Software version : V2.10.

1
Document version : V2.1
Translation of the original(en_US)

DART Studio Manual(V2.10.1)

M0609 | M0617 | M1013 | M1509 | H2017 | H2515 A0509 | A0509S | A0912 |

A0912S

© 2023 Doosan Robotics Inc.

Table of Contents

1 Preface .........................................................................................5
1.1 Copyright ...................................................................................................5
1.2 Open Source Software License Information (OSS)..........................................5

2 PART 1. User Manual ......................................................................6

2.1 Setup .........................................................................................................6
2.1.1 System Requirements ................................................................................................... 6
2.1.2 Installation .................................................................................................................. 6
2.1.3 Licensing...................................................................................................................... 7
2.2 Software Overview .....................................................................................8
2.2.1 Layout Overview........................................................................................................... 8
2.2.2 Show or Hide a Window ............................................................................................... 12
2.2.3 Change the Layout and Theme ..................................................................................... 13
2.2.4 Change the Software Theme ........................................................................................ 14
2.2.5 Change the Software Language.................................................................................... 15
2.2.6 Connect to the Controller ............................................................................................ 15
2.2.7 Use the Virtual Controller ............................................................................................ 18
2.2.8 IO Simulator ............................................................................................................... 20
2.3 System Monitoring.................................................................................... 25
2.3.1 Monitoring Bar ........................................................................................................... 25
2.3.2 Monitoring Window..................................................................................................... 25
2.3.3 Graph Window ............................................................................................................ 27
2.3.4 Motion Monitoring Window.......................................................................................... 31
2.4 System Control......................................................................................... 39
2.4.1 Control Authority........................................................................................................ 39
2.4.2 Robot Configuration ................................................................................................... 40
2.4.3 Manual Motion............................................................................................................ 84
2.4.4 Packing.................................................................................................................... 105
2.4.5 IO Control ................................................................................................................ 107
2.4.6 Fault Recovery ......................................................................................................... 115
2.5 Task Manager ......................................................................................... 118

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2.5.1 Project Explorer........................................................................................................ 118
2.5.2 DRL Program Running ............................................................................................... 120
2.5.3 Use DRL Editor.......................................................................................................... 120
2.5.4 DRL Guide ................................................................................................................ 135
2.5.5 Shortcut List ............................................................................................................ 138
2.5.6 Run a Program.......................................................................................................... 140
2.5.7 Monitoring Variables ................................................................................................. 144

3 PART 2. Path generation ............................................................. 147

3.1 CAD-based Path Generation ..................................................................... 147
3.1.1 Open Cad-based Path Generation Pane....................................................................... 147
3.1.2 3D View Control ........................................................................................................ 147
3.1.3 Object Control .......................................................................................................... 150
3.1.4 Load CAD files........................................................................................................... 157
3.1.5 Generate Path .......................................................................................................... 158
3.1.6 Edit Path .................................................................................................................. 173
3.1.7 Create Shape ............................................................................................................ 183
3.1.8 Transform Objects Into Robot Space .......................................................................... 207
3.1.9 Create Script ............................................................................................................ 216
3.1.10 Overall Practice ........................................................................................................ 221
3.1.11 Other Usage Tips....................................................................................................... 228

4 PART 3. Pallet Path Generation Manual........................................ 239

4.1 Create Pallet Path ................................................................................... 239
4.1.1 Open Work Window................................................................................................... 239
4.1.2 Create Project .......................................................................................................... 239
4.1.3 Create Pattern.......................................................................................................... 240
4.1.4 Layout Setup ............................................................................................................ 246
4.1.5 Layer Setup .............................................................................................................. 254
4.1.6 3D Screen Manipulation............................................................................................. 255
4.1.7 Create Pallet Path ..................................................................................................... 258

5 PART 4. Real time Welding Condition Manual ............................... 264

5.1 Real time Welding Condition .................................................................... 264
5.1.1 Function description and usage ................................................................................. 264

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 Preface

1 Preface
Thank you for choosing this Doosan Robotics product. Before installing the product, please read through this
manual and follow the instructions for each installation process provided in this manual. The contents of this
manual are current as of the date this manual was written, and product-related information may be modified
without prior notification to the user.

1.1 Copyright
The copyright and intellectual property rights of the contents of this manual are held by Doosan Robotics. It is
therefore prohibited to use, copy, or distribute the contents without written approval from Doosan Robotics. In
the event of abuse or modification of the patent rights, the user will be solely responsible for the consequences.

While the information in this manual is reliable, Doosan Robotics will not be held accountable for any damage
that occurs due to errors or typos. The contents of this manual may be modified according to product
improvement without prior notification.

For details of updated manuals, refer to the Robot LAB (robotlab.doosanrobotics.com1)

© 2023 Doosan Robotics Inc., All rights reserved

1.2 Open Source Software License Information (OSS)

The software installed in this product was developed based on free/open source software.

Details about the free/open source software license can be found on the OSS use page on the Doosan Robotics
website (www.doosanrobotics.com/kr/oss/license2).

For related inquires, contact the Marketing Department of Doosan Robotics

([email protected]).

1 https://robotlab.doosanrobotics.com/
2 https://www.doosanrobotics.com/kr/oss/license
3 mailto:[email protected]

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2 PART 1. User Manual

This part introduces how to use DART-Studio Software.

2.1 Setup

2.1.1 System Requirements

Before installing software, ensure that the computer meets the following hardware and software requirements.

Part Minimum Specifications Recommended Specifications

CPU 2.3GHz or higher 3.70GHz or faster processor Multiple

cores recommended

RAM 4 GB 8 GB or more

Disk 1 GB of available space 2 GB or more of available space

Graphic Card Intel HD Graphics 620 or similar Intel UHD Graphics 620 or similar

Display Settings at least 1280 x 1024 1920 x 1080 Full HD or higher

Mouse Three-button mouse Three-button mouse

Operating System Microsoft Windows 7 SP1 (64-bit) Microsoft Windows 10 (64-bit)

Caution

This software may have compatibility problems with a lower controller version than GF020400.

2.1.2 Installation

Install
1. Download and run the installer for DART-Studio.
2. On the Select Destination Location screen, accept or change the location for storing the DART-Studio
program files, and then Click.
3. On the Select Additional Tasks screen, select or do not create a desktop shortcut, and then click Next
4. On the Ready to Install screen, click Install.
5. On the Completing the DART-Studio Setup Wizard screen, select or do not launch DART-Studio, and the
click Finish.

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Uninstall
1. Depending on your device and version of Windows, access Uninstall or change a program screen from the
Control Panel.
2. In the list view of programs, find and select your version of DART-Studio, and then click Uninstall.
3. On the Uninstallation Successful screen, click OK.

2.1.3 Licensing
The purpose of the license may vary depending on the user. In addition, the features available may vary
depending on the intended use of the license. In addition, It is installed as a 30-day limited trial on the initial
installation of the program and will no longer be available when the license expires.

Standalone License
A standalone license is a product key that can be used to run DART-Studio on your device. The license must be
validated and activated prior to its use.

1. Run the installed DART-Studio.

2. If the license file is not registered or the license is expired, DART-Studio will not run and you will see the
License Error screen, as shown below.

3. Click the Copy to Clipboard button of License Information. Inform your license provider about the
generated license information key so you can obtain a license file.
4. Copy the license file to the installation path of DART-Studio to complete the license registration.
(Generally, the installation path is C: \ Program Files \ Doosan Robotics \ DART-Studio.)
5. If you want to obtain a license file before the license error window appears, please inform the license
provider about the generated the license information that you have copied by clicking the Copy
Information button in the License Info. as shown below. The program information window pops up when

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you click the Help-> Info-> Program Info button on the top menu.

2.2 Software Overview

2.2.1 Layout Overview

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Main menu

Monitoring bar

Task manager

Monitoring pane

Massage pane

Status bar

Main Menu
The main menu has 6 categories.

• File: Opens or saves project files, Language Setting, Exit Program.

• Home: Default menu for frequently used features.
• Control: Menu for robot control.
• Util: Menu for utility such as path generation.
• View: Menu for the view and layout setting.
• Help: Help menu for this software.

Caution

The Util menu may not be visible depending on the license you have or SW version.

Monitoring Bar
The monitoring bar shows information on main system status. Detailed information is explained in Monitoring
Bar(p. 25).

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Task Manager
Task Manager manages panes for robot control. There are three types of panes: Project Explorer, DRL Editor
and Variable Watch. Detailed use is explained in System Control(p. 39).

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Monitoring Window
The Monitoring window manages panes for robot monitoring. There are three types of panes: Monitoring,
Graph and Motion Monitoring. Detailed use is explained in System Monitoring(p. 25).

Message Window

2.2.2 Show or Hide a Window

You can hide or show windows. To hide a window, click the button on the right top of the window.

Or select View on the main menu and uncheck the checkbox for each window.

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To show a window that is hidden, tick the checkbox for the window.

2.2.3 Change the Layout and Theme

To change the layout, drag the pane and drop it in the desired location.

To add a tab group, right-click a tab and select New Horizontal Tab Group or New Vertical Tab Group on the
context menu.

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If you add a new horizontal (or vertical) tab group and select Arrange Tab Groups Horizontally (Vertically),
the tab group is added horizontally (or vertically).

To move the tab to another tab group, select Move to Next Tab Group.

To initialize layout, select View on the main menu and click the Default Layout button.

2.2.4 Change the Software Theme

To change the software theme, select View on the main menu and choose a software theme in the Theme
category.

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2.2.5 Change the Software Language

Two languages are provided: Korean and English.

• The default language is English.

To change the UI language,

1. Go to Help on the main menu and click the Language Setting ... button.

2. Select a language and click the OK button. The setting will be promptly applied.

2.2.6 Connect to the Controller

When the program starts, it automatically tries to connect to the controller.

If it is successfully connected to the controller, the connection state is updated on the monitoring bar.

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Select Connection Target

You can select the type of controller you want to connect between the actual robot controller and the simulator.
At this time, IP is automatically set according to the selected connection target.

• Default robot controller IP : 192.168.137.100

• Simulator IP : 127.0.0.1

It can only be set when the controller (simulator) is not connected.

Disconnect from the controller

To disconnect from the controller, select Home on the main menu and click the Disconnect button.

• It is also possible to disconnect from the controller by clicking the connection state and selecting
Disconnect on the monitoring bar.

After the connection is disconnected from the controller, you must connect to the controller manually to
connect to the controller.

To connect to the controller, select Home on the main menu and click the Connect button.

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• It is also possible to connect to the controller by clicking the connection state and selecting Connect on
the monitoring bar.

Change the connection configuration

The controller’s default IP address is 192.168.137.100, so this software’s connection address is also set to
192.168.137.100 by default.

• Before changing the connection configuration, make sure that the connection is disconnected from the
controller.

To change the connection address,

1. Select Home on the main menu and click the Setting button.

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2. Type a new address in the Controller IP Address field and click the Apply button.

2.2.7 Use the Virtual Controller

You can simulate the robot motion by using the virtual controller.

Connect to the virtual controller

Before running the virtual controller, you must connect to the virtual controller.

To connect to the virtual controller, change the controller IP address to 127.0.0.1 and try connection.

Or, if you select the simulator in the connection target, it will be connected to the simulator automatically
without any separate IP setting.

To change the controller IP address,

1. Select Home on the main menu and click the Setting button.

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2. Select the address for the virtual controller in the connection list and click the Apply button.

Run the virtual controller

To run the virtual controller, select Home on the main menu and click the Run Simulator button.

The virtual controller runs in the background. When the controller starts, the running status is updated.

Set the robot model type

Virtual controller’s robot model is set to M1013 by default.

To change the robot model type, select Home on the main menu and click the Set Robot Type menu, and then
select a robot model.

Close the virtual controller

To close the virtual controller, select Home on the main menu and click the Close Simulator button.

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2.2.8 IO Simulator
Even without a physical device connected, it is possible to perform an IO simulation of the GPIO and Modbus IO
using a virtual controller. In the case of Modbus, it performs the Modbus Slave (Server) function and only
supports TCP/IP.

Using the IO Simulator

With a virtual controller connected, click the Run GPIO Simulator or Run Modbus IO Simulator from the Home
-> IO Simulator group to open the simulator window and perform the IO simulator functions.

When the simulator window opens with a virtual controller connected, the IO simulator run status icon changes
to Running.

Click the Close IO Simulator button to close the simulator window and end the simulation.

GPIO Simulation
Click the Run GPIO Simulator button to open the simulator window as shown below.

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1. Flange Version 1

2. Flange Version 2 (A Series)

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3.
The digital IO status of the controller and flange are displayed.

• If the signal value is 1(true), the status field is displayed in green.

• If the signal value is 0(false), the status field is displayed in gray.
• To change the signal value, click the Set

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The analog IO status and IO type of the controller and flange are displayed.

• Enter the signal value and press the Set button to set the value.
• Select the IO type and press the Set button to set the type.
• There are current type and voltage type.
• The voltage type will limit the signal value range to 0-10.
• The current type will limit the signal value range to 4-20.

Modbus IO Simulation
Click the Run Modbus IO Simulator button to open the simulator window as shown below.

Take caution of the fact that if more than 2 DART-Studio instances are running, only the first DART-Studio
instance can run the Modbus IO Simulator, and the simulator cannot run in subsequent DART-Studio
instances and the following log message will be displayed in the log window.

How to use the simulator:

1. Add a Modbus IO to run the simulation in a robot environment. Refer to the Modbus IO(p. 79) for how to
add a Modbus IO. Take note that only the TCP/IP Device is supported.

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2. When adding a Modbus IO, add it as a TCP device, and set the IP address as 127.0.0.1 (or the IP of the PC
running DART-Studio), the port number as 503, the slave ID as 255, the desired IO type and index (0-100),
and the initial value. In case of Multiple Holding Register and Multiple Coil, set the IO Start Index and
Count instead of the index and initial value. Click the Confirm button (Apply Item) after setting to apply
them to the virtual controller. It is also possible to simulate the Modbus IO applied on an actual controller,
so add a Modbus IO using the IP of the actual controller. All other settings are identical.
3. Change the cell value of the IO index set on the IO type column corresponding to the added Modbus IO and
click the Set button as shown below to apply the changed values. The setting ranges for Discrete Inputs,
Colis is 0-1, and for Input Registers, Holding Registers is 0-65535. In case of Discrete Inputs, Colis, 0 or 1 can
be selected from the combo box type input window or can be entered with a direct key in of 0 or 1 after
clicking the input window. Setting 0 or 1 with a toggle is also possible after double-clicking the input
window.

4. It is also possible to monitor the value of the cell on the Modbus slave simulator window, as it applies the
value changed from the Modbus IO Setting popup window displayed by clicking the Control -> IO Control
-> Modbus button as shown below.

5. Enter the index value (0-100) to search in the index input window of the Find Index on the top right and
click the Find button to move the focus to the corresponding row.

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6. Move the mouse cursor over the index column header to display filtering options as shown below. Select
the checkbox of the items to display only the filtered items on the grid.

