Doosan Robotics API Manual
1. Introduction
1.1 Overview
1.1.1 Copyright
1.1.2 History of Document Creation/Revision
1.2 Architecture & Library Structure
1.2.1 API Layer Architecture
DRFC.h
DRFS.h
DRFL.h
DRFLEx.h
1.2.2 Composition of Library
1.2.3 Linking Library
Linux Library
Windows Library
1.3 Environment Setup
1.3.1 System Requirements
Windows
Linux
1.3.2 DRCF Version Compatibility
1.3.3 Windows Environment (64-bit)
A. Install Required dependencies
B. Clone the DRFL repository
C. Open the provided Visual Studio solution
D. Modify solution code for your development environment
E. Setup Docker
1.3.4 Linux (Ubuntu) Environment (64-bit)
A. Create a workspace
B. Clone the DRFL repository
C. Launch Simulator (Virtual Mode)
D. Build the project
1.4 Realtime External Control
1.4.1 Version
2. Definitions
2.1 Constant Type
2.1.1 Boolean & Debug Constants
2.1.2 Robot Configuration Constants
2.1.3 String Size Constants
2.1.4 I/O Configuration Constants
2.1.5 I/O Configuration Constants (Version 3)
2.1.6 Motion / Configuration Size Limits
2.1.7 Modbus Configuration Constants
2.1.8 Flange & Hardware Utility Macros
2.2 Enumeration Type
2.2.1 System Session
ROBOT_STATE
ROBOT_CONTROL
MONITORING_SPEED
SPEED_MODE
ROBOT_SYSTEM
UPDATE_TARGET
RELEASE_MODE
ROBOT_MODE
SERVO_MODE
2.2.2 Access & Authority
MANAGE_ACCESS_CONTROL
MONITORING_ACCESS_CONTROL
2.2.3 Program & DRL
DRL_PROGRAM_STATE
PROGRAM_STOP_CAUSE
SUB_PROGRAM
VARIABLE_TYPE
DATA_TYPE
2.2.4 Motion Basics(Spaces & Axes)
ROBOT_SPACE
ROBOT_AXIS
JOG_AXIS
JOINT_AXIS
TASK_AXIS
COORDINATE_SYSTEM
MOVE_REFERENCE
2.2.5 Move Execution Modes/Options
MOVE_MODE
MOVE_ORIENTATION
SPIRAL_DIR
ROT_DIR
PATH_MODE
MOVE_HOME
SINGULARITY_AVOIDANCE
SINGULARITY_FORCE_HANDLING
BLENDING_SPEED_TYPE
DR_SERVOJ_TYPE
SPLINE_VELOCITY_OPTION
MOVEB_BLENDING_TYPE
STOP_TYPE
DR_MV_APP
CONTROL_MODE
2.2.6 Tools/TCP/Payload
COG_REFERENCE
ADD_UP
2.2.7 Force & Compliance
FORCE_AXIS
FORCE_MODE
2.2.8 I/O & Modbus & Communication
GPIO_CTRLBOX_DIGITAL_INDEX
GPIO_CTRLBOX_ANALOG_INDEX
GPIO_TOOL_DIGITAL_INDEX
GPIO_TOOL_ANALOG_INDEX
GPIO_ANALOG_TYPE
OUTPUT_TYPE
BYTE_SIZE
STOP_BITS
PARITY_CHECK
ENCORDER_POLARITY
MODBUS_REGISTER_TYPE
2.2.9 Safety
SAFE_STOP_RESET_TYPE
SAFETY_MODE
SAFETY_STATE
SAFETY_FUNC
SAFETY_MODE_EVENT
2.2.10 Log & Message
MESSAGE_LEVEL
POPUP_RESPONSE
LOG_LEVEL
LOG_GROUP
2.3 Structure
2.3.1 System / Package / License
SYSTEM_VERSION
SYSTEM_VERSION_EX
SYSTEM_TIME
SYSTEM_IPADDRESS
SYSTEM_POWER
SYSTEM_CPUUSAGE
SYSTEM_DISKSIZE
FLANGE_VERSION
SYSTEM_UPDATE_RESPONSE
PACKAGE_LOCAL_UPDATE
PACKAGE_NETWORK_UPDATE
PACKAGE_UNZIP_COMMAND
PACKAGE_UNZIP_RESPONSE
PACKAGE_RESTORE
PACKAGE_RESTORE_LIST
SVM_NETWORK_UPDATE
LICENSE_TEXT_PARAM
2.3.2 Monitoring & Status
ROBOT_MONITORING_JOINT
ROBOT_MONITORING_TASK
ROBOT_MONITORING_WORLD
ROBOT_MONITORING_USER
ROBOT_MONITORING_TORQUE
ROBOT_MONITORING_STATE
ROBOT_MONITORING_DATA
ROBOT_MONITORING_DATA_EX
MONITORING_MISC
MONITORING_DATA
MONITORING_FORCECONTROL
ROBOT_MONITORING_SENSOR
ROBOT_MONITORING_AMODEL
MONITORING_FLANGE_IO_CONFIG
MONITORING_DATA_EX
