HitBotStudio

USER MANUAL
Main Business:
Industrial Robot / Collaborative Robot / Electric Gripper / Intelligent
Actuator / Automatic Solutions
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Release Instructions:
Edition
Publish Time Update Content Note
Number

Hi.19.1.0 2019-06-21 First edition released.

1. Modify issue of UI freeze.

2. Add the property of operation tray
Hi.19.1.1 2019-07-28
module.
3. Add a message pop-up.

Software crash caused by dragging &

Hi.19.1.2 2019-07-05
modifying module.

1. Add the function of modify process

name.
2. Modify the problem of frequent file
Hi.19.1.3 2019-07-08 writes causing process delays.
3. Add and delete process data prompt.
4. Modify interface fonts.

1. Add the function to view the module

properties when the mouse is hovered
Hi.19.1.4 2019-07-10 over.
2. Modify and delete rules.

1. Add "delay and assignment" module

in process configuration.
Hi.19.1.5 2019-07-18
2. Create trajectory modification motion
function and add operation panel.

1. Remove quick start and track creation

Hi.19.1.6 2019-08-05 functions.
2. Optimize software performance.

Integrate and extend the I/O card

communication module, increase the
Hi.19.1.7 2019-08-13
number of I/O from 12 groups to 28
groups.

1. Add Sub-process and reset modules.

Hi.19.2.2 2019-11-01
2. Other related optimizations.

Optimized client communication and fix

Hi.19.2.3 2019-11-25
bugs of pallet.

1. When the client is debugging

Hi.19.2.4 2019-12-12 manually, the receiving delay is
increased to 20s to facilitate debugging.

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2. Add dynamic monitoring of variable

values, in the last column of the variable
table.

1. Add the judgment of coordinate, joint

angle and hand system in the condition
module.
2. 3D tray.
3. Add initialization system input .
4. UI colouring.
5. Increase output signal status
judgment.
Hi.20.0.5 2020-04-24
6. Increase the input signal of the
initialization system
7. Improve error alarm of client
message.
8. Increase the output of security zone
limit and over-limit signal system
9. Add box selection of process copy,
paste, cut and delete.

1. Add the tray array ID to specif the

interface. After the tray is configured,
the setting interface will appear if
double-click the left mouse button.
2. Increase the output of the process
state system.
3. Add the import and export of point
table data (Excel) .
4. Add the function of security area, the
initialization module can be seen by
double-click the left mouse button.
5. Add the offset setting function with
the second coordinate system, and the
Hi.20.0.6 2020-05-19 initialization module can be seen by
double-clicking with the left mouse
button .
6. Modules can automatically align and
arrange.
7. Hide the condition module without
condition content. When the mouse
stops over the basic module, the
condition module will be displayed.
8. Modify the incomplete display of the
previous version, and the bug of calling
blocking functions.
9. Increase xyz_r decomposition ways in
point module decomposition mode.

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1. New revision of UI to expand the

area of design area .
2. Add script programming module.
3. In order to facilitate the design
process, add the function of copy, paste
and delete module.
4. After the module is selected, the lines
connected with it will be highlighted.
5. Add the function of single step
debugging .
6. Upgrade the mobile robot module.
Step size greater than 2mm (including
2mm) is JOG mode. Press it to
continuously move the robot; less than
2mm is inching for fine adjustment.
Hi.20.0.7 2020-08-06 7. Optimize display and operation.
8. Add variable server to modify the
global variable value according to the
protocol.
9. Solve the problem of flickering when
dragging .
10. Add ID configuration table to
remove duplicate ID .
11. The connected line can be selected
and removed to re connect the target
module.
12. Add the function of saving sub-
process as template.
13. Added pop-up prompts when
dragging teaching on and off to prevent
misoperation.

1. The arm ID list empty data abnormal

pop-up box is shielded
2. The control panel uses letters.
3. Do not update global variables when
saving.
4. Solve the problem that the runtime
library is abnormal when multiple
Hi.20.0.8 2020-10-22
processes call scripts at the same time
5. Add process status indication.
6. Shield automatic arrangement.
7. Enable the bubble function of
common modules, which can be
displayed by placing the mouse over the
module.

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1. Solve the problem of abnormal I/O

display when frequently operating the
hardware button to trigger start, pause
Hi.20.2.8.24 2021-12-21 and other functions.
2. Solve the problem of abnormal I/O
signal addition.

1.Replace the relevant library of the

global exception code, and add the
code.
2.Import replacement of new motion
function new_move_xyz().
Hi.22.2.11.1 2022-02-11 3.Add the interpreter application of the
script function.
4.Safe area judgment.
5.Save the value of the variable at
runtime, restart the software to load and
restore.

