Appendix
67
OnRobot © 2018
www.onrobot.com
6.6
Editions
Edition
Comment
Edition 2
Document restructured.
Glossary of Terms added.
List of Acronyms added.
Appendix added.
Target audience added.
Intended use added.
Copyright, Trademark, contact information, original language
information added.
Behavior of F/T Move, F/T Search, F/T Insert Pin and F/T
Control commands changed.
F/T Waypoint command added.
F/T Move (Ctrl) command removed.
Application example references added to example UR
programs.
Edition 3
Hand Guide Toolbar coordinate system corrected to Tool.
Note added about TCP Orientation limitation.
Hand guiding axis activation limit removed.
Clarification about waypoint type usage added.
Edition 4
TCP Orientation limitation removed.
Edition 5
F/T Search and F/T Move command return values updated.
Path Recording section removed.
F/T Path Command section added.
F/T Insert Connector section removed.
F/T Insert Connector Return Values section removed.
F/T Move Command and F/T Search Command sections
updated with constant replay speed information, and new
command screenshots.
F/T Control Command section updated with directional force
control limitation.
Editorial changes.
Edition 6
Path replay accuracy added.
Section “An error occurred in the running program” on
Program Continue changed to “An error occurred in the
running program” on Program Stop, pausing and continuing
program no longer causes alarm.
Section Effects of the TCP Position added.
socket_read_byte_list(): timeout log item changed to
socket_read_binary_integer: timeout, behavior changed.
Section “Socket vectorStream opening was unsuccessful.”
added to Troubleshooting.
