Surface Finishing

Polishing

Polish

Primitive Description and Usage

• Description: This primitive provides hybrid motion/force control along user-specified trajectories for polishing/sanding/deburring applications. Users can program the trajectory with line, spline, circle, and some pre-designed patterns in the Trajectory Editor. The contact force/moment can also be specified for each waypoint. To smooth transition and reduce impact in polishing, entry and exit trajectories can be added on top of the existing trajectory. This primitive has high force control accuracy but is a bit less stiff in motion control compared to Grind and GrindPlus.

• 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
fileName*	Trajectory file name	FILE	none	[.traj]
fileLoadType	Trajectory file loading type	TYPE	none	FromProject ∈ [FromProject FromRuntime]
enableEntryTraj	Add entry trajectory	BOOL	none	0 ∈ [0 / 1]
entryDis	The length of the entry trajectory projected on the workpiece	DOUBLE	mm	50.0 ∈ [10.0 … 300.0]
entryAngle	Angle between entry path and the workpiece	DOUBLE	deg	5.0 ∈ [1.0 … 45.0]
entryVel	Linear velocity along the entry trajectory	DOUBLE	mm/s	50.0 ∈ [1.0 … 500.0]
enableExitTraj	Add exit trajectory	BOOL	none	0 ∈ [0 / 1]
exitDis	The length of the exit trajectory projected on the workpiece	DOUBLE	mm	50.0 ∈ [10.0 … 300.0]
exitAngle	Angle between exit path and the workpiece	DOUBLE	deg	5.0 ∈ [1.0 … 45.0]
exitVel	Linear velocity along the exit trajectory	DOUBLE	mm/s	50.0 ∈ [1.0 … 500.0]
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 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]
reverseTraj	Flag to reverse the trajectory	BOOL	none	0 ∈ [0 / 1]
trajRepeatTimes	Number of times the trajectory is repeated	INT	none	0 ∈ [0 … 20]
loseContactDetect	Flag to enable lose contact detection. After contact occurs, once the loss of contact is detected, this primitive will prompt a software error and be terminated.	BOOL	none	0 ∈ [0 / 1]
loseContactDeterTime	Time to determine whether contact is lost. After contact occurs, if no contact is detected within this time, it will be determined that contact is lost.	INT	none	20 ∈ [20 … 200]
enablePreferJntPos	Flag to indicate if primitive parameter preferJntPos is enabled. If this parameter is set to TRUE, the value of the preferred joint positions in the trajectory file will become invalid and the robot will use the value of primitive parameter preferJntPos.	BOOL	none	1 ∈ [0 / 1]
preferJntPos	Preferred target joint positions. When the robot moves in Cartesian space, each joint will move as close as possible toward the preferred position.	VEC_7d	deg	0.0 -40.0 0.0 90.0 0.0 40.0 0.0 ∈ [-160 -130 -170 -107 -170 -80 -170 … 160 130 170 154 170 260 170]
configOptObj	Weights of three configuration optimization objectives, which respectively are to make the robot easier to translate in Cartesian space, easier to rotate in Cartesian space, and closer to the preferred joint position.	VEC_3d	none	0.0 0.0 0.5 ∈ [0.0 0.0 0.1 … 1.0 1.0 1.0]
enableForceAutoRot	Enable the automatic rotation of force control direction. The force control axis will always be perpendicular to the path forward direction at any moment, regardless of the forceAxis input specified before.	BOOL	none	0 ∈ [0 / 1]
forceRotAxis	Rotation axis of the force control coordinate defined in the world 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	DOUBLE	deg	0.0 ∈ [-45.0 … 45.0]
contactRotAxis	Rotation axis of TCP coordinate	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	mm	0.0 ∈ [0.0 … 300.0]
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	Wave length of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.01 ∈ [0.006 … 0.2]

*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 coordiante 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 ONELINE
tcp_start	The fixed coordinate system which is located at the inital 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

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

Primitive Description and Usage

• Description: This primitive is similar to Polish but with higher motion stiffness. It allows users to work with sanders or grinders with relatively strong vibrations. It provides indirect force control in TCP coordinate’s X, Y, and Z axes for composed trajectories specified by users. Users should be aware that following an unexplored curved surface is not the strength of this primitive. It works better when the overall trajectories are specified by users.

