ASIX AX58200 AxRobot supports offline and online robot programming functionalities. This slide shows the offline robot programming functionality of AX58200 AxRobot EtherCAT 7-Axis Force-Assisted Control Robot solution. AxRobot EtherCAT 7-Axis Force-Assisted Control Robot solution uses AxRobot servo drive modular design with AX58200 EtherCAT slave controller SoC to effectively reduce the motor drive board PCB space and hardware design cost for each robotic arm joint. Using EtherCAT Daisy-Chain network topology technology to communicate between AxRobot controller and AxRobot servo drive modules, all robotic arm joints can be easily wired together in sequence. It provides the simplest network wiring in each robotic arm joint and reduces the difficulty of equipment maintenance. Normally, the collaborative robots are equipped with force sensors skin to obtain external contact forces information for realizing the Human-Robot Collaboration functionalities. AxRobot EtherCAT 7-Axis Force-Assisted Control Robot solution needs not be equipped with extra expensive force sensors skin, and supports the external forces assisted controller for realizing the collaborative robot functionalities. While detecting sudden external forces collision events, it can stop the operation of the robotic arm in an emergency and send out error alarm messages to ensure the personal safety of nearby operators. ASIX offers AxRobot EtherCAT 7-Axis Force-Assisted Control Robot development kit for designers to easily evaluate AxRobot software force-assisted control robot functionalities. In addition, ASIX also offers the engineering design services for AxRobot EtherCAT 7-Axis Force-Assisted Control Robot solution. For more information, please contact ASIX Electronics Corp. via e-mail: sales@asix.com.tw, or visit ASIX website: https://www.asix.com.tw/.

1. AxRobot EtherCAT 7-Axis Force-Assisted Control Robot
Robot Programming Tutorial I – Offline Programming
Mar. 2022

2.  AX58200 AxRobot EtherCAT 7-Axis Force-Assisted Control Robot Solution
AxRobot Robot Programming Tutorial I – Offline Programming
Topics
 AxRobot Offline Robot Programming Demonstration
AxRobot Robot Programming Tutorial II – Online Programming
Topics
 AxRobot Online Robot Programming Demonstration
 AxRobot Online Robot Programming Demonstration
(Teaching Mode)

3. AX58200 AxRobot EtherCAT 7-Axis
Force-Assisted Control Robot Solution

4. AxRobot
AX58200 EtherCAT
Slave Controller
AX58200 AxRobot EtherCAT 7-Axis Force-Assisted Control Robot
Reference Design

5. AX58200 AxRobot EtherCAT 7-Axis Force-Assisted Control Robot
Application Diagram
AX58200 EtherCAT Slave
AxRobot Servo Drive Module
P0 P1
ABZ
PWM
Motion
Control
Driver
Increment
Encoder
M
P0 P1
ABZ
PWM
Motion
Control
Driver
Increment
Encoder
M
EtherCAT
Slave 7
EtherCAT
Slave 1
AxRobot Controller
EtherCAT Master
USB
Windows
AxRobot Utility
Demo Video: AxRobot EtherCAT 7-Axis Force-Assisted Control Robot Solution Introduction

6. AxRobot Controller (EtherCAT Master) & AxRobot Utility
The AxRobot Controller is worked as
EtherCAT master. Designers can run
AxRobot Utility to evaluate AxRobot
EtherCAT 7-Axis Force-Assisted Control
Robot functionalities.
AxRobot Utility is an open source
software and developed under python
environment.
AxRobotUtility GitHub URL:
https://github.com/MyRobot-
lab/AxRobotUtility.git
AxRobot Controller
(EtherCAT Master)
USB
Windows
AxRobot Utility
AxRobot Utility

7. AX58200 EtherCAT Slave AxRobot Servo Drive Module
Using AX58200 EtherCAT Slave AxRobot
Servo Drive Module to effectively reduce
the motor drive board PCB space and
hardware design cost for each robotic
arm joint.
The AxRobot system imports extForce
software controller to realize the
collaborative robot functionalities.
Need NOT be equipped with expensive
force sensors skin!!

8. AxRobot Script Commands for Text-based Robot Programming
AxRobot supports text-based robot
programming language with general
script commands.
AxRobot Script Commands:
AxRobot Script Commands example:
MOVJNT J1=0 J2=0 J3=0 J4=0 J5=0 J6=0 J7=0
LOOP 3
MOVPT P0
MOVPT P1
MOVPT P2
MOVPT P3
MOVPT P0
LOOPEND
DELAY 1000
MOVJNT J1=0 J2=0 J3=0 J4=0 J5=0 J6=0 J7=0

9. AxRobot Offline Robot Programming Solution
AxRobot Controller
EtherCAT Master
USB
Windows
AxRobot Utility
AxRobot Utility
AxRobot supports offline robot
programming by running AxRobot
Utility, to create 3D robot simulator
and simulate AxRobot robot
functionalities without connecting
AxRobot EtherCAT slave servo drive
modules.

10. AxRobot Offline Robot Programming
Demonstration

11. Startup AxRobot Utility 3D Robot Simulator &
Configure AxRobot Offline Robot Programming Mode
1. Select the assigned COM port for
AxRobot Controller USB Serial driver.
2. Check “Simulation Enable” box and
press “Connect” button to enable
AxRobot simulation for AxRobot
offline programming.
3. Check “Create 3D Model” box and
press “Enbale” button in Servo
Control console to startup AxRobot
3D simulator.
4. Enable “Assistant Force” in
Operation Mode setting.
5. Disable “Teaching Mode” in
Operation Mode setting.

12. Adjust AxRobot Joints Position by AxRobot Utility Jog Control
1. Select “Axis” or “TCP” mode and set proper Speed/Distance values.
2. Click “+” or “-” button to adjust the position of Joint 1 to Joint 7.
3. Check the Joint/TCP (Tool Center Point) position values in “Real Time Status” console.

13. Add Points by AxRobot Utility Point Editor
1. Adjust AxRobot Joint 1 to Joint
7 to proper position in “Jog
Control” console; or manually
drag AxRobot arms after
enabling “Teaching Mode” in
StartUp console.
2. Select proper coordinate mode
(joint/world/work/base).
3. Press “Add Point” button to
add a new point definition.
4. Click the “Name” field of the
new defined point to modify a
proper name.

14. Run Script Commands by AxRobot Utility Script Editor
1. Press ENTER key in Command console to add new script
commands. (Please define the used point name in “Point
Editor” console firstly)
2. Press “Compile” button to compile the script commands.
3. Press “Run” button to run the script commands.
AxRobot Script Commands
Please see below demonstration…

15. Contact ASIX for further supporting
ASIX Electronics Corporation
https://www.asix.com.tw
sales@asix.com.tw
Corporate Headquarters
4F, No. 8, Hsin Ann Rd. Hsinchu Science Park, Hsinchu 30078, Taiwan
TEL : +886-3-5799500
FAX : +886-3-5799558