Surface Finishing

Polish

Polish

Primitive Description and Usage

Description: This primitive provides high-accuracy hybrid motion/force control along user-specified trajectories. You can use the trajectory edited in the Trajectory Editor, and add entry and exit trajectories on top of the existing trajectory to smooth transition and reduce impact.
Example Usage: Use this primitive for flat or curved surface polishing and sanding. It can also be used for deburring.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
trajFileName*	Trajectory file name	FILE	none	[.traj]
targetTolerLevel	Tolerance level to determine if the robot has reached the target. 1 means to check with the smallest tolerance, 0 means no tolerance check.	INT	none	0 ∈ [0 … 25]
forceCoord	Reference coordinate system for force control direction	COORD	m-deg	0 0 0 0 0 0 TCP ONLINE ∈ [world* tcp_start* tcp*]
forceAxis	Activated axes of force control coordinate system to apply force or torque	VEC_6i	none	0 0 1 0 0 0 ∈ [0 0 0 0 0 0 … 1 1 1 1 1 1]
ILCEnableType	The ILC enabling type: Disable, Enable, Training, Restart	TYPE	none	ILC_Disable ∈ [ILC_Disable ILC_Enable ILC_Training ILC_Restart]
ILCFileName	Name of the ILC file	STRING	none	ilcFile
angVel	TCP angular velocity	DOUBLE	deg/s	150.0 ∈ [10.0 … 500.0]
enableFixRefJntPos	Flag to indicate if fixed reference joint position is enabled. If this parameter is set to TRUE, the primitive will use the value of parameter [refJntPos] as the fixed joint reference position instead of the reference joint position of each waypoint during execution.	BOOL	none	0 ∈ [0 / 1]
refJntPos	Reference target joint positions. When the robot moves in Cartesian space, each joint will move as close as possible toward the reference position.	JPOS	deg	0.0 -40.0 0.0 90.0 0.0 40.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
configOptObj	Weights of three configuration optimization objectives during robot motion, which respectively are to make the robot easier to translate in Cartesian space, easier to rotate in Cartesian space, and closer to the reference joint position.	VEC_3d	none	0.0 0.0 0.5 ∈ [0.0 0.0 0.1 … 1.0 1.0 1.0]
enableForceAutoRot	Flag to indicate if the automatic rotation of force control axis is enabled. If enabled, the force control axis will always be perpendicular to the path forward direction of the trajectory and the [forceRotAxis]. The parameter [forceAxis] should be set to [0, 1, 0, 0, 0, 0].	BOOL	none	0 ∈ [0 / 1]
forceRotAxis	Rotation axis of the force control coordinate system	VEC_3d	none	0 0 -1 ∈ [-1 -1 -1 … 1 1 1]
enableContactAngle	Enable the contact angle	BOOL	none	0 ∈ [0 / 1]
contactAngle	Tilting angle of the polishing tool along the rotation axis of TCP coordinate system	DOUBLE	deg	0.0 ∈ [-45.0 … 45.0]
contactRotAxis	Rotation axis of TCP coordinate system	VEC_3d	none	0.0 0.0 0.0 ∈ [-1.0 -1.0 -1.0 … 1.0 1.0 1.0]
contactRotRadius	Rotation radius along the rotation axis. The contact point is defined by the rotation radius and rotation axis.	DOUBLE	m	0.0 ∈ [0.0 … 0.3]
enableTrajOverlay	Enable the trajectory overlay function to overlay the wave trajectory on the taught trajectory.	BOOL	none	0 ∈ [0 / 1]
overlaidTrajType	Overlaid trajectory type. 0 means sine wave; 1 means helix wave.	INT	none	0 ∈ [0 … 1]
amplitude	Amplitude of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.02 ∈ [0 … 0.2]
pitch	Pitch of the helix wave trajectory	DOUBLE	m	0.06 ∈ [0 … 0.2]
lineSpace	Wavelength of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.04 ∈ [0 … 0.2]
enableTransLimit	Enable TCP displacement limit in the translation (force control) direction after performing contact	BOOL	none	0 ∈ [0 / 1]
maxTransDisp	Maximum TCP displacement in the translation (force control) direction after performing contact	DOUBLE	m	0.5 ∈ [0.0 … 1.0]
minTransDisp	Minimum TCP displacement in the translation (force control) direction after performing contact	DOUBLE	m	-0.5 ∈ [-1.0 … 0.0]
enableOrientLimit	Enable TCP rotation limit in the orientation direction after performing contact. Note: If enabled, only one translation axis and its orthogonal axes should be set for the parameter [forceAxis] (e.g. [0, 0, 1, 1, 1, 0]).	BOOL	none	0 ∈ [0 / 1]
toolRadius	Polish tool radius	DOUBLE	m	0.06 ∈ [0.03 … 0.2]
maxOrientAngle	Maximum rotation angle in the orientation direction after performing contact	DOUBLE	deg	10.0 ∈ [0.1 … 90.0]
stiffScale	Robot stiffness scale during motion. The lower the stiffness scale, the more compliant the motion.	VEC_6d	none	1.0 1.0 1.0 1.0 1.0 1.0 ∈ [0.01 0.01 0.01 0.01 0.01 0.01 … 1.0 1.0 1.0 1.0 1.0 1.0]
enableMaxWrench	Flag to indicate if maximum contact wrench is enabled in each Cartesian direction: X, Y, Z, Rx, Ry, Rz	VEC_6i	none	0 0 0 0 0 0 ∈ [0 0 0 0 0 0 … 1 1 1 1 1 1]
maxContactWrench	Maximum contact wrench allowed for static collision along Fx, Fy, Fz, Mx, My, Mz	VEC_6d	N	150.0 150.0 150.0 40.0 40.0 40.0 ∈ [5.0 5.0 5.0 1.0 1.0 1.0 … 150.0 150.0 150.0 40.0 40.0 40.0]
maxVelForceDir	Maximum movement velocity along force control direction	VEC_3d	m/s	2.0 2.0 2.0 ∈ [0.005 0.005 0.005 … 2.0 2.0 2.0]

