15. RL Commands
15.1 Variable Type
15.1.1 Int
15.1.2 Double
15.1.3 Bool
15.1.4 String
15.1.5 Array
15.1.6 byte
15.1.7 clock
15.1.8 Implicit type conversion
15.1.9 Confdata
15.1.10 jointtarget
15.1.11 load
15.1.12 orient
15.1.13 pos
15.1.14 pose
15.1.15 robtarget
15.1.16 signalxx
15.1.17 speed
The system predefines some common speed variables, as shown in the following table.
15.1.18 tool
15.1.19 trigdata
15.1.20 wobj
15.1.21 zone
15.1.22 torqueinfo
15.1.23 SocketServer
15.1.24 SocketConn
15.1.25 FCBoxVol
15.1.26 FCSphereVol
15.1.27 FCXYZNum
15.1.28 FCCartNum
15.2 Basic variable and structure
All variable types supported by the RL command. The indivisible types, including int, double, bool, and string are basic variables (also known as primary variables), which are the foundation of all variable types. Combined by certain rules, the variable types are called structures.
15.2.1 Composition of structure
The combination rules for structures generally combine data with physical significance abstractly.
Example:
⚫ The structure pos combines three doubles into a position (xyz) in three-dimensional space.
⚫ The structure orient combines four doubles into a quaternion that describes the orientation.
⚫ The structure pose combines position (pos) and orientation (orient) into a pose parameter that describes the robot position.
15.2.2 Use of structure
Structures, serving as parameters for commands, can be performed in finer ways based on the scenarios. Its data can be modified directly via the specified RL commands.
Example 1:
Robtarget structure consists of: space position (pos), orientation (orient), configuration data (confdata), and external axes (double array). Their names are trans (pos), rot (orient), conf (confdata), extax (double), and users can access the structure members directly in the RL function via their names.
robtarget rob1 = ... // variable list or user-customized Cartesian variable
rob1.trans.x + = 20 // add the x of point position to 20
// In the structure definition of trans (pos), it contains three variables of x, y, and z
// The x of the last visit to rob is therefore rob1.trans.x
print (rob1.trans) // print the position data only
Example 2:
The following is available for the wobj frame:
// Taking default wobj0 as an example
wobj0.robhold // work object handheld (bool).
wobj0.ufprog // user frame programmed (bool, rarely used).
wobj0.ufmec // user frame mechanical unit usually for plating lines and tracking (string).
wobj0.oframe // work object frame pose
wobj0.oframe.x // work object frame pose x
wobj0.oframe.y // work object frame pose y
wobj0.oframe.z // work object frame pose z
wobj0.q1 // work object frame pose quaternion
wobj0.uframe_id// work object-related user frame id
Other complex structures can also refer to this method for structure access.
15.3 Function
Use of functions can simplify the code structure, improve the readability and reuse rate of code. The user can define the program segment as a new function that needs to be executed frequently so that it can be conveniently called in the main program at any time.
15.3.1 Function definition
15.3.1.1 PROC
PROC represents a function with no return value, defined as:
SCOPE PROC RoutineName()
…
…
//do something
…
…
ENDPROC
Where:
1. SCOPE is the function scope, which supports both the GLOBAL and LOCAL;
2. PROC is the defining keyword for functions with no return value;
3. RoutineName is the function name. The naming rules are the same as the variable naming rules.
For details, see the Variable naming rules.
Auxiliary programming, and PROC can be inserted in the following ways:
15.3.1.2 FUNC
FUNC is a function with a return value, defined as:
SCOPE FUNC RET RoutineName()
…
…
//do something
…
…
ENDFUNC
Where:
1. SCOPE is the function scope, which supports both the GLOBAL and LOCAL;
2. FUNC is the defining keyword for functions with no return value;
3. RET is the return value type;
4. RoutineName is the function name. The naming rules are the same as the variable naming rules.
For details, see the Variable naming rules.
Auxiliary programming, and FUNC can be inserted in the following ways:
15.3.2 Function call
When calling a function, enter the function name directly in the program editor, for example:
RoutineName()
Note:
⚫ Only other GLOBAL-level functions in this project or LOCAL-level functions in this module file can be called. Recursive calls are not supported. Cross calls between two sub-functions is also not supported.
