Arm#

Move 6-Axis Arm to Position #

The Move 6-Axis Arm to Position block is used to move the 6-Axis Arm to a specified set of coordinates.

This is can be a non-waiting or waiting block depending on if the and don’t wait option is used.

  move [arm v] to position x: (120) y: (120 ) z: (75) [mm v] ▶

Select which 6-Axis Arm to move.

Diagram illustrating the process of moving a 6-axis robotic arm to a specified position using coordinates.

Select which unit for the coordinates to use: millimeters or inches.

Diagram illustrating the process to move a 6-Axis robotic arm to a specified position using defined coordinates.

You can select the arrow to expand and don’t wait - this will allow subsequent blocks to run while the 6-Axis Arm moves.

  move [arm v] to position x: (120) y: (120 ) z: (75) [mm v] ◀ and don't wait

In this example, the 6-Axis Arm will move to the coordinates (120, 120, 75) in millimeters.

  when started :: hat events
  move [arm v] to position x: (120) y: (120 ) z: (75) [mm v] ▶

Increment Move 6-Axis Arm Position #

The Move 6-Axis Arm to Position block is used to move the 6-Axis Arm in incremental distances using the specified values.

This is can be a non-waiting or waiting block depending on if the and don’t wait option is used.

  increment [arm v] to position x: (0) y: (0) z: (0) [mm v] ▶

Select which 6-Axis Arm to move.

Diagram illustrating the movement commands for a 6-axis robotic arm, including position and orientation adjustments.

Select which unit for the coordinates to use: millimeters or inches.

Diagram illustrating the process to move a 6-axis robotic arm to a specified position in millimeters.

You can select the arrow to expand and don’t wait - this will allow subsequent blocks to run while the 6-Axis Arm moves.

  increment [arm v] position by x: (0) y: (0) z: (0) [mm v] ◀ and don't wait

In this example, the 6-Axis Arm will move for 100 millimeters along the X axis.

  increment [Arm1 v] position by x: (100) y: (0) z: (0) [mm v]  ▶

Move 6-Axis Arm to Orientation #

The Move 6-Axis Arm to Orientation block is used to rotate the 6-Axis Arm’s end effector about an axis to a specific orientation.

This is can be a non-waiting or waiting block depending on if the and don’t wait option is used.

  move [arm v] to orientation [pitch v] (0) degrees  ▶

Select which 6-Axis Arm to move.

Diagram illustrating the orientation movement of a 6-axis robotic arm's end effector to a specified angle.

Select which orientation to be moved.

Diagram illustrating the orientation movement of a 6-axis robotic arm's end effector in a specified direction.

You can select the arrow to expand and don’t wait - this will allow subsequent blocks to run while the 6-Axis Arm moves.

  move [arm v] to orientation [pitch v] (0) degrees ◀ and don't wait

In this example, the 6-Axis Arm will move its end effector to point at 270 degrees along the Z axis.

  when started :: hat events
  move [arm v] to orientation [yaw v] (270) degrees  ▶

Increment Move 6-Axis Arm Orientation #

The Increment Move 6-Axis Arm Orientation block is used to rotate the 6-Axis Arm’s end effector about an axis for an incremental distance in degrees.

This is can be a non-waiting or waiting block depending on if the and don’t wait option is used.

  increment [arm v] orientation by [pitch v] (0) degrees  ▶

Select which 6-Axis Arm to move.

Diagram illustrating the incremental movement of a 6-axis robotic arm's end effector orientation.

Select which orientation to be moved.

Diagram illustrating the incremental rotation of a 6-axis robotic arm's end effector about the Y axis by 40 degrees.

You can select the arrow to expand and don’t wait - this will allow subsequent blocks to run while the 6-Axis Arm moves.

  increment [arm v] orientation by [pitch v] (0) degrees  ◀ and don't wait

In this example, the 6-Axis Arm will move its end effector for 40 degrees along the Y axis.

  when started :: hat events
  increment [arm v] orientation by [pitch v] (40) degrees   ▶

Set 6-Axis Arm Speed #

The Set 6-Axis Arm Speed block is used to set the 6-Axis Arm’s speed.

By default, the arm’s speed is set to 50% at the start of a project. The 6-Axis Arm’s speed can be set to an integer from 1-100%.

This is a non-waiting command and allows any subsequent commands to execute without delay.

  set [arm v] speed to (50) %

Select which 6-Axis Arm to move.

Diagram illustrating how to set the speed of a 6-Axis robotic arm, with speed adjustment options displayed.

