Difference between revisions of "Component: Robot Arm v2 (AllCode)"

Revision as of 15:24, 20 January 2023

Author	Matrix TSL
Version	1.0
Category	AllCode

Robot Arm v2 component

Drives the Matrix Robot Arm v2 hardware via the AllCode API. Allows connections via USB, Bluetooth and WIFI.

Component Source Code

Please click here to download the component source project: FC_Comp_Source_RA2_ComponentSource.fcsx

Please click here to view the component source code (Beta): FC_Comp_Source_RA2_ComponentSource.fcsx

Detailed description

No detailed description exists yet for this component

Examples

No additional examples

Macro reference

	SetWIFIPort
Sets the WIFI port number
- UINT	Port
Default 1245
- VOID	Return

	WhileMoving
Blocking call that waits up to 10 seconds for the current movement operation to complete. Returns when complete. Return of 1 indicates movement complete, 0 indicates timeout.
- BOOL	Return

	SetWIFIPassword
Configures the WIFI Password string and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change.
- STRING	Password
Password String, Max 32 Characters
- VOID	Return

	SetCalibrationLengths
Sets the lengths of parameters A and D used as part of the kinematics calculations to get and set the angles using XYZ coordinates
- FLOAT	LengthA

- FLOAT	LengthD

- VOID	Return

	SetMovementSpeed
Controls the movement speed of the arm and the ramping increment
- UINT	Speed
Range 0-10000 default 8000
- UINT	Increment
Range 0 to 5000, default 50
- VOID	Return

	GetPLCInputs
Reads the inputs on the secondary grove connector used to connect to outputs from a connected PLC or other external switch.
- BYTE	Return

	SetGripper
Sets the new position of the gripper
- BYTE	Position
0 = Closed, 255 = Fully Open
- VOID	Return

	SetCalibrationPosition
Called when the arm gripper is in the calibration position of X0 Y300 Z5 Reconfigures the kinematics calculations based on this. Performed in factory to calibrate the arm, warning calling this function will effect factory calibration.
- VOID	Return

	StoreAngles
Stores the specified joint angles into an internal none volatile memory location.
- BYTE	PositionIndex
Range: 0 to 40
- FLOAT	AngleA
Range 0.0 to 359.0
- FLOAT	AngleB
Range 0.0 to 359.0
- FLOAT	AngleC
Range 0.0 to 359.0
- VOID	Return

	GetWifiIP
Collects the IP address of the robot arm WIFI connection.
- STRING	Return

	GetColourSensor
Samples and returns the RGB values read by the colour sensor
- BYTE	RGB
Byte Array To Hold the RGB sensor values
- VOID	Return

	SetMotor
Sets the step position of a single motor
- BYTE	Motor
0=A, 1=B, 2=C
- UINT	Position

- VOID	Return

	ResetToBoot
Resets the board into bootload mode for reprogramming. Comms port will be closed on calling this macro,
- VOID	Return

	IsMoving
Checks to see if the robot arm or gripper is moving. Returns 0 if the arm is not moving and 1 if the arm is still in transit.
- BOOL	Return

	SetAngle
Sets the angle of a single motor
- BYTE	Motor
0=A, 1=B, 2=C
- FLOAT	Angle
Range 0.0 to 359.0
- VOID	Return

	SetXYZ
Moves the machine so that the end tool is in the specified XYZ position. Returns 1 if the coordinates are within range of the Arm else returns 0.
- INT	X

- INT	Y

- INT	Z

- BOOL	Return

	SetBluetoothPin
Configures the Bluetooth pin and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change.
- STRING	Pin
Pin String, 4 Numeric Characters e.g. "1234"
- VOID	Return

	HomeAll
Function to automatically home all motors. Macro blocks until complete.
- VOID	Return

	SetRelay
Allows the vacuum relay to be switched on and off.
- BOOL	State

- VOID	Return

	SetCalibrationRadius
Sets the lengths of parameters A and D used as part of the kinematics calculations to get and set the angles using XYZ coordinates
- FLOAT	Radius

- VOID	Return

	SetAngles
Sets the angle of all motors
- FLOAT	AngleA
Range 0.0 to 359.0
- FLOAT	AngleB
Range 0.0 to 359.0
- FLOAT	AngleC
Range 0.0 to 359.0
- VOID	Return

	GotoPosition
Recalls a position from the selected internal none volatile memory location. Performs linear interpolated movement to the selected position.
- BYTE	PositionIndex
Range: 0 to 40
- VOID	Return

	SetWifiMode
Configures the WIFI mode. When enabled the robot arm can either create its own WIFI network or join an existing WIFI network,
- BYTE	Mode
0=Disabled, 1=Host Network, 2=Join Network
- VOID	Return

	HomeAxis
Function to automatically home a specific motor. Macro blocks until complete.
- BYTE	Axis
0=A, 1=B, 2=C
- VOID	Return

	GetAngles
Collects the current joint angles of the motors.
- FLOAT	Angles
Float Array To Hold the step position return values
- VOID	Return

	DisableMotors
Disables all motors
- VOID	Return

	StoreMotors
Stores the specified step position into an internal none volatile memory location.
- BYTE	PositionIndex
Range: 0 to 40
- UINT	PositionA

- UINT	PositionB

- UINT	PositionC

- VOID	Return

	SetCanId
Stores the specified CAN ID into an internal none volatile memory location.
- UINT	ID