1.Added tool coordinate settings

2.Added pipette module
Hi.22.8.13.1 2022-08-13
3.Joint shield detection
4.IO signals control single step Test

1.Optimized process loading and

module dragging
2.Added anti-software flash back
Hi.22.9.19.1 2022-09-19
function
3.Added new modules for drag and
copy deletion

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Table of Contents
I. Company Profile................................................................................................................................. 1
II. Software Framework Description......................................................................................................2
2.1 Software framework structure diagram............................................................................2

III. Software Installation and Uninstallation.......................................................................................... 3

3.1 Software installation.........................................................................................................3

3.2 Software uninstallation and repair....................................................................................4

IV. Software Operation and Module Function Description....................................................................5

4.1 Software environment settings for the first operation...................................................... 5

4.2 Software login.................................................................................................................. 7

4.3 Software module description............................................................................................8

4.3.1 Functional area...................................................................................................... 9

4.3.2 Basic programming module list area...................................................................10

4.3.3 Programming area............................................................................................... 11

4.4 Robot operation.............................................................................................................. 11

4.4.1 Initialization.........................................................................................................11

4.4.2 Robot operation................................................................................................... 12

4.5 Programming module..................................................................................................... 13

4.5.1 Condition............................................................................................................. 13

4.5.2 Position................................................................................................................15

4.5.3 Output signal....................................................................................................... 18

4.5.4 Pallet....................................................................................................................19

4.5.5 Electric Gripper................................................................................................... 22

4.5.6 Delay and Assignment.........................................................................................23

4.5.7 Sub-process......................................................................................................... 24

4.5.8 Reset.................................................................................................................... 25

4.5.9 Client................................................................................................................... 26

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4.5.10 Serial port.......................................................................................................... 28

4.5.11 Script................................................................................................................. 29

4.5.12 Sample of script.................................................................................................30

4.5.12.1 Sample of script: client connection........................................................ 30

4.5.12.2 Sample of script: draw circular trajectory.............................................. 30

4.5.12.3 Sample of script: move to the set point.................................................. 31

4.5.13 Pause..................................................................................................................32

4.5.14 Pipette................................................................................................................32

4.6 Examples of programming structure.............................................................................. 34

4.6.1 Single sequential execution structure.................................................................. 34

4.6.2 Cyclic structure....................................................................................................35

4.6.3 Branching structure............................................................................................. 35

4.6.4 Circular judgment structure.................................................................................36

4.6.5 Self circulation structure..................................................................................... 36

4.7 Important function description....................................................................................... 36

4.7.1 Safe area.............................................................................................................. 36

4.7.2 Expand I/O board................................................................................................ 37

4.7.3 System debugging............................................................................................... 37

4.7.4 Determination of safe area.................................................................................. 38

4.7.5 Tool coordinate function..................................................................................... 39

4.7.6 Joint detection mask............................................................................................ 40

4.7.7 I/O control single-step debugging function.........................................................41

V. Instruction of relevant configuration (the value is uniformly set to 0 or 1).....................................42

5.1 Instruction of key-value pair configuration in HitBotStudio.exe.config file................. 42

5.2 Instruction of software operating environment configuration........................................43

VI. Frequently Asked Questions and Solutions................................................................................... 44

6.1 The computer can not connect to the robot.................................................................... 44

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6.2 Initialization error of missing axis..................................................................................44

6.3 The log reports over-current protection and needs to be powered off and restarted......44

6.4 The log reports collision, please reinitialize or power off and restart............................44

6.5 Unable to use the drag teaching function....................................................................... 45

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I.Company Profile

Huiling-tech (HITBOT) Robotic Co., Ltd, one of Xiaomi ecological chain enterprises, is a
leading manufacturer of the lightweight collaborative robot arm and electric gripper in the robot
industry. Through nearly 10 years of R&D, Hibot has successfully lowered the threshold of
automation transformation for SMEs in terms of cost and applicability, and has provided leading
automation solution services in an efficient, cost-effective, and modular way.

Founded in 2015, Hitbot always takes automation redefining as its mission, aiming to create the
most cost-effective products, reduce the cost and operating threshold of the intelligent manufacturing
industry, and become a worldwide leading robot manufacturer and service provider. At present,
Hitbot's direct sales and agents have spread all over the world, and the robotic arm Z-Arm series and
electric gripper Z-EFG series have gained thousands of customers, including Huawei, Foxconn,
P&G, BGI, and other industry-leading companies.

Special Notice: Please turn off your anti virus software and firewall before you unzip or
run the HITBOT Studio Software.

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II.Software Framework Description

2.1 Software framework structure diagram

Figure 1. Software Framework Diagram

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III.Software Installation and Uninstallation

3.1 Software installation

As shown in the figures, double-click the setup.exe file of the installation package to open the
installation interface. Click the prompt to select the installation permission and directory, then click
"Next" to complete the installation. Click "Close" to exit the installation interface after the
installation is complete. Note that when upgrading the software version, you need to uninstall the old
version before you can install the new version of the software correctly. Please refer to the next
section "Software Uninstallation and Repair" for details.

Figure 2. Installation package file directory

Figure 3. Start the installation interface

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Figure 4. Installation completion interface

3.2 Software uninstallation and repair

This operation is required when a file is lost or the software needs to be upgraded. As shown in
the figures, double-click the "RemoveHitBotStudio.msi" file of the installation package to open the
repair and uninstall interface. After selecting the repair or uninstall operation as required, click
"Finish" to finish the repair or uninstall operation.