*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.

*Coordinate System Definition

Coordinate	Definition	Value Format
world	WORLD coordinate system, which is a fixed Cartesian coordinate system located at the center of the robot base	X Y Z Rx Ry Rz WORLD WORLD_ORIGIN
work	WORK coordinate system, which defines the position of the workpiece relative to the WORLD coordinate system	X Y Z Rx Ry Rz WORK WorkCoordName
tcp	TCP coordinate system, which is located at the Tool Center Point relative to the center of robot flange	X Y Z Rx Ry Rz TCP ONLINE
tcp_start	The fixed coordinate system which is located at the initial TCP pose of the primitive	X Y Z Rx Ry Rz TCP START
traj_start	The offset of a waypoint relative to the initial TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ START
traj_goal	The offset of a waypoint relative to the target TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ GOAL
traj_prev	The offset of a waypoint relative to the previous waypoint in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ PREVIOUSWAYPOINT

You can use the simplified value format above to describe a waypoint, while the complete description of a Cartesian waypoint is: X Y Z Rx Ry Rz ReferenceCoordinate A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the preferred joint positions of the robot; X1 to X6 are the target positions of external axes. The additional data can be added if necessary.
Add “:” to separate the waypoints. For example: 0.2 0 0.3 0 180 0 WORLD WORLD_ORIGIN : 0.2 0.1 0.3 0 180 0 WORLD WORLD_ORIGIN.

*Robot Joint Position Description

The complete description of a joint waypoint (JPOS) is: A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the joint positions of the robot; X1 to X6 are the positions of external axes. You can only set the robot joint positions if external axes do not exist. For example: {jnt_def_1}.
Add “:” to separate the waypoints. For example: {jnt_def_2}.

