Toshiba TS3000 Series, TS3000, TS3100, TSL3000 Instruction Manual

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STE85409-1

TS3000 SCARA / LINEAR system TS3100 SCARA / LINEAR system TSL3000 SCARA system

INSTRUCTION MANUAL

TsRemoteLib.DLL MANUAL

Notice

• Make sure that this instruction manual is delivered to the final user of Toshiba Machine's industrial robot.

• Before operating the industrial robot, read through and completely understand this manual.

• After reading through this manual, keep it nearby for future reference.

TOSHIBA MACHINE CO., LTD.

series Robot Controller

TsRemoteLib.DLL MANUAL

No part of this document may be reproduced in any form without obtaining prior written permission from Toshiba Machine Co., Ltd.

The information contained in this manual is subject to change without prior notice to effect improvements.

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TsRemoteLib.DLL MANUAL

Preface

The TS3000/TSL3000 controller has the HOST function to enable the remote control of the robot by sending and receiving commands. “ TsRemoteLibS.DLL” compiles the programs that send to and receive commands from WindowsPC in a library to facilitate software development. This manual explains how to use “ TsRemoteLibS.DLL”.

Microsoft Windows, Visual Studio, and other Microsoft product names that are described in this manual are trademarks of Microsoft Corporation in the U.S.A. and other countries.

• Operator’s Manual

• Robot Language Manual

• Interface Manual

This manual is structured as follows:

Section 1: Overview… Outlines the communication functions.

Section 2: Specification and Setting of the COM1 Port and the Host Port… Describes the

hardware interface and communication mode of the RS-232C port.

Section 3: Specification and Setting of Ethernet… Describes the hardware interface and

communication mode of Ethernet.

Section 4: Non-procedure Communication… Describes the procedure for the communication

that only handles exchange between external devices and robot programs.

Section 5: Simple Procedure Communication … Describes the procedure computer,

commands and robot program files for the communication that targets a host.

Section 6: Robot Operation Sequence by External Communication … Shows examples of

operating the robot.

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TsRemoteLib.DLL MANUAL

Table of Contents

Page

Section 1 Overview .................................................................................... 8

Section 2 Example of Application Development Using C# ......................... 9

2.1 Creating an Application Solution ................................................................................... 9

2.2 Setting Application Execution File Output Destination ................................................. 11

2.3 Reference Setting of TsRemoteLib .............................................................................. 13

2.4 Calling TsRemoteS Interface ....................................................................................... 14

2.5 Event Processing Performed Based on the Information

from WatchDog of TsRemoteLib ................................................................................ 16

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Section 3 Reference ................................................................................. 17

3.1 Outline of TsRemoteLib ............................................................................................... 17

3.2 Classes That Are Defined in TsRemoteLib .................................................................. 18

TsRemote

TsRemoteS ............................................................................................ 18

TsRemoteV ............................................................................................ 18

TsPointS ............................................................................................ 18

TsPointV ............................................................................................ 19

ConfigVpart ............................................................................................ 19

TsJointS ............................................................................................ 20

TsJointV ............................................................................................ 20

TsTransS ............................................................................................ 20

TsTransV ............................................................................................ 20

TsPayloadS ............................................................................................ 21

TsPayloadV ............................................................................................ 21

TsFileInfo ............................................................................................ 21

TsVersion ............................................................................................ 21

TsDIO ............................................................................................ 22

TsStatus ............................................................................................ 23

TsStatusAllS ............................................................................................ 24

TsStatusAllV ............................................................................................ 26

TsStatusMonitor ............................................................................................ 28

TsRemoteSException ............................................................................................ 30

3.3 Enumerations That Are Defined in TsRemoteLib ......................................................... 31

ConfigS

ConfigV ............................................................................................ 31

Gain ............................................................................................ 32

RunMode ............................................................................................ 32

ErrorCode ............................................................................................ 33

3.4 TsRemoteS Class Properties ...................................................................................... 34

MvAccel ............................................................................................ 34

MvDecel ............................................................................................ 34

MvSpeed ............................................................................................ 35

............................................................................................ 18

............................................................................................ 31

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3.5 TsRemote Class Method ............................................................................................. 36

Connect() ............................................................................................ 36

DeleteFile() ............................................................................................ 37

DirectDo() ............................................................................................ 38

Disconnect() ............................................................................................ 39

Dispose() ............................................................................................ 40

GetAlarmHistory() ............................................................................................ 41

GetCurrentAlarm() ............................................................................................ 42

GetDIn() ............................................................................................ 43

GetDIO() ............................................................................................ 44

GetDir() ............................................................................................ 45

GetDout() ............................................................................................ 46

GetGlobalINT() ............................................................................................ 47

GetGlobalREAL() ............................................................................................ 48

GetHexIn() ............................................................................................ 49

GetStatus() ............................................................................................ 50

GetStatusMonitor() ............................................................................................ 51

GetSystemVersion() ............................................................................................ 52

ProgramBreak() ............................................................................................ 53

ProgramRun() ............................................................................................ 54

ProgramSelect() ............................................................................................ 55

ProgramStop() ............................................................................................ 56

ReceiveFile() ............................................................................................ 57

ResetALARM() ............................................................................................ 58

ResetCYCLE() ............................................................................................ 59

ResetPRG() ............................................................................................ 60

ResetMove() ............................................................................................ 61

ResetSELECT() ............................................................................................ 62

ResetSIGNAL() ............................................................................................ 63

ResetSTEP() ............................................................................................ 64

SendFile() ............................................................................................ 65

ServoOff() ............................................................................................ 66

ServoOn() ............................................................................................ 67

SetComPort() ............................................................................................ 68

SetDout() ............................................................................................ 69

SetGlobalINT() ............................................................................................ 70

SetGlobalREAL() ............................................................................................ 71

SetHexOut() ............................................................................................ 72

SetIPaddr() ............................................................................................ 73

SetOVRD() ............................................................................................ 74

SetRunMode() ............................................................................................ 75

WatchDogStart() ............................................................................................ 76

WatchDogStop() ............................................................................................ 77

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3.6 TsRemoteS Class property .......................................................................................... 78

MvConfig ............................................................................................ 78

MvTool ............................................................................................ 78

MvWork ............................................................................................ 78

3.7 TsRemoteS Class Method ........................................................................................... 79

GetGlobalPOINT() ............................................................................................ 79

GetGlobalPAYLOAD() ............................................................................................ 80

GetGlobalTRANS() ............................................................................................ 81

GetPsnCmdJoint() ............................................................................................ 82

GetPsnCmdWork() ............................................................................................ 83

GetPsnCmdWorld() ............................................................................................ 84

GetPsnFbkJoint() ............................................................................................ 85

GetPsnFbkWork() ............................................................................................ 86

GetPsnFbkWorld() ............................................................................................ 87

GetStatusAll() ............................................................................................ 88

GetVelocJoint() ............................................................................................ 89

GetVelocWorld() ............................................................................................ 90

Move() ............................................................................................ 91

Movea() ............................................................................................ 92

Movej() ............................................................................................ 93

Moves() ............................................................................................ 94

SetGain() ............................................................................................ 95

SetGlobalPOINT() ............................................................................................ 96

SetGlobalPYLOAD() ............................................................................................ 97

SetGlobalTRANS() ............................................................................................ 98

SetPayload() ............................................................................................ 99

SetTransTool() .......................................................................................... 100

SetTransWork() .......................................................................................... 101

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3.8 TsRemoteV Class property ........................................................................................ 102

MvConfig .......................................................................................... 102

MvTool .......................................................................................... 102

MvWork .......................................................................................... 102

3.9 TsRemoteS Class Method ......................................................................................... 103

GetGlobalPOINT() .......................................................................................... 103

GetGlobalPAYLOAD() .......................................................................................... 104

GetGlobalTRANS() .......................................................................................... 105

GetPsnCmdJoint() .......................................................................................... 106

GetPsnCmdWork() .......................................................................................... 107

GetPsnCmdWorld() .......................................................................................... 108

GetPsnFbkJoint() .......................................................................................... 109

GetPsnFbkWork() ........................................................................................... 110

GetPsnFbkWorld() ........................................................................................... 11 1

GetStatusAll() ........................................................................................... 112

GetVelocJoint() ........................................................................................... 113

GetVelocWorld() ........................................................................................... 114

Move() ........................................................................................... 115

Movea() ........................................................................................... 116

Moves() ........................................................................................... 117

SetGain() ........................................................................................... 118

SetGlobalPAYLOAD() ........................................................................................... 119

SetGlobalPOINT() .......................................................................................... 120

SetGlobalTRANS() .......................................................................................... 121

SetPayload() .......................................................................................... 122

SetTransTool() .......................................................................................... 123

SetTransWork() .......................................................................................... 124

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TsRemoteLib.DLL MANUAL

Section 1 Overview

To control the robot in remote mode through communication with the TS3000/TSL3000 series robot controller, commands are sent to and received from the controller.“ TsRemoteLib.DLL” compiles in DLL (Dynamic Link Library) the method groups for remote control of the robot in a simple manner without coding communication programs. “TsRemoteLib.DLL” runs under Windows .Net 2.0/3.0/3.5 and the applications are developed using VB/C++/C# of Microsoft Visual Studio.

