R O B O T P R O G R M M I N G A N D S I M U L A T I O N

Robot Programming and

Simulation 5
EASY-ROB™ provides the programming language for Robot
Simulation. This Chapter will introduce you about the ERPL
(EASY-ROB™ Programming Language) and ERCL (EASY-
ROB™ Command Language). The Chapter will also introduce
you to creating the Program robot with Tech Window as well as
the Robot motion commands (LIN, CIRC, PTP), the Robot
Control Commands (Speed CP, Speed PTP), and modifying the
Robots Attributes. Teach Window provides you with the User-
friendly environment for programming the Robot simulation, and
doesn’t require special knowledge about ERPL. With Teach
Window you can make the robot program for any kind of
simulation and environment. Enabling the Collision and
Dynamics your simulation will become powerful with high
quality of visual effects. You can store and reuse all commands
as well as the program.

Running the Robot Program

When you load the cell file you can run the Robot program
immediately by pressing the RUN button of the Toolbar or
choosing:

Simulate->Program’s-> Run Program

You can stop the program by pressing the button, or abort

the animation pressing the button. You can set the program
to stop on each next command by pressing the button.
Looping the program execution by the button. Decreasing
and increasing the step size can be achieved by the button

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and button respectively. You can activate all mentioned

commands via menu Simulate - > Program’s.

Note: While a program is running you cannot activate some

commands. For example while animation is running, you
cannot load another cell file etc.

Teach Window
The easy way for creating or modifying existing program is by
the Teach Window. You can open the Teach Window by:
Robotics->Robot Program->Teach Window, or by
clicking the TW button in the On/Off Toolbar. The Teach
Window opens the existing loaded program. Otherwise it
creates the new default program file. The picture bellow shows
the Teach Window in Action.

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Buttons in the first line of window are for manipulating the

program file. You can reload the program by pressing the
Reload button. The next button is . This button
opens the program file with Notepad (preferred editor), which
you can edit directly. button allows you to create the
new program file. Save As and Save are the standard window
commands for storing data in a file.

The Table below describes first group of the Teach Window

buttons.

Button Description
Reload current program into Teach Window
Opens the Robot program with Notepad (or your
preferred editor)
Creates the new Robot program
Saves the existing program with different name.
Overwrites/saves loaded program file.
Allows you to open the existing robot program.
Closes the Teach Window.
Starts EASY-ROB™ Online Help
Allows you to rewrite the next line in the program
with the current selected line of program.
Executes the selected line in the program
Indicators for current selected line.
Inserts the Line in the program.
Cuts the line of the program.
Undo the cut.
Copy the line from the program.
Paste the line in the program.

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Modifies the selected line.

Note: If there is * (hash) in the button, after the

number of a current line, this means that the current line has
been modified.

The table bellow describes the second set of commands of the

Teach Window.

Button Description
Allows you to specify the new position and
orientation for the Base frame.
Note:
The goal of all BASE commands is to shift
program commands. The BASE command is
always related to the robots base. (see also ERC
BASE ...) i.e. All following motion commands are
transformed by the current base frame.
Moves the Robot to its zero position.
Moves the robot to target location with PTP type of
motion.
Moves the robot to target location with LIN type of
motion.
Sets the Via point for CIRC motion type.
Moves the robot to target location with the CIRC
type of motion.
Moves the robot to current tag location with PTP
type of motion.
Moves the robot to current tag location with LIN
type of motion.
Sets the Via point for CIRC type of motion to the
current tag.
Moves the robot to current tag location with CIRC
type of motion.

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Program Commands ERPL

ERPL is syntax for EASY-ROB™ Programming Language. With

ERPL you can set various robots and simulation parameters.
ERPL can be divided in:

• Robot Motion Commands

• Robot Control Commands

Robot Motion Commands

Robot Motion commands handle with the motion of the loaded

robot. You can open these commands by pressing the
button. The picture bellow shows the Motion commands.

Motion commands Window

contains the buttons that
enable you to easily enter
the motion command in the
Robot program.

The Table bellow shows all available motion commands and its
descriptions.

