General

Home

[Home] page contains the common positions/poses of the robot, where you can customize the home position/pose, or quickly move the robot to the common positions/poses.

• Robot: Allow simulating the current robot status.
• Home: Allow viewing the position/pose parameters of the current "Home", setting the common positions/poses, or controlling the movement of the robot to the common positions/poses.

• Edit Position: Edit the user-defined home position/pose. Click [Edit Position] to enter the [Move] page, and move the robot to set the position/pose. Click [OK] to save and return.
• Move Here: Move the robot quickly to the home position/pose. Click [Move Here] to quickly enter the [Move] page, where the orange numbers in the joint control box indicate the joint parameters of the current home position/pose. Long press [Home] or [Auto] to move the robot to the home position/pose, and then click [OK] or [Cancel] to return.
• Restore Default: Clear the user-defined home position/pose and restore the default home position/pose.
• Zero: Move the robot quickly to the zero position/pose.
• Package: Move the robot quickly to the packaging position/pose. The packaging position/pose is used when the robot is being packaged for shipment.

I/O Setup

For I/O configuration methods, please refer to I/O Configuration, and for an introduction to configurable I/O functions, please refer to I/O Function.

Start

[Start] allows setting of the default program and auto initialization. A default program is a program loaded automatically upon boot of the controller, which is loaded automatically when the system starts running without loading any programs. Auto initialization, i.e., when the robot receives an initialization signal in the poweroff state, it will start initialization to restore to the operable status.

警告

1. When automatic robot connection, automatic power-on, and automatic loading are enabled, robot runs program immediately after controller is powered on, provided that the input signal matches the selected signal level. For example, in the case of low level, it is no need to transit an edge level to the selected signal level.
2. Be careful when setting the signal level to a low level. The input signal is set at a low level by default, allowing the program to run automatically without interference from external signals.

注意

Exiting the running program or clicking the "Stop" button in the teach pendant software will disable the auto start feature until the "Run" button is pressed again.

TCP

Please refer to Basic robot operations - Load and TCP.

Payload

Please refer to Basic robot operations - Load and TCP.

Tool I/O

Robot end (joint 6) is equipped with two types of interface: an 8-pin tool I/O interface and a 4-pin tool RS485 interface, which can provide power supply and control signals to end-of-arm tooling (EOAT) (such as a gripper). The end interface configuration may vary for different models; please refer to the actual product and product specifications for details.

Tool I/O Interface

The tool I/O interface is an 8-pin connector, as shown in the figure below. Users can configure 4 channels of digital I/O via pin 3/4/5/7, and configure analog input via pin 6/8, with the analog voltage of 0V ~ 10V; Pin 2 can be configured with output voltage of 0 V, 12 V and 24 V.

[Tool I/O] page allows settings of the EOAT control mode, power voltage and digital I/O communication direction. For the function settings of each I/O interface for EOAT, please refer to “I/O Function”. For the status monitoring of I/O interfaces, please refer to “I/O Tab”.

• Control right: Control the switching of tool I/O interfaces.
• Tool I/O output voltage: Set the voltage level (in V) for the tool's digital I/O in output mode. After replacing tools or resetting system, please double-check to ensure that the voltage matches the tool's rated voltage.
• TOOL_IO[0] ~ TOOL_IO[3]: Set the communication direction of the tool's digital I/O.

Tool RS485 Interface

The tool's RS485 interface is a 4-pin connector that uses the standard RS485 communication protocol, providing fieldbus communication capabilities and supporting direct communication and data exchange between various devices.

Variables

The variables created on this page are called "configure variables", utilized in a manner akin to program variables. They are categorized into five types: Bool, Int, Float, String, and Pose. The difference between a configuration variable and a program variable is that the name and value of the configuration variable are stored in the installation profile, and the user can use the same configuration variables in multiple programs.

[Variables] page allows creation of configure variables as well as settings of their initial values, which can be saved by clicking [Save] on the configuration manager tool bar. In the program running process, the status of configure variables can be updated on this page in real time.

• Global persistence:

1. Types of variables

• Program variables: These variables only apply to the running program, and variable values will be lost after the program stops. They are regular program variables. For details, please refer to "Program tab - Basic program nodes - Assignment".
• Configure variables: such variables can be applied to more than one program, and their name and values persist until the robot is decommissioned. Therefore, they are persistent variables.
• Script variables: such variables come from script file, and can be assigned to different variables types. Script variables are not displayed in page [Program] or page [Configure]. They are used by a robot program to store information about the waypoint.