• 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
fileName*	Trajectory file name	FILE	none	[.traj]
fileLoadType	Trajectory file loading type	TYPE	none	FromProject ∈ [FromProject FromRuntime]
enableEntryTraj	Add entry trajectory	BOOL	none	0 ∈ [0 / 1]
entryDis	The length of the entry trajectory projected on the workpiece	DOUBLE	mm	50.0 ∈ [10.0 … 300.0]
entryAngle	Angle between entry path and the workpiece	DOUBLE	deg	5.0 ∈ [1.0 … 45.0]
entryVel	Linear velocity along the entry trajectory	DOUBLE	mm/s	50.0 ∈ [1.0 … 500.0]
enableExitTraj	Add exit trajectory	BOOL	none	0 ∈ [0 / 1]
exitDis	The length of the exit trajectory projected on the workpiece	DOUBLE	mm	50.0 ∈ [10.0 … 300.0]
exitAngle	Angle between exit path and the workpiece	DOUBLE	deg	5.0 ∈ [1.0 … 45.0]
exitVel	Linear velocity along the exit trajectory	DOUBLE	mm/s	50.0 ∈ [1.0 … 500.0]
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 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]
reverseTraj	Flag to reverse the trajectory	BOOL	none	0 ∈ [0 / 1]
trajRepeatTimes	Number of times the trajectory is repeated	INT	none	0 ∈ [0 … 20]
loseContactDetect	Flag to enable lose contact detection. After contact occurs, once the loss of contact is detected, this primitive will prompt a software error and be terminated.	BOOL	none	0 ∈ [0 / 1]
loseContactDeterTime	Time to determine whether contact is lost. After contact occurs, if no contact is detected within this time, it will be determined that contact is lost.	INT	none	20 ∈ [20 … 200]
enablePreferJntPos	Flag to indicate if primitive parameter preferJntPos is enabled. If this parameter is set to TRUE, the value of the preferred joint positions in the trajectory file will become invalid and the robot will use the value of primitive parameter preferJntPos.	BOOL	none	1 ∈ [0 / 1]
preferJntPos	Preferred target joint positions. When the robot moves in Cartesian space, each joint will move as close as possible toward the preferred position.	VEC_7d	deg	0.0 -40.0 0.0 90.0 0.0 40.0 0.0 ∈ [-160 -130 -170 -107 -170 -80 -170 … 160 130 170 154 170 260 170]
configOptObj	Weights of three configuration optimization objectives, which respectively are to make the robot easier to translate in Cartesian space, easier to rotate in Cartesian space, and closer to the preferred joint position.	VEC_3d	none	0.0 0.0 0.5 ∈ [0.0 0.0 0.1 … 1.0 1.0 1.0]
enableForceAutoRot	Enable the automatic rotation of force control direction. The force control axis will always be perpendicular to the path forward direction at any moment, regardless of the forceAxis input specified before.	BOOL	none	0 ∈ [0 / 1]
forceRotAxis	Rotation axis of the force control coordinate defined in the world 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	DOUBLE	deg	0.0 ∈ [-45.0 … 45.0]
contactRotAxis	Rotation axis of TCP coordinate	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	mm	0.0 ∈ [0.0 … 300.0]
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	1 ∈ [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	Wave length of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.01 ∈ [0.006 … 0.2]
enableForceDispLimit	Enable TCP displacement limit in the force control direction after performing contact	BOOL	none	0 ∈ [0 / 1]
maxForceDisp	Maximum TCP displacement in the force control direction after performing contact	DOUBLE	m	0.03 ∈ [0.0 … 0.3]
maxOppForceDisp	Maximum TCP displacement in the opposite direction of force control after performing contact	DOUBLE	m	0.03 ∈ [0.0 … 0.3]

*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 coordiante 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 ONELINE
tcp_start	The fixed coordinate system which is located at the inital 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