2.3 System Monitoring

If the program is connected to the controller, system status information is updated.

2.3.1 Monitoring Bar

The Monitoring Bar window mainly shows the states needed for the user to control the robot.

• Connection State: It shows the connection state to the controller.

• Robot Model: It shows the currently connected robot’s model type and serial number.
• Control Authority: It shows whether control is enabled.
• Control State: It shows the current control state.
• System Mode: It shows the current system mode. The system mode can be either Real or Virtual. “Virtual”
means that the robot motion is simulated without actually moving

2.3.2 Monitoring Window

The Monitoring window shows the controller’s current control status in tabular form.

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Each row shows a monitoring item and each row’s column size varies for each monitoring item dimension. For
example, “Joint Angle” needs six columns to display values from joint axis 1 to 6 and Controller Digital Input
needs 16 columns to display its state from port 1 to 16.

Most of the status values are updated every 100 milliseconds. In the case of IO status, the values are updated
when its value is changed.

Status information is as in the table below.

Joint Space • Actual/Target angle [degree], Velocity [degree/sec]

• Actual Angle(ABS) [degree]

Task Space • Actual/Target TCP [mm], Velocity [mm/sec]

• Actual Flange Pose [mm]
(Base)
• Actual/Target Speed [mm/sec]
• Solution Space
• Tool X,Y,Z-Axis

Task Space • Actual/Target TCP [mm], Velocity [mm/sec]

• Actual Flange Pose [mm]
(World)
• Tool X,Y,Z-Axis
• World to Base Relation

Task Space • Actual/Target TCP [mm], Velocity [mm/sec]

• Actual Flange Pose [mm]
(User)
• Tool X,Y,Z-Axis
• User Coordinate ID
• Parent Coordinate

Force • Joint Torque(Sensor) [Nm]

• Motor Torque [Nm]
• Force Torque Sensor [N], Acceleration Sensor [m/s2]
• Joint Torque (Gravity/Model), Joint External Torque [Nm]
• Task External Force (Base/World/User) [N]

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Control Information • Operation Speed Mode

• Control State
• Current Tool
• Current TCP
• Collision Sensitivity
• Singularity

IO • Flange digital Input (6), digital output (6)

• Digital input (16), Digital output (16)
• Analog input (2), Analog output (2)
• Safety input (2)
• Encoder Strobe Count (2)
• Encoder Count (2)

ETC • Motor Current (A)

• Inverter Temperature (℃)
• Control Mode, Control Space
• DRCF, DRCL State
• Break State
• Arm Button State
• Switch State

2.3.3 Graph Window

Status monitoring information is provided as a graph in the Graph window.

In each data graph, the X axis is time in milliseconds and the Y axis is the value of the data. Data is updated every
100 milliseconds and as new data is added, the graph flows from right to left.

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Supported Data Types

The supported data types are as in the following table.

Joint Space • Actual/Target angle [degree], Velocity [degree/sec]

• Actual Angle(ABS) [degree]

Task Space • Actual/Target TCP [mm], Velocity [mm/sec]

• Actual Flange Pose [mm]
(Base)
• Actual/Target TCP Speed [mm/sec]
• Solution Space

Task Space • Actual/Target TCP [mm], Velocity [mm/sec]

• Actual Flange Pose [mm]
(World/User)

Force • Joint Torque(Sensor) [Nm]

• Motor Torque [Nm]
• Force Torque Sensor [N], Acceleration Sensor [m/s2]
• Joint Torque (Gravity/Model), Joint External Torque [Nm]
• Task External Force (Base/World/User) [N]

IO • Flange digital Input (6), digital output (6)

ETC • Motor Current (A)

• Inverter Temperature (℃)

Browse the Graph

• Value Cursor: If you move the mouse cursor over the graph, the value of the mouse cursor position is
shown in the tooltip.

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• X-Direction Zoom In: Scroll the mouse wheel upward while the mouse cursor is over a graph.
• X-Direction Zoom Out: Scroll the mouse wheel downward while the mouse cursor is over a graph.
• Y-Direction Zoom In: Scroll the mouse wheel upward while the mouse cursor is over a graph and holding
down the Ctrl key.
• Y-Direction Zoom Out: Scroll the mouse wheel downward while the mouse cursor is over a graph and
holding down the Ctrl key.
• Move: Use the scroll to move the data window position. Or move the mouse cursor to the left or right while
pushing the left mouse button.

Caution

If the data window doesn’t include the new data position, the graph is fixed. If you move the data
window so that it includes the new data position, it starts to flow.

Change the Graph Layout

The layout and data type for each graph can be configured.

To change the graph layout and data type,

1. Click the Set Graph Layout button on the toolbar.

2. Select a graph layout type.

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• It supports from 1 by 1 to 2 by 3.

3. Assign a data type to each graph.

4. Click the OK button.

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Control Monitoring

To stop real-time monitoring, click the Stop button on the toolbar.

To resume monitoring, click the Play button on the toolbar.

To initialize the zoom scale, click the Init Zoom Level button on the toolbar.

2.3.4 Motion Monitoring Window

The Motion Monitoring window shows the current robot pose in the 3D viewer. The pose information is
updated every 100 milliseconds.

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Visualized Objects
• Tool Coordination

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• Motion Trajectory

• Robot Body Bounding Volume: Bounding Volume is a simplified body shape and is used to check collisions
against the safety zone.

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• Safety Zone

Use the 3D Viewer

Show or hide objects

To show or hide a scene object, click the buttons below for the object type.

Show/Hide Grid Line

Show/Hide Tool Coordination

Show/Hide Motion Trajectory

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Show/Hide Robot Shape

Show/Hide Robot Body Bounding Volume

Show/Hide Tool Shape

Show/Hide Local Zone, Controller version GF020500 or later

Show/Hide Space Limit Zone

Show/Hide Operation Space Controller version GF020400

Show/Hide Collaborative Workspace

Show/Hide Protected Zone

Show/Hide Collision Detection Mute Zone

Show/Hide Tool Orientation Limit Zone

Move

Click the Move button or press the F4 key and move the mouse cursor while clicking the left mouse
button. It is also possible to move the mouse cursor while clicking the middle mouse button.

Rotate

Click the Rotate button or press the F2 key and then move the mouse cursor while clicking the left mouse
button.

To fix the rotation axis, press the number key.

Key Action

“1” Rotation along X axis

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“2” Rotation along Y axis

“3” Rotation along Z axis

“4” Rotation along View Right direction

“5” Rotation along View Up direction

“6” Rotation along View Forward direction

If you want to change the center of rotation, hold down the Ctrl key and click on the object you want to focus
on.

Zoom

• Zoom In: Click the Zoom In button on the menu or scroll the mouse wheel upward.

• Zoom Out: Click Zoom Out button on the menu or scroll the mouse wheel downward.

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Select

Click the Select button on the menu or press the F3 key, and then click the left mouse button over the
object to select.

Fit scene

To reset the zoom ratio and rotation center, click the Fit Scene button or press the F5 key.

Menu Button Shortcut Function

F2 Rotate

F3 Select

F4 Move

F5 Fit scene

Change the viewpoint

To change the viewpoint, click one of the View Direction buttons. If you click the To –X button, the scene
rotates so that the forwarding direction directs to the –X direction.

Projection Mode

To change projection mode, click the Orthogonal or Perspective button.

The default projection mode is orthogonal projection.

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Orthogonal projection Perspective projection

Change the object view property

• To make the selected object transparent, click the Transparent button on the toolbar.

• To make the selected object opaque, click the Opaque button on the toolbar.

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2.4 System Control

2.4.1 Control Authority

It is allowed for two or more clients to connect to a robot controller, for example a Teaching pendant and two or
more DRFTs. If each client tries to manipulate the robot or change to a safety configuration, problems could
occur, so robot control is only allowed for those who have control authority.

So, if you want to manipulate the robot with the Service Tool, you must first get control authority.

To acquire control authority, select Home on the main menu and click the Request button.

• It is also possible to acquire control authority by clicking the Request button on the status bar.

Then, in another client program that currently has control authority, a query window pops up.

If you want to yield the authority, click the OK button and the authority is given to the requesting client and the
state UI is updated.

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2.4.2 Robot Configuration

Open Robot Configuration Window

To open the Robot Configuration window, select Control on the main menu and click the Robot Configuration
button or double click Robot Configuration in the Task Manager tree.

Note that the project must first be opened to open the Robot Configuration window.

Robot Configuration UI
The Safety Configuration UI is composed of a tree control and the tree has two main nodes, User Setting and
System Setting.

Robot Configuration is composed of five categories: Safety Parameter, Safety Zone, Tool, Modbus IO and
Coordinate System.

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If User Setting and System Setting are different, the node icons for the User Setting items are displayed with

And then if you apply the change by selecting Apply Item, the node icon changes to .

Get Current System Configuration

To get the current safety configuration, click the Get Current Setting button on the toolbar.

Then the current settings are updated to the System Setting tree.

General Procedure to Set Robot Configuration

To set a robot configuration,

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1. Select a configuration item in the tree and click the Modify Item button on the toolbar.

• It is also possible to edit by right-clicking a configuration item in the tree and selecting Modify Item
on the context menu.

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2. After editing the settings, click the Confirm Then the edit window closes and the setting is applied to the
system. If the setting is successfully set in the system, System Setting is updated.

Safety Parameter

Joint Limit
• Joint Angle Range: This is a limit for joint angle by degree. If the angle of an axis exceeds the limit, a
JOINT_SLP violation error is invoked.

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• Joint Speed: This is a limit for joint speed by degree/sec. If the speed of an axis exceeds the limit, a
JOINT_SLS violation error is invoked.

You need to set the limits for Normal Speed Mode and Reduced Speed Mode. Normal speed mode limit is
applied when the system is in a state of Manual operation, Hand-guiding operation or Stand-alone autonomous
operation. In contrast, Reduced Speed Mode limit is applied when the system is in a state of Collaborative
autonomous operation.

TCP/Robot Limit

• TCP Force: It is a limit for force on TCP in N. If the force on TCP exceeds the limit, a TCP_SLF violation error
is invoked.
• Power: It is a limit for power on TCP in W. If the power exceeds the limit, TCP_POWER violation error is
invoked.
• TCP Speed: It is a limit for TCP speed in mm/sec. If the TCP speed exceeds the limit, TCP_SLS violation
error is invoked.
• Momentum: It is a limit for TCP momentum in Kg∙m/sec. If the momentum exceeds the limit,
TCP_MOMENTUM violation error is invoked.
• Collision sensitivity: It is a criterion for collision detection in percent units. The higher the value, the
smaller the external force the robot stops with. If a collision is detected, a COLLISION violation error is
invoked.

If the Collision detection mute zone is configured and TCP is inside a collision detection mute zone, the collision
sensitivity for the zone is applied.

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You need to set the limits for Normal speed mode and Reduced Speed Mode. Normal speed mode limit is
applied when the system is in a state of Manual operation, Hand-guiding operation or Stand-alone autonomous
operation. In contrast, Reduced Speed Mode limit is applied when the system is in a state of Collaborative
autonomous operation.

Safety Stop Mode

You can assign a stop mode for each safety violation.

There are four kinds of stop modes.

• STO: Cuts off the motor power immediately.

• SS1: Cuts off the motor power after motion stop.
• SS2: Holds position after motion stop
• RS1: Reactive stop after collision. It can only be applied for a Collision violation.

Safety IO - Safety Input

Safety Input defines robot action when the corresponding signal is invoked.

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Possible options are as below.

0 Not Used

1 Emergency Stop (L)

2 Emergency Stop - No Loopback (L)

3 Protective Stop (L)

4 Protective Stop - STO (L)

5 Protective Stop - SS1 (L)

6 Protective Stop - SS2 (L)

7 Protective Stop (L) - Auto Reset & Resume (R)

8 Interlock Reset (R)

9 Reduced Speed Activation (L)

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10 3-Pos Enable Switch (H)

11 Handguiding Enable Switch (H)

12 Remote Control Enable (H)

13 Safety Zone Dynamic Enable (H)

14 Safety Zone Dynamic Enable (L)

15 HGC End & Task Resume (R)

Safety IO - Normal Input

Safety input can be switched to normal input.

A signal is invoked for the corresponding normal input port when the configured normal input action occurs.

Possible options are as below.

0 Not Used

1 Power On (H)

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2 Power Off (H)

Safety IO - Safety Output

A signal is invoked for the corresponding safety output channel when the configured safety output action
occurs.

Possible options are as below.

0 Not Used

1 Emergency Stop (L)

2 Emergency Stop - excl. No Loopback Input (L)

3 Safe Torque Off (L)

4 Safe Operating Stop (L)

5 Abnormal (L)

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6 Normal Speed (L)

7 Reduced Speed (L)

8 Auto Mode (L)

9 Manual Mode (L)

10 Remote Control Mode (L)

11 Standalone Zone (L)

12 Collaborative Zone (L)

13 High Priority Zone (L)

14 Tool Orientation Limit Zone (L)

15 Designated Zone (L)

Safety IO - Normal Output

Safety output can be switched to normal output.

A signal is invoked for the corresponding normal output port when the configured normal output action occurs.

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Possible options are as below.

0 Not Used

1 Safe Torque Off (L)

2 Safe Operating Stop (L)

3 Normal Speed (L)

4 Reduced Speed (L)

5 Auto Mode (L)

6 Manual Mode (L)

7 Remote Control Mode (L)

8 Standalone Zone (L)

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9 Collaborative Zone (L)

10 High Priority Zone (L)

11 Tool Orientation Limit Zone (L)

12 Designated Zone (L)

13 Task Operating (L)

14 Robot In Motion (L)

15 Mastering Alarm (L)

16 Home Position (L)

17 Deceleration - SS1 SS2 (L)

Installation Pose
When the robot is mounted on a side wall or ceiling, you must set the install pose.

• Tilting Angle: Tilting angle in degrees between the ground and the robot base frame.

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• Rotation Angle: Rotation angle along vertical axis.

Cockpit Button
It provides the editing function to set the teaching mode of the cockpit button.

Teaching mode is as follows.

• TCP-Z
• TCP-XY
• Orientation Only
• Position Only

To use the clamping escape function, select Clamping Escape Enale in Button1+2 mode.

Speed Reduction Rate

It provides the editing function to set the following property items.

Item Range Unit

CWS Speed Reduction Rate 1~100 %

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IO Speed Reduction Rate 1 ~100 %

Nudge
It provides the editing function to set the following property items for Nudge.

Item Range Unit

Input Force 10~50 N

Delay Time 0 ~30 Sec

Idle Servo Off

Idle Servo Off is one of our system’s safety policies. If the robot is not used for more than 5 minutes, it will cut off
the servo power. If not, turn off the Allow Servo Off button.

To only change the servo off time, set the Off Time value.

Safety Zone Overview (Valid for GF020400)

There are five types of Safety Zones.

Operating Space
Operating Space is a safety zone where robot operation is limited.

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If any part of the robot including tool goes beyond the zone, a TCP_SLP violation error is invoked. It is
geometrically defined as one of Cuboid, Circular Prism, and Planar Prism.