⚫ Calling a function is treated as a separate program command in the compiler.
⚫ It is not allowed to define a function in a function.
15.4 Commands
15.4.1 Variable type conversion
15.4.1.1 ByteToStr
15.4.1.2 DecToHex
15.4.1.3 DoubleToByte
15.4.1.4 DoubleToStr
15.4.1.5 HexToDec
15.4.1.6 IntToByte
15.4.1.7 IntToStr
15.4.1.8 EulerToQuaternion
15.4.1.9 QuaternionToEuler
15.4.2 Motion commands
15.4.2.1 MoveAbsJ
15.4.2.2 MoveJ
15.4.2.3 MoveL
15.4.2.4 MoveC
15.4.2.5 MoveCF
15.4.2.6 MoveT
15.4.2.7 MoveSP
15.4.2.8 SearchL
15.4.2.9 SearchC
15.4.3 Trigger command
15.4.3.1 TrigIO
15.4.3.2 TrigReg
15.4.3.3 TrigVar
15.4.3.4 TrigL
15.4.3.5 TrigC
15.4.3.6 TrigJ
15.4.4 Force control commands
15.4.4.1 CalibSensorError
15.4.4.2 FcInit
15.4.4.3 SetControlType
15.4.4.4 SetCartNsStiff
15.4.4.5 SetJntCtrlStiffVec
15.4.4.6 SetCartCtrlStiffVec
15.4.4.7 SetJntTrqDes
15.4.4.8 SetCartForceDes
15.4.4.9 SetSineOverlay
Upper limit of collaborative model parameters:
15.4.4.10 SetLissajousOverlay
15.4.4.11 SetLoad
15.4.4.12 FcStart
15.4.4.13 FcStop
15.4.4.14 StartOverlay
15.4.4.15 PauseOverlay
15.4.4.16 RestartOverlay
15.4.4.17 StopOverlay
15.4.4.18 FcCondForce
15.4.4.19 FcCondPosBox
15.4.4.20 FcCondTorque
15.4.4.21 FcCondWaitWhile
15.4.4.22 FcMonitor
15.4.4.23 GetEndToolTorque
15.4.4.24 SetFcJointVelMax
15.4.4.25 SetFcCartVelMax
15.4.4.26 SetFcJointMomentumMax
15.4.4.27 SetFcJointEnergyMax
15.4.5 Drag and replay
15.4.5.1 ReplayPath
15.4.6 IO commands
15.4.6.1 SetDO
15.4.6.2 SetAllDO
15.4.6.3 SetGO
15.4.6.4 SetAO
15.4.6.5 PulseDO
15.4.6.6 PulseReg
15.4.7 Communication commands
In the RL program, the robot can communicate with external devices through both Ethernet and serial ports. A unified set of commands is designed for resource management and data sending and receiving, which ensures consistent use experience.
15.4.7.1 OpenDev
15.4.7.2 SocketAccept
15.4.7.3 CloseDev
15.4.7.4 SendString
15.4.7.5 SendByte
15.4.7.6 ReadBit
15.4.7.7 ReadByte
15.4.7.8 ReadDouble
15.4.7.9 ReadInt
15.4.7.10 ReadString
15.4.7.11 GetSocketConn
15.4.7.12 GetSocketServer
15.4.7.13 GetBufSize
15.4.7.14 ClearBuffer
15.4.7.15 ReadOpcUaVarByName
15.4.7.16 WriteOpcUaVarByName
15.4.8 Network command
15.4.8.1 SocketCreate (expired)
15.4.8.2 SocketClose (expired)
15.4.8.3 SocketSendString (expired)
15.4.8.4 SocketSendByte (expired)
15.4.8.5 SocketReadBit(expired)
15.4.8.6 SocketReadDouble(expired)
15.4.8.7 SocketReadInt(expired)
15.4.8.8 SocketReadString(expired)
15.4.9 Logic commands
15.4.9.1 Return
15.4.9.2 Wait
15.4.9.3 WaitUntil
15.4.9.4 Break
15.4.9.5 IF…Else if…Else
15.4.9.6 Goto
15.4.9.7 For
15.4.9.8 Continue
15.4.9.9 Inzone
15.4.9.10 While
15.4.9.11 Pause
15.4.9.12 try/catch
The error types and standard error codes that try/catch can process:
15.4.9.13 SwitchCase
15.4.10 Home command
15.4.10.1 Home
15.4.10.2 HomeSet
15.4.10.3 HomeSetAt
15.4.10.4 HomeDef
15.4.10.5 HomeSpeed
15.4.10.6 HomeClr
15.4.11 Math command
15.4.11.1 Sin
15.4.11.2 Cos
15.4.11.3 Tan
15.4.11.4 Cot
15.4.11.5 Asin
15.4.11.6 Acos
15.4.11.7 Atan
15.4.11.8 Sinh
15.4.11.9 Cosh
15.4.11.10 Tanh
15.4.11.11 Exp
15.4.11.12 Ln
15.4.11.13 log10
15.4.11.14 pow
15.4.11.15 sqrt
15.4.11.16 ceil
15.4.11.17 floor