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

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
fileName*	Trajectory file name	FILE	none	[.traj]
fileLoadType	Trajectory file loading type	TYPE	none	FromProject ∈ [FromProject FromRuntime]
ECPCoord*	ECP coordinate to be assigned. 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]
trajRepeatTimes	Number of times the trajectory is repeated	INT	none	0 ∈ [0 … 20]
reverseTraj	Flag to reverse the trajectory	BOOL	none	0 ∈ [0 / 1]
enablePreferJntPos	Flag to indicate if primitive parameter preferJntPos is enabled. If this parameter is set to TRUE, the value of the preferred joint positions in the trajectory file will become invalid and the robot will use the value of primitive parameter preferJntPos.	BOOL	none	1 ∈ [0 / 1]
preferJntPos	Preferred target joint positions. When the robot moves in Cartesian space, each joint will move as close as possible toward the preferred position.	VEC_7d	deg	0.0 -40.0 0.0 90.0 0.0 40.0 0.0 ∈ [-160 -130 -170 -107 -170 -80 -170 … 160 130 170 154 170 260 170]
configOptObj	Weights of three configuration optimization objectives, which respectively are to make the robot easier to translate in Cartesian space, easier to rotate in Cartesian space, and closer to the preferred 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	1 ∈ [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	Wave length of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.01 ∈ [0.006 … 0.2]

*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 coordiante 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 ONELINE
tcp_start	The fixed coordinate system which is located at the inital 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

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

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
fileName*	Trajectory file name	FILE	none	[.traj]
fileLoadType	Trajectory file loading type	TYPE	none	FromProject ∈ [FromProject FromRuntime]
ECPCoord*	ECP coordinate to be assigned. 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]
trajRepeatTimes	Number of times the trajectory is repeated	INT	none	0 ∈ [0 … 20]
reverseTraj	Flag to reverse the trajectory	BOOL	none	0 ∈ [0 / 1]
enableContactTrans	Enable contact transition between motion and force control	BOOL	none	0 ∈ [0 / 1]
contactTransThreshold	Force threshold to trigger control transition	DOUBLE	none	2.0
enablePreferJntPos	Flag to indicate if primitive parameter preferJntPos is enabled. If this parameter is set to TRUE, the value of the preferred joint positions in the trajectory file will become invalid and the robot will use the value of primitive parameter preferJntPos.	BOOL	none	1 ∈ [0 / 1]
preferJntPos	Preferred target joint configuration. The robot is in compliance with Cartesian constraint while reaching this configuration as close as possible.	VEC_7d	deg	0.0 -40.0 0.0 90.0 0.0 40.0 0.0 ∈ [-160 -130 -170 -107 -170 -80 -170 … 160 130 170 154 170 260 170]
configOptObj	Weights of three configuration optimization objectives, which respectively are to make the robot easier to translate in Cartesian space, easier to rotate in Cartesian space, and closer to the preferred 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	1 ∈ [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	Wave length of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.01 ∈ [0.006 … 0.2]

*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 coordiante 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 ONELINE
tcp_start	The fixed coordinate system which is located at the inital 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

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

Smart Polishing

PolishPlus

Primitive Description and Usage

• Description: This primitive is similar to Polish but with higher force control accuracy. This is achieved by optimizing its control parameters through training cycles. The general assumption of this primitive is that the polishing trajectory stays consistent from one workpiece to another. If the trajectory changes, the trained control parameters are not valid anymore and new training is required.