Figure 5. Start uninstall and repair file directory

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Figure 6. Uninstallation interface

IV.Software Operation and Module Function Description

4.1 Software environment settings for the first operation

When opening the software for the first time to connect the robotic arm, you need to set up the
relevant environment, as shown in the figures.

Step 1: The network port connected to the mechanical arm is set as follows: IP address is set to
"192.169. 0.100" and the sub-net mask is set to "255.255. 255.0".

Step 2: Right-click the software icon, select "Property", "Compatibility" in turn, and check "Run
this program as administrator".

Step 3: Turn off the firewall or add the application by "Allow the application to pass through the
firewall."

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Figure 7. Static host IP settings

Figure 8. Firewall shutdown settings

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Figure 9. Software compatibility settings

4.2 Software login

Double-click the software icon to open the software and enter the main login interface. Click the
"background debugging" button and enter the default login password "hitbot" to enter the main
interface of the software to perform relevant operations (the password can be modified. After
entering the correct password, the password modification button will appear in the lower right corner
of the pop-up box).

Figure 10. Software main interface

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Figure 11. Software login interface

4.3 Software module description

After successful login, the main interface of the software will be entered, which is divided into
three main parts: function area, basic programming module list area and programming area.

Figure 12. Flow example diagram

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4.3.1 Functional area

As shown in the figure below, the function area is mainly composed of project management,
process management, process control and convenient tools.

1. Project management and process management

Figure 13. Menu bar

Project management includes opening, creating, saving, combining and splitting engineering
files (used to split or combine the processes in project files and save them as new project files).

Process management includes process creation, process name modification, flowchart clearing
and process removal.

2. Process control

Figure 14. Process control area

The buttons are initialized, single-step debugging, continuous operation, and stop of the robot
arm from left to right.

3. Additional function

Figure 15.Additional control area

From left to right are global speed regulation (module set speed x percentage), automatic
alignment, scaling options (100%, 75%, 50%).

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4. Convenience tools

Figure 16. Convenient tools and settings

Convenient tools include virtual robot (id = 0), monitoring and communication tool, parameter
setting tool of robot (not for non professionals), I/O expansion board tool, default project file path
saving, one key boot. Among them, virtual robot is the most commonly used, which is convenient for
debugging process, and does not need to connect the solid robot, including the simulation of input
signal.

4.3.2 Basic programming module list area

Based on graphical programming, it provides users with basic function blocks such as point
position, output signal, electric gripper, pallet, etc.

Figure 17. Tool module

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4.3.3 Programming area

Based on graphical programming, users can drag the module in the programming area (right-
click in the blank area to select the module). According to the operation logic, the user can realize the
logic programming of the relevant process control of the robot with the arrow. The mouse operation
is simple and convenient, and it is very friendly to the novice.

Figure 18. Programming area

4.4 Robot operation

4.4.1 Initialization
Create or open an existing project, as shown in the figure below. After clicking the ID icon on
the left, configure the ID according to the online ID list. Note that the ID should be in the interval
[0255], Except 0 can be repeated, other ID cannot be reused. Click the "manipulator icon" button and
wait for the log to print out the "initialization success" message, which indicates that the connection
between the computer and the manipulator is established successfully, and subsequent control
operation can be carried out.

Figure 19. Config Robot ID

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4.4.2 Robot operation

After initialization, select the "point position" table to open the operation interface of the robot
for relevant operation. The movement of the mechanical arm can be realized by the combination of
JOG and inching mode. When the step size is greater than or equal to 2mm, it is JOG mode, and long
press the button can move all the way along the axis direction. Otherwise, it will automatically
switch to the inching mode for fine position adjustment. As shown in the left side of the figure
below, press up, down, left and right respectively for X +, X -,Y +, Y - adjustment. The right side is
to controlled Z-axis and R-axis, and the up, down, left and right are used for controlling Z +, Z -, R+,
R -, respectively. The sliding bar can adjust the step length, and the default value is 2mm.

Figure 20. Robot (left) and coordinate system (right)

1. Z-EFG：press the button to control the clamping and opening of EFG-8 (NK) and EFG-20
(nm).

Figure 21. EFG control panel

2. Zeroing: input the robot arm ID to return each joint to its initial zero position.

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Figure 22. Joint homing control panel

3. Switch: the left and right hand systems of the current robot can be switched.

4. Drag Teaching: after checking, users can directly drag the robotic arm in the horizontal
direction to complete the point teaching (Note: do not check frequently, it takes a period of time to
open and close).