15.4.11.18 abs
15.4.11.19 rand
15.4.12 Bit operation
15.4.12.1 BitAnd
15.4.12.2 BitCheck
15.4.12.3 BitClear
15.4.12.4 BitLSh
15.4.12.5 BitNeg
15.4.12.6 BitOr
15.4.12.7 BitRSh
15.4.12.8 BitSet
15.4.12.9 BitXOr
15.4.13 String operations
15.4.13.1 StrFind
15.4.13.2 StrLen
15.4.13.3 StrMap
15.4.13.4 StrMatch
15.4.13.5 StrMemb
15.4.13.6 StrOrder
15.4.13.7 StrPart
15.4.13.8 StrSplit
15.4.13.9 StrToByte
15.4.13.10 StrToDouble
15.4.13.11 StrToInt
15.4.13.12 StrToDoubleArray
15.4.14 Operators
15.4.14.1 Basic operators
15.4.14.1.1 Arithmetic operators
Arithmetic operators include:
Arithmetic operators support data types of bool, byte, int, and double, and if different types of variables are added, subtracted, multiplied, and divided, they will trigger implicit conversion. The examples for arithmetic operators are as follows:
Example 1
VAR int a = 1
VAR int b = 2
VAR int c = -b //Negate
VAR int ac = a * c //Multiplication
Example 2
The two operators ++ and --, also known as unary operators, are operators that operate on an operand. RL does not distinguish between pre and post increment or decrement:
x = n++ //Means to add n by 1 and assign the n value to x
x = --n //Means to subtract n by 1 and assign the new value to x
Example 3
Implicit conversion results of addition, subtraction, multiplication, and division of different types of variables:
15.4.14.1.2 Logical operators
Logical operators support the operation of the basic data types, including
Logic and && expressions are true if the results on both sides are true, and the logic or || expression is true if one of the conditions of the two sides is true.
Example 1
The examples for other logical operators are as follows:
VAR int res = 1
while(res < 3) //Compare to determine whether res is less than 3
res++
endwhile
di5 = !di6 //Take logical negation
VAR int counter = 4
while(di7&&di8) //Calculate logical conjunction
if(counter == 5) //Whether it equals to
break
endif
endwhile
15.4.14.1.3 Assignment operators
Assignment operators include:
The examples for assignment operators are as follows
VAR int num1 = 3
VAR int num2 = 4
num1 += num2 //Equivalent to num1 = num1 + num2, then num1 = 7.
num1 -= num2 //Equivalent to num1 = num1 – num2, then num1 = -1.
num1 *= num2 //Equivalent to num1 = num1 * num2, then num1 = 12.
num1 /= num2 //Equivalent to num1 = num1 / num2, then num1 = 0.
num1 %= num2 //Equivalent to num1 = num1 % num2, then num1 = 3.
All assignment operations of variables support implicit conversion. When the data types on the left and right sides of the assignment operation are inconsistent, the interpreter will attempt to trigger an implicit conversion to enable the program to continue running. When the conversion fails, the
program will report an error and stop. Bool, Byte, Int, and Double can be converted to each other. IO and register variables are special forms of the above four variables, and if they are used for assignment operations, they can also trigger implicit conversions.
If the return value of the function belongs to the above four variables, it can also be used as the right value of the assignment operation for assignment calculation.