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
reachedTarget	Flag to indicate if the robot has reached the target	BOOL	none
waypointIndex	Index of the current waypoint the robot just passed. 0 means the initial pose.	INT	none

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
reachedTarget	=	1

Grind

Grind

Primitive Description and Usage

Description: This primitive is similar to Polish but with higher motion stiffness. You can use the trajectory edited in the Trajectory Editor, add entry and exit trajectories on top of the existing trajectory to smooth transition and reduce impact, and set the TCP displacement in the force control direction to prevent the trajectory from deviating from the desired area.
Example Usage: Use this primitive for heavy-duty grinding tasks. The typical tools that work with this primitive are angle and straight electric grinders.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
trajFileName*	Trajectory file name	FILE	none	[.traj]
targetTolerLevel	Tolerance level to determine if the robot has reached the target. 1 means to check with the smallest tolerance, 0 means no tolerance check.	INT	none	0 ∈ [0 … 25]
forceCoord	Reference coordinate system for force control direction	COORD	m-deg	0 0 0 0 0 0 TCP ONLINE ∈ [world* tcp_start* tcp*]
forceAxis	Activated axes of force control coordinate system to apply force or torque	VEC_6i	none	0 0 1 0 0 0 ∈ [0 0 0 0 0 0 … 1 1 1 1 1 1]
ILCEnableType	The ILC enabling type: Disable, Enable, Training, Restart	TYPE	none	ILC_Disable ∈ [ILC_Disable ILC_Enable ILC_Training ILC_Restart]
ILCFileName	Name of the ILC file	STRING	none	ilcFile
angVel	TCP angular velocity	DOUBLE	deg/s	150.0 ∈ [10.0 … 500.0]
enableFixRefJntPos	Flag to indicate if fixed reference joint position is enabled. If this parameter is set to TRUE, the primitive will use the value of parameter [refJntPos] as the fixed joint reference position instead of the reference joint position of each waypoint during execution.	BOOL	none	0 ∈ [0 / 1]
refJntPos	Reference target joint positions. When the robot moves in Cartesian space, each joint will move as close as possible toward the reference position.	JPOS	deg	0.0 -40.0 0.0 90.0 0.0 40.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
configOptObj	Weights of three configuration optimization objectives during robot motion, which respectively are to make the robot easier to translate in Cartesian space, easier to rotate in Cartesian space, and closer to the reference joint position.	VEC_3d	none	0.0 0.0 0.5 ∈ [0.0 0.0 0.1 … 1.0 1.0 1.0]
enableForceAutoRot	Flag to indicate if the automatic rotation of force control axis is enabled. If enabled, the force control axis will always be perpendicular to the path forward direction of the trajectory and the [forceRotAxis]. The parameter [forceAxis] should be set to [0, 1, 0, 0, 0, 0].	BOOL	none	0 ∈ [0 / 1]
forceRotAxis	Rotation axis of the force control coordinate system	VEC_3d	none	0 0 -1 ∈ [-1 -1 -1 … 1 1 1]
enableContactAngle	Enable the contact angle	BOOL	none	0 ∈ [0 / 1]
contactAngle	Tilting angle of the polishing tool along the rotation axis of TCP coordinate system	DOUBLE	deg	0.0 ∈ [-45.0 … 45.0]
contactRotAxis	Rotation axis of TCP coordinate system	VEC_3d	none	0.0 0.0 0.0 ∈ [-1.0 -1.0 -1.0 … 1.0 1.0 1.0]
contactRotRadius	Rotation radius along the rotation axis. The contact point is defined by the rotation radius and rotation axis.	DOUBLE	m	0.0 ∈ [0.0 … 0.3]
enableTrajOverlay	Enable the trajectory overlay function to overlay the wave trajectory on the taught trajectory.	BOOL	none	0 ∈ [0 / 1]
overlaidTrajType	Overlaid trajectory type. 0 means sine wave; 1 means helix wave.	INT	none	0 ∈ [0 … 1]
amplitude	Amplitude of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.02 ∈ [0 … 0.2]
pitch	Pitch of the helix wave trajectory	DOUBLE	m	0.06 ∈ [0 … 0.2]
lineSpace	Wavelength of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.04 ∈ [0 … 0.2]
enableTransLimit	Enable TCP displacement limit in the translation (force control) direction after performing contact	BOOL	none	0 ∈ [0 / 1]
maxTransDisp	Maximum TCP displacement in the translation (force control) direction after performing contact	DOUBLE	m	0.5 ∈ [0.0 … 1.0]
minTransDisp	Minimum TCP displacement in the translation (force control) direction after performing contact	DOUBLE	m	-0.5 ∈ [-1.0 … 0.0]
enableOrientLimit	Enable TCP rotation limit in the orientation direction after performing contact. Note: If enabled, only one translation axis and its orthogonal axes should be set for the parameter [forceAxis] (e.g. [0, 0, 1, 1, 1, 0]).	BOOL	none	0 ∈ [0 / 1]
toolRadius	Polish tool radius	DOUBLE	m	0.06 ∈ [0.03 … 0.2]
maxOrientAngle	Maximum rotation angle in the orientation direction after performing contact	DOUBLE	deg	10.0 ∈ [0.1 … 90.0]
stiffScale	Robot stiffness scale during motion. The lower the stiffness scale, the more compliant the motion.	VEC_6d	none	1.0 1.0 1.0 1.0 1.0 1.0 ∈ [0.01 0.01 0.01 0.01 0.01 0.01 … 1.0 1.0 1.0 1.0 1.0 1.0]
enableMaxWrench	Flag to indicate if maximum contact wrench is enabled in each Cartesian direction: X, Y, Z, Rx, Ry, Rz	VEC_6i	none	0 0 0 0 0 0 ∈ [0 0 0 0 0 0 … 1 1 1 1 1 1]
maxContactWrench	Maximum contact wrench allowed for static collision along Fx, Fy, Fz, Mx, My, Mz	VEC_6d	N	150.0 150.0 150.0 40.0 40.0 40.0 ∈ [5.0 5.0 5.0 1.0 1.0 1.0 … 150.0 150.0 150.0 40.0 40.0 40.0]
maxVelForceDir	Maximum movement velocity along force control direction	VEC_3d	m/s	2.0 2.0 2.0 ∈ [0.005 0.005 0.005 … 2.0 2.0 2.0]