4.5 Programming module

4.5.1 Condition

Name Condition

1. Condition judgment
Function 2. Process branch
3. Attach the arrow line to connect the front and rear modules

Icon

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Property

1. Click the corresponding module in the programming area with the left mouse
button to generate the rear connection line of the module.
2. Click the right mouse button and the operation menu will appear, you can
view the property edit box or delete the condition.
3. As shown in the figure above, select the required condition and click "add
condition". If there are multiple conditions juxtaposed, you can select the
condition "and / or" and then click "add parallel condition". After checking
"else", further branch of conditions can be realized in the programming area. At
present, conditional operation only supports the condition judgment of input
Configuration signal, self adding variable, robot coordinate value and output state.
4. When the process runs here, the configured conditions will be judged, and
different logic will be executed according to the true or false of the result.
5. Use the left mouse button to drag the green module at the end of the arrow to
the top of the module to be connected, and the arrow will automatically connect
the module.
6. Select the condition module, the line and end green modules are highlighted,
users can remove the arrow from the connected arrow and reconnect the target
module.

Example

Input signals can be added and changed by filling in or changing information in

Note the "Name" of the input signal list, and the red color of the "input" cell indicates
that the corresponding input signal is detected.

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The user can select a row in the signal table to add system input signals, such as
initialization, start, pause and stop. The system automatically detects the rising
edge signal and triggers the corresponding function to initialize the operation of
the robot or control process. Red represents high level.

4.5.2 Position

Name Position module

Function Control the robot to reach the target point

Icon

Property

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1. Click the corresponding point module with the right mouse button to open the
point property edit box or delete the module.
2. In the property box, users can select the motion mode, motion parameters,
target point, continuous mode, point check, point compensation, decomposition
action and variable assignment and other properties to reach the target point.
3. There are two motion modes: non-linear (MoveJ) and linear mode (MoveL).
If there is no requirement for the motion trajectory, MoveJ is recommended.
4. The point is the target point that the robot arm will reach. Before specifying
the "point" property of the point module, the corresponding point must be added
to the point list. The user can successfully add a point by changing the point
name in the point list, and click the corresponding "teach point" to pick up the
current coordinates of the robotic arm as the coordinates of the point.
5. The settings of motion parameters include motion speed and acceleration of
each axis. The acceleration is a percentage. Users can adjust it according to their
needs. Pay attention to the size of the motion parameters, which has a certain
relationship with the motion distance, payload, and centroid position. The
stability of the robotic arm must be guaranteed. Increase the speed and
acceleration in advance, otherwise the mechanical arm will be damaged and
normal use will be affected.
6. When the continuous mode (smooth mode) and fast-passing mode are not
checked, move to the previous target point first, and the speed at the current
target point is 0, and then move to the new target point. If checked, when there
Configuration
is a new target point, it will pass at the maximum speed near the current target
point, but the passing point is farther from the current target point.
7. The function of point verification is to perform closed-loop verification of the
reaching position according to the value of the encoder when the robotic arm
reaches the target point, so as to ensure that the arm has indeed reached the
target point under the allowable slight deviation. If it is not in place, a log alarm
prompt will be printed and the process will be stopped.
8. The function of dynamic compensation of point coordinate value. Check
point compensation, click the "C" module that appears on the right side of the
point module with right button of the mouse, set the IP address and port number
of the server to be connected, then save and try to connect. After connection, the
communication can be performed normally according to the protocol, and the
coordinate compensation value can be obtained from the server. Get
compensation value message format:
Request: head (external identification of client module) + "," + robot ID number
+ "," + pointredress + ";"
Response: head (external identification of client module) + "," + robot ID
number + "," + pointredress + "," + x_ offset+“,”+y_ offset+“,”+z_
offset+“,”+r_ offset
9. The variable table can assign assignments, auto-increment and auto-
decrement operations to all the variables, and thees variables can be used for
conditional judgment.

Example

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The coordinate system of the robot is Cartesian coordinate system, which is

divided into left hand (angle2 < 0) and right hand (angle2 > 0) according to the
relative posture of the forearm and the big arm.

Note

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4.5.3 Output signal

Name Output signal module

Function Control the output port of robot to output high or low level signals

Icon

Property

1. Click the corresponding output signal module with the right mouse button to
open the property editing box or delete the module.
2. Here, users can choose to add one or more different level states of the output
signal. It should be noted that currently only related signals in the output signal
list are supported. Users can add and change output signals by filling in or
changing the information in the "Output Name" of the output signal list.
3. The function of delay is to stay in this module for a period of time and then
Configuration continue to execute the next module after setting the output, so as to ensure that
the equipment or tool controlled by the signal are executed. (In industrial
application scenarios, tools such as output control grippers, cylinders, suction
cups, etc. are commonly used, and their actions need a certain time to
complete.)
4. The variable table can assign assignments, auto-increment and auto-
decrement operations to all the variables, and thees variables can be used for
conditional judgment.

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Example

Note
Users can select the row in the signal table to add system output signals, such as
initialization completion, fault, overrun signal, process operation status and
other system output signals. The system automatically detects and sets the
corresponding output signal to high level (red).