Collaborative Workspace
Collaborative Workspace is a safety zone where the user cooperates with the robot. Its complement is called
Standalone Workspace, which is a space where the robot operates autonomously.

When the robot is moving in the autonomous mode and TCP is in Collaborative Workspace, the operation speed
mode is changed to Reduced Speed Mode.

Protected Zone
Protected Zone is a safety zone to protect environmental objects near the robot.

If any part of the robot including tool collides with the shape the zone defines, a TCP_SLP violation error is
invoked. It is geometrically defined as one of Cuboid, Sphere, and Polygonal Prism.

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Collision Detection Mute Zone

Collision Detection Mute Zone is a safety zone where collision detection is temporarily disabled, or local
collision sensitivity is applied when TCP is inside the zone.

It is geometrically defined as one of Cuboid, Sphere, Cylinder, Tilted Cuboid and Polygonal Prism.

It has three zone properties.

• Collision Detection On/Off: If the property is OFF, Collision detection is disabled when TCP is inside the
zone. If the property is ON, the local Collision Sensitivity property is applied to collision detection.
• Collision Sensitivity: Local collision sensitivity is applied to collision detection.
• Dynamic Zone Enable: If the property is set, the collision mute zone is only enabled when the
corresponding safety input channel is enabled.

Tool Orientation Limit Zone

The tool orientation limit zone is a safety zone where tool direction is constrained when TCP is inside the zone.
If the tool direction violates the limit condition, a TCP_SLO violation error is invoked.

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It is geometrically defined as one of Cuboid, Sphere, Cylinder, Tilted Cuboid and Polygonal Prism.

It has two zone properties.

• Limit Direction: Violation Limit Direction based on global coordination.

• Limit Angle: Violation Limit Angle along Limit Direction.

Limit Direction and Angle comprise a cone shape. If the tool direction goes beyond the limit range, a TCP_SLO
violation error is invoked.

Safety Zone Setting (Valid for GF020400)

Modify a safety zone

To modify a safety zone, click the Modify Item button on the toolbar. It is also possible to modify it by
selecting Modify Item on the context menu.

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Define Zone Shape

Define a zone shape type in the Shape Type list.

If the Shape Type is selected, the Shape Property field is updated for the type.

Display Zone Shape

If all shape properties are filled and the shape is valid, the shape is displayed in the viewer.

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Define Zone Property

For Collision Detection Mute Zone and Tool Orientation Limit Zone, defining the Zone property is necessary.

• Collision Detection Mute Zone

• Tool Orientation Limit Zone

Confirm the Zone

If editing is done, click the Confirm button.

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If you want to cancel the editing result, click the Cancel button.

Get Pose
For position properties like XYZ, XY, Z coordinates, there is a Get Current Coordinates button as shown. Clicking
the button sets the position field to Current TCP.

Use the zone shape viewer

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• Move: Click the Move button or press the F4 key and move the mouse cursor while clicking left
mouse button..

• Rotate: Click the Rotate button or press the F2 key and then move the mouse cursor while clicking
the left mouse button.
• View Direction: To change the viewpoint, click one of the View Direction If you click the To –X button, the
scene rotates so that the forwarding direction directs to the –X direction.
• Show Safety Zone: Select the zone type to show on the screen in the Context menu that appears when the
Show Safety Zone button is clicked.

• Select: Click the Select button on the menu or press the F3 key, and then click the left mouse button
over the object to select.
• Zoom: Scroll the mouse wheel upward to zoom in. Scroll the mouse wheel downward to zoom out.
• Scene Fitting: Press the F5 key.

Apply an Item
If a zone is confirmed, the zone is applied to the system.

If the setting is successfully applied to the controller, the current system setting is updated.

If the setting fails, a system alarm message that explains why the setting failed pops up.

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Enable/Disable a Safety Zone

A disabled safety zone appears as disabled text on the tree node.

To enable a safety zone, select a disabled zone and select Modify Item on the context menu or click the Modify

Item button on the toolbar.

Then, the Item Edit window for the safety zone appears on the right side.

To change the safety zone activation, turn on the Activate Zone button.

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If the zone is enabled without a problem, the zone setting is applied to the system and the Current System
Setting is updated.

To disable a safety zone, turn off the Activate Zone button.

If a zone is disabled, the zone setting is applied to the system, which means the setting is removed from the
system.

Display Safety Zone

To display the safety zone settings, select Safety Zone and click the Display Item button on the toolbar or
select Display Item on the context menu.

Then, the selected safety zone is displayed in the 3D viewer of the Motion Monitoring tab.

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Safety Zone Overview (Valid from GF020500)

Safety zone is unified as two types of zone, Space limit zone and Local zone.

Space Limit Zone

Space limit zone is a safety zone which limits operation of the robot. It unified the Operating space and the
Protection zone of the previous version.

The shape of a zone is geometrically defined as one of Sphere, Cylinder, Cuboid, Tilted Cuboid and Multi Plane.
The properties of each shape is as below.

Type Image Property

Sphere C: Center Point (X, Y, Z)

r: Radius

Cylinder C: Center Point (X, Y)

r: Radius
h1: Lower Height (Z)
h2: Upper Height (Z)

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Cuboid A: Vertex Point 1 (X, Y, Z)

B: Diagonal Vertex Point of A (X, Y, Z)

Tilted Cuboid Tilted cuboid is defined as an origin point and three orthogonal
vertex points.
Po: Origin Point (X, Y, Z)
Pu: Vertex point along U axis (X, Y, Z)
Pv: Vertex point along V axis (X, Y, Z)
Pw: Vertex point along W axis (X, Y, Z)

Multi Plane P1~P6: A plane orthogonal to XY plane. Defined as start and end
points on XY plane.
h1: Lower Height (Z)
h2: Upper Height (Z)
S: Space point(X, Y). The Space point decides a valid space among
spaces divided by planes.

Shapes have common properties as below.

Property Description

Coordinate If defines the coordinate system of the position of the shape.

It is one of Base coordinate system or World coordinate system.

Valid space A shape divide the space into inner space and outer space. The user can select which
space is valid.
If the outer space is valid, the robot cannot reside inside the shape which means that it
defines a protection zone.

Margin Margin means an offset value to expand or shrink the shape.

If it is positive value, the shape is expanded. Or if it is negative value, the shape is
shrunk.

The properties of a zone is as below:

Property Description

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Inspection Type If defines space limit violation inspection type.

Body: Robot shape volumes are used to decide whether the robot reside inside space
limit.
TCP: Robot TCP is used to decide whether the robot reside inside space limit.

Joint Angle Limit It defines whether to override joint angle limit inside the zone.
Override

Dynamic Enable By It defines whether to dynamically enable the zone based on the safety input signal.
Safety Input
If the option is enabled, the safety zone is enabled when the assigned safety input
channel is invoked

Dynamic Enable By It defines whether to dynamically enable the zone based on the safety output signal.
Safety Output
If the option is enabled, the safety zone is enabled when the assigned safety output
channel is invoked

Local Zone
Local zone is a safety zone which overrides safety parameters when TCP is inside the zone.

The shape of a zone is geometrically defined as one of Sphere, Cylinder, Cuboid, Tilted Cuboid and Multi Plane.
The properties of each shape are as described in Space Limit Zone.

The properties of a zone is as below:

Property Description

Prior to other zones It decides the priority of zones when local zones are overlapped.
If this flag is enabled, the zone is prior to other zones.

Prior to Reduced mode If the reduced speed mode safety input is invoked while the robot is operating in
Auto mode, the safer limit between global reduced speed mode limit and the
local safety limit is applied.
If this flag is enabled, the local safety limit is applied.

Joint Angle Limit Override It defines whether to override joint angle limit inside the zone.

Joint Speed Limit It defines whether to override joint speed limit inside the zone.
Override

TCP Speed Limit Override It defines whether to override TCP speed limit inside the zone.

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Power Limit Override It defines whether to override Power limit inside the zone.

Momentum Limit It defines whether to override Momentum limit inside the zone.
Override

TCP Force Limit Override It defines whether to override Force limit inside the zone.

Collision Sensitivity It defines whether to override Collision sensitivity inside the zone.
Override

TCP SLF Violation Stop It defines whether to override TCP SLF Violation Stop Mode inside the zone.
Mode Override

COLLISION Violation Stop It defines whether to override COLLISION Violation Stop Mode inside the zone.
Mode Override

Speed Rate Override It defines the operation speed rate inside the zone.

Tool Orientation Limit It defines whether to limit the tool orientation inside the zone.
To limit the tool orientation, the limit axis and the angle should be defined.

Collaborative Zone It defines whether to collaborative zone enable.

Enable

Dynamic Enable By Safety It defines whether to dynamically enable the zone based on the safety input
Input signal.
If the option is enabled, the safety zone is enabled when the assigned safety
input channel is invoked

Dynamic Enable By Safety It defines whether to dynamically enable the zone based on the safety output
Output signal.
If the option is enabled, the safety zone is enabled when the assigned safety
output channel is invoked

Caution

The safety violation inspection criterion is decided based on rules below.

1) Manual mode or hand-guiding mode:

The global reduced speed mode limit is applied. The safety limit of the local zone is ignored.

2) Normal speed Auto mode:

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If the TCP is inside the zone, the safety limit of the local zone is applied.

3) Reduced speed Auto mode:

If the reduced speed mode safety input is invoked while the robot is operating in Auto mode, the safer
limit between global reduced speed mode limit and the local safety limit is applied.
If the ‘Prior to reduced mode’ is enabled, the local safety limit is applied.

Safety Zone Setting (Valid from GF020500)

Add a safety zone

To add a safety zone click Add Item button on the toolbar or select the Add Item menu on the context
menu.

Define properties of the safety zone

Set the name of the zone. It should be unique.

Select the type of the zone and set the properties.

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Define the shape of the safety zone.

Select the Zone Shape tab, and select the shape type.

Set properties of the shape. If the shape is properly set, the shape is displayed in the shape view.

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The user can manipulate the 3d shape view by using the functions below.

• Move: Click the Move button or press the F4 key and move the mouse cursor while clicking left
mouse button..

• Rotate: Click the Rotate button or press the F2 key and then move the mouse cursor while clicking
the left mouse button.
• View Direction: To change the viewpoint, click one of the View Direction If you click the To –X button, the
scene rotates so that the forwarding direction directs to the –X direction.
• Show Safety Zone: Select the zone type to show on the screen in the Context menu that appears when the
Show Safety Zone button is clicked.

• Select: Click the Select button on the menu or press the F3 key, and then click the left mouse button
over the object to select.

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• Zoom: Scroll the mouse wheel upward to zoom in. Scroll the mouse wheel downward to zoom out.
• Scene Fitting: Press the F5 key.

Confirm the safety zone

If editing is done, click the Confirm button. Or the user can discard the setting by clicking the Close button.

If the user confirm the setting, a new safety zone item is added to the configuration tree.

If the DART Studio is connected to the controller, the setting is applied to the system. Or if it is not connected to
the controller, the setting is just saved to the configuration file.

Modify a safety zone

To modify setting of a safety zone click Modify Item button on the toolbar or select the Modify Item
menu on the context menu.

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If the button is clicked, the editing window is displayed. After editing the setting click the Confirm button to
confirm the setting.

Delete a safety zone

To delete a safety zone click Remove Item button on the toolbar or select the Remove Item menu on the
context menu.

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Display a safety zone

To display a safety zone click Display Item button on the toolbar or select the Display Item menu on the
context menu.

Then the safety zone is display in the Motion Monitoring view.

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Tool

Add an item to set a tool

To register a tool setting, select Tool Weight, Tool Center or Tool Shape and click the Add Item button on
the toolbar.

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• It is also possible to add an item by selecting Add Item on the context menu.

Edit a tool setting

Fill the tool properties.

You can automatically measure the tool weight by clicking the Measure button.

If measurement is done, the measure result is filled in the tool weight fields.

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You can automatically calculate the TCP by clicking the Calculate button. If you click it, the TCP Calculating
window opens. After filling in the four reference values required for TCP calculation, press the measure button
to start the measurement motion. During motion, the measure button changes to a stop button, and the
measurement motion stops when the stop button is pressed.

If calculation is done, the result is filled in TCP fields.

If editing is done, click the Confirm button.

Then, the setting is registered in the system.

Starting with GF0210001 and later versions, there is a function to set a weight above the maximum payload
instead of limiting the acceleration.
For robot models that offer this feature, instead of limiting the maximum weight and acceleration, the
maximum weight that can be set is displayed as a warning.

Activate a tool

To activate a tool, select a tool item and click the Apply Item button on the toolbar, or select Apply Item
on the context menu.

Then, the selected tool is set as an active tool.

Unselect a tool

Click the Unselect Tool button on the toolbar or select Unselect Tool on the context menu.

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Then, the active tool is reset.

Modify a tool shape Item

To set tool shape setting, select an added item and click the Modify Item button on the toolbar.

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• It is also possible to modify it by selecting Modify Item on the context menu.

Then, the edit window appears on the right side.

Tool shape is composed of at most five parts, and each part’s shape is one of Box, Sphere or Capsule. To
configure the shape of a part, you must set its validity flag and shape.

1. Select the part in the Tool Shape list.

2. Click the Modify Item button on the toolbar or select Modify Item on the context menu.
3. Select Shape Type.

4. Turn on the Activate Part button if you want to enable a part.

5. Define shape
• It is assumed that the origin of the tool shape is in the “Tool Flange Center” and its X, Y, Z direction
is the same as the Base coordinate system X, Y, Z direction.

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• If every field is filled and the shape is valid, it is displayed in the Tool Shape Display Window.

6. Click the Confirm button.

The setting display is updated and applied to the system.

Display the tool shape item

To display the tool shape in the Motion Monitoring window, select a tool shape item and click the Display Item

button.

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• It is also possible to display the tool shape by selecting Display Item on the context menu.

Then, the tool shape is displayed in the Motion Monitoring window.

Modbus IO
Modbus IO has two types, TCP device and RTU Device.

From the controller version GF02060300, up to 100 Modbus IOs can be added regardless of device, IP, port
number.

Add a Modbus Monitoring Item

To add a Modbus monitoring item, select a tool item (TCP device or RTU Device) and click the Add Item
button on the toolbar or select Add Item on the context menu.

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Then, the Modbus Setting window appears on the right side.

Modbus Device information includes:

• Device IP Address and Port

• I/O Type

IO Type Read/Write Property Value Range

Discrete Input Read Only 0~1 (1 Bit)

Coil Read / Write 0~1 (1 Bit)

Input Register Read Only 0~65535 (2 Bytes)

Holding Register Read /Write 0~65535 (2 Bytes)

• I/O Index

If setting is done, click the Confirm button.

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When a new item is added to the tree, select the item and click the Apply Item button on the toolbar or
select Apply Item on the context menu.

If the setting item is successfully applied, the value of the item is displayed in the Input Value field in the tree.

Remove a Modbus Monitoring Item

To remove monitoring items, select an item node in the tree and click the Delete Item button on the
toolbar or select Delete Item on the context menu.

