Appendix B - Recording Code

Here is an up-to-date, exhaustive list of all commands and details about them in the recording data

Command	Data	Example
N#	Line number	N1 N2 N3
t#	Time (ms) throughout recording	t1 - 1ms into the recorded data t10 - 10ms into the recorded data t20 - 20ms into the recorded data
{ 0: 1: }	At each time interval, all data for each follower will be between these braces. The 0: is one follower, the 1: is another follower, (e.g. an Arm and Gripper)	{ 0: X0.15 Y2.4 1: X0 } This example shows follower 0 given just an X and Y coordinate and follower 1 given an X coordinate.
X#.#####	X coordinate in Meters	X0.523 X-0.0021
Y#.#####	Y coordinate in Meters	Y0.234 Y-0.00022
Z#.#####	Z coordinate in Meters	Z0.0024 Z-0.3400
rW rX rY rZ	Quaternion - vector pointing outward at the robot flange	rW0.0498286 rX-0.032 rY0.998 rZ-0.024
F#.#####	Feed rate for cartesian XYZ movements	F0.0010804 F0.0150
Fa#.#####	Feed rate for orientation rW,rX,rY,rZ movements	Fa0.2586200 Fa1.0053328
J6[#,#,#,#,#,#]	Joint Angles during recording	J6[2.466 26.561 11.815 -3.983 46.007 1.453]
JV6[#,#,#,#,#,#]	Not Currently Used - Future Joint Velocities during recording	JV6[0.000 0.000 0.000 0.000 0.000 0.000]

Feedrate - one speed for recording

This recording below is an example of setting the feed rate for Cartesian and Orientation once at the first line, and again at the 5th line.
Lines N1 - N4 all run at the first feedrate
Lines N5- N6 run at the second feedrate.
The Feedrate takes effect for the movement on its own row and persists until updated.

N1 t1 {
0: X0.184 Y0.004 Z0.141 rW0.0498 rX-0.032 rY0.998 rZ-0.024 F0.00200 Fa0.005
}
N2 t10 {
0: X0.184 Y0.022 Z0.141 rW0.0498 rX-0.032 rY0.998 rZ-0.024
}
N3 t20 {
0: X0.184 Y0.022 Z-0.052 rW0.049 rX-0.032 rY0.998 rZ-0.024
}
N4 t31 {
0: X0.184 Y0.022 Z-0.600 rW0.049 rX-0.032 rY0.998 rZ-0.024
}
N5 t41 {
0: X-0.005 Y0.022 Z-0.6 rW0.049 rX-0.032 rY0.998 rZ-0.024 F0.00010 Fa0.400
}
N6 t51 {
0: X-0.005 Y-0.054 Z0.000 rW0.049 rX-0.032 rY0.998 rZ-0.024
}

Save Z height

This example shows how you can place a single Z command at line N4 to move to a Z height without any other commands.

N1 t1 {
0: X0.184 Y0.004 Z0.141 rW0.0498 rX-0.032 rY0.998 rZ-0.024 F0.00200 Fa0.005
}
N2 t10 {
0: X0.184 Y0.022 Z0.141 rW0.0498 rX-0.032 rY0.998 rZ-0.024
}
N3 t20 {
0: X0.184 Y0.022 Z-0.052 rW0.049 rX-0.032 rY0.998 rZ-0.024
}
N4 t31 {
0: Z0.600
}
N5 t41 {
0: X-0.005 Y0.022 Z-0.6 rW0.049 rX-0.032 rY0.998 rZ-0.024 F0.00010 Fa0.400
}
N6 t51 {
0: X-0.005 Y-0.054 Z0.000 rW0.049 rX-0.032 rY0.998 rZ-0.024
}

Move XY only

This example shows how you can use just an X and Y command to move in only those two axes. Line N5 moves only X and Y

N1 t1 {
0: X0.184 Y0.004 Z0.141 rW0.0498 rX-0.032 rY0.998 rZ-0.024 F0.00200 Fa0.005
}
N2 t10 {
0: X0.184 Y0.022 Z0.141 rW0.0498 rX-0.032 rY0.998 rZ-0.024
}
N3 t20 {
0: X0.184 Y0.022 Z-0.052 rW0.049 rX-0.032 rY0.998 rZ-0.024
}
N4 t31 {
0: X0.184 Y0.022 Z-0.600 rW0.049 rX-0.032 rY0.998 rZ-0.024 F0.00010 Fa0.400
}
N5 t41 {
0: X-0.005 Y0.022
}
N6 t51 {
0: X-0.005 Y-0.054 Z0.000 rW0.049 rX-0.032 rY0.998 rZ-0.024
}

Optimized code

Here is an example of our code fully optimized

• Our Orientation never changes
• Our first command sends us to the full position at a set feed rate.
• N2 only moves Y axis
• N3 - N4 only move Z axis
• N5 moves X and changes Feedrate
• N6 moves Y and Z

N1 t1 {
0: X0.184 Y0.004 Z0.141 rW0.0498 rX-0.032 rY0.998 rZ-0.024 F0.00200 Fa0.005
}
N2 t10 {
0: Y0.022
}
N3 t20 {
0: Z-0.052
}
N4 t31 {
0: Z-0.600
}
N5 t41 {
0: X-0.005 F0.00010 Fa0.400
}
N6 t51 {
0: Y-0.054 Z0.000
}