Reference Guide

Version 1.02
Contents
Find the tool center point ......................................................................................................................................3
Set up the tool center point (TCP) .......................................................................................................................4
Find the center of gravity ......................................................................................................................................5
Set up the center of gravity...................................................................................................................................6
Set up the payload .................................................................................................................................................7
Rename I/Os ...........................................................................................................................................................8
Insert a motion and a waypoint ...........................................................................................................................9
Choose a motion type ........................................................................................................................................ 10
Insert a wait command ...................................................................................................................................... 11
Insert a set command ........................................................................................................................................ 12
Change payload using a set command ........................................................................................................... 13
Trigger reduced mode from input signal ......................................................................................................... 14
Add a point feature ............................................................................................................................................. 15
Set up a safety boundary using a point feature .............................................................................................. 16
Add a blend radius .............................................................................................................................................. 17
Change speed and acceleration of a move ..................................................................................................... 18
Change speed and acceleration of a waypoint............................................................................................... 19
Pose editor ........................................................................................................................................................... 20
Create a folder ..................................................................................................................................................... 21
Insert and modify a variable .............................................................................................................................. 22
Set Initial Variable Values .................................................................................................................................. 23
Insert an If…else command ............................................................................................................................... 24
Create and call a subprogram ........................................................................................................................... 25
Pallet wizard ........................................................................................................................................................ 26
Insert a Popup command .................................................................................................................................. 27
Teach tool center point (TCP) ........................................................................................................................... 28
Teach orientation ................................................................................................................................................ 29
Insert a loop command ...................................................................................................................................... 30
Prompt operator for input .................................................................................................................................. 31

1
Insert a switch/case command ........................................................................................................................ 32
Insert circle move................................................................................................................................................ 33
Set joint limits ...................................................................................................................................................... 34
Adjust General limits .......................................................................................................................................... 35
Add a plane feature ............................................................................................................................................ 36
Insert motion relative to a feature .................................................................................................................... 37
Insert a thread ..................................................................................................................................................... 38
Insert seek wizard ............................................................................................................................................... 39
Auto Initialize robot............................................................................................................................................. 40
Auto Start default program ................................................................................................................................ 41
Insert BeforeStart sequence.............................................................................................................................. 42

2
Find the tool center point

Purpose The tool center point must be defined in Polyscope to ensure optimal performance of the robot and
to prevent protective stops

Definition The tool center point is the part of the tool that is in contact with the workpiece. For example the
center of a gripper, the end of a welding tool, or the nozzle of a dispenser tool.

Correct The tool center point (TCP) can be located by finding the point(s) of contact between the tool
Examples and the workpiece. The TCP is located in the center between the points of contact.

Incorrect
Examples

3
Set up the tool center point (TCP)

Purpose The tool center point must be defined in Polyscope to ensure optimal performance of the robot and
to prevent protective stops

Definition The tool center point is the part of the tool that is in contact with the workpiece. For example the
center of a gripper, the end of a welding tool, or the nozzle of a dispenser tool.

Procedure Step Action

1. Measure the distance from the TCP to the center of the tool flange (Z-axis)

2. In Polyscope, select Program robot

3. Click the Installation tab
4. In the menu item TCP configuration, enter the measured value in millimeters in the
Z field

5. If Then Else
The TCP is not located directly Repeat the Select the menu item
on the Z-axis procedure for the Load/Save and click Save
relevant axis (X, Y
or both)

4
Find the center of gravity

Purpose The center of gravity of the attached tool must be defined in the software in order to calculate how
much force to apply and to avoid protective stops

Definition The center of gravity is the point on the tool where the weight is distributed evenly on each side
of the point

Correct

Incorrect

5
Set up the center of gravity

Purpose The center of gravity of the attached tool must be defined in Polyscope in order to calculate how
much force to apply and to avoid protective stops

Definition The center of gravity is the point on the tool where the weight is distributed evenly on each side (of
the point)