MONITORING_COCKPIT
MONITORING_MODBUS
READ_CTRLIO_INPUT
READ_CTRLIO_OUTPUT
READ_ENCODER_INPUT
READ_PROCESS_INPUT
READ_CTRLIO_INPUT_EX
READ_CTRLIO_INPUT_EX2
READ_CTRLIO_OUTPUT_EX
READ_CTRLIO_OUTPUT_EX2
MONITORING_CTRLIO
MONITORING_CTRLIO_EX
MONITORING_CTRLIO_EX2
2.3.3 Operation & Feedback (Program / Message / Logs)
PROGRAM_SYNTAX_CHECK
PROGRAM_EXECUTION_EX
PROGRAM_WATCH_VARIABLE
PROGRAM_ERROR
MESSAGE_PROGRESS
MESSAGE_POPUP
MESSAGE_INPUT
REPORT_TCP_CLIENT
LOG_ALARM
ROBOT_LED_CONFIG
2.3.4 Coordinates / Tools / TCP / Payload
USER_COORDINATE
CONFIG_USER_COORDINATE_EX
CONFIG_USER_COORDINATE_EX2
CONFIG_WORLD_COORDINATE
CONFIG_WORLD_COORDINATE_EX
USER_COORDINATE_MATRIX_RESPONSE
CONFIG_TOOL
CONFIG_TOOL_SYMBOL
CONFIG_TOOL_LIST
CONFIG_TOOL_SHAPE
CONFIG_TOOL_SHAPE_SYMBOL
CONFIG_TOOL_SHAPE_LIST
CONFIG_TCP
CONFIG_TCP_SYMBOL
CONFIG_TCP_LIST
CONFIG_TCP_SYMBOL_EX
CONFIG_TCP_LIST_EX
CONFIG_PAYLOAD_EX
2.3.5 Kinematics & Robot Model (Pose / Wrenches / Positions / Link Info)
ROBOT_POSE
ROBOT_TASK_POSE
ROBOT_VEL
ROBOT_FORCE
INVERSE_KINEMATIC_RESPONSE
POSITION
POSITION_EX
POSITION_ADDTO
VECTOR3D
NORMAL_VECTOR
POINT_2D
POINT_3D
LINE
JTS_PARAM_DATA
FTS_PARAM_DATA
COUNTER_BALANCE_PARAM_DATA
CALIBRATION_PARAM_DATA
GRAVITY_PARAM_DATA
ROBOT_LINK_INFO
2.3.6 Motion Primitives
MOVE_POSB
MOVE_MOVESINE
MOVE_MOVELISSAJOUS
2.3.7 Measurement & Calibration
MEASURE_TOOL_RESPONSE
MEASURE_TCP
MEASURE_TCP_RESPONSE
MEASURE_TCP_WELDING
MEASURE_FRICTION
MEASURE_FRICTION_RESPONSE
MEASURE_CONVEYOR_COORD
MEASURE_CONVEYOR_COORD_RESPONSE
MEASURE_CONVEYOR_DISTANCE_RESPONSE
2.3.8 Encoders / IO & Burst
CONFIG_ENCODER_POLARITY
CONFIG_ENCODER_MODE
GPIO_PORT
WRITE_SERIAL_BURST
2.3.9 Industrial Communication (Modbus / Ethernet / Serial)
MODBUS_DATA
MODBUS_DATA_LIST
MODBUS_REGISTER_MONITORING
MODBUS_REGISTER
MODBUS_MULTI_REGISTER
UPDATE_MODBUS_MULTI_REGISTER
WRITE_MODBUS_DATA
WRITE_MODBUS_MULTI_DATA
WRITE_MODBUS_RTU_DATA
WRITE_MODBUS_BURST
MONITORING_MBUS_SLAVE_COIL
MONITORING_MBUS_SLAVE_HOILDING_REGISTER
CONFIG_INDUSTRIAL_ETHERNET
SETUP_OPERARION_INDUSTRIAL_ETHERNET
MONITORING_IE_GPR
MONITORING_IE_SLAVE
READ_IETHERNET_SLAVE_DATA
IETHERNET_SLAVE_DATA_EX
IETHERNET_SLAVE_RESPONSE_DATA_EX
FLANGE_SERIAL_DATA
FLANGE_SER_RXD_INFO
FLANGE_SER_RXD_INFO_EX
READ_FLANGE_SERIAL
READ_FLANGE_SERIAL_EX
SERIAL_PORT_NAME
SERIAL_SEARCH
2.3.10 Industrial Applications (Conveyor / Welding / Machine Tending)
CONVEYOR_BASIC
CONFIG_CONVEYOR
CONVEYOR_COORD_EX
CONVEYOR_DISTANCE
MONITOR_CONVEYOR
CONVEYOR_OBJECT
CONVEYOR_TRACK
WELDING_CHANNEL
CONFIG_WELDING_INTERFACE
CONFIG_WELD_SETTING
ADJUST_WELDING_SETTING
CONFIG_TRAPEZOID_WEAVING_SETTING
CONFIG_ZIGZAG_WEAVING_SETTING
CONFIG_CIRCULE_WEAVING_SETTING
CONFIG_SINE_WEAVING_SETTING
CONFIG_WELDING_DETAIL_INFO
CONFIG_ANALOG_WELDING_INTERFACE
CONFIG_ANALOG_WELDING_SETTING
ANALOG_WELDING_ADJUST_SETTING
CONFIG_DIGITAL_WELDING_IF_MAPPING_DATA
CONFIG_DIGITAL_WELDING_INTERFACE_PROCESS
CONFIG_DIGITAL_WELDING_INTERFACE_MODE
CONFIG_DIGITAL_WELDING_INTERFACE_TEST
CONFIG_DIGITAL_WELDING_INTERFACE_CONDITION
CONFIG_DIGITAL_WELDING_INTERFACE_OPTION