• Example Usage: Use this primitive in applications that require both high speed and high force control accuracy.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
fileName*	Trajectory file name	FILE	none	[.traj]
fileLoadType	Trajectory file loading type	TYPE	none	FromProject ∈ [FromProject FromRuntime]
enableEntryTraj	Add entry trajectory	BOOL	none	0 ∈ [0 / 1]
entryDis	The length of the entry trajectory projected on the workpiece	DOUBLE	mm	50.0 ∈ [10.0 … 300.0]
entryAngle	Angle between entry path and the workpiece	DOUBLE	deg	5.0 ∈ [1.0 … 45.0]
entryVel	Linear velocity along the entry trajectory	DOUBLE	mm/s	50.0 ∈ [1.0 … 500.0]
enableExitTraj	Add exit trajectory	BOOL	none	0 ∈ [0 / 1]
exitDis	The length of the exit trajectory projected on the workpiece	DOUBLE	mm	50.0 ∈ [10.0 … 300.0]
exitAngle	Angle between exit path and the workpiece	DOUBLE	deg	5.0 ∈ [1.0 … 45.0]
exitVel	Linear velocity along the exit trajectory	DOUBLE	mm/s	50.0 ∈ [1.0 … 500.0]
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 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]
reverseTraj	Flag to reverse the trajectory	BOOL	none	0 ∈ [0 / 1]
trajRepeatTimes	Number of times the trajectory is repeated	INT	none	0 ∈ [0 … 20]
loseContactDetect	Flag to enable lose contact detection. After contact occurs, once the loss of contact is detected, this primitive will prompt a software error and be terminated.	BOOL	none	0 ∈ [0 / 1]
loseContactDeterTime	Time to determine whether contact is lost. After contact occurs, if no contact is detected within this time, it will be determined that contact is lost.	INT	none	20 ∈ [20 … 200]
enableILC	Enable ILC (Interactive Learning Control) method to improve the force control performance	BOOL	none	0 ∈ [0 / 1]
ILCFileName*	Name of the ILC file	STRING	none
enableILCTraining	Enable ILC training. If disabled, the ILC file will not be updated.	BOOL	none	0 ∈ [0 / 1]
restartILCTraining	Reset the ILC training results	BOOL	none	0 ∈ [0 / 1]
ILCLearningRateType	Type of learning rate strategy for the ILC algorithm. 0 means constant learning rate, 1 means linearly decaying learning rate, 2 means exponentially decaying learning rate.	INT	none	0 ∈ [0 … 2]
ILCLearningRate	Initial learning rate of the ILC algorithm	DOUBLE	none	0.02 ∈ [0 … 1.0]
ILCDecayRate	Decay rate of the ILC learning rate	DOUBLE	none	0.015 ∈ [0 … 1.0]
ILCForwardSteps	Amount of control cycles that ILC would take to predict the disturbance	INT	none	60 ∈ [0 … 200]
enablePreferJntPos	Flag to indicate if primitive parameter preferJntPos is enabled. If this parameter is set to TRUE, the value of the preferred joint positions in the trajectory file will become invalid and the robot will use the value of primitive parameter preferJntPos.	BOOL	none	1 ∈ [0 / 1]
preferJntPos	Preferred target joint positions. When the robot moves in Cartesian space, each joint will move as close as possible toward the preferred position.	VEC_7d	deg	0.0 -40.0 0.0 90.0 0.0 40.0 0.0 ∈ [-160 -130 -170 -107 -170 -80 -170 … 160 130 170 154 170 260 170]
configOptObj	Weights of three configuration optimization objectives, which respectively are to make the robot easier to translate in Cartesian space, easier to rotate in Cartesian space, and closer to the preferred joint position.	VEC_3d	none	0.0 0.0 0.5 ∈ [0.0 0.0 0.1 … 1.0 1.0 1.0]
enableForceAutoRot	Enable the automatic rotation of force control direction. The force control axis will always be perpendicular to the path forward direction at any moment, regardless of the forceAxis input specified before.	BOOL	none	0 ∈ [0 / 1]
forceRotAxis	Rotation axis of the force control coordinate defined in the world 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	DOUBLE	deg	0.0 ∈ [-45.0 … 45.0]
contactRotAxis	Rotation axis of TCP coordinate	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	mm	0.0 ∈ [0.0 … 300.0]
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	1 ∈ [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	Wave length of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.01 ∈ [0.006 … 0.2]

*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 coordiante 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 ONELINE
tcp_start	The fixed coordinate system which is located at the inital 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

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
terminated	=	1

GrindPlus

Primitive Description and Usage

• Description: This primitive is similar to Grind but with higher force control accuracy. This is achieved by optimizing its control parameters through training cycles. The general assumption of this primitive is that the grinding trajectory stays consistent from one workpiece to another. If the trajectory changes, the trained control parameters are not valid anymore and new training is required.

