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Robot

Change Robot TCP

Changes the selected TCP at the Tool Manager.

Name Data type Description
Inputs Tool Name String Name of the tool in the tool manager. As a default tool the 'flange' is always selected.
Reattach Simulated Objects Boolean If true, attached simulated objects change their parent frame to avoid jumping when the tool is changed.
Outputs -
Exceptions ERROR_UNKNOWN_TOOL - The exception is raised, if the respective tool does not exist.

Create Robot TCP

Creates or updates a TCP at the Tool Manager.

Name Data type Description
Inputs Tool Name String Name of the tool to create or update in the tool manager.
TCP Pose TCP values to configure for the stated tool.
Update, if already existing Boolean If true, the respective TCP is updated, if it does already exist. Otherwise a ALREADY_EXISTING exception is raised in this case.
Outputs -
Exceptions ALREADY_EXISTING - The exception is raised, if the respective tool does already exist and shall not be updated.
OVERRIDE_FLANGE - The exception is raised, if it is attempted to override the flange TCP.
SAVING_ERROR - The exception is raised, if saving the new or updated TCP failed.

Digital I/O Device - Check

Checks whether multiple digital I/Os are in a desired state. All digital I/Os need to be managed by the same device.

Info

For KUKA IIWA and Denso robots this function block is not supported. For this robots refer to the functions blocks described in the respective robot manual chapter.

Name Data type Description
Inputs Digital I/O States List of Digital I/O States List of I/O entries, each consisting of an ID and Value, which are checked all at once.
I/O Device String ID of a digital I/O device. This is usually the robot, but can be also a supported PLC. The default value is robot. All stated I/Os have to be managed by the same device.
I/O Group String The digital I/O group for the given device. This is usually an abbreviation, which is also used in the respective controller, like DI for Digital Input or DO for Digital Output. See the respective robot setup or usage page for more information on which groups are available.
I/O Pin Number Integer The digital I/O pin number within the given group for the given device. This follows the same numbering as the respective controller. See the respective robot setup or usage page for more information on which pins are available.
Digital I/O Value Boolean Desired value of the digital I/O pin.
Outputs Result Boolean Returns true, if all requested I/Os are in the desired state. Returns false otherwise.
Exceptions ERROR_UNKNOWN_DEVICE - The exception is raised, if no I/O device can be found for the given device id.
ERROR_NO_DIGITAL_IO - The exception is raised, if the device can not find any of the defined group-pin-number combination.
ERROR_DIVERGING_DEVICES - The exception is raised, if different device ids are stated among the defined I/Os.

Digital I/O Device - Clear Categories

Clears all the categories of a digital I/O.

Info

For KUKA IIWA and Denso robots this function block is not supported. For this robots refer to the functions blocks described in the respective robot manual chapter.

Name Data type Description
Inputs I/O Device String ID of a digital I/O device. This is usually the robot, but can be also a supported PLC. The default value is robot.
I/O Group String The digital I/O group for the given device. This is usually an abbreviation, which is also used in the respective controller, like DI for Digital Input or DO for Digital Output. See the respective robot setup or usage page for more information on which groups are available.
I/O Pin Number Integer The digital I/O pin number within the given group for the given device. This follows the same numbering as the respective controller. See the respective robot setup or usage page for more information on which pins are available.
Outputs -
Exceptions ERROR_UNKNOWN_DEVICE - The exception is raised, if no I/O device can be found for the given device id.
ERROR_NO_DIGITAL_IO - The exception is raised, if the device can not find the defined group-pin-number combination.

Digital I/O Device - Get

Requests the value of a digital I/O.

Info

For KUKA IIWA and Denso robots this function block is not supported. For this robots refer to the functions blocks described in the respective robot manual chapter.