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Then, the selected items are removed from the tree and controller.

Coordinate System

World Coordinate

To configure the world coordinate, click Modify Item button on the toolbar or select the Modify Item
menu on the context menu after selecting the World Coordinate item.

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Configure the world-base relation in the editing window. World-Base relation means the position and the
orientation of the robot based on the world coordinate system.

Item Description

X Coordinates of the relative position of the robot base in the X axis direction of the world coordinate
system

Y Coordinates of the relative position of the robot base in the Y axis direction of the world coordinate
system

Z Coordinates of the relative position of the robot base in the Z axis direction of the world coordinate
system

A Angle of the XY coordinate axis of the robot base rotated with the Z axis of the world coordinate
system as the rotation axis

B Angle of ZX coordinate axis of robot base rotated with Y axis rotated above

C Angle of XY coordinate axis of robot base rotated with Z axis rotated above

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Add a user coordinate

To add a user coordinate, click Add Item button on the toolbar or select the Add Item menu on the
context menu after selecting the User Coordinate item.

Set the properties of the user coordinate and click the Confirm button.

Property Description

ID At most 100 user coordinates can be defined. The id of the coordinate is pre-assigned. So
select the id of the coordinate. It cannot be duplicated with other coordinate setting.

Basis Coordinate Set the basis coordinate system among the World coordinate system and the Base
System. coordinate system.

Coordinate Set the origin position and the orientation of the user coordinate system based on the
Setting basis coordinate system.
X, Y, Z: the origin position based on the basis coordinate system.
A, B, C: the orientation of the coordinate based on the basis coordinate system.

Modify the user coordinate

Modify the user coordinate

To modify a user coordinate, click Modify Item button on the toolbar or select the Modify Item menu on
the context menu after selecting the item to modify.

The coordinate ID cannot be modified.

After setting properties, click the Confirm button.

Delete a user coordinate

To delete a user coordinate, click Delete Item button on the toolbar or select the Delete Item menu on
the context menu after selecting the item to delete.

2.4.3 Manual Motion

To control the robot motion manually, select Control on the main menu and click the Manual Motion button.

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Joint Jog, Joint Move (MoveJ), Task Jog, Task Move (MoveL) and Align Motion are available in the Manual
Motion window.

And then you can perform the servo on/off, change real / virtual mode using the button on the left upper side. It
is also possible to see the current control state and system mode in the right upper side.

All manual motions are run by the user’s Hold To Run operation. Hold To Run means that the robot moves only
when the operation button is pushed. If the button is released, the robot stops immediately.

In motion control, every joint angle value is displayed in degree units and its speed is displayed in degree/
second units. For task pose, the translation part (X, Y, Z position) is displayed in mm units and orientation part

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(A, B, C orientation) is displayed in degree units. For task speed, the speed of the translation part is displayed in
mm/second units and speed of the orientation part is displayed in degree/second units.

Joint Jog
Select Joint Jog in the Manual Motion list. Then, the current joint angle and TCP position are displayed and
updated in 100 milliseconds.

Set Jog Speed

Jog speed is set in percent units. The joint angle speed for 100% is 30 degrees/seconds. To set the speed, click
the spin button or move the slide bar.

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Jog the joint angles

Use the + (plus) or – (minus) buttons to adjust the joint angles. If the button is released, the motion stops.

• To decrease the joint angle, click the – (minus)

• To increase the joint angle, click the + (plus)

Joint Move
Select Joint Move in the Manual Motion list. Then, the current joint angles and TCP position are displayed and
updated in 100 milliseconds.

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Set the target joint angles

To set the target angles, type the value or click the spin button.

• To load the current angle in the Target Angle field, click the Get Current Angle

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Set the speed and acceleration

To set the speed and acceleration, type the value or click the spin button.

Start motion
Click and hold the Move To Target button to move the robot to the target angles in the way of “MoveJ.” If the
button is released, the robot will stop.

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Task Jog
Select Task Jog in the Manual Motion list. Then, the current joint angles and TCP position are displayed and
updated in 100 milliseconds.

Set Jog Mode

There are three jog modes: Base, Tool, World and User_Coordinate.

• Base: The TCP of robot will move along the corresponding axis of base coordination.
• Tool: The TCP of robot will move along the corresponding axis of tool coordination.
• World: The TCP of robot will move along the corresponding axis of world coordination.
• User_Coordinate: The TCP of robot will move along the axis of coordinates added in the robot
environment setting.

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Set Jog Speed

Jog speed is set in percent units. The task jog speed for 100% is 250 mm/second. To set the jog speed, click the
spin button or move the slide bar.

Start Motion
Click and hold the Plus(+) or Minus(-) button for the axes and direction to move. If you release the button, the
motion stops.

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Task Move
Select Task Move in the Manual Motion list. Then, the current joint angles and TCP position are displayed and
updated in 100 milliseconds.

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Set Coordination Mode

• Base: The target position is interpreted as a position in the base coordination.
• Tool: The target position is interpreted as in the tool coordination.
• World: The target position is interpreted as in the world coordination.
• User_Coordinate: The target position is interpreted as in user coordination added in the robot
environment setting.

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Set Target Coordinates

Type the value or click the spin button to set the Target coordinates.

To load the current target coordinates in the Target coordinates field, click the Get Pose button.

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Set speed and acceleration

Type the value or use the spin button to set the speed and acceleration. The speed for translation part (mm/
second) and orientation part (degree/second) must be set separately.

Start Motion
If you click and hold the Move To Target button, the robot will move to the target position in the way of
“MoveL”. If you release the button, robot will stop.

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Align Motion
Select Align Motion in the Manual Motion list. Then, the current joint angles and TCP position are displayed and
updated in 100 milliseconds.

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Set Plane Points

Set three plane points to decide the alignment direction. The alignment direction is the normal vector of the
plane that the three plane points define.

To get the current pose, click the corresponding Get Pose button.

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Select Alignment axis

Select the tool axis to align. If you select Tool Z-Axis, the tool’s z axis will align to the alignment direction. If you
select Tool X-Axis, the tool’s x axis will align to the alignment direction.

The reference coordinate system of the alignment direction is the coordinate system set in Coordinate.

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Pressing the Calculate button brings up a dialog that provides a normal direction calculation function.

Three planar points must be entered to calculate the direction.

The alignment direction is the normal direction of the three points.(V = (P2-P1) X (P3-P1) )

When a plane point is entered, the calculated normal direction is displayed. If the direction vector is not valid,
an error message is displayed.

If two of the three points are the same point or are on a straight line, an error is not returned and (0,1,0) is
returned.

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Select Target Coordinate Movement (Optional)

If the Target Coordinate Movement switch is on, the robot will move to the target position while changing the
orientation of the tool. If the Target Coordinate Movement switch is off, the robot will change the orientation
of the tool without changing the position.

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Start Motion
If you click and hold the Move To Align button, the robot will change its tool direction until you release the
button.

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Homing
Though the homing motion is one of the manual motions, it has its own menu because it is used frequently.

Select Control on the main menu and click the Homing button.

Homing
Select Homing in the Homing Motion list. Then, the current joint angles are displayed and updated in 100
milliseconds.

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If you click and hold the Move To Home button, the robot will move to the home position until you release the
button.

If homing is completed, you can see the “Homing mode complete” message on the Monitoring bar or message
pane.

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Custom Homing
Select Custom Homing in the Homing Motion list. Then, the current joint angles are displayed and updated in
100 milliseconds.

To set the current joint angle of the robot to the user's home, do the following.

1. Click the Set Current Pose as Home button to set the current pose to the custom home position.
2. Click the Set Target Angle to Controller button to apply to the controller.
3. If you click and hold the Move to user Home button, the robot will move to the custom home position
until you release the button.
4. If homing is completed, you can see the “Homing mode complete” message on the Monitoring bar or
message pane like Homing.

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2.4.4 Packing

Packing or Unpacking
To control the robot packing mode, select Control on the main menu and click the Packing/Unpacking button.

Caution

Control is available when entering recovery mode and the window is activated when control is available.

Packing/Unpacking
Select Packing or Unpacking in the Packing Motion list. Then, the current joint angles are displayed and
updated in 100 milliseconds.

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Set the speed and acceleration for packing or unpacking.

To pack or unpack the robot into the set specified packaging pose, Click and hold the Move To Target button.

If you release the button, the robot motion stops.

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2.4.5 IO Control
To monitor or set the IO of the controller and the robot arm flange, select Control on the main menu and click
the GPIO button.

The IO Monitoring / Control window is composed of three parts: Controller Digital/Analog setting and Flange
Digital/Analog Setting.

1. Flange Version 1

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2. Flange Version 2

Controller Digital
The Digital IO state of the controller is displayed in the Input State/Output State field.

• If the signal is high, the IO state color is displayed in green.

• If the signal is low, the IO state color is displayed in gray.

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To set output, click the 0 or 1 button for each channel in Individual Setting.

To set all outputs at once, set the desired value in each channel at the bottom of the Batch Setting button and
click the Batch Setting button.

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Controller Analog
The Analog IO state of the controller is displayed in the Input State/Output State field

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To set output, set Output Setting and click the corresponding Set button.

To set all output values at once, set the analog output fields and click the Batch Setting button.

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Controller Analog Value Type Setting

The analog input/output type state of the controller is displayed in the Input/Output Type State field.

You can set the value type of analog input and output. It can be current or voltage.

To set the value type, select the type and click the Set button for the input/output type that you want to set in
Input/Output Type Setting.

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Flange Digital
The Digital IO state of the flange is displayed in the Input State, Output State field. As with the Controller
Digital, the IO state color is green if the signal is high and gray if the signal is low.

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To set output, click the 0 or 1 button in Individual Setting.

To set all outputs at once, select value for the flange digital and click the Batch Setting button.

Flange Analog
There is no analog output from the flange. Input is expressed as a real number.

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Flange Analog Value Type Setting

The analog input type state of the flange is displayed in the InputType State field.

You can set the value type of analog input. It can be current or voltage.

To set the value type, select the type and click the Set button for the inputtype that you want to set in Input
Type Setting.

2.4.6 Fault Recovery

When an error occurs, the robot stops by its stop mode option. Stop mode and its action when an error occurs
are as in the table below.

Stop Mode Action Controller State

STO Motor power is cut off immediately. Servo Off

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Stop Mode Action Controller State

SS1 Motor power is cut off after the robot motion Servo Off
stops completely.

SS2 The robot motion stops without motor power Safety Stop
off.

To recover the controller state from “Servo Off,” select Control on the main menu and click the Servo On
button.

To recover the controller state from “Safety Stop,” select Control on the main menu and click the Reset Safety
Stop button.

When a position-related error such as JOINT_SLP, TCP_SLP or TCP_SLO occurs, even if you click the Servo On
or Reset Safety Stop button, the same fault occurs again and the state goes back to the fault state. In that case,
you must change the robot pose to avoid the violation.

Recovery Motion
To change the robot pose in the fault situation, select Control on the main menu and click the Recovery Mode
button.

If the button is clicked, the Recovery Motion window pops up. And then click the Start Recovery Mode button,
servo on and the controller state changes to Recovery mode. And each control becomes active and can be
controlled.

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Recovery motion supports two types of manual motion, Joint Jog and Joint Move. Their use is the same as
Manual Motion. For information about Joint Jog and Joint Move, refer to “Joint Jog” and “Joint Move.”

Caution

In recovery mode, no position violation inspection is performed. So, you can move the robot joint to its
hardware limit.
You can visually check whether there is a position violation in the 3D viewer. If you ensure that there is no
position violation, click the Change to Manual Motion button or just close the Recovery Motion window to go
back to the manual mode.

Then, the system goes to the “Manual Standby” state.

Backdrive Mode
When a fault occurs and you need to move the robot by releasing the brake, select Control on the main menu
and click the Backdrive Mode button.

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If the Backdrive Mode button is clicked, the Backdrive Recovery window pops up. And then click the Start
Back Drive Mode button, and the controller state goes to Backdrive mode.

Caution
You must restart the system to release backdrive mode.
Other functions of the SW cannot be operated until the system is restarted.
You can see the current brake status for each axis on the left side of the window.

And then to release the brake so that you can move the robot joint manually, click the Release button. To set
the brake, click the Lock button.

If recovery is done, click the System Shutdown button to shut down the system.

2.5 Task Manager

2.5.1 Project Explorer

To edit and run, the DRL program must create a new project or open a saved project.

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Menu Button Shortcut Function

Ctrl+N Create new project

Open recent project list

Ctrl+O Open project

Ctrl+S Save project (include all DRL files)

Save as project (include all DRL files)

Ctrl+P Print current active DRL file

The Project Explorer, a tree-like viewer, manages projects.

If you make a new project, main.drl file and Robot Configuration item are created automatically. Also, robot
setting and DRL programs including safety zones are stored and managed on a project basis.

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2.5.2 DRL Program Running

To open a DRL program, double click a DRL file that you want to open in the Source Files list of Project
Explorer.

Then, the file is opened in DRL Editor.

2.5.3 Use DRL Editor

DRL Editor is a simple text editor for DRL programming. Its basic use is just like “Notepad”.

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DRL Editor Overview

Text editing

Menu Button Shortcut Function

Ctrl + X Cut Text

Ctrl + C Copy Text

Ctrl + V Paste Text

Ctrl + F Find Text

Ctrl + H Replace Text

Change Font (all opened windows only)

Running a program

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Menu Button Shortcut Function

F9 Set or clear a breakpoint on DRL file

Ctrl+Shift+F9 Delete all breakpoints set on the DRL file

Choose whether to run the program in real

mode or in virtual mode

F5 Play DRL Program

Shift+F5 Stop DRL Program

Ctrl+Alt+Break Pause DRL Program

F5 Continue running on DRL program

Set line spacing on next line run

F10 Execute the next line

Set the program execution speed

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Bookmark

Menu Button Shortcut Function

You can check the list of bookmarks and move to the

bookmark selected in the list

F2 Add or delete bookmarks on selected rows

Ctrl+F2 Move to the next bookmark in the currently selected

row

Shift+F2 Moves from the currently selected row to where the

previous bookmark is located

Edit window

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➊ Show bookmarks or break points. If you want to add a break point, just click the
position to add.

➋ Indicates the line numbers.

➌ Text editor for DRL program.

Message window

see the log messages that occur when the DRL program is running in the DRL Log tab. If necessary, you can
delete the entire log by using the Clear All menu that appears when you right-click on the added row.

If you select the Variable Watch tab, you can see the variable value that is added in Project Explorer.

Syntax Highlighting

DRL Syntax Keyword

Comment

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DRL function

DRL constant

Create a New Program

To create a new program, select Source Files in the tree node of Project Explorer and right-click, and then
select Add New File.

If you were editing a program, the Save Query Window pops up before clearing the contents.

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Save and Load a Program

To save a program, click the Save button or Save As button. If you want to open a program, first you
must open a project. Please refer to Project Explorer(p. 118)

To import a program file from another project, select Source Files in the tree node of Project Explorer and right-
click, and then select Import Existing File on the context menu.