Customer application

Microsoft.Net framework

Robot operation processing

TsRemoteLib.DLL

Windows

Hardware

Fig. 1.1 TsRemoteLibS.DLL

TCP/IP

TS3000/TSL3000

IP0

The following diagram shows a coding example of a simple application for a robot operation command and stop on the buttons that are assigned in the form.

RUN STOP

Customer application TsRemoteLib.DLL

RunButton_click() {

MOVE(P1) MOVE(P2)

MOVE(P3) ………. ………. }

StopButton_click() {

ProgramStop() ……….

}

MOVE() {

Command creation Transmission processing Response confirmation

Operation completion checking

}

ProgramStop() {

Command creation

Transmission processing

Response confirmation

}

Figure 1.2 Outline of the app lication development using DLL

TS3000

TSL3000

MOVE

operation

Stop

processing

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TsRemoteLib.DLL MANUAL

Section 2 Example of Application Development Using C#

This section describes the procedure for reference setting of TsRemoteLib for the application for controlling the SCARA robot. As the precondition, Visual Studio 2008 (referred to as VS2008 henceforth) must have been installed in the application creation environment. The file called TsRemoteLib.DLL is stored in the same folder as that of the application execution file.

2.1 Creating an Application Solution

(1) Select File -> New -> Project.

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(2) Enter a project name.

1 Select Windows Forms Application as the template. 2 Enter a project name and the location.

TsRemoteLib.DLL MANUAL

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TsRemoteLib.DLL MANUAL

2.2 Setting Application Execution File Output Destination

(1) Set the mouse cursor on the required item with the Solution Explorer and click the right button. (2) Add the context menu that is displayed -> Select New folder.

Click the right mouse button.

(3) Set EXE as the new folder name. (Assign any name.)

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TsRemoteLib.DLL MANUAL

(4) Set the execution file output destination to the EXE folder that was created on the Properties screen

of the TsRemoteLibSample project.

(5) Copy TsRemoteLib.DLL into the EXE folder that was created. (TsRemoteLib.DLL and the application that is created by the customer (EXE file) must be stored in

the same directory.)

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TsRemoteLib.DLL MANUAL

2.3 Reference Setting of TsRemoteLib

(1) Select Reference -> Add Reference.

(2) Select TsRemoteLib.DLL that is copied from the EXE folder and press OK. TsRemoteLib can be used by setting reference.

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TsRemoteLib.DLL MANUAL

2.4 Calling TsRemoteS Interface

(1) Opening TsRemoteLibSample.cs Form1 is used as the default name immediately after creation of a project. In this explanation, the

form name is changed to TsRemoteLibSample.

(2) Declaring TsRemoteLib Enter the following command in TsRemoteLibSample.cs.

using TsRemoteLib;

(3) Calling the interface Assume that the form contains the buttons that are shown below. The procedure for calling the

interface is described in the source of each click event handler.

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1 Install connection button processing.

Use the instance name of class TsRemoteS for the Robot. (In the case of 6-axis,Use the instance name of class TsRemoteV) Sample IP address and port number are used.

private void btnConnect_Click(object sender, EventArgs e)

{ try { if (Robot == null) { Robot = new TsRemoteS(); Robot.SetIPaddr(0, "192.168.0.124", 1000); } Robot.Connect(1);

//Connected successfully } catch (TsRemoteSException ex) {

//Error processing } }

Connection destination IP address

イベントハンドラ名

TsRemoteLib.DLL MANUAL

Connection destination port number

2 Start Watch Dog.

private void btnStartWatchDog_Click(object sender, EventArgs e)

{ try { if (Robot != null) { Robot.WatchDogStart(100, 0, new

} } catch (TsRemoteSException ex) { //Error processing } }

TsRemoteS.TSStatusEvent(testTSStatusEvent));

Status monitoring interval

Event handler name

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TsRemoteLib.DLL MANUAL

2.5 Event Processing Performed Based on the Information from WatchDog of TsRemoteLib

Through WatchDog monitoring, information such as emergency stop, safety switch, mode, and Run status is acquired periodically. When the acquired information changes, an event occurs. Since the application basically runs in a different thread from that of WatchDog, create the handler for processing events from WatchDog as follows.

public void testTSStatusEvent(TsStatusMonitor para)

{ if (InvokeRequired) { BeginInvoke( new TsRemoteS.TSStatusEvent(testTSStatusEvent),para); } else { //Evaluate the value of TsStatusMonitor and perform event processing.

{

//Processing when the Emergency Stop button is pressed. ・・・・・・・・・・・・・・・・

} if (para.SafetyStop == 1) {

//Processing when the safety switch is pressed. ・・・・・・・・・・・・・・・・

} ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・

} }

if (para.EmergencyStop == 1)

Event occurrence factors handled by WatchDog are listed below. Refer to the TsStatusMonitor class for the details.

• Emergency Stop request

• Safety switch stop request

• Various mode statuses

• Override

• Alarm

• Servo status

• WatchDog error

• Ethernet communication error

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)

TsRemoteLib.DLL MANUAL

Section 3 Reference

3.1 Outline of TsRemoteLib

The following classes are installed in TSRemoteLib for remote control of the robot and information acquisition.

TsRemoteLib.DLL

class

TsRemote ・・・・・Robott control/information ac

TsRemoteS ・・・・・SCARA robot control/information ac

TsRemoteV ・・・・・6-AXIS robot control/information ac

TSJointS ・・・・・ SCARA robot TSJointV ・・・・・ 6-AXIS robot TsPointS ・・・・・ SCARA robot TsPointV ・・・・・ 6-AXIS robot

oint type data storage

osition data storage

TsPayloadS ・・・・・ SCARA robot load data stora TsPayloadV ・・・・・ 6-AXIS robot load data sto TsTransS ・・・・・ SCARA robot coordinate data stora TsTransV ・・・・・ 6-AXIS robot coordinate data stora TsStatusAllS・・・・・SCARA robot all status stora TsStatusAll TsFileInfo ・・・・・ File information stora

TsAlarm ・・・・・ Alarm information stora TsVersion ・・・・・ S

TsDIO ・・・・・ IO information stora TsStatus ・・・・・ Status stora

・・・・・6-AXIS robot all status storage

stem version information storage

uisition(Super class

age

uisition

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3.2 Classes That Are Defined in TsRemoteLib

TsRemote class

Classes for remote-controlling the SCARA and 6-AXIS robot

TsRemote class is super class of the TsRemoteS/TsRemoteV class In the case of SCARA robot, make the instance of the TsRemoteS class. In the case of 6-AXIS robot, make the instance of the TsRemoteV class.

TsRemoteS class

Classes for remote-controlling the SCARA and 6-AXIS robot

In the case of SCARA robot, make the instance of the TsRemoteS class. Please refer to Clause “3.4 TsRemoteS Class Properties”. Please refer to Clause ”3.5 TsRemoteS Class Method”.

TsRemoteLib.DLL MANUAL

TsRemoteV class

Classes for remote-controlling the 6-AXIS robot

In the case of 6-AXIS robot, make the instance of the TsRemoteV class. Please refer to Clause “3.4 TsRemoteV Class Properties”. Please refer to Clause ”3.5 TsRemoteV Class Method”.

TsPointS class

Class for storing Point data of SCARA robot

Property

double X X point/speed double Y Y point/speed double Z Z point/speed double C C point/speed double T T point/speed enum ConfigS Configuration (posture)

See also

GetGlobalPoint(),GetPsnCmdWorld(),SetPsnCmdWorld(),Move(),Moves(),Movej()

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TsPointV class

Class for storing Point data of 6-AXIS robot

Property

double X X point/speed double Y Y point/speed double Z Z point/speed double A A point/speed double B B point/speed double C C point/speed double U U point/speed double V V point/speed ConfigVpart Config Configuration (posture)

See also

GetGlobalPoint(),GetPsnCmdWorld(),SetPsnCmdWorld(),Move(),Moves(),Movej()

ConfigVpart class

Class for for storing configuration (posture) of 6-AXIS robot

Property

TvSholder Sholder Sholder configuration(enum 0:Free / 1:Lefty / 2:Righty) TvElbow Elbow Elbow configuration(enum 0:Free / 1:Above / 2Below) TvWrist Wrist Wrist configuration(enum 0:Free / 1:Nflip / 2Flip) TvRot4 Rot4 4th axis configuration(enum 0:Free / 1:Single4 / 2:Double4) TvRot6 Rot6 6th axis configuration(enum 0:Free / 1:Single6 / 2:Double6) ConfigV All (enum configV)

About Config

config of the 6-Axis robot is decided by the combination of five elements of Sholder, Elbow, Wrist, Rot4 and Rot6. "All property "can set five elements by a lump. (enum ConfigV)

See also

TsPointV

TsRemoteLib.DLL MANUAL

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TsRemoteLib.DLL MANUAL

TsJointS class

Class for storing Joint data of SCARA robot

Property

double J1 1 double J 2 2 double J3 3 double J4 4 double J5 5

See also

TsStatusAllS, GetPsnCmdJoint(), GetPsnFbkJoint(), GetVelocJoint()

joint position

TsJointV class

Class for storing Joint data of 6-AXIS robot

Property

double J1 1 double J 2 2 double J3 3 double J4 4 double J5 5 double J6 6 double J7 7 double J8 8