*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.

*Coordinate System Definition

Coordinate	Definition	Value Format
world	WORLD coordinate system, which is a fixed Cartesian coordinate system located at the center of the robot base	X Y Z Rx Ry Rz WORLD WORLD_ORIGIN
work	WORK coordinate system, which defines the position of the workpiece relative to the WORLD coordinate system	X Y Z Rx Ry Rz WORK WorkCoordName
tcp	TCP coordinate system, which is located at the Tool Center Point relative to the center of robot flange	X Y Z Rx Ry Rz TCP ONLINE
tcp_start	The fixed coordinate system which is located at the initial TCP pose of the primitive	X Y Z Rx Ry Rz TCP START
traj_start	The offset of a waypoint relative to the initial TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ START
traj_goal	The offset of a waypoint relative to the target TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ GOAL
traj_prev	The offset of a waypoint relative to the previous waypoint in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ PREVIOUSWAYPOINT

You can use the simplified value format above to describe a waypoint, while the complete description of a Cartesian waypoint is: X Y Z Rx Ry Rz ReferenceCoordinate A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the preferred joint positions of the robot; X1 to X6 are the target positions of external axes. The additional data can be added if necessary.
Add “:” to separate the waypoints. For example: 0.2 0 0.3 0 180 0 WORLD WORLD_ORIGIN : 0.2 0.1 0.3 0 180 0 WORLD WORLD_ORIGIN.

*Robot Joint Position Description

The complete description of a joint waypoint (JPOS) is: A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the joint positions of the robot; X1 to X6 are the positions of external axes. You can only set the robot joint positions if external axes do not exist. For example: {jnt_def_1}.
Add “:” to separate the waypoints. For example: {jnt_def_2}.

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
reachedTarget	Flag to indicate if the robot has reached the target	BOOL	none
waypointIndex	Index of the current waypoint the robot just passed. 0 means the initial pose.	INT	none