Name Data type Description
Inputs I/O Device String ID of a digital I/O device. This is usually the robot, but can be also a supported PLC. The default value is robot.
I/O Group String The digital I/O group for the given device. This is usually an abbreviation, which is also used in the respective controller, like DI for Digital Input or DO for Digital Output. See the respective robot setup or usage page for more information on which groups are available.
I/O Pin Number Integer The digital I/O pin number within the given group for the given device. This follows the same numbering as the respective controller. See the respective robot setup or usage page for more information on which pins are available.
Outputs Digital I/O Value Boolean The value of the digital I/O pin.
Exceptions ERROR_UNKNOWN_DEVICE - The exception is raised, if no I/O device can be found for the given device id.
ERROR_NO_DIGITAL_IO - The exception is raised, if the device can not find the defined group-pin-number combination.

Digital I/O Device - Set

Sets the value of a digital I/O.

Info

For KUKA IIWA and Denso robots this function block is not supported. For this robots refer to the functions blocks described in the respective robot manual chapter.

Name Data type Description
Inputs I/O Device String ID of a digital I/O device. This is usually the robot, but can be also a supported PLC. The default value is robot.
I/O Group String The digital I/O group for the given device. This is usually an abbreviation, which is also used in the respective controller, like DI for Digital Input or DO for Digital Output. See the respective robot setup or usage page for more information on which groups are available.
I/O Pin Number Integer The digital I/O pin number within the given group for the given device. This follows the same numbering as the respective controller. See the respective robot setup or usage page for more information on which pins are available.
Digital I/O Value Boolean Value of the digital I/O pin.
Outputs -
Exceptions ERROR_UNKNOWN_DEVICE - The exception is raised, if no I/O device can be found for the given device id.
ERROR_NO_DIGITAL_IO - The exception is raised, if the device can not find the defined group-pin-number combination.
ERROR_NO_DIGITAL_OUTPUT - The exception is raised, if it is tried to set an other type than a digital output.
ERROR_SET_FAILED - The exception is raised, if setting the pin to the new value failed in the controller.

Digital I/O Device - Set Categories

Sets the categories of a digital I/O.

Info

For KUKA IIWA and Denso robots this function block is not supported. For this robots refer to the functions blocks described in the respective robot manual chapter.

Name Data type Description
Inputs I/O Device String ID of a digital I/O device. This is usually the robot, but can be also a supported PLC. The default value is robot.
I/O Group String The digital I/O group for the given device. This is usually an abbreviation, which is also used in the respective controller, like DI for Digital Input or DO for Digital Output. See the respective robot setup or usage page for more information on which groups are available.
I/O Pin Number Integer The digital I/O pin number within the given group for the given device. This follows the same numbering as the respective controller. See the respective robot setup or usage page for more information on which pins are available.
Categories List List of String List of categories to configure for the specified I/O.
Outputs -
Exceptions ERROR_UNKNOWN_DEVICE - The exception is raised, if no I/O device can be found for the given device id.
ERROR_NO_DIGITAL_IO - The exception is raised, if the device can not find the defined group-pin-number combination.

Digital I/O Device - Set Display Title

Sets the display title of a digital I/O.

Info

For KUKA IIWA and Denso robots this function block is not supported. For this robots refer to the functions blocks described in the respective robot manual chapter.

Name Data type Description
Inputs I/O Device String ID of a digital I/O device. This is usually the robot, but can be also a supported PLC. The default value is robot.
I/O Group String The digital I/O group for the given device. This is usually an abbreviation, which is also used in the respective controller, like DI for Digital Input or DO for Digital Output. See the respective robot setup or usage page for more information on which groups are available.
I/O Pin Number Integer The digital I/O pin number within the given group for the given device. This follows the same numbering as the respective controller. See the respective robot setup or usage page for more information on which pins are available.
Display Title String New display title for the stated I/O.
Outputs -
Exceptions ERROR_UNKNOWN_DEVICE - The exception is raised, if no I/O device can be found for the given device id.
ERROR_NO_DIGITAL_IO - The exception is raised, if the device can not find the defined group-pin-number combination.

Digital I/O Device - Wait For

Pauses the program until the desired value is read on the given digital I/O pin. A timeout can be specified to throw an exception.