See also

TsStatusAllV, GetPsnCmdJoint(), GetPsnFbkJoint(), GetVelocJoint()

joint position

TsTransS class

Class for storing coordinate data of SCARA robot

Property

double X X coordinate double Y Y coordinate double Z Z coordinate double C C coordinate

See also

GetGlobalTRANS(), SetGlobalTRANS(), SetTransTool(), SetTransWork()

TsTransV class

Class for storing coordinate data of 6-AXIS robot

Property

double X X coordinate double Y Y coordinate double Z Z coordinate double A A coordinate double B B coordinate double C C coordinate

See also

GetGlobalTRANS(), SetGlobalTRANS(), SetTransTool(), SetTransWork()

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TsPayloadS class

Class for storing point data of SCARA robot

Property

double M Weight (kg) double L Offset of the center of gravity (mm)

See also

SetGlobalPYLOAD(), GetGlobalPAYLOAD, SetPYLOAD()

TsPayloadV class

Class for storing point data of 6-AXIS robot

Property

double M Weight (kg) double Lx Offset of the center of gravity (mm) double Ly Offset of the center of gravity (mm) double Lz Offset of the center of gravity (mm) double Gx Work size(mm) double Gy Work size(mm) double Gz Work size(mm)

See also

SetGlobalPYLOAD(), GetGlobalPAYLOAD, SetPYLOAD()

TsRemoteLib.DLL MANUAL

TsFileInfo class

Class for storing file information that is stored in the controller

Property

string name File name int size Size

See also

GetDir()

TsVersion class

Class for storing a controller system version

Property

string SystemName System name DateTime Date System creation date and time string Sum Check Sum (maximum number of characters)

See also

GetSystemVersion()

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TsDIO class

Class for storing input/output status of the controller

Property

Int16 Din[20] Input signal status Handling bits of Din data and input signals Din[0] : DIN1 ~ DIN16 Standard input Din[1] : DIN17 ~ DIN32 Standard input Din[2] : DIN33 ~ DIN48 Standard input Din[3] : DIN49 ~ DIN64 Standard input Din[4] : DIN101 ~ DIN116 Extended input Din[5] : DIN117 ~ DIN132 Extended input Din[6] : DIN133 ~ DIN148 Extended input Din[7] : DIN149 ~ DIN164 Extended input Din[8] : DIN201 ~ DIN216 System input Din[9] : DIN217 ~ DIN232 System input Din[10]: DIN233 ~ DIN248 System input Din[11]: DIN249 ~ DIN264 System input Din[12]: DIN301 ~ DIN316 Field bus input Din[13]: DIN317 ~ DIN332 Field bus input Din[14]: DIN333 ~ DIN348 Field bus input Din[15]: DIN349 ~ DIN364 Field bus input Din[16]: DIN401 ~ DIN416 Field bus input Din[17]: DIN417 ~ DIN432 Field bus input Din[18]: DIN433 ~ DIN448 Field bus input Din[19]: DIN449 ~ DIN464 Field bus input

Int16 Dout[20] Output signal status Handling bits of Dout data and output signals Dout[0] : DOUT1 ~ DOUT16 Standard output Dout[1] : DOUT17 ~ DOUT32 Standard output Dout[2] : DOUT33 ~ DOUT48 Standard output Dout[3] : DOUT49 ~ DOUT64 Standard output Dout[4] : DOUT101 ~ DOUT116 Extended output Dout[5] : DOUT117 ~ DOUT132 Extended output Dout[6] : DOUT133 ~ DOUT148 Extended output Dout[7] : DOUT149 ~ DOUT164 Extended output Dout[8] : DOUT201 ~ DOUT216 System output Dout[9] : DOUT217 ~ DOUT232 System output Dout[10]: DOUT233 ~ DOUT248 System output Dout[11]: DOUT249 ~ DOUT264 System output Dout[12]: DOUT301 ~ DOUT316 Field bus output Dout[13]: DOUT317 ~ DOUT332 Field bus output Dout[14]: DOUT333 ~ DOUT348 Field bus output Dout[15]: DOUT349 ~ DOUT364 Field bus output Dout[16]: DOUT401 ~ DOUT416 Field bus output Dout[17]: DOUT417 ~ DOUT432 Field bus output Dout[18]: DOUT433 ~ DOUT448 Field bus output Dout[19]: DOUT449 ~ DOUT464 Field bus output

See also

GetDIO()

TsRemoteLib.DLL MANUAL

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TsStatus class

Class for storing Robot statuses

Property

int MasterMode Master mode status 0:Teaching

1:Internal 2:Ext.Sig 3:Ext.Host 4:Ext.232C 5:Ext.Ether

int RunMode Run mode status 0:CONT

1:CYCLE 2:STEP 3:SEGMENT

string SelectFile Name of the program that is currently selected by the controller int ovrd Current override value

Value range: 1%~100%

int MachineLock Reserved (currently not used) Always set to 1 int RunStatus Run status

0:STOP(RESET)

1:RUN 2:STOP(RETRY) 3:STOP(CONT)

See also

GetStatus()

TsRemoteLib.DLL MANUAL

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TsStatusAllS class

Class for storing all the statuses of SCARA robot

Property

int ServoStatus Servo status 0:OFF 1:ON

int EmergencySwitch Emergency Stop switch status 0:OFF 1:ON

int RunStatus Run status 0:STOP(RESET)

1:RUN 2:STOP(RETRY) 3:STOP(CONT)

int SUCommandReq Command request 0:None 1:Request occured

string AlarmNo[10] Current alarm (max. 10)

Stored in a character string format such as“8-014”. When there is no

int ProgramExeLine Program line number that is currently being executed

int ProgramAnalyzeLine Program line number that is currently being analyzed

int ProgramExeTaskNo Task number that is currently being executed

int ProgramAnalyzeTask Task number that is currently being analyzed

int FeedHold Feed Hold status 0:OFF 1:ON

int JogCoordnate JOG-guided coordinate selection status 1:Tool

2:Work 3:World

int JogSpeed JOG-guided guiding speed setting status

0:Low

1:Medium

2:High

int JogRemote JOG-guided guiding mode setting status

0:Jog

1:Inching

2:Free

int MasterMode Master mode status

0:Teaching

1:Internal

2:Ext.Sig

3:Ext.Host(Ext.232C/ExtEther)

TsRemoteLib.DLL MANUAL

alarm, all the 10 items are set to null.

0:Joint

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TsStatusAllS property(continued)

int PowerOnTime Power On time (min)

int ProgramExecTime Program execution time (min)

Int16 Din[16] Input signal status

Handling bits of Din data and input signals

Din[0] : DIN1 ~ DIN16 Standard input

Din[1] : DIN17 ~ DIN32 Standard input

Din[2] : DIN33 ~ DIN48 Standard input

Din[3] : DIN49 ~ DIN64 Standard input

Din[4] : DIN101 ~ DIN116 Extended input

Din[5] : DIN117 ~ DIN132 Extended input

Din[6] : DIN133 ~ DIN148 Extended input

Din[7] : DIN149 ~ DIN164 Extended input

Din[8] : DIN201 ~ DIN216 System input

Din[9] : DIN217 ~ DIN232 System input

Din[10]: DIN233 ~ DIN248 System input

Din[11]: DIN249 ~ DIN264 System input

Din[12]: DIN301 ~ DIN316 Field bus input

Din[13]: DIN317 ~ DIN332 Field bus input

Din[14]: DIN333 ~ DIN348 Field bus input

Din[15]: DIN349 ~ DIN364 Field bus input

Int16 Dout[16] Output signal status

Handling bits of Dout data and output signals

Dout[0] : DOUT1 ~ DOUT16 Standard output

Dout[1] : DOUT17 ~ DOUT32 Standard output

Dout[2] : DOUT33 ~ DOUT48 Standard output

Dout[3] : DOUT49 ~ DOUT64 Standard output

Dout[4] : DOUT101 ~ DOUT116 Extended output

Dout[5] : DOUT117 ~ DOUT132 Extended output

Dout[6] : DOUT133 ~ DOUT148 Extended output

Dout[7] : DOUT149 ~ DOUT164 Extended output

Dout[8] : DOUT201 ~ DOUT216 System output

Dout[9] : DOUT217 ~ DOUT232 System output

Dout[10]: DOUT233 ~ DOUT248 System output

Dout[11]: DOUT249 ~ DOUT264 System output

Dout[12]: DOUT301 ~ DOUT316 Field bus output

Dout[13]: DOUT317 ~ DOUT332 Field bus output

Dout[14]: DOUT333 ~ DOUT348 Field bus output

Dout[15]: DOUT349 ~ DOUT364 Field bus output

TsJointS JointPosition SCARA Robot current joint position

TsPointS WorldPosition Current position of the SCARA robot world coordinate system

Ts PointS WorkPosition Current position of the SCARA robot work coordinate system

string WorkName Name of the work coordinate system that is currently selected

string ToolName Name of the tool coordinate system that is currently selected

string BaseName Name of the base coordinate system that is currently selected

See also

GetStatusAll()

TsRemoteLib.DLL MANUAL

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TsStatusAllV class

Class for storing all the statuses of 6-AXIS robot

Property

int ServoStatus Servo status 0:OFF 1:ON

int EmergencySwitch Emergency Stop switch status 0:OFF 1:ON

int RunStatus Run status 0:STOP(RESET)

1:RUN 2:STOP(RETRY) 3:STOP(CONT)

int SUCommandReq Command request 0:None 1:Request occured

string AlarmNo[10] Current alarm (max. 10)

Stored in a character string format such as“8-014”. When there is no

int ProgramExeLine Program line number that is currently being executed

int ProgramAnalyzeLine Program line number that is currently being analyzed

int ProgramExeTaskNo Task number that is currently being executed

int ProgramAnalyzeTask Task number that is currently being analyzed

int FeedHold Feed Hold status 0:OFF 1:ON

int JogCoordnate JOG-guided coordinate selection status 1:Tool

2:Work 3:World

int JogSpeed JOG-guided guiding speed setting status

0:Low

1:Medium

2:High

int JogRemote JOG-guided guiding mode setting status

0:Jog

1:Inching

2:Free

int MasterMode Master mode status

0:Teaching

1:Internal

2:Ext.Sig

3:Ext.Host(Ext.232C/ExtEther)

TsRemoteLib.DLL MANUAL

alarm, all the 10 items are set to null.