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
reachedTarget	=	1

PolishECP

PolishECP

Primitive Description and Usage

Description: This primitive allows the robot to polish workpieces attached to the robot on an external polishing/sanding/grinding instrument. ECP stands for External Control Point or External TCP. Similar to Polish, this primitive also provides hybrid motion/force control along user-specified trajectories, but the trajectories and force control axes are defined in the ECP coordinate system.
Example Usage: Use this primitive for tasks that involve large polishing/sanding/grinding tools. In these tasks, the workpiece can be mounted on the robot’s flange and be put in contact with the tools for polishing.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
trajFileName*	Trajectory file name	FILE	none	[.traj]
ECPCoord*	ECP coordinate system to be used. An offset to the ECP can also be specified.	COORD	m-deg	[world* work*]
targetTolerLevel	Tolerance level to determine if the robot has reached the target. 1 means to check with the smallest tolerance, 0 means no tolerance check.	INT	none	0 ∈ [0 … 25]
forceAxis	Activated axes of ECP coordinate to apply force or torque	VEC_6i	none	0 0 1 0 0 0 ∈ [0 0 0 0 0 0 … 1 1 1 1 1 1]
ILCEnableType	The ILC enabling type: Disable, Enable, Training, Restart	TYPE	none	ILC_Disable ∈ [ILC_Disable ILC_Enable ILC_Training ILC_Restart]
ILCFileName	Name of the ILC file	STRING	none	ilcFile
angVel	TCP angular velocity	DOUBLE	deg/s	150.0 ∈ [10.0 … 500.0]
enableFixRefJntPos	Flag to indicate if fixed reference joint position is enabled. If this parameter is set to TRUE, the primitive will use the value of parameter [refJntPos] as the fixed joint reference position instead of the reference joint position of each waypoint during execution.	BOOL	none	0 ∈ [0 / 1]
refJntPos	Reference target joint positions. When the robot moves in Cartesian space, each joint will move as close as possible toward the reference position.	JPOS	deg	0.0 -40.0 0.0 90.0 0.0 40.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
configOptObj	Weights of three configuration optimization objectives during robot motion, which respectively are to make the robot easier to translate in Cartesian space, easier to rotate in Cartesian space, and closer to the reference joint position.	VEC_3d	none	0.0 0.0 0.5 ∈ [0.0 0.0 0.1 … 1.0 1.0 1.0]
enableTrajOverlay	Enable the trajectory overlay function to overlay the wave trajectory on the taught trajectory.	BOOL	none	0 ∈ [0 / 1]
overlaidTrajType	Overlaid trajectory type. 0 means sine wave; 1 means helix wave.	INT	none	0 ∈ [0 … 1]
amplitude	Amplitude of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.01 ∈ [0.006 … 0.2]
pitch	Pitch of the helix wave trajectory	DOUBLE	m	0.01 ∈ [0.006 … 0.2]
lineSpace	Wavelength of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.01 ∈ [0.006 … 0.2]
enableTransLimit	Enable TCP displacement limit in the translation (force control) direction after performing contact	BOOL	none	0 ∈ [0 / 1]
maxTransDisp	Maximum TCP displacement in the translation (force control) direction after performing contact	DOUBLE	m	0.5 ∈ [0.0 … 1.0]
minTransDisp	Minimum TCP displacement in the translation (force control) direction after performing contact	DOUBLE	m	-0.5 ∈ [-1.0 … 0.0]
stiffScale	Robot stiffness scale during motion. The lower the stiffness scale, the more compliant the motion.	VEC_6d	none	1.0 1.0 1.0 1.0 1.0 1.0 ∈ [0.01 0.01 0.01 0.01 0.01 0.01 … 1.0 1.0 1.0 1.0 1.0 1.0]
enableMaxWrench	Flag to indicate if maximum contact wrench is enabled in each Cartesian direction: X, Y, Z, Rx, Ry, Rz	VEC_6i	none	0 0 0 0 0 0 ∈ [0 0 0 0 0 0 … 1 1 1 1 1 1]
maxContactWrench	Maximum contact wrench allowed for static collision along Fx, Fy, Fz, Mx, My, Mz	VEC_6d	N	150.0 150.0 150.0 40.0 40.0 40.0 ∈ [5.0 5.0 5.0 1.0 1.0 1.0 … 150.0 150.0 150.0 40.0 40.0 40.0]
maxVelForceDir	Maximum movement velocity along force control direction	VEC_3d	m/s	2.0 2.0 2.0 ∈ [0.005 0.005 0.005 … 2.0 2.0 2.0]

*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.

