error still occurred, please contact the original
purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000003E [Cause]The robot detected that voltage is over the specified range (43V~45V) in PreOP mode.
[Caution]1. Power eater board malfunction. 2. Power supply abnormal. 3. Robot power cable short-circuited. [Additional Explanation] When a robot is equipped with a power eater board, a short circuit in the power supply or power cable would cause this error. [Additional Explanation] The threshold to trigger the PreOP error is lower than 40V(Electric motor),power eater board is lower than 36.
[Solution]To restore the robot from error status : 1. Perform the robot restart procedure. 2. If an error still occurs after the restart, please contact a qualified service engineer for additional support. Ensure a secure connection at the power cable terminals. ErrorSuggestion0000003F N/A ErrorSuggestion00000040 [Cause]1. ESI returned unexpected data 2. Joint PCB is abnormal [Caution] [Additional Explanations] When Joint ESI does not match the default setting, it will report this error [Solution]After restart the robot, the problem still occurs, contact a qualified service engineer for further analysis with log files ErrorSuggestion00000041 [Cause]1. EtherCAT related components are abnormal 2. Joint PCB is abnormal [Caution] [Additional Explanation] When Joint abnormal response SDO command, it will report this error [Solution] ErrorSuggestion00000042 Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000043 [Cause]TCP/IP stack abnormal. [Caution] [Additional Explanation] This may happen if quality of the network is unstable [Solution]After restart the robot, the problem still occurs, contact a qualified service engineer for further analysis with log files Make sure the network is stable ErrorSuggestion00000044 [Cause]1. EtherCAT related components are abnormal 2. Joint PCB is abnormal [Caution] [Additional Explanations] When failed to turn into DC SYNC in the EtherCAT loop, it will report this error
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[Solution]After restart the robot, the problem still occurs, contact a qualified service engineer for further analysis with log files ErrorSuggestion00000045 Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000046 Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000047 Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000048 [Cause]The robot detect the voltage is over the spec(48V)range in ESM-OP mode. [Caution] [Additional Explanation] When robot has power supply or power cable short-circuited because of poor contact which would cause this error. [Additional Explanation] The threshold to trigger this error is power board's voltage lower than 48. [Solution]After restart the robot, the problem still occurs, contact a qualified service engineer for further analysis 1.Make sure and regularly check if power cable are connected to the robot are firmed enough. 2.Before using robot, make sure the power supply is robust for robot running. ErrorSuggestion00000049 [Cause]Check the power supply is robust for robot running. [Caution] [Additional Explanation] The threshold to trigger this error is power board's voltage lower than 48. [Solution]After restart the robot, the problem still occurs, contact a qualified service engineer for further analysis Before using robot, make sure the power supply is robust for robot running. ErrorSuggestion0000004A Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000004B [Cause]EtherCAT communication has been cut off while the robot is on [Caution]Check if there is any external EtherCAT devices, and if the Ethernet cable is loosen or if they are power off accidentally [Additional Explanation] This usually happens if any EtherCAT devices is cut off, for example, Ethernet cable is loosen or power-off accidentally [Precaution] Power-off and unplug the power cable when checking inside the control box is necessary [Additional Explanation] This may happens if the robot or control box has been placed on a unstable platform or having violent collision.
[Solution]1. Shutdown the robot 2. Restore the external EtherCAT devices and then reboot the robot 3. If this still happens, contact a qualified service engineer for further analysis
1. Make sure all external EtherCAT devices are well connected and functional 2. Make sure the robot would not be collided and be placed on an unstable platform. ErrorSuggestion0000004C [Cause]1. EEPROM in Power Board is abnormal 2. Power Board is abnormal [Caution] [Additional Explanation] When failed to access EEPROM Data in the Power Board, it will report this error [Solution] ErrorSuggestion0000004D [Cause]1. EtherCAT related components are abnormal 2. Joint PCB is abnormal [Caution] [Additional Explanation] When failed to access live data from Joint, it will report this error [Solution]
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ErrorSuggestion0000004E [Cause]System has detected a mismatch of S/N between the robot and the control box [Caution]1. Check if the S/N (Serial Number) of the robot arm matches the one on the control box [Additional Explanation] If the S/Ns are correctly matched, there would other possibilities, such as: 1. The Power Control Board is damaged 2. The EEPROM is not updated correctly after replacing the Robot Joint or Power Control Board
[Solution]1. Confirm and make sure the S/Ns are matched between the robot and the control box 2. Else, contact a qualified service engineer for further analysis 1. Before powering on the system, you could double check the connection about robot cable, and a suitable S/N match about robot arm and control box 2. Service Engineers should follow the correct process when replacing the Robot Joints or Power Control Board ErrorSuggestion0000004F [Cause]The power control board is not detected during power on [Caution]
[Precaution] Power-off and unplug the power cable when checking inside the control box is necessary. [Additional Explanation] This usually happens if the control box has been placed on a unstable platform or having violent collision. [Additional Explanation] This error is less likely happens. [Solution]Contact a qualified service engineer for further analysis Make sure the robot would not be collided and be placed on an unstable platform. ErrorSuggestion00000050 [Cause]The system could not detect the power control board, or the EtherCAT communication fails [Caution]Check if there is any external EtherCAT devices, and if the Ethernet cable is loosen or if they are power off accidentally [Additional Explanation] This usually happens if any EtherCAT devices is cut off, for example, Ethernet cable is loosen or power-off accidentally [Precaution] Power-off and unplug the power cable when checking inside the control box is necessary [Additional Explanation] This may happens if the robot or control box has been placed on a unstable platform or having violent collision.
[Solution]1. Shutdown the robot 2. Restore the external EtherCAT devices and then reboot the robot 3. If this still happens, contact a qualified service engineer for further analysis
1. Make sure all external EtherCAT devices are well connected and functional 2. Make sure the robot would not be collided and be placed on an unstable platform. ErrorSuggestion00000051 [Cause]Power board's temperature is too high because of the environment is too hot or power board is abnormal. [Caution] [Additional Explanation] The servo would trigger this error if the power board's temperature is higher than 80 . [Solution]1. Power off the robot and let it cool down for a while (suggest at least half an hour) 2. Restart the robot, if the problem still occurs, contact a qualified service engineer for further analysis. Make sure the environment temperature is within the specification (0~50 ) when robot is running. ErrorSuggestion00000052 [Cause]1. Emergency Stop Button on the robot stick has been pressed. 2. The extension port(s) for Emergency Stop has been triggered. 3. The external safety device input discrepancy. [Caution]1. Check that the wire between the robot stick and the control box is securely connected and is not triggered. 2. Check if the wire on the extension port(s) for emergency stop is securely connected and is not triggered. 3. Check if the wire on the exteranl safety device port(s) is securely fastened.
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[Precaution] When the situation above is triggered, the robot will enter cat.1 stop, which means the power is cut off after the robot speed has been decreased to zero. If there are any payloads on the TCP, without drive power, the TCP will tend to droop a little bit before coming to a complete stop. Please be aware of the tool (payload) colliding with objects in close proximity. [Solution]If the emergency stop button on the robot stick has been pressed: 1. Release the e-stop button.
a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. c. Long press STOP button for few seconds and release to back to robot normal operationl mode. If an external emergency stop button has been pressed: 1. Release the external e-stop button. a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. c. Long press STOP button for few seconds and release to back to robot normal operationl mode. If discreapncy happends in external safety device input: 1. Plug the wire back in to the port. 2. Trigger (and or untrigger) the external safety input device. a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. c. Long press STOP button for few seconds and release to back to robot normal operationl mode.
1. Place the robot stick or the external emergency stop button in a location to make sure it is reachable while not being pressed accidentally. 2. Check if the robot stick cable and the wire connected to the emergency stop ports are firmly connected. 3.Ensure that all wires connected to the external safety device port(s) are securely connected. ErrorSuggestion00000053 [Cause]The robot detected that voltage is over the specified range. [Caution]Ensure that the input power is within the working range. [Additional Explanation] Error can be caused when the payload is large, and the ABS speed is very fast. [Additional Explanation] A power eater board malfunction, power supply abnormality or a short circuited power cable can also be the cause of this error. [Solution]To restore the robot from error status: 1. Perform the robot restart procedure. 2. If there are any problems on the hardware after the restart procedure, please contact a qualified service engineer for additional support. 1. Avoid setting the ABS speed to fast in point nodes. This is especially important when the robot is moving with large payloads. 2. Ensure the power cables are securely connected. ErrorSuggestion00000054 [Cause]Power supply is abnormal [Caution] [Additional Explanation] 48V Power Supply over current may possibly caused by the following reasons: 1. There may have short circuit within the system (power supply, power board, joint) 2. The current project is with payload and speed over specification
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3. The Joint is abnormal [Solution]1. Restart the robot. 2. Remove the payload or slow down the project speed 3. If the problem still occur, contact a qualified service engineer for further analysis. 1. Avoid and make sure the robot would not collided with the surroundings during running project or carrying. 2. Prevent to use the robot with high speed and heavy payload that are out of specification ErrorSuggestion00000055 [Cause]The robot detect the current is over the range from 24V Power Supply. [Caution] [Additional Explanation] 24V Power Supply over current may possibly caused by the following reasons: 1. Power board is abnormal 2. IO is accidentally shorten 3. IO is connected with a over spec. load (1.5 A) 4. etc. [Solution]1. Remove all IO connection and restart the robot. 2. If the problem still occur, contact a qualified service engineer for further analysis. 1. Beware and prevent short circuit on IO connection 2. Not to have over loading on IO power supply ErrorSuggestion00000056 [Cause]Robot detects an connection error on I/O Board [Caution] [Additional Explanation] If the control box is placed on an unstable platform, it may cause the cables loosen. [Precaution] Power off and unplug the power cable before opening the control box for items checking [Solution]After restart the robot, the problem still occur, contact a qualified service engineer for further analysis Make sure the robot would not be collided and be placed on an unstable platform. ErrorSuggestion00000057 [Cause]Motor driver connection is abnormal [Caution] [Precaution] Shutdown the robot before checking the inside of the joint [Solution]After restart the robot, the problem still occurs, contact a qualified service engineer for further analysis with log files Make sure the robot is working on a stable platform ErrorSuggestion00000058 Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000059 Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000005A Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000005B Press the play button on the stick to clear the alarm. ErrorSuggestion0000005C [Cause]1. Stick buzzer is abnormal 2. Power Board is abnormal [Caution] [Additional Explanation] When system get abnormal return data of stick buzzer, it will report this error [Solution] ErrorSuggestion0000005D [Cause]EtherCAT BUS is lost. [Caution] [Additional Explanations] Usually, it requires 1ms to complete a communication cycle, but the last signal delayed for more than 5 ms. [Solution]After restart the robot, the problem still occurs, contact a qualified service engineer for further analysis with log files ErrorSuggestion0000005E [Cause]Safety Monitor Board detects some hardware or component are abnormal.
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[Caution] [Additional Explanations] Safety Monitor Board is responsible for monitoring whether each component has normal communication. [Solution]After restart the robot, the problem still occurs, contact a qualified service engineer for further analysis. ErrorSuggestion0000005F It is a test input pin triggered. ErrorSuggestion00000060 [Cause]When user press FREE Button and using Controller at same time, it would cause this issue. [Caution]Check the FREE Button or Controller are both pressed by something or someone at the same time [Additional Explanations] When user press FREE Button and using Controller at the same time, it means user send the motion command to robot, it would cause the conflict. [Solution]To restore the robot from Error Status : Stop pressing one of the free button or controller. Check and avoid the FREE Button and the Controller are pressed at same time. ErrorSuggestion00000061 Motion command is not allowed with compliance mode at the same time ErrorSuggestion00000062 [Cause]Robot reaches Singularity during Hand-Guiding [Caution]Check the FREEBOT settings on Controller, see if there are any axes is disable [Additional Explanation] In Controller\FREEBOT\Custom Setting, if some of the axe or joints are disable, hand-guiding may trigger this error [Solution]1. Go to Controller\FREEBOT and change the setting to "Free all Joints" 2. Press the FREE Button to drag the robot back from singularity position Make sure the motion of the robot will not trigger singularity before disable the axes or joints for Hand-guiding ErrorSuggestion00000063 please set to "free all joints" in the teach mode and move the pose of the robot away from singularity. ErrorSuggestion0000006A It is a test command ErrorSuggestion0000006E [Cause]An unintended motion is detected while the robot is still in Cat. 2 Stop status. [Caution]1. Check the log for any Cat. 2 stop codes prior to the current error code. 2. Check if a collision occurred or if a joint is jammed [Additional Explanation] This safety function is automatically activated after every Cat.2 Stop. Encoders of each joint are monitored continuously to check if there is any unintended motion, until the user acknowledges and manually recovers the robot from Cat.2 Stop status. If there is any unintended motion, this safety function will trigger a Cat.0 Stop, cutting the power supply directly to the robot. [Precaution] When the Encoder Standstill is triggered, the robot will enter Cat.0 stop, which means the power is cut off immediately; If there is any payload on the TCP, without drive power, the TCP will drop a little before coming to a complete stop. Please be aware that the tool (payload) does not collide with nearby objects. [Solution]1. Press the Stop Button on the robot stick to disengage the "Funct. Alarm Stop" (which is shown on the LCD on the control box" 2. The LED signals on the robot stick will switch from slow blinking red to fast blinking of all 3 LEDs 3. Hold the Power Button on the robot stick for a few seconds to shut down the robot. 4. Press the power button on the robot stick to power on the system again. Remember there should be no motion before the protective stop (Cat. 2) is disengaged. ErrorSuggestion0000006F Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000070 [Cause]Robot detects an unexpected error of vision servoing. [Caution] [Additional Explanation] This error should not likely happen. [Solution]If this error happens, contact to your agent or Techman Robot Inc. with the issued Project file. ErrorSuggestion00000071 Please make sure the Image is recognized and the vision servoing is keep working ErrorSuggestion00000072 [Cause]Robot is too close or at singularity during serving process. [Caution]Check if the pose of the robot is too close or at singularity during vision serving process. [Additional Explanation] The possibility of robot moves into singularity depends of the initial (view) point chosen or
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the Moving Range settings of Visual Servoing [Precaution] Please assess the risk of collision during servoing during project editing [Solution]To restore the robot from Error Status : 1. Press the STOP button on the robot stick to stop the project. 2. Press FREE button to remove the robot from Singularity. 1. Set up the initial (view) point of the vision job properly to make sure the robot would not enter Singularity 2. Set up the Moving Range of Servoing properly to make sure the robot would not enter Singularity or hit anything of the layout 3. It is suggested to use Fixed Point for object localization instead of Visual Servoing for non-open workspace (too narrow for servoing movement) ErrorSuggestion00000073 Please calibrated the vision again. ErrorSuggestion00000074 Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000075 Please make sure the Image is recognized stably. ErrorSuggestion00000076 Please reboot the robot. If the error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000080 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000081 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000082 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000083 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000084 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000085 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000086 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00000090 [Cause]Path execution error on PATH node [Caution]Check if the path would approaches any singularity [Additional Explanations] If the continuous point planned by user then execute occur error, it would cause this error [Solution]1. Press STOP button on the robot stick to stop the project 2. Adjust the path before usage Make sure the path used would not approaches any singularity ErrorSuggestion000000A0 [Cause]Violate Encoder Standstill when no motion is allowed. [Caution]Check whether there are others error log along with this error. [Solution]1. Restart the robot. 2. If the problem still occur, contact a qualified service engineer for further analysis ErrorSuggestion000000A1 [Cause]Violate Encoder Standstill when error occurred. [Caution]Check whether there are others error log along with this error. [Solution]1. Restart the robot. 2. If the problem still occur, contact a qualified service engineer for further analysis ErrorSuggestion000000A2 [Cause]Violate Encoder Standstill when Safeguard Port A triggered [Caution]Check whether there are others error log along with this error. [Solution]1. Restart the robot. 2. If the problem still occur, contact a qualified service engineer for further analysis ErrorSuggestion000000A3 [Cause]Violate Encoder Standstill when no motion is allowed. [Caution]Check whether there are others error log along with this error. [Solution]1. Restart the robot. 2. If the problem still occur, contact a qualified service engineer for further analysis ErrorSuggestion000000A4 [Cause]Violate Encoder Standstill in stop area. [Caution]Check whether there are others error log along with this error. [Solution]1. Restart the robot.
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2. If the problem still occur, contact a qualified service engineer for further analysis ErrorSuggestion000000A6 [Cause] Dual channel Internal Protective Output do not trigger at the same time.