Button Description
Determines the position of each robot joint
with respect to the zero position of the
appropriate joint.
Determines the position of each robot joint

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with respect to the current joint position of

the appropriate joint.
Moves the Robot to specified location
relative to the current position and
orientation of the TCP tool frame in PTP
type of motion.
Moves the Robot to specified location
relative to the current position and
orientation of the TCP tool frame in the LIN
type of motion.
Sets the Via point for CIRC motion type.
The point is relative to the current location of
the TCP tool frame.
Moves the Robot to specified location
relative to the current position and
orientation of the TCP tool frame in CIRC
type of motion.
Sets the relative base coordinate frame.
Note:
BASE_REL will shift the current base frame
by the relative location values givin by
dX, ,dA related to the current base frame.
Allows you to specify the new position and
orientation for the Program Base frame.
Note:
The BASE_PRG command operates with
respect to the current base frame. The final
reference for all motion and position
commands with respect to the robots base
is calculated as:
T_base_final = T_base_prg * T_base
(T - homogeneous 4x4 matrix)
Sets the relative program base coordinate
frame.
Note:
The BASE_PRG_REL works semilar to the
BASE_REL command. i.e. the current
program base frame is shifted by the relative
location values dX, ..., dA

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Moves the robot to current tag location with

Tag motion type. Is the Tag motion type not
specified (Def) the robot moves with the
current motion type to this tag location.
Syntax: MOVE tagname
Moves the robot to current tag location with
PTP type of motion.
Moves the robot to current tag location with
LIN type of motion.
Sets the Via point for CIRC type of motion to
the current tag.
Moves the robot to the current tag location
with CIRC type of motion.
Closes the Window Motion Commands

Robot Control Commands

Robot Control commands handle the general settings of the

robot simulation. Control Commands includes: controls the
speed PTP, CIRC, LIN and CIRC orientation etc. You can open
these commands via Tech Window by pressing the
button. The picture bellow shows the Window Control
Commands.

The control commands also

include the command for
calling the defined function or
another program file.

The table bellow describes the all available Control Commands.

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Button Description
Sets the program override.
Sets wait time in seconds.
Sets the PTP Speed [deg/sec]
Sets the CP speed in [m/sec]
Sets the LIN orientation.
Sets the CIRC orientation.
Sets the location of the tool frame.
Sets the robot configuration.
Calls the defined function.
Sets the name of defined function.
Calls the program files.
Closes the window Control Commands

Note: The LIN and CIRC orientation can be determined on the

several ways. The picture bellow shows the Orientation Dialog
Box.

The six orientations

are available in EASY-
ROB™ for CIRC and
LIN type of motion.

Teach Window EASY-ROB™ Commands - ERCL

ERC Window contains the commands of EASY-ROB™ that you

can include in the Robot program. The ERC Window can be

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opened by pressing the button in the Teach Window.

The picture bellow shows the ERC Window.

EASY-ROB™ commands
are grouped in the buttons.

Buttons ERC [] ON and ERC [] OFF enables or disables EASY-

ROB™ commands.

The picture bellow shows the Dialog Box for enabling the ERC.
The same situation is for disabling the EASY-ROB™
commands.

If you want to enable

or disable specific
commands press the
appropriate button.
Dialog Box appears.
Choose command
with the mouse and
press the Ok button.

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The ERC LOAD [] loads the EASY-ROB robotics files: Tool,

Body, Robot, Tags, View and Environment files. After choosing
the appropriate Item, File Dialog Box appears.
For more information about files in EASY-ROB™ see the
Chapter 3 “EASY-ROB™ Files”.

The ERC VIEW [] stets the parameters for the Render Scene.
The Picture bellow shows the ERC VIEW [] Dialog Box.

You can set the

view by choosing
the 11 Items in
the Dialog Box.
The First item
allows you to load
the view file.
Item 2 sets the
View step, etc.
For more
information about
the View of the
Render Scene
see the Chapter 4
“User Panel”

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The Tables bellow shows the buttons and its descriptions.

Button Description
Interrupts the Simulation.
Sets the units to [m], [mm], [inch], [deg], [rad]
Sets the zero position for the Robot Joints.
Stores the current position of Joints.
Renders all objects in the Render scene in Wire
frame.
Renders all objects in the Render scene in Flat.
Stets simulation step size in seconds.
Sets the Controller for motion planer step size in
seconds.
Sets the Controller step size.
Sets the system step size.

Set the Lead-time for IPO.

Set the Lag-time for IPO.

Attaches the specified robot body to another joint
or axis
- Sets the Base frame to the Frame of the body.
- Sets the Base frame in TCP Tool frame.
Grabs the specified body. After enabling the
command specified body will be moving as the
Robot is moved.
Releases the grabbed body.
Moves the selected body in the specified location.
Renders the selected object in the Render scene
in the EASY-ROB available type of model.
Manipulates with the list. You can create the new
list, add, delete, and remove the list.
Changes the color selected object (robot, tool,
body, etc)

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Numerical solutions.
Software Limit values for joints.

With Teach Window you can execute a single command.