Comment

After selecting text, click the Comment button on the toolbar or press Ctrl + J.

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Then, the selected text is commented.

If no text is selected, only the line at the cursor is commented.

Uncomment

After selecting commented text, click the Uncomment button on the menu or press Ctrl + L.

If no text is selected, only the line at the cursor is uncommented.

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Toggle Comment
To toggle comment, press Ctrl + K after selecting text.

• If the selected text is plain text, the text is commented.

• If the selected text is commented text, the text is uncommented.
• If the selected text includes the plain text line and the commented text line, the text is commented.

Bookmark

Toggle Bookmark

To add or remove a bookmark, set the cursor at the text line and click the Toggle Bookmark button on
the toolbar or press the F2 key.

If the cursor line has no bookmark, a new bookmark is added and the Bookmark List is updated.

If the cursor line has a bookmark, the bookmark is removed and the Bookmark List is updated.

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Go to Bookmark

If you click the Go to Next Bookmark button on the toolbar or press Ctrl + F2, the cursor goes to the
nearest next bookmark from the current cursor position.

If you click the Go to Previous Bookmark button on the toolbar or press Shift + F2, the cursor goes to the
nearest previous bookmark from the current cursor position.

If you select a bookmark from the Bookmark List, the cursor goes to the bookmark.

Get Current Position as Text

Get the Posj Position

To insert the current joint position, click the Insert Current Joint Angle Text button on the toolbar or
press the Ctrl+Q keys. Or select Insert Current Joint Angle Text on the context menu.

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The current joint angle value is then inserted into the current cursor position.

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Get Posx Position

To insert the current task position, click the Insert Current Base Task Pose Text or Insert Current World

Task Pose Text button on the toolbar or select Insert Current Base Task Pose Text (Ctrl+E) or Insert
Current World Task Pose Text (Ctrl+W) on the context menu.

Then, the current task position value is inserted into the current cursor position.

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Function Outline
If you define a function and save the file, the Function Outline list is updated.

And if you select a function in the Function Outline list, the cursor goes to the line where the function is defined.

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To sort the Function Outline list in alphabetical order, click the Sort Function List By Name button.

To sort the Function Outline list in order of line numbers, click the Sort Function List By Line No button.

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Code Completion
Code completion completes the rest of a command, variable, or function name after you have entered enough
characters to disambiguate the term. You can use Code completion by pressing Ctrl + Space key or alphabet
key.

Go to definition
You can go to the definition of the selected symbol by pressing the F12 key.

Find References
You can find references to the selected symbol by pressing Shift + F12 key. A list of references appears in the
Find All References window.

Upload scripts to smart TP

If you click the Upload to Smart TP button on the toolbar, all DRL scripts in the project will be uploaded to the
Smart TP. (You can import and run the DRL scripts in smart tp.)

At this time, the main program's extension is txt, and the sub program's extension is drl.

The name of the upload folder is Project Name + "_" + Time.

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Upload to any folder

If you click the Upload to any folder button on the toolbar, all DRL scripts in the project will be uploaded to the
folder to selected by user.

At this time, the main program's extension is txt, and the sub program's extension is drl.

The name of the upload folder is Project Name + "_" + Time.

2.5.4 DRL Guide

Open DRL Guide

If you click the DRL Help button on the toolbar or press the F1 key, the DRL Guide window appears.

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If you select text and click the DRL Help button or press the F1 key, the DRL Guide window appears and
shows the search results.

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Search DRL Command

To search the DRL command, Type a keyword and click the Search button

Click a command from the list, and then the guide for the command is shown in the right pane.

To go back to the command tree, click the Command Tree button.

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To set the command list in alphabetical order, click the Command List button.

2.5.5 Shortcut List

Ctrl + X Cut Text

Ctrl + C Copy Text

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Ctrl + X Cut Text

Ctrl + V Paste Text

Ctrl + F Find Text

Ctrl + H Replace Text

Ctrl + J Comment Text

Ctrl + K Toggle Comment

Ctrl + L Uncomment Text

Ctrl + Q Insert Current Joint Angle Text

Ctrl + E Insert Current Base Task Pose Text (Posx)

Ctrl + W Insert Current World Task Pose Text (Posx)

Ctrl + N Create a New Project

Ctrl + S Save a Project

Ctrl + O Open a Project

F1 Open DRL Guide

F2 Add / Remove Bookmark

Ctrl + F2 Go to Next Bookmark

Shift + F2 Go to Previous Bookmark

Ctrl + P Print

F5 Run / Continue Run Program

Shift + F5 Stop

Ctrl + Alt + Break Pause

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Ctrl + X Cut Text

F10 Run Next Program Line

F9 Toggle Breakpoint

Ctrl+Shift+F9 Remove All Breakpoints

2.5.6 Run a Program

Caution

From Controller GF02070000 version, the user must change to the automatic mode before running the
program.
When connected to the simulator, there is no need to switch modes.

To run a program, Set Running Target on the toolbar.

• Virtual: the program runs in the Virtual

• Real: the program runs in the Real

Click the Play (F5) button on the toolbar.

If the program starts without error, the current execution line is displayed in the editor.

Pause and Resume a running program

To pause the program, click the Pause Program Run (Ctrl+Alt+Break) button.

To resume the program, click the Continue to Run Program (F5) button.

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Stop Program Running

If you click the Stop Program Run (Shift+F5) button while the program is running, the program is
stopped.

Run a Program Line by Line

When the program running is paused, if you click the Run Next Program Line (F10) button, the program
running is paused again when it reaches the next program line.

When the program running is paused, the selected line means the next running line, which means it is not
executed yet.

To run multiple lines, change the line number.

When the program runs, the yellow trace moves along the execution line as shown above. If you do not want to
use this function, uncheck the Display DRL Execution Line as shown below.

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Set Break Point

If a break point is set to a program line, the program running is paused when the running cursor reaches the
line.

Add Break Point

When the cursor is at a line with no break point, if you click the Toggle Break Point button or press the F9
key, a break point is added to the line.

When there is no break point in that marker line, if you click the marker area, a break point is added to the line.

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Remove Break Point

When the cursor is at the line with a break point, click the Toggle Break Point button or press the F9 key
to remove the break point from the line.

• The break point can be also removed by clicking a break point in the marker area.

• To remove all break points at once, click the Remove All Break Points button or press the Ctrl +
Shift + F9

Change Running Speed

Change the Speed Slide Bar while the program is running.

If you change the speed ratio, the program running speed will decrease by that ratio. If the speed ratio is set to
40 (%), the robot moves with 40% of its original speed.

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2.5.7 Monitoring Variables

The monitoring variables are composed of Debug Variables and System Variables.

Debug Variables
Double-click the Debug Variables item in the project explorer.

• The Debug Variables list can be added/removed.

• Adding a Debug Variable requires a variable name.

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• Properties cannot be changed when a program is running

Monitoring can be checked from the variable monitoring window.

System Parameters
Double-click the System Variables item in the project explorer.

• The System Variables list can be added/removed.

• Adding a System Variable requires a variable name, variable type and initial value.
• Properties cannot be changed when a program is running.

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Type Range

Boolean False / True

Integer Whole Number Value

Float Real Number Value

String String

Posj 6-Axis Joint Angle. posj(x1, x2, x3, x4, x5, x6)

Posx 6-Axis Task Coordinates. posx(x1, x2, x3, x4, x5, x6)

List List. [x, y, …]

Monitoring can be checked from the variable monitoring window.

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3 PART 2. Path generation

This part introduces how to use path generation function in DART-Studio.

3.1 CAD-based Path Generation

3.1.1 Open Cad-based Path Generation Pane

1. Select the Util tab in the main menu and click the Path Generation.

2. Path Generation pane opened and activated.

3.1.2 3D View Control

View Control

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select Select objects from scene.

rotation Rotate objects along object center.

Move Move the scene direction along mouse position.

Zoom In Zoom in the scene at the mouse position.

Zoom Out Zoom out the scene at the mouse position.

Initialize Initialize the zoom scale so that the whole objects can
be fit in the scene.

Object visibility

Hide objects

Make objects transparent

Make objects opaque

Viewpoint

View from -Y Axis

View from +Y Axis

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View from -X Axis

View from +X Axis

View from -Z Axis

View from +Z Axis

View from -X, -Y, +Z Direction

View from -X, +Y, +Z Direction

View from +X, +Y, +Z Direction

View from +X, -Y, +Z Direction

View from -X, -Y, -Z Direction

View from -X, +Y, -Z Direction

View from +X, +Y, -Z Direction

View from +X, -Y, -Z Direction

Projection

Orthogonal projection

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Perspective projection

3.1.3 Object Control

Object selection
In selection mode, the user can select objects by mouse clicking or dragging.

• The selected objects are highlighted.

• If the user clicks the mouse left button on an object, the object is selected.
• If the user clicks the mouse button while pressing Ctrl key, the user can select multiple objects.
• If the user drags the mouse, all the objects inside the dragging region are selected.

Related objects selection

The program provides functions to select related objects with the currently selected object.

Parent group selection

The function selects all children objects of the parent group of the currently selected object.

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Selection inversion
The function inverts the selection. The objects except the currently selected object in the parent group are
selected.

Connected curves selection

The all connected curve objects with the currently selected object are selected.

Object deletion
The function deletes all the selected objects.

1. Select objects.

2. Click [Delete Object] button or press the [Delete] key.

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Object transformation
The program provides functions to transform the selected objects.

Object translation
The function moves the selected objects by offset.

1. Click [Transform Object] button.

2. Select [Translate Objects] option in the active window.

3. Select translation options.

There are two move options.

• Axis + Distance: The function moves the selected objects by the distance along the axis.

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• Offset: The function moves the selected objects by offset(X, Y, Z).

4. Select objects to move

5. Click [Move] button.

Object rotation
The function rotates the selected objects along an axis.

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1. Click [Transform Object] button.

2. Select [Rotate Objects] option in the active window.

3. Select rotation options.

• Rotation center (X, Y, Z)

• Rotation Axis (X, Y, Z)
• Rotation angle in degree.
There are help function to set rotation axis.

X Axis (1, 0, 0)

Y Axis (0, 1, 0)

Z Axis (0, 0, 1)

Direction of selected object If two points selected, the direction from starting point
to the end point is set.

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If a line or a path segment is selected, the direction of

the line is set.

If the direction vector of a path segment is selected, the

direction vector is set.

If a plane is selected, the normal vector of the plane is

set.

4. Select objects to rotate.

5. Click the [Rotate] button.

Object mirror transformation

The function moves and mirrors the selected object to the opposite side of an axis.

1. Click [Transform Object] button.

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2. Select [Mirror objects] option in the active window.

3. Set mirroring axis.

The mirror axis setting options are as follows.

Provides normal direction lookup function. The options for selecting objects for lookup are:
• If two points selected, the direction from starting point to the end point is set.
• If a line is selected, the direction of the line is set.

• If a path is selected, the direction of the path is set.

• If the direction vector of a path segment is selected, the direction vector is set.
• If a plane is selected, the normal vector of the plane is set.
4. Select objects to mirror.
5. Select the [Mirroring] button.

Object property display

The program provides a function to show properties of the selected object.

1. Select an object.
2. Check the properties of the object in the properties window.

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3.1.4 Load CAD files

The program provides to load shapes from CAD files.

Supporting CAD Format

3D CAD File IGES (.igs, .iges), STEP (.stp, .step)

3D Shape File STL (.stl)

2D CAD File DXF (.dxf)

Note

IGES, STEP files are standard CAD file formats used widely. If the format of a CAD file is not one of them,
translate the cad format by using CAD software.

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1. Click [Open document] button in the menu bar.

2. Select CAD files in the file open dialog.

Note

2 or more files can be loaded at once.

.spb file is a path generation document file. So the file cannot be loaded with other file format files.

3.1.5 Generate Path

Edge path generation

The program provides a function to generate a path following the edge of a surface. It is also possible to
generate a path offset along the surface.

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1. Open a CAD file

Initially the edges of surface are not displayed.

2. Create edge of the surface.

Note - Create surface edge

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Select [Create Surface Edge] menu on the 3D view context menu or Click [Create curve] button
in the menu bar and select [Create Surface Edge] option.

Note - Create path on more than 2 surfaces

If the user wants to create a path sweeping more than 2 surfaces, first merge the surface in a
surface. Please refer to [Create shape >> Plane/Surface creation] chapter.
3. Open the path generation window.
Click [Create Path] button and select the [Create Glue Path] option.

Note

You can also select the face you want to create a path for, then
choose Create Glue Path from the context menu.

4. Set path generation options.

• Group: a group which newly created paths belong. If the [Create Group] check box is check, a new
group named the name of the selected surface is created.

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• Offset: Offset from the surface edge. If the value is positive, the path is created inside the edge
along the surface or the value is negative the path is created outside the edge.

• Avoid Hole: When there is a hole inside the surface, the user can decide that the path ignores the
hole or not. If the flag is the checked, the holes which its radius is less than the Radius value are
ignored.

• Merge mode: It decides the motion type of the created path.

Preserve original curves Each original curve becomes a path segment. When
creating a script code, a line segment is translated into a
MoveL motion and a curve segment is translated into a
MoveSX motion. When a curve has edges which its angle
is 90 degree, the motion cannot be run. In that case, the
user should modify the path before creating a script.

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Merge as the spline motion path Merge whole curves into a curve which can be translated
into a spline motion. If the angle between two curves is
greater than the merge allowance angle, the path
segment is split.

Merge as the blend motion path Split the curves into lines and arcs so to create a blend
motion. The curve is split into arcs based on the arc
tolerance.

5. Select a surface and edge to create a path.

To create a path, the user should select a surface which the newly created path resides on.
The user can optionally select the surface edge. If the user selects no edge, then a path following whole
surface edge is created. If the user selects edges, then a path following the selected edge is created.

6. Click [Create] button.

7. Check the result.

A new path is created in the Path data group. If the user checked [Create Group] option, then a path group
is created.

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A path segment is a list of path points. The robot controller creates motion trajectory based on the points.
Each path point defines position and direction vector. The direction vector means orientation at the
position. The direction vector of a path point is initially set as the normal vector of the surface at the
position.

Note

To reverse the whole direction vector, try to create a path again after reversing the surface.

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Offset sweep path generation

Offset sweep path is a path sweeping a whole surface. Surface edge is repeatedly offset into surface center until
there is no space.

1. Open a CAD file

2. Create edge of the surface.
3. Open the path generation window.
Click [Create Path] button and select the [Create Offset Sweep Path] option.

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4. Set path generation options.

• Group: a group which newly created paths belong. If the [Create Group] check box is check, a new
group named the name of the selected surface is created.
• Tool Diameter: It means offset or distance between pattern. The negative value or zero is not
allowed.
• Avoid Hole: When there is a hole inside the surface, the user can decide that the path ignores the
hole or not. If the flag is the checked, the holes which its radius is less than the Radius value are
ignored.

• Merge mode : It decides the motion type of the created path.