• Example Usage: Use this primitive for heavy-duty grinding tasks, especially those that require both high speed and high force control accuracy.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
fileName*	Trajectory file name	FILE	none	[.traj]
fileLoadType	Trajectory file loading type	TYPE	none	FromProject ∈ [FromProject FromRuntime]
enableEntryTraj	Add entry trajectory	BOOL	none	0 ∈ [0 / 1]
entryDis	The length of the entry trajectory projected on the workpiece	DOUBLE	mm	50.0 ∈ [10.0 … 300.0]
entryAngle	Angle between entry path and the workpiece	DOUBLE	deg	5.0 ∈ [1.0 … 45.0]
entryVel	Linear velocity along the entry trajectory	DOUBLE	mm/s	50.0 ∈ [1.0 … 500.0]
enableExitTraj	Add exit trajectory	BOOL	none	0 ∈ [0 / 1]
exitDis	The length of the exit trajectory projected on the workpiece	DOUBLE	mm	50.0 ∈ [10.0 … 300.0]
exitAngle	Angle between exit path and the workpiece	DOUBLE	deg	5.0 ∈ [1.0 … 45.0]
exitVel	Linear velocity along the exit trajectory	DOUBLE	mm/s	50.0 ∈ [1.0 … 500.0]
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 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]
reverseTraj	Flag to reverse the trajectory	BOOL	none	0 ∈ [0 / 1]
trajRepeatTimes	Number of times the trajectory is repeated	INT	none	0 ∈ [0 … 20]
loseContactDetect	Flag to enable lose contact detection. After contact occurs, once the loss of contact is detected, this primitive will prompt a software error and be terminated.	BOOL	none	0 ∈ [0 / 1]
loseContactDeterTime	Time to determine whether contact is lost. After contact occurs, if no contact is detected within this time, it will be determined that contact is lost.	INT	none	20 ∈ [20 … 200]
enableILC	Enable ILC(Interactive Learning Control) method to improve the force control performance	BOOL	none	0 ∈ [0 / 1]
ILCFileName*	Name of the ILC file	STRING	none
enableILCTraining	Enable ILC training. If disabled, the ILC file will not be updated.	BOOL	none	0 ∈ [0 / 1]
restartILCTraining	Reset the ILC training results	BOOL	none	0 ∈ [0 / 1]
ILCLearningRateType	Type of learning rate strategy for the ILC algorithm. 0 means constant learning rate, 1 means linearly decaying learning rate, 2 means exponentially decaying learning rate.	INT	none	1 ∈ [0 … 2]
ILCPosLearningRate	Initial learning rate of the ILC algorithm for position feedforward	DOUBLE	none	0.3 ∈ [0 … 1.0]
ILCPosDecayRate	Decay rate of the ILC learning rate for position feedforward	DOUBLE	none	0.015 ∈ [0 … 1.0]
ILCVelLearningRate	Initial learning rate of the ILC algorithm for velocity feedforward	DOUBLE	none	0.3 ∈ [0 … 1.0]
ILCVelDecayRate	Decay rate of the ILC learning rate for velocity feedforward	DOUBLE	none	0.015 ∈ [0 … 1.0]
ILCAccLearningRate	Initial learning rate of the ILC algorithm for acceleration feedforward	DOUBLE	none	0.3 ∈ [0 … 1.0]
ILCAccDecayRate	Decay rate of the ILC learning rate for acceleration feedforward	DOUBLE	none	0.015 ∈ [0 … 1.0]
ILCForwardSteps	Amount of control cycles that ILC would take to predict the disturbance	INT	none	0 ∈ [0 … 200]
enablePreferJntPos	Flag to indicate if primitive parameter preferJntPos is enabled. If this parameter is set to TRUE, the value of the preferred joint positions in the trajectory file will become invalid and the robot will use the value of primitive parameter preferJntPos.	BOOL	none	1 ∈ [0 / 1]
preferJntPos	Preferred target joint positions. When the robot moves in Cartesian space, each joint will move as close as possible toward the preferred position.	VEC_7d	deg	0.0 -40.0 0.0 90.0 0.0 40.0 0.0 ∈ [-160 -130 -170 -107 -170 -80 -170 … 160 130 170 154 170 260 170]
configOptObj	Weights of three configuration optimization objectives, which respectively are to make the robot easier to translate in Cartesian space, easier to rotate in Cartesian space, and closer to the preferred joint position.	VEC_3d	none	0.0 0.0 0.5 ∈ [0.0 0.0 0.1 … 1.0 1.0 1.0]
enableForceAutoRot	Enable the automatic rotation of force control direction. The force control axis will always be perpendicular to the path forward direction at any moment, regardless of the forceAxis input specified before.	BOOL	none	0 ∈ [0 / 1]
forceRotAxis	Rotation axis of the force control coordinate defined in the world 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	DOUBLE	deg	0.0 ∈ [-45.0 … 45.0]
contactRotAxis	Rotation axis of TCP coordinate	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	mm	0.0 ∈ [0.0 … 300.0]
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	1 ∈ [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	Wave length of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.01 ∈ [0.006 … 0.2]
enableForceDispLimit	Enable TCP displacement limit in the force control direction after performing contact	BOOL	none	0 ∈ [0 / 1]
maxForceDisp	Maximum TCP displacement in the force control direction after performing contact	DOUBLE	m	0.03 ∈ [0.0 … 0.3]
maxOppForceDisp	Maximum TCP displacement in the opposite direction of force control after performing contact	DOUBLE	m	0.03 ∈ [0.0 … 0.3]