Procedure Follow these steps to set up the center of gravity:

Step Action
1. Measure the distance from the center of gravity to the center of the tool flange (Z-
axis)

2. In Polyscope, select Program robot

3. Click the Installation tab
4. In the menu item TCP configuration, click the Center of gravity check mark
5. Enter the value you measured, in millimeters, in the CZ field

6. Select the menu item Load/Save and click Save

6
Set up the payload

Purpose The robot needs to know the payload in order to calculate how much force to apply and to avoid
protective stops

Definition Payload is the weight of the attached tool (+ the weight of the workpiece)

Procedure Follow these steps to set up payload:

Step Action
1. In Polyscope, select Program robot
2. Click the Installation tab
3. Select the menu item TCP configuration
4. Enter the weight of the tool (in kilograms) in the payload field

6. Select the menu item Load/Save

7. Click Save

7
Rename I/Os

Purpose I/Os can be renamed to clarify the purpose of each I/O, thereby making it easier to use the I/Os
when programming the robot

Definition I/Os (inputs/outputs) are connectors in the control box that transfer signals to or from peripheral
devices such as sensors, scanners, buttons or PLCs

Procedure Follow these steps to rename I/Os:

Step Action
1. Click the Installation tab
2. Click the menu item I/O Setup
3. Click the input or output you want to rename

4. Type in the new name of the input or output in the text box

8
Insert a motion and a waypoint

Purpose A basic robot program consists of waypoints and motion between the waypoints.

How it works A waypoint specifies the (next) location the robot moves to, and a motion type determines the path
or trajectory the robot moves through when moving to the waypoint.

Procedure Follow these steps to insert a motion and a waypoint:

Step Action
1. In the Structure tab, click the Move button to insert a motion and a waypoint
RESULT: a motion and a waypoint are inserted in the program tree

2.
If Then Else
The motion has to be Click the Command tab Proceed to step 3
a moveL or moveP (or and select the relevant
circular motion) motion in the dropdown
menu

3. Click the waypoint in the program tree

4. Click the Command tab

5. Click Set this waypoint
6. Move the robot TCP to where you want the waypoint to be (using either the move
tab or the freedrive function)
7. Click OK

9
Choose a motion type

Purpose When the robot moves from one waypoint to another, the operator must choose which motion type
the robot uses to get from one waypoint to another.

How it works The motion type determines the path or trajectory the robot moves through when moving between
waypoints.

Motion types
Motion type Feature When to use

MoveJ (joint motion) - non-linear path - in free space

- the fastest motion type - if the path of the TCP is not
important

MoveL (linear motion) - linear motion
MoveP (process - maintains a fixed TCP
motion) speed
MoveC (circular - circular motion
motion) - maintains a fixed TCP
speed
- can only be used
combined with MoveP
- when the path of the TCP is
important
- in confined space
- when it’s necessary that the TCP
maintains the same speed through
several waypoints
- mainly intended for process
applications
- when the TCP has to make a
circular move
- mainly intended for process
applications

10
Insert a wait command

Purpose A wait command can be inserted in the program tree to make the robot wait for and respond to a
specific event

How it works The wait command makes the robot wait for e.g. a specific amount of time; for a digital or analog
input to change to a specific value (e.g. input from a sensor or a push button) or for a variable to
change to a specific value

Procedure Follow these steps to insert a wait command:

Step Action
1. In the program tree, click the Waypoint where you want to insert the wait
command

2. Click the Structure tab

3. Click the Wait button
RESULT: a wait command is inserted in the program tree

4. Click the Command tab

5. Select the event the robot has to wait for

11
Insert a set command

Purpose The set command can be used to operate peripheral devices such as end-effectors/grippers,
conveyor belts, to change payload or modify the TCP.

How it works The set command sets either a digital or analogue output to a specific value.