CONFIG_DIGITAL_WELDING_INTERFACE_PROCESS2
CONFIG_DIGITAL_WELDING_INTERFACE_MONITORING
CONFIG_DIGITAL_WELDING_INTERFACE_OTHER
DIGITAL_WELDING_RESET
CONFIG_DIGITAL_WELDING_MODE
CONFIG_DIGITAL_WELDING_CONDITION
CONFIG_DIGITAL_WELDING_ADJUST
TACK_WELDING_SETTING
WEAVING_OFFSET
CONFIG_WEAVING_SETTING
ROBOT_WELDING_DATA
ROBOT_ALALOG_WELDING_DATA
ROBOT_DIGITAL_WELDING_DATA
DIGITAL_WELDING_COMM_STATE
MACHINE_TENDING_FOCAS_ERR_STRING
MACHINE_TENDING_FOCAS_CONNECT
MACHINE_TENDING_FOCAS_DISCONNECT
MACHINE_TENDING_FOCAS_PMC_DATA
MACHINE_TENDING_FOCAS_PMC
MACHINE_TENDING_FOCAS_CNC_PARAM
MACHINE_TENDING_RESPONSE_FOCAS_CNC_PARAM
MACHINE_TENDING_RESPONSE_FOCAS_PROGRAM_NUMBER
FOCAS_IS_ALIVE_RESPONSE
2.3.11 Safety Configuration & Objects
JOINT_RANGE
CONFIG_JOINT_RANGE
GENERAL_RANGE
CONFIG_GENERAL_RANGE
CONFIG_INSTALL_POSE
CONFIG_SAFETY_FUNCTION
CONFIG_SAFETY_IO
CONFIG_SAFETY_IO_EX
CONFIG_SAFETY_IO_OP
SAFETY_CONFIGURATION_EX
SAFETY_CONFIGURATION_EX2
SAFETY_CONFIGURATION_EX2_V3
CONFIG_SAFETY_PARAM_ENABLE
SAFETY_OBJECT_SPHERE
SAFETY_OBJECT_CAPSULE
SAFETY_OBJECT_CUBE
SAFETY_OBJECT_OBB
SAFETY_OBJECT_POLYPRISM
SAFETY_OBJECT_DATA
SAFETY_OBJECT
2.3.12 Safety Local Rules & Zones
LOCAL_ZONE_PROPERTY_JOINT_RANGE
LOCAL_ZONE_PROPERTY_JOINT_SPEED
LOCAL_ZONE_PROPERTY_TCP_FORCE
LOCAL_ZONE_PROPERTY_TCP_POWER
LOCAL_ZONE_PROPERTY_TCP_SPEED
LOCAL_ZONE_PROPERTY_TCP_MOMENTUM
LOCAL_ZONE_PROPERTY_COLLISION
LOCAL_ZONE_PROPERTY_SPEED_RATE
LOCAL_ZONE_PROPERTY_SPEED_REDUCTION
LOCAL_ZONE_PROPERTY_COLLISION_STOPMODE
LOCAL_ZONE_PROPERTY_TCPSLF_STOPMODE
LOCAL_ZONE_PROPERTY_TOOL_ORIENTATION
VIRTUAL_FENCE_OBJECT
CONFIG_VIRTUAL_FENCE
VIRTUAL_FENCE_RESPONSE
SAFETY_ZONE_SHAPE_SPHERE
SAFETY_ZONE_SHAPE_CYLINDER
SAFETY_ZONE_SHAPE_CUBOID
SAFETY_ZONE_SHAPE_TILTED_CUBOID
SAFETY_ZONE_SHAPE_MULTI_PLANE
SAFETY_ZONE_SHAPE_CAPSULE
SAFETY_ZONE_SHAPE_DATA
SAFETY_ZONE_SHAPE
SAFETY_ZONE_PROPERTY_SPACE_LIMIT
SAFETY_ZONE_PROPERTY_LOCAL_ZONE
SAFETY_ZONE_PROPERTY_DATA
CONFIG_PROTECTED_ZONE
CONFIG_COLLISION_MUTE_ZONE
CONFIG_COLLISION_MUTE_ZONE_PROPERTY
SAFETY_TOOL_ORIENTATION_LIMIT
CONFIG_TOOL_ORIENTATION_LIMIT_ZONE
ENABLE_SAFE_ZONE
CONFIG_ADD_SAFETY_ZONE
CONFIG_DELETE_SAFETY_ZONE
2.3.13 Access & Remote Control
CONFIG_COCKPIT_EX
CONFIG_IDLE_OFF
CONFIG_NUDGE
CONFIG_CONFIGURABLE_IO
CONFIG_CONFIGURABLE_IO_EX
CONFIG_IO_FUNC
CONFIG_REMOTE_CONTROL
2.3.14 Real-time Streams
RT_INPUT_DATA_LIST
RT_OUTPUT_DATA_LIST
2.4 Callback Function
2.4.1 Core State & Lifecycle
TOnMonitoringStateCB
TOnProgramStoppedCB
TOnHommingCompletedCB
TOnTpInitializingCompletedCB
TOnMasteringNeedCB
TOnDisconnectedCB
TOnMonitoringSpeedModeCB
2.4.2 Monitoring Streams
TOnMonitoringDataCB
TOnMonitoringDataExCB
2.4.3 I/O, Modbus & Communication
TOnMonitoringCtrlIOCB
TOnMonitoringCtrlIOExCB
TOnMonitoringCtrlIOEx2CB
TOnMonitoringModbusCB
2.4.4 Safety System & Access Control
TOnMonitoringSafetyStateCB
TOnMonitoringSafetyStopTypeCB
TOnMonitoringRobotSystemCB
TOnMonitoringAccessControlCB
2.4.5 Teach Pendant UI & Message
TOnTpPopupCB
TOnTpLogCB
TOnTpGetUserInputCB
TOnTpProgressCB
TOnLogAlarmCB