[Caution] Fault(s) occurs in the internal system. [Solution]1. Restart the robot. 2. If the problem still occur, contact a qualified service engineer for further analysis ErrorSuggestion000000A7 [Cause] Dual channel Encoder Standstill Output do not trigger at the same time. [Caution] Fault(s) occurs in the internal system. [Solution]1. Restart the robot. 2. If the problem still occur, contact a qualified service engineer for further analysis ErrorSuggestion000000A8 [Cause]Dual channel emergency stop ports do not trigger at the same time. [Caution]Check if the wire on the extension port(s) for emergency stop is securely fastened. [Additional Explanations] In order to comply with safety regulations, the emergency button external ports were designed to be simultaneously triggered. [Solution]1. Plug the wire back in to the port. 2. Press (and or release) the external emergency stop button.
a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. Ensure that all wires connected to the emergency stop ports are securely connected. ErrorSuggestion000000A9 [Cause] Dual channel safeguard port A do not trigger at the same time. [Caution] Check if the wire on the exteranl port(s) is securely fastened. [Solution]1. Plug the wire back in to the port. 2. Trigger (and or untrigger) the external safety input device. Ensure that all wires connected to Safeguard Port A are securely connected. ErrorSuggestion000000AA [Cause] Dual channel safeguard port B do not trigger at the same time. [Caution] Check if the wire on the exteranl port(s) is securely fastened. [Solution]1. Plug the wire back in to the port. 2. Trigger (and or untrigger) the external safety input device. Ensure that all wires connected to Safeguard Port B are securely connected. ErrorSuggestion000000AB [Cause] Dual channel Enabling Device Ports do not trigger at the same time. [Caution] Check if the wire on the exteranl port(s) is securely fastened. [Solution]1. Plug the wire back in to the port. 2. Trigger (and or untrigger) the external safety input device. Ensure that all wires connected to Enabling Device Ports are securely connected. ErrorSuggestion000000AD [Cause] Dual channel Emergency Stop Output do not trigger at the same time. [Caution] Fault(s) occurs in the internal system. [Solution]1. Restart the robot. 2. If the problem still occur, contact a qualified service engineer for further analysis ErrorSuggestion000000AE [Cause] Dual channel Safeguard Port A Output do not trigger at the same time. [Caution] Fault(s) occurs in the internal system. [Solution]1. Restart the robot. 2. If the problem still occur, contact a qualified service engineer for further analysis ErrorSuggestion000000AF [Cause] Dual channel Safeguard Port B Output do not trigger at the same time. [Caution] Fault(s) occurs in the internal system. [Solution]1. Restart the robot. 2. If the problem still occur, contact a qualified service engineer for further analysis ErrorSuggestion000000B0 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit.
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ErrorSuggestion000000F0 N/A ErrorSuggestion00008000 [Cause]Dual channel Robot Stick ESTOP Port do not trigger at the same time.
[Caution]Check if the wire on the port(s) for emergency stop is securely fastened. [Additional Explanations] In order to comply with safety regulations, the emergency button external ports were designed to be simultaneously triggered. [Solution]1. Plug the wire back in to the port. 2. Press (and or release) the emergency stop button.
a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. c. Long press STOP button for few seconds and release to back to robot normal operationl mode. Ensure that all wires connected to the emergency stop ports are securely connected. ErrorSuggestion00008001 [Cause]Dual channel User Connected ESTOP Input Port do not trigger at the same time. [Caution]Check if the wire on the extension port(s) for emergency stop is securely fastened. [Additional Explanations] In order to comply with safety regulations, the emergency button external ports were designed to be simultaneously triggered. [Solution]1. Plug the wire back in to the port. 2. Press (and or release) the emergency stop button. a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. c. Long press STOP button for few seconds and release to back to robot normal operationl mode. Ensure that all wires connected to the User Connected ESTOP Input Port are securely connected. ErrorSuggestion00008002 [Cause] Dual channel User Connected External Safeguard Input Port do not trigger at the same time. [Caution] Check if the wire on the external port(s) is securely fastened. [Solution]1. Plug the wire back in to the port. 2. Trigger (and or untrigger) the external safety input device. a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. c. Long press STOP button for few seconds and release to back to robot normal operation mode. Ensure that all wires connected to theUser Connected External Safeguard Input Port are securely connected. ErrorSuggestion00008003 [Cause] Dual channelUser Connected External Safeguard Input Port for Human Machine Safety Settings do not trigger at the same time. [Caution] Check if the wire on the external port(s) is securely fastened. [Solution]1. Plug the wire back in to the port. 2. Trigger (and or untrigger) the external safety input device. a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. c. Long press STOP button for few seconds and release to back to robot normal operation mode. Ensure that all wires connected to theUser Connected External Safeguard Input Port for Human Machine Safety Settings are securely connected. ErrorSuggestion00008004 [Cause] Dual channel User Connected Enabling Device Input Port do not trigger at the same time. [Caution] Check if the wire on the external port(s) is securely fastened. [Solution]1. Plug the wire back in to the port.
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2. Trigger (and or untrigger) the external safety input device. a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has
entered safe start-up mode. c. Long press STOP button for few seconds and release to back to robot normal operation mode.
Ensure that all wires connected to User Connected Enabling Device Input Port are securely connected. ErrorSuggestion00008005 [Cause] Dual channel User Connected ESTOP Input Port without Robot ESTOP Output do not trigger at the same
time. [Caution] Check if the wire on the external port(s) is securely fastened. [Solution]1. Plug the wire back in to the port. 2. Press (and or release) the emergency stop button.
a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. c. Long press STOP button for few seconds and release to back to robot normal operationl mode. Ensure that all wires connected to User Connected ESTOP Input Port without Robot ESTOP Output are securely connected. ErrorSuggestion00008006 [Cause] Dual channel safeguard port do not trigger at the same time. [Caution] Check if the wire on the exteranl port(s) is securely fastened. [Solution]1. Plug the wire back in to the port. 2. Trigger (and or untrigger) the external safety input device. Ensure that all wires connected to Safeguard Port are securely connected. ErrorSuggestion00008007 [Cause] Dual channel safeguard port do not trigger at the same time. [Caution] Check if the wire on the exteranl port(s) is securely fastened. [Solution]1. Plug the wire back in to the port. 2. Trigger (and or untrigger) the external safety input device. Ensure that all wires connected to Safeguard Port are securely connected. ErrorSuggestion00008008 [Cause] Dual channel Robot ESTOP Output Port do not trigger at the same time. [Caution] Fault(s) occurs in the internal system. [Solution]1. Restart the robot. 2. If the problem still occur, contact a qualified service engineer for further analysis ErrorSuggestion00008009 [Cause] Dual channel User Connected External Safeguard Output Port do not trigger at the same time. [Caution] Fault(s) occurs in the internal system. [Solution]1. Restart the robot. 2. If the problem still occur, contact a qualified service engineer for further analysis ErrorSuggestion0000800A [Cause] Dual channel User Connected External Safeguard Output Port for Human Machine Safety Settings do not trigger at the same time. [Caution] Fault(s) occurs in the internal system. [Solution]1. Restart the robot. 2. If the problem still occur, contact a qualified service engineer for further analysis ErrorSuggestion0000800B [Cause] Dual channel Robot Internal Protective Stop Output Port do not trigger at the same time. [Caution] Fault(s) occurs in the internal system. [Solution]1. Restart the robot. 2. If the problem still occur, contact a qualified service engineer for further analysis ErrorSuggestion0000800C [Cause] Dual channel Robot Encoder Standstill Output Port do not trigger at the same time. [Caution] Fault(s) occurs in the internal system. [Solution]1. Restart the robot.
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2. If the problem still occur, contact a qualified service engineer for further analysis ErrorSuggestion0000FF00 Please try the other motion path. ErrorSuggestion0000FF01 [Cause]Payload and speed are over specification
[Caution]1. Check if the TCP setting of the current tool is correct 2. Check if the payload setting on each motion node is correct 3. Check if the speed of the current project is too fast [Additional Explanation] Momentum is defined as mass (tool + payload) x TCP speed [Additional Explanation] This error is not likely happen if both payload and speed is within specification [Solution]1. Press STOP button on the robot stick to restore from error status 2. Modified the TCP settings or motion settings; or remove the payload first 3. Run the project again; if this error still occurs, contact a qualified service engineer for further analysis Make sure both payload and speed is within specification ErrorSuggestion0000FF02 [Cause]1. Current motion of the robot is too fast 2. Hardware issue [Caution]1. Check if the TCP setting of the current tool is correct 2. Check if the payload setting on each motion node is correct 3. Check if the speed of the current project is too fast [Additional Explanation] This error does not likely happen since other error code should be triggered first, such as ErrorSuggestion00000049, ErrorSuggestion00000053, ErrorSuggestion00000054 [Solution]1. Press STOP button on the robot stick to restore from error status 2. Modified the TCP settings or motion settings; or remove the payload first 3. Run the project again; if this error still occurs, contact a qualified service engineer for further analysis Make sure both payload and speed is within specification ErrorSuggestion0000FF03 Please adjust the Collaboration space. ErrorSuggestion0000FF04 [Cause]The robot detects a TCP speed which exceeds the limit of the safety settings. [Caution]1. Check and make sure the TCP speed limit on Settings\Safety Settings\Safety Criteria is suitable 2. Check and make sure the TCP speed limit on Settings\Safety Settings\Collaborative Setting\More Limit Setting is suitable for Collaborative Mode 3. Make sure the settings of TCP used are correct, especially the Pose of TCP. 4. Check if the issued point is PTP on motion setting. [Additional Explanation] If the robot moves under the circumstances of singularity (both internal and external) with PTP on motion setting, that may easily cause this error. [Solution]To restore the robot from Error Status : 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Avoid postures or motion paths near singularities. 2. Decrease the speed if you want to keep the posture or motion path smooth. 3. Make sure the force limit value of the Safety Settings is suitable in both Manual/Auto Mode and Collaborative Mode. ErrorSuggestion0000FF05 [Cause]The robot detects an exceeding TCP force which is over the limit of the Safety Setting. [Caution]1. Check if the robot will collide with anything. 2. Check and make sure the TCP force limit on Settings\Safety Settings\Safety Criteria is suitable 3. Check and make sure the TCP force limit on Settings\Safety Settings\Collaborative Setting\More Limit Setting is suitable for collaborative mode 4. Make sure the settings of all TCP used are correct, including the pose of TCP, Mass, Mass Center Frame, Principal Moments of Inertia. 5. Make sure the payload setting is correct on every motion related node of the flow, e.g. Point, Move, Pallet, etc. [Precaution] Tools with a mass center frame far from the flange will add large external torques onto the robot.
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Without the correct TCP settings (including, TCP pose, Mass, Mass Center Frame, Principal Moments of Inertia), the servo system would mistake this for an error. [Additional Explanation] The result of TCP forces achieved is by calculations. This calculation will be dysfunctional when the robot passes through the singularity zone, and will mistakenly trigger this error. [Solution]To restore the robot from Error Status : 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Avoid postures or motion paths near singularities. 2. Decrease the speed if you want to keep the posture or motion path smooth. 3. Make sure the force limit value of the Safety Settings is suitable in both Manual/Auto Mode and Collaborative Mode. ErrorSuggestion0000FF06 [Cause]Joint 1 Position exceeds the value of the safety setting threshold. [Caution]1. Check that the safety threshold angle of the axis is appropriate. 2. Check that the project flow has not set a position that the TM robot cannot reach (for example, using a TM5 to run TM12 project).
[Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button 1. Set the safety threshold to a more suitable value. 2. Revise the project flow. ErrorSuggestion0000FF07 [Cause]Joint 1 Velocity exceeds the value of the safety setting threshold. [Caution]1. Check that the safety threshold speed of the axis is appropriate. 2. Check the line speed setting.
[Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Make sure the safety settings are suitable for current application 2. Make sure the motion of the project would be trigger this error ErrorSuggestion0000FF08 [Cause]Joint 1 Torque exceeds the value of the safety setting threshold. 1. Improper payload settings 2. A collision has occurred 3. The brake is abnormal [Caution]1. Check that the payload setting is correct 2. Check if there has been a collision 3. Check whether the first axis brake is abnormal
This maybe caused by:
[Solution]To restore the robot from Error Status : 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Make sure the payload setting or payload used is suitable 2. Make sure the safety settings are suitable for current application 3. Assess the working environment, avoid any violent collision onto the robot ErrorSuggestion0000FF09 [Cause]Joint 2 Position exceeds the value of the safety setting threshold. [Caution]1. Check that the safety threshold angle of the axis is appropriate. 2. Check that the project flow has not set a position that the TM robot cannot reach (for example, using a TM5 to run TM12 project).
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[Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button 1. Set the safety threshold to a more suitable value. 2. Revise the project flow. ErrorSuggestion0000FF0A [Cause]Joint 2 Velocity exceeds the value of the safety setting threshold. [Caution]1. Check that the safety threshold speed of the axis is appropriate. 2. Check the line speed setting.
[Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Make sure the safety settings are suitable for current application 2. Make sure the motion of the project would be trigger this error ErrorSuggestion0000FF0B [Cause]Joint 2 Torque exceeds the value of the safety setting threshold. This maybe caused by: 1. Improper payload settings 2. A collision has occurred 3. The brake is abnormal [Caution]1. Check that the payload setting is correct 2. Check if there has been a collision 3. Check whether the first axis brake is abnormal
[Solution]To restore the robot from Error Status : 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Make sure the payload setting or payload used is suitable 2. Make sure the safety settings are suitable for current application 3. Assess the working environment, avoid any violent collision onto the robot ErrorSuggestion0000FF0C [Cause]Joint 3 Position exceeds the value of the safety setting threshold. [Caution]1. Check that the safety threshold angle of the axis is appropriate. 2. Check that the project flow has not set a position that the TM robot cannot reach (for example, using a TM5 to run TM12 project).
[Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button 1. Set the safety threshold to a more suitable value. 2. Revise the project flow. ErrorSuggestion0000FF0D [Cause]Joint 3 Velocity exceeds the value of the safety setting threshold. [Caution]1. Check that the safety threshold speed of the axis is appropriate. 2. Check the line speed setting.
[Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Make sure the safety settings are suitable for current application 2. Make sure the motion of the project would be trigger this error
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ErrorSuggestion0000FF0E [Cause]Joint 3 Torque exceeds the value of the safety setting threshold. 1. Improper payload settings 2. A collision has occurred 3. The brake is abnormal [Caution]1. Check that the payload setting is correct 2. Check if there has been a collision 3. Check whether the first axis brake is abnormal
This maybe caused by:
[Solution]To restore the robot from Error Status : 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Make sure the payload setting or payload used is suitable 2. Make sure the safety settings are suitable for current application 3. Assess the working environment, avoid any violent collision onto the robot ErrorSuggestion0000FF0F [Cause]Joint 4 Position exceeds the value of the safety setting threshold. [Caution]1. Check that the safety threshold angle of the axis is appropriate. 2. Check that the project flow has not set a position that the TM robot cannot reach (for example, using a TM5 to run TM12 project).
[Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button 1. Set the safety threshold to a more suitable value. 2. Revise the project flow. ErrorSuggestion0000FF10 [Cause]Joint 4 Velocity exceeds the value of the safety setting threshold. [Caution]1. Check that the safety threshold speed of the axis is appropriate. 2. Check the line speed setting.
[Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Make sure the safety settings are suitable for current application 2. Make sure the motion of the project would be trigger this error ErrorSuggestion0000FF11 [Cause]Joint 4 Torque exceeds the value of the safety setting threshold. 1. Improper payload settings 2. A collision has occurred 3. The brake is abnormal [Caution]1. Check that the payload setting is correct 2. Check if there has been a collision 3. Check whether the first axis brake is abnormal
This maybe caused by:
[Solution]To restore the robot from Error Status : 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Make sure the payload setting or payload used is suitable 2. Make sure the safety settings are suitable for current application 3. Assess the working environment, avoid any violent collision onto the robot ErrorSuggestion0000FF12 [Cause]Joint 5 Position exceeds the value of the safety setting threshold.
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[Caution]1. Check that the safety threshold angle of the axis is appropriate. 2. Check that the project flow has not set a position that the TM robot cannot reach (for example, using a TM5 to run TM12 project).
[Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button 1. Set the safety threshold to a more suitable value. 2. Revise the project flow. ErrorSuggestion0000FF13 [Cause]Joint 5 Velocity exceeds the value of the safety setting threshold. [Caution]1. Check that the safety threshold speed of the axis is appropriate. 2. Check the line speed setting.
[Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Make sure the safety settings are suitable for current application 2. Make sure the motion of the project would be trigger this error ErrorSuggestion0000FF14 [Cause]Joint 5 Torque exceeds the value of the safety setting threshold. 1. Improper payload settings 2. A collision has occurred 3. The brake is abnormal [Caution]1. Check that the payload setting is correct 2. Check if there has been a collision 3. Check whether the first axis brake is abnormal
This maybe caused by:
[Solution]To restore the robot from Error Status : 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Make sure the payload setting or payload used is suitable 2. Make sure the safety settings are suitable for current application 3. Assess the working environment, avoid any violent collision onto the robot ErrorSuggestion0000FF15 [Cause]Joint 6 Position exceeds the value of the safety setting threshold. [Caution]1. Check that the safety threshold angle of the axis is appropriate. 2. Check that the project flow has not set a position that the TM robot cannot reach (for example, using a TM5 to run TM12 project).
[Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button 1. Set the safety threshold to a more suitable value. 2. Revise the project flow. ErrorSuggestion0000FF16 [Cause]Joint 6 Velocity exceeds the value of the safety setting threshold. [Caution]1. Check that the safety threshold speed of the axis is appropriate. 2. Check the line speed setting.
[Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or
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2. Press the FREE button. 1. Make sure the safety settings are suitable for current application 2. Make sure the motion of the project would be trigger this error ErrorSuggestion0000FF17 [Cause]Joint 6 Torque exceeds the value of the safety setting threshold. 1. Improper payload settings 2. A collision has occurred 3. The brake is abnormal [Caution]1. Check that the payload setting is correct 2. Check if there has been a collision 3. Check whether the first axis brake is abnormal
This maybe caused by:
[Solution]To restore the robot from Error Status : 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Make sure the payload setting or payload used is suitable 2. Make sure the safety settings are suitable for current application 3. Assess the working environment, avoid any violent collision onto the robot ErrorSuggestion0000FF18 Please check the safety threshold of the seventh axis angle is appropriate. ErrorSuggestion0000FF19 Please check the safety threshold of the seventh axis speed is appropriate. ErrorSuggestion0000FF1A 1. Check whether the Payload setting is correct 2. Check whether there is a collision during the seventh axis 3. Check whether the seventh axis brake is abnormal ErrorSuggestion0000FF20 [Cause]Current for solenoid is over specification during brake release process [Caution] [Additional Explanation] System will detect the current for solenoid during brake releasing process, when it find the value over specification, it will report this error [Solution]1. Please press E-stop and release E-stop to resume Robot to see the issue is still occurred or not. 2. If this still occurs, contact a qualified service engineer for further analysis ErrorSuggestion0000FF21 [Cause]Joint movement range is over range during brake release process [Caution]Check if the payload is too that out of specification, including the mass, center of mass, inertia, etc. [Additional Explanation] System will detect the movement range while brake release process, when the value is over expected, it will report this error. [Solution]1. Power off the robot 2. Remove all payload and restart the robot 3. If this issue still happens, have a qualified service engineer for further analysis 1. Make sure the payload is within specification (including the center of mass and inertia) 2. Make sure there is no unexpected force acting on the robot during brake release process ErrorSuggestion0000FFA0 [Cause]Robot detect a low voltage on DCBUS. [Caution] [Additional Explanation] There maybe a variety of reasons that cause a low voltage, for example: 1. The power source is not stable on customer-site 2. Power supply is abnormal 3. etc. [Precaution] Power off and unplug the power cable before opening the control box for items checking [Solution]Shut down the robot, make sure the power source is stable then power on. If the same issue still occurs, contact a qualified service engineer for further analysis Make sure the power source is robust for robot running. ErrorSuggestion0000FFA1 [Cause]Robot detect the voltage on DCBUS is higher than spec.
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[Caution]Check whether there are others error log along with this error. [Additional Explanation] There maybe a variety of reasons that cause a high voltage, for example: 1. The robot move too fast with the current project (with heavy payload) 2. Power eater modules is abnormal 3. etc. [Precaution] Power off and unplug the power cable before opening the control box for items checking [Solution]After restart the robot, the problem still occur, contact a qualified service engineer for further analysis 1. Make sure the robot would not be collided and be placed on an unstable platform. 2. Make sure project speed with payload is within the specification. ErrorSuggestion0000FFA2 Be careful! G sensor overload on X direction. ErrorSuggestion0000FFA3 Be careful! G sensor overload on Y direction. ErrorSuggestion0000FFA4 Be careful! G sensor overload on Z direction. ErrorSuggestion0000FFA5 [Cause]Robot detect the temperature on PCB is higher than spec. [Caution]1. Check if the environment temperature is higher than the spec. while robot moving. 2. Check the temperature on View->Status [Additional Explanation] The temperature would rise during robot operating and the work space temperature will affect as well. [Solution]Shut down the robot, and keep it cool for a while before start up again. If this issue still occurs, please contact a qualified service engineer for further analysis 1. Make sure the temperature of the working environment is within the specification. 2. Make sure the payload or the project speed is within the specification ErrorSuggestion0000FFA6 [Cause]Robot has detected a overshoot of U phase current on the motor [Caution]1. Check the header of the error code to see which motor is with this issue 2. Check if the robot is run with payload out of spec. and also in high speed 3. Check if the safety settings of the robot [Additional Explanation] If the robot is driven and accelerate fast, current of the motor will overshoot and trigger this error [Additional Explanation] This is usually be triggered when running the robot with a heavy payload with high speed which is nearly or already out of spec. [Additional Explanation] Another reason may be there is dysfunction on the electronics on the motors [Solution]1. Shut down and reboot the robot 2. Adjust the payload, safety settings, speed and see if the issue still happens 3. If it still happens, export the Logs, Project and TCP used, and contact to your service engineer 1. Make sure the payload (including the tool) is within the spec. 2. Adjust the speed or movement to prevent the risk of having a single joint accelerate too fast ErrorSuggestion0000FFA7 [Cause]Robot has detected a overshoot of V phase current on the motor [Caution]1. Check the header of the error code to see which motor is with this issue 2. Check if the robot is run with payload out of spec. and also in high speed 3. Check if the safety settings of the robot [Additional Explanation] If the robot is driven and accelerate fast, current of the motor will overshoot and trigger this error [Additional Explanation] This is usually be triggered when running the robot with a heavy payload with high speed which is nearly or already out of spec. [Additional Explanation] Another reason may be there is dysfunction on the electronics on the motors [Solution]1. Shut down and reboot the robot 2. Adjust the payload, safety settings, speed and see if the issue still happens 3. If it still happens, export the Logs, Project and TCP used, and contact to your service engineer 1. Make sure the payload (including the tool) is within the spec.
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2. Adjust the speed or movement to prevent the risk of having a single joint accelerate too fast ErrorSuggestion0000FFA8 [Cause]Robot has detected a overshoot of W phase current on the motor
[Caution]1. Check the header of the error code to see which motor is with this issue 2. Check if the robot is run with payload out of spec. and also in high speed 3. Check if the safety settings of the robot [Additional Explanation] If the robot is driven and accelerate fast, current of the motor will overshoot and trigger this error [Additional Explanation] This is usually be triggered when running the robot with a heavy payload with high speed which is nearly or already out of spec. [Additional Explanation] Another reason may be there is dysfunction on the electronics on the motors [Solution]1. Shut down and reboot the robot 2. Adjust the payload, safety settings, speed and see if the issue still happens 3. If it still happens, export the Logs, Project and TCP used, and contact to your service engineer 1. Make sure the payload (including the tool) is within the spec. 2. Adjust the speed or movement to prevent the risk of having a single joint accelerate too fast ErrorSuggestion0000FFA9 Be careful! Motor current protection on U phase trigged, which may be caused by impact. ErrorSuggestion0000FFAA Be careful! Motor current protection on V phase trigged, which may be caused by impact. ErrorSuggestion0000FFAB [Cause]The motor current rises suddenly and triggers motor hold protection [Caution]1. Check if there robot has collided to the surroundings seriously 2. Check the description of this error code to see which joint it belongs to [Additional Explanation] When the robot collides to a solid object in a high speed, some of the joints may suffer a great torque on them and this causes the motor current raise rapidly and trigger this error [Precaution] If the robot is closed to any thing or surface, using ordinary start-up may cause collision again during the joint calibration; therefore, use should use Safe Start-up Mode to restore the robot [Precaution] When manually driving the robot in Safe Start-up Mode, there is no drive power but just release the brakes of all joints, if there is tool or payload on the end-effector, it is suggest to have more than one person to hold the end-effector. [Precaution] Do not drive the joint manually when this error occurs, which might damage the joint [Solution]1. Trigger the Emergency Switch (Button) and then shutdown the robot 2. Reboot the robot 3. Release the Emergency Switch (Button) when the Control Box starts working 4. The system will enter Safe Start-up Mode (light blue on LED) 5. Press FREE button and drive the robot to a safe region or pose 6. Hold the STOP button of the robot stick and switch the system to AUTO mode Make sure the robot will not collide with the surroundings during project run ErrorSuggestion0000FFAC An error occurred in the UVW signal on optical encoder ErrorSuggestion0000FFAD The index of encoder is not calibrated. ErrorSuggestion0000FFAE [Cause]Robot has detected the current on DCBUS went too high suddenly. [Caution]1. The speed(ABS/project speed) is too fast. 2. Check whether there is any collision while robot moving. [Additional Explanations] If robot is moving in a high speed in some movement or pose, it would cause this error. And if robot has collisions, it would cause the current became abnormal. [Solution][General User] After restart the robot, the problem still occur, contact a qualified service engineer for further analysis. 1.Slow down the speed(ABS/project speed). 2. Avoid any collision while robot is moving. ErrorSuggestion0000FFAF [Cause]The communication time of EtherCAT is timeout [Caution]Check if any external EtherCAT device used has lost connection
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[Additional Explanation] System will periodic check the EtherCAT communication, if communication timeout, it will report this error. [Solution]Contact a qualified service engineer for further analysis external ErrorSuggestion0000FFB1 [Cause]The communication time of SPI is timeout [Caution] [Additional Explanation] It may possibly because the SPI IC is dysfunction which is not likely to happen [Solution] ErrorSuggestion0000FFB2 1. Please check grounding line is normal or not. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFB3 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFB4 1. Please try to restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0000FFB5 1. Please try to restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0000FFB6 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFB7 Please check the functionality of break unit ErrorSuggestion0000FFB8 [Cause]Hardware Failure [Caution] [Additional Explanation] This error is not likely happens, mostly because of hardware issue [Solution]1. Export the Logs 2. Contact a qualified service engineer for further analysis ErrorSuggestion0000FFB9 [Cause]Hardware Failure [Caution] [Additional Explanation] This error is not likely happens, mostly because of hardware issue [Solution]1. Export the Logs 2. Contact a qualified service engineer for further analysis ErrorSuggestion0000FFBA [Cause]Hardware Failure [Caution] [Restriction] Do not drive the joint with or without drive power [Solution]1. Export the Logs 2. Contact a qualified service engineer for further analysis Make sure the power source is robust for robot running. ErrorSuggestion0000FFC0 An error occurred in transit to absolute position ErrorSuggestion0000FFC1 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFC2 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFC3 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFC4 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFC5 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFC6 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFC7 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFC8 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFC9 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFCA [Cause]Encoder is dysfunctional [Caution] [Additional Explanation] This error is not likely happens, mostly because of hardware issue [Solution]1. Export the log, 2. Contact a qualified service engineer for further analysis
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ErrorSuggestion0000FFCB Please reduce the motion speed, check the flow and the speed and posture in each node ErrorSuggestion0000FFCC [Cause]Encoder is dysfunctional
[Caution] [Additional Explanation] This error is not likely happens, mostly because of hardware issue [Solution]1. Export the log, 2. Contact a qualified service engineer for further analysis ErrorSuggestion0000FFCD [Cause]Hardware Failure [Caution] [Restriction] Do not drive the joint with or without drive power when this issue happens [Solution]1. Export the Logs 2. Contact a qualified service engineer for further analysis Make sure the robot would not collided with the surroundings during project run or robot shifting ErrorSuggestion0000FFCE [Cause]Hardware Failure [Caution] [Restriction] Do not drive the joint with or without drive power [Solution]1. Export the Logs 2. Contact a qualified service engineer for further analysis ErrorSuggestion0000FFCF [Cause]The motor current rises suddenly and triggers motor hold protection [Caution]1. Check if there robot has collided to the surroundings seriously 2. Check the description of this error code to see which joint it belongs to [Additional Explanation] When the robot collides to a solid object in a high speed, some of the joints may suffer a great torque on them and this causes the motor current raise rapidly and trigger this error [Precaution] If the robot is closed to any thing or surface, using ordinary start-up may cause collision again during the joint calibration; therefore, use should use Safe Start-up Mode to restore the robot [Precaution] When manually driving the robot in Safe Start-up Mode, there is no drive power but just release the brakes of all joints, if there is tool or payload on the end-effector, it is suggest to have more than one person to hold the end-effector. [Precaution] Do not drive the joint manually when this error occurs, which might damage the joint [Solution]1. Trigger the Emergency Switch (Button) and then shutdown the robot 2. Reboot the robot 3. Release the Emergency Switch (Button) when the Control Box starts working 4. The system will enter Safe Start-up Mode (light blue on LED) 5. Press FREE button and drive the robot to a safe region or pose 6. Hold the STOP button of the robot stick and switch the system to AUTO mode Make sure the robot will not collide with the surroundings during project run ErrorSuggestion0000FFD0 Please check the UVW signal on encoder ErrorSuggestion0000FFD1 [Cause]Hardware Failure [Caution]Check if the robot is placed near any device with strong magnetic field [Additional Explanation] Under a strong magnetic field may affect the readings of the magnetic encoder [Solution]1. Export the Logs 2. Make sure the robot is not under any strong magnetic field and then reboot the robot 3. If this still does not work, Contact a qualified service engineer for further analysis Make sure the robot is not under any strong magnetic field ErrorSuggestion0000FFD2 [Cause]Hardware Failure [Caution]Check if the robot is placed near any device with strong magnetic field [Additional Explanation] Under a strong magnetic field may affect the readings of the magnetic encoder [Solution]1. Export the Logs 2. Make sure the robot is not under any strong magnetic field and then reboot the robot
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3. If this still does not work, Contact a qualified service engineer for further analysis Make sure the robot is not under any strong magnetic field ErrorSuggestion0000FFD3 [Cause]1.The robot may be disassembled abnormally. Please check the warranty sticker and thread-locking fluid are both broken or not 2. Joint gear wear out [Caution] [Additional Explanation] When the origin of joint module is not detected, it will report this error [Solution]1. Export the log file 2. Contact a qualified service engineer ErrorSuggestion0000FFD4 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFD5 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFD6 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFD7 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFD8 [Cause]1. Motor is damaged 2. Joint PCB is damaged [Caution] [Additional Explanation] When the resistance of UVW current of motor is abnormal, it will report this error [Solution]1. Export the log file 2. Contact a qualified service engineer ErrorSuggestion0000FFD9 [Cause]Hardware Failure [Caution] [Additional Explanation] The cables connection of UVW of motor is not correct. Qualilty issue or the robot may be disassembled abnormally. [Solution]1. Export the log file 2. Contact a qualified service engineer Make sure the robot is not being disassembled illegally ErrorSuggestion0000FFDA Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFDB Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFDC Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFDD 1. Please restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0000FFDE 1. Please restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0000FFDF 1. Please restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0000FFE0 [Cause]1. Power supply is not stable. 2. Robot moves in high speed, current is higher, voltage loss getting higher.(Vinput-Vloss=V for DC bus) 3. Power connector problem, consume too much power [Caution] [Additional Explanation] When robot is working and detects the voltage of DC bus is low, it will report this error [Solution]1. Power off the robot 2. Check Robot Cable and its connector before power on again 3. Reduce Robot speed if necessary Make sure power source is stable ErrorSuggestion0000FFE1 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFE2 1. Please restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0000FFE3 1. Please restart the robot.