Procedure Follow these steps to insert a set command:

Step Action
1. In the program tree, click the Waypoint where you want to insert the set
command

2. Click the Structure tab

3. Click the Set button
RESULT: a set command is inserted in the program tree

4. Click the Command tab

5. Configure the relevant output to the new value

12
Change payload using a set command

Purpose When the robot picks up or puts down a workpiece, the payload needs to be changed accordingly

Definition Payload is the weight of the end-effector/tool (+ any workpiece carried by the end-effector/tool)

Procedure Follow these steps to change payload using a set command:

Step Action
1. In the program tree, click the Waypoint where you want to change the payload

2. Click the Structure tab

2. Click the Set button
RESULT: a set command is inserted in the program tree

3. Click the Command tab

4. Click the Set the total payload to checkbox

5. Enter the new payload in the field

13
Trigger reduced mode from input signal

Purpose An input signal (e.g. from a safety scanner, a sensor or a button) can be used to trigger reduced
mode to lower the risk of collision and accidents.

How it works Reduced mode means the robot moves at lower power, speed, force and momentum than when in
normal mode

Procedure Follow these steps to trigger reduced mode from an input signal:

Step Action
1. Click the Installation tab
2. Click the menu item Safety and unlock it using the safety password
3. In the Safety I/O tab, click the dropdown menu next to the relevant input signal

4. Select Reduced Mode

5. Click Apply
6. Click Apply and restart
7. Click Confirm Safety Configuration

14
Add a point feature

Purpose A (point) feature is a way to specify a location relative to the robot arm.

How it works A point feature can be used to tell the robot the location of a specific point relative to the location of
the robot. The point feature is perpendicular to the TCP and can be used as a reference point for
various purposes. E.g. to create a safety boundary which the robot cannot move beyond.

Example A point feature (dot with arrows) has been placed in front of the robot. The point feature can e.g. be
used to mark a boundary the robot cannot move beyond, or to trigger the robot to go into reduced
mode when moving beyond the point feature

Procedure Follow these steps to add a point feature:

Step Action
1. Click the Installation tab
2. Click the menu item Features
3. Click the Point button
RESULT: a point is inserted in the features menu

4. Click the point in the menu

5. Click Set this point
6. Move the TCP to where you want the point feature to be located
7. Click OK

15
Set up a safety boundary using a point feature

Purpose A safety boundary can be used to prevent the robot TCP from operating in specific areas, or to
trigger the robot to operate in reduced mode in specific areas.

How it works A safety boundary is a specific location relative to the robot which the robot TCP cannot enter, or
where the robot will operate in reduced mode.

Procedure Follow these steps to set up a safety boundary:

Step Action
1. Click the Installation tab
2. Click the menu item Safety, and unlock it using the safety password
3. In the Boundaries tab, select a Safety plane

4. In Copy Feature, select the feature you want to associate the safety plane with

5. In Boundary restricts, select the restriction you want to apply to the safety plane

6. Click Apply
7. Click Apply and restart
8. Click Confirm Safety Configuration

16
Add a blend radius

Purpose A blend radius can be added to a waypoint to reduce cycle time

How it works A blend radius makes the robot arm trajectory move around the waypoint, instead of through the
waypoint, allowing the robot arm not to stop at the point. Thereby cycle time is reduced.

Example
without
Blend radius

Example
With
Blend radius

Procedure Follow these steps to add a blend radius to a waypoint:

Step Action
1. In the program tree, click the Waypoint you want to add the blend radius to
2. Click the Command tab
3. Select Blend with radius

4. Enter the blend radius in the field

NOTE: A low value results in a sharp turn, and a high value results in a softer
turn

17
Change speed and acceleration of a move

Purpose The speed and acceleration of a move can be adjusted individually to move slower or faster where
relevant in the robot program.