Based on value treatment mechanism (saved by system or not) and application scope (one program, or more than one program), variables are divided into the following two types:

• Persistent variables: these variables can be applied to more than one program, and their name and values persist until the robot is decommissioned. Values of persistent variables are retained after AuboStudio or the controller is restarted. For example, the configure variables are of this kind.
• General variables: these variables apply only to the running program, and their values are lost after the program is stopped. For example, the program variables are of this type.

2. Data type

• Bool: Boolean variables, whose value is true/false.

• Integer: integer variables, whose value is an integer.

• Float: Floating-point variables, whose value is a floating-point number.

• String: string variables, whose value is a string value enclosed in single quotes (') or double quotes (").

• Pose: pose variables, whose value is waypoint data containing 6 parameters, as described below:

  • In case of MoveL, the first 3 parameters are pose parameters measured in mm, and the last 3 parameters are pose parameters measured in rad.
  • In case of MoveJ, all the 6 parameters are joint angles, which are measured in rad.

Record

[Record] page stores the tracks of robot movement for a period of time, and the stored tracks can be added to the program.

• Simulation model: Simulate robot status.
• Track: Create/Edit/Save/Delete tracks.

• Create Track: Click [Create Track] to enter the [Move] page, and control the robot using the position/pose control button then the system will start recording the track of the robot. After the running is completed, click [OK] to name and save the track.
• Search: Search for a certain track by its name.
• Refresh: Refresh the list of tracks. - Load: Load a track.
• Rename: Rename a track file.
• Delete: Delete the track.
• Play: Play the currently loaded track. Click [Play], then enter the [Move] page to move the robot to the initial position, and click [OK] to start playing the moving track. At this time, clicking on [Play]. will switch to [Stop] status .

1. Create a new track

1. Click [Create Track] to enter the [Move] page, then click to start recording. Control the robot using the position/pose control button. The system will record robot's track and time. Click to exit the [Move] page. After recording, click to display a pop-up prompting you to name track file. After naming, click [Save] to return to the [Record] page.

   

2. Click to rename the recorded track.

3. Select the saved track file from the track list and click [Load] to load the track into the player.

Coordinate system

Please refer to [Basic robot operations - Coordinate system](../02_basic_operation/05_coordinate.md#Custom coordinate system).

Drag damping

Please refer to [Move teaching - HandGuide - Drag damping](../09_move/02_handguide.md#Drag damping).

Background Script

[Background Script] allows setting of multiple scripts running in the background, tailored to users' needs.

注意

The scripts added in [Background Script] are not allowed to contain robot motion commands.

Indicator light*

[Indicator Light] allows setting of the mode of robot indicator light. This function is only supported by some robot arm models. See the Hardware User Manual for details.

Handle Setting*

[Handle Setting] allows setting of the control mode of the handle matched with the product, and configuration of the functions of the custom button on the handle. This feature is only supported by some controller models. See the Hardware User Manual for details.

提示

Clicking [Apply] will only make the handle settings effective temporarily. To ensure that the relevant settings can be found upon restart, click [Save] to save the current installation profile.

Collision

The AUBO robot is equipped with protection against excessive external forces; it can detect external forces and take appropriate actions to safeguard itself and prevent damage to the surrounding environment and personnel.

[Collision] page allows settings of collision level and collision mode, etc. The user can change the collision level and the method for handling a robot collision based on the actual situation to ensure the safety and reliability of the robot in use.

This function is specially designed for the safety of human-machine cooperation, requiring the robotic system to operate within the normal range and the use of AUBO series controllers. If users develop their own controller, the robot will not achieve the above function.

1. Protect against excessive external force

• Open: If the robot is in a static state and subjected to an external force that exceeds the safe level judged by the system, the robot will enter the HandGuide mode to prevent damage to critical moving parts.

• Close: If the robot is subjected to an excessive external force in the static state, its key actuating components may be damaged, shortening the robot's service life.

If the "collision mode" is set to "Quiesce After Collision", the robot will halt upon collision during operation. Should the robot experience an additional external force, it will remain stationary.

2. Collision level

The robot features 10 safety levels that determine the sensitivity of the robot when a collision event is triggered. The lower the value, the higher the safety level, and the more force needed to trigger the collision event. The system default collision level is Level 6.

3. Collision mode

This mode involves how the robot is going to act after a collision event occurs.

• Floating after collision: After a collision, the robot stops and enters the HandGuide mode, allowing the operator to manually drag it to any safe position.
• Quiesce after collision: After a collision, the robot stops and remains stationary.
• Brake engagement after collision: After a collision, the robot stops and remains stationary with the brake engaged (this function is applicable only to robots with firmware version 1.*.*).