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2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0000FFE4 [Cause]Encoder is abnormal
[Caution] [Additional Explanation] This error is not likely happens, mostly because of hardware issue [Solution]1. Export the log, 2. Contact a qualified service engineer for further analysis ErrorSuggestion0000FFE5 1. Please restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0000FFE6 1. Please restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0000FFE7 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFE8 [Cause]Hardware Failure [Caution] [Additional Explanation] When the output of the G sensor is abnormal, it will report this error [Solution]1. Export the log file 2. Contact a qualified service engineer ErrorSuggestion0000FFE9 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFEA [Cause]DC to DC component on Join PCB is damaged [Caution] [Additional Explanation] When detect voltage of 5V is abnormal, it will report this error [Solution] ErrorSuggestion0000FFEB [Cause]DC to DC component on Join PCB is damaged [Caution] [Additional Explanation] When detect voltage of 12V is abnormal, it will report this error [Solution] ErrorSuggestion0000FFEC Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0000FFED [Cause]Encoder is msyfunction [Caution] [Additional Explanation] This error is not likely happens, mostly because of hardware issue [Solution]1. Export the log, 2. Contact a qualified service engineer for further analysis ErrorSuggestion0000FFEE Please turn on joint modules ErrorSuggestion0000FFEF Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00013880 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00013881 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00013882 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00013883 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00013884 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00013885 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00013886 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00013887 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
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maintenance unit. ErrorSuggestion00013888 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013889 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001388A Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001388B Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001388C Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001388D Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001388E Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001388F Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013890 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013891 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013892 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013893 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013894 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013895 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013896 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013897 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013898 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013899 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001389A Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001389B Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001389C Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001389D Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001389E Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001389F Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
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maintenance unit. ErrorSuggestion000138A0 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000138A1 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000138A2 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000138A3 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000138A4 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000138A5 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013C68 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013C69 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013C6A Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013C6B Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013C6C Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013C6D Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013C6E Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013C6F Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013C70 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013C71 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013C72 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013C73 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013C74 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00013C75 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014050 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014051 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014052 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014053 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
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maintenance unit. ErrorSuggestion00014054 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014055 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014056 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014057 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014058 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014059 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001405A Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001405B Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001405C Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001405D Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001405E Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001405F Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014060 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014061 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014062 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014063 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014064 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014065 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014066 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014067 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014068 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014069 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001406A Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001406B Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
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maintenance unit. ErrorSuggestion0001406C Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001406D Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001406E Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001406F Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014070 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014071 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014072 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014073 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014074 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014075 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014076 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014077 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014078 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014079 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001407A Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001407B Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001407C Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001407D Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001407E Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001407F Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014080 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014081 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014082 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014083 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
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maintenance unit. ErrorSuggestion00014084 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014085 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014086 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014087 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014088 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014089 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001408A Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001408B Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001408C Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001408D Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001408E Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001408F Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014090 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014091 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000140AA Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000140AB Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000140AC Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000140AD Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000140AE Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000140AF Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000140B0 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000140B1 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014438 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014439 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
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maintenance unit. ErrorSuggestion0001443A Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001443B Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001443C Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001443D Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001443E Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001443F Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014440 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014441 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014442 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014443 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014444 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014445 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014446 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014447 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014448 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014449 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001444A Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001444B Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001444C Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001444D Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001444E Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001444F Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014450 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014451 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
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maintenance unit. ErrorSuggestion00014452 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014453 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014454 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014455 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014456 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014457 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014458 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014459 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001445A Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001445B Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001445C Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001445D Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001445E Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion0001445F Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014820 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014C08 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014C09 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014C0A Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014C0B Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014C0C Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014C0D Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014C0E Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014C0F Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014C10 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
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maintenance unit. ErrorSuggestion00014C11 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014C12 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014C13 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014C14 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014FF0 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014FF1 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014FF2 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014FF3 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014FF4 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014FF5 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014FF6 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014FF7 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014FF8 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014FF9 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014FFA Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014FFB Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014FFC Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00014FFD Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000153D8 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000153D9 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000153DA Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000153DB Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000153DC Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000153DD Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
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maintenance unit. ErrorSuggestion000153DE Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000153DF Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000153E0 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000153E1 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000153E2 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000153E3 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000157C0 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion000157C1 Mathematical operation failed! Please contact the original purchase of the manufacturer or a third party designated
maintenance unit. ErrorSuggestion00020000 [Cause] The robot can not detect or recognize the camera.
[Caution]1. Check if there is a camera icon in the vision job page. 2. Check whether the USB connection of the camera is broken on the control box or inside the robot arm.
[Precaution] Causes a camera malfunction and VISION job\task will not be available. [Precaution] Importing the project within the vision job to a non-vision robot will also cause this error.
[Solution]Refer to the related service manual for proper USB plugin methods. Ensure that all USB cables are securely connected to the camera and the control box. ErrorSuggestion00020001 The camera is busy when the flow try to use it. Check the flow where user may misuse multi-thread flow to use the sample camera. ErrorSuggestion00020002 Unexpected errors occurred. Reboot the robot and try to use fewer or simpler vision jobs. If it keeps happening, please contact your support windows. ErrorSuggestion00020003 [Cause] The connection between camera and robot is unstable. [Caution]1. Check the USB connection to the camera and control box is secure. 2. Check if the USB slots are overloaded.
[Precaution] Causes a camera malfunction and VISION job\task will not be available. [Precaution] The USB cable's transmission signal would become weak gradually because of the normal consumption of wire. [Additional Explanations] Signal attenuation cause by too many USB cable plug on the control box. Sometimes, if the signal attenuation became worse it will cause the error "ErrorSuggestion00020000 Camera NOT found "
[Solution]1. Please refer to the service manual which related Robot arm which would teach you how to dismantle and plug the USB cable properly. 2. Please refer to the service manual which related control box which would teach you how to plug the USB cable properly. 3. Please check the USB slots are overloaded on the control box and please plug out the USB which is not required.
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Please regularly check if the USB Cable connected to the camera and control box are all fine. ErrorSuggestion00020004 The vision job is not compatible to the current version of HMI. ErrorSuggestion00020005 [Cause]Dongle key is not detected while edit the corresponding function on a project or run that project
[Caution]Check if the dongle is plugged onto the Control Box
[Solution]1. Press STOP button on the robot stick to restore from error status 2. Connect the corresponding Dongle onto the Control box and run the project again 3. Run the project again; if this error still occurs, contact a qualified service engineer for further analysis
Make sure having the corresponding Dongle key plugged before running or editing the project with license functions ErrorSuggestion00020006 This message is only for TM's production line. ErrorSuggestion00020007 Error occurs in the flow of vision's designer. Try to re-edit the vision job. If it keeps happening, please contact our
official windows. ErrorSuggestion00020008 [Cause]Vision job can not be found during executing the VISION node
[Caution]Check if the vision job is exist or not.
[Solution]1. Press STOP button on the robot stick and 2. Re-create the vision job Make sure the vision job is exist before executes the project. ErrorSuggestion00020009 [Cause]The same camera is simultaneously accessed by multiple threads. [Caution]Check if there are multi- threads using the same camera while running the project.
[Solution]Press STOP button on the robot stick to stop the project. Make sure a camera is being used by only one thread ErrorSuggestion0002000A This job can only be run on X64 platform ErrorSuggestion0002000B Servoing and Vision-IO threads conflict ErrorSuggestion0002000C Error occurs in saving vision actioner reuslt to storage. Please check and try to reset storage. ErrorSuggestion0002000D External HTTP setting missing. Please create or select other setting ErrorSuggestion0002000E AI model missing. Please create or select other model ErrorSuggestion00030001 [Cause]Points setting error during creating a plane for Operation Space [Caution]Check if more than 2 of the three points of the plane are the same [Additional Explanation] A plane could only be created by 3 different points [Solution]To restore the robot from Error Status : 1. Click on the OK button on the pop up windows. 2. Reset the 3 points in following steps: Setting > Operation Space > Select project name of plane > Set Point Before creating a plane, make sure the 3 points are set well, and should not be repeated. ErrorSuggestion00030002 [Cause]Points setting error during creating a cube for Operation Space [Caution]Check if more than 2 of the four points of the cube are the same [Additional Explanation] A cube could only be created by 4 different points [Solution]To restore the robot from Error Status : 1. Click on the OK button on the pop up windows. 2. Reset the 4 points in following steps: Setting > Operation Space > Select project name of cube > Set Point Before creating a cube, make sure the 4 points are set well, and should not be repeated. ErrorSuggestion00030003 [Cause]The system fails to combine this plane with other planes.
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[Caution]Check if the three points set by the user when adding this plane, the center point of the circle falls on the outside of plane.
[Solution]Re-create a plane which is suitable Check if the three points are set up when adding this plane, the center point of the circle falls on the inside of plane. ErrorSuggestion00030004 [Cause]The system fails to combine this stop plane with other planes. [Caution]Check if the three points set by the user when adding this stop plane, the center point of the circle falls on the outside of plane.
[Solution]Re-create a stop plane which is suitable Check if the three points are set up when adding this stop plane, the center point of the circle falls on the inside of plane. ErrorSuggestion00030005 Re-Build Safety Space ErrorSuggestion00030006 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00030007 N/A ErrorSuggestion00031000 [Cause]The 3D Viewer function has been terminated [Caution]Check any 3D viewer on TMflow (such as Setting/Controller) if it is functional [Additional Explanation] This error does not likely happen unless there is a software issue [Solution]1. Export the log 2. Have the robot power cycling to see if this error still occurs 3. Report to the service engineer with the log file ErrorSuggestion00031001 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00031002 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00031003 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00031004 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00031005 Invalid point for collision check node ErrorSuggestion00031006 Invalid parameter for collisioin check node ErrorSuggestion00031007 Over angle limit for collision check node ErrorSuggestion00040000 1. Please try to restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion00040001 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00040002 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00040003 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00040004 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00040005 [Cause]The HMI found that an unexpected exception error. [Caution]1. Check if there is other error message describe the location of the issue node 2. Check if there is other error message describe more detail of this issue [Additional Explanation] This error usually happens if there is an unexpected software issue
[Solution]1. Export the log file and the project file 2. Contact a qualified service engineer
ErrorSuggestion00040006 1. Please backup the HMI Log.
2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit.
ErrorSuggestion00040007 [Cause]ESTOP mode is triggered, and the power of the robot is cut off. HMI can't connect the robot.
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[Caution]Check if ESTOP mode is triggered 1. The ESTOP button of the stick is pressed. 2. The ESTOP wire of the control box is not connected. Check if the LED light of the robot is turn off. [Additional Explanation] This error usually appears as a popped up message on HMI [Additional Explanation] This error usually happens because the power of the robot is cut off by ESTOP mode triggered while doing the one of the following cases: 1. When open and close the camera IO LED, the HMI will pop up a window messageRobot is not connected 2. In Project, click the "Step Run" button, the HMI will pop up a window messageSet Speed Fail :Robot is not connected 3. Leave the project and enter the project again, the HMI will pop up a window message error code : Robot is not connected 4. etc. [Solution]If the emergency stop button has been pressed on the robot stick: 1. Release the e-stop button.
a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. If an external emergency stop button has been pressed: 1. Release the external e-stop button. a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. If an one of the emergency stop ports has been tripped: 1. Plug the wire back to the port. 2. Press, then release the external emergency stop button. a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. Make sure the robot is connected while using HMI ErrorSuggestion00040008 Please confirm user permissions. ErrorSuggestion00040009 Please check whether the user account, password are correct. ErrorSuggestion0004000A [Cause]ESTOP mode is triggered, and the power of the robot is cut off. HMI can't connect the robot. [Caution]Check if ESTOP mode is triggered 1. The ESTOP button of the stick is pressed. 2. The ESTOP wire of the control box is not connected. Check if the LED light of the robot is turn off. [Additional Explanation] This error usually appears as a popped up message in HMI [Additional Explanation] This error usually happens because the power of the robot is cut off by ESTOP mode triggered. 1. When operator the controller ,the HMI will pop up a window messageSystem fault: Lock Robot{{0}}
[Solution]If the emergency stop button has been pressed on the robot stick: 1. Release the e-stop button.
a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. If an external emergency stop button has been pressed:
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1. Release the external e-stop button. a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has
entered safe start-up mode. If an one of the emergency stop ports has been tripped: 1. Plug the wire back to the port. 2. Press, then release the external emergency stop button.
a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. Make sure the robot is connected while using HMI ErrorSuggestion0004000B 1. Please reboot robot and try to set it again. 2. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0004000C 1. Please check whether the setting of TCP is correct. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0004000D 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0004000E Please check whether the robot is running and try it again. ErrorSuggestion0004000F [Cause]The project is broken or does not exists. [Caution]Check the project list again whether the project is not existing. [Precaution] This error would only show on the pop up window, not in the HMI log. [Solution]To restore the robot from Error Status : Click on the OK button on the pop up window. Make sure project is exported successfully before un-plug the usb drive ErrorSuggestion00040010 Please check whether the component exists or is damaged. ErrorSuggestion00040011 [Cause]The current node has not been set up correctly [Caution]1. Check if the issued node is grey in color which means it is still in offline mode 2. Check if the setting of the current node is abnormal [Additional Explanation] Motion related node built by TMFlow Editor has no position information which need further set up on a robot [Solution]1. Press Stop Button on the robot stick to restore the error status 2. Complete the set up of the current node 1. Make sure all motion related nodes built from TMFlow Editor has complete settings before step run 2. Make sure all nodes of the project has been set up correctly ErrorSuggestion00040012 Please check whether the coordinate system settings are correct and complete. ErrorSuggestion00040013 [Cause]When the TCP data is lost, or the servo check and the TCP data exchange error occurred. [Caution]Check if the TCP Setting UI could open that TCP
[Solution]1. Import the project or TCP data again or 2. Re-et the TCP settings 1.Make sure the USB devices and import process are stable during importing project and TCP data. 2.Check if the TCP data is existed before uses it. ErrorSuggestion00040014 [Cause]System has detected settings of the certain node is invalid [Caution]1. Check the error message followed and locate the issued node 2. Check if the issued node is grey in color which means it is still in offline mode 3. Check if the setting of any nodes is abnormal [Additional Explanation] Motion related node built by TMFlow Editor has no position information which need further set up on a robot
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[Solution]1. Click Stop on the robot stick to restore the error status 2. Complete the set up of the current node 1. Make sure all motion related nodes built from TMFlow Editor has complete settings before project run 2. Make sure all nodes of the project has been set up correctly ErrorSuggestion00040015 [Cause]System has detected a dysfunction on the CPU Fan [Caution]Check if there is any werid noise coming from the Control box [Additional Explanation] If CPU fan is being stuck or the power cable of the fan is loosen, this error might happen [Solution]Contact a qualified service engineer for further analysis Make sure the robot is installed on a stable platform ErrorSuggestion00040016 [Cause] Input the invalid value in the field in user setting. [Caution]Check if 1. The Field of setting is empty 2. The format type of value in the field is invalid [Additional Explanation] This error usually appears as an pop up window when using, 1. HMI Setting Page 2. Project Flow
[Solution]Click OK and close the pop up window Make sure the value in the field is valid during setting ErrorSuggestion00040017 Please check whether the coordinate system settings are correct and complete. ErrorSuggestion00040018 [Cause]The base is currently used by other nodes, deleting this base will trigger this error [Caution]Check if the base is currently used by any nodes [Additional Explanations] The base is currently used by other nodes (POINTS, NEW BASE, etc.) , deleting this base will trigger this error [Additional Explanation] This error code will only appears on HMI as a pop up window [Solution]To restore the robot from Error Status : Click on the OK button on the pop up window. Make sure the base is not being used by any nodes before deleting it ErrorSuggestion00040019 1. Check that the Point is present. 2. Check that the Point setting is abnormal. ErrorSuggestion0004001A 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0004001B 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0004001C [Cause]There is no nodes connected to the Start Node in the Project Flow [Caution]1. Check if there is no nodes connected to the Start Node in the Project Flow
[Solution]1. To restore the robot from Error Status : Press the STOP button on the robot stick, or press the FREE button. 2. Connect the next process Node to the Start Node
Be careful when editing Project Flow ErrorSuggestion0004001D Please check whether the coordinate system settings are correct and complete. ErrorSuggestion0004001E [Cause]user account has already been login by other client device
[Caution]Check if someone else has already login with the same account [Additional Explanation] This error is not likely happens, instead, ErrorSuggestion00040009 (Log In/Out failed) is more often.
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[Solution]Click OK and close the pop up window Make sure you are the only one use this account while logging in ErrorSuggestion0004001F [Cause]Another account gets the Control ownership [Caution]Check if there is someone else get the Control ownership with another account [Additional Explanation] This could only happen if multiple accounts try to get the Control ownership at the same time (nearly) [Additional Explanation] Usually, if one account has already get the Control ownership, the ownership button on other accounts would disable [Solution]1. Have the current ownership account release the control first 2. Try getting the Control ownership again Make sure only one account would get the Control ownership at once ErrorSuggestion00040020 Please confirm user permissions. ErrorSuggestion00040021 [Cause]If user edit an exist base which using "by pointing 3 points" function in Base Manager without manual teaching and click OK directly, it might cause this error. [Caution]In "Build a Base by 3 points" page, if user did not teach the one of three axis direction in the both option "Point on X axis" and "Point on Surface". [Additional Explanations] User must to choose and teach one of three axis direction(X,Y,Z) in the settings "Point on X axis" and "Point on Surface". [Solution]To restore the robot from Error Status : Click on the OK button on the pop up windows. Check the base is set correctly by manual operation in the "by pointing 3 points" function page . ErrorSuggestion00040022 [Cause]Teach points in Compliance or Touch Stop node are not able to generate a legal motion [Caution]In Compliance or Touch Stop Node, check if the teach points are at the same position or impossible to generate a legal motion [Precaution] This error would only show the "Calculation failed" on the pop up window, not in the HMI log. [Solution]Click on the OK and close the pop window Make sure the teach points are all suitable and correct. ErrorSuggestion00040023 [Cause]Teach points in Compliance or Touch Stop node are not able to generate a legal linear motion [Caution]In Compliance or Touch Stop Node, check if the teach points are at the same position or impossible to generate a legal linear motion [Precaution] This error would only show the "Calculation failed" on the pop up window, not in the HMI log. [Solution]Click on the OK and close the pop window Make sure the teach points are all suitable and correct. ErrorSuggestion00040024 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00040025 Please check whether the SystimeFile.ini is correct. ErrorSuggestion00040026 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00040027 [Cause]Project cannot run in Auto Mode when USB device plugged in the control box. [Caution]Check if there is no USB devices plugged on the control box
[Additional Explanation] This error usually happens because the user forgets to remove the USB device from the control box before run the project in Auto Mode [Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 3. Remove the USB device from the control box
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Make sure all USB devices are removed from the control box before the project runs in Auto Mode. ErrorSuggestion00040028 Please check whether the project is running. ErrorSuggestion00040029 Please check whether the project is editing. ErrorSuggestion0004002A [Cause]The target project is not found while running function WARP
[Caution]Please check if the target project selected in WARP function node is still exist
[Solution]If the target project of the WARP function node has been deleted or renamed, please reset or erase the node Please remind when deleting or renaming a project if it is related to other project with WARP function ErrorSuggestion0004002B [Cause]Warp project failed [Caution]Check if the target project of the WARP node is damaged or deleted [Additional Explanation] This project are not likely to be damaged, possibly because of software issue [Solution] 1. Press the STOP button on the robot stick to restore from error status 2. Export both project files and log file 3. Contact a qualified service engineer for further analysis
Make sure the project used by WARP node exists ErrorSuggestion0004002C [Cause]Unexpected software issue during project compiling
[Caution]Check if there is any error messages followed [Additional Explanation] This error occurs if and only if there is an unexpected issue on software [Solution] 1. Press the STOP button on the robot stick to restore from error status 2. Export the project file and log file 3. Contact a qualified service engineer for further analysis
ErrorSuggestion0004002D [Cause]System detected an error on Project Flow while the it is running
[Caution]1. Check the message with this error code; it should specify which node has error
2. Check if there is another error code also occurs
[Additional Explanation] There are lot of cases for this error, such as:
1. Any variables being used in the Project is deleted.
2. Incorrect settings on Pallet node, Circle node, etc.
3. Expressions or settings of If node, Waitfor node, Gateway node are incorrect
4. etc.