Procedure Follow these steps to change the speed and acceleration of a move:

Step Action
1. In the program tree, click the Move you want to change speed and acceleration
of

NOTE: The new joint speed and acceleration will apply to all waypoints inside
the move

2. Click the Command tab

3. Enter the new Joint Speed and/or Joint Acceleration

18
Change speed and acceleration of a waypoint

Purpose The speed and acceleration of a single waypoint can be adjusted individually to move slower or
faster where relevant in the robot program.

Procedure Follow these steps to change the speed and acceleration of a waypoint:

Step Action
1. In the program tree, click the Waypoint you want to change speed and
acceleration of

2. Click the Command tab

3. Click the Show advanced options checkbox

4. Enter the new Joint Speed and/or Joint Acceleration

19
Pose editor

Purpose The pose editor is used to fine tune the robot’s position at waypoints, e.g. to make sure that the
gripper is perpendicular to the workpiece it is about to pick up

How it works When configuring a waypoint, it is possible to configure the position and orientation of the robot
arm very precisely by using the pose editor

Example The TCP is configured to be perpendicular to the base of the robot

Procedure Follow these steps to edit a pose:

Step Action
1. In the program tree, click the waypoint you want to edit
2. Click the Command tab
3. Click Change this Waypoint
4. Click one of the fields in the TCP box

5. Select the feature you want to adjust the robot position relative to

6. Edit the robot position

7. Click OK

20
Create a folder

Purpose Folders can be used to structure the robot program by storing different parts of the robot program
in folders, thereby making it easier to navigate and edit the program. For example, a pick-and-place
application may contain two folders named pick sequence and place sequence.

Example A pick-and-place program containing two folders

Procedure Follow these steps to create a folder:

Step Action
1. Click the Structure tab
2. Click the Folder button
RESULT: a folder is inserted in the program tree

3. Click the Command tab to rename the folder

4. Enter new program data in the folder, or copy existing program data into it

21
Insert and modify a variable

Purpose Variables are used in robot applications to keep track of relevant program information. E.g. to count
the number of workpieces processed, or to keep track of input from external devices.

Definition A variable is a “container” used to store information that can be referenced and modifyed in the
robot program. E.g. a variable may be named “Counter” and assigned the value 0. This value can be
modifyed in the robot program (increased or decreased). For example, the variable “Counter” may
be increased by 1 every time the robot completes a program cycle.

How it works The Assignment command assigns values to variables. An assignment command puts the
computed value of the right hand side into the variable on the left hand side. Here, the value of var_1
is equal to the value of var_2 + 10

Example 1 The variable Counter is assigned with the value 0

Example 2 The value of the variable Counter is increased by 1

Procedure Follow these steps to insert or modify a variable:

Step Action
1. In the structure tab, click the Advanced tab
2. Click the button Assignment
RESULT: a new variable and an assignment command is inserted

3. Click the Command tab

4.
If Then
you are creating a new Rename the variable to an
variable appropriate name

You are assigning a new Select the relevant variable in the

value to an existing variable dropdown menu

5. Type in the value or expression you want to assign to the variable

22
Set Initial Variable Values

Purpose This command is used to assign specific values to the variables used in the robot program before
starting the program.

How it works An Init Variables command is inserted before the Robot Program. In this command, you assign a
starting value to each of the variables used in the program. The Init Variables sequence is only
executed prior to running the main program.

Example An Init Variables command is inserted before the robot program, and the variable var_1 is assigned
with the initial value 5

Procedure Follow these steps to set initial variable values:

Step Action
1. In the program tree, click Robot Program

2. Click the Command tab

3. Click the checkbox Set Initial Variable Values

RESULT: an Init Variables command is inserted in the program tree

4. Click Init Variables in the program tree

5. In the expression editor, assign an initial value to the variable(s)

NOTE: It is not possible to create new variables in the Init variables

command/expression editor. You can only set the value of variables that are already
used in the robot program.