Info

For KUKA IIWA and Denso robots this function block is not supported. For this robots refer to the functions blocks described in the respective robot manual chapter.

Name Data type Description
Inputs I/O Device String ID of a digital I/O device. This is usually the robot, but can be also a supported PLC. The default value is robot.
I/O Group String The digital I/O group for the given device. This is usually an abbreviation, which is also used in the respective controller, like DI for Digital Input or DO for Digital Output. See the respective robot setup or usage page for more information on which groups are available.
I/O Pin Number Integer The digital I/O pin number within the given group for the given device. This follows the same numbering as the respective controller. See the respective robot setup or usage page for more information on which pins are available.
Desired Value Boolean The value which has to be read on the digital I/O pin to continue program execution.
Timeout Float Timeout in seconds to wait for the signal before a TIMEOUT exception is thrown. A value of zero waits infinitely.
Outputs Digital I/O Value Boolean The value of the digital I/O pin.
Exceptions ERROR_UNKNOWN_DEVICE - The exception is raised, if no I/O device can be found for the given device id.
ERROR_NO_DIGITAL_IO - The exception is raised, if the device can not find the defined group-pin-number combination.
TIMEOUT - The exception is raised, if the waited time exceeds the given duration.

Get Flange Pose

Requests the pose of the robot flange.

Name Data type Description
Inputs -
Outputs Pose Pose The current pose of the robot flange.

Get TCP Pose

Requests the pose of the currently selected TCP.

Name Data type Description
Inputs -
Outputs Pose Pose The current pose of the robot TCP.

Get Joints

Requests the current joint values of the robot.

Name Data type Description
Inputs -
Outputs Joints Joints The current joint values of the robot in degrees.

Move Cartesian

Moves the robot to one or more waypoints. Each waypoint consists of a position, orientation and movement type, velocity, acceleration and blending parameters. Further each waypoint can be set absolute or relative to a reference pose.

Name Data type Description
Inputs Pose Pose Goal pose.
Pose Reference Pose If set, the goal pose will be relative to this pose.
Movement Type - LIN: Linear movement, robot moves in a straight line.
PTP: Robot chooses path between the points, not always a straight line.
Speed Float Movement speed of the robot in m/s or percent of maximum speed (Percent: 0-100).
Acceleration Float Acceleration of the robot in m/s² or percent of maximum acceleration (Percent: 0-100).
Blending Float The positional blending between waypoints, how precise the waypoint has to be reached.
In meters or percent (Percent: 0-100), actual movement trajectory depends on the robot manufacturer.
Add to Waypoint Queue Boolean When enabled all waypoints of the function block are buffered into the Waypoint Queue instead of being executed at once. The function block returns immediately. See Waypoint Queue for more information.
Outputs -
Exceptions COMMAND_FAILED - The exception is raised if the given target pose is not valid or an unspecified internal error happened during the process.
COMMUNICATION_ERROR - The exception is raised if the movement failed, because the communication to the robot was interrupted.
POSE_NOT_REACHABLE - The exception is raised if the movement failed, because the pose can not reached by the robot.
SAFETY_STOP - The exception is raised if the movement failed, because the safety system was triggered, usually by pressing the emergency stop button.
ROBOT_NOT_READY - The exception is raised if the movement failed, because the controller reported that the robot was no ready to move.
COLLISION_DETECTED - The exception is raised if the movement failed, because a real or forecasted collision was detected.
COMMAND_ERROR - The exception is raised if the movement failed for an unknown reason.

Move Cartesian - Advanced

Moves the robot to one or more waypoints. Each waypoint consists of a position, orientation and movement type, velocity, acceleration and blending parameters. Further each waypoint can be set absolute or relative to a reference pose. The function block includes a field for additional motion control or driver extended functionalities e.g. break motion when input is set.