2.4.6 Real-Time Stream
TOnRTMonitoringDataCB
2.4.7 Welding Data
TOnMonitoringWeldingDataCB
TOnMonitoringAnalogWeldingDataCB
TOnMonitoringDigitalWeldingDataCB
3. Mode
3.1 Common
3.1.1 Connection
open_connection
close_connection
3.1.2 Mode/State
get_system_version
get_library_version
get_robot_mode
set_robot_mode
get_robot_state
set_robot_control
get_control_mode
get_robot_system
set_robot_system
get_robot_speed_mode
set_robot_speed_mode
manage_access_control
system_shut_down
3.1.3 Monitoring/Callbacks
set_on_monitoring_state
set_on_monitoring_data
set_on_monitoring_data_ex
set_on_monitoring_ctrl_io
set_on_monitoring_ctrl_io_ex
set_on_monitoring_modbus
set_on_monitoring_speed_mode
set_on_monitoring_access_control
set_on_monitoring_safety_state
set_on_monitoring_robot_system
set_on_monitoring_safety_stop_type
set_on_log_alarm
set_on_program_stopped
set_on_homming_completed
set_on_tp_initializing_completed
set_on_mastering_need
set_on_disconnected
set_on_tp_popup
set_on_tp_get_user_input
set_on_tp_progress
set_on_tp_log
setup_monitoring_version
3.1.4 Program/DRL_Execution
get_program_state
drl_start
drl_stop
drl_pause
drl_resume
change_operation_speed
save_sub_program
3.1.5 Motion execution
stop
move_pause
move_resume
mwait
move_home
enable_alter_motion
alter_motion
disable_alter_motion
check_motion
3.1.6 Position
get_current_posx
get_desired_posx
get_current_posj
get_desired_posj
get_current_tool_flange_posx
get_current_pose
get_control_space
get_current_solution_space
get_current_rotm
3.1.7 Kinematics/Math
trans
ikin
ikin (extension)
ikin (with iteration threshold)
ikin_norm
fkin (forward kinematics)
addto
get_orientation_error
get_solution_space
coord_transform
calc_coord
get_robot_link_info
3.1.8 Velocity
get_current_velx
get_current_velj
get_desired_velx
3.1.9 Force/Compliance
task_compliance_ctrl
set_stiffnessx
set_desired_force
release_compliance_ctrl
release_force
check_force_condition
check_position_condition_abs
check_position_condition_rel
check_position_condition
check_orientation_condition_abs
check_orientation_condition_rel
is_done_bolt_tightening
get_joint_torque
get_external_torque
get_tool_force
3.1.10 Tool
set_tool
get_tool
add_tool
del_tool
set_tool_shape
get_tool_shape
3.1.11 Tcp
set_tcp
get_tcp
add_tcp
del_tcp
3.1.12 Payload
set_workpiece_weight
get_workpiece_weight
reset_workpiece_weight
3.1.13 Coordinate
set_user_cart_coord1
set_user_cart_coord2 (3-point method)
set_user_cart_coord3 (vector method)
get_user_cart_coord
overwrite_user_cart_coord
set_ref_coord
get_user_home
set_user_home
3.1.14 I/O
set_digital_output
get_digital_output
get_digital_input
set_analog_output
get_analog_input
set_mode_analog_input
set_mode_analog_output
set_tool_digital_output
get_tool_digital_input
get_tool_digital_output
get_tool_analog_input
set_tool_digital_output_level
set_tool_digital_output_type
set_mode_tool_analog_input
set_output_register_bit
set_output_register_int
set_output_register_float
get_output_register_bit
get_output_register_int
get_output_register_float
get_input_register_bit