4.5.4 Pallet

Name Pallet

Control the robotic arm to execute horizontal rectangular array logic,vertical

Function
single-layer or multi-layer array logic

Icon

Property

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1.Click the corresponding pallet module with the right mouse button to open the
property editing box or delete the module.
2.The pallet module is actually a point array, which can be a horizontal single-
layer or multi-layer rectangular array or an array in the vertical direction. It can
be achieved through attribute settings, including starting point designation
(Map), array point executable designation (Map), pallet, motion mode, motion
parameters, multi-layer settings, execution logic, descent rate, output signal,
electric gripper, customer terminal and variable settings.
3.The Map pop-up box lists all the array points, users can select the starting
point and the execution permission of the array point (to be executed or not to
be executed).

4.The pallet selection box is to select the configured pallet object from the pallet
Configuration table.
5.The setting of motion mode and motion parameters is the same as that of the
point module property setting.
6.In the multi-layer setting, users can set the offset height, number of layers,
starting layer, direction and whether to shield the offset.
7.The execution logic is divided into periodic increment and one-time
execution, which can be selected according to requirements. When periodic
increment is selected, each time the pallet module is passed, it will be
automatically shifted to the next point of the array to execute until all points are
executed and then restarted; when one-time execution is selected, each time the
pallet module is passed, all points in this pallet will be executed once, and then
the next module will be executed.
8.The descent rate is to set the speed from the top of the pallet array point
(offset height) to the array point (the pallet setting speed multiplied by the
descent rate) to achieve the effect of deceleration and descending.
9.The setting of output signal and electric gripper is the same as that of its
independent module, which will be executed when it reaches the pallet array
point.
10.The variable table can perform assignment, auto-increment or auto-
decrement operations to all the variables, and then use them for conditional
judgment.
11.Check the client, the point coordinate value to compensate and the function
specified by the tray array ID, right-click the "C" module that appears on the
right side of the pallet module, set the IP address and port number of the server
to be connected, save and try to connect. After connecting, users can
communicate normally according to the protocol, and obtain the coordinate

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compensation value and tray array ID from the server.

Format of message for obtaining coordinate compensation value:
Request: head (external identification of client module) + "," + robot ID number
+ "," + palletredress + ";"
Response: head (external identification of client module) + "," + robot ID
number + "," + palletredess + "," + x_offset + "," + y_offset + "," + z_ offset +
"," + r_ offset
Format of message for getting pallet ID value:
Request: head (external identification of client module) + "," + robot ID number
+ "," + palletarrayID + ";"
Response: head (external identification of client module) + "," + robot ID
number + "," + palletarrayID + "," + Layer + "," + ID

Example

Note

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4.5.5 Electric Gripper

Name Electric gripper

Control the opening and clamping of the Hitbot standard products EFG-8NK
Function
and EFG-20NM

Icon

Property

1. Right-click the corresponding output electric gripper module to open the

property edit box or delete the module.
2. Here, users can select the type of gripper (EFG-8NK and EFG-20NM) and
stroke setting.
Configuration 3. It takes time to clamp and loosen the electric gripper. Users can set the
appropriate delay time according to the actual effect.
4. The variable table can perform assignment, auto-increment or auto-
decrement operations to all the variables, and then use them for conditional
judgment.

Example

Note

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4.5.6 Delay and Assignment

Name Delay and assignment

Function 1. Process delay; 2. Process variable assignment; 3. Connection node

Icon

Property

1. Right-click the corresponding delay and assignment module to open the

property edit box or delete the module.
2. The delay unit is MS, the default is 500 ms, the upper limit is 10s.
Configuration 3. The variable table can perform assignment, auto-increment or auto-
decrement operations to all the variables, and then use them for conditional
judgment.
4. The delay can be set to 0 to use this module as a connection point.

Example

Note

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4.5.7 Sub-process

Name Sub-process

Encapsulate the basic modules of the flowchart to make the flowchart more
Function
concise

Icon

Property

1. Right-click the corresponding sub-process module in the programming area

to open the property edit box or delete the module.
2. The sub-process module is mainly used to simplify the main process logic,
and to provide an operator for the reset function.
Configuration
3. The operation of process configuration is consistent with that of the main
process, which will not be described in detail.
4. Sub-process frameworks can be saved as templates for use by other
processes.

Note

Place the mouse on the template icon on the left sidebar, drag the template into
the design area, modify the name or delete the template.

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4.5.8 Reset

Name Reset

When the last stop position of the robot is random, multiple reset sub-processes
can be customized after restart operation. After adding the reset module, the
Function module will compare the current stop position and the starting point of each
sub-process module (the coordinates of the first point module) to find the
nearest starting point and execute the current sub-process.

Icon

Property

1. Right-click the corresponding reset module in the programming area to open

Configuration the property edit box or delete the module.
2. Select the corresponding sub-process, click add content or clear the content.

The system input signal has a reset signal, which can trigger the reset module
Note
independently, and each process has at most one reset module.

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4.5.9 Client

Name Client

Based on TCP / IP protocol, it is used to request the value of coordinates or

Function
global variables from the server.