In this example, the 6-Axis Arm will set its speed to 30% before moving to (120, 120, 70).

  when started :: hat events
  set [arm v] speed to (30) %
  move [arm v] to position x: (120) y: (120) z: (70) [mm v]  ▶

Set 6-Axis Robotic Arm End Effector #

The Set 6-Axis Robotic Arm End Effector block is used to set the 6-Axis Arm’s end effector.

This will automatically adjust the Z-offset of the 6-Axis Arm for what end effector is selected. By default, the end effector is set to the Magnet Pickup Tool at the start of the project.

This is a non-waiting command and allows any subsequent commands to execute without delay.

  set [arm v] end effector to [magnet v]

Select which 6-Axis Arm’s end effector to set.

Diagram of a 6-Axis robotic arm with labeled end effector positions and movements for programming and control.

Select which end effector to set on the 6-Axis Arm.

Diagram illustrating the control blocks for moving and setting the end effector of a 6-Axis robotic arm.

In this example, the 6-Axis Arm will set its end effector to the Pen Holder Tool.

  when started :: hat events
  set [arm v] end effector to [pen v]

Set 6-Axis Arm Magnet Mode #

The Set 6-Axis Arm Magnet Mode block is used to set the 6-Axis Arm’s magnet mode indefinitely or until another Set 6-Axis Arm Magnet Mode Block is used.

At the start of a project, the Magnet Pickup Tool’s mode is reset to its default mode, released.

This is a non-waiting command and allows any subsequent commands to execute without delay.

  set [arm v] magnet to [engaged v]

Select which 6-Axis Arm to use.

Diagram of a 6-axis robotic arm with labeled components for movement and control functions.

Select which mode to set the Magnet Pickup Tool to:

Engaged - The Magnet Pickup Tool will pick up objects.
Released - The Magnet Pickup Tool will drop any object it is holding and not pick up further objects.

6-Axis Arm Magnet Mode settings, showing options for engaged and released modes for the Magnet Pickup Tool.

In this example, the 6-Axis Arm will set the Magnet Pickup Tool’s mode to engaged.

  when started :: hat events
  set [arm v] magnet to [engaged v]

Set 6-Axis Robotic Arm Pen Offset #

The Set 6-Axis Robotic Arm Pen Offset block is used to manually set the 6-Axis Robotic Arm’s current Z offset.

You must use the Set 6-Axis Robotic Arm End Effector block to set the end effector to the Pen Tool before using this command, otherwise the Set 6-Axis Robotic Arm Pen Offset will do nothing.

The pen offset is the distance between the top of the Pen Holder Tool and the tip of the Dry-Erase Marker. At the start of a project, the Pen Offset is set to 0. By default, this corresponds to the ~23mm between the tip of the Dry-Erase Marker that is provided in the CTE Workcell Kit and the Pen Holder Tool.

The default offset of 0 will place the Z axis origin for the Arm at where the Pen Tool connects to the 6-Axis Arm.

This is a non-waiting command and allows any subsequent commands to execute without delay.

  set [arm v] pen offset to (0) [mm v]

Select which 6-Axis Arm to use.

Image showing the Set 6-Axis Robotic Arm Pen Offset block for adjusting the pen offset on a robotic arm.

Select which unit to set the pen offset with: millimeters or inches.

Diagram illustrating the Set 6-Axis Robotic Arm Pen Offset settings with options for units in millimeters or inches.

In this example, the 6-Axis Arm’s pen offset is set to 1 inch before the 6-Axis Arm moves to the position (120, 120, 0).

  when started :: hat events
  set [arm v] pen offset to (1) [inches v]
  move [arm v] to position x: (120) y: (120) z: (0) [mm v]  ▶

Enable 6-Axis Arm Control Stop #

The Enable 6-Axis Arm Control Stop block is used to enable the 6-Axis Arm’s control stop.

A control stop will stop the 6-Axis Arm from continuing any further movement. Once this block is used, you will not be able to re-enable the 6-Axis Arm until you restart the project.

This is a waiting command and prevents any subsequent commands from executing.

  set [arm v] to control stopped

Select which 6-Axis Arm’s control stop to enable.

6-Axis Arm control stop block interface, used to halt arm movement in robotic programming.

In this example, the 6-Axis Arm will move to (120, 120, 70) and then enable its control stop.

  when started :: hat events
  move [arm v] to position x: (120) y: (120) z: (70) [mm v]  ▶ 
  set [arm v] to control stopped