Kinova Link 6 - Page 5

Other actions that can be taken on tools...............................................................................154
Configurations for the robot settings................................................................................................ 155
Configuring the controller for robot controls.......................................................................156
Configuring the arm for robot controls................................................................................. 156
Configuring the force torque...................................................................................................160
Visual programming............................................................................................................................. 162
Overview of the Program page...........................................................................................................162
Variable management...........................................................................................................................164
Program variable management................................................................................................164
Persistent variable management..............................................................................................167
Variables...................................................................................................................................................171
Examples of JSON statements.................................................................................................. 174
Adding a variable to the global namespace........................................................................... 174
Adding a variable to a program................................................................................................177
Selecting a variable.....................................................................................................................181
Deleting a variable that is being used in a program............................................................ 182
Core tiles................................................................................................................................................ 184
Common core parameters in the Tile Configuration pane............................................................185
Basic: Set tile parameters....................................................................................................................186
Basic: Wait tile parameters..................................................................................................................187
Basic: Condition tile parameters........................................................................................................187
Basic: Loop tile parameters................................................................................................................ 189
Basic: Message tile parameters.......................................................................................................... 189
Robot: Waypoints tile parameters..................................................................................................... 190
Waypoint parameters................................................................................................................ 190
Constraint parameters...............................................................................................................195
Custom Frame parameters..................................................................................................... 200
Debug tools for waypoints....................................................................................................... 201
Robot: Matrix tile parameters............................................................................................................203
Industrial I/O: tiles...............................................................................................................................206
Industrial I/O: Read Input tile parameters........................................................................... 207
Industrial I/O: Set Output tile parameters............................................................................207
Industrial I/O: Wait for Input tile parameters......................................................................209
Hand Guiding panel............................................................................................................................. 210
Jog Cartesian panel............................................................................................................................... 211
Translation and rotation from the Jog Cartesian panel....................................................... 211
Additional settings......................................................................................................................212
Jog Angular panel.................................................................................................................................. 213
Additional settings......................................................................................................................214
Program creation...................................................................................................................................215
Creating a program....................................................................................................................216
Debug panel overview.......................................................................................................................... 217
Debugging a program................................................................................................................218
Program is ready to use.......................................................................................................................219
Running a program in Automatic mode................................................................................ 219
Running a program in Hold-to-Run mode............................................................................219
Diagnostics............................................................................................................................................. 221
Built-in self tests...................................................................................................................................221