get_input_register_int
get_input_register_float
3.1.15 Modbus
add_modbus_signal
del_modbus_signal
set_modbus_output
get_modbus_input
query_modbus_data_list
3.1.16 Serial(Flange)
flange_serial_open
flange_serial_close
flange_serial_write
flange_serial_read
3.1.17 TP
tp_popup_response
tp_get_user_input_response
config_program_watch_variable
3.1.18 Report alarm
get_last_alarm
3.1.19 LED
state_led_reset
set_state_led_off
set_state_led_color
get_state_led_rule
3.1.20 Safety(Configuration parameter)
change_collision_sensitivity
set_palletizing_mode
set_auto_safety_move_stop
release_protective_stop
get_safety_configuration_ex (DRCF v2)
get_safety_configuration_ex_v3 (DRCF v3)
3.1.21 Safety(State/Mode)
set_safety_mode
set_safe_stop_reset_type
3.1.22 Servo Power
servo_off
set_auto_servo_off
3.1.23 Hold to Run (H2R)
hold2run
jog_h2r
movej_h2r
movel_h2r
3.2 Manual Mode
3.2.1 Jogging & Motion Control
jog (Manual Mode)
multi_jog (Manual Mode)
stop (Manual Mode)
move_pause (Manual Mode)
move_resume (Manual Mode)
mwait (Manual Mode)
get_current_posx (Manual Mode)
get_current_posj (Manual Mode)
get_current_velx (Manual Mode)
get_current_velj (Manual Mode)
get_control_mode (Manual Mode)
get_robot_mode (Manual Mode)
get_robot_state (Manual Mode)
enable_alter_motion (Manual Mode)
alter_motion (Manual Mode)
disable_alter_motion (Manual Mode)
3.2.2 Coordinate Teaching
set_user_cart_coord (1-point, Manual Mode)
set_user_cart_coord (3-point, Manual Mode)
set_user_cart_coord (2-vector, Manual Mode)
overwrite_user_cart_coord (Manual Mode)
get_user_cart_coord (Manual Mode)
set_ref_coord (Manual Mode)
coord_transform (Manual Mode)
calc_coord (Manual Mode)
set_user_home (Manual Mode)
get_user_home (Manual Mode)
get_current_tool_flange_posx (Manual Mode)
trans (Manual Mode)
fkin (Manual Mode)
ikin (Manual Mode)
get_orientation_error (Manual Mode)
get_current_rotm (Manual Mode)
3.2.3 I/O Communication & Feedback
set_tool_digital_output (Manual Mode)
get_tool_digital_input (Manual Mode)
get_tool_digital_output (Manual Mode)
get_tool_analog_input (Manual Mode)
set_mode_tool_analog_input (Manual Mode)
set_tool_digital_output_level (Manual Mode)
set_tool_digital_output_type (Manual Mode)
set_digital_output (Manual Mode)
set_digital_output_ex (Manual Mode)
get_digital_input (Manual Mode)
get_digital_input_ex (Manual Mode)
get_digital_output (Manual Mode)
get_digital_output_ex (Manual Mode)
set_analog_output (Manual Mode)
get_analog_input (Manual Mode)
get_analog_input_ex (Manual Mode)
set_mode_analog_input (Manual Mode)
set_mode_analog_output (Manual Mode)
add_modbus_signal (Manual Mode)
del_modbus_signal (Manual Mode)
get_modbus_input (Manual Mode)
set_modbus_output (Manual Mode)
query_modbus_data_list (Manual Mode)
flange_serial_open (Manual Mode)
flange_serial_close (Manual Mode)
flange_serial_write (Manual Mode)
flange_serial_read (Manual Mode)
set_on_monitoring_ctrl_io_ex (Manual Mode)
set_on_monitoring_ctrl_io_ex2 (Manual Mode)
set_on_monitoring_modbus (Manual Mode)
3.2.4 Safety & Servo Operations
