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 PTP is the Fastest Way to Move ........................................................................................... 124 
 Speed of PTP Motion ............................................................................................................ 124 
 Plan for PTP Movement ........................................................................................................ 125 
 PTP Smart Pose Choosing.................................................................................................... 125 
 Line ............................................................................................................................................. 126 
 Line Moves the Shortest Distance ......................................................................................... 126 
 Speed of Line Motion ............................................................................................................ 126 
 Plan for Line Movement ........................................................................................................ 127 
 Two-Steps Motion (WayPoint) ...................................................................................................... 128 
 WayPoint ............................................................................................................................... 128 
 Plan for WayPoint Movement ................................................................................................ 129 
 Blending ...................................................................................................................................... 129 
 Blending in Movement ........................................................................................................... 130 
 Blending Speed Change Chart .............................................................................................. 130 
 Set the Blending Percentage ................................................................................................. 130 
 Set the Blending by Radius ................................................................................................... 131 
 Motion Nodes .............................................................................................................................. 132 
 Point Node ............................................................................................................................ 133 
 Generation Method of Point node ................................................................................... 133 
 Point Node Setting .......................................................................................................... 134 
 F-Point Node ......................................................................................................................... 134 
 Move Node ............................................................................................................................ 136 
 Plan for the Move Node .................................................................................................. 137 
 Circle Node ........................................................................................................................... 137 
 Circle Node Setting ......................................................................................................... 137 
 Reach End Point ............................................................................................................. 138 
 Target Central Angle ....................................................................................................... 138 
 Path Node ............................................................................................................................. 139 
 Path and PLine ............................................................................................................... 139 
 Path Node Se

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Figure 121: Speed of Line Motion ............................................................................................... 126 
Figure 122: Link to Project Speed............................................................................................... 127 
Figure 123: Line Application Example ........................................................................................ 128 
Figure 124: WayPoint Motion Status .......................................................................................... 128 
Figure 125: WayPoint Setting ..................................................................................................... 129 
Figure 126: WayPoint Application Examples .............................................................................. 129 
Figure 127: Blending in Space .................................................................................................... 130 
Figure 128: Blending Speed Change Chart ................................................................................ 130 
Figure 129: Set the Blending Percentage or Set the Blending by Radius.................................... 131 
Figure 130: Motion Nodes Support Variable as the Inputs .......................................................... 132 
Figure 131: Speed Adjust and Speed Indication on the Node. .................................................... 133 
Figure 132: Point Node ............................................................................................................... 133 
Figure 133: Point Node Setting ................................................................................................... 134 
Figure 134: F-Point Node ........................................................................................................... 135 
Figure 135: F-Point Node Setting ............................................................................................... 135 
Figure 136: Adjust F-Point Parameter during Project Running .................................................... 136 
Figure 137: Move Node Setting .................................................................................................. 136 
Figure 138: Plan for the Move Node ........................................................................................... 137 
Figure 139: The Circle Node Plans Arc Path with 3-Point Setting Circle ..................................... 137 
Figure 140: Circle Node Setting .................................................................................................. 138 
Figure 141: The Circle Motion Status of Reach End Point Setting .............................................. 138 
Figure 142: The Circle Motion Status of Set Angle =270° ........................................................... 139 
Figure 143: PLine Blending Relationship Chart .......................................................................... 139 
Figure 144: Path Node Setting ................................................................................................... 140 
Figure 145: Pallet Node (1/2) ...................................................................................................... 141 
Figure 146: Pallet Node (2/2) ...................................................................................................... 142 
Figure 147: Pallet Patterns ......................................................................................................... 142 
Figure 148: Listen Node ............................................................................................................. 143 
Figure 149: Variable System ...................................................................................................... 145 
Figure 150: Global Variable Setting ............................................................................................ 147 
Figure 151: Global Variables after Pro

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the Modbus slave encoding definition file. 
 