Name Data type Description
Inputs Pose Pose Goal pose.
Pose Reference Pose If set, the goal pose will be relative to this pose.
Movement Type - LIN: Linear movement, robot moves in a straight line.
PTP: Robot chooses path between the points, not always a straight line.
Speed Float Movement speed of the robot in m/s or percent of maximum speed (Percent: 0-100).
Acceleration Float Acceleration of the robot in m/s² or percent of maximum acceleration (Percent: 0-100).
Blending Float The positional blending between waypoints, how precise the waypoint has to be reached.
In meters or percent (Percent: 0-100), actual movement trajectory depends on the robot manufacturer.
Control Command String Additional commands to the driver. Usually robot-specific and depending on available software and hardware.
Add to Waypoint Queue Boolean When enabled all waypoints of the function block are buffered into the Waypoint Queue instead of being executed at once. The function block returns immediately. See Waypoint Queue for more information.
Outputs -
Exceptions COMMAND_FAILED - The exception is raised if the given target pose is not valid or an unspecified internal error happened during the process.
COMMUNICATION_ERROR - The exception is raised if the movement failed, because the communication to the robot was interrupted.
POSE_NOT_REACHABLE - The exception is raised if the movement failed, because the pose can not reached by the robot.
SAFETY_STOP - The exception is raised if the movement failed, because the safety system was triggered, usually by pressing the emergency stop button.
ROBOT_NOT_READY - The exception is raised if the movement failed, because the controller reported that the robot was no ready to move.
COLLISION_DETECTED - The exception is raised if the movement failed, because a real or forecasted collision was detected.
COMMAND_ERROR - The exception is raised if the movement failed for an unknown reason.

Move Cartesian Relative

Moves the robot relative to the current position by entering a delta pose relative to the current position.

Name Data type Description
Inputs Coordinate System Select Coordinate system in which the relative pose is given.
Pose Delta Pose Relative offset to the current pose in the given coordinate system.
Speed Speed Movement speed of the robot.
Acceleration Float Acceleration of the robot.
Outputs -
Exceptions COMMAND_FAILED - The exception is raised if the given target pose is not valid or an unspecified internal error happened during the process.
COMMUNICATION_ERROR - The exception is raised if the movement failed, because the communication to the robot was interrupted.
POSE_NOT_REACHABLE - The exception is raised if the movement failed, because the pose can not reached by the robot.
SAFETY_STOP - The exception is raised if the movement failed, because the safety system was triggered, usually by pressing the emergency stop button.
ROBOT_NOT_READY - The exception is raised if the movement failed, because the controller reported that the robot was no ready to move.
COLLISION_DETECTED - The exception is raised if the movement failed, because a real or forecasted collision was detected.
COMMAND_ERROR - The exception is raised if the movement failed for an unknown reason.

Move Joints

Moves the robot to one or more waypoints. Each waypoint consists of a joints state and velocity, acceleration and blending parameters.

Name Data type Description
Inputs Joints Joints Angles of the goal joint state in degrees.
Speed Speed Robot speed in deg/s or percent of maximum speed (Percent: 0-100).
Acceleration Acceleration Acceleration of the robot in percent of maximum acceleration (Percent: 0-100).
Blending Blending The positional blending in percent (Percent: 0-100) between waypoints, how precise the waypoint has to be reached.
Add to Waypoint Queue Boolean When enabled all waypoints of the function block are buffered into the Waypoint Queue instead of being executed at once. The function block returns immediately. See Waypoint Queue for more information.
Outputs -
Exceptions COMMAND_FAILED - The exception is raised if the given target pose is not valid or an unspecified internal error happened during the process.
COMMUNICATION_ERROR - The exception is raised if the movement failed, because the communication to the robot was interrupted.
POSE_NOT_REACHABLE - The exception is raised if the movement failed, because the pose can not reached by the robot.
SAFETY_STOP - The exception is raised if the movement failed, because the safety system was triggered, usually by pressing the emergency stop button.
ROBOT_NOT_READY - The exception is raised if the movement failed, because the controller reported that the robot was no ready to move.
COLLISION_DETECTED - The exception is raised if the movement failed, because a real or forecasted collision was detected.
COMMAND_ERROR - The exception is raised if the movement failed for an unknown reason.