[Solution]To restore the robot from Error Status :
1. Press the STOP button on the robot stick, or
2. Press the FREE button.
Follow the message of the error code and correct the error
1. Be careful when deleting variables in Variable Manager.
2. Study and have a full understanding on Node Function, make sure the settings are correct
ErrorSuggestion0004002E [Cause]Fail to get control of the robot during the project running.
[Caution]1. Check if the robot is controlled by other user
2. Check if the robot is running a project
3. Check if the robot has been released control
[Additional Explanation] This error usually appears as a popped up message in HMI
[Additional Explanation] This error usually happens when user wants to use the robot (Project Editing or Controller)
while it is running a project.
[Solution]To restore the robot from Error Status :
1. Click on the OK button on the pop up windows.
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2. Stop the running project through pressing the Stop button on Stick 3. Recover to get control of the robot by following steps in HMI : Log in --> Get control 1. Check if the robot is controlled by other user before using the robot. 2. Don't release control of the robot during project-running. ErrorSuggestion00040030 Please check whether Force-Torque sensor device is exist within SmartInsert Node ErrorSuggestion00040031 [Cause]Robot detect the Force-Torque sensor occurred error during opening COM port. [Caution]Check if the COM port is correct in the Force-Torque sensor devices settings page. [Precaution] This error would only show on the pop up window, not in the HMI log. [Solution]Click on the OK and close the pop window Make sure the COM port setting is correct before use the Force-Torque sensor. ErrorSuggestion00040032 Please check Modbus device setting are correct ErrorSuggestion00040033 Please retry delete Modbus device ErrorSuggestion00040034 Please check Force-Torque sensor is workable ErrorSuggestion00040035 [Cause]Robot detect the Force-Torque sensor does not respond. [Caution]Check if the COM port cable is loose. [Additional Explanation] While the Force-Torque sensor is working, if the COM port cable is loose, it would cause this error. [Solution]Re-Plug the COM port cable on the robot. Make sure the COM port cable is stable during robot and Force-Torque sensor are working. ErrorSuggestion00040036 [Cause]The issued Point node built by TMFlow Editor has not been complete yet [Caution]Check if the issued Point node is grey in color which means it is still in offline mode [Additional Explanation] Point node built by TMFlow Editor has no position information which need further set up on a robot [Solution]1. Click Stop on the robot stick to restore the error status 2. Complete the set up of the point node Make sure all motion related nodes built from TMFlow Editor has complete settings before project run or step run ErrorSuggestion00040037 [Cause]System memory is not enough [Caution]
[Solution]After restart the robot, if the problem still occurs, contact a qualified service engineer for further analysis. ErrorSuggestion00040038 [Cause]The current node function created by offline editor has not been complete editing yet
[Caution]1. Check if the error message following with this error and locate the issue node 2. Check if the node is grey in color which means it is in offline mode [Additional Explanation] Motion related nodes are all in offline mode if they are created by offline editor, user need to complete the settings before usage [Additional Explanation] This error would be trigger during step run or project run [Solution]1. Press STOP button on the robot stick to restore the error status 2. Finish the setting of the node on HMI Make sure all offline nodes are complete setting on HMI ErrorSuggestion00040039 Please don't use vision keyword as a custom base prefix name ErrorSuggestion0004003A [Cause]The payload value set exceeds the maximum payload limit [Caution]Check if the payload value set exceeds the maximum payload limit [Precaution] This error would only show on the pop up window, not in the HMI log. [Solution]Click on the OK and close the pop window Check and make sure the payload value set on a node is within the maximum payload limit ErrorSuggestion0004003B [Cause]TCP loading (including Payload setting) is over limit [Caution]1. Check the mass of the TCP 2. Check the Payload setting of the related motion node
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[Additional Explanation] This error usually shows as a pop up window [Additional Explanation] TCP load is defined as the mass of TCP used plus the Payload setting [Additional Explanation] Instead of motion related nodes, this will also happens on Controller if the Payload setting is over limit [Solution]1. Click OK to close the pop up window 2. Modified the related settings Make sure the mass of TCP and Payload setting are within specification ErrorSuggestion0004003C NotActive ErrorSuggestion0004003D SendDataFail ErrorSuggestion0004003E ReceiveDataFail ErrorSuggestion0004003F InvalidReturnValue ErrorSuggestion00040040 GetNoDataFromEmulator ErrorSuggestion00040041 CheckOptimalSpeed ErrorSuggestion00040042 Please move robot by free robot ErrorSuggestion00040043 Please re-record robot point ErrorSuggestion00040044 Please re-record robot point ErrorSuggestion00040045 Please modify parameter of node ErrorSuggestion00040046 Out of Cartesian limits set. Please check if the TCP or elbow is out of the Cartesian limits ErrorSuggestion00040047 Robot TCP and/or elbow exceeds Cartesian limit ErrorSuggestion00040048 Please enter another new project name ErrorSuggestion00040049 Please check leasing key ErrorSuggestion0004004A 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0004004B 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0004004C [Cause] The node is invalid for TM SmartEdge [Solution] Please remove the invalid node for TM SmartEdge ErrorSuggestion0004004D [Cause]Component didn't import correctly. [Solution]Please import the correct component. ErrorSuggestion0004004E [Cause]Component setting has a motion command. [Solution]Please check the flow, the component can't work with a motion command. ErrorSuggestion0004004F [Cause]Component didn't import correctly. [Solution]Please import the correct component. ErrorSuggestion00040050 [Cause]External IO device no connection. [Solution]Please check the external IO device function and connection. ErrorSuggestion00040070 [Cause]Safety checksum mismatch between HMI and safety parameters [Caution]Error in safety parameter's files or values [Additional Explanation] This error may occurred if the safety parameters are improperly modified or the system has faults [Solution]1. Export the log file 2. Contact a qualified service engineer ErrorSuggestion00040100 Certification does not match Please download the latest certification file from website to start the installation process. The installation process will not proceed. ErrorSuggestion00040101 Certification does not match Please request the certification file from the product provider, and put it under TMflow folder located under the installation directory to enable TMflow Editor. Program will be terminated automatically.
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ErrorSuggestion00040102 [Warning][User Setting]Host and client versions conflict [Cause]The software version between the robot (host) and Tmflow.exe (client) is not matched [Caution]Check both versions of the robot (host) and the Tmflow.exe on PC (client) if they are matched or not [Precaution] If the versions are not matched, there would be possibly to trigger unexpected errors for certain functions [Solution]Click OK to close the pop up window Make sure both versions of the robot (host) and the Tmflow.exe on PC (client) are matched before login
ErrorSuggestion00040103 [Error][User Setting]Certification does not match. Please get the certification file from the product provider, and put it under TMflow folder located under the installation directory to enable TMflow Editor. Program will be closed automatically. [Cause]Certification for the corresponding HMI does not match [Caution]1. Check if the certification file on Techman folder is the correct version if this happens on Tmflow.exe 2. Check if the certification file on the USB drive exists or if it is the correct version for HMI update [Solution]1. Click OK to close the pop up window 2. Replace the file with the correct one Make sure the certification file is correct
ErrorSuggestion00040104 Please download the MD5 file to check the integrity of file. ErrorSuggestion00040105 Please check or redownload the file. ErrorSuggestion00040F80 ProxyServer initialize failure ErrorSuggestion00040F81 ProxyServer initialize failure, TcpListener error ErrorSuggestion00040F82 ProxyServer initialize failure, ServerParams error ErrorSuggestion00040F83 ProxyServer initialize failure, ConfigData error ErrorSuggestion00040F84 ProxyServer initialize failure, SystemFile error ErrorSuggestion00040F85 ProxyServer initialize failure, OpenActioner error ErrorSuggestion00040F86 ProxyServer initialize failure, OpenService error ErrorSuggestion00040F90 [Cause]1.Dongle Key missing or been unplugged.
2. Dongle Key not support current application. [Solution]1. Please replug the Dongle Key 2. Please contact the original purchase of the manufacturer to confirm your Dongle Key status. ErrorSuggestion00041000 Communication error, please restart the robot. ErrorSuggestion00041002 [Cause]Emergency Stop has been triggered during resuming from a Cat.1 stop [Caution]1. Check if the Emergency Switch of the robot stick has been pressed 2. Check if the Emergency port is being tripped [Additional explanation] 1. Cat. 1 stop usually means Emergency Switch of the robot stick or the Emergency port on the Control Box being tripped 2. During the resuming Cat. 1 (robot LED blinks red), the EtherCAT communication starts initializing and connecting all slaves, if any Emergency Switches are being tripped, power through the robot will cut off which makes the communication can no longer be available. [Solution]1. Makes sure any Emergency Related switches have been restored, then reboot the robot 2. If the this issue still occurs, contact your service engineer for further analysis
Prevent to trigger any Emergency Stop switch(es) during the resuming of Cat.1 stop ErrorSuggestion00041003 [Cause]Inverse Kinematics failure
[Caution]Check if there is any custom base in the current project which may be badly assigned [Additional Explanation] If the inverse kinematics of the target point is failed to be solved, it may trigger this error [Additional Explanation] This may possibly because the custom base used is badly assigned, e.g., 3 points on the same line
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[Solution]1. To restore the robot from error status: Press the STOP button on the robot stick, or press the FREE button 2. Export the project file and log file to a qualified service engineer for further analysis
Make sure the custom base is well assigned ErrorSuggestion00041004 1. Please backup the HMI Log.
2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00041005 Communication error, please restart the robot. ErrorSuggestion00041008 [Cause]The joint is rotating over its degree setting range or the robot's position exceeds the defined working area.
[Caution]1. Check to see if the Joint Position on Settings\Safety Settings\Safety Stop Criteria\Joint Position is set with the correct limits 2. Check to see if the Working Area on Settings\Operation Space\Stop Plane is set correctly [Precaution] It's would also show which joint is exceeds the limit to notice the user to check the Joint Position setting. [Solution]To restore the robot from Error Status : 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Make sure the Joint Position on Settings\Safety Settings\Safety Stop Criteria\Joint Position is set with the correct limits 2. Make sure the Working Area on Settings\Operation Space\Stop Plane is set correctly ErrorSuggestion00041009 Rtx start failure ErrorSuggestion0004100A Rtx lincense failure ErrorSuggestion0004100B 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0004100C [Cause]1. Emergency Stop Button on the robot stick has been pressed. 2. The extension port(s) for Emergency Stop has been triggered. 3. The external safety device input discrepancy. [Caution]1. Check that the wire between the robot stick and the control box is securely connected and is not triggered. 2. Check if the wire on the extension port(s) for emergency stop is securely connected and is not triggered. 3. Check if the wire on the exteranl safety device port(s) is securely fastened. [Precaution] When the situation above is triggered, the robot will enter cat.1 stop, which means the power is cut off after the robot speed has been decreased to zero. If there are any payloads on the TCP, without drive power, the TCP will tend to droop a little bit before coming to a complete stop. Please be aware of the tool (payload) colliding with objects in close proximity. [Solution]If the emergency stop button on the robot stick has been pressed: 1. Release the e-stop button.
a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. c. Long press STOP button for few seconds and release to back to robot normal operationl mode. If an external emergency stop button has been pressed: 1. Release the external e-stop button. a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. c. Long press STOP button for few seconds and release to back to robot normal operationl
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mode. If discreapncy happends in external safety device input: 1. Plug the wire back in to the port. 2. Trigger (and or untrigger) the external safety input device.
a. The robot mode indicator lights will blink red. b. After a few seconds, the robot mode indicator will blink light blue, indicating the robot has entered safe start-up mode. c. Long press STOP button for few seconds and release to back to robot normal operationl mode.
1. Place the robot stick or the external emergency stop button in a location to make sure it is reachable while not being pressed accidentally. 2. Check if the robot stick cable and the wire connected to the emergency stop ports are firmly connected. 3.Ensure that all wires connected to the external safety device port(s) are securely connected. ErrorSuggestion00042000 Please check whether the project file is present or damaged. ErrorSuggestion00042001 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00042002 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00042003 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00042004 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00042005 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00042006 Please check whether the space on the disk is insufficient. ErrorSuggestion00042007 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00042008 Please check whether the type of variable set in the project is correct. ErrorSuggestion00042009 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0004200A 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0004200B Please check whether the variable settings in the project are correct. ErrorSuggestion0004200C Please check whether the node settings in the project are correct. ErrorSuggestion0004200D Please check whether the vision job is valid. ErrorSuggestion0004200E Please check whether the conditions are correct at component exit ErrorSuggestion0004200F [Cause]This condition is not match the judgment. [Solution] 1. Check whether conditions are correct at IF/Gateway Case. 2. This condition (IO value or variable) is set at IF/Gateway Case. ErrorSuggestion00042010 Please check whether the node need to dongle key ErrorSuggestion00042011 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00042012 Please play the project ErrorSuggestion00042013 Please wait a moment ErrorSuggestion00042014 Please check data type or data value of variable is correct ErrorSuggestion00042015 [Cause] [Link to project speed] is disabled and the velocity exceeds 250 mm/s. [Caution] Please check the related node of [Link to Project Speed], the velocity of Line / PLine should not exceed
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250 mm/s [Solution] 1. Velocity or variable value adjusted to less than 250mm/s
2. Enable [Link to project speed] ErrorSuggestion00043000 1. Please backup the HMI Log.
2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00043001 Please check whether the SystimeFile.ini is correct. ErrorSuggestion00043002 1. Please backup the HMI Log.
2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00043003 [Cause]HMI detected that the vision job file is damaged
[Caution]Check if the vision job can still be edited through HMI [Additional Explanation] This error is not likely to happen [Additional Explanation] The vision job file might be damaged if there is an software issue [Solution]1. Click Stop on the robot stick to restore the error status 2. Export the project file and log file 3. Contact with a qualified service engineer for further analysis ErrorSuggestion00043004 [Cause]vision job file is damaged or deleted [Caution]Check if the vision job can still be edited through HMI [Additional Explanation] This error is not likely to happen [Additional Explanation] The vision job file might be damaged or deleted if there is an software issue [Solution]1. Click Stop on the robot stick to restore the error status 2. Export the project file and log file 3. Contact with a qualified service engineer for further analysis ErrorSuggestion00043005 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00043006 [Cause]The camera's usb cable connection is loosen during project running. [Caution] [Additional Explanations] This error is not likely to happen if the robot is not being dismantling illegally [Solution]1. Export the Logs 2. Contact a qualified service engineer for further analysis Make sure only the qualified engineer could do any repairing on the hardware ErrorSuggestion00043007 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00043008 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00043009 Vision job failed, please check vision job setting. ErrorSuggestion0004300A 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0004300B [Cause]Calculation of coordinate or arm posture correction occurs error. [Caution]Check the other error code come along with it. [Additional Explanation] This error does not likely happen, low possibility. [Solution]1. Click Stop on the robot stick to restore the error status 2. Run the project again 3. If this error still happens, contact a qualified service engineer for further analysis ErrorSuggestion0004300C 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0004300D 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0004300E 1. Please backup the HMI Log.