Depending on the type of motion, the original curve may be separated
or combined. You have the following options:

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Preserve Each original curve becomes a path segment. When creating a script code, a line
original segment is translated into a MoveL motion and a curve segment is translated
curves into a MoveSX motion. When a curve has edges which its angle is 90 degree, the
motion cannot be run. In that case, the user should modify the path before
creating a script.

Merge as Merge whole curves into a curve which can be translated into a spline motion. If
the spline the angle between two curves is greater than the merge allowance angle, the
motion path segment is split.
path

Merge as Split the curves into lines and arcs so to create a blend motion. The curve is split
the blend into arcs based on the arc tolerance.
motion
path

5. Select a surface and edge to create a path.

6. Click [Create] button.

7. Check the result.

A new path is created in the Path data group. If the user checked [Create Group] option, then a path group

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is created.

A path segment is a list of path points. The robot controller creates motion trajectory based on the points.
Each path point defines position and direction vector. The direction vector means orientation at the
position. The direction vector of a path point is initially set as the normal vector of the surface at the
position.

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Note

To reverse the whole direction vector, try to create a path again after reversing the surface.

Zigzag sweep path generation

A zigzag sweep path is a path sweeping the surface with zigzag pattern.

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To create a zigzag pattern, A guide curve should be defined. The pattern extends to the normal direction of the
guide curve.

1. Open a CAD file

2. Create edge of the surface.
3. Open the path generation window.
Click [Create Path] button and select the [Create Offset Sweep Path] option.

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4. Set path generation options.

• Group: a group which newly created paths belong. If the [Create Group] check box is check, a new
group named the name of the selected surface is created.
• Tool Diameter: It means offset or distance between pattern. The negative value or zero is not
allowed.
• Avoid Hole: When there is a hole inside the surface, the user can decide that the path ignores the
hole or not. If the flag is the checked, the holes which its radius is less than the Radius value are
ignored.
• Merge mode: It decides the motion type of the created path.

Preserve Each original curve becomes a path segment. When creating a script code, a line
original segment is translated into a MoveL motion and a curve segment is translated into a
curves MoveSX motion. When a curve has edges which its angle is 90 degree, the motion
cannot be run. In that case, the user should modify the path before creating a script.

Merge as Merge whole curves into a curve which can be translated into a spline motion. If the
the spline angle between two curves is greater than the merge allowance angle, the path
motion segment is split.
path

Merge as Split the curves into lines and arcs so to create a blend motion. The curve is split into
the blend arcs based on the arc tolerance.
motion
path

5. Select a surface to create a path.

6. Select a guide curve.

The curve is a starting point of the zigzag pattern. The pattern extends to both direction of the normal
direction of the curve.

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7. Click [Create] button.

8. Check the result.

A new path is created in the Path data group. If the user checked [Create Group] option, then a path group
is created.

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A path segment is a list of path points. The robot controller creates motion trajectory based on the points.
Each path point defines position and direction vector. The direction vector means orientation at the
position. The direction vector of a path point is initially set as the normal vector of the surface at the
position.

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Note

To reverse the whole direction vector, try to create a path again after reversing the surface.

3.1.6 Edit Path

Change path orientation

The program provides a function to change the orientation of a path.

Path orientation rotation

1. Open [Rotate Path Orientation] window.
After clicking the [Edit Path] button in the menu bar, select [Rotate Path Orientation (Path Point)] option.

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2. Set rotation options.

• Axis option: There are options as below.

Tangent Direction The tangent direction at the path point.

Perpendicular to the Tangent direction The direction perpendicular to both the tangent
direction and the head-up direction.

User Setting The user can set direction directly.

• Rotation Axis: The direction when [Axis Option] is selected as [User Setting]
• Rotation angle: Angle in degree
3. Select path point objects to rotate.

4. Click the [Rotate] button.

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5. Check the result.

Path orientation interpolation

The fuction interpolates the orientation of all path points between two pivot path points evenly.

1. Orient the two waypoints at either end of the interval to be

interpolated.

2. Open [Interpolate Path Orientation] window.

After clicking [Path Edit] button, select the [Interpolate Path Orientation(Path Point)] option.

3. Select two path point objects.

4. Click the [Run] button.

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5. Check the result.

Split path segment

The function splits a path segment into two segments on a path point or on a point on the curve.

1. Open the [Split Path Curve] window.

After clicking the [Edit Path] button, select [Split Path Curve (On Path Point)] option.

Note - Split path curve on a point

To split the path curve on a point, select [Split Path Curve (On Point)] option.
2. Select a path point object.

3. Click the [Run] button.

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4. Check the result.

Merge path segment

The function merges path segments into a segment.

1. Open [Merge Path Curves] window.

After clicking the [Edit Path] button, select [Merges Path Curves] option.

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2. Select path segments to merge.

3. Set the merge angle tolerance.

If the angle between two segments is greater than the tolerance, the merge failed.
4. Click the [Run] button.

5. Check the result.

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Change path direction

The function reverses the direction of a path.

1. Open [Reverse Path Direction] window.

After clicking [Edit Path] button, select the [Reverse Path Direction] option.

2. Select path segments to reverse.

3. Click the [Run] button.

4. Check the result.

The arrow in blue color means the direction of the path.

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Change path sequence

The sequence on the explorer tree is the sequence of the path. To change path sequences means to change the
object sequence on the tree.

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Change Path Sequence

1. After selecting a tree node, click [Move upward] or [Move downward] menu.

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2. Check the result.

Change the starting path

1. Open [Change Starting Path] window.
After clicking [Edit Path] button, select [Change Starting Path] option.

2. Select a path segment or a path group.

3. Click the [Run] button.

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4. Check the result.

3.1.7 Create Shape

It is sometimes needed to edit shapes from CAD file or to create point, curve and surface. The program provides
functions to create and edit shapes.

Create point
Provides the ability to create points at specific locations for path creation or other geometry creation.

Crate point at picking position

The function creates a point object at picking position.

1. Click [Create Point] button in the menu bar.

2. Select [Create picking point] option in the active window.

3. Set creation option.
• Group: A group to which newly created object belongs.
4. Select [Enable] button. The [Enable] button is initially selected.

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5. Pick object at the 3D view.

If the user clicks an object, a point object is created at that position.

6. If the creation job is done, select the [Disable] button or close the window.

Create feature points

The function creates point objects at the feature position of the selected object. The feature position is as
below.

Surface The Start point and the end point of all curves which belong to the surface.

Curve The Start point and the end point of curve.

Path segment The path point of the path segment.

1. Click [Create Point] button in the menu bar.

2. Select [Create Feature Points] option in the active window.

3. Set creation option.
• Group: A group to which newly created object belongs.

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4. Select the [Create] button.

Create Point By XYZ Input

The function create a point object at the position input by the user.

1. Click [Create Point] button in the menu bar.

2. Select [Create Point By XYZ Input] option in the active window.

3. Set creation option.
• Group: A group to which newly created object belongs.
• Position(X, Y, Z)

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4. Select the [Create] button.

Create Point On TCP Position

The function creates a point at the current robot position.

Note

Before creating a point, the user needs to check the TCP and coordination configuration.
1. Click [Create Point] button in the menu bar.

2. Select [Create Point On TCP Position] option in the active window.

3. Set creation option.
• Group: A group to which newly created object belongs.
• Coordinate: The base or world coordinate type.

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4. Select the [Create] button.

Create Center Point

The function create a point at the center of the selected object.

1. Click [Create Point] button in the menu bar.

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2. Select [Create Center Point(From Points)], [Create Center Point(From Curve)] or [Create Center Point(From
Mesh/Surface)] option in the active window.
3. Set creation option.
• Group: A group to which newly created object belongs.
4. Select target objects.
The input condition is as below according to the selected function.

From Points More than 1 point object.

From Curve A curve (or path segment) object

From Mesh/Surface A surface (or mesh) object.

5. Select the [Create] button.

Create Circle Center Point

The function creates a point at the circular center of the selected object.

1. Click [Create Point] button in the menu bar

2. Select [Create Circle Center Point(From Points)] or [Create Center Point(From Curve)] option in the active
window.
3. Set creation option.
• Group: A group to which newly created object belongs.
4. Select target objects.
The input condition is as below according to the selected function.

From Points Equal or more than 3 point objects

From Curve A curve (or path segment) object

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5. Select the [Create] button.

Create Intersection Point

The functions creates a point at the intersection position of the selected objects.

1. Click [Create Point] button in the menu bar

2. Select [Create Intersection Point(From Line-Line)], [Create Intersection Point(From Line-Plane)] or [Create
Intersection Point(From 3 Planes)] option in the active window.
3. Set creation option.
• Group: A group to which newly created object belongs.
4. Select target objects.
The input condition is as below according to the selected function.

From Line-Line 2 line (or path segment) objects.

From Line-Plane A plane object and a line object.

From 3 Planes 3 plane (or mesh) object.

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5. Select the [Create] button.

Create Projection Point

The function creates a point at the projection position of a point to the selected curve or surface

1. Click [Create Point] button in the menu bar.

2. Select [Create Projection Point(From Curve)] or [Create Projection Point(From Mesh/Surface)] option in
the active window.
3. Set creation option.
• Group: A group to which newly created object belongs.
4. Select target objects.
The input condition is as below according to the selected function.

From Curve A point object and a curve (or path segment) object.

From Mesh/Surface A point object and a surface (or mesh) object.

5. Select the [Create] button.

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Note

If the point is located outside the curve and surface so that the projection is impossible, a new
point is created at the nearest position from the point to the target object.

Create N Points on Curve

The function creates N even points on the selected curve.

1. Click [Create Point] button in the menu bar.

2. Select [Create N Points on Curve] option in the active window.

3. Set creation option.
• Group: A group to which newly created object belongs.
• N: Number of points to create. The number should greater or equal to 2.
4. Select a curve object.

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5. Select the [Create] button.

Create line/curve
It provides the ability to create straight lines/curves.

Create spline curve

The function creates a spline curve connecting all the selected point objects.

1. Click [Create Curve] button in the menu bar.

2. Select [Create Curve] option in the active window.

3. Set creation option.
• Group: A group to which newly created object belongs.
4. Select 2 or more point objects.

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5. Select the [Create] button.

Create Estimated Line

The function creates a line object which minimizes the sum of distance from the point to the line.

1. Click [Create Curve] button in the menu bar

2. Select [Create Estimated Line] option in the active window.

3. Set creation option.
• Group: A group to which newly created object belongs.
4. Select 2 or more point objects.
5. Select the [Create] button.

Create Surface Edge

The function creates curve object of surface edges.

1. Click [Create Curve] button in the menu bar.

2. Select [Create Surface Edge] option in the active window.

3. Set creation option.

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• Group: A group to which newly created object belongs.

4. Select 1 or more surface object.
5. Select the [Create] button.

Edit line/curve
It provides the ability to edit straight lines/curves.

Merge Curves
The function merges 2 or more selected curves into a curve.

1. Click [Create Curve] button in the menu bar.

2. Select [Merge Curves] option in the active window.

3. Select 2 or more curve objects.

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4. Click the [Run] button.

Split Curve Evenly

The function splits a curve into 2 or more curves which has same length.

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1. Click [Create Curve] button in the menu bar..

2. Select [Split Curve Evenly] option in the active window

3. Select a curve object.
4. Select the number of curves to split.

5. Click the [Run] button.

Split Curve On Selected Point

The function split the selected curve into 2 curves on the point on the curve.

1. Click [Create Curve] button in the menu bar.

2. Select [Split Curve On Selected Point] option in the active window.

3. Select a curve object.
4. Select a point object on the curve object.

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5. Click the [Run] button.

Reverse Curve
The function reversed the direction of the selected curves.

1. Click [Create Curve] button in the menu bar.

2. Select [Reverse Curve] option in the active window.

3. Select 1 or more curve objects.

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4. Click the [Run] button.

Create Plane/Surface
It provides the ability to create planes/surfaces.

Create Plane
The function creates a plane from the selected points or curves.

1. Click [Create Surface] button in the menu bar.

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2. Select [Create Plane (From Points)] or [Create Plane (From Curves)] option in the active window.
3. Set creation option.
• Group: A group to which newly created object belongs.
4. Select target objects.
The input condition is as below according to the selected function.

From Points 3 or more point objects.

From Curves 1 or more curve (or path segment) objects. The curves should be
on the same plane and compose a loop.

5. Select the [Create] button.

Create Surface From Mesh

The function creates surfaces from the selected mesh object. A mesh object contains triangular mesh
information to display the model in 3D view. The function restores geometric surface and curve information
from the mesh.

The function can be used when .STL file is used to create a path.

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1. Click [Create Surface] button in the menu bar.

2. Select [Create Surface (From Mesh)] option in the active window.

3. Set creation option.
• Group: A group to which newly created object belongs.
4. Select a mesh or surface objects.
Surface object also has mesh information.
5. Set the classification angle in degree. If the angle between two neighboring triangles is less than the
classification angle, then those triangles belong to the same surface. Or they are split into different
surfaces.

6. Select the [Create] button.

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Edit Plane/Surface
It provides the ability to edit planes/surfaces.

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Merge Surface
The function merges surfaces into a surface.

1. Click [Create Surface] button in the menu bar.

2. Select [Merge Surface] option in the active window.

3. Select 2 or more surface objects.
4. Click the [Run] button.

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Split Surface
The function splits a surface into 2 surfaces.

1. Click [Create Surface] button in the menu bar.

2. Select [Split Surface] option in the active window.

3. Select a surface object to split.
4. Select 2 points on the surface edge to decide the segmentation direction.
5. Click the [Run] button.

Create Circular Hole On Surface

The function makes a circle-shaped hole inside a surface. The hole can be treated as an obstacle when
generating a path.

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1. Click [Create Surface] button in the menu bar.

2. Select [Create Circular Hole On Surface] option in the active window.

3. Select a surface object to make a hold.
4. Select a point on the surface. The point decides the hole center.
5. Set the radius of the hole.
6. Click the [Run] button.

Create Polygon-shape Hole On Surface

The function makes a polygon-shaped hole inside a surface.

1. Click [Create Surface] button in the menu bar.

2. Select [Create Polygon-shape Hole On Surface] option in the active window.

3. Select a surface to make a hole.
4. Select 3 or more points on the surface.
Selection sequence decides the polygon shape.
5. Click the [Run] button.

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Create Curved-shape Hole On Surface

The function makes a curve-shaped hole inside a surface.

1. Click [Create Surface] button in the menu bar.

2. Select [Create Curved-shape Hole On Surface] option in the active window.

3. Select a surface to make a hole.
4. Select curves on the surface.
The selected curves should compose a loop.
5. Click the [Run] button.

Reverse Surface
The function reverses the direction of loops which composed the surface. The direction of the loop decides the
direction of normal vector of the surface. So the function can be used to reverse the initial path orientation
when creating a path.

1. Click [Create Surface] button in the menu bar.

2. Select [Reverse Surface] option in the active window.

3. Select 1 or more surface objects.

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4. Click the [Run] button.

Create Group

Create Group
The function creates a group object.