To use TM Ethernet Slave, click 
 on the top to turn on/off the mode. Once turned on, 
the system works as a socket server for users to configure clients with IP filtered and permissions 
to access robot data. TM Ethernet Slave follows the protocol introduced in the manual 
Expression Editor and Listen Node. 
 
To use EtherNet/IP Adapter or Profinet IO Device, click 
 on the top to turn on/off the 
mode. Once turned on, the system works as a server for EtherNet/IP Adapter or Profinet 
supported devices to access robot data. The context after STATUS denotes the current 
EtherNet/IP Adapter or Profinet IO Device status. For Endianness, users can click on the 
respective bullet to place the most significant byte first and the least significant byte last with 
Big-endian or the opposite with Little-endian. To check the data table, click the Code Table 
button. 
 
To use the EtherNet/IP Adapter or Profinet functions in Expression Editor Setting: 
1. 
Click the right field of the expression. 
2. 
Click the Connection tab, and select EtherNet/IP Adapter or Profinet in Protocol 
dropdown. 
3. 
Select the desired item in the Function dropdown. 
 
 
NOTE: 
When turning on EtherNet/IP Adapter or Profinet IO Device, if a message prompts users  
 
for the listed field bus is enabled, please disable the current activated field bus 
before changing the setting. 
 
for rebooting the robot, please power cycle the robot to change the firmware of the 
field bus device and manually enable the target field bus in the setting again. 
 
for failed to activate device, please check the device and the driver are both installed 
correctly. 
 
 Posture Setting 
Posture Setting provides a convenient tool for users to quickly move the robot to a commonly 
used pose. They are Packing Pose, Normal Pose, and Home Pose from top to bottom. 
Packing Pose can reduce the space occupied by the robot to help users pack and transport the 
robot. Normal Pose is the most common work starting pose of the TM Robot, and Home Pose is 
the pose with all joint rotation angles are 0 degrees. 
 


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Figure 129: Set the Blending Percentage or Set the Blending by Radius 
 
 Set the Blending by Radius 
In Line mode, users can click By Radius to set the Blending by radius. Line is a commonly used 
motion mode in Point Nodes. For details, refer to the sections with corresponding titles of this 
manual. 
 
 
IMPORTANT: 
As shown in the table below, blending can improve the smooth running of robot, but when the 
Blending radius has been set by Line motion, blending with Circle and PTP cannot be used. 
 
P2 
P1 
PLine 
Line 
PTP 
Waypoint 
Circle 
Pallet 
Path 
% 
Radius 
PLine 
◯ 
 
 
 
 
 
 
 
Line 
% 
 
◯ 
◯ 
◯ 
✕ 
◯ 
◯ 
◯ 
Radius 
 
◯ 
◯ 
✕ 
✕ 
✕ 
✕ 
◯ 
PTP 
 
◯ 
✕ 
◯ 
✕ 
◯ 
◯ 
◯ 
Waypoint 
 
◯ 
◯ 
◯ 
✕ 
◯ 
◯ 
◯ 
Circle 
 
◯ 
◯ 
◯ 
✕ 
◯ 
◯ 
◯ 
Pallet 
 
◯ 
◯ 
◯ 
✕ 
◯ 
- 
◯ 
Path 
 
✕ 
✕ 
✕ 
✕ 
✕ 
✕ 
✕ 
Notice: 
 
Blending is available in the insertion of IF nodes and unavailable in the insertion of the Wait For node insertion as well as the 
connection of the Listen Node. 
 
Set DO while moving is unavailable to move blending and go back to the previous subflow. 
Table 7: Valid Blending Setting (Moving from P1 to P2) 
 
 
NOTE: 
Once the calculated trajectory is less than 10 ㎜, and the angle between the two lines is less 
than 90°, the system refers to it as a sharp turn and voids the radius blending between the 
two lines. 
 


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IMPORTANT: 
Pallet needs to work with a Loop in order to move to the next position of the Pallet. 
 