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2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0004300F [Cause]Vision job parameter setting error.
[Solution]Please check the flow and correct the parameter. ErrorSuggestion00043010 [Cause]Vision Job didn't import correctly or data missing.
[Solution]Please import the project again or re-edit the vision job. ErrorSuggestion00044000 [Cause]Modbus-TCP failed to initialize during power-on
[Caution]1. Check if the Ethernet cable is loosen 2. Check if the Ethernet Connection is not on the general usage LAN port (not those 2 for GigE Camera) [Additional Explanation] Modbus can only be initialized if the general usage LAN port (not those 2 for GigE Camera) is activated during power-on [Solution]1. Connect the general usage LAN with Ethernet 2. Disable and then Enable Modbus at Setting/Modbus Make sure the general usage LAN port (not those 2 for GigE Camera) has been connected to Ethernet before power-on ErrorSuggestion00044001 Read failed. Please check whether the data is correct.(Head) ErrorSuggestion00044002 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00044003 [Cause]Program exception during Modbus writing [Caution]1. Export the log and project file 2. Contact a qualified service engineer [Additional Explanation] This error is not likely happens, only if there is a software issue [Solution] ErrorSuggestion00044004 Read address failed. Please check whether the data is correct. ErrorSuggestion00044005 [Cause]Modbus-RTU failed to initialize during power-on [Caution]1. Check if the Serial Port cable is loosen 2. Check if any Rs232 related device is loosen [Additional Explanation] This usually happens if USB - Rs232 convertor is used that an extra COM port is used for Modbus-RTU. If the cable or converter is unplugged, the extra COM-port would be disable and trigger this error [Solution]1. Connect all related rs232 cable or convertor onto the Control Box 2. Disable and then Enable Modbus at Setting/Modbus 1. It is suggested not to use USB-Rs232 convertor for Modbus-RTU 2. Make sure cable or convertor used is plug well before power on ErrorSuggestion00044200 [Cause]Software process error in fieldbus interface card. [Causion]1.Check if the fieldbus interface card is loose or not installed. [Solution]1. Disable and then enable the function again. 2.If this error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit to check the installation of driver of fieldbus interface card. 3.If this error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit to check the installation of firmware and configuration files of fieldbus interface card. 4.If this error still occurs, backup HMI Log and contact a qualified service engineer for further analysis. ErrorSuggestion00044201 [Cause]Driver process error in fieldbus interface card. [Causion]1.Check if the fieldbus interface card is loose or not installed. [Solution]1. Disable and then enable the function again. 2.If this error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit to check the installation of driver of fieldbus interface card. 3.If this error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit to check the installation of firmware and configuration files of fieldbus interface card. 4.If this error still occurs, backup HMI Log and contact a qualified service engineer for further analysis. ErrorSuggestion00044202 [Cause]Communition process error in fieldbus interface card.
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[Causion]1.Check the network cable is connected to the correct port on the fieldbus interface card. 2.Check if wire cable is loose. 3.Check if the wiring setup is correct in the field. 4.Check if the setting of the fieldbus interface card (ex. IP, device ID, device name) is correct. 5.Check if the software configure and files are correct on connected master device (ex. PLC) [Solution]1.After correcting the possible error, disable the function and then enable again. 2.If this error still occurs, please contact the original purchase of the manufacturer or a third party designated maintenance unit to check the installation of firmware and configuration files of fieldbus interface card. 3.If this error still occurs, backup HMI Log and contact a qualified service engineer for further analysis. ErrorSuggestion00044203 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00044204 [Cause] The device can't be activate as the device or driver is not installed correctly. [Solution]Please install device and dirver correctly ErrorSuggestion00044205 Power cycle robot to change the firmware on the fieldbus interface device. After start up, go back to this page and manually enable the target fieldbus setting again. ErrorSuggestion00044300 None. ErrorSuggestion00044301 None. ErrorSuggestion00044302 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00044303 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00044304 [Cause]System cannot read data via profinet expression function. [Causion]1.Check the fiedlbus interface card is set to Profinet. 2.Check Profinet function have be enabled. 3.Check function name and its argument are valid. [Solution]1.Type in correct function and argument, and execute the project again. 2.If this still does not work, contact the original purchase of the manufacturer or a third party designated maintenance unit to check the installation of fieldbus interface card. 3.If this still does not work, backup HMI Log and contact a qualified service engineer for further analysis. ErrorSuggestion00044305 [Cause]System cannot write data via profinet expression function. [Causion]1.Check the fiedlbus interface card is set to Profinet. 2.Check Profinet function have be enabled. 3.Check function name and its argument are valid. [Solution]1.Type in correct function and argument, and execute the project again. 2.If this still does not work, contact the original purchase of the manufacturer or a third party designated maintenance unit to check the installation of fieldbus interface card. 3.If this still does not work, backup HMI Log and contact a qualified service engineer for further analysis. ErrorSuggestion00044400 None. ErrorSuggestion00044401 None. ErrorSuggestion00044402 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00044403 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00044404 [Cause]System cannot read data via EtherCAT expression function. [Causion]1.Check the fiedlbus interface card is set to EtherCAT. 2.Check EtherCAT function have be enabled. 3.Check function name and its argument are valid. [Solution]1.Type in correct function and argument, and execute the project again.
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2.If this still does not work, contact the original purchase of the manufacturer or a third party designated maintenance unit to check the installation of fieldbus interface card. 3.If this still does not work, backup HMI Log and contact a qualified service engineer for further analysis. ErrorSuggestion00044405 [Cause]System cannot write data via EtherCAT expression function. [Causion]1.Check the fiedlbus interface card is set to EtherCAT. 2.Check EtherCAT function have be enabled. 3.Check function name and its argument are valid. [Solution]1.Type in correct function and argument, and execute the project again. 2.If this still does not work, contact the original purchase of the manufacturer or a third party designated maintenance unit to check the installation of fieldbus interface card. 3.If this still does not work, backup HMI Log and contact a qualified service engineer for further analysis. ErrorSuggestion00044500 None. ErrorSuggestion00044501 None. ErrorSuggestion00044502 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00044503 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00044504 [Cause]System cannot read data via EtherNet/IP expression function. [Causion]1.Check the fiedlbus interface card is set to EtherNet/IP. 2.Check EtherNet/IP function have be enabled. 3.Check function name and its argument are valid. [Solution]1.Type in correct function and argument, and execute the project again. 2.If this still does not work, contact the original purchase of the manufacturer or a third party designated maintenance unit to check the installation of fieldbus interface card. 3.If this still does not work, backup HMI Log and contact a qualified service engineer for further analysis. ErrorSuggestion00044505 [Cause]System cannot write data via EtherNet/IP expression function. [Causion]1.Check the fiedlbus interface card is set to EtherNet/IP. 2.Check EtherNet/IP function have be enabled. 3.Check function name and its argument are valid. [Solution]1.Type in correct function and argument, and execute the project again. 2.If this still does not work, contact the original purchase of the manufacturer or a third party designated maintenance unit to check the installation of fieldbus interface card. 3.If this still does not work, backup HMI Log and contact a qualified service engineer for further analysis. ErrorSuggestion00045000 [Cause]The system detected a disconnection on the USB drive during the process of Import/Export [Caution]1. Check if the USB drive is plugged well onto the control box. 2. If the USB drive is plugged well, try another USB drive and see if the same issue happens during Export/Import. 3. Check if there are other USB devices on the control box, remove them and try again [Additional Explanation] If the USB drive is confirmed to be plugged well, that means this error maybe caused by USB or USB port hardware/firmware issue [Solution]1. To restore the robot from Error Status : Press the STOP button on the robot stick, or press the FREE button. 2. Make sure the USB drive is well connected to the control box 3. Try Import/Export again 1. Avoid removing the USB drive during the process of Import/Export 2. After finishing the process of export/ import job, wait for a few seconds before unplugging the USB drive ErrorSuggestion00045001 [Cause]External drive do not have enough free space for user export data. [Caution]Check if the disk space is insufficient. [Additional Explanations] If user wants to export a very large data from robot, the external devices needs a
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sufficient free space. [Solution]To restore the robot from Error Status : Find another usb which has enough space for data export. Check the external devices which has enough space for data export. ErrorSuggestion00045002 Files are held. Please try again after restart ErrorSuggestion00045003 [Cause]The compressed file in the USB drive had been damaged and the system failed to import it [Caution]1. Check if the compressed file in the USB drive is damaged by trying to unzip; if it is damaged, there would be a related message. 2. Check if that file fails to be imported to this robot only. 3. Check if other files in the USB drive also have the same issue. [Additional Explanation] 1. Removing the USB drive too quickly just after exporting a file (even with the message of "Export successfully") might damage it [Solution]1. To restore the robot from Error Status :
Press the STOP button on the robot stick, or Press the FREE button.
1. After exporting the file, keep the USB drive still for a few seconds before unplugging it from the control box ErrorSuggestion00045004 [Cause]Robot detect the file can not be accessed or executed.
[Caution] [Additional Explanation] When the robot can not access the data from project system updatebackup/recovery Path node file ...etc, it would cause this error. [Solution]1. Click on the OK button on the pop windows. 2. Press STOP button on the robot stick. 3. Contact your service engineer and export the Logs for further analysis. ErrorSuggestion00045005 [Cause]Robot detect the file can not be accessed or executed. [Caution] [Precaution] This error would only show on the pop up window, not in the HMI log. [Solution]1.Click on the OK and close the pop window. 2.Contact your service engineer and export the Logs for further analysis. ErrorSuggestion00045006 [Cause]TM client fails to connect to the robot(server) [Caution]Check if the network connection/cable between robot and client is stable. [Additional Explanation] Abnormal socket disconnection would cause program error exception while the program is running between robot and client. [Solution]Press STOP button on the robot stick Make sure the network connection/cable is stable during the connection process. ErrorSuggestion00045007 [Cause]The connection between robot and the TM clients is failed. [Caution]Check if the network connection/cable between robot and client is stable. [Additional Explanation] Abnormal socket disconnection would cause program error exception while the program is running between robot and client. [Solution]Press STOP button on the robot stick Make sure the network connection/cable is stable during the connection process. ErrorSuggestion00045008 [Cause]The communication between robot and the TM client is failed. [Caution]Check if the network connection/cable between robot and client is stable. [Additional Explanation] Abnormal socket disconnection would cause program error exception while the program is running between robot and client. [Solution]Press STOP button on the robot stick Make sure the network connection/cable is stable during the connection process.
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ErrorSuggestion00045009 1. Please backup the HMI Log. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit.
ErrorSuggestion0004500A [Cause]HMI client and HMI server is disconnection. [Caution]Check if there is any follow up error logs or messages with this error code.
[Solution]1. Press STOP button on the robot stick. 2. Contact your service engineer and export the Logs for further analysis. ErrorSuggestion0004500B [Cause]Robot detect the network path settings is wrong or can not be accessed. [Caution]1.Check if the network path in the export/import is correct. 2.Check if the network cable is loose. [Additional Explanation] Abnormal network disconnection would cause data transfer failed. [Solution]1. Click on the OK button and close the pop window. 2. Press STOP button on the robot stick. Make sure the network setting/cable are correct and stable before/during the data transfer process. ErrorSuggestion0004500C [Cause]The space of system drive is not enough. [Caution]Check if have the enough space of the system drive (for TMFlow.exe on PC) [Additional Explanation] This error usually appears in HMI during Import/Export files if there is not enough space in the system
[Solution]To restore the robot from Error Status : (Import/Export) 1. Click on the OK button on the pop up windows. 2. Stop the running project through pressing the Stop button on Stick 3. Clear some data and reserve enough free space for use. Make sure there is enough space for storage on the system ErrorSuggestion0004500D Please check whether the UNC path is correct include username and password ErrorSuggestion00045010 Please check whether Network environment and IP address ErrorSuggestion00045011 Please check whether Network adapters are enabled ErrorSuggestion00045020 [Cause]The free space of the hard disk is short. [Solution]Please contact a qualified service engineer for further analysis with log files ErrorSuggestion00045021 [Cause]The free space of the hard disk is short. [Solution]Please contact a qualified service engineer for further analysis with log files ErrorSuggestion00045100 [Cause]HMI update failed [Caution]1. Shutdown and power on the system again to see if this error still appears [Additional Explanation] If the update is interrupted during process, such as, closing the execution windows, restart or power off the system manually, power cut-off, etc.; this might cause the control box and robot's firmware update incomplete and failed. [Solution]Contact a qualified service engineer for further analysis Avoid any interruption during HMI update: 1. Do not cut off the power during process 2. Do not close the execution windows during process 3. Do not close or restart the system manually during process ErrorSuggestion00045101 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion00048000 [Cause]HMI detected an array assignment error. [Caution]Check if any array has been assigned with the different data type variables [Additional Explanation] This error usually appears as a popped up message in HMI [Additional Explanation] This error usually happens because the user assign ( "=" ) the mismatching data type to array in the flow.
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i.e. int[]/ var_arrayA = bool[]/var_arrayB i.e. int[]/ var_arrayA = bool/var_b i.e. bool[]/ var_arrayB = int[]/ var_arrayA i.e. bool[]/ var_arrayB = int/var_i [Solution]To restore the robot from Error Status : 1. Click on the OK button on the pop up windows.