*Coordinate System Definition

Coordinate	Definition	Value Format
world	WORLD coordinate system, which is a fixed Cartesian coordinate system located at the center of the robot base	X Y Z Rx Ry Rz WORLD WORLD_ORIGIN
work	WORK coordinate system, which defines the position of the workpiece relative to the WORLD coordinate system	X Y Z Rx Ry Rz WORK WorkCoordName
tcp	TCP coordinate system, which is located at the Tool Center Point relative to the center of robot flange	X Y Z Rx Ry Rz TCP ONLINE
tcp_start	The fixed coordinate system which is located at the initial TCP pose of the primitive	X Y Z Rx Ry Rz TCP START
traj_start	The offset of a waypoint relative to the initial TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ START
traj_goal	The offset of a waypoint relative to the target TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ GOAL
traj_prev	The offset of a waypoint relative to the previous waypoint in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ PREVIOUSWAYPOINT

You can use the simplified value format above to describe a waypoint, while the complete description of a Cartesian waypoint is: X Y Z Rx Ry Rz ReferenceCoordinate A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the preferred joint positions of the robot; X1 to X6 are the target positions of external axes. The additional data can be added if necessary.
Add “:” to separate the waypoints. For example: 0.2 0 0.3 0 180 0 WORLD WORLD_ORIGIN : 0.2 0.1 0.3 0 180 0 WORLD WORLD_ORIGIN.

*Robot Joint Position Description

The complete description of a joint waypoint (JPOS) is: A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the joint positions of the robot; X1 to X6 are the positions of external axes. You can only set the robot joint positions if external axes do not exist. For example: {jnt_def_1}.
Add “:” to separate the waypoints. For example: {jnt_def_2}.

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
reachedTarget	Flag to indicate if the robot has reached the target	BOOL	none
waypointIndex	Index of the current waypoint the robot just passed. 0 means the initial pose.	INT	none

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
reachedTarget	=	1

GrindECP

GrindECP

Primitive Description and Usage

Description: This primitive allows the robot to polish workpieces attached to the robot on an external polishing/sanding/grinding instrument with high motion stiffness. ECP stands for External Control Point or External TCP. Similar to [Grind], this primitive also provides hybrid motion/force control along user-specified trajectories, but the trajectories and force control axes are defined in the ECP coordinate system.
Example Usage: Use this primitive for tasks that involve large polishing/sanding/grinding tools. In these tasks, the workpiece can be mounted on the robot’s flange and be put in contact with the tools for grinding.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
trajFileName*	Trajectory file name	FILE	none	[.traj]
ECPCoord*	ECP coordinate system to be used. An offset to the ECP can also be specified.	COORD	m-deg	[world* work*]
targetTolerLevel	Tolerance level to determine if the robot has reached the target. 1 means to check with the smallest tolerance, 0 means no tolerance check.	INT	none	0 ∈ [0 … 25]
forceAxis	Activated axes of ECP coordinate to apply force or torque	VEC_6i	none	0 0 1 0 0 0 ∈ [0 0 0 0 0 0 … 1 1 1 1 1 1]
ILCEnableType	The ILC enabling type: Disable, Enable, Training, Restart	TYPE	none	ILC_Disable ∈ [ILC_Disable ILC_Enable ILC_Training ILC_Restart]
ILCFileName	Name of the ILC file	STRING	none	ilcFile
angVel	TCP angular velocity	DOUBLE	deg/s	150.0 ∈ [10.0 … 500.0]
enableFixRefJntPos	Flag to indicate if fixed reference joint position is enabled. If this parameter is set to TRUE, the primitive will use the value of parameter [refJntPos] as the fixed joint reference position instead of the reference joint position of each waypoint during execution.	BOOL	none	0 ∈ [0 / 1]
refJntPos	Reference target joint positions. When the robot moves in Cartesian space, each joint will move as close as possible toward the reference position.	JPOS	deg	0.0 -40.0 0.0 90.0 0.0 40.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
configOptObj	Weights of three configuration optimization objectives during robot motion, which respectively are to make the robot easier to translate in Cartesian space, easier to rotate in Cartesian space, and closer to the reference joint position.	VEC_3d	none	0.0 0.0 0.5 ∈ [0.0 0.0 0.1 … 1.0 1.0 1.0]
enableTrajOverlay	Enable the trajectory overlay function to overlay the wave trajectory on the taught trajectory.	BOOL	none	0 ∈ [0 / 1]
overlaidTrajType	Overlaid trajectory type. 0 means sine wave; 1 means helix wave.	INT	none	0 ∈ [0 … 1]
amplitude	Amplitude of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.01 ∈ [0.006 … 0.2]
pitch	Pitch of the helix wave trajectory	DOUBLE	m	0.01 ∈ [0.006 … 0.2]
lineSpace	Wavelength of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.01 ∈ [0.006 … 0.2]
enableTransLimit	Enable TCP displacement limit in the translation (force control) direction after performing contact	BOOL	none	0 ∈ [0 / 1]
maxTransDisp	Maximum TCP displacement in the translation (force control) direction after performing contact	DOUBLE	m	0.5 ∈ [0.0 … 1.0]
minTransDisp	Minimum TCP displacement in the translation (force control) direction after performing contact	DOUBLE	m	-0.5 ∈ [-1.0 … 0.0]
stiffScale	Robot stiffness scale during motion. The lower the stiffness scale, the more compliant the motion.	VEC_6d	none	1.0 1.0 1.0 1.0 1.0 1.0 ∈ [0.01 0.01 0.01 0.01 0.01 0.01 … 1.0 1.0 1.0 1.0 1.0 1.0]
enableMaxWrench	Flag to indicate if maximum contact wrench is enabled in each Cartesian direction: X, Y, Z, Rx, Ry, Rz	VEC_6i	none	0 0 0 0 0 0 ∈ [0 0 0 0 0 0 … 1 1 1 1 1 1]
maxContactWrench	Maximum contact wrench allowed for static collision along Fx, Fy, Fz, Mx, My, Mz	VEC_6d	N	150.0 150.0 150.0 40.0 40.0 40.0 ∈ [5.0 5.0 5.0 1.0 1.0 1.0 … 150.0 150.0 150.0 40.0 40.0 40.0]
maxVelForceDir	Maximum movement velocity along force control direction	VEC_3d	m/s	2.0 2.0 2.0 ∈ [0.005 0.005 0.005 … 2.0 2.0 2.0]