 
 Listen Node 
In the Listen Node, a socket server can be established and be connected by an external device to 
communicate according to the defined protocol. All the functions available in Expression Editor 
can also be executed in Listen Node. 
 
 
Figure 148: Listen Node 
 
 
Send Message: 
When entering this node, it will initiate a message 
Print Log: Enable Communication Log (shown on the right) 
Connection Timeout: When entering this node, if more than the Connection Timeout 
(milliseconds) passes without connecting, it will timeout. If <= 0, no timeout 
Data Timeout: When connected, the timeout will be exceeded if no communication packet 
arrives in Data Timeout milliseconds. If <= 0, no timeout 
 
Socket Server is set up after the project is running and closed after the project is stopped. When 
the Socket Server is successfully established, the IP and Port will be displayed in the Notice Log 
window on the right. 
 
IP  
Human-Machine Interface  System  Network  IP Address 
Port 
5890 


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When the process enters the Listen Node, it stays in the Listen Node until it triggers and leaves 
with the exit condition. 
 
Pass: 
Executes ScriptExit() or item stopped 
Fail: 
1. 
Connection Timeout 
2. 
Data Timeout  
3. 
Before the Socket Server been established successfully, the flow process has 
entered the Listen Node 
 
The commands received by the listen node will be executed in order. If the command is not valid, 
an error message will be returned carrying the line number with errors. If the command is valid, it 
will be executed. 
 
The commands can be divided into two categories. The first category is commands which can be 
accomplished in instance, like assigning variable value. The second category is commands that 
need to be executed in sequence, like motion commands and IO value assignment. The second 
category command will be placed in the queue and executed in order. Refer to the manual 
Expression Editor and Listen Node for details on commands and communication format.


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NOTE: 
Point, Base, TCP, VPoint, IO, Robot, and FTSensor in the flows are now parameterized, 
and users can write variables as parameters to the objects and read from the parameters 
for calculations or applications with their types, Name/IDs, and attributes. For more details, 
Refer to the manual of Expression Editor and Listen Node. 
 
 
Figure 154: Expression Editor Parameters (1/2) 
 
 
NOTE: 
1. 
Using parameterized objects is the same as using user defined variables. 
Parameterized objects can be used without declarations to get or modify point data 
through the syntax in the project operations and make the robot move with more 
flexibility. The expression comes with three parts: item, index, and attribute. 
2. 
A base index is added to the base parameters to act as the choice of the bases, eg. 
Base[“(base name) ”,(base index) ].value[ ]. The default value is 0 if there is no 
number assigned to base index. 
3. 
Writing to the bases parameters is added with the same syntax as shown above. Only 
the value is writable, and other properties are read only. 
 
If there are multiple equations in Expression Editor, users can click on the equation to move, 
and use the triangles to move the equation up and down for the process sequence. 
 


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2. Do not close the execution windows during process 
3. Do not close or restart the system manually during process 
ErrorSuggestion00045101 Please contact the original purchase of the manufacturer or a third party designated maintenance unit. 
ErrorSuggestion00048000 [Cause]HMI detected an array assignment error. 
[Caution]Check if any array has been assigned with the different data type variables 
[Additional Explanation] This error usually appears as a popped up message in HMI 
[Additional Explanation] This error usually happens because the user assign ( "=" ) the mismatching 
data type to array in the flow.  
i.e. int[]/ var_arrayA = bool[]/var_arrayB 
i.e. int[]/ var_arrayA = bool/var_b 
i.e. bool[]/ var_arrayB = int[]/ var_arrayA 
i.e. bool[]/ var_arrayB = int/var_i 
[Solution]To restore the robot from Error Status :  
1. Click on the OK button on the pop up windows. 
 