set_robot_mode (Manual Mode)
set_robot_system (Manual Mode)
set_robot_speed_mode (Manual Mode)
servo_off (Manual Mode)
set_auto_servo_off (Manual Mode)
set_auto_safety_move_stop (Manual Mode)
change_collision_sensitivity (Manual Mode)
set_safety_mode (Manual Mode)
set_safe_stop_reset_type (Manual Mode)
release_protective_stop (Manual Mode)
manage_access_control (Manual Mode)
get_robot_system (Manual Mode)
get_robot_speed_mode (Manual Mode)
get_last_alarm (Manual Mode)
get_safety_configuration_ex2 (Manual Mode)
get_safety_configuration_ex2_v3 (Manual Mode)
check_motion (Manual Mode)
set_on_monitoring_safety_state (Manual Mode)
set_on_monitoring_safety_stop_type (Manual Mode)
3.2.5 Force Control & Compliance Tuning
task_compliance_ctrl (Manual Mode)
set_stiffnessx (Manual Mode)
set_desired_force (Manual Mode)
release_compliance_ctrl (Manual Mode)
release_force (Manual Mode)
check_force_condition (Manual Mode)
check_position_condition_abs (Manual Mode)
check_position_condition_rel (Manual Mode)
check_position_condition (Manual Mode)
check_orientation_condition_abs (Manual Mode)
check_orientation_condition_rel (Manual Mode)
is_done_bolt_tightening (Manual Mode)
get_tool_force (Manual Mode)
get_external_torque (Manual Mode)
get_joint_torque (Manual Mode)
3.2.6 TP Interaction
set_on_tp_popup (Manual Mode)
set_on_tp_get_user_input (Manual Mode)
tp_popup_response (Manual Mode)
tp_get_user_input_response (Manual Mode)
set_state_led_color (Manual Mode)
state_led_reset (Manual Mode)
set_state_led_off (Manual Mode)
get_state_led_rule (Manual Mode)
3.2.7 TP Logging & Lifecycle
set_on_tp_progress (Manual Mode)
set_on_tp_log (Manual Mode)
set_on_tp_initializing_completed (Manual Mode)
set_on_program_stopped (Manual Mode)
3.2.8 Watch Variables
config_program_watch_variable (Manual Mode)
3.3 Auto Mode
3.3.1 DRL Program Control
drl_start (Auto Mode)
drl_stop (Auto Mode)
drl_pause (Auto Mode)
drl_resume (Auto Mode)
change_operation_speed (Auto Mode)
get_program_state (Auto Mode)
get_last_alarm (Auto Mode)
3.3.2 Motion Primitives-Basic Trajectory
movej (Auto Mode)
movel (Auto Mode)
movec (Auto Mode)
moveb (Auto Mode)
amovej (Auto Mode)
amovel (Auto Mode)
amovec (Auto Mode)
amoveb (Auto Mode)
3.3.3 Motion Primitives-Advanced/Blending/Special Trajectories
movejx (Auto Mode)
movesj (Auto Mode)
movesx (Auto Mode)
amovejx (Auto Mode)
amovesj (Auto Mode)
amovesx (Auto Mode)
move_spiral (Auto Mode)
amove_spiral (Auto Mode)
move_periodic (Auto Mode)
amove_periodic (Auto Mode)
3.3.4 Motion Control Utilities
stop (Auto Mode)
move_pause (Auto Mode)
move_resume (Auto Mode)
mwait (Auto Mode)
check_motion (Auto Mode)
set_singularity_handling (Auto Mode)
set_singular_handling_force (Auto Mode)
3.3.5 Home & Recovery Operations
move_home (Auto Mode)
set_user_home (Auto Mode)
get_user_home (Auto Mode)
3.3.6 Force & Compliance Control
task_compliance_ctrl (Auto Mode)
set_desired_force (Auto Mode)
set_stiffnessx (Auto Mode)
release_force (Auto Mode)
release_compliance_ctrl (Auto Mode)
check_force_condition (Auto Mode)
check_position_condition (Auto Mode)