*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.

*Coordinate System Definition

Coordinate	Definition	Value Format
world	WORLD coordinate system, which is a fixed Cartesian coordinate system located at the center of the robot base	X Y Z Rx Ry Rz WORLD WORLD_ORIGIN
work	WORK coordinate system, which defines the position of the workpiece relative to the WORLD coordinate system	X Y Z Rx Ry Rz WORK WorkCoordName
tcp	TCP coordinate system, which is located at the Tool Center Point relative to the center of robot flange	X Y Z Rx Ry Rz TCP ONLINE
tcp_start	The fixed coordinate system which is located at the initial TCP pose of the primitive	X Y Z Rx Ry Rz TCP START
traj_start	The offset of a waypoint relative to the initial TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ START
traj_goal	The offset of a waypoint relative to the target TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ GOAL
traj_prev	The offset of a waypoint relative to the previous waypoint in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ PREVIOUSWAYPOINT

You can use the simplified value format above to describe a waypoint, while the complete description of a Cartesian waypoint is: X Y Z Rx Ry Rz ReferenceCoordinate A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the preferred joint positions of the robot; X1 to X6 are the target positions of external axes. The additional data can be added if necessary.
Add “:” to separate the waypoints. For example: 0.2 0 0.3 0 180 0 WORLD WORLD_ORIGIN : 0.2 0.1 0.3 0 180 0 WORLD WORLD_ORIGIN.

*Robot Joint Position Description

The complete description of a joint waypoint (JPOS) is: A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the joint positions of the robot; X1 to X6 are the positions of external axes. You can only set the robot joint positions if external axes do not exist. For example: {jnt_def_1}.
Add “:” to separate the waypoints. For example: {jnt_def_2}.

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
reachedTarget	Flag to indicate if the robot has reached the target	BOOL	none
waypointIndex	Index of the current waypoint the robot just passed. 0 means the initial pose.	INT	none

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
reachedTarget	=	1