Make sure all arrays are assigned correctly by data type, such as (1) int[]/ var_arrayA = int[]/var_arrayB ==> (arrayA == arrayB) (2) int[]/ var_arrayA = int[]/var_arrayB[0] ==> (arrayA == arrayB[0]) ErrorSuggestion00048001 [Cause]Value assigned is in invalid number format [Caution]Check if the value assigned to a variable is valid format type. [Additional Explanation] For number format, Incorrect: ErrorSuggestion12CG // Hex includes values(0-9, A-F).Gis invalid. 0b1212 // Binary includes values(0, 1). 2is invalid. Correct: ErrorSuggestion12CF // Hex value is valid. 0b1110 // Binary value is valid. [Additional Explanation] This error usually appears in 1. The project file is generated by 3rd party flow editor 2. The input format error in Listen Node 3. In flow editing, it usually appears with a pop-up windows with warning messageInvalid Value [Solution]To restore the robot from error status: 1. Press the STOP button on the robot stick, or 2. Press the FREE button 3. Input the valid number format if it appears the pop-up windows with warning messageInvalid Value, click OK to close it Make sure the variables used are with a valid number format. ErrorSuggestion00048002 [Cause]There are repeated cases in the conditional expression in project. [Caution]Check if this error is triggered in the following items 1. SET Node 2. Listen Node [Additional Explanation] This error usually appears if 1. The project file is generated by 3rd party flow editor 2. The input format to Listen Node is incorrect [Solution]1. Click Stop on the robot stick to restore the error status 2. Remove the repeated cases in the conditional expression Make sure there is no repeated cases in the conditional expressions in the project. ErrorSuggestion00048003 [Cause]There are variables created with the repeated name in project. [Caution]Check if there are variables with the same name. [Additional Explanation] This error usually appears if 1. The project file is generated by 3rd party flow editor
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2. The input format to Listen Node is incorrect 3. In flow editing, it usually appears with a pop-up windows with warning messageVariable Name Repeat [Solution]1. Press the STOP button on the robot stick, or 2. if this error appears as a pop-up windows with the error messageVariable Name Repeat, click OK to close it 3. Remove the variable with repeated name Make sure there is no repeated variables in the project. ErrorSuggestion00048004 [Cause]An invalid expression is found within the current Project [Caution]1. Check the description with this error, which shows the error node and the expression with it 2. Check if that expression is invalid or not [Additional Explanation] This error would be shown on either pop out window on HMI or Notice Log [Solution]To restore the robot from Error Status : 1. Click on the OK button on the pop up windows. 2. Correct the expression 1. Have fully understanding on expression functions before programming 2. Make sure all expressions are correct 3. Make sure the variables used in expressions would not set to invalid value during project run ErrorSuggestion00048005 Please check variable manager, this variable is undefined. ErrorSuggestion00048006 [Cause]Undefined functions in the expression editor [Caution]1. Follow the description on the log and check to see if the variable names and function syntax are correct 2. Check to see if any variables used in the expression editor have been deleted from the Variable Manager [Additional Explanation] This error usually appears as a popped up message in HMI [Solution]Confirm that the variables used in the expression editor exist and that the proper function syntax has been followed 1. Make sure to use proper variable names and syntax within the expression editor according to the current HMI version 2. Avoid deleting variables that are still in use ErrorSuggestion00048007 [Cause]Invalid expression [Caution]In SET node, It is invalid in the expression with the form: int\var_i= GetNow()+=10 (Functions with the following operands += -= *= /=) [Additional Explanation] This error usually appears in 1. The project file is generated by 3rd party flow editor 2. In flow editing, it usually appears with a pop-up windows with warning messageFunction operation is not allowed [Solution]1. Press the STOP button on the robot stick, or 2. if this error appears as pop-up windows with the error messageFunction operation is not allowed, click OK to close it 3. Remove the invalid operant (+= -= *= /=) triggering the error Make sure all expressions all correct ErrorSuggestion00048008 [Cause]The expression is assigned with an invalid operator in array operations. [Caution]Check if there is any missing index of the array. Or an incorrect operator has been chosen [Precaution] This error would only show on the pop up windows, not in the HMI log. [Additional Explanations] The error code is often triggered between two arrays' operation without index assigning:
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In assignment expression of project node (SET). Incorrect operators: (" += ", " -= ", " *= ", " /= ") (i.e. var_array_A += var_array_B) Correct operators: (" = ") (i.e. var_array_A = var_array_B) In comparison expression of project node (IF). Incorrect operators: (" > ", " >= ", " < ", " <= ") (i.e. var_array_A >= var_array_B) Correct operators: ("==" or "!=") (i.e. var_array_A == var_array_B) [Solution]To restore the robot from Error Status : Click on the OK button on the pop up windows then assign the suitable operators. Makes sure all assignment and comparison expressions have the valid operator. ErrorSuggestion00048009 [Cause]The index used on a array variable is not a integer [Caution]Check if any variables used as an array index in the project is assigned to be a null value or a non-integral value [Additional explanation] The variable used as an array index is invalid in value possibly by initialization or assigned by SET node during project run [Additional Explanation] If the variable used as an array index is deleted, the value will become null [Solution]1. Press STOP button on the robot stick, or press free robot button. 2. Then you can find the robot LED shows green color Make sure before you delete any variable in the project, check if it is as an array index or not ErrorSuggestion0004800A [Cause]The expression is assigned with an invalid operand. [Caution]Check if the operands of the related expression (which operators are: "==", ">=", "<==", etc.) are assigned the number type value or variable in the current project node (SET, IF, etc.) [Precaution] This error would only show on the pop up windows, not in the HMI log. [Solution]To restore the robot from Error Status : Click on the OK button on the pop up windows then assign the number type value or variable to the operands. Makes sure all expressions have the valid operand. ErrorSuggestion0004800B [Cause]The expression is assigned with an invalid operand. [Caution]Check if the value or variable is integer type after the complement operator (" ~ ") in the current project node (SET, IF, etc.) [Precaution] This error would only show on the pop up windows, not in the HMI log. [Solution]To restore the robot from Error Status : Click on the OK button on the pop up windows then assign the integer type value or variable to the operand after the complement operator. Makes sure all expressions with the complement operator have the valid operand. ErrorSuggestion0004800C [Cause]System detected an error on Project Flow while the it is running, which is mostly because some variables are missing. [Caution]1. Check the message with this error code; it should specify which node has error 2. Check if there is another error code also occurs [Additional Explanation] Remind of the following cases: 1. Variables created by Pallet node have been deleted manually. 2. Variables used in any expression (If, Waitfor, Gateway, etc.) have been deleted manually. 3. Global variables used in the current robot will not be exported with the project; user need to create the same Global variable or export them separately 4. etc. [Solution]To restore the robot from Error Status :
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1. Press the STOP button on the robot stick, or 2. Press the FREE button. Follow the message of the error code and correct the error 1. Be careful when deleting variables in Variable Manager. 2. Study and have a full understanding on Node Function, make sure the settings are correct ErrorSuggestion0004800D [Cause]In the expression, the data type of variable assignment error. [Caution]Check if the operant ++or- -are used properly with integer data type [Additional Explanation] This error usually happens in a SET Node. The operands ++- -are only used by integer variable. (i.e. var A: A++A--++A--A) [Solution]1. Click OK and close the popped up windows 2. Correct the data type of variable as integer type in expression
Make sure the operant ++or- -are used properly with integer data type ErrorSuggestion0004800E [Cause]the item following the symbol "!" is invalid in an expression which is supposed to be a Boolean type object
(or variable) [Caution]Check if the subject after the symbol "!" is a Boolean type object or not [Precaution] This error would only show on the pop up windows, not in the HMI log. [Solution]To restore the robot from Error Status : 1. Click on the OK button on the pop up windows. 2. Correct the expression Check and confirm the type is correct while creating an expression. ErrorSuggestion0004800F [Cause]The expression is assigned with an invalid operand. [Caution]Check if the operand in the left side of the assignment operator (" = ") is type matching with the right side one in the current project node (SET) [Precaution] This error would only show on the pop up windows, not in the HMI log. [Solution]To restore the robot from Error Status : Click on the OK button on the pop up windows then assign the same type value or variable to the operand in the expression. Makes sure all assignment of expressions have the valid type-matching operand. ErrorSuggestion00048010 [Cause]There is an invalid usage on an expression [Caution]Check if the data type is matched from both sides of an expression, especially on an IF node [Precaution] This error would only show on the pop up windows, not in the HMI log. [Additional Explanation] This error would be triggered if there is an invalid symbol usage and only have it on an expression, for example: string == ### [Solution]To restore the robot from Error Status : 1. Click on the OK button on the pop up windows. 2. Correct the expression Check and confirm the type is correct while creating an expression. ErrorSuggestion00048011 [Cause]The operand in the expression is assigned a number out of range . [Caution]Check if an integer type operand is assigned a number large than 2147483647 in the current project node (SET). [Precaution] This error would possibly show on the pop up windows.
[Solution]To restore the robot from Error Status : Click on the OK button on the pop up windows then assign an integer number less than 2147483648 to the
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operand. Makes sure all assignment of expressions have the valid operand with the appropriate value. ErrorSuggestion00048012 [Cause]The expression has missing the right parentheses. [Caution]Check the expression in the current project node (SET, IF, WAITFOR, etc.) whether the expression misses any parentheses. [Precaution] This error would only show on the pop up windows, not in the HMI log. [Solution]To restore the robot from Error Status : Click on the OK button on the pop up windows then make up a right parentheses. Makes sure all expressions has the right parentheses. ErrorSuggestion00048013 [Cause]The expression has missing the right Bracket when access the array data with index. [Caution]Check the expression in the current project node (SET, IF, WAITFOR, etc.) whether the expression misses any bracket on the right side. [Precaution] This error would only show on the pop up windows, not in the HMI log. [Solution]To restore the robot from Error Status : Click on the OK button on the pop up windows then make up a right Brackets. Makes sure all expressions has right Brackets. ErrorSuggestion00048014 [Cause]The expression has missing the right Brace. [Caution]Check the expression in the current project node (SET, IF, WAITFOR, etc.) whether the expression misses any Brace. [Precaution] This error would only show on the pop up windows, not in the HMI log. [Solution]To restore the robot from Error Status : Click on the OK button on the pop up windows then make up a right Brace. Makes sure all expressions has the right Brace. ErrorSuggestion00048015 [Cause]PLAY being triggered just after stopping a project [Caution]1. Check if the PLAY button has been triggered just after stopping a project 2. Check if there is any external device trigger PLAY with I/O or Modbus [Additional Explanation] This error does not likely happen, low possibility [Additional Explanation] PLAY can be triggered by either robot stick, configurable IO or Modbus [Solution]1. Click Stop on the robot stick to restore the error status 2. Run the project again 3. If this error still happens, contact a qualified service engineer for further analysis Make sure not to trigger PLAY just after stopping a project, have a buffer of few seconds ErrorSuggestion00048016 [Cause]The HMI detected a division calculation error during the project running [Caution]1. Check if any variables as a divisor in the project is assigned a value zero by initial setting or during process [Additional Explanation] It often occurs in the division expression of SET and Display Node, or in the Boolean expression of IF and Gateway Node in the project flow [Solution]To restore the robot from Error Status : Press the STOP button on the robot stick, or press the FREE button. 1. Designing a program mechanism examines that every variable as a divisor and prevent it running if it is assigned zero ErrorSuggestion00048017 [Cause]Project Flow contains expression modulo by zero [Caution]1. Check if any variable used as the divisor of a modulo expression could possibly change to zero during project run [Additional Explanation] Usually, HMI will block the expression (warning message) if it is directly as, e.g., "var_result = var_num1%0"; however, if the expression is written as, e.g., "var_result = var_num1%var_num2", if var_num changes to 0 during project run will trigger this error.
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[Solution]1. To restore the robot from Error Status : Press the STOP button on the robot stick, or press the FREE button. 2. Correct the issued expression(s) Make sure the variables used as the divisor will never be zero, either by initialization or ErrorSuggestion00048018 [Cause]The HMI detected an invalid index used on a array variable during project run [Caution]Check if the value any variables used as an array index is out of range or a negative quantity [Additional explanation] The variable used as an array index is invalid in value possibly by initialization or assigned by SET node during project run [Solution]To restore the robot from Error Status : 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 1. Make the initial value of all index variables is correct 2. Make sure the value of all index variables would not be change incorrectly by any SET node ErrorSuggestion00048019 1. Please backup the HMI Log and Projects. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0004801A 1. Please backup the HMI Log and Projects. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0004801B [Cause]The operand in the assignment expression is assigned with a different type number. [Caution]Check if the operand on the left side of the assignment operator (" = ") is type matching with the right side one in the current project node (SET) [Precaution] An error messageWarning for Number Value maybe missingwould show on the pop up windows when project is edited. If ignore it, this error code would show with the warning message in the HMI log during project running. [Additional Explanation] Number related expression should have the following instruction when using different types, i.e. : Correct : 1. double = int 2. float = int 3. double = float Incorrect : 1. int = double 2. int = float 3. float = double [Solution]To restore the robot from Error Status : 1. Press the STOP button on the robot stick, or 2. Press the FREE button. 3. Then assign the same type number value or variable to the operands in the expression. Makes sure all assignment expressions have the valid type-matching number operands. ErrorSuggestion0004801C [Cause]System cannot detect the sensor through serial port [Caution]Check if the USB-Serial converter cable is loosen [Additional Explanation] This error only happens on force control related node (smart insert, polish, etc) using force torque with rs232 interface [Additional Explanation] COM Port generated by USB-Serial convertor would be deleted if the cable is loosen [Precaution] The Serial Port number might change if the convertor is plugged onto a different usb port [Solution]1. Press Stop Button on the robot stick to restore the error status 2. Reconnect the convertor back to the SAME usb port 1. It is not suggested to use USB-Serial convertor 2. If it is necessary, please make sure the convertor is always plugged well
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ErrorSuggestion0004801D [Cause]System failed to open a Modbus master [Caution]1. Check if the robot is connected to the network, including wire connection, and the quality of the network 2. Check if the Setting\Network Setting is correct or not (if using Modbus TCP) 3. Check if the settings on Modbus TCP Device is correct or not , including: ip address, port, address, signal type, etc. 4. Check if the settings on Modbus RTU Device is correct or not , including: ComPort, BaulRate, DataBits, StopBits, ParityCheck, address, signal type, etc. [Additional Explanation] For Modbus TCP, this usually happens because the robot is not connected to the network or network settings (especially, IP Address and Port) [Additional Explanation] For Modbus RTU, this usually happens because the ComPort selected has already been used by other functions (normal usage on Serial Port) [Solution]1. Confirm and restore the network, then enable Modbus again on Settings\Modbus 2. Confirm and correct the settings of Modbus Devices, then enable Modbus again on Settings\Modbus 1. Regularly check the quality of the network, including hardware. 2. It is suggested to have knowledge on Modbus before usage
ErrorSuggestion0004801E Please check whether COM port settings of Serial Port are correct. ErrorSuggestion0004801F [Cause]Unexpected software issue
[Caution]Check if there is any error messages followed [Additional Explanation] This error occurs if and only if there is an unexpected issue on software [Solution]1. Export the project file and log file 2. Contact with a qualified service engineer for further analysis ErrorSuggestion00048020 [Cause]System failed to read data through Modbus [Caution]1. Check if the robot is connected to the network, including wire connection, and the quality of the network 2. Check if the Setting\Network Setting is correct or not (if using Modbus TCP) 3. Check if the settings on Modbus TCP Device is correct or not , including: ip address, port, address, signal type, etc. 4. Check if the settings on Modbus RTU Device is correct or not , including: ComPort, BaulRate, DataBits, StopBits, ParityCheck, address, signal type, etc.
[Solution]1. Confirm and restore the network, then enable Modbus again on Settings\Modbus 2. Confirm and correct the settings of Modbus Devices, then enable Modbus again on Settings\Modbus
1. Regularly check the quality of the network, including hardware. 2. It is suggested to have knowledge on Modbus before usage ErrorSuggestion00048021 [Cause]System failed to write data through Modbus [Caution]1. Check if the robot is connected to the network, including wire connection, and the quality of the network 2. Check if the Setting\Network Setting is correct or not (if using Modbus TCP) 3. Check if the settings on Modbus TCP Device is correct or not , including: ip address, port, address, signal type, etc. 4. Check if the settings on Modbus RTU Device is correct or not , including: ComPort, BaulRate, DataBits, StopBits, ParityCheck, address, signal type, etc.
[Solution]1. Confirm and restore the network, then enable Modbus again on Settings\Modbus 2. Confirm and correct the settings of Modbus Devices, then enable Modbus again on Settings\Modbus
1. Regularly check the quality of the network, including hardware. 2. It is suggested to have knowledge on Modbus before usage ErrorSuggestion00048022 Please check disk partition attribute information
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ErrorSuggestion00048023 Please check disk partition attribute information ErrorSuggestion00048024 Please check disk partition attribute information ErrorSuggestion00048025 Please check disk partition attribute information ErrorSuggestion00048026 Please check disk partition attribute information ErrorSuggestion00048027 Please check file is exist ErrorSuggestion00048028 Please check file size ErrorSuggestion00048029 Please check file attribute is not read only ErrorSuggestion0004802A [Cause] The function synatx is invalid for Thread
[Solution]Please remove the invalid function syntax call by thread ErrorSuggestion0004802B Please check array function datatype ErrorSuggestion0004802C Please check array size ErrorSuggestion0004802D Please check array function start index ErrorSuggestion0004802E Please check Ethernet Slave (TCP/IP server) is enabled ErrorSuggestion0004802F Please check Ethernet Slave (TCP/IP server) item name is valid ErrorSuggestion00048030 Please check Ethernet Slave (TCP/IP server) item value is valid ErrorSuggestion00048031 [Cause]Network device or IP address port is invalid.