23
Insert an If…else command

Purpose If … else commands are used for parts of the program that is only to be executed if a certain
condition is true, e.g. a variable value or a sensor input.

How it works In the If statement, the operator states a condition that must be true in order for the robot to carry
out the sub-commands of the If statements.

In the else statement, the operator specifies what the robot is to do when the If condition is not true.

NOTE: an If statement does not need to have an associated else statement. When the If condition is
not true and there is no else statement, the robot will simply continue executing the program.

Example If the input from sensor_1 is equal to True (HI), the robot will move to Waypoint_1 – Else it will
move to Waypoint_2

Procedure Follow these steps to insert an If…else command:

Step Action
1. In the structure tab, click the Advanced tab
2. Click the If…else button
RESULT: an If command is inserted in the program tree
3. Click the Command tab
4. In the text box, write the condition that must be true for the sub-commands to be
executed

5. Click the <empty> sub-command below the If statement and enter the commands to
be executed
6. OPTIONAL: To insert an else statement, click the If statement in the program tree
7. Click the Command tab
8. Click the Add Else button
RESULT: an else statement is inserted

9. Click the <empty> sub-command below the else statement and enter the commands
to be executed

24
Create and call a subprogram

Purpose A SubProgram can hold program parts that are needed several places. A SubProgram can be a
separate file on the disk and be used in other programs

How it works The SubProgram contains program data that is only executed when the SubProgram is called
(activated) from the mainprogram. The SubProgram can be called from one or more places in the
main program and/or based on certain conditions, such as the value of a variable or an input from
an external device.

Example SubProgram_1 is called if the variable Count is equal to 10

Procedure Follow these steps to create and call a SubProgram:

Step Action
1. In the program tree, click the waypoint after which you want to call (activate) a
subprogram
2. In the structure tab, click the Advanced tab
3. Click SubProg
RESULT: a Call subprogram command is inserted

4. Click the Command tab

5. Select Create New in the dropdown menu

RESULT: the SubProgram to be called is inserted

6. Enter new program data in the subprogram, or copy existing program data into it

25
Pallet wizard

Purpose The pallet wizard can be used to easily create a sequence that typically removes or places
workpieces on e.g. a pallet or in a box

How it works The pallet wizard contains two folders where the following data
is entered:

In the Pattern folder, the operator specifies:

• The pallet’s shape: square, line, box or list
• The position and dimensions of the pallet – in the
example to the right, by specifying the positions of the
four corners
• The number of positions (workpieces) on the pallet

In the PalletSequence folder, the operator specifies:

• How the robot approaches, performs an action and
exits the positions in the pattern
• PatternPoint_1 refers to the current position in the
pattern
• This sequence is repeated at each position

Procedure Follow these steps to use the pallet wizard:

Step Action
1. In the structure tab, click the Wizards tab
2. Click the Pallet button
RESULT: a pallet program is inserted in the program tree
3. Click the Pattern folder in the program tree
4. Click the Command tab
5. Select the Pattern you want to use (Line, Square, Box or List)
RESULT: a number of positions is inserted in the Pattern folder
6. Specify the total number of positions for workpieces on your pallet/box
EXAMPLE BELOW: a square with room for 12 workpieces (4x3= a total of 12)

7. Teach the location of all the positions inserted in the Pattern folder

(i.e. 4 corners for a square, 8 corners for a box, 1 start and 1 end position for a
line, any required positions for a list)
8. At PatternPoint_1 program the pattern the robot has to execute at each position
9. At Approach_1 program how you want the robot to approach each position
10. At Exit_1 program how you want the robot to move away from each position
after executing the pattern

26
Insert a Popup command

Purpose A popup is a message that is displayed on the teach pendant when the program reaches the popup
command in the program tree.

How it works When the popup is displayed, the robot waits for the operator to press the “OK” button under the
popup before continuing the program.

Example A popup message appears after waypoint _2

Procedure Follow these steps to insert a Popup command:

Step Action
1. Click the Structure tab
2. click the Popup button
3. Click the Command tab
4. Enter the popup text and select the message type

27
Teach tool center point (TCP)

Purpose The tool center point must be defined in Polyscope to ensure optimal performance of the robot and
to prevent protective stops. The software can calculate the TCP by moving the tool to a fixed
reference point from 4 different angles, thereby creating 4 different positions with the same TCP.

Definition The tool center point is the part of the tool that is in contact with the workpiece. For example the
center of a gripper, the end of a welding tool, or the nozzle of a dispenser tool.

Procedure Follow these steps to teach the TCP:

Step Action
1. In the Installation tab, click the menu item TCP Configuration
2. Click the Position button
3. Click the button Set point 1
4. Move the TCP to a reference point

5. Click OK
6. Repeat steps 3-5 for points 2, 3 and 4 from different angles, but using the same
reference point

7. Click the Set button

8. Select the menu item Load/Save and click the Save button

28
Teach orientation

Purpose If the tool is not mounted parallel with the Z axis (blue) of the tool flange, the robot needs to know
the orientation of the tool, which the software can calculate.

Procedure Follow these steps to teach the orientation:

Step Action
1. In the installation tab, select TCP configuration
2. Click the Orientation button
3. Select base in the dropdown menu
4. Click Set point
5. Position the tool so it is parallel with the Z-axis of the base

6. Click Ok
7. Click Set
8. Select the menu item Load/Save and click the Save button

29
Insert a loop command

Purpose A loop can be used for program code that is to be repeated several times in a row.

How it works The program code that has to be repeated is placed inside a loop command. The loop command
can be configured to repeat infinitely, a specific number of times, or as long as an expression is true
(e.g. based on a variable or an input)

Example The commands inside the loop command are repeated 5 times, and then the robot moves on to
waypoint 3

Procedure Follow these steps to insert a loop command:

Step Action
1. In the structure tab, click the Advanced tab
2. Click the Loop button
RESULT: a loop command is inserted in the program tree

3. Click Loop in the program tree

4. Click the Command tab
5. Configure the conditions for the loop

NOTE: if the Check expression continuously checkbox is selected, the robot will
exit the loop as soon as the expression is found not to be true, disregarding any
remaining commands inside the loop
6. Click <empty> and add commands to the loop

30
Prompt operator for input

Purpose It is possible to require the operator to make a decision or provide other input at some point when
the program is running. A variable can be used to prompt the operator for input.

How it works A variable is configured to prompt the operator for input. The input provided by the operator is
assigned as the value of the variable, which can be used to determine how the robot should proceed
using an If…else command or a Swith command.

Example The variable var_1 is configured to prompt the operator to answer yes or no to a question (get
boolean). The answer is assigned as the value of var_1. If the answer is yes (True), the robot moves
to Waypoint_1. If the answer is no (False), the robot moves to Waypoint_2.

Procedure Follow these steps to prompt the operator for input:

Step Action
1. In the structure tab, click the Advanced tab
2. Click the button Assignment
RESULT: a new variable and an assignment command is inserted

3. Click the Command tab

4. Select Operator in the Source dropdown menu

5. Select the kind of input you want from the operator

6. Write the text that will be displayed in the prompt for the operator

7. Insert If…else command or Switch command to continue the program based on

the operator’s input

31
Insert a switch/case command

Purpose A switch/case command can be used to control the flow of your program based on the value of a
variable.

How it works The Switch command is associated with a variable. A number of possible actions based on the
variable value can be defined by using Case commands. A Default Case can also be inserted, which
will be executed if the variable is not equal to any of the values specified in the Case commands

Example The Switch command checks the value of the variable var_1. If the value is 1, the command under
Case 1 will be executed. If the value is 2, the command under Case 2 will be executed. If the value is
neither 1 or 2, the command under Default Case will be executed

Procedure Follow these steps to insert a switch/case command:

Step Action
1. In the structure tab, click the Advanced tab
2. Click the Switch button
RESULT: a switch command is inserted

3. Click the Switch command in the program tree

4. Click the Command tab
5. Click the expression editor and select the variable you want to use

6. Type the variable value you want to assign an action for in the white field, and
then click the plus icon. You can insert as many Case commands as you need.