By pressing the button. EASY-ROB executes the

selected command in the Teach Window.

With the button you can view the current motion

command in action.

The button shows you the quick descriptions of the

Teach Window commands.

Creating the new program by using the Teach Window

This topic will introduce you about creating the new program by
the Teach Window.

Loading the robot file

When you make the new program robot it is recommended that

you load the Robot file instead of Cell file. Loading the cell file
you must rewrite the existing program file. When you load the
robot file you are sure that existing program file for the robot
doesn’t exist.

From the file Menu choose:

• Load-> Robot File
• Select the file

C:\...\Easy-Rob\Lib\Robots\Other\Amtec.rob

• From the On/Off Toolbar choose the Tag Window

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By opening the Teach Window a new program file is created .

The picture bellow shows the loaded Robot.

TCP location: X = 0.3807, Y = -0.0656, Z = 0.5073,

Rx = -26.6982°, Ry = 121.6266°, Rz = 20.2575°
Joint Values: Ax1 = -7.9765°, Ax2 = 5.7091°, Ax3 = 66.077°,
Ax4 = -9.1024°, Ax5 = 46.716°, Ax6 = -0.5164°
Entering the command for motion

Pressing the PTP button or

typing the PTP and
coordinates for a location you
can specify the motion
command for the robot. If you
press the PTP button the
Teach Window takes the
current position and
orientation of the loaded
robot.

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• Press the PTP button

• Double click on the new line and enter the following
values

0.4160 -0.2098 0.3821 -0.0000 94.9999 0.0001

• Press the button to accept the changes

• Press the LIN button
• Double click on the new line and enter the following
values

0.1337 -0.2098 0.3821 -0.0002 94.9998 0.0002

• Press the button to accept the changes

• Press the button Save and type the name of the
program file.
• Press the Run button from the Simulate Toolbar.

Loaded robot will be moved to the specified positions.

Enabling the On / Off ERC

EASY-ROB™ allows you to enter the ERC in the program file.

The following example demonstrates the procedure for enabling
the Robot Trace.

• In the opened Teach Window double click on the first

entered line:

PTP 0.4160 -0.2098 0.3821 -0.0000 94.9999 0.0001

• Press on the button.

• In the new Window press on the button.
• Dialog Box appears.
• Select the first option and choose the Ok button.
• Close the ERC Window
• Press the Save button

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• Pres the Run button from the Simulate Toolbar.

The picture below shows the result of the program.

First, the Robot moved

with PTP motion type
and it returned to the
same position with the
LIN type of motion.
ERC TRACK ON –
command enables the
Trace of the Robot,
which you can see on
the Picture.

Change the Robot Attributes

Robot attributes allow you to manipulate with the main Robot
properties. While running Robot program EASY-ROB calculates
the new position with the robot attributes. The picture bellow
shows the main Dialog Box for setting the Robot attributes.
From the Robotics menu choose the Kinematics or Dynamics
submenu and click on the Robot Attributes option.

The Dialog Box

contains 10 Attributes.
You can change the
appropriated Item by
double clicking on it.
You can also choose
the Item by clicking on
the Item and choosing
the Ok Button.

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With the Robot Name attribute you can change the Name of
the Robot. By choosing the Item, Dialog box appears.

Double click on the Item for

getting the Focus. Enter the
New name and chose the
Ok button.

Robot Homeposition allows you to change the Zero position of

each joint of the Robot. By choosing the Item, Message Box
appears.

The Message Box

allows you to specify
the Home position for
the current position
of the Robot.

By choosing Yes, the home position (Zero position) is set for the
current position of the Robot. If you answered No, Dialog box
appears.

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Double click on the Item

for getting the Focus and
enter the new home
position for the Joint.

Robot SW neg. Travel range sets the Robot Joint negative

Travel Range. The picture bellow shows the SW dialog Box.

Set the Software/Limit

negative Travel range
for Stop On command.
Stop On with SWE
stops the Robot jogging
when the negative travel
range is exceeded.

Robot SW pos. Travel range sets the Robot Joint positive

Travel Range. The picture bellow shows the SW dialog Box.

Set the
Software/Limit
positive Travel range
for Stop On
command.
Stop On with SWE
stops the Robot
jogging when the
positive travel range
is exceeded.

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Robot Joint offset specifies the offset for each Robot joints.
The Picture bellow shows the Robot Joint offset Dialog Box.

Double click on the Item

for getting the Focus.
Enter new offset value for
selected joint and click
the Ok button.

Robot Joint Singul. Tol. specifies the Singularity Tolerance for

Cartesian in meters and Robot in deg or meters.