Icon

Property

1. Right-click the corresponding client module in the programming area to open

the property edit box or delete the module.
2. Set the IP address and port number of the server to be connected, click save,
and connect to the server manually. If the connection is successful,
communication can be carried out. At present, the timeout setting of the client
receiving data is set to 20 seconds, so as to facilitate manual adjustment of
communication. When sending instructions manually, the communication data
can be displayed. The server must reply the data according to the specified
Configuration message format, otherwise it can not be parsed normally.
3. There are two types of point coordinates and global variables. After selecting
the point coordinates, it is necessary to set the motion parameters, hand system
and action decomposition; to select the global variables, you need to check to
request the variables and save the settings, and the variables come from the
variable table.
4. The communication data can be debugged by manual request, and it can run
automatically after receiving and sending correctly.
5. For the coordinates, select the appropriate motion mode, motion parameters

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and hand system to execute the transfer coordinates. The message format is as
follows:
Request: head (external identification of client module) + "," + robot ID + "," +
pointcoordinates + ","+X + "," + y + "," + Z + ", + R +", + hand + "; (Note:
hand = 1 is right-handed, hand = - 1 is left-handed)
Response: head (external identification of client module) + "," + robot ID + ","
+ pointcoordinates + "," + X + "," + y + "," + Z + "," + R
6. For global variables, create the corresponding variable in the basic variable
table, fill in the initialization value, and you can see the corresponding variable
in the client property. If "request" is checked, the request for the corresponding
variable will be sent. It supports the simultaneous assignment of multiple
variables, and manual debugging. When the process is running automatically,
you can view the change of the variable value in the variable table monitoring
column (note that "#" connects the variable name and its value). The message
format is as follows:
Request: header (external identification of client module) + "," + robot ID + ","
+ globalvars + "," + variable name current value +...+ ";"
Response: header (external identification of client module) + "," + robot ID+ ","
+ globalvars + "," + variable name value +... "

Note

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4.5.10 Serial port

Name Serial port

Function Conventional serial communication

Icon

Property

1. Right-click the corresponding serial port module to open the property edit
box or delete the module.
2. Select the serial port and set the required baud rate, data bit, check bit, stop
bit and cycle.
3. Customize the data content to be sent. The string is encoded by UTF-8 and
Configuration converted to byte array and sent out.
4. Customize the content of the reply. The received data is converted into a
string and compared with itself. If it does not match, the log alarm prompts to
stop the process.
5. Manual debugging can be carried out to verify the correctness of data sending
and receiving.

Note

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4.5.11 Script

Name Script

Based on embedded Python, embedded the module in the control interface of the robot
Function
arm, the logic can be realized by programming.

Icon

Editing

1. Right-click the corresponding script module to open the property edit box or delete
the module.
Configuration
2. After the initialization of the robot is completed, click Edit to enter the editor editing.
After programming, you can confirm to exit and click save.

1. Compile and run, without break-point debugging.

2. Program errors will be printed in "Error" when compiling.
3. Additional console window is provided.
4. Support Python 2.7 programming.
Instruction
5. Provide log printing function,which can print the string in "Output".
6. Support to obtain and modify global variables of the process.
7. Support the use of point data of process point table.
8. Support to call the point data of the pallet.

After selecting the API function in the upper right text box, the function description and
Note
application example will be displayed in the lower right text box.

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4.5.12 Sample of script

4.5.12.1 Sample of script: client connection

Name Sample of script: client connection

Editing

from socket import * #import namespace

def main():
log.writestringlog('Start Main') #print log
tcp_client=socket(AF_INET,SOCK_STREAM) #create a client
Instruction
tcp_client.connect(('127.0.0.1',6000)) #connect to server
tcp_client.send("OK0") #send data
recv_data=tcp_client.recv(6000) #receive data
recv_data=recv_data.replace(" ","") #remove spaces

4.5.12.2 Sample of script: draw circular trajectory

Name Sample of script: draw circular trajectory

Editing

import socket,time,threading,sys,os,math
Instruction def main():
log.writestringlog("draw round")

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#In polar coordinate system, the center of the circle is at the pole and
the equation of the circle with radius radius p=radius
radius=4.3#radius
height=-100#height
speed=30#speed
P0=[200,0] #center coordinates
UnitAngle = 1 / float(radius);#1mm angle corresponding to arc length
number = (int)(2 * math.pi * radius*(360.0/360.0)); #set the arc of the
circle to be drawn
log.writenumberlog(number)
x =[]
y= []
for i in range(0,number):#segmentation point (convert from polar
coordinate system to Cartesian coordinate system)
x.append(P0[0] + float(radius) * math.cos((i*float(UnitAngle))));
y.append(P0[1] + float(radius) * math.sin((i*float(UnitAngle))));
for k in range(0,number):#call the motion function cyclically
ret=robot.movel_xyz(x[k], y[k], height, 0, speed)
robot.wait_stop()#blocking function to ensure movement is completed
log.writestringlog("finished")

4.5.12.3 Sample of script: move to the set point

Name Sample of script: move to the set point

Editing

robot.get_scara_param() #refresh coordinate parameters of robot arm

robot.new_movej_xyz_lr(pos.PZW['x'], pos.PZW['y'], pos.PZW['z'], robot.r+offMove,
Instruction
5, 0, pos.PZW['hand']) #move to the set point
robot.wait_stop() #wait for the move to finish

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4.5.13 Pause

Name Pause

Function Pause the process

Icon

Operation Right-click the corresponding script module to delete the module.

