Precise-Automation PF400

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.

• 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

  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.

• 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.