
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.
-
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.