Precise-Automation PF400

Precise-Automation PF400
Manufacturer: Precise Automation
Model: PF400

The PreciseFlex is a 4-axis sample handler, with servo gripper, that is ideal for bench top applications where ease-of-use, space requirements and safety are critical. The PF features a powerful embedded vision system and quick motion sequences. The robot can be taught by simply moving it to the required position.

General Commands

  • Version

    string version()Gets the current version of the TCP command server.

    Returns:

    Current version of the TCP command server.
  • Attach

    void attach(int attach)Attach robot.

    Parameters:

    • attachRobot arm attachment: [0 = Detach | 1 = Attach]. Minimum: 0 Maximum: 1
  • High Power

    void highPower(int power)Configures the operation mode.

    Parameters:

    • powerHigh power mode: [0 = Disable | 1 = Enable]. Minimum: 0 Maximum: 1
  • Home

    void home()Homes selected robot. Requires power to be enabled. This operation requires the robot to be attached.
Movement Commands
  • Set Monitor Speed

    void setMonitorSpeed(int speed)Sets the global system speed.

    Parameters:

    • speedGlobal system speed. Minimum: 0 Maximum: 100 Default: 70
  • Get Monitor Speed

    int getMonitorSpeed()Gets the global system speed.

    Returns:

    Currently set speed.
  • Where Cartesian

    string whereC()Retrieves the current cartesian position of the robot.

    Returns:

    Current cartesian position of the robot: [X, Y, Z, Yaw, Pitch, Roll].
  • Where Joints

    string whereJ()Retrieves the current joint position of the robot.

    Returns:

    Current joint position of the robot: [Joint 1, Joint 2, Joint 3, Joint 4, Joint5, optional Joint 6 for rail].
  • Set Profile Index

    void setProfileIndex(int index)Sets the profile index to be used.

    Parameters:

    • indexIndex of profile to be used. Minimum: 0 Maximum: 19 Default: 0
  • Get Profile Index

    int getProfileIndex()Gets the profile index to be used.

    Returns:

    Currently set profile index.
  • Set Speed

    void setSpeed(int speed)Sets speed of the currently set profile.

    Parameters:

    • speedSpeed of the currently used profile. Minimum: 0 Maximum: 100 Default: 70
  • Get Speed

    int getSpeed()Gets speed of the currently set profile.

    Returns:

    Current selected profile and its speed.
  • Set Speed 2

    void setSpeed2(int speed)Sets speed 2 of the currently set profile. Used for Cartesian moves.

    Parameters:

    • speedSpeed 2 of the currently used profile. Minimum: 0 Maximum: 100 Default: 70
  • Get Speed 2

    int getSpeed2()Gets speed 2 of the currently set profile. Used for Cartesian moves.

    Returns:

    Currently selected profile and its speed.
  • Set Acceleration

    void setAccel(int acceleration)Sets the acceleration of the currently set profile.

    Parameters:

    • accelerationThe acceleration of the currently used profile. Minimum: 0 Maximum: 100 Default: 70
  • Get Acceleration

    int getAccel()Gets the acceleration of the currently set profile.

    Returns:

    Currently selected profile and its acceleration.
  • Set Acceleration Ramp

    void setAccelRamp(float time)Sets the acceleration duration of the currently set profile in seconds.

    Parameters:

    • timeThe time which the currently used profile accelerates in seconds. Default: 0.1
  • Get Acceleration Ramp

    float getAccelRamp()Gets the acceleration duration of the currently set profile in seconds.

    Returns:

    Currently selected profile and its acceleration duration in seconds.
  • Set Deceleration

    void setDecel(int deceleration)Sets the deceleration of the currently set profile.

    Parameters:

    • decelerationThe deceleration of the currently used profile. Minimum: 0 Maximum: 100 Default: 70
  • Get Deceleration

    int getDecel()Gets the deceleration of the currently set profile.

    Returns:

    Currently selected profile and its deceleration.
  • Set Deceleration Ramp

    void setDecelRamp(float time)Sets the deceleration duration of the currently set profile in seconds.

    Parameters:

    • timeThe time which the currently used profile decelerates in seconds. Default: 0.1
  • Get Deceleration Ramp

    float getDecelRamp()Gets the deceleration duration of the currently set profile in seconds.

    Returns:

    Currently selected profile and its deceleration duration in seconds.
  • Set In Range

    void setInRange(int property)Sets the InRange property of the selected profile.

    Parameters:

    • propertysets inRange property for current profile. Minimum: -1 Maximum: 100
  • Get In Range

    int getInRange()Gets the InRange property of the selected profile.

    Returns:

    Currently selected profile and its inRange property: [-1 = Don’t stop at end of motion | 0 = Always stop, do not check end point error | >0 = Wait until close to end point].
  • Set Straight

    void setStraight(int property)Sets the Straight property of the selected profile.

