Dobot CR5 - Page 5

DOBOT CR5 User Guide Contents
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
iv
Connecting WiFi Module .................................................................................. 36
Connecting to Power Supply ............................................................................. 37
Debugging Power On and Off ........................................................................................ 37
Function Description of Software ......................................................................... 41
Setting ............................................................................................................................. 44
Setting Motion Parameter .................................................................................. 44
Setting Safety..................................................................................................... 51
Remote Control ................................................................................................. 53
Homing .............................................................................................................. 57
Running Log ...................................................................................................... 58
Setting Software ................................................................................................ 59
Hand-Hold Teach ............................................................................................................ 61
Monitor ........................................................................................................................... 62
I/O Monitor ........................................................................................................ 62
Robot Status ...................................................................................................... 63
Controlling End-effectors .................................................................................. 63
Programming .................................................................................................................. 68
Program Description .......................................................................................... 68
Program Example .............................................................................................. 71
Program Language ................................................................................................ 75
Arithmetic Operators ...................................................................................................... 75
Relational Operator ......................................................................................................... 75
Logical Operators............................................................................................................ 75
General Keywords .......................................................................................................... 76
General Symbol .............................................................................................................. 76
Processing Control Commands ....................................................................................... 76
Global Variable ............................................................................................................... 76
Motion Commands.......................................................................................................... 77
Motion Parameter Commands ........................................................................................ 84
Six-axis Force Sensor Commands .................................................................................. 87
Input/output Commands .................................................................................................. 89
Program Managing Commands ...................................................................................... 91
Pose Getting Command .................................................................................................. 94
TCP ................................................................................................................................. 95
UDP ................................................................................................................................ 99
Modbus ......................................................................................................................... 102
Modbus Register Description .......................................................................... 102
Command Description ..................................................................................... 103