HMI Components

You can find in this section details about HMI components and how they interact with robot functions and variables.

Label

Label components are used to display fixed text information.

Button

Buttons are used to let users trigger robot actions.

Actions are expressed as robot commands. Any valid robot command can be linked to a button.

Valid command examples for Universal Robots:

• movej([1.56, -1.93, 1.69, -1.33, -1.57, -0.01]) # robot function

• my_function() # user defined function

• x = 100 # assignment

• c = c + 1 # command

Actions scope can be configured as MAIN or BACKGROUND.

The scope parameter is used to determine how the action will be executed by the robot. MAIN option is used to execute the command in the main thread, while BACKGROUND is used to execute the command inside a new thread.

Multiple BACKGROUND actions can be executed simultaneously, while MAIN actions can be executed just one at time.

You can also give the action a display name that will be shown on the HMI panel while the action is running.

Tab

Tabs can be used to split the HMI panel in multiple sections.

Monitor

Monitors can be used to display live runtime values on the HMI panel.

Monitors can be linked with robot variables of any type or with commands returning a value.

Valid linking examples for Universal Robots:

• my_variable # user defined variable

• get_actual_joint_positions() # robot function

• my_function() # user defined function

• x + y # command with return value

Input

Inputs compnents are used to let users set or change a value assigned to a robot variable.

Inputs can be linked with any robot variables with type Int, Float or String.

Pose Input

Pose Input compnents are used to let users set or change a robot position value assigned to a variable.

Pose Inputs can be linked with any robot variables of type Tool Pose (cartesian pose) or Joint Pose.

Image

Image components are used to display a fixed picture on the HMI panel.

Like buttons images can be used by user trigger robot actions.

Actions are expressed as robot commands. Any valid robot command can be linked to a button.

Valid command examples for Universal Robots:

• movej([1.56, -1.93, 1.69, -1.33, -1.57, -0.01]) # robot function

• my_function() # user defined function

• x = 100 # assignment

• c = c + 1 # command

Actions scope can be configured as MAIN or BACKGROUND.

The scope parameter is used to determine how the action will be executed by the robot. MAIN option is used to execute the command in the main thread, while BACKGROUND is used to execute the command inside a new thread.

Multiple BACKGROUND actions can be executed simultaneously, while MAIN actions can be executed just one at time.

You can also give the action a display name that will be shown on the HMI panel while the action is running.

DropDown

DropDown components are used to let users choose a value among a fixed list of elements.

DropDowns are linked to robot variables with type String.

CheckBox

CheckBox components are used to let use choose a ON/OFF value.

CheckBoxs are linked to robot variables with type Boolean or Integer.

Slider

Slider components are used to let users choose a valued inside a fixed range.

Sliders are linked to robot variables with type Integer.

Chart

See HMI Charts section.