0:Joint

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TsStatusAllS property(continued)

int PowerOnTime Power On time (min)

int ProgramExecTime Program execution time (min)

Int16 Din[16] Input signal status

Handling bits of Din data and input signals

Din[0] : DIN1 ~ DIN16 Standard input

Din[1] : DIN17 ~ DIN32 Standard input

Din[2] : DIN33 ~ DIN48 Standard input

Din[3] : DIN49 ~ DIN64 Standard input

Din[4] : DIN101 ~ DIN116 Extended input

Din[5] : DIN117 ~ DIN132 Extended input

Din[6] : DIN133 ~ DIN148 Extended input

Din[7] : DIN149 ~ DIN164 Extended input

Din[8] : DIN201 ~ DIN216 System input

Din[9] : DIN217 ~ DIN232 System input

Din[10]: DIN233 ~ DIN248 System input

Din[11]: DIN249 ~ DIN264 System input

Din[12]: DIN301 ~ DIN316 Field bus input

Din[13]: DIN317 ~ DIN332 Field bus input

Din[14]: DIN333 ~ DIN348 Field bus input

Din[15]: DIN349 ~ DIN364 Field bus input

Int16 Dout[16] Output signal status

Handling bits of Dout data and output signals

Dout[0] : DOUT1 ~ DOUT16 Standard output

Dout[1] : DOUT17 ~ DOUT32 Standard output

Dout[2] : DOUT33 ~ DOUT48 Standard output

Dout[3] : DOUT49 ~ DOUT64 Standard output

Dout[4] : DOUT101 ~ DOUT116 Extended output

Dout[5] : DOUT117 ~ DOUT132 Extended output

Dout[6] : DOUT133 ~ DOUT148 Extended output

Dout[7] : DOUT149 ~ DOUT164 Extended output

Dout[8] : DOUT201 ~ DOUT216 System output

Dout[9] : DOUT217 ~ DOUT232 System output

Dout[10]: DOUT233 ~ DOUT248 System output

Dout[11]: DOUT249 ~ DOUT264 System output

Dout[12]: DOUT301 ~ DOUT316 Field bus output

Dout[13]: DOUT317 ~ DOUT332 Field bus output

Dout[14]: DOUT333 ~ DOUT348 Field bus output

Dout[15]: DOUT349 ~ DOUT364 Field bus output

TsJointV JointPosition 6-AXIS Robot current joint position

TsPointV WorldPosition Current position of the 6-AXIS robot world coordinate system

Ts PointV WorkPosition Current position of the 6-AXIS robot work coordinate system

string WorkName Name of the work coordinate system that is currently selected

string ToolName Name of the tool coordinate system that is currently selected

string BaseName Name of the base coordinate system that is currently selected

See also

GetStatusAll()

TsRemoteLib.DLL MANUAL

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TsStatus Monitor class

Class for storing the cause of the event that occurs under WatchDog status monitoring

Property

int AlarmLevel Indicates the alarm level that is currently occurring. When the alarm

0: No alarm

1: Level 1 alarm occurred. 2: Level 2 alarm occurred. 4: Level 4 alarm occurred. 8: Level 8 alarm occurred.

int BreakCommand Indicates that a BREAK request occurred to the controller during the

0:None 1:BREAK request occurred.

int EmergencyStop Indicates that an Emergency Stop request occurred to the controller

0: None 1: Emergency Stop request occurred.

int EmergencySwitch Indicates the current Emergency Stop status. When the status changes,

0:OFF (The circuit is closed.) 1:ON (The circuit is opened.)

int EtherNetConnection Indicates the Ethernet connection status. When an error occurs due to

0: No error 1: An error occurred in the Ethernet communication processing of

int MasterMode Indicates the master mode status. When the status changes, an event

0:Teaching 1:Internal 2:Ext.Sig 3:Reservation 4:Ext232C 5:ExtEther

int Override Indicates the override status (1-100%). When the value changes, an

TsRemoteLib.DLL MANUAL

level changes, an event occurs.

period from the previous WatchDog monitoring request to the current monitoring request.

during the period from the previous WatchDog monitoring request to the current monitoring request. When this flag is set to 1, an event occurs.

an event occurs. Since WatchDog monitoring is performed at a specified interval, check the EmergencyStop property to capture the Emergency Stop request without fail.

disconnection or so on, an event occurs.

Windows.

occurs.

event occurs.

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int RunMode Indicates the robot run mode. When the mode changes, an event occurs.

0:CONT

1:CYCLE

2:STEP

3:SEGMENT

int RunStatus Indicates the robot run status. When the status changes, an event occurs.

0:STOP(RESET)

1:RUN

2:STOP(RETRY)

3:STOP(CONT)

int SafetyStop Indicates that a stop request occurred to the controller due to the Safety

0: None

1: A stop request occurred to the controller due to the Safety switch ON

int SafetySwitch Indicates the status of the Safety switch. Since WatchDog monitoring is

0: OFF (The circuit is closed.)

1: ON (The circuit is open.)

int ServoStatus Indicates the current Servo status.

0:Servo OFF

1:Servo ON

int StopCommand Indicates that a Stop request occurred to the controller during the period

0: None

1: STOP request occurred.

int WatchDogErr Indicates the occurrence of a timeout error by WatchDog monitoring.

0: None

1: Timeout error occurred.

See also

GetStatusAll()

TsRemoteLib.DLL MANUAL

switch ON state during the period from the previous WatchDog monitoring request to the current monitoring request.

state.

performed at the specified interval, check the SafetyStop property to capture the Stop request by the Safety switch without fail.

from the previous WatchDog monitoring request to the current monitoring request. When this flag is set to 1, an event occurs.

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TsRemoteSException class

Class for deriving the Application Exception class that occurs at execution of each method of the TsRemoteS and TsRemoteV class

Property

ErrorCode errorCode Stores the error code that was handled. Refer to the ErrorCode enumeration

See also

ErrorCode

TsRemoteLib.DLL MANUAL

for the details of the error code.

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3.3 Enumerations That Are Defined in TsRemoteLib

ConfigS enum

Enumeration for defining the SCARA robot configuration (posture)

Format

enum ConfigS

Value

FREE 0: Indicates that the robot configuration (posture) is FREE.

LEFTY 1: Indicates that the robot configuration (posture) is LEFTY.

RIGHTY 2: Indicates that the robot configuration (posture) is RIGHTY.

See also

MvConfig, Move(), Moves(), Movej(), Movea()

ConfigV enum

Enumeration for defining the 6-Axis robot configuration (posture)

Format

enum ConfigV

Value

ConfigV can be set by string.(Ex. “xxxxx”,”LANSS”,”RBxSx”)

Sholde x:Free(0) L:Lefty(1) R:Righty(2)

See also

MvConfig, Move(), Moves(), Movej(), Movea()

Elbow Wrist Rot4 Rot6 x:Free(0) A:Above(1) B:Below(2)

x:Free(0) N:Nflip(1) F:Flip(2)

x:Free(0) S:Single4(1) D:Double4(2)

TsRemoteLib.DLL MANUAL

x:Free(0) S:Single6(1) D:Double6(2)

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series Robot Controller

Gain enum

Enumeration for defining of robot motor status “GAIN”

Format

enum Gain

Value

OFF 0:off

ON 1:on

See also

MvConfig, Move(), Movea(), Moves(), Movej()

RunMode enum

Enumeration for defining the robot run status

Format

enum RunMode

Value

CONT 0: Indicates that the robot operation mode is CONT.

CYCLE 1: Indicates that the robot operation mode is CYCLE.

STEP 2: Indicates that the robot operation mode is STEP.

SEGMENT 3: Indicates that the robot operation mode is SEGMENT.

See also

TsRemoteLib.DLL MANUAL

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ErrorCode enum

Enumeration for defining the exception occurrence factor by exceptions

Format

enum ErrorCode

Value

ControllerNG 1: The controller returned “NG”.

CommunicationError 2: Communication error occurred.

NoCommand 3: The command parameter is invalid.

NoSerialportData 4: Data has not reached the serial port.

NoIP_PORTData 5: Data has not reached the Ethernet port.

TCPConnectTimeout 6: Timeout occurred in the Connect() method.

TCPError 7: Exception occurred in the internal processing of the Connect()

TCPDisConnect 8: The Ethernet port was disconnected.