    Parameters:

    • propertyStraight property for current profile: [-1 = Follow straight line path | 0 = Follow joint based path]. Minimum: -1 Maximum: 0
  • Get Straight

    boolean getStraight()Gets the Straight property of the selected profile.

    Returns:

    Currently selected profile and its Straight property.
  • Halt

    void halt()Stops the current robot immediately but leaves power on.
  • Move Cartesian

    void moveC(float x, float y, float z, float yaw, float pitch, float roll)Moves the robot in cartesian coordinates to specified cartesian position.

    Parameters:

    • xX coordinate for the move.
    • yY coordinate for the move.
    • zZ coordinate for the move.
    • yawYaw rotation for the move.
    • pitchPitch rotation for the move.
    • rollRoll rotation for the move.
  • Move Joints

    void moveJ(float j1, float j2, float j3, float j4, float j5)Moves the robot in joint coordinates to specified cartesian position.

    Parameters:

    • j1Joint1 for the move.
    • j2Joint2 for the move.
    • j3Joint3 for the move.
    • j4Joint4 for the move.
    • j5Joint5 for the move.
  • Move Joints With Rail

    void moveJWithRail(float j1, float j2, float j3, float j4, float j5, float j6)Moves the robot with rail in joint coordinates to specified cartesian position.

    Parameters:

    • j1Joint1 for the move.
    • j2Joint2 for the move.
    • j3Joint3 for the move.
    • j4Joint4 for the move.
    • j5Joint5 for the move.
    • j6Joint6 (rail) for the move.
  • Release Brake

    void releaseBrake(int axis)Releases the brake of a selected axis.

    Parameters:

    • axisSelected axis to work with: [1 = Axis 1 | 2 = Axis 2| 3 = Axis 3 | 4 = Axis 4]. Minimum: 1 Maximum: 4
  • Set Brake

    void setBrake(int axis)Engages the brake of a selected axis.

    Parameters:

    • axisSelected axis to work with: [1 = Axis 1 | 2 = Axis 2| 3 = Axis 3 | 4 = Axis 4]. Minimum: 1 Maximum: 4
  • State

    string state()Returns state of motion. This value indicates the state of the currently executing or last completed robot motion.

    Returns:

    Value indicating state of motion.
  • Wait For EOM (End of Move)

    void waitForEOM()Waits for the robot to reach the end of the current motion or until it is stopped by some other means.
  • Zero Torque

    void zeroTorque(int torque, int axis)Zero the torque of the selected robot axis. This is used to disable an axis while other robot axis are still actively servoing.

    Parameters:

    • torqueZero torque mode – 0: Disable, 1: Enable. Minimum: 0 Maximum: 1
    • axisSelects axis to work with: [1 = Axis 1 | 2 = Axis 2| 4 = Axis 3 | 8 = Axis 4]. Combinational axis are the addition of axis values. Example: axis 3, 4 is 4 + 8 = 12. Minimum: 1 Maximum: 15
  • Move To Safe

    void moveToSafe()Moves the robot to safe position.
  • Free Mode

    void freeMode(int state)Allows for free movement about specified axis.

    Parameters:

    • stateState of freedom: [-1 = Unfree all axes | 0 = Free all axes | 1 = Free axis 1 | 2 = Free axis 2 | 3 = Free axis 3 | 4 = Free axis 4]. Minimum: -1 Maximum: 4
Gripper Commands
  • Gripper

    void gripper(int state)Opens or closes the gripper.

    Parameters:

    • stateState of the gripper: [1 = Open | 2 = Close]. Minimum: 1 Maximum: 2
  • Set Gripper Open Position

    void setGripOpenPos(int position)Sets gripper open position for servo gripper.

    Parameters:

    • positionOpen position of the servo gripper.
  • Get Gripper Open Position

    int getGripOpenPos()Gets gripper open position for servo gripper.

    Returns:

    Open position of the servo gripper.
  • Set Gripper Close Position

    void setGripClosePos(int position)Sets gripper close position for servo gripper.

    Parameters:

    • positionClosed position of the servo gripper.
  • Get Gripper Close Position

    int getGripClosePos()Gets gripper close position for servo gripper.

    Returns:

    Closed position of the servo gripper.
IO Commands
  • Set IO

    void setIO(int address, int state)Set specified digital IO value.

    Parameters:

    • addressChosen digital IO address.
    • stateChosen state of IO specified by the address: [0 = Off, 1 = On]. Minimum: 0 Maximum: 1
  • Get IO

    int getIO(int address)Gets the specified digital IO state.

    Parameters:

    • addressChosen digital IO address.

    Returns:

    Current state of the chosen digital IO address.
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