check_position_condition_abs (Auto Mode)
check_position_condition_rel (Auto Mode)
check_orientation_condition_abs (Auto Mode)
check_orientation_condition_rel (Auto Mode)
is_done_bolt_tightening (Auto Mode)
3.3.7 Velocity & Servo Following
speedj (Auto Mode)
speedl (Auto Mode)
servoj (Auto Mode)
servol (Auto Mode)
servoj_g (Auto Mode)
servol_g (Auto Mode)
movesj_g (Auto Mode)
movesx_g (Auto Mode)
3.3.8 Tools / TCP / Payload
set_workpiece_weight (Auto Mode)
get_workpiece_weight (Auto Mode)
reset_workpiece_weight (Auto Mode)
set_tool (Auto Mode)
add_tool (Auto Mode)
del_tool (Auto Mode)
get_tool (Auto Mode)
set_tcp (Auto Mode)
add_tcp (Auto Mode)
del_tcp (Auto Mode)
get_tcp (Auto Mode)
set_tool_shape (Auto Mode)
get_tool_shape (Auto Mode)
3.3.9 GPIO / Modbus / Flange Serial
set_digital_output (Auto Mode)
get_digital_input (Auto Mode)
set_analog_output (Auto Mode)
get_analog_input (Auto Mode)
set_modbus_output (Auto Mode)
get_modbus_input (Auto Mode)
add_modbus_signal (Auto Mode)
del_modbus_signal (Auto Mode)
flange_serial_open (Auto Mode)
flange_serial_close (Auto Mode)
flange_serial_write (Auto Mode)
flange_serial_read (Auto Mode)
3.4 RT Stream
3.4.1 Realtime Instance Create/Destroy
create_robot_control_udp
destroy_robot_control_udp
3.4.2 Realtime Session Lifecycle
connect_rt_control
start_rt_control
stop_rt_control
disconnect_rt_control
3.4.3 Realtime Stream Schema & Version Negotiation
get_rt_control_input_version_list
get_rt_control_output_version_list
get_rt_control_input_data_list
get_rt_control_output_data_list
set_rt_control_input
set_rt_control_output
3.4.4 Realtime Data Stream I/O
read_data_rt
write_data_rt
3.4.5 Realtime Command (High-Frequency Control)
set_velj_rt
set_accj_rt
set_velx_rt
set_accx_rt
speedj_rt
speedl_rt
servoj_rt
servol_rt
torque_rt
3.4.6 Realtime Diagnostics & Callbacks
set_on_rt_monitoring_data
set_on_rt_log_alarm
4. Applications Extensions
4.1 Welding Application
4.1.1 Weave Path Configuration
app_weld_weave_cond_trapezoidal
app_weld_weave_cond_zigzag
app_weld_weave_cond_circular
app_weld_weave_cond_sinusoidal
4.1.2 Analog Welding Interface Path
app_weld_enable_analog
app_weld_set_weld_cond_analog
app_weld_adj_welding_cond_analog
4.1.3 Digital/Ethernet-ip Interface
app_weld_set_interface_eip_r2m_process
app_weld_set_interface_eip_r2m_mode
app_weld_set_interface_eip_r2m_test
app_weld_set_interface_eip_r2m_condition
app_weld_set_interface_eip_r2m_option
app_weld_set_interface_eip_m2r_process2
app_weld_set_interface_eip_m2r_monitoring
app_weld_set_interface_eip_m2r_other
app_weld_enable_digital
app_weld_disable_digital
app_weld_set_weld_cond_digital
app_weld_adj_welding_cond_digital
app_weld_reset_interface
4.1.4 Monitoring & Signal Control
set_on_monitoring_welding_data
set_on_monitoring_analog_welding_data
set_on_monitoring_digital_welding_data
set_digital_welding_signal_output
set_digital_welding_monitoring_mode
4.1.5 Calibration & Measurement
measure_welding_tcp
set_welding_cockpit_setting
set_welding_cockpit_setting_time_setting