TCPNotConnect 9: The Ethernet port is not connected.

TCPReadError 10: Exception occurred in the DDL internal NetworkStream.Read method.

TCPWriteError 11: Exception occurred in the DLL internal NetworkStream.Write method.

TCPNoData 12: Data could not be received.

TCPReceiveTimeout 13: Timeout occurred in the transmission/reception processing of TCP

IllegalIPAddresss 14: IP address setting error

IllegalStopbit 15: Stop bit setting error

IllegalDatabits 16: Data length setting error

IllegalCommType 17: Connection destination sett ing error

IllegalParam 18: The parameter specified in the argument is incorrect.

IllegalBps 19: Baud rate setting error

IllegalPortNo 20: Port number setting error

IllegalWatchDogInterval 21: WatchDog setting error

IllegalAlarmLevel 22: Alarm level setting error

CannotStartWatchdog 23: Move*() or DirectDo() was executed without WatchDog monitoring.

NotfoundDirectory 24: The specified directory does not exist in the PC.

NotFondFile 25: The specified file does not exist.

MoveStop 26: Move*() stopped in respon se to the STOP signal.

The Move*() method was executed while internal flag MoveStop is ON.

MoveBreak 27: Move*() stopped in response to the BREAK signal.

MoveTimeout 28: Move*() was terminated due to timeout.

CannotDoMove 29: Move*() or DirectDo() was executed without WatchDog monitoring.

See also

TsRemoteLib.DLL MANUAL

method.

communication.

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3.4 TsRemoteS Class Properties

TsRemote class is base class of the TsRemoteS and T sRemoteV class. The property of TsRemote class is succeeded to by TSRemoteS class /TSRemoteV class.

MvAccel TsRemote.property

Specifies/acquires the acceleration speed of the operation that is instructed by Move(), Moves(), Movej(), and Movea().

Format

MvAccel

Value

double 1.0~100000.0%(initial value:100)

Notice

If MvAccel is set to a value exceeding 100%, a motor overload alarm may occur for the operation

that involves significant movement distance.

See also

MvDecel, MvSpeed, MvConfig, Move(), Moves(), Movej(), Movea()

TsRemoteLib.DLL MANUAL

MvDecel TsRemote.property

Specifies/acquires the deceleration speed of the operation that is instructed by Move(), Moves(), Movej(), and Movea().

Format

MvDecel

Value

double 1.0~100000.0%(initial value: 100.0)

Notice

If MvDecel is set to a value exceeding 100%, a motor overload alarm may occur for the operation

that involves significant movements.

See also

MvAccel, MvSpeed, MvConfig, Move(), Moves(), Movej(), Movea()

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MvSpeed TsRemote.property

Specifies/acquires the speed of the operation that is instructed by Move(), Moves(), Movej(), and Movea().

Format

MvSpeed

Value

double 1.0~100.0%(initial value: 100)

Notice See also

MvAccel, MvSpeed, MvConfig, Move(), Moves(), Movej(), Movea()

TsRemoteLib.DLL MANUAL

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3.5 TsRemote Class Method

TsRemote class is base class of the TsRemoteS and T sRemoteV class. The method of TsRemote class is succeeded to by TSRemoteS class /TSRemoteV class.

Connect() TsRemote.method

Connects to the controller.

Format

bool Connect(int type)

Argument

int type Specify a connection type.

0:RS-232C(function not yet installed)

1:TCP/IP

Return value

bool true:Connect successful

false:Connect failed

Exceptions

TCPConnectTimeout Timeout occurred in the Connect() method.

NoIP_PORTData The IP address or port for TCP/IP has not been set

IllegalCommType Illegal connection type.Should be 0 for SerialPort,or 1 for TCP/IP

NoSerialportData The datas for serial communication h ave not been set

TCPError The error has occurred in the network

CommunicationError Communication Error

ControllerNG Command not accepted by controller

IllegalParam Illegal parameter

Notice

Connection under RS-232C(COM) is not supported.

See also

Disconnect()

TsRemoteLib.DLL MANUAL

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DeleteFile() TsRemote.method

Deletes the file that is stored in the robot controller.

Format

void DeleteFile(string filename)

Argument

string filename File name to be deleted from the robot controller

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG

Notice

DeleteFile deletes the file in the controller unconditionally. When confirmation is necessary, display

a conformation message by using an application.

See also

GetDir()

TsRemoteLib.DLL MANUAL

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DirectDo() TsRemote.method

Executes one line of program by using the direct execution function.

Format

void DirectDo(string command)

Argument

string command Program to be executed

Return value

None

Exceptions

MoveStop STOP signal during the Move command

CannotDoMove Move command can not be executed, because of watch dog not running

Notice

DirectDo() cannot be executed unless monitoring is executed by the WatchDogStart() method. Execution of DirectDo() is completed at the commencement of the execution of the program after the controller receives the command. Completion of program operation cannot be checked. Use the Move*() method to execute an operation command such as MOVE. When an event occurs due to the execution of EmergencyStop, SafetyStop, StopCommand, or BreakCommand, the DLL internal flag (MoveStop) is set to ON. If the DirectDo() method is executed while the internal flag (MoveStop) is ON, MoveStop exception occurs, thereby restraining the robot operation. ResetMove()re sets the internal flag, enabling the robot operation. Reset the operation after checking with the user through a dialog and so on.

See also

WatchDogStart(), ResetMove()

TsRemoteLib.DLL MANUAL

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Disconnect() TsRemote.method

Disconnects communication with the controller.

Format

bool Disconnect()

Argument

None

Return value

None

Exceptions

None

Notice

To terminate a customer-created application, terminate application after disconnecting the

communication with the controller by executing Disconnect().

See also

Connect()

TsRemoteLib.DLL MANUAL

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Dispose() TsRemote.method

Disposes of the TsRemoteS object.

Format

void Dispose()

Argument

None

Return value

None

Exceptions

None

Notice

See also

TsRemoteLib.DLL MANUAL

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GetAlarmHistory() TsRemote.method

Acquires alarm history.

Format

List<TsAlarm> GetAlarmHistory()

Argument

None

Return value

List<TsAlarm> Stores alarm history in the array of the TsAlarm object.

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

TsAlarm, GetCurrentAlarm()

TsRemoteLib.DLL MANUAL

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GetCurrentAlarm() TsRemote.method

Acquires the alarm that is currently occurring in the controller.

Format

List<TsAlarm> GetCurrentAlarm()

Argument

None

Return value

List<TsAlarm> Stores the alarm that is currently occurring in the controller in the array of the

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

TsAlarm

TsRemoteLib.DLL MANUAL

TsALarm object.

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GetDIn() TsRemote.method

Acquires the status of the specified input (Din).

Format

int GetDin(int dino)

Argument

int dino Specify a DIN number.

1~64: Standard input

101~164: Extended input

201~264: System input

301~364: FieldBus input

401~464: FieldBus input

Return value

int Input status

0:OFF

1:ON

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

GetDIO()

TsRemoteLib.DLL MANUAL

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GetDIO() TsRemote.method

Acquires the input/output status of the controller.

Format

TsDIO GetDIO()

Argument

None

Return value

TsDIO Acquires the input (DIN) and output (DOUT) statuses of the controller.

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

TsDIO,

TsRemoteLib.DLL MANUAL

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GetDir() TsRemote.method

Acquires the information of the files that are stored in the TS controller.

Format

List<TsFileInfo> GetDir()

Argument

None

Return value

List<TsFileInfo> Stores the information of the file that is stored in the controller in the array of

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

TsFileInfo

TsRemoteLib.DLL MANUAL

TsFileInfo object.

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GetDout() TsRemote.method

Acquires the alarm that is currently occurring in the TS controller.

Format

int GetDout(int dino)

Argument

int dino Specify a DOUT number.

1~64: Standard output

101~164: Extended output

201~264: System output

301~364: FileBus output

401~464: FileBus output

Return value

int Output status

0:OFF

1:ON

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

GetDIn(), SetDout()

TsRemoteLib.DLL MANUAL

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GetGlobalINT() TsRemote.method

References the value of the integer type global variable of the program that is currently selected.

Format

int GetGlobalINT(string name)

Argument

string name Name of the global variable

For an array variable, specify including the element number.

Return value

int Value of the integer type global variable that was obtained

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

See also

SetGlobalINT(), GetGlobalPoint(), GetGlobalPAYLOAD(), GetGlobalREAL(), GetGlobalTRANS()

TsRemoteLib.DLL MANUAL

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GetGlobalREAL() TsRemote.method

References the value of the real number type global variable of the program that is currently selected.

Format

float GetGlobalREAL(string name)

Argument

string name Name of the real number type global variable

For an array variable, specify the element.

Return value

float Value of the real number type global variable that was acquir ed

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

See also

GetGlobalINT(), GetGlobalPoint(), GetGlobalPAYLOAD(), SetGlobalREAL(), GetGlobalTRANS()

TsRemoteLib.DLL MANUAL

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GetHexIn() TsRemote.method

Acquires the status of input (DIN) with consecutive values from the specified output number.

Format

uint GetHexIn(int dino,int length)

Argument

Int dino First DIN number to be fetched consecutively

Int length Bit length for consecutive fetching

Return value

uint Value of DIN that was acquired

Example: DIN1=1,DIN2=0,DIN3=1,DIN4=0

The result of GetHexIn(1,4) is 5.