Move Joints Relative

Moves the robot relative to the current joints values by entering a delta joints relative to the current joints.

Name Data type Description
Inputs Joints Delta Joints Relative change between joints.
Speed Speed Robot speed in deg/s or percent of maximum speed (Percent: 0-100).
Acceleration Acceleration Acceleration of the robot in percent of maximum acceleration (Percent: 0-100).
Outputs -
Exceptions COMMAND_FAILED - The exception is raised if the given target pose is not valid or an unspecified internal error happened during the process.
COMMUNICATION_ERROR - The exception is raised if the movement failed, because the communication to the robot was interrupted.
POSE_NOT_REACHABLE - The exception is raised if the movement failed, because the pose can not reached by the robot.
SAFETY_STOP - The exception is raised if the movement failed, because the safety system was triggered, usually by pressing the emergency stop button.
ROBOT_NOT_READY - The exception is raised if the movement failed, because the controller reported that the robot was no ready to move.
COLLISION_DETECTED - The exception is raised if the movement failed, because a real or forecasted collision was detected.
COMMAND_ERROR - The exception is raised if the movement failed for an unknown reason.

Move Joints - Advanced

Moves the robot to one or more waypoints. Each waypoint consists of a joint state and velocity, acceleration and blending parameters. The function block includes a field for additional motion control or driver extended functionalities e.g. break motion when input is set.

Name Data type Description
Inputs Joints Joints Angles of the goal joints state in degrees.
Speed Speed Robot speed in deg/s or percent of maximum speed (Percent: 0-100).
Acceleration Acceleration Acceleration of the robot in percent of maximum acceleration (Percent: 0-100).
Blending Blending The positional blending in percent (Percent: 0-100) between waypoints, how precise the waypoint has to be reached.
Control Command String Additional commands to the driver. Usually robot-specific and depending on available software and hardware.
Add to Waypoint Queue Boolean When enabled all waypoints of the function block are buffered into the Waypoint Queue instead of being executed at once. The function block returns immediately. See Waypoint Queue for more information.
Outputs -
Exceptions COMMAND_FAILED - The exception is raised if the given target pose is not valid or an unspecified internal error happened during the process.
COMMUNICATION_ERROR - The exception is raised if the movement failed, because the communication to the robot was interrupted.
POSE_NOT_REACHABLE - The exception is raised if the movement failed, because the pose can not reached by the robot.
SAFETY_STOP - The exception is raised if the movement failed, because the safety system was triggered, usually by pressing the emergency stop button.
ROBOT_NOT_READY - The exception is raised if the movement failed, because the controller reported that the robot was no ready to move.
COLLISION_DETECTED - The exception is raised if the movement failed, because a real or forecasted collision was detected.
COMMAND_ERROR - The exception is raised if the movement failed for an unknown reason.

Move Joints - 7 Axes

Moves the robot to one or more waypoints. Each waypoint consists of a joint state and velocity, acceleration and blending parameters. This function block is for 7 joints robots.

Name Data type Description
Inputs Joints Joints Angles of the goal joint state in degrees.
Speed Speed Robot speed in deg/s or percent of maximum speed (Percent: 0-100).
Acceleration Acceleration Acceleration of the robot in percent of maximum acceleration (Percent: 0-100).
Blending Blending The positional blending in percent (Percent: 0-100) between waypoints, how precise the waypoint has to be reached.
Add to Waypoint Queue Boolean When enabled all waypoints of the function block are buffered into the Waypoint Queue instead of being executed at once. The function block returns immediately. See Waypoint Queue for more information.
Outputs -
Exceptions COMMAND_FAILED - The exception is raised if the given target pose is not valid or an unspecified internal error happened during the process.
COMMUNICATION_ERROR - The exception is raised if the movement failed, because the communication to the robot was interrupted.
POSE_NOT_REACHABLE - The exception is raised if the movement failed, because the pose can not reached by the robot.
SAFETY_STOP - The exception is raised if the movement failed, because the safety system was triggered, usually by pressing the emergency stop button.
ROBOT_NOT_READY - The exception is raised if the movement failed, because the controller reported that the robot was no ready to move.
COMMAND_ERROR - The exception is raised if the movement failed for an unknown reason.