1. Click [Create Group] button in the menu bar.

2. Select [Create Group] option in the active window.

3. Select the owner group of the new object.
4. Set the name of the new object.
5. Select the [Create] button.

Change Group
The function changes the owner group of the selected objects. In other words, the selected objects move into
the selected group.

1. Click [Create Group] button in the menu bar.

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2. Select [Change Data Group] option in the active window.

3. Select a group to which the selected object will belong.
4. Select objects to move.
5. Click the [Run] button.

3.1.8 Transform Objects Into Robot Space

To apply the created path to the real robot, the object in CAD space should be transformed into the robot space.
Or the user can create a path after transforming the CAD model into the robot space.

To transform the object in CAD space into the robot space,

1. The user should find common points both in CAD model and the real model in the robot space.
2. The user should measure the coordinates of the common points in the robot coordinates.
3. The program calculates the transformation matrix from the source points in CAD space to the target points
in robot space.
4. If the user applies the transformation matrix to the CAD model, the model is transformed into the robot
space.

The procedure to calculate the transformation from source points to target points is called registration. The
program provides several functions for registration.

Point To Point Transformation

The function creates a transformation matrix which moves the source point to the target point. The function
assumes that the coordinates of the model is aligned along all direction both in CAD space and in robot space.

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1. Click [Match Objects] button in the menu bar.

2. Select [Point To Point Registration] option in the active window.

3. Set source and target points.

4. Select objects to transform.

5. Click the [Transform] button.

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Line To Line Registration

The function creates a transformation matrix which matches the start point and the direction of the source line
to the target line. The function assumes that the coordinates of the model is aligned in Z-Axis both in CAD space
and in robot space.

1. Click [Match Objects] button in the menu bar.

2. Select [Line To Line Registration] option in the active window.

3. Set source and target points.

4. Select objects to transform.

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5. Click the [Transform] button.

Plane To Plane Registration

The function creates a transformation matrix which matches the source plane to the target plane.

The function assumes that 3 points compose the plane.

• The first point decides the origin point of the plane.

• The second point decides the main axis on the plane.
• The third point decides the normal direction of the plane.

The transformation first coordinates the origin point and the main axis on the plane and the normal direction of
the plane.

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1. Click [Match Objects] button in the menu bar.

2. Select [Plane To Plane Registration] option in the active window.

3. Set source and target points.

4. Select objects to transform.

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5. Click the [Transform] button.

Plane To Plane Registration (2 Lines)

The function provides the same function with [Plane To Plane Registration] except that the function assumes
that 4 points compose the plane.

• The first point and the second point compose a line (line 1).
• The third point and the fourth point compose a line (line 2).
• The line 1 decides the main axis on the plane.
• The product of the line 1 and line 2 decides the normal direction of the plane.
• The intersection of the line 1 and the line 2 decides the origin point of the plane.

1. Click [Match Objects] button in the menu bar.

2. Select [Plane To Plane Registration (2 Lines)] option in the active window.

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3. Set source and target points.

4. Select objects to transform.

5. Click the [Transform] button.

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Points To Points Registration

The function creates a transformation matrix which minimize the error between the transformed source points
and the target points.

1. Click [Match Objects] button in the menu bar.

2. Select [Points To Points Registration] option in the active window.

3. Set source and target points.

Note

The number of source points and the number of target points should greater or equal than 3
but may be different.
4. Set error tolerance.
The error means the distance between corresponding matching points. The tolerance means the
maximum error allowed and decides when the matching iteration stops.

5. Set Also Create Inverse Matrix checkbox

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The function calculates a matrix from the source points to the target points. The [Also Create Inverse
Matrix] flag allows to create additional interse transformation matrix from the target points to the source
points. The inverse matrix is named “MatrixName_Inverse”
6. Set the matrix name and click the [Create Matrix] button.

If the matrix is created, the error between the source point and the target point is displayed. The user
should evaluate the error to decide whether to use the matrix or not. If the error is beyond the allowance
error, add more points or delete outlier points.

Apply Matrix

1. Select the matrix to apply.

2. Select a group to move.
If the transformation matrix is applied, the whole child objects in the group are transformed.
3. Click the [Transform] button.

Points To Curves Registration

The function creates a transformation matrix which minimize the error between the transformed source points
and the projected points to the curves.

The usage of the function is same as the [Points To Points Registraton]. Please refer to the [Points To Curves
Registration] section above.

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Point To Surfaces Registration

The function creates a transformation matrix which minimize the error between the transformed source points
and the projected points to the surfaces.

The usage of the function is same as the [Points To Points Registraton]. Please refer to the [Points To Curves
Registration] section above.

3.1.9 Create Script

Create Script
The function create a DRL script from the path objects.

1. Click [Create Script] button in the menu bar.

2. Select a path data group to create a script.

3. Click [Edit Property] to edit motion property.

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A motion has properties as below.

Velocity Type There are two options: Velocity and Time.

Velocity: velocity and acceleration value decide the speed of motion.
Time: motion complete time decides the speed.

Translation Speed/ Applied in case that velocity type is ‘Velocity’.

Acceleration Speed

Time Applied in case that velocity type is ‘Time. The unit of time is second.

Coordinate Type The coordinate type of motion points: Base or World.

Blending Radius If the value is greater than 0, the current motion will be blended when the
TCP reaches the point where the distance from the next motion’s starting
position is less than the radius.
If the value is 0, no blending occurs.

A path segment is translated into a motion script. Initially all motion script follows the global property. If
the user changes the property type to ‘Local’, the motion follows the local property.

Global properties can be changed in the following UI.

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The user can define initial joint pose and joint motion speed.

When editing is complete, click the Reflect Attributes button. Changes are reflected in the script only when
properties are reflected.

4. Click the [Create Script] button to Create Script.

5. Check the result script.

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Copy and paste the script to the DRL project source editor.

Note

The script generation could fail in cases as below.

• Spline motion restricts the path points to 100. If a path segment has more than 100 path points,
the script generation fails. In that case, the user split the path segment so that the number of
path points is less than 100.
• Blend motion restricts the segment motions to 100. If a blend path segment has more than 100
child segments, the script generation fails. In that case, the user split the path segment so that
the number of child segment is less than 100.
• The child segment of blend path segment should be line or arc. If the type of curve of the child
segment is not one of them, the script generation fails. In that case, the user should modify the
curve type of the child segment.

Run Script
The program provides functions to verify the motion and the trajectory of the generated script.

1. Connect to the controller.

2. Copy and paste the generated code to the script editor of the [Task manager].

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3. Click the [Turn On Simulation] button in the menu bar.

If the program is connected to the controller, the shape of currently connected robot model is display.

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4. Run the program in the [Task manager].

If program starts, the trajectory of the TCP is drawn in the 3D view. Check the trajectory of the motion.

5. If the simulation is done, click the [Turn Off Simulation] button in the menu bar.

3.1.10 Overall Practice

This chapter guides overall procedures from loading a cad file to the simulation of the generated script.

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1. Load a CAD file.

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2. Merge surfaces. User ‘Merge Surface’ function.

3. Create edge of the surface. User ‘Create Surface Edge’ function.

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4. Create a surface edge path. Use ‘Create Glue Path’ function.

5. Create source points for registration. User ‘Create Circular Center Point’ function.

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6. Measure the target points in the robot space. User the ‘Create Point On TCP Position’.

7. Create a transformation matrix from the source points in CAD space to the target points in the robot space.
Use the ‘Points To Points Registration’ function.

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8. Move the path data and the shape data into the robot space. Use the ‘Apply Registration Matrix’ function.

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9. Create a script. User ‘Create Script’ function.

10. Turn on simulation.

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3.1.11 Other Usage Tips

Various methods to open the operation window

All functions can be executed from the menu bar, context menu of 3D view, and
context menu of object explorer tree.

Open operation window from main menu bar

1. Click a menu button in the main menu bar.

2. Select an option in the active window.

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3. Select the target objects.

Open operation window from 3D view

1. Select the target objects in the 3D view.

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2. Select a menu in the context menu.

3. If the user selects a menu, the corresponding operation windows is activated and the control for the target
objects are filled.

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Open operation window from Entity tree

1. Select target object in the entity tree.

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2. Select a menu in the context menu.

3. If the user selects a menu, the corresponding operation windows is activated and the control for the target
objects are filled.

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Open multiple operation windows

If the user run a menu, an operation window opens. If the user run a menu when an operation window is already
shown, the window is switched to the corresponding user interface.

The program provides a function to open another operation window. To open another operation window, click
[Open a New Work Pane] menu in the menu bar. Then a new empty operation is shown.

If there are more than 1 operation window, the Active operation is updated when the user clicks an operation
menu.

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The operation window can be docked to anywhere.

The operation window can be overlapped with another operation window. In other word the usr can compose a
tab window.

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The operation window can be popped up as well.

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The operation window can be cloned. If the user clicks [Open A Cloned Panel] button, a clone panel is shown up.

Undo and Redo

The program provides undo and redo function for all operation.

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At most 30 operations are stored and can be canceled (Undo) or restored (Redo) again.

The user can undo the last operation by clicking the [Undo] button in the menu bar or by pressing [Ctrl + Z] key.

The user can redo the canceled operation by clicking the [Redo] button in the menu bar or by pressing [Ctrl + Y]
key.

Status bar information

The status bar displays summary information for the selected object.

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The displayed information depends on the type and the number of the selected items. The type and the number
of the selected items and displayed information are as below.

1 point Coordinates.

2 points Coordinates, Distance between two points.

3 points Coordinates, Angle between (Point2-Point1) and (Point2-Point3).

3 or more points Radius of fitting circle.

1 curve Coordinates of start and end point. Length of Curve, Tangent direction of start and end
point.

2 lines Angle between two lines.

1 arc Radius of fitting circle.

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4 PART 3. Pallet Path Generation Manual

This part introduces how to use Palletizing in DART-Studio.

4.1 Create Pallet Path

4.1.1 Open Work Window

1. To use Pallet Path Creation, select Tools from Main Menu, then click the Pallet Path Creation button.
2. The Path Creation window will be displayed as a tab on the right side, as shown below.

4.1.2 Create Project

Create Project Create a new palletizing project

Load Load a saved project

Save Save the current project

Save As Save the current project under another name

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Task List Select the task list currently being used or one used before

Undo Undo an action

Redo Reapply an action you have undone

Start Code Generator Run the palletizing code generator

4.1.3 Create Pattern

Create Pattern main window

In the Create Pattern window, you will see ‘Create new pattern’, and ‘Set up plate’ (the location where a product
is to be located) and ‘Product’. With this Pallet Path Creation program, you can set up only one plate and one
product size per pallet.

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Select Pattern Select a pattern to modify

Add New Pattern Add a new pattern to create

Delete Pattern Delete the selected pattern

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Delete Item Delete the selected item

Change Attribute Change the attributes of the plate and product templates It is possible to
change by right-button click at plate and product tab.

Change Name Change the name of the selected item It is possible to change the name of
patterns and layouts.

Copy Layout Copy the selected layout

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Plate setup

It is possible to add additional information about the plate size and border margin in the Plate Setup window.
The plate border margin is the parameter that determines whether the product is exposed to the plate outline
or not.

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Product setup

It is possible to determine product size and setup distance between products in the Product Setup window.

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Calibration setup

This is the setup window where the user can execute calibration of a user-created pattern. Only one calibration
can be set per pattern, and the calibration can be set through the starting point and positions to be designated
by the X-axis and Y-axis. It is possible to see a preview in the right-view window by pressing the Preview button.
In addition, it is possible to save the calibration result by giving it a name and clicking Create.

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4.1.4 Layout Setup

Layout Main window

The Layout window is used to deploy products onto the plate area that were created in the Create Pattern
window. It also is possible to set the direction and distance to/from the products when operating a robot.
Products shown on the screen are displayed with capital letters in the alphabetical order of the products, and
the forward direction of each product is marked with a blue box.

The layout toolbox is shown below.

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Select Layout Select a layout to work with

Add a layout Add a layout

Delete the selected layout Delete the selected layout

The product toolbox is shown below.

Auto Create Product Deploy products onto the current working layout automatically

Add Product Add a product to the current layout

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Delete Product Delete the selected product

Change Product Order Change the order of products deployed on the current layout
Products are sorted in ascending order according to the order in
which they were clicked.

Change Approaching Set the approaching and retreating direction and distance to/
Properties from a product

Show work order The order of operations of the products is indicated by arrows.

Rotate clockwise 90º Rotate a single product clockwise 90º

Rotate counterclockwise 90º Rotate a single product counterclockwise 90º

Flip Horizontal Flip the single product horizontally

Flip Vertical Flip the single product vertically

Align Left Align the selected multiple products to the left

Align Center Align the selected multiple products to the center

Align Right Align the selected multiple products to the right

Align Top Align the selected multiple products to the top

Align Bottom Align the selected multiple products to the bottom

Distribute Horizontally Space the selected multiple products out horizontally with an
equal distance between

Distribute Vertically Space the selected multiple products out vertically with an equal
distance between

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Single Move Single relative move the selected (single, multiple) product(s) to
the X- or Y-axis (can move to the absolute point with options)

Rotate multiple products Rotate multiple products clockwise90º

clockwise 90º

Rotate multiple products Rotate multiple products counterclockwise 90º

counterclockwise 90º

Flip Horizontal - Multiple Flip multiple products horizontally

Products

Flip Vertical - Multiple Flip multiple products vertically

Products

In the Product Layout screen, it is possible to select object(s) by clicking or dragging with the mouse. It is
possible to move the selected object(s) by dragging them with the mouse. There are additional shortcuts
available.

Mouse click + ctrl Cancel Project Selection Cancel the selection of the selected project

Mouse drag + alt Copy Product Copy the selected product

Mouse drag + shift Paste Product Paste the selected product to another product or plate

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The Product layout screen has a function for detecting collisions. When product outlines overlap, their color
changes to red.

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The Product Order window can be enabled using the View Product Order toggle button, and it is possible to
modify currently deployed product(s). You can modify the order and approaching distance, and add or delete a
product(s).

Batch application of approach direction and approach distance can be set using the right-click menu that
appears when you right-click the value you want to assign all.

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Auto Create Product

The Auto Create Product window automatically deploys products onto the selected plate(s). The deployment of
products is applied to all plates, and there are four deployment rules.

Details of each item are given below:

Direct Determines the creation direction of a pattern. There are Horizontal bases and Vertical bases. For
ion Horizontal, the pattern is created from bottom left to bottom right, and for Vertical, from bottom left
to top left.

Patter Determines the creation rule for a pattern For Parallel, the same pattern is applied to all rows, and
n for Zigzag, the inverted pattern is applied to each row.

Start Select start position. It is possible to start from the bottom left, top left, bottom right or top right.
Positi
on

Spaci This option that is applicable when the total area of products to be deployed is small. If Medium is
ng selected, the spacing between the products is equalized so that the plate can be filled.
Optio
n

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Approaching Property Setup

First of all, in order to use the function, you must select the product you want to set up.

The Approaching property setup is used to issue a command to approach/retreat to a certain distance to
prevent collision between products or outlines while palletizing products. From this window, it is possible to set
up the approaching direction and distance. There are nine approaching directions, and approaching distance is
the distance from the center of the object.

