3.1 Common

Common functions can be called in Manual or Auto mode, with these exceptions. Manual mode only: set_tool, add_tool, del_tool, set_tcp, add_tcp, del_tcp, set_tool_shape, overwrite_user_cart_coord. Auto mode only: set_state_led_color, set_state_led_off, state_led_reset, get_state_led_rule, drl_start, drl_resume, change_operation_speed, system_shut_down.

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These functions include system connection, mode/state monitoring, program execution utilities, motion execution interfaces, robot kinematics, I/O control, tool/TCP configuration, safety state monitoring, and various controller-level services.

• 3.1.1 Connection
• 3.1.2 Mode/State
• 3.1.3 Monitoring/Callbacks
• 3.1.4 Program/DRL_Execution
• 3.1.5 Motion execution
• 3.1.6 Position
• 3.1.7 Kinematics/Math
• 3.1.8 Velocity
• 3.1.9 Force/Compliance
• 3.1.10 Tool
• 3.1.11 Tcp
• 3.1.12 Payload
• 3.1.13 Coordinate
• 3.1.14 I/O
• 3.1.15 Modbus
• 3.1.16 Serial(Flange)
• 3.1.17 TP
• 3.1.18 Report alarm
• 3.1.19 LED
• 3.1.20 Safety(Configuration parameter)
• 3.1.21 Safety(State/Mode)
• 3.1.22 Servo Power
• 3.1.23 Hold to Run (H2R)