User Guide

6.1 Program Elements ................................................................................................................... 24
6.2 Recording a Program using the 3D Interface .............................................................. 25
6.3 Saving and Loading of a Program ...................................................................................... 25
6.4 Replay of a Program ................................................................................................................ 25
6.5 Editing a Program with GraphEdit ................................................................................... 26
6.6 Editing a Program with TextEdit ....................................................................................... 27
7. Configuration ..................................................................................................................................... 28
7.1 Application Configuration.................................................................................................... 28
7.2 Robot Configuration ............................................................................................................... 29
8. Interfacing ........................................................................................................................................... 30
8.1 Command „External Motion“ .............................................................................................. 30
8.2 ROS – Robot Operating System ......................................................................................... 31
8.3 Direct Access using the CAN Protocol ............................................................................ 31
9. CAN Protocol Specification ......................................................................................................... 32
9.1 Commands .................................................................................................................................... 32
9.2 Parameter ..................................................................................................................................... 33
9.3 SetJoints Command ................................................................................................................ 34
9.4 SetVelocity Command ........................................................................................................... 34
9.5 Error Codes .................................................................................................................................. 35
10. Troubleshooting ........................................................................................................................... 37
10.1 Installation and Program Start ........................................................................................... 37
10.2 Software CPRog ........................................................................................................................ 37
10.3 Hardware Mover6 .................................................................................................................... 38
11. Language Specification ................................................................................................................ 39