RESULT: A Case command is inserted

NOTE: marking the Default Case checkbox will insert a Default Case that is
executed if the variable is not equal to any of the other Case commands
7. Click <empty> and enter the commands to be executed

32
Insert circle move

Purpose A circle move is used to make the robot TCP perform a circular movement

How it works A circle move consists of two waypoints. The first waypoint specifies a via point on the circular arc,
and the second one is the endpoint of the movement. The robot will start the circle move from the
waypoint immediately before the circle move

Procedure Follow these steps to insert a circle move:

Step Action
1. In the structure tab, click the Move button
2. Click the Command tab
3. Select MoveP in the dropdown menu

4. Click the Add circle move button

RESULT: a circle move consisting of two waypoints is inserted

5. Click the first waypoint of the circle move and set the via point
6. Click the second waypoint of the circle move and set the end point

33
Set joint limits

Purpose Joint limits can be configured to restrict the working area of each of the joints to a specific area

How it works In the safety menu, the rotational position of the joints can be limited

Example The base joint is limited to movement between -90 and 90

Procedure Follow these steps to configure joint limits:

Step Action
1. In the installation tab, click the menu item Safety
2. Enter the safety password and click Unlock
3. Click Change this Waypoint
4. Select the radio button Position range
5. Adjust the joint limits

6. Click Apply
7. Click Apply and restart
8. Click Confirm Safety Configuration

34
Adjust General limits

Purpose In the safety menu, general limits (force, power, speed and momentum) can be adjusted to
customize the safety settings to the robot task at hand

How it works General limits has 4 positions ranging from “very restricted” to “least restricted. Changing the
setting will either increase or decrease force, power, speed and momentum

Example General limits has been set to “very restricted”

Procedure Follow these steps to adjust general limits:

Step Action
1. In the installation tab, click the Safety menu
2. Enter the safety password and click Unlock
3. Click the General Limits tab
4. Drag the slider to change the settings
5. Click Apply
6. Click Apply and restart
7. Click Confirm Safety Configuration

35
Add a plane feature

Purpose The plane feature is typically used when there is a need for a frame with high precision, e.g. when
working with a vision system or doing movements relative to a table.

How it works A plane feature is a coordinate system defined by three location points that indicate the Z, X and Y
axes. The robot can perform movements relative to the plane feature/coordinate system, and the
feature/coordinate system can be moved to another location

Example A plane feature aligned with the surface of a workpiece:

Procedure Follow these steps to insert a plane feature:

Step Action
1. In the installation tab, click the Features menu
2. Click the Plane button
RESULT: a plane and 3 points are inserted

3. Click each of the 3 points to configure them and create a coordinate system:

Point number Function

Point 1 Marks the position of the
coordinate system
Point 2 Indicates the direction of the Y-axis
(running from point 1)
Point 3 Indicates the direction of the X-axis
(running from point 1)

36
Insert motion relative to a feature

Purpose Motions can be inserted relative to a feature, which means that waypoints inside the motion will
automatically be relocated if the feature is moved/adjusted

How it works When inserting a motion, a feature can be associated with the motion. For waypoints inside this
motion, the position and orientation of the tool is relative to the feature. If the feature is moved, the
waypoints will be moved accordingly, still keeping the same position and orientation relative to the
position of the feature

Example The waypoints are inserted relative to feature Plane_1. When the feature and workpiece are moved
left, the waypoints are automatically repositioned relative to the feature

Procedure Follow these steps to insert a motion relative to a feature:

Step Action
1. In the structure tab, click the Move button to insert a motion
2. Click the Command tab
3. Select MoveL or MoveP in the dropdown menu
NOTE: MoveJ cannot be associated with a feature
4. In the feature dropdown menu, select the feature you want to configure waypoint(s)
relative to
NOTE: the selected feature needs to be configured as variable
5. Add and configure waypoints

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Insert a thread

Purpose A thread is a parallel process to the robot program and can be used e.g. to control an external
machine independently of the robot arm.