Make sure all arrays are assigned correctly by data type, such as 
(1) int[]/ var_arrayA = int[]/var_arrayB  
==> (arrayA == arrayB) 
(2) int[]/ var_arrayA = int[]/var_arrayB[0] 
==> (arrayA == arrayB[0]) 
ErrorSuggestion00048001 [Cause]Value assigned is in invalid number format 
[Caution]Check if the value assigned to a variable is valid format type. 
[Additional Explanation] For number format, 
Incorrect: 
ErrorSuggestion12CG // Hex includes values(0-9, A-F).「G」is invalid. 
0b1212 // Binary includes values(0, 1). 「2」is invalid. 
Correct: 
ErrorSuggestion12CF  // Hex value is valid. 
0b1110  // Binary value is valid. 
[Additional Explanation]  
This error usually appears in 
1. The project file is generated by 3rd party flow editor 
2. The input format error in Listen Node 
3. In flow editing, it usually appears with a pop-up windows with warning message「Invalid Value」 
[Solution]To restore the robot from error status:  
1. Press the STOP button on the robot stick, or 
2. Press the FREE button 
3. Input the valid number format 
if it appears the pop-up windows with warning message「Invalid Value」, click OK to close it 
Make sure the variables used are with a valid number format. 
ErrorSuggestion00048002 [Cause]There are repeated cases in the conditional expression in project. 
[Caution]Check if this error is triggered in the following items 
1. SET Node 
2. Listen Node 
[Additional Explanation]  
This error usually appears if 
1. The project file is generated by 3rd party flow editor 
2. The input format to Listen Node is incorrect 
[Solution]1. Click Stop on the robot stick to restore the error status 
2. Remove the repeated cases in the conditional expression 


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Make sure there is no repeated cases in the conditional expressions in the project. 
ErrorSuggestion00048003 [Cause]There are variables created with the repeated name in project. 
[Caution]Check if there are variables with the same name. 
[Additional Explanation]  
This error usually appears if 
1. The project file is generated by 3rd party flow editor 
2. The input format to Listen Node is incorrect 
3. In flow editing, it usually appears with a pop-up windows with warning message「Variable Name 
Repeat」 
[Solution]1. Press the STOP button on the robot stick, or 
2. if this error appears as a pop-up windows with the error message「Variable Name Repeat」, click OK 
to close it 
3. Remove the variable with repeated name 
Make sure there is no repeated variables in the project. 
ErrorSuggestion00048004 [Cause]An invalid expression is found within the current Project 
[Caution]1. Check the description with this error, which shows the error node and the expression with it 
2. Check if that expression is invalid or not 
[Additional Explanation] This error would be shown on either pop out window on HMI or Notice Log 
[Solution]To restore the robot from Error Status :  
1. Click on the OK button on the pop up windows. 
2. Correct the expression 
1. Have fully understanding on expression functions before programming 
2. Make sure all expressions are correct 
3. Make sure the variables used in expressions would not set to invalid value during project run 
ErrorSuggestion00048005 Please check variable manager, this variable is undefined. 
ErrorSuggestion00048006 [Cause]Undefined functions in the expression editor 
[Caution]1. Follow the description on the log and check to see if the variable names and function syntax 
are correct 
2. Check to see if any variables used in the expression editor have been deleted from the Variable 
Manager 
[Additional Explanation] This error usually appears as a popped up message in  HMI 
[Solution]Confirm that the variables used in the expression editor exist and that the proper function 
syntax has been followed 
1. Make sure to use proper variable names and syntax within the expression editor according to the 
current HMI version  
2. Avoid deleting variables that are still in use 
ErrorSuggestion00048007 [Cause]Invalid expression 
[Caution]In SET node, 
It is invalid in the expression with the form: 
int\var_i= GetNow()+=10 
(Functions with the following operands： 
「+=」、「 -=」、「 *=」、「 /=」) 
[Additional Explanation]  
This error usually appears in 
1. The project file is generated by 3rd party flow editor 
2. In flow editing, it usually appears with a pop-up windows with warning message「Function operation 
is not allowed」 
[Solution]1. Press the STOP button on the robot stick, or 
2. if this error appears as pop-up windows with the error message「Function operation is not allowed」, 
click OK to close it 