After the process is suspended, you can click the run button or the input signal of the
Note
operation system to resume operation.

4.5.14 Pipette

Name Pipette

Function Execute single or multiple pipette commands

Icon

Property

Configuration 1. Correctly select the COM port of the pipette gun (the port number connecting the
pipette gun and the USB to 485 communication line of the computer), and the I/O

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completion signal interface (the pipette gun completion signal port connecting to the
I/O port number of the robotic arm).
Click the 0-7 button to add the corresponding execution item.
2. Click the Delete Last Item button to clear the last command.
3. Single command function:
(1) 0 : Initialization: set the robot arm to the initial state. (This command will empty the
liquid and return the Tip head)
(2) 1: Detect whether there is a Tip head: detect whether there is a Tip head on the
pipette. The results are output in log form.
(3) 2: First suction: before the first suction, execute this command.
(4) 3: Secondary suction: when there are large droplets on the tip of the pipette after
suction, execute this command.
(5) 4: Liquid detection (capacitive): detect whether there are droplets at the tip of the
gun.
(6) 5: Aspiration: aspirate the amount of liquid set in the text box. The unit is uL.
(7) 6: Discharge: discharge the amount of liquid set in the text box. The unit is uL.
(8) 7: Return the Tip head: Return the Tip head.

Example

Note

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4.6 Examples of programming structure

4.6.1 Single sequential execution structure

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4.6.2 Cyclic structure

4.6.3 Branching structure

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4.6.4 Circular judgment structure

4.6.5 Self circulation structure

4.7 Important function description

4.7.1 Safe area

Figure 23. Setting panel of safe area

The setting of safety area includes x, y, z, r coordinate range and the current hand system of the
robot arm. The system will independently monitor whether it is within the limited area. If this
function is enabled, it will give an alarm, and there will be corresponding system output signal

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(overrun signal) to inform other equipments. If "Out of Area stop immediately" is checked, the
process and robot will be stopped immediately.

4.7.2 Expand I/O board

Figure 24. I/O expansion board setting panel

In order to satisfy users who use multiple signals, the system is compatible with a mature I/O ex
pansion board (GECON) on the market. Through Ethernet communication control, Modbus TCP prot
ocol, the expansion board is a server. The default binding IP address is 192.168.1.75, port 502, a total
of 16 digital inputs and 16 transistor outputs. After connecting the power supply and communication
network cable, check "Expansion board". If the server is not connected successfully, you can try to c
onnect to the server manually. The use method is the same as the I/O of the mechanical arm body, w
hich can be configured in the signal table. Taobao link (note that just purchase the boards with Ether
net port configuration): https://item.taobao.com/item.htm?spm=a1z10.5-c.w4002-11584738786.13.6
1406eda7Jt2Ha&id=529001943100

4.7.3 System debugging

After the program is written, in order to verify the logic correctness of the program, the online
virtual robot can be used for logic simulation. As shown in the figure below, the virtual robot can be
opened in the menu bar, and appropriate virtual robot can be selected according to the model. When
the current status of the virtual robot is updated to "connected successfully", it means that the virtual
robot is successfully opened. In the start page, the ID of the robot is selected as 0. After the
initialization is successful, click "start running" to verify the program logic.

Figure 25. Virtual robot

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The virtual robot provides four different types of arms. Except for the function of analog drag
teaching, other interfaces can be realized. There is a check box for analog digital input. Check the
input high level. with the movement of the control arm, the coordinates will change in real time, and
the output signal is also monitored and displayed.

4.7.4 Determination of safe area

Function：Limit the range of motion of the robotic arm.

Instruction:

1. Open the initialization module, click Safe Area, and the safe area setting box will pop up on
the left.

2. Click Add, set the values corresponding to X, Y, etc., click Save to save.

3. Click Add, multiple safe areas can be added. Select the number of the corresponding security
area in the drop-down box to set. Click Delete to delete the safe area.

4. When multiple safety areas are set, if the robot arm is within any safety area, it is regarded as
a safe state and the robot arm works normally. Otherwise the robot arm stops running, and the log
displays an error message.

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4.7.5 Tool coordinate function

Function：When adding tools at the end of the robot arm, set the tool coordinates and use the
end of the tool coordinates as the reference point to control the movement of the robot arm.

Instruction:

1. Double-click the initialization control, find the Set Tool Coordinates button on the interface,

, click the button, and the following interface will pop up.

(1) Select the tool coordinate number.

(2) Move the end of the robotic arm to the desired position, and click to set the positioning
point.