The picture bellow shows the Dialog Box.

Specify the Singularity

tolerance and click the
Ok button.

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Robot Joint Speed allows you to specify the speed of the each
loaded Robots Joint. Depending on the type of Joint you can
specify the speed in meters per second or degrees per second.
The picture shows the Dialog Box for speed.

Set the speed for

the each joint and
press the Ok
button.

Robot Joint Accels. allows you to specify the Acceleration of

the each loaded Robots Joint. Depending on the type of the
Joint you can specify the acceleration in [m/s2] or [deg/s2]. The
picture shows the Dialog Box for accelerations.

Set the
Acceleration for
the each joint
and press the Ok
button.

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Robot Joint Torques allows you to specify the Torques for

each Robot Joint. The picture bellow shows the Dialog Box for
specifying the Joint Torques.

Set the torques

for the each
joint and press
the Ok button.

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ERPL - EASY-ROB™ Program Language

The below table gives an overview about the EASY-ROB

program structure and available robot motion commands.

Principle syntax definition:

• Units (length) are meter [m], degree [deg] or percentage [%]

• Speed units are in length unit per seconds e.g. [m/s]
• A cartesian pose consists of a position with X, Y and Z
values and an orientation with A, B and C angles.
The Orientation definition for ABC angles is:
Rot (A,B,C) = Rot(X,A) * Rot(Y,B) * Rot(Z,C)
• A Tagname is for example ’T_1’. To use a tagname with a
motion command, the Tag must exist in the workcell.

General Program Structure

Command and Syntax Description

PROGRAMFILE Begin of Program
Executing this command as
single step command will reset
some status data, such as
BASE, BASE_PRG, etc.
ENDPROGRAMFILE or End of Program
END Program executing stops
CALL fct_name Internal Function Call
fct_name() - name of function
Note: The function must exist
in the current program
file
CALL FILE filename External Function Call
filename - name of program
file
Note: The program file must
have the same structure
as the ’main’ program.

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FCT fct_name() Begin function definition

fct_name() - name of function
ENDFCT end of function
! some text and comments The ’!’ sign will comment out
the complete command line

Robot Motion Commands

Command and Syntax Description

! some text and comments The ’!’ sign will comment out
the complete command line
OV_PRO x [%] Programmable Override
x - percentage value
SPEED_CP dx dxe[m/s] Speed for continuous path
motion
dx - cartesian speed
[dxe] - cart. speed at target
SPEED_PTP v ve[m,deg] Speed for PTP motion
v - joint speed
[ve] - joint speed at target
CONFIG n [] Robot Configuration
n - config number
TOOL X Y Z A B C [m,deg] Tool data from tip to TCP
XYZ - Position
ABC - Orientation
TOOL tagname Tool data from tip to TCP
tagname - name of Tag
EXT_TCP X Y Z A B C [m,deg] Extern TCP
XYZ - Position
ABC - Orientation
EXT_TCP tagname Extern TCP
tagname - name of Tag
BASE X Y Z A B C [m,deg] Shift Targets by BASE frame
The goal of all BASE
commands is to shift program
commands. The BASE
command is always with

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respect to the robots base.

BASE tagname
BASE_REL dX dY dZ dA dB
dC [m,deg]
BASE_PRG X Y Z A B C
[m,deg]
BASE_PRG_REL dX dY dZ
dA dB dC [m,deg]
HOME n []
PTP X Y Z A B C [m,deg]
PTP_REL dX dY dZ dA dB dC
[m,deg]
(see also ERC BASE ...)
i.e. All following motion
commands are transformed by
the current base frame.
XYZ - Position
ABC - Orientation
Note: see also
ERC BASE BODY bodyname
ERC BASE TCP
Program BASE
tagname - name of Tag
Relative Program BASE
Shift the current base frame by
the relative location
dXdYdZ - delte Position
dAdBdC - delta Orientation
The BASE_PRG command
operates with respect to the
current BASE frame.
The final reference for all
motion and position
commands with respect to the
robots base is calculated as:
T_base_final = T_base_prg *
T_base
(T - homogeneous 4x4 matrix)
XYZ - Position
ABC - Orientation
Relative Program BASE_PRG
dXdYdZ - delte Position
dAdBdC - delta Orientation
Homeposition
n - number of homepos.
Synchro PTP
XYZ - Position
ABC - Orientation
Relative Synchro PTP
dXdYdZ - delte Position
dAdBdC - delta Orientation

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PTP tagname Synchro PTP

tagname - name of Tag
PTP_AX q1 .. qn [m,deg] Joint specific Synchro PTP
q1..qn - target Joint/Axis
PTP_AX_REL dq1 .. dqn Relative joint specific Synchro
[m,deg] PTP
dq1..dqn - delta Joint/Axis
LIN X Y Z A B C [m,deg] Linear CP motion
XYZ - Position
ABC - Orientation
LIN_REL dX dY dZ dA dB dC Relative Linear CP motion
[m,deg] dXdYdZ - delte Position
dAdBdC - delta Orientation
LIN TagName Linear CP motion
tagname - name of Tag
LIN_ORI ori_type Orientation Interpolation type
for Linear CP motion
ori_type -
VARIABLE, FIX,
TANGENTIAL, AUX,
VARIABLE2,
QUATERNION
MOVE TagNames[] Moves to one or more
MOVE TagIdx[] Tagpoints in tag motion type.
Example: Path with 4 tag
points { T1, T2, T3, T4},
T1 has PTP motype
T2 has LIN motype
T3 has CIRC motype
T4 has VIA motype
MOVE T1 T4 T3 T2
moves to T1 in ptp, to T3 in
circ via T4 and to T2 in lin
motion type.
Using Tagindex,
MOVE 1 4 3 2
causes the same motion.
CIRC X Y Z A B C [X2 Y2 Z2] Circular CP motion
[m,deg] XYZ - Position

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CIRC_REL dX dY dZ dA dB
dC [dX2 dY2 dZ2] [m,deg]
CIRC TagName [TagName2]
CIRC_ORI ori_type
VIA_POS X Y Z A B C
[m,deg]
VIA_POS_REL dX dY dZ dA
dB dC [m,deg]
VIA_POS TagName
WAIT x [sec]
A N D S I M U L A T I O N
ABC - Orientation
[X2 Y2 Z2] - Via Point Pose
Relative Circular CP motion
dXdYdZ - delte Position
dAdBdC - delta Orientation
[dX2 dY2 dZ2] - delta Via Point
Pose
Circular CP motion
TagName - name of target Tag
[TagName2] - name of via
point Tag pose
Orientation Interpolation type
for Circular CP motion
ori_type -
VARIABLE, FIX,
TANGENTIAL, AUX,
VARIABLE2,
QUATERNION
Via Position for Circular CP
motion
XYZ - Position
ABC - Orientation
Relative Via Position for
Circular CP motion
dXdYdZ - delte Position
dAdBdC - delta Orientation
Via Position for Circular CP
motion
TagName - name of via point
Tag pose
Wait Statement
x - time in seconds
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ERCL - EASY-ROB™ Command Language
ERCL is an extension of ERPL, to automate all user interaction
Command and Syntax
ERC SET_DEFAULTS
ERC SIM_STEP x [sec]
ERC CNTRL_STEP x [sec]
ERC SYSTEM_STEP x [sec]
ERC IPO_STEP x [sec]
ERC IPO_LEAD_TIME x [sec]
ERC IPO_LAG_TIME x [sec]
ERCL - ON / OFF Commands
Command and Syntax
ERC TRACK ON,OFF
ERC DYNAMICS ON,OFF
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A N D S I M U L A T I O N
Description
Set default values:
Enables the robot, tool and
environment bodies.
Disbales the robot joint
coorsys.
Set Simulation step size
x - sim. step size
Set Controller sample rate
x - controller sample rate
Set robot modell sample rate
x - modell sample rate
Set Interpolation sample rate
x - ipo sample rate
Set IPO Lead time, the motion
will start after this time.
x - ipo lead time
Set IPO Lag time, at the end of
motion, the robot will
rest in that pose for this
time before moving to
the next target pose.
x - ipo lag time
Description
Enables / Disables the
TCP trace
Enables / Disables
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Dynamics
ERC STOP_SWE ON,OFF Enables / Disables monitoring
of software endswitches
ERC STOP_SPEED ON,OFF Enables / Disables monitoring
of joint/axis speed
ERC STOP_ACCEL ON,OFF Enables / Disables monitoring
of joint/axis acceleration
ERC COLLISION ON,OFF Enables / Disables monitoring
of collision
ERC STOP_COLLISION Enables / Disables the
ON,OFF STOP motion on collision
ERC ROBOTJOINTS ON,OFF Enables / Disables the
ERC ROBOTPOSITIONS Online Robot IO Output
ON,OFF
ERC FLOOR ON,OFF Enables / Disables the
Floor
ERC FLOOR_RENDER Enables / Disables the
ON,OFF flat shaded floor (flat or wire)
ERC EXT_TCP ON,OFF Enables / Disables the
brown colored external TCP
Coorsys
ERC ORTHOGRAFIC Enables / Disables
ON,OFF Orthografic view
ERC DISPLAY_ROBOT Enables / Disables the
ON,OFF visualization of Robot
ERC Enables / Disables the
DISPLAY_ROBOT_COORSY visualization of yellow/green
S ON,OFF colored Robot Joint/Axis
Coorsys
ERC DISPLAY_TOOL Enables / Disables the
ON,OFF visualization of Tool
ERC DISPLAY_BODYS Enables / Disables the
ON,OFF visualization of Bodies /
Environment
ERC TCP_COORSYS Enables / Disables the
ON,OFF visualization of blue colored
Tool/TCP Coorsys

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ERC IPO_COORSYS ON,OFF Enables / Disables the

visualization of red colored
IPO Coorsys
ERC BASE_COORSYS Enables / Disables the
ON/OFF visualization of green colored
Base Coorsys
ERC Enables / Disables creating
CREATE_TARGET_TAGS Tag at target location
ON/OFF
ERC Enables / Disables restting all
RESET_ALL_POSITIONS_JOI posiitons and robot joints
NTS ON/OFF
ERC NO_DECEL ON/OFF Enables / Disables the
Speed deceleration at target
pose
ERC GRAFIC_UPDATE Enables / Disables the
ON/OFF visualization of the Render
Scene during program
Execution.
This command is useful to hide
background command
ERC DISPLAY_TAGS Enables / Disables the
ON/OFF visualization of Tag poses
ERC STATUS_OUTPUT Enables / Disables the
ON/OFF [1-at simstep,2-at Status Output during program
target pose] [flnname] [fct# 0- execution.
12] Using this feature allows you
to save the complete simula-
tion status in an own defined
format. Typical values are
joint/axis data and also
cartesian TCP location.

Parameter:
1st : 1 - save status data
every simstep
2 - save status data
at target location
2nd : filename, e.g. "out.dat"
rd
3 : Function number

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0 - default output
1..12 - user defined
output, see API-DYN
status_output_user_1()
defined in dyn_user.cpp
Example: in folder ./proj/proj/
Status_Output.cel and
Status_Output.prg
ERC INTERPOLATION Disables continous
ON/OFF interpolation, robot jumps to
target location
ERC REALTIME_SIM ON/OFF Realtime Simulation causes
program execution in realtime.
This mode will calculate the
simulation step size
permanetly.

ERCL - Render Commands

Command and Syntax Description

ERC RENDER FLAT Sets the complete Render
Scene FLAT shaded,
same as icon
ERC RENDER WIRE Sets the complete Render
Scene in WIRE frame,
same as icon
ERC RENDER POINT Sets the complete Render
Scene as POINTS,
same as icon
ERC RENDER BBOX ON,OFF Sets the complete Render
Scene as Bbox
(bounded boxes),
same as icon
ERC RENDER group Sets/modifies the render of an
bodyname render unique body
group - BODY, ROBOT, TOOL

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name - name of body

ERC RENDER group render
render WIRE, FLAT,
BBOXWIRE,
BBOXFLAT,
INVISIBLE, POINT
Example:
erc render TOOL ’tool’ WIRE
erc render TOOL ’tool’ FLAT
Sets/modifies the render of all
parts in the group
group BODY_GRP,
ROBOT_GRP,
TOOL_GRP
render WIRE, FLAT,
BBOXWIRE,
BBOXFLAT,
INVISIBLE, POINT
Example:
erc render TOOL_GRP WIRE
erc render TOOL_GRP FLAT

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 R O B O T P R O G R A M M I N G A N D S I M U L A T I O N

ERCL - Color Commands

Predefined COLOR values

BLUE
GREEN
CYAN
RED
MAGENTA
BROWN
LIGHTGRAY
DARKGRAY
LIGHTBLUE
LIGHTGREEN
LIGHTCYAN
LIGHTRED
LIGHTMAGENTA
YELLOW
WHITE

Command and Syntax Description

ERC COLOR group bodyname Sets/modifies the color of an
color unique body
group - BODY, ROBOT, TOOL
name - name of body
color predef. color
Example:
erc color TOOL ’tool’ RED
ERC COLOR group color Sets/modifies the color of all
parts in the group
Group BODY_GRP,
ROBOT_GRP,
TOOL_GRP
color predef. color
Example:

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erc color TOOL_GRP RED

ERC COLOR track color
ERC COLOR TAG color
Sets/modifies the color the
robotsTCP trace
track TRACK, TRACK_DYN
color predef. color
Example:
erc color TRACK RED
erc color TRACK -1,
for alternating color
Sets the predefined TAG color
color predef. color
Note: When creating a new
Tag, the tag will have
this color

ERCL - Reset and Save Commands

Command and Syntax Description

ERC RESET JOINTPOSITION Reset the joint/axis position
ERC SAVE JOINTPOSITION Saves the joint/axis position

ERCL - Load Commands

This feature gives the user the ability to load a file, e.g. a robot
tool or a view file during program execution.

Command and Syntax Description

ERC LOAD TOOL filename
ERC LOAD VIEW filename
Loads a Tool file (*.tol)
Loads a View file (*.vie)
Note: The Render Scene
interpolates to the new
view with the number of
’view steps’
ERC VIEW steps n

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 R O B O T P R O G R A M M I N G
ERC LOAD ROBOT filename
ERC LOAD BODY filename
ERC LOAD TAGS filename
ERC LOAD ENVIRONMENT
[filename]
ERCL - Move Commands
Command and Syntax
ERC MOVE BODY bodyname
XYZ ABC [m,deg]
ERC MOVE BODY bodyname
TagName
ERC MOVE TOOL bodyname
XYZ ABC [m,deg]
ERC MOVE TOOL bodyname
TagName
ERC MOVE ROBOT
bodyname XYZ ABC [m,deg]
ERC MOVE ROBOT
A N D S I M U L A T I O N
Loads a Robot file (*.rob)
Loads a Body file (*.bod)
Loads a Tag file (*.tag)
Loads an Environment file
(*.env)
Description
Moves a unique part from the
BODY group to a new
location
Bodyname - name of body
XYZ - Position.
ABC - Orientation
Moves a unique part from the
BODY group to a new
tag point pose.
Bodyname - name of body
TagName - name of Tag
Moves a unique part from the
TOOL group to a new
location.
Bodyname - name of body
XYZ - Position
ABC - Orientation
Moves a unique part from the
TOOL group to a new
tag point pose.
Bodyname - name of body
TagName - name of Tag
Moves a unique part from the
ROBOT group to a
new location.
Bodyname - name of body
XYZ - Position
ABC - Orientation
Moves a unique part from the
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bodyname TagName ROBOT group to a

new tag point pose.
Bodyname - name of body
TagName - name of Tag
ERC MOVE_REL BODY Relative movement of a unique
bodyname dXdYdZ dAdBdC part from the BODY
[m,deg] group.
bodyname - name of body
dXdYdZ - delta Position.
dAdBdC - delta Orientation
ERC MOVE_REL TOOL Relative movement of a unique
bodyname dXdYdZ dAdBdC part from the TOOL
[m,deg] group.
bodyname - name of body
dXdYdZ - delta Position.
dAdBdC - delta Orientation
ERC MOVE_REL ROBOT Relative movement of a unique
bodyname dXdYdZ dAdBdC part from the ROBOT
[m,deg] group.
bodyname - name of body
dXdYdZ - delta Position.
dAdBdC - delta Orientation
ERC MOVE_REL BODY_GRP Relative movement of the
bodyname dXdYdZ dAdBdC complete BODY goup,
[m,deg] with respect to the
reference body.
bodyname - name of reference
body
dXdYdZ - delta Position.
dAdBdC - delta Orientation
ERC MOVE_REL TOOL_GRP Relative movement of the
bodyname dXdYdZ dAdBdC complete TOOL goup,
[m,deg] with respect to the
reference body.
bodyname - name of reference
body
dXdYdZ - delta Position.
dAdBdC - delta Orientation
ERC MOVE_REL Relative movement of the
ROBOT_GRP bodyname complete ROBOT

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dXdYdZ dAdBdC [m,deg] goup, with respect to

ERC MOVE_REL LIST
listname dXdYdZ dAdBdC
[m,deg]
the reference body.
bodyname - name of reference
body
dXdYdZ - delta Position.
dAdBdC - delta Orientation
Relative movement of all parts
defined in a LIST
listname - name of List
dXdYdZ - delta Position.
dAdBdC - delta Orientation

ERCL - Grab and Release Commands

Command and Syntax Description

ERC GRAB BODY Grab a body
’bodyname’ Bodyname - name of body
ERC GRAB BODY_GRP Grab all parts in the
BODY_GRP
ERC RELEASE BODY Release a body
’bodyname’ Bodyname - name of body
ERC RELEASE BODY_GRP Release all parts in the
BODY_GRP

ERCL - Manipulate the Robot Base

Command and Syntax Description

ERC ROBOT_BASE XYZ ABC Move the robot base to a new
[m,deg] location.
XYZ - Position
ABC - Orientation
ERC ROBOT_BASE tagname Move the robot base to a new
Tag location.
Tagname - name of TAG
ERC ROBOT_BASE_REL Relative movement of the

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XYZ ABC [m,deg]
ERCL - TAG Commands
Command and Syntax
ERC
CREATE_TARGET_TAGS
ON/OFF
ERC TAGS PREFIX
prefixname
ERC TAGS DELETE tagname
ERC TAGS DELETE ALL
ERCL - View Commands
Command and Syntax
ERC VIEW steps n
ERC VIEW hither x
ERC VIEW yonder x
ERC VIEW zoom x
ERC VIEW zoom_in x
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A N D S I M U L A T I O N
robot base.
DXdYdZ - delta Position.
DAdBdC - delta Orientation
Description
Enables / Disables creating
Tag at target location.
Sets the Prefix for Tags
Prefixname - name of prefix
Note: When creating a new
Tag, the tag will have
this prefixname
Delete a Tag pose from the
render scene
Tagname - name of Tag
Delete all tags from the render
Scene
Description
Sets the number of view steps,
important when loadinf a (*.vie)
file
Sets value for the hither plane
Sets value for the yonder
Plane
Zoom the render scene by the
value x
Zoom In the render scene by
the value x
 R O B O T P R O G R A M M I N G A N D S I M U L A T I O N

ERC VIEW zoom_out x Zoom Out the render scene by

the value x
ERC VIEW tcp_rot_tcp ABC Rotate the render scene about
the current robots TCP with
respect to the TCP orientation
ABC - relative Rotations
ERC VIEW tcp_rot_world ABC Rotate the render scene about
the current robots TCP with
respect to the World frame
orientation
ABC - relative Rotations
ERC VIEW world_rot_base Rotate the render scene about
ABC the world coorsys frame with
respect to the robot base
frame orientation
ABC - relative Rotations
ERC VIEW world_rot_world Rotate the render scene about
ABC the world coorsys frame with
respect to the world frame
orientation
ABC - relative Rotations
ERC LOAD VIEW filename Loads a View file (*.vie)
Note:
The Render Scene
interpolates to the new view
with the number of ’view steps’

ERCL - TCP Trace Commands

Command and Syntax Description

ERC TRACK_TYPE type [size] Sets the trace type and style
type POINT
LINE
LINE_Z_DIRECTION,
Z_DIRECTION
X_DIRECTION
Y_DIRECTION

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5 R O B O T P R O G R A M M I N G
ERC TRACK ON,OFF
ERC COLOR track color
ERCL - Additional Commands
Command and Syntax
ERC STOP
ERC ESSI ON,OFF [speed
scale value] [size scale value]
ERC EIA ON,OFF [speed
scale value] [size scale value]
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A N D S I M U L A T I O N
[size] length of direction
Examples:
erc track_type line
erc track_type line_z_direction
0.2
erc track_type line_z_direction
-0.2
Enables / Disables the
TCP trace
Sets/modifies the color the
robotsTCP trace
track TRACK, TRACK_DYN
color predef. color
Example:
erc color TRACK RED
erc color TRACK -1,
for alternating color
Description
Stops program execution
Enables / Disables the
Interpetation of ESSI NC-Code
Optional parameter
Speed scale value
will scale the
programmed speed.
Size scale value
will scale the target
location (program
scale)
Note: This feature requires a
licensed NC-Option
Enables / Disables the
Interpetation of EIA NC-Code,
DIN 66025
Optional parameter
 R O B O T P R O G R A M M I N G
ERC BASE BODY bodyname
ERC BASE TCP
ERC SWE_NEG swe1 ... swen
negative software endswitches
[m,deg]
ERC SWE_POS swe1 ... swen
positive software endswitches
[m,deg]
ERC JOINT_WEIGHT 0 or 1
for number of joints
ERC MASK_VECTOR [0,1] for
XYZ ABC
A N D S I M U L A T I O N
Speed scale value
will scale the
programmed speed.
Size scale value
will scale the target
location (program scale)
Note: This feature requires a
licensed NC-Option
Sets the BASE to the
bodyname
Sets the BASE to the current
robots TCP
Sets the negative travel range
values.
The number of values should
coincide with the number of
joints/axis
Sets the positive travel range
values.
The number of values should
coincide with the number of
joints/axis
Sets the joint_weight vector, to
influence the result of
the numerical solution
The number of values should
coincide with the number of
joints/axis
Sets the mask vector, to
influence the result of
the numerical solution
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