Quick Access Move - Create Simple Joints

Creates a simple Quick Access Movement with one waypoint and no precondition based on a joints state. The movement is configured to be independent of any TCP.

Name Data type Description
Inputs Overwrite existing Boolean Overwrites a Quick Access Movement, if it does already exist with the same name.
Name String The name of the Quick Access Movement.
Tooltip String The tooltip to be configured.
Joints Joints The joints to be configured.
Outputs -
Exceptions ERROR_CREATION_FAILURE - The exception is raised if the stated Quick Access Movement could not be created.

Quick Access Move - Create Simple Pose

Creates a simple Quick Access Movement with one waypoint and no precondition based on a cartesian pose.

Name Data type Description
Inputs Overwrite existing Boolean Overwrites a Quick Access Movement, if it does already exist with the same name.
Name String The name of the Quick Access Movement.
Tooltip String The tooltip to be configured.
Pose Pose The pose to be configured.
TCP Setting Select The TCP setting, which should be used for the Quick Access Movement. Available are Current Selected TCP and TCP Independent.
Outputs -
Exceptions ERROR_CREATION_FAILURE - The exception is raised if the stated Quick Access Movement could not be created.

Quick Access Move - Get Joints

Returns the joints of a given Quick Access Move joints waypoint.

Name Data type Description
Inputs Quick Access Move Name String The name of the Quick Access Move to return the joints for.
Waypoint Index Integer The index of the waypoint in the Quick Access Move to return the joints for.
Outputs Joints Joints The joints of the stated Quick Access Move waypoint.
Exceptions INVALID_QUICK_ACCESS_MOVE - The exception is raised if the given Quick Access Move is not known.
INVALID_INDEX - The exception is raised if the stated index is invalid for the Quick Access Move.
INVALID_JOINTS - The exception is raised if the Quick Access Move waypoint is not joints, e.g because it is a pose.

Quick Access Move - Get Pose

Returns the pose of a given Quick Access Move pose waypoint.

Name Data type Description
Inputs Quick Access Move Name String The name of the Quick Access Move to return the pose for.
Waypoint Index Integer The index of the waypoint in the Quick Access Move to return the pose for.
Outputs Pose Pose The pose of the stated Quick Access Move waypoint in world coordinate system. It may be only partially set depending on the definition of the waypoint.
Is Pose Boolean True if both position and orientation are set. False otherwise.
Has Position Boolean True if position is set. False otherwise.
Has Orientation Boolean True if orientation is set. False otherwise.
Exceptions INVALID_QUICK_ACCESS_MOVE - The exception is raised if the given Quick Access Move is not known.
INVALID_INDEX - The exception is raised if the stated index is invalid for the Quick Access Move.
INVALID_POSE - The exception is raised if the Quick Access Move waypoint is not a pose, e.g because it is joints.

Waypoint Queue - Clear

Discards all waypoints buffered in the Waypoint Queue. See Waypoint Queue for more information.

Name Data type Description
Inputs -
Outputs -

Waypoint Queue - Move

Executes all waypoints buffered in the Waypoint Queue. See Waypoint Queue for more information.

Name Data type Description
Inputs -
Outputs -
Exceptions COMMAND_FAILED - The exception is raised if the given target pose is not valid or an unspecified internal error happened during the process.
COMMUNICATION_ERROR - The exception is raised if the movement failed, because the communication to the robot was interrupted.
POSE_NOT_REACHABLE - The exception is raised if the movement failed, because the pose can not reached by the robot.
SAFETY_STOP - The exception is raised if the movement failed, because the safety system was triggered, usually by pressing the emergency stop button.
ROBOT_NOT_READY - The exception is raised if the movement failed, because the controller reported that the robot was no ready to move.
COMMAND_ERROR - The exception is raised if the movement failed for an unknown reason.