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4.1.5 Layer Setup

Layer Main Window

In this window, you can set up layers based on the prepared layout. When adding a new layer, it is possible to
select the layout to be applied. It is possible to add/delete layer(s), and to rotate (right 90º, left 90º, right 180º) /
flip (horizontally, vertically) currently created layer(s). In addition, there is the option to set a gap between
layers so that it is possible to insert a shim paper. It is possible to assign a color to a layer, so that the layer can
be distinguished from other layers on the 3D screen.

Rotation Options, Layer Gaps, and Assign All are available by using the right-click menu.

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4.1.6 3D Screen Manipulation

3D Screen Manipulation Window

The created layer is displayed in the 3D Screen Manipulation window in real-time. It also displays the facing and
approaching direction of the product. The following options are available.

Screen Control

Select Select object(s) from the screen

Rotate Rotate the screen around the object

Move Move the screen along with mouse

Zoom In Enlarge the area where the mouse pointer is located

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Zoom Out Enlarge the area where the mouse pointer is located

Screen Initialization Resize the screen size so that the object fills the entire screen

Screen Viewpoint Setup

View from -Y direction

View from +Y direction

View from -X direction

View from +X direction

View from -Z direction

View from +Z direction

View from -X, -Y, +Z direction

View from -X, +Y, +Z direction

View from +X, +Y, +Z direction

View from +X, -Y, +Z direction

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View from -X, -Y, -Z direction

View from -X, +Y, -Z direction

View from +X, +Y, -Z direction

View from +X, -Y, -Z direction

ETC.

Show the robot shape.

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4.1.7 Create Pallet Path

Create Path

It is possible to create a path based on the created pattern and calibration. During creation, DRL code is
generated as shown above. Multiple grasp and release patterns can be set for use. It is possible to select
whether to execute based on the layer or height.

The rate of movement between patterns can be configured with Joint Speed and Acceleration, and the working
speed for approaching and retreating in the pattern varies according to the task speed.

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Allow Approach Distance 0 option is available when approach/retreat directions are not used, and Insert
Simulation Code enables logging for checking simulation logs. Lift option can add the height adjustment
function when the T-axis is added. Create Script creates a pallet path based on the settings above.

It is possible to run the generated script by copying (CTRL+C) and pasting (CTRL+V) from DRL editor of the Task
Manager. In addition, the DRL code can be directly applied to the Teach Pendant by inserting it into the custom
code on the TB/TW using the “Upload to Smart TP” button in the Task Manager.

Analyze Generated Code

The code below is a sample code generated as the result of pallet path creation. It is a palletizing task for
moving five products.

1 import math as pymath

2 drl_report_line(OFF)
3
4 ##### define template functions
5 #define gripper grasp signal
6 def grasp_gripper():
7 pass #remove pass and code here
8
9 #define gripper release signal
10 def release_gripper():
11 pass #remove pass and code here
12
13 #define lift control function
14 def set_lift_z(z):
15 pass #remove pass and code here
16
17 def get_lift_z():
18 pass #remove pass and code here
19
20 #define device initialization
21 def begin_device():
22 pass #remove pass and code here

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23
24 #define device cleanup
25 def end_device():
26 pass #remove pass and code here
27
28 #define Robot Initial Configuration
29 def initial_configuration():
30 pass #remove pass and code here
31
32
33 #define minimum joint IK solution function
34 def min_jvector_sol(targetpose, coordinate):
35 jcur = get_current_posj()
36 sumjsol = [0, 0, 0, 0, 0, 0, 0, 0]
37 for i in range(0, 8):
38 jsol = ikin(targetpose, i, coordinate)
39 sumjsol[i] = abs(jcur[1] - jsol[1]) + abs(jcur[2] - jsol[2]) + abs(
jcur[4] - jsol[4])
40 minsol_idx = sumjsol.index(min(sumjsol))
41 return minsol_idx
42
43 #define job motion
44 def job_motion(userAppPose, userJobPose, userRetPose, userCoord,
worldCoord, action):
45 overwrite_user_cart_coord(worldCoord, posx(0,0,0,0,0,0), ref= DR_BASE)
46 appPose = coord_transform(userAppPose, userCoord, coord_w)
47 jobPose = coord_transform(userJobPose, userCoord, coord_w)
48 retPose = coord_transform(userRetPose, userCoord, coord_w)
49 #go to intermediate approach position
50 curPose, sol = get_current_posx(DR_BASE)
51 if appPose[2] < curPose[2]:
52 interPose = trans(appPose, [0,0,curPose[2]-appPose[2],0,0,0],DR_BA
SE)
53 interPoseSol = min_jvector_sol(interPose, DR_BASE)
54 movejx(interPose, vel=g_jointVel, acc=g_jointAcc, sol=interPoseSol
, ref=DR_BASE)
55 else:
56 interPose = trans(curPose, [0,0,appPose[2]-curPose[2],0,0,0],DR_BA
SE)
57 interPoseSol = min_jvector_sol(interPose, DR_BASE)
58 movejx(interPose, vel=g_jointVel, acc=g_jointAcc, sol=interPoseSol
, ref=DR_BASE)
59
60 #go to approach position
61 appPoseSol = min_jvector_sol(appPose, DR_BASE)
62 movejx(appPose, vel=g_jointVel, acc=g_jointAcc, sol=appPoseSol, ref=DR
_BASE)
63
64 #go to source working pose
65 movel(jobPose, vel=g_appVel, acc=g_appAcc, ref=DR_BASE)
66
67 #do gripper action
68 action()
69

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70 #go to retraction pose

71 movel(retPose, vel=g_retVel, acc=g_retAcc, ref=DR_BASE)
72
73 ##### global variables
74 g_jointVel = 30.0
75 g_jointAcc = 60.0
76 g_appVel = 500.0
77 g_appAcc = 1000.0
78 g_retVel = 500.0
79 g_retAcc = 1000.0
80 lift_zmin = 0.0
81 lift_zmax = 0.0
82 lift_z0 = 0.0
83 lift_zstep = 0.0
84 g_retAcc = 1000.0
85
86 ##### job poses
87 #define PickPattern pattern approach pose in plate coordinate
88 PickPattern_app_poses = [None] * 5
89 PickPattern_app_poses[0] = posx(-7.7, -7.7, 157.7, 90.0, 180.0, 0.0)
90 PickPattern_app_poses[1] = posx(150.0, -20.7, 170.7, 90.0, 180.0, 0.0)
91 PickPattern_app_poses[2] = posx(507.7, -7.7, 157.7, 90.0, 180.0, 0.0)
92 PickPattern_app_poses[3] = posx(250.0, -20.7, 170.7, 90.0, 180.0, 0.0)
93 PickPattern_app_poses[4] = posx(350.0, -20.7, 170.7, 90.0, 180.0, 0.0)
94 #define PickPattern pattern job pose in plate coordinate
95 PickPattern_job_poses = [None] * 5
96 PickPattern_job_poses[0] = posx(50.0, 50.0, 100.0, 90.0, 180.0, 0.0)
97 PickPattern_job_poses[1] = posx(150.0, 50.0, 100.0, 90.0, 180.0, 0.0)
98 PickPattern_job_poses[2] = posx(450.0, 50.0, 100.0, 90.0, 180.0, 0.0)
99 PickPattern_job_poses[3] = posx(250.0, 50.0, 100.0, 90.0, 180.0, 0.0)
100 PickPattern_job_poses[4] = posx(350.0, 50.0, 100.0, 90.0, 180.0, 0.0)
101 #define PickPattern pattern retract pose in plate coordinate
102 PickPattern_ret_poses = [None] * 5
103 PickPattern_ret_poses[0] = posx(50.0, 50.0, 200.0, 90.0, 180.0, 0.0)
104 PickPattern_ret_poses[1] = posx(150.0, 50.0, 200.0, 90.0, 180.0, 0.0)
105 PickPattern_ret_poses[2] = posx(450.0, 50.0, 200.0, 90.0, 180.0, 0.0)
106 PickPattern_ret_poses[3] = posx(250.0, 50.0, 200.0, 90.0, 180.0, 0.0)
107 PickPattern_ret_poses[4] = posx(350.0, 50.0, 200.0, 90.0, 180.0, 0.0)
108 #calibration points
109 PickPattern_coord_point_org = posx(500.0, 500.0, 0.0, 0, 0, 0)
110 PickPattern_coord_point_u1 = posx(550.0, 500.0, 0.0, 0, 0, 0)
111 PickPattern_coord_point_u2 = posx(500.0, 550.0, 0.0, 0, 0, 0)
112 #set plate coordinate
113 PickPattern_coord_plate_to_base =
set_user_cart_coord(PickPattern_coord_point_org,
PickPattern_coord_point_u1, PickPattern_coord_point_u2,
PickPattern_coord_point_org, DR_WORLD)
114
115 #define PlacePattern pattern approach pose in plate coordinate
116 PlacePattern_app_poses = [None] * 5
117 PlacePattern_app_poses[0] = posx(-7.7, -7.7, 157.7, 90.0, 180.0, 0.0)
118 PlacePattern_app_poses[1] = posx(150.0, -20.7, 170.7, 90.0, 180.0, 0.0)
119 PlacePattern_app_poses[2] = posx(507.7, -7.7, 157.7, 90.0, 180.0, 0.0)
120 PlacePattern_app_poses[3] = posx(250.0, -20.7, 170.7, 90.0, 180.0, 0.0)

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 PART 3. Pallet Path Generation Manual

121 PlacePattern_app_poses[4] = posx(350.0, -20.7, 170.7, 90.0, 180.0, 0.0)

122 #define PlacePattern pattern job pose in plate coordinate
123 PlacePattern_job_poses = [None] * 5
124 PlacePattern_job_poses[0] = posx(50.0, 50.0, 100.0, 90.0, 180.0, 0.0)
125 PlacePattern_job_poses[1] = posx(150.0, 50.0, 100.0, 90.0, 180.0, 0.0)
126 PlacePattern_job_poses[2] = posx(450.0, 50.0, 100.0, 90.0, 180.0, 0.0)
127 PlacePattern_job_poses[3] = posx(250.0, 50.0, 100.0, 90.0, 180.0, 0.0)
128 PlacePattern_job_poses[4] = posx(350.0, 50.0, 100.0, 90.0, 180.0, 0.0)
129 #define PlacePattern pattern retract pose in plate coordinate
130 PlacePattern_ret_poses = [None] * 5
131 PlacePattern_ret_poses[0] = posx(50.0, 50.0, 200.0, 90.0, 180.0, 0.0)
132 PlacePattern_ret_poses[1] = posx(150.0, 50.0, 200.0, 90.0, 180.0, 0.0)
133 PlacePattern_ret_poses[2] = posx(450.0, 50.0, 200.0, 90.0, 180.0, 0.0)
134 PlacePattern_ret_poses[3] = posx(250.0, 50.0, 200.0, 90.0, 180.0, 0.0)
135 PlacePattern_ret_poses[4] = posx(350.0, 50.0, 200.0, 90.0, 180.0, 0.0)
136 #calibration points
137 PlacePattern_coord_point_org = posx(-500.0, 500.0, 0.0, 0, 0, 0)
138 PlacePattern_coord_point_u1 = posx(-500.0, 550.0, 0.0, 0, 0, 0)
139 PlacePattern_coord_point_u2 = posx(-550.0, 500.0, 0.0, 0, 0, 0)
140 #set plate coordinate
141 PlacePattern_coord_plate_to_base =
set_user_cart_coord(PlacePattern_coord_point_org,
PlacePattern_coord_point_u1, PlacePattern_coord_point_u2,
PlacePattern_coord_point_org, DR_WORLD)
142
143 drl_report_line(ON)
144 ##### robot motion
145 begin_device()
146
147 PickPattern_productCount = 5
148 PlacePattern_productCount = 5
149 PickPattern_loopCount = 0
150 PlacePattern_loopCount = 0
151 PickPattern_productHeight = 100.0
152 PlacePattern_productHeight = 100.0
153 coord_w = set_user_cart_coord(posx(0, 0, 0, 0, 0, 0), ref = DR_WORLD) #
world
154 ##### robot initial motion
155 initial_configuration()
156
157 while True:
158 if PickPattern_loopCount < PickPattern_productCount:
159 pySimLogAction = 'data = palletsim, action = grasp, target =
PickPattern[{}]'.format(PickPattern_loopCount)
160 job_motion(PickPattern_app_poses[PickPattern_loopCount],
PickPattern_job_poses[PickPattern_loopCount],
PickPattern_ret_poses[PickPattern_loopCount],
PickPattern_coord_plate_to_base, coord_w, grasp_gripper)
161 PickPattern_loopCount = PickPattern_loopCount + 1
162
163 if PlacePattern_loopCount < PlacePattern_productCount:
164 pySimLogAction = 'data = palletsim, action = release'
165 job_motion(PlacePattern_app_poses[PlacePattern_loopCount],
PlacePattern_job_poses[PlacePattern_loopCount],

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 PART 3. Pallet Path Generation Manual

PlacePattern_ret_poses[PlacePattern_loopCount],
PlacePattern_coord_plate_to_base, coord_w, release_gripper)
166 PlacePattern_loopCount = PlacePattern_loopCount + 1
167
168
169 #check escape condition
170 if PickPattern_loopCount == PickPattern_productCount and
PlacePattern_loopCount == PlacePattern_productCount:
171 break
172
173 #clean up device
174 end_device()

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 PART 4. Real time Welding Condition Manual

5 PART 4. Real time Welding Condition Manual

This part introduces how to use real-time welding conditions in DART-Studio.

5.1 Real time Welding Condition

5.1.1 Function description and usage

This function is to change or monitor the welding condition value entered in advance when using the welding
function.

Caution

This function is a paid option function, and the menu for using this function appears on the menu only if
you have obtained a corresponding license from the SW provider.

To use this function,

1. Select the Util tab in the main menu and click the Realtime Welding Condition However, the function is a
paid option function, and the corresponding menu is displayed only when the license is issued to the SW
provider in advance.
2. The Realtime welding condition window as below will open.

3. For the description of each item, refer to the table below.

Item name Description

Output Signal Items corresponding to output signals such as Feed Forward/Feed Backward/
Gas/Arc are checked

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 PART 4. Real time Welding Condition Manual

Welding Status Current welding status is indicated as one of Non-Weld/Weld(Normal)/

Weld(Error)/Dry-run

Head Input 60 x Actual Voltage x Actual Current / Adjust Speed / 1,000

Calculation
[Actual Value]

Actual Value Display of measured values of voltage and current

Increment The increment value for Voltage, Current, Speed, Offset Y, Offset Z

Adjust Target Adjustment target value of Voltage, Current, Speed, Offset Y, Offset Z

Actual Target Actual target value of Voltage, Current, Speed, Offset Y, Offset Z

+ Adjustment target value plus increment value

- Adjustment target value subtract increment value

Controller version This function cannot be used with a lower controller version than GFx20600

Caution

This function cannot be used with a lower controller version than GFx20600.

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