*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 coordiante 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 ONELINE
tcp_start	The fixed coordinate system which is located at the inital 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

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
terminated	=	1

PolishECPPlus

Primitive Description and Usage

• Description: This primitive is similar to PolishECP but with higher force control accuracy. This is achieved by optimizing its control parameters through training cycles. The general assumption of this primitive is that the polishing trajectory stays consistent from one workpiece to another. If the trajectory changes, the trained control parameters are not valid anymore and new training is required.

• Example Usage: Use this primitive in polishing applications where the workpiece is mounted on the robot’s flange, especially those that require both high speed and high force control accuracy.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
fileName*	Trajectory file name	FILE	none	[.traj]
fileLoadType	Trajectory file loading type	TYPE	none	FromProject ∈ [FromProject FromRuntime]
ECPCoord*	ECP coordinate to be assigned. 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]
trajRepeatTimes	Number of times the trajectory is repeated	INT	none	0 ∈ [0 … 20]
reverseTraj	Flag to reverse the trajectory	BOOL	none	0 ∈ [0 / 1]
enableILC	Enable ILC(Interactive Learning Control) method to improve the force control performance	BOOL	none	0 ∈ [0 / 1]
ILCFileName*	Name of the ILC file	STRING	none
enableILCTraining	Enable ILC training. If disabled, the ILC file will not be updated.	BOOL	none	0 ∈ [0 / 1]
restartILCTraining	Reset the ILC training results	BOOL	none	0 ∈ [0 / 1]
ILCLearningRateType	Type of learning rate strategy for the ILC algorithm. 0 means constant learning rate, 1 means linearly decaying learning rate, 2 means exponentially decaying learning rate.	INT	none	0 ∈ [0 … 2]
ILCLearningRate	Initial learning rate of the ILC algorithm	DOUBLE	none	0.02 ∈ [0 … 1.0]
ILCDecayRate	Decay rate of the ILC learning rate	DOUBLE	none	0.015 ∈ [0 … 1.0]
ILCforwardSteps	Amount of control cycles that ILC would take to predict the disturbance	INT	none	0 ∈ [0 … 200]
enablePreferJntPos	Flag to indicate if primitive parameter preferJntPos is enabled. If this parameter is set to TRUE, the value of the preferred joint positions in the trajectory file will become invalid and the robot will use the value of primitive parameter preferJntPos.	BOOL	none	1 ∈ [0 / 1]
preferJntPos	Preferred target joint configuration. The robot is in compliance with Cartesian constraint while reaching this configuration as close as possible.	VEC_7d	deg	0.0 -40.0 0.0 90.0 0.0 40.0 0.0 ∈ [-160 -130 -170 -107 -170 -80 -170 … 160 130 170 154 170 260 170]
configOptObj	Weights of three configuration optimization objectives, which respectively are to make the robot easier to translate in Cartesian space, easier to rotate in Cartesian space, and closer to the preferred 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	1 ∈ [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	Wave length of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.01 ∈ [0.006 … 0.2]

*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 coordiante 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 ONELINE
tcp_start	The fixed coordinate system which is located at the inital 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

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

GrindECPPlus

Primitive Description and Usage

• Description: This primitive is similar to GrindECP but with higher force control accuracy. This is achieved by optimizing its control parameters through training cycles. The general assumption of this primitive is that the grinding trajectory stays consistent from one workpiece to another. If the trajectory changes, the trained control parameters are not valid anymore and new training is required.