[Solution]1. Please check the Internet device function and connection. 2. Please check the IP setting. ErrorSuggestion00048032 Please check UNC Path is valid ErrorSuggestion00048033 Please check UNC Path could be access ErrorSuggestion00048034 [Cause] The function synatx is invalid for TM SmartEdge [Solution] Please remove the invalid function syntax call by TM SmartEdge ErrorSuggestion00048035 Please check parameterized key is exist ErrorSuggestion00048036 Please check parameterized value is valid ErrorSuggestion00048037 Please check parameterized property is support ErrorSuggestion00048038 Please check HW version is 3.2 or above ErrorSuggestion00048601 [Cause]HMI detected that one or more Warning situations during the project running. [Caution]The value of n in the string "Warning Counter(n)" showing in the HMI log displays that how many warning situations have during the project running. [Additional Explanation] Some warning information usually appears as a popped up message during flow editing, but the HMI could endure these warnings. If ignore it, the HMI log still shows these warnings to user during running the project. These warnings may be the following below: (1) Warning for String Format (2) Warning for Number Value maybe missing (3) ..etc. [Solution]To restore the robot from Warning Status : (in flow editing) Click on the OK button on the pop up windows. (in project running) Stop the running project through pressing the Stop button on Stick 3. Check these warnings one by one and clear them. Check if data type mismatch of assignment variables in the flow. ErrorSuggestion00048602 [Cause]System detected the text characters that may be strings but are without double quotes [Caution]1. Check if there are any strings used in the expression editor that have no double quotes 2. Check to see if any variables used in the expression editor have been deleted from the Variable Manager [Additional Explanation] This error usually appears as a popped up message in HMI [Solution]Confirm that there are double quotes around all strings and that all variables used in the expression editor
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exist 1. Make sure to use double quotes when defining strings 2. Avoid deleting variables that are still in use ErrorSuggestion00048603 [Cause]The operand in the assignment expression is assigned with a different type number. [Caution]Check if the operand in the left side of the assignment operator (" = ") is type matching with the right side one in the current project node (SET) [Precaution] This error would show on the pop up windows, not in the HMI log. [Additional Explanation] Number related expression should have the following instruction when using different types, i.e. : Correct : 1. double = int, 2. float = int 3. double = float Incorrect : 1. int = double 2. int = float 3. float = double [Solution]To restore the robot from Error Status : Click on the OK button on the pop up windows then assign the same type number value or variable to the operands in the expression. Makes sure all assignment expressions have the valid type-matching number operands. ErrorSuggestion00048604 [Cause]A string type variable with single quotation marks(' ') [Caution]Check if there is any single quotation marks is used in the issued expression [Additional Explanation] This error usually appears as a popped up message in HMI [Additional Explanation] This error usually happens in a SET Node, a variable with single quotation marks (i.e. String s1 = 'var_s2') If ignore the warning message window, and running the project, this error code will show in the HMI log with the warning messageWarning for String Format
[Solution]To restore the robot from error status: Flow editing 1.Click OK on the popped up windows 2. Delete the single quotation marks, or ignore it Project running 1.Click the stop button on the stick 2. Delete the single quotation marks in a SET node, or ignore it When editing in flow or before project running, make sure why to use a variable with the single quotation marks. ErrorSuggestion00048605 [Cause]Network address is not available on Log node [Caution]1. Check the network setting on Log node if the address is accessible 2. Check if the network target requires any advanced authority 3. Check if there is any other issue on the network, such as loosen Ethernet cable [Additional Explanation] This error usually appears in 1. Log node in project flow 2. The local network path format (i.e. \\192.168.1.1\sharedfolder) This error would be triggered when system fails to connect to the network path [Solution]To restore the robot from error status:
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1. Press the STOP button on the robot stick, or 2. Press the FREE button 3. Make sure the network path could be access Make sure the network is accessible ErrorSuggestion00048A00 Please wait some time, and retry to play project ErrorSuggestion0004F000 General information ErrorSuggestion00050000 No Error ErrorSuggestion0005FF20 [Cause]Current for solenoid is over specification during brake release process [Caution] [Additional Explanation] System will detect the current for solenoid during brake releasing process, when it find the value over specification, it will report this error [Solution]1. Please press E-stop and release E-stop to resume Robot to see the issue is still occurred or not. 2. If this still occurs, contact a qualified service engineer for further analysis ErrorSuggestion0005FF21 [Cause]Joint movement range is over range during brake release process [Caution]Check if the payload is too that out of specification, including the mass, center of mass, inertia, etc. [Additional Explanation] System will detect the movement range while brake release process, when the value is over expected, it will report this error. [Solution]1. Power off the robot 2. Remove all payload and restart the robot 3. If this issue still happens, have a qualified service engineer for further analysis 1. Make sure the payload is within specification (including the center of mass and inertia) 2. Make sure there is no unexpected force acting on the robot during brake release process ErrorSuggestion0005FFA0 [Cause]Robot detect a low voltage on DCBUS. [Caution] [Additional Explanation] There maybe a variety of reasons that cause a low voltage, for example: 1. The power source is not stable on customer-site 2. Power supply is abnormal 3. etc. [Precaution] Power off and unplug the power cable before opening the control box for items checking [Solution]Shut down the robot, make sure the power source is stable then power on. If the same issue still occurs, contact a qualified service engineer for further analysis Make sure the power source is robust for robot running. ErrorSuggestion0005FFA1 [Cause]Robot detect the voltage on DCBUS is higher than spec. [Caution]Check whether there are others error log along with this error. [Additional Explanation] There maybe a variety of reasons that cause a high voltage, for example: 1. The robot move too fast with the current project (with heavy payload) 2. Power eater modules is abnormal 3. etc. [Precaution] Power off and unplug the power cable before opening the control box for items checking [Solution]After restart the robot, the problem still occur, contact a qualified service engineer for further analysis 1. Make sure the robot would not be collided and be placed on an unstable platform. 2. Make sure project speed with payload is within the specification. ErrorSuggestion0005FFA2 Be careful! G sensor overload on X direction. ErrorSuggestion0005FFA3 Be careful! G sensor overload on Y direction. ErrorSuggestion0005FFA4 Be careful! G sensor overload on Z direction. ErrorSuggestion0005FFA5 [Cause]Robot detect the temperature on PCB is higher than spec. [Caution]1. Check if the environment temperature is higher than the spec. while robot moving. 2. Check the temperature on View->Status
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[Additional Explanation] The temperature would rise during robot operating and the work space temperature will affect as well. [Solution]Shut down the robot, and keep it cool for a while before start up again. If this issue still occurs, please contact a qualified service engineer for further analysis 1. Make sure the temperature of the working environment is within the specification. 2. Make sure the payload or the project speed is within the specification ErrorSuggestion0005FFA6 [Cause]Robot has detected a overshoot of U phase current on the motor [Caution]1. Check the header of the error code to see which motor is with this issue 2. Check if the robot is run with payload out of spec. and also in high speed 3. Check if the safety settings of the robot [Additional Explanation] If the robot is driven and accelerate fast, current of the motor will overshoot and trigger this error [Additional Explanation] This is usually be triggered when running the robot with a heavy payload with high speed which is nearly or already out of spec. [Additional Explanation] Another reason may be there is dysfunction on the electronics on the motors [Solution]1. Shut down and reboot the robot 2. Adjust the payload, safety settings, speed and see if the issue still happens 3. If it still happens, export the Logs, Project and TCP used, and contact to your service engineer 1. Make sure the payload (including the tool) is within the spec. 2. Adjust the speed or movement to prevent the risk of having a single joint accelerate too fast ErrorSuggestion0005FFA7 [Cause]Robot has detected a overshoot of V phase current on the motor [Caution]1. Check the header of the error code to see which motor is with this issue 2. Check if the robot is run with payload out of spec. and also in high speed 3. Check if the safety settings of the robot [Additional Explanation] If the robot is driven and accelerate fast, current of the motor will overshoot and trigger this error [Additional Explanation] This is usually be triggered when running the robot with a heavy payload with high speed which is nearly or already out of spec. [Additional Explanation] Another reason may be there is dysfunction on the electronics on the motors [Solution]1. Shut down and reboot the robot 2. Adjust the payload, safety settings, speed and see if the issue still happens 3. If it still happens, export the Logs, Project and TCP used, and contact to your service engineer 1. Make sure the payload (including the tool) is within the spec. 2. Adjust the speed or movement to prevent the risk of having a single joint accelerate too fast ErrorSuggestion0005FFA8 [Cause]Robot has detected a overshoot of W phase current on the motor [Caution]1. Check the header of the error code to see which motor is with this issue 2. Check if the robot is run with payload out of spec. and also in high speed 3. Check if the safety settings of the robot [Additional Explanation] If the robot is driven and accelerate fast, current of the motor will overshoot and trigger this error [Additional Explanation] This is usually be triggered when running the robot with a heavy payload with high speed which is nearly or already out of spec. [Additional Explanation] Another reason may be there is dysfunction on the electronics on the motors [Solution]1. Shut down and reboot the robot 2. Adjust the payload, safety settings, speed and see if the issue still happens 3. If it still happens, export the Logs, Project and TCP used, and contact to your service engineer 1. Make sure the payload (including the tool) is within the spec. 2. Adjust the speed or movement to prevent the risk of having a single joint accelerate too fast
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ErrorSuggestion0005FFA9 Be careful! Motor current protection on U phase trigged, which may be caused by impact. ErrorSuggestion0005FFAA Be careful! Motor current protection on V phase trigged, which may be caused by impact. ErrorSuggestion0005FFAB [Cause]The motor current rises suddenly and triggers motor hold protection
[Caution]1. Check if there robot has collided to the surroundings seriously 2. Check the description of this error code to see which joint it belongs to [Additional Explanation] When the robot collides to a solid object in a high speed, some of the joints may suffer a great torque on them and this causes the motor current raise rapidly and trigger this error [Precaution] If the robot is closed to any thing or surface, using ordinary start-up may cause collision again during the joint calibration; therefore, use should use Safe Start-up Mode to restore the robot [Precaution] When manually driving the robot in Safe Start-up Mode, there is no drive power but just release the brakes of all joints, if there is tool or payload on the end-effector, it is suggest to have more than one person to hold the end-effector. [Precaution] Do not drive the joint manually when this error occurs, which might damage the joint [Solution]1. Trigger the Emergency Switch (Button) and then shutdown the robot 2. Reboot the robot 3. Release the Emergency Switch (Button) when the Control Box starts working 4. The system will enter Safe Start-up Mode (light blue on LED) 5. Press FREE button and drive the robot to a safe region or pose 6. Hold the STOP button of the robot stick and switch the system to AUTO mode Make sure the robot will not collide with the surroundings during project run ErrorSuggestion0005FFAC An error occurred in the UVW signal on optical encoder ErrorSuggestion0005FFAD The index of encoder is not calibrated. ErrorSuggestion0005FFAE [Cause]Robot has detected the current on DCBUS went too high suddenly. [Caution]1. The speed(ABS/project speed) is too fast. 2. Check whether there is any collision while robot moving. [Additional Explanations] If robot is moving in a high speed in some movement or pose, it would cause this error. And if robot has collisions, it would cause the current became abnormal. [Solution][General User] After restart the robot, the problem still occur, contact a qualified service engineer for further analysis. 1.Slow down the speed(ABS/project speed). 2. Avoid any collision while robot is moving. ErrorSuggestion0005FFAF [Cause]The communication time of EtherCAT is timeout [Caution]Check if any external EtherCAT device used has lost connection [Additional Explanation] System will periodic check the EtherCAT communication, if communication timeout, it will report this error. [Solution]Contact a qualified service engineer for further analysis external ErrorSuggestion0005FFB1 [Cause]The communication time of SPI is timeout [Caution] [Additional Explanation] It may possibly because the SPI IC is dysfunction which is not likely to happen [Solution] ErrorSuggestion0005FFB2 1. Please check grounding line is normal or not. 2. Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFB3 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFB4 1. Please try to restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0005FFB5 1. Please try to restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units.
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ErrorSuggestion0005FFB6 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFB7 Please check the functionality of break unit ErrorSuggestion0005FFB8 [Cause]Hardware Failure
[Caution] [Additional Explanation] This error is not likely happens, mostly because of hardware issue [Solution]1. Export the Logs 2. Contact a qualified service engineer for further analysis ErrorSuggestion0005FFB9 [Cause]Hardware Failure [Caution] [Additional Explanation] This error is not likely happens, mostly because of hardware issue [Solution]1. Export the Logs 2. Contact a qualified service engineer for further analysis ErrorSuggestion0005FFBA [Cause]Hardware Failure [Caution] [Restriction] Do not drive the joint with or without drive power [Solution]1. Export the Logs 2. Contact a qualified service engineer for further analysis Make sure the power source is robust for robot running. ErrorSuggestion0005FFC0 An error occurred in transit to absolute position ErrorSuggestion0005FFC1 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFC2 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFC3 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFC4 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFC5 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFC6 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFC7 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFC8 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFC9 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFCA [Cause]Encoder is dysfunctional [Caution] [Additional Explanation] This error is not likely happens, mostly because of hardware issue [Solution]1. Export the log, 2. Contact a qualified service engineer for further analysis ErrorSuggestion0005FFCB Please reduce the motion speed, check the flow and the speed and posture in each node ErrorSuggestion0005FFCC [Cause]Encoder is dysfunctional [Caution] [Additional Explanation] This error is not likely happens, mostly because of hardware issue [Solution]1. Export the log, 2. Contact a qualified service engineer for further analysis ErrorSuggestion0005FFCD [Cause]Hardware Failure [Caution] [Restriction] Do not drive the joint with or without drive power when this issue happens [Solution]1. Export the Logs 2. Contact a qualified service engineer for further analysis Make sure the robot would not collided with the surroundings during project run or robot shifting ErrorSuggestion0005FFCE [Cause]Hardware Failure [Caution] [Restriction] Do not drive the joint with or without drive power
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[Solution]1. Export the Logs 2. Contact a qualified service engineer for further analysis ErrorSuggestion0005FFCF [Cause]The motor current rises suddenly and triggers motor hold protection [Caution]1. Check if there robot has collided to the surroundings seriously 2. Check the description of this error code to see which joint it belongs to [Additional Explanation] When the robot collides to a solid object in a high speed, some of the joints may suffer a great torque on them and this causes the motor current raise rapidly and trigger this error [Precaution] If the robot is closed to any thing or surface, using ordinary start-up may cause collision again during the joint calibration; therefore, use should use Safe Start-up Mode to restore the robot [Precaution] When manually driving the robot in Safe Start-up Mode, there is no drive power but just release the brakes of all joints, if there is tool or payload on the end-effector, it is suggest to have more than one person to hold the end-effector. [Precaution] Do not drive the joint manually when this error occurs, which might damage the joint [Solution]1. Trigger the Emergency Switch (Button) and then shutdown the robot 2. Reboot the robot 3. Release the Emergency Switch (Button) when the Control Box starts working 4. The system will enter Safe Start-up Mode (light blue on LED) 5. Press FREE button and drive the robot to a safe region or pose 6. Hold the STOP button of the robot stick and switch the system to AUTO mode Make sure the robot will not collide with the surroundings during project run ErrorSuggestion0005FFD0 Please check the UVW signal on encoder ErrorSuggestion0005FFD1 [Cause]Hardware Failure [Caution]Check if the robot is placed near any device with strong magnetic field [Additional Explanation] Under a strong magnetic field may affect the readings of the magnetic encoder [Solution]1. Export the Logs 2. Make sure the robot is not under any strong magnetic field and then reboot the robot 3. If this still does not work, Contact a qualified service engineer for further analysis Make sure the robot is not under any strong magnetic field ErrorSuggestion0005FFD2 [Cause]Hardware Failure [Caution]Check if the robot is placed near any device with strong magnetic field [Additional Explanation] Under a strong magnetic field may affect the readings of the magnetic encoder [Solution]1. Export the Logs 2. Make sure the robot is not under any strong magnetic field and then reboot the robot 3. If this still does not work, Contact a qualified service engineer for further analysis Make sure the robot is not under any strong magnetic field ErrorSuggestion0005FFD3 [Cause]1.The robot may be disassembled abnormally. Please check the warranty sticker and thread-locking fluid are both broken or not 2. Joint gear wear out [Caution] [Additional Explanation] When the origin of joint module is not detected, it will report this error [Solution]1. Export the log file 2. Contact a qualified service engineer ErrorSuggestion0005FFD4 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFD5 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFD6 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFD7 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFD8 [Cause]1. Motor is damaged 2. Joint PCB is damaged
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[Caution] [Additional Explanation] When the resistance of UVW current of motor is abnormal, it will report this error [Solution]1. Export the log file 2. Contact a qualified service engineer ErrorSuggestion0005FFD9 [Cause]Hardware Failure [Caution] [Additional Explanation] The cables connection of UVW of motor is not correct. Qualilty issue or the robot may be disassembled abnormally. [Solution]1. Export the log file 2. Contact a qualified service engineer Make sure the robot is not being disassembled illegally ErrorSuggestion0005FFDA Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFDB Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFDC Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFDD 1. Please restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0005FFDE 1. Please restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0005FFDF 1. Please restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0005FFE0 [Cause]1. Power supply is not stable. 2. Robot moves in high speed, current is higher, voltage loss getting higher.(Vinput-Vloss=V for DC bus) 3. Power connector problem, consume too much power [Caution] [Additional Explanation] When robot is working and detects the voltage of DC bus is low, it will report this error [Solution]1. Power off the robot 2. Check Robot Cable and its connector before power on again 3. Reduce Robot speed if necessary Make sure power source is stable ErrorSuggestion0005FFE1 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFE2 1. Please restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0005FFE3 1. Please restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0005FFE4 [Cause]Encoder is abnormal [Caution] [Additional Explanation] This error is not likely happens, mostly because of hardware issue [Solution]1. Export the log, 2. Contact a qualified service engineer for further analysis ErrorSuggestion0005FFE5 1. Please restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0005FFE6 1. Please restart the robot. 2. If the restart is invalid, please contact the original purchase or third-party designated maintenance units. ErrorSuggestion0005FFE7 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFE8 [Cause]Hardware Failure [Caution] [Additional Explanation] When the output of the G sensor is abnormal, it will report this error [Solution]1. Export the log file
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2. Contact a qualified service engineer ErrorSuggestion0005FFE9 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFEA [Cause]DC to DC component on Join PCB is damaged
[Caution] [Additional Explanation] When detect voltage of 5V is abnormal, it will report this error [Solution] ErrorSuggestion0005FFEB [Cause]DC to DC component on Join PCB is damaged [Caution] [Additional Explanation] When detect voltage of 12V is abnormal, it will report this error [Solution] ErrorSuggestion0005FFEC Please contact the original purchase of the manufacturer or a third party designated maintenance unit. ErrorSuggestion0005FFED [Cause]Encoder is msyfunction [Caution] [Additional Explanation] This error is not likely happens, mostly because of hardware issue [Solution]1. Export the log, 2. Contact a qualified service engineer for further analysis ErrorSuggestion0005FFEE Please turn on joint modules ErrorSuggestion0005FFEF Please contact the original purchase of the manufacturer or a third party designated maintenance unit.
Software Manual TMflow Software version: 1.82
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Software Manual TMflow Software version: 1.82
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