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

See also

GetDin(), SetHexOut()

TsRemoteLib.DLL MANUAL

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GetStatus() TsRemote.method

Acquires the robot status.

Format

TsStatus GetStatus()

Argument

None

Return value

TsStatus Acquired status

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

TsStatus, GetStatusAll()

TsRemoteLib.DLL MANUAL

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GetStatusMonitor() TsRemote.method

Acquires the status monitor value of the robot.

Format

TsStatusMonitor GetStatusMonitor()

Argument

None

Return value

TsStatusMonitor Acquired monitor value

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

Use this command to acquire the status when WatchDog is inactive.

In the normal DLL use, acquire the status through the event by performing mutual monitoring by

WatchDogStart().

Even if this command is issued, the controller status by the event cannot be acquired.

See also

WatchDocStart()

TsRemoteLib.DLL MANUAL

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GetSystemVersion() TsRemote.method

Acquires the system version of the TS controller.

Format

List<TsVersion> GetCTRLversion()

Argument

None

Return value

List<TsVersion> Stores the controller system version in the array of the TsVersion object.

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

TsVersion

TsRemoteLib.DLL MANUAL

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ProgramBreak() TsRemote.method

Stops the program execution for the robot immediately by BREAK.

Format

void ProgramBreak()

Argument

None

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

To detect ProgramBreak (stopping the operation) during execution of the Move*() method, perform

exception processing by using try-catch for the Move() method.

See also

ProgramStop()

TsRemoteLib.DLL MANUAL

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ProgramRun() TsRemote.method

Executes the selected program.

Format

void ProgramRun()

Argument

None

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

ProgramStop(), ProgramBreak()

TsRemoteLib.DLL MANUAL

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ProgramSelect() TsRemote.method

Selects a program.

Format

void ProgramSelect(string filename)

Argument

string filename Name of the file to be selected

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

GetDir(), ProgramRun()

TsRemoteLib.DLL MANUAL

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STE85409

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ProgramStop() TsRemote.method

Stops the program that is being executed.

Format

void ProgramStop()

Argument

None

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

To detect ProgramStop (stopping the operation) during execution of the Move*() method, perform

exception processing by using try-catch for the Move() method.

See also

ProgramRun(), ProgramBreak()

TsRemoteLib.DLL MANUAL

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ReceiveFile() TsRemote.method

Receives the file in the robot controller in the personal computer.

Format

void ReceiveFile(string filename, string fullpass)

Argument

string filename Name of the file to be received

string fullpass File storage location and name under which the received file is stored

Return value

None

Exceptions

NotfoundDirectory Directory is not found in PC

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

See also

SendFile(), GetDir()

TsRemoteLib.DLL MANUAL

- 57 -

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ResetALARM() TsRemote.method

Performs alarm reset.

Format

void ResetAlarm()

Argument

None

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepted by controller

Notice

See also

ResetCYCLE(), ResetPRG(), ResetMove(), ResetSELECT(), ResetSIGNAL(), ResetSTEP()

TsRemoteLib.DLL MANUAL

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ResetCYCLE() TsRemote.method

Sets the program to the executable state from the RCYCLE by resetting the execution environment except for the global variables of the selected program.

Format

void ResetCYCLE()

Argument

None

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepted by controller

Notice

See also

ResetALARM(), ResetPRG(), ResetMove(), ResetSELECT(), ResetSIGNAL(), ResetSTEP()

TsRemoteLib.DLL MANUAL

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ResetPRG() TsRemote.method

Resets the execution environment of the selected program.

Format

void ResetPRG()

Argument

None

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepted by controller

Notice

See also

ResetALARM(), ResetCYCLE(), ResetMove(), ResetSELECT(), ResetSIGNAL(), ResetSTEP()

TsRemoteLib.DLL MANUAL

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ResetMove() TsRemote.method

Enables the operation of the Move*() method by clearing the DLL internal flag (Move Stop) for the stopping of the robot operation,

Format

void ResetMove()

Argument

None

Return value

None

Exceptions

None

Notice

When an event occurs due to the EmergencyStop, SafetyStop, StopCommand, or

BreakCommand during the mutual monitoring by WatchDogSt art(), the DLL internal flag (MoveStop)

is set to ON.

If the Move*() or DirectDo() method is executed while the internal flag (MoveStop) is ON, MoveStop

exception occurs, thereby inhibiting the robot operati on. ResetMove() enables the robot operation

by resetting the internal flag. Reset the state by checking with the user through a dialog and so on.

See also

WatchDocS t art(), TsStatusMonitor, Move(), Movea(), Movej(), Moves(),

TsRemoteLib.DLL MANUAL

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ResetSELECT() TsRemote.method

Resets the program selection.

Format

void ResetSELECT()

Argument

None

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepted by controller

Notice

See also

ResetALARM(), ResetCYCLE(), ResetPRG(), ResetMove(), ResetSIGNAL(), ResetSTEP()

TsRemoteLib.DLL MANUAL

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ResetSIGNAL() TsRemote.method

Resets the output signal of the robot.

Format

void ResetSIGNAL()

Argument

None

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepted by controller

Notice

See also

ResetALARM(), ResetCYCLE(), ResetPRG(), ResetMove(), ResetSIGNAL(), ResetSTEP()

TsRemoteLib.DLL MANUAL

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ResetSTEP() TsRemote.method

Enables execution of the selected program by resetting the execution enviro nment except for the global variables of the program.

Format

void ResetSTEP()

Argument

None

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepted by controller

Notice

See also

ResetALARM(), ResetCYCLE(), ResetPRG(), ResetMove(), ResetSELECT(), ResetSIGNAL()

TsRemoteLib.DLL MANUAL

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SendFile() TsRemote.method

Sends the file in the personal computer to the robot controller.

Format

void SendFile(string filename, string fullpass)

Argument

string filename Name under which the file that is sent is to be stored in the controller

string fullpass Directory and file name to be sent

Return value

None

Exceptions

NotFondFile File is not found

TCPNotConnect Net work is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

See also

ReceiveFile()

TsRemoteLib.DLL MANUAL

- 65 -

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ServoOff() TsRemote.method

Sets the servo to OFF.

Format

void ServoOff()

Argument

None

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

ServoOn()

TsRemoteLib.DLL MANUAL

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ServoOn() T sRemote.method

Sets the servo to ON.

Format

void ServoOn()

Argument

None

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

ServoOff()

TsRemoteLib.DLL MANUAL

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SetComPort() TsRemote.method

Sets the parameters of the COM port.

Format

bool SetComPort(string portNo,int bps,int bit, int parity,int stop)

Argument

string portNo COM port number

int32 bps Transfer speed

int bit Number of bits per character (7 or 8)

int parity Parity (0: None, 1: Even number, 2: Odd number)

int stop Stop bit (1: Stop bit 1)

Return value

bool true: Successful

false: Failed

Exceptions

IllegalStopbit Illegal stopbits.Should be 0,1,or 2

IllegalDatabits Illegal databits.Should be 7 or 8

IllegalBps Illegal baud rate. Should be between 1200 to 115200

IllegalPortNo Illegal port No.

Notice

SetComPort() is used for function extension and currently the function has not been installed.

See also

TsRemoteLib.DLL MANUAL

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SetDout() TsRemote.method

Acquires the input (DOUT) status.

Format

void SetDOut(int dono, int setdata)

Argument

Int dono DOUT number

Int setdata 0:OFF

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

See also

GetDout()

TsRemoteLib.DLL MANUAL

1:ON

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SetGlobalINT() TsRemote.method

Sets the value of the integer type global variable of the program that is currently selected.

Format

void SetGlobalINT(string name, int restore,int val )

Argument

string name Name of the global variable

When specifying an array variable, include the elem ent number also.

Int restore Set whether RESTORE (change of the initi al value of the program file) is

0: Not performed

1: Performed

Int val Value to be set

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

GetGlobalINT(), SetGlobalPoint(), SetGlobalPAYLOAD(), SetGlobalREAL(), SetGlobalTRANS()

TsRemoteLib.DLL MANUAL

performed or not.

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SetGlobalREAL() TsRemote.method

Sets the value of the program real number type global variable of the program that is currently selected.

Format

void SetGlobalREAL(string name,int restore,double val )

Argument

string name Name of the global variable

When specifying an array variable, include the elem ent number also.

Int restore Set whether RESTORE (change of the initi al value of the program file) is

0: Not performed

1: Performed

double val Value to be set

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

SetGlobalINT(), SetGlobalPoint(), SetGlobalPAYLOAD(), GetGlobalREAL(), SetGlobalTRANS()

TsRemoteLib.DLL MANUAL

performed or not.

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SetHexOut() TsRemote.method

Sets consecutive numbers starting from the specified output numbers.

Format

void SetHexOut(int dono,int length,uint value)

Argument

Int dino First DOUT number to be set consecutively

Int length Bit length to be fetched consecutively (1~32)

Int value Set value

Example: The result of SetHexOut(1,4,5) is DOUT1=1, DOUT2=0,

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

See also

GetHexIn()

TsRemoteLib.DLL MANUAL

DOUT3=1, DOUT4=0.

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SetIPaddr() TsRemote.method

Sets Ethernet connection.