• Example Usage: Use this primitive in grinding applications where the workpiece is mounted on the robot’s flange, especially those that require both high speed and high force control accuracy.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
fileName*	Trajectory file name	FILE	none	[.traj]
fileLoadType	Trajectory file loading type	TYPE	none	FromProject ∈ [FromProject FromRuntime]
ECPCoord*	ECP coordinate to be assigned. 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]
trajRepeatTimes	Number of times the trajectory is repeated	INT	none	0 ∈ [0 … 20]
reverseTraj	Flag to reverse the trajectory	BOOL	none	0 ∈ [0 / 1]
enableContactTrans	Enable contact transition between motion and force control	BOOL	none	0 ∈ [0 / 1]
contactTransThreshold	Force threshold to trigger control transition	DOUBLE	none	2.0
enableILC	Enable ILC(Interactive Learning Control) method to improve the force control performance	BOOL	none	0 ∈ [0 / 1]
ILCFileName*	Name of the ILC file	STRING	none
enableILCTraining	Enable ILC training. If disabled, the ILC file will not be updated.	BOOL	none	0 ∈ [0 / 1]
restartILCTraining	Reset the ILC training results	BOOL	none	0 ∈ [0 / 1]
ILCLearningRateType	Type of learning rate strategy for the ILC algorithm. 0 means constant learning rate, 1 means linearly decaying learning rate, 2 means exponentially decaying learning rate.	INT	none	1 ∈ [0 … 2]
ILCPosLearningRate	Initial learning rate of the ILC algorithm for position feedforward	DOUBLE	none	0.3 ∈ [0 … 1.0]
ILCPosDecayRate	Decay rate of the ILC learning rate for position feedforward	DOUBLE	none	0.015 ∈ [0 … 1.0]
ILCVelLearningRate	Initial learning rate of the ILC algorithm for velocity feedforward	DOUBLE	none	0.3 ∈ [0 … 1.0]
ILCVelDecayRate	Decay rate of the ILC learning rate for velocity feedforward	DOUBLE	none	0.015 ∈ [0 … 1.0]
ILCAccLearningRate	Initial learning rate of the ILC algorithm for acceleration feedforward	DOUBLE	none	0.3 ∈ [0 … 1.0]
ILCAccDecayRate	Decay rate of the ILC learning rate for acceleration feedforward	DOUBLE	none	0.015 ∈ [0 … 1.0]
ILCforwardSteps	Amount of control cycles that ILC would take to predict the disturbance	INT	none	0 ∈ [0 … 200]
enablePreferJntPos	Flag to indicate if primitive parameter preferJntPos is enabled. If this parameter is set to TRUE, the value of the preferred joint positions in the trajectory file will become invalid and the robot will use the value of primitive parameter preferJntPos.	BOOL	none	1 ∈ [0 / 1]
preferJntPos	Preferred target joint configuration. The robot is in compliance with Cartesian constraint while reaching this configuration as close as possible.	VEC_7d	deg	0.0 -40.0 0.0 90.0 0.0 40.0 0.0 ∈ [-160 -130 -170 -107 -170 -80 -170 … 160 130 170 154 170 260 170]
configOptObj	Weights of three configuration optimization objectives, which respectively are to make the robot easier to translate in Cartesian space, easier to rotate in Cartesian space, and closer to the preferred 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	1 ∈ [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	Wave length of the overlaid sine wave or helix wave trajectory	DOUBLE	m	0.01 ∈ [0.006 … 0.2]

*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 coordiante 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 ONELINE
tcp_start	The fixed coordinate system which is located at the inital 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

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
terminated	=	1