Example 1
int tmp_num = 10.5 // 10
bool tmp_bool = 1 // true
tmp_bool = 0 // false
double tmp_d = 999 // 999.0
Example 2
// Register variables can be directly used to modify ordinary variables
double tmp_num = register0
// Register variables can be directly used for conditional judgment
WaitUntil(register0 == 10)
Example 3
int mem_ret = StrMemb(“Robotics”, 2, “aeiou”)
// The return value of StrMember is of type bool. If it is necessary to use an int type to receive the return value,
// The controller will not report an error but will perform an implicit conversion
// true -> 1, false -> 0
15.4.14.1.4 Other operators
The examples for the operators are as follows:
Example 1
VAR int num = arr[1] //Assign the first element of the array to num
VAR int num2 = (1+2)*3 //Using parentheses can change the order of operations, the value of num2 here is 9
Example 2
Define a robtarget variable pt1
pt1.trans.x = 200 // Change the x coordinate of the pt1 point to 200 using the "." operator
Use restrictions:
The "." operator does not support modifications to the A, B, C members of robtarget variables.
15.4.14.2 Operation priority
15.4.15 Clock commands
15.4.15.1 ClkRead
15.4.15.2 ClkReset
15.4.15.3 ClkStart
15.4.15.4 ClkStop
15.4.16 Advanced commands
15.4.16.1 RelTool
15.4.16.2 Offs
15.4.16.3 ConfL
15.4.16.4 ConfJ
15.4.16.5 Conf
15.4.16.6 VelSet
15.4.16.7 AccSet
15.4.16.8 MotionSup
15.4.16.9 MotionSupPlus
15.4.16.10 MotionSupJointTrq
15.4.16.11 BreakLookAhead
15.4.16.12 GetRobotMaxLoad
15.4.16.13 GetRobotState
15.4.16.14 AutoIgnoreZone
15.4.16.15 MotionWaitAtFinePoint true/false
15.4.16.16 IgnoreOverride
15.4.16.17 SingAreaLockAxis4
15.4.16.18 SpeedRefresh
15.4.16.19 CSpeedOverride
15.4.16.20 SingAreaJointWay
15.4.16.21 SingAreaWrist
15.4.16.22 SetRobotJointsMaxAcc
15.4.16.23 SetRobotJointsMaxJerk
15.4.16.24 ResetJointKineLimit
15.4.16.25 SetTransmissionOverloadParams
15.4.16.26 SetAccRampTime
15.4.16.27 ResetAccRampTime
15.4.16.28 SetVarValue
15.4.16.29 SetStopAccRampTime
15.4.16.30 ResetStopAccRampTime
15.4.16.31 MotionSupJointTrq
15.4.17 Function commands
15.4.17.1 CRobT
15.4.17.2 CJointT
15.4.17.3 CalcJointT
15.4.17.4 CalcRobt
15.4.17.5 Print
15.4.17.6 Print_f
15.4.17.7 PoseMult
15.4.17.8 PoseInv
15.4.17.9 GetRobABC
15.4.17.10 SetRobABC
15.4.17.11 RotRobABC
15.4.17.12 OpMode
15.4.18 Register commands
15.4.18.1 ReadRegByName
15.4.18.2 WriteRegByName
15.4.18.3 ReadRegByteByName
15.4.18.4 WriteRegByteByName
15.4.19 End-effector commands
15.4.19.1 JodellGripInit
15.4.19.2 JodellGripMove
15.4.19.3 JodellGripStatus
15.4.19.4 JodellSuckInit
15.4.19.5 JodellSuckSet
15.4.19.6 JodellSuckStatus
15.4.19.7 RMRGMGripInit
15.4.19.8 RMCGripInit
15.4.19.9 RMRGMGripPosMove
15.4.19.10 RMCGripPosMove
15.4.19.11 RMRGMGripTrqMove
15.4.19.12 RMCGripTrqMove
15.4.19.13 RMRGMGripStatus
15.4.19.14 RMCGripStatus
15.4.19.15 RMRGMResetErr
15.4.19.16 RMCResetErr
15.4.19.17 RobotiqGripInit
15.4.19.18 RobotiqGripGetStatus
15.4.19.19 RobotiqGripMove
15.4.19.20 DhGripInit
15.4.19.21 DhGripGetStatus
15.4.19.22 DhGripMove