Format

bool SetIPaddr(int openmode,string destAddr,int destPort,int srcPort)

Argument

Int openmode 0:Server(not installed)

1:Client

string destAddr IP address of the connection destination (robot controller)

Use a character string such as “192.168.0.100”.

Int destPort Port number of the connection destination (robot controller)

Int srcPort Port number of the connection source (personal computer)

Return value

bool true: Successful

false: Failed

Exceptions

IllegalIPAddress Illegal IP Address

Notice

The Server function is not currently supported.

See also

Connect()

TsRemoteLib.DLL MANUAL

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SetOVRD() TsRemote.method

Sets override.

Format

void SetOVRD(int override )

Argument

Int override Override setting valu e (1 to 100)

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

The override that is set is inherited even if the master mode is changed.

See also

GetOVRD()

TsRemoteLib.DLL MANUAL

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SetRunMode() TsRemote.method

Sets RUNMODE (run mode).

Format

void SetRunMode(RunMode mode)

SetRunMode(int mode)

void

Argument

RunMode mode Specify RUNMODE with RunMode enumeration.

Int mode Set RUNMODE using one of the following values.

0: The robot operation mode is CONT.

1: The robot operation mode is CYCLE.

2: The robot operation mode is STEP.

3: The robot operation mode is SEGMENT.

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

See also

TsRemoteLib.DLL MANUAL

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WatchDogStart() TsRemote.method

Starts mutual monitoring between the controller and PC.

Format

void WatchDogStart(int intervalTime,int timeOut,int alarmLevel )

Argument

Int intervalTime Communication interval of mutual monitoring (100 to 1000msec)

Int timeOut Time to produce time-out alarm in mutual monitoring

Int alarmLevel Alarm that is issued when a problem occurs in mutual monitoring

0: No alarm

1:1-200 Host Port Time Out

Message only (The robot does not stop)

2:2-137 Host Port Time Out

Stops when the operation that is currently performed reaches the target point.

8:8-352 Host Port Time Out

Stops immediately.

Return value

None

Exceptions

IllegalWatchDogInterval Illegal watchdog monitoring interval.Should be between 0 to 9999

IllegalAlarmLevel Illegal alarm level.Should be 0 or 1 or 2 or 8

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

To execute Move(), Movea(), Movej(), Moves() and DirectDo() method, mutual monitoring must be

enabled.

See also

WatchDogStop()

TsRemoteLib.DLL MANUAL

(Set time more than twice intervalTime)

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WatchDogStop() TsRemote.method

Stops mutual monitoring between the controller and PC.

Format

void WatchDogStop()

Argument

None

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

WatchDogStart()

TsRemoteLib.DLL MANUAL

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3.6 TsRemoteS Class property

MvConfig TsRemoteS.property

Specifies/acquires the configuration (posture) of the SCARA robot operation that is instructed by Move(), Moves(), Movej(), and Movea().

Format

MvConfigS

Value

enum ConfigS ConfigS.FREE: Sets the configuration (posture) of SCARA robot to FREE.

ConfigS.LEFTY: Sets the configuration (posture) of SCARA robot to LEFTY.

ConfigS.RIGHTY: Sets the configuration (posture) of SCARA robot to

Notice

The MvConfig property value has the priority over the configuration that is specified in the Move*()

method.

To specify configuration in the Move*() operation instruction, set the Mv Config property value to

FREE.

See also

TsRemoteLib.DLL MANUAL

RIGHTY.

MvTool TsRemoteS.property

Tool coordinate of the SCARA robot operation that is instructed by Move(), Moves(), Movej(), and Movea().

Format

MvTool

Value

TsTransS Specify the set value with TsTransS.

Notice

See also

MvAccel,MvSpeed,MvConfig,Move(),Moves(),Movej(),Movea()

MvWork TsRemoteS.property

Work coordinate of the SCARA robot operation that is instructed by Move(), Moves(), Movej(), and Movea().

Format

MvWork

Value

TsTransS Specify the set value with TsTransS.

Notice

See also

MvAccel,MvSpeed,MvConfig,Move(),Moves(),Movej(),Movea()

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3.7 TsRemoteS Class Method

GetGlobalPOINT() TsRemoteS.method

References the value of the point type global variable of the program that is currently selected.

Format

TsPointS GetGlobalPOINT(string name)

Argument

string name Name of the point type global variable (teaching poi nt)

For an array variable, specify the element.

Return value

TsPointS Value of the point type global variable that was acquired

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

See also

TsPointS, GetGlobalINT(), SetGlobalPoint(), GetGlobalPAYLOAD(),GetGlobalREAL(),

GetGlobalTRANS()

TsRemoteLib.DLL MANUAL

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GetGlobalPAYLOAD() TsRemoteS.method

References the value of the load type global variable of the program that is currently selected.

Format

TsPayloadS GetGlobalPAYLOAD(string name)

Argument

string name Name of the load type global variable

For an array variable, specify the element.

Return value

TsPayloadS Value of the load type global variable that was acquired

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

See also

TsPayload, GetGlobalINT(), GetGlobalPoint(), SetGlobalPAYLOAD(), GetGlobalREAL(),

GetGlobalTRANS()

TsRemoteLib.DLL MANUAL

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GetGlobalTRANS() TsRemoteS.method

References the value of the coordinate type global variable of the program that is currently selected.

Format

TsTransS GetGlobalTRANS(string name)

Argument

string name Name of the standard type global variable

For an array variable, specify the element.

Return value

TsTransS Value of the coordinate type global variable that was acquired

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

See also

TsTransS, GetGlobalINT(), GetGlobalPoint(), GetGlobalPAYLOAD(), GetGlobalREAL(),

SetGlobalTRANS()

TsRemoteLib.DLL MANUAL

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GetPsnCmdJoint() TsRemoteS.method

Acquires the current robot position (command) in terms of the joint angle.

Format

TsJointS GetPsnCmdJoint()l

Argument

None

Return value

TsJointS Joint angle of SCARA robot

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

GetPsnCmdWork(), GetPsnCmdWorld(), GetPsnFbkJoint(), GetPsnFbkWork(), GetPsnFbkWorld()

TsRemoteLib.DLL MANUAL

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GetPsnCmdWork() TsRemoteS.method

Acquires the current robot position (command position) in terms of the work coordinate position.

Format

TsPointS GetPsnCmdWork()

Argument

None

Return value

TsPointS Work coordinate point of SCARA robot

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

TsPointS, GetPsnCmdJoint(), GetPsnCmdWorld(), GetPsnFbkJoint(), GetPsnFbkWork()

GetPsnFbkWorld()

TsRemoteLib.DLL MANUAL

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GetPsnCmdWorld() TsRemoteS.method

Acquires the current robot point (command position) in terms of the world coordinate position.

Format

TsPointS GetPsnCmdWorld()

Argument

None

Return value

TsPointS World coordinate position of SCARA robot

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

TsPointS, GetPsnCmdJoint(), GetPsnCmdWork(), GetPsnFbkJoint(), GetPsnFbkWork()

GetPsnFbkWorld()

TsRemoteLib.DLL MANUAL

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STE85409

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GetPsnFbkJoint() TsRemoteS.method

Acquires the current robot position (feedback) in terms of the joint angle.

Format

TsJointS GetPsnFbkJoint()

Argument

None

Return value

TsJointS Joint angle of SCARA robot (calculated from the motor angle)

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

TsJointS, GetPsnCmdJoint(), GetPsnCmdWork(), GetPsnCmdWorld(), GetPsnFbkWork()

GetPsnFbkWorld()

TsRemoteLib.DLL MANUAL

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STE85409

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GetPsnFbkWork() TsRemoteS.method

Acquires the current robot position (feedback) in terms of the work coordinate position.

Format

TsPointS GetPsnFbkWork()

Argument

None

Return value

TsPointS Work coordinate position of SCARA robot (calculated from the motor angle)

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

TsPointS, GetPsnCmdJoint(), GetPsnCmdWork(), GetPsnCmdWorld(), GetPsnFbkJoint()

GetPsnFbkWorld()

TsRemoteLib.DLL MANUAL

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STE85409

series Robot Controller

GetPsnFbkWorld() TsRemoteS.method

Acquires the current robot position (feedback) in terms of the world coordinate position.

Format

TsPointS GetPsnFbkWorld()

Argument

None

Return value

TsPointS World coordinate position of SCARA robot (calculated from the motor angle)

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

TsPointS, GetPsnCmdJoint(), GetPsnCmdWork(), GetPsnCmdWorld(), GetPsnFbkJoint()

GetPsnFbkWork()

TsRemoteLib.DLL MANUAL

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GetStatusAll() TsRemoteS.method

Acquires all the statuses of the SCARA robot.

Format

TsStatusAllS GetStatusAll()

Argument

None

Return value

TsStatusAllS Acquired statuses of SCARA robot

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

TsStatusAllS , GetStatus()

TsRemoteLib.DLL MANUAL

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STE85409

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GetVelocJoint() TsRemoteS.method

Acquires the current robot command speed in terms of the joint angle.

Format

TsJointS GetVelocJoint()

Argument

None

Return value

TsJointS Speed of each joint of SCARA robot

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

TsJoint, GetVelocWorld()

TsRemoteLib.DLL MANUAL

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STE85409

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GetVelocWorld() TsRemoteS.method

Acquires the current command speed of the robot in terms of the speed of the world coordinate elements.