(3) After rotating the R-axis of the robotic arm by a certain angle, move the end of the robotic
arm to the position of the tool coordinate point 1 again through the X-axis and Y-axis, and click the
rotated positioning point.

(4) Click the Get Tool Length and Angle button. Confirm the deviation between the obtained
data and the actual data, which should be in line with expectation. Click the Save button to record the
data.

(5) Click the setting button to take effect. Click the Clear button to cancel the tool coordinate
setting.

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4.7.6 Joint detection mask

Function: When the robotic arm software is started, the specified joint state is not detected.
When used to cancel some joints, the robotic arm can still be used (commonly used to cancel R-axis
detection).

Instruction:

After placing the mouse on the ID label on the upper left side, the above pop-up window will
pop up for setting.

(1) 3 Axis: Shield R-axis detection. (For compatible use, fourAxis must be checked to take
effect)

(2) oneAxis: When checked, the detection of joint 1 is shielded.

(3) twoAxis: When checked, the detection of joint 2 is shielded.

(4) threeAxis: When checked, the detection of joint 3 is shielded.

(5) fourAxis: When checked, the detection of joint 4 is shielded.

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4.7.7 I/O control single-step debugging function

Function: Single-step running process through I/O signal.

Instruction:

Add an input signal in the signal cell and click single-step debugging to add it. Add the
corresponding I/O signal to execute the single-step debugging function.

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V.Instruction of relevant configuration (the value is uniformly set to 0

or 1)

5.1 Instruction of key-value pair configuration in HitBotStudio.exe.config

file

File path: \Release\HitBotStudio.exe.config (open the file with Notepad)

(1) < add key="disable_robot_when_stop_io_up" value="0" />

When the value is set to 1 or empty, when the stop button or the stop (normally closed) button is
triggered, the robot arm will clear the initialization status flag, and it needs to be re-initialized for
use.

When the value is set to 0 or other values, the enable is normal, and the robotic arm does not
need to be re-initialized.

(2) <add key="update_var_in_script" value="0"/>

When value is set to 1, the robot will update the value of the global variable while running the
script.

When the value is 0 or other values, the robot arm will not update the value of the global
variable until the end of running the script.

(When the key is 0, the value has changed inside the script, but when accessed externally, it is
still the value before running the script.)

(3) < add key = "retain_var_at_start" value = "1" />

When the value is set to 1, the robot will not change the value of the global variable when it
starts.

When the value is set to 0 or other values or empty, the robot arm will reset the value of the
global variable to the initial value when click to run.

(4) <add key="LoadSaveData" value="0"/>

When value is set to 0, the value of the variable will be the initial default value when the robot
starts.

When the value is set to 1 or other values, the value of the variable at the start of the robot armis
the value of the variable at the end of the last run of the software (used to restore software runtime
variables in case of power failure).

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5.2 Instruction of software operating environment configuration

File Path: \Release\Dependency

(1) Unzip the Dependency file and run the two unzipped files.

(2) Unzip the IE11_update file and run the exe file in the unzip file directory.

(3) Decompress the Microsoft Runtime Collection, run the decompressed exe file, and click
Next to install.

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VI.Frequently Asked Questions and Solutions

6.1 The computer can not connect to the robot

1. Set the static IP of local Ethernet to "192.168.0.100" (robot host IP), subnet mask:
255.255.255.0.

2. Make sure the firewall is turned off.

3. Confirm that the software running mode is administrator mode.

4. Make sure the green light of the computer network port is always on. If not, please check the
network cable and network card.

5. Re-power the robot and try again.

6. If you still cannot connect to the robotic arm using the above methods, please contact us in
time.

6.2 Initialization error of missing axis

Open the communication monitoring tool, select the network card flow, pull down to select the
corresponding network card, and check the receiving rate. The rate of a single arm should always be
around 390kbits / s. If it is significantly lower than this value, it indicates that there is a problem with
the network card or switch, which leads to abnormal data transmission and reception. You can restart
the computer or replace the computer.

6.3 The log reports over-current protection and needs to be powered off and
restarted

Check the wiring and working conditions to see if there is greater resistance to the movement of
the robot, which causes the robot to work under the condition of overcoming large resistance,
resulting in an increase of current.

6.4 The log reports collision, please reinitialize or power off and restart

1. Check whether the arm body is impacted during the movement of the arm, resulting in
collision protection and joint loosening.

2. Whether the payload exceeds the maximum payload, causing the machine to run at a higher

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speed. This increases the inertia of the machine, causing the assist function to be triggered when it
stops, resulting in a false collision.

6.5 Unable to use the drag teaching function

During the process of turning on and off the drag teaching, the robot servo has a process of
power-off and power-on, please do not switch the teaching state frequently. In addition, after turning
on the drag teaching and completing the operation, if want to turn off the drag teaching, please wait
about 5s before performing the relevant operations. If this problem occurs, please try to turn off the
drag teaching and re-initialize the robot to see if it can be solved. Note that the drag teaching cannot
be enabled for the Z axis.

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