4.1.6 Motion Assistance
app_weld_adj_motion_offset
5. Programming Instructions
5.1 Robot Connection/Release
5.2 Robot Initialization
5.3 Management of Control Right
5.4 Robot Operation Mode
5.5 Robot Operation State
5.6 Robot state transition
5.7 Program Execution and Shutdown
5.8 Limits on Robot Safety Setting Function
6. Tutorials
6.1 Operation Modes
6.1.1 Virtual Mode
6.1.2 Real Mode
6.2 Basic Tutorials
Connection & Callback Registration
Access Control & ServoOn
Jog & Home
MoveJ / MoveL (Sync / Async)
DRL Mini Loop (Start / Stop)
I/O Basics (Control Box DO)
6.3 Advanced Tutorials
Unified Stop / Pause / Resume
Safety Stop & Recovery
Alarm & Access Loss Handling
Monitoring & Logging
Custom Trajectory Planning
Servo Off & Reconnection
6.4 Application Tutorials
6.4.1 Welding Tutorials
Analog Welding Control
Digital Welding Control (EtherNet/IP)
Weaving Patterns
Real-time Parameter Adjustment
Welding TCP Calibration
Monitoring & Signal Output
6.5 RT Tutorials
RT Connection Setup
RT Output Configuration
Start / Stop RT Control
RT Data Monitoring
Speed / Torque Commands (Extension)
Unified Safety Handling
6.6 Scenario-based Examples
6.6.1
minimal_motion_sample.cpp
Setup & Connection
Access Control & State monitoring
Connection & Version Information
Access control & STANDBY
Robot Mode Confiuguration
Motion Execution
6.6.2
minimal_rt_monitoring_sample.cpp
Overview & Global Configuration
Realtime Connection Setup
RT Monitoring Callback
RT Output
Start & Stop RT Monitoring
6.6.3
send_drl_script_sample.cpp
Setup & Connection
Access Control & State Monitoring Callback
Connection & Version Information
Access Control & StandBy
Robot Mode Configuration
DRL Script Definition & Execution
Program Control (Pause / Resume / Stop)
6.6.4
minimal_welding_sample.cpp
Setup & Global Variables
Main Loop
Callback Registration
Connection to Controller
Control Authority & Servo On Handling
Robot Mode & System Configuration
DRL-based Welding Script
C++-based Welding Interface Configuration
6.6.5
minimal_instruction_sample.cpp
Setup & Global Variables
Keyboard Menu & Main loop
Callback Registration
Connection to Controller
Control Authority Handling
Servo On & Monitoring Version
Robot Mode & System Configuration
Joint Motion Execution
Kinematics Test
DRL Script Execution
Xenomai / Real-time Environment Notes
6.6.6.
realtime_control_sample.cpp
Setup & Global Variables
Callback Registration
Connection & Version Information
Control Authority & Servo On
Robot Mode Configuration
RT Session Activation
Stop / Pause / Resume
Quintic Trajectory Planning
Realtime RT Loop
Stopping RT Control
7. Troubleshooting
7.1 Connection Refused (API Link Error)
A. Error Case
B. Root Cause Analysis
C. Solution
7.2 Access Control Loss
A. Error Case
B. Root Cause Analysis
C. Solution
7.3 Build Error: Poco Not Found
A. Error Case
B. Root Cause Analysis
C. Solution
Doosan Robotics API Manual
3. Mode
3.1 Common
3.1.23 Hold to Run (H2R)
View page source
3.1.23 Hold to Run (H2R)
hold2run
jog_h2r
movej_h2r
movel_h2r
1.33.2
Versions
1.33.2
1.33.0
1.33.1