Format

TsPointS GetVelocWorld()

Argument

None

Return value

TsPointS Speed of SCARA robot (calculated based on the X, Y, Z, and C components)

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

TsPointS, GetVelocJoint()

TsRemoteLib.DLL MANUAL

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STE85409

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Move() TsRemoteS.method

Moves the SCARA robot to the specified point.

Format

Move(double x, double y, double z, double c, double t, int config)

Move(TsPointS point)

Move(TsPointS point,double px, double py, double pz, double pc, double pt)

Move(TsPointS point,TsPointS offset)

Move(string pointName)

Move(string pointName,double px, double py, double pz, double pc, double pt)

Move(string pointName,TsPointS offset)

Argument

double x X coordinate target point

double y Y coordinate target point

double z Z coordinate target point

double c C coordinate target point

double t T coordinate target point

Ts PointS po int Target point

double px Offset value to be added to the X coordinate target point

double py Offset value to be added to the Y coordinate target point

double pz Offset value to be added to the Z coordinate target point

double pc Offset value to be added to the C coordinate target point

double pt Offset value to be added to the T coordinate target point

Ts PointS offset Offset value to be added to the target point

string pointName Name of the point that is registered in the selected program

Return value

None

Exceptions

MoveStop STOP signal during the Move command

MoveBreak BREAK signal during the Move command

MoveTimeout Move command execution timed out

CannotDoMove Move command can not be executed, because of watch dog not running

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

Move() cannot be executed unless monitoring is performed by the WatchDogStart() method.

To detect BREAK or STOP (stopping the operation) during execution of Move(), perform exception

processing by using try-catch.

See also

WatchDogStart(), ResetMove(), Movea(), Movej(), Moves(), TsPoint

TsRemoteLib.DLL MANUAL

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Movea() TsRemoteS.method

Moves the joint axis of the SCARA robot to the specified position.

Format

void Movea(int joint_no,double position)

Argument

int joint_no Joint number(1-5) to be moved

double position Target position (angle)

Return value

None

Exceptions

MoveStop STOP signal during the Move command

MoveBreak BREAK signal during the Move command

MoveTimeout Move command execution timed out

CannotDoMove Move command can not be executed, because of watch dog not running

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

Move() cannot be executed unless monitoring is performed by the WatchDogStart() method.

To detect BREAK or STOP (stopping the operation) during execution of Move(), perform exception

processing by using try-catch.

See also

WatchDogStart(), ResetMove(), Movea(), Movej(), Moves()

TsRemoteLib.DLL MANUAL

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Movej() TsRemoteS.method

Moves the SCARA robot to the specified point with an arch motion.

Format

void Movej(double x, double y, double z, double c, double t, int config,

void Movej(TsPointS point,double l1,double l2 double l3)

void Movej(TsPointS point,TsPointS offset,double l1,double l2 double l3)

void Movej(string pointName,double l1,double l2 double l3)

void Movej(string pointName,TsPointS offset,double l1,double l2 double l3)

Argument

double x X coordinate target point

double y Y coordinate target point

double z Z coordinate target point

double c C coordinate target point

double t T coordinate target point

Ts PointS po int Target point

double l1 Refuge movement distance

double l2 Single-axis movement distance 1

double l3 Single-axis movement distance 2

Ts PointS offset Offset value to be added to the target point

string pointName Name of the point that is registered in the selected program

Return value

None

Exceptions

MoveStop STOP signal during the Move command

MoveBreak BREAK signal during the Move command

MoveTimeout Move command execution timed out

CannotDoMove Move command can not be executed, because of watch dog not running

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

Move() cannot be executed unless monitoring is performed by the WatchDogStart() method.

To detect BREAK or STOP (stopping the operation) during execution of Move(), perform exception

processing by using try-catch.

See also

WatchDogStart(), Move(), ResetMove(), Movea(), Moves(), TsPointS

TsRemoteLib.DLL MANUAL

double l1,double l2,double l3)

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Moves() TsRemoteS.method

Moves the SCARA robot to the specified point with linear interpolation.

Format

void Moves(double x, double y, double z, double c, double t, int config)

void Moves(TsPointS point)

void Moves(TsPointS point,double px, double py, double pz, double pc, double pt)

void Moves(TsPointS point,tsPointS offset)

void Moves(string pointName)

void Moves(string pointName,double px, double py, double pz, double pc, double pt)

void Moves(string pointName,TsPointS offset)

Argument

double x X coordinate target point

double y Y coordinate target point

double z Z coordinate target point

double c C coordinate target point

double t T coordinate target point

Ts PointS po int Target point

double px Offset value to be added to the X coordinate target point

double py Offset value to be added to the Y coordinate target point

double pz Offset value to be added to the Z coordinate target point

double pc Offset value to be added to the C coordinate target point

double pt Offset value to be added to the T coordinate target point

Ts PointS offset Offset value to be added to the target point

string pointName Name of the point that is registered in the selected program

Return value

None

Exceptions

MoveStop STOP signal during the Move command

MoveBreak BREAK signal during the Move command

MoveTimeout Move command execution timed out

CannotDoMove Move command can not be executed, because of watch dog not running

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

Move() cannot be executed unless monitoring is performed by the WatchDogStart() method.

To detect BREAK or STOP (stopping the operation) during execution of Move(), perform exception

processing by using try-catch.

See also

WatchDogStart(), Move(), ResetMove(), Movea(), Movej(), TsPointS

TsRemoteLib.DLL MANUAL

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SetGain() TsRemoteS.method

Sets the gain of each axis of the robot (servo control) to ON/OFF.

Format

void SetGain(int j1,int j2, int j3, int j4, int j5)

Argument

Int j1 Servo gain of the 1

Int j2 Servo gain of the 2

Int j3 Servo gain of the 3

Int j4 Servo gain of the 4

Int j5 Servo gain of the 5

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

SetGain() changes the gain at the following operation (Move*()).

See also

TsRemoteLib.DLL MANUAL

joint (0:OFF 1:ON)

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SetGlobalPOINT() TsRemoteS.method

Sets the value of the program point type global variable of the program that is currently selected.

Format

void SetGlobalPoint(string name,int restore,double x, double y, double z,

voidSetGlobalPoint(string name,int restore,TsPointS point)

Argument

string name Name of the global variable

When specifying an array variable, include the elem ent number also.

Int restore Set whether RESTORE (change of the initi al value of the program file) is

0: Not performed

1: Performed

double x Value set for X

double y Value set for Y

double z Value set for Z

double c Value set for C

double t Value set for T

ConfigS config Value set for Config

FREE: Free

LEFTY: Left hand system

RIGHTY: Right hand system

Ts PointS po int Specify the set value with TsPointS.

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

TsPointS, SetGlobalINT(), GetGlobalPoint(), SetGlobalPAYLOAD(), SetGlobalREAL()

SetGlobalTRANS()

TsRemoteLib.DLL MANUAL

double c, double t, ConfigS config)

performed or not.

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SetGlobalPYLOAD() TsRemoteS.method

Sets the value of the program load type global variable of the program that is currently selected.

Format

SetGlobalPYLOAD(string name,int restore,double m,double l)

SetGlobalPYLOAD(string name,int restore,TsPayloadS payload)

Argument

string name Name of the global variable

When specifying an array variable, include the elem ent number also.

Int restore Set whether RESTORE (change of the initi al value of the program file) is

0: Not performed

1: Performed

double m Weight to be set(Kg)

double l Offset value to be set(mm)

TsPayloadS payload Specify the set value with TsPayLoadS.

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

SetGlobalINT(), SetGlobalPoint(), GetGlobalPAYLOAD(), SetGlobalREAL(), SetGlobalTRANS()

TsRemoteLib.DLL MANUAL

performed or not.

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SetGlobalTRANS() TsRemoteS.method

Sets the value of the coordinate type global variable of the program that is currently selected.

Format

void SetGlobalTRANS(string name,int restore,double x,double y,double z,double c)

void SetGlobalTRANS(string name,int restore,TsTransS trans)

Argument

string name Name of the coordinate type global variable

When specifying an array variable, include the elem ent number also.

Int restore Set whether RESTORE (change of the initi al value of the program file) is

0: Not performed

1: Performed

double x Value set for X

double y Value set for Y

double z Value set for Z

double c Value set for C

TsTransS trans Specify the set value with TsTransS.

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

Notice

See also

SetGlobalINT(), SetGlobalPoint(), SetGlobalPAYLOAD(), SetGlobalREAL(), GetGlobalTRANS()

TsRemoteLib.DLL MANUAL

performed or not.

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SetPayload() TsRemoteS.method

Sets the load data of the SCARA robot.

Format

void SetPayload(double m, double l)

void SetPayload(TsPayloadS payload)

Argument

double m Load data (Weight Kg)

double l Load data (Offset of center of gravity mm)

TsPayloadS payload Specify the set value with TsPayLoadS.

Return value

None

Exceptions

TCPNotConnect Network is not connected

CommunicationError Communication Error

ControllerNG Command not accepte d b y controller

IllegalParam Illegal parameter

Notice

The load information that is set is inherited even if the master mode is changed.

To clear load data, specify SetPayload(0,0).

See also

TsRemoteLib.DLL MANUAL

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STE85409

Toshiba TS3000 Series, TS3000, TS3100, TSL3000 Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual