Free Robot Programming and Simulation Software

What you will find on this page

Project configurations

Programming

• Axis movements- The Joint command moves the robot to an absolute target position that is specified in axis coordinates (e.g. axis angle or position of a linear axis). The resulting movement of the TCP is usually a curve and not a straight line.

• Linear movement- The Linear command moves the robot to an absolute target position specified in Cartesian coordinates. The resulting movement of the TCP follows a straight line.

• Circular movement- The instruction "Circular movement" enables movements along a full or partial circular path. It is compatible with linear movements so that the transition from and to linear movements can be smoothed over.

• Conditions- Conditions can be used in if-then-else commands, loops and as cancellation conditions in motion commands. The conditions can be combinations of digital inputs, global signals, Boolean operations and comparisons.

• Matrix calculation- The grid instructions calculate positions aligned to a grid, e.g. as a gripping or depositing position for palletising tasks.

• Relative- The Relative command allows you to move the robot relative to its current position. It can be accessed via the menu items under "Action" → "Relative movement".

• Sub-programs- Sub-programs can be called up with the sub-command. The path to the sub-program file is specified under "File name". It is relative to the subfolder "Programs" of the iRC folder "Data".

• Variables and variable access- Two types of variables are supported in the program for igus Robot Control and TinyCtrl: Number variables: These can be used to store integer or floating point numbers. Position variables: These can be used to store Cartesian positions and joint positions. Whether such a variable is interpreted as a Cartesian position or joint position depends on the context.