Example Thread_1 runs simultaneously with, and independent of, the robot program. The thread checks the
input from sensor1and turns digital output 1 on and off based on the input from sensor1. The
thread is repeated every 0.01 second.

Procedure Follow these steps to insert a thread:

Step Action
1. In the program tree, click Robot Program

2. Click the Structure tab

3. In the structure tab, click the Advanced tab
4. Click the Thread button
RESULT: a thread is inserted

5. Click <empty> and insert commands in the thread

RESULT: The commands in the thread will be executed simultaneously with the
commands in the main program

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Insert seek wizard

Purpose The seek wizard can be used to work with stacks of items, either for stacking or destacking.

How it works The seek function uses a sensor (condition) to determine when the correct position is reached to
grab or drop an item, which makes it well-suited for working on stacks of items with varying item
thickness, or where the exact positions of the items are not known or too hard to program

Example The robot can use the force feedback function to detect when it touches a workpiece

Procedure Follow these steps to insert a seek wizard:

Step Action
1. In the structure tab, click the Wizards tab
2. Click the Seek button
3. Click the Command tab
4. Select either Stacking or Destacking
5. Enter the condition for when the next stack position is reached

6. In the Item thickness field, enter the thickness of the item minus 20mm (seek
distance for the next object)

7. Click StartPos and configure the starting waypoint, i.e. from where the robot will start
to seek for a stack item
8. Configure FromPos in the same location as StartPos
9. Configure ToPos below the last workpiece of the stack
10. Click direction, and check the Stop after check box
11. Configure StackPos_1 to the same position as StartPos
12. Configure the Set command to either open or close the end-effector
13. Configure the Wait command to wait long enough for the end-effector to open/close
14. In Exit_1 program how to robot should exit the position

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Auto Initialize robot

Purpose The robot can be set up to automatically initialize when the main power is turned on

How it works A digital input can be used to quickly initialize the robot

Example The robot initializes automatically when digital_in [3] signal switches from high to low

Procedure Follow these steps to auto-start default program:

Step Action
1. In the installation tab, click the Default Program menu
2. Check the Auto brake release the robot checkbox
3. In the first dropdown menu, select the signal you want to use to trigger the auto
initialize
4. In the second dropdown menu, select if the signal needs to change from low to high,
or from high to low
5. Click the Load/Save menu
6. Save as “default”

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Auto Start default program

Purpose A default program can be automatically started when the robot has powered up.

Example The default program starts automatically when digital_in [0] switches from low to high

Procedure Follow these steps to auto-start default program:

Step Action
1. In the installation tab, click the Default Program menu
2. Check the Auto Start the default program in the Run Tab checkbox
3. In the first dropdown menu, select the signal you want to use to trigger the auto start
4. In the second dropdown menu, select if the signal needs to change from low to high,
or from high to low
5. Click the Load/Save menu
6. Save as “default”

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Insert BeforeStart sequence

Purpose A before start sequence can be added to make sure the robot is ready when the main program is
executed, e.g. to ensure the gripper is open or the robot is in the correct position.

How it works The BeforeStart sequence is carried out only once, before the main program is executed

Procedure Follow these steps to auto-start default program:

Step Action
1. In the program tree, click Robot Program
2. Click the Command tab
3. Click the Add BeforeStart Sequence check box

RESULT: a BeforeStart Sequence is inserted in the program tree

4. Insert commands to be carried out before the start of the main program

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