- VOID	Return

	GetAPI
Gets the API version number
- BYTE	Return

	SetMotors
Sets the step position of all motors
- UINT	PositionA

- UINT	PositionB

- UINT	PositionC

- VOID	Return

	SetCanMode
Configures the CAN mode.
- BOOL	Mode
0=Disabled, 1=Enabled
- VOID	Return

	SetWifiSSID
Configures the WIFI SSID string and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change.
- STRING	SSID
Netword ID String, Max 32 Characters
- VOID	Return

	GetPosition
Collects the current step positions of the motors.
- UINT	Positions
UINT Array To Hold the step position return values
- VOID	Return

	StoreCurrentPosition
Stores the current position into an internal none volatile memory location.
- BYTE	PositionIndex
Range: 0 to 40
- VOID	Return

	GetXYZ
Collects the current XYZ position of the end tool.
- INT	XYZ
INT Array To Hold the X, Y and Z return values
- VOID	Return

	SetBluetoothMode
Configures the Bluetooth mode.
- BOOL	Mode
0=Disabled, 1=Enabled
- VOID	Return

	Initialise

- BOOL	Return

	SetBluetoothName
Configures the Bluetooth device name and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change.
- STRING	Name
Bluetooth Device String, Max 20 Characters
- VOID	Return

Property reference

	Properties
	Simulation Mode

	API Settings
	Comms Method
Selects the method to communicate with the Matrix 3 Axis Robot Arm. USB connection requires the USB drivers to be installed. Bluetooth connection requires the device first be paired using the Windows Bluetooth control panel. WIFI connection requires the connection settings to be configured first on the robot using USB or Bluetooth. CAN connection does not simulate and works on embedded hardware e.g. the MIAC.
	COM Port Settings
	Autodetect
Autodetects the COM port, only works for USB AllCode connection.

==Macro reference==

	SetWIFIPort
Sets the WIFI port number
- UINT	Port
Default 1245
- VOID	Return

	WhileMoving
Blocking call that waits up to 10 seconds for the current movement operation to complete. Returns when complete. Return of 1 indicates movement complete, 0 indicates timeout.
- BOOL	Return

	SetWIFIPassword
Configures the WIFI Password string and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change.
- STRING	Password
Password String, Max 32 Characters
- VOID	Return

	SetCalibrationLengths
Sets the lengths of parameters A and D used as part of the kinematics calculations to get and set the angles using XYZ coordinates
- FLOAT	LengthA

- FLOAT	LengthD

- VOID	Return

	SetMovementSpeed
Controls the movement speed of the arm and the ramping increment
- UINT	Speed
Range 0-10000 default 8000
- UINT	Increment
Range 0 to 5000, default 50
- VOID	Return

	GetPLCInputs
Reads the inputs on the secondary grove connector used to connect to outputs from a connected PLC or other external switch.
- BYTE	Return

	SetGripper
Sets the new position of the gripper
- BYTE	Position
0 = Closed, 255 = Fully Open
- VOID	Return

	SetCalibrationPosition
Called when the arm gripper is in the calibration position of X0 Y300 Z5 Reconfigures the kinematics calculations based on this. Performed in factory to calibrate the arm, warning calling this function will effect factory calibration.
- VOID	Return

	StoreAngles
Stores the specified joint angles into an internal none volatile memory location.
- BYTE	PositionIndex
Range: 0 to 40
- FLOAT	AngleA
Range 0.0 to 359.0
- FLOAT	AngleB
Range 0.0 to 359.0
- FLOAT	AngleC
Range 0.0 to 359.0
- VOID	Return

	GetWifiIP
Collects the IP address of the robot arm WIFI connection.
- STRING	Return

	GetColourSensor
Samples and returns the RGB values read by the colour sensor
- BYTE	RGB
Byte Array To Hold the RGB sensor values
- VOID	Return

	SetMotor
Sets the step position of a single motor
- BYTE	Motor
0=A, 1=B, 2=C
- UINT	Position

- VOID	Return

	ResetToBoot
Resets the board into bootload mode for reprogramming. Comms port will be closed on calling this macro,
- VOID	Return

	IsMoving
Checks to see if the robot arm or gripper is moving. Returns 0 if the arm is not moving and 1 if the arm is still in transit.
- BOOL	Return

	SetAngle
Sets the angle of a single motor
- BYTE	Motor
0=A, 1=B, 2=C
- FLOAT	Angle
Range 0.0 to 359.0
- VOID	Return

	SetXYZ
Moves the machine so that the end tool is in the specified XYZ position. Returns 1 if the coordinates are within range of the Arm else returns 0.
- INT	X

- INT	Y

- INT	Z

- BOOL	Return

	SetBluetoothPin
Configures the Bluetooth pin and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change.
- STRING	Pin
Pin String, 4 Numeric Characters e.g. "1234"
- VOID	Return

	HomeAll
Function to automatically home all motors. Macro blocks until complete.
- VOID	Return

	SetRelay
Allows the vacuum relay to be switched on and off.
- BOOL	State

- VOID	Return

	SetCalibrationRadius
Sets the lengths of parameters A and D used as part of the kinematics calculations to get and set the angles using XYZ coordinates
- FLOAT	Radius

- VOID	Return

	SetAngles
Sets the angle of all motors
- FLOAT	AngleA
Range 0.0 to 359.0
- FLOAT	AngleB
Range 0.0 to 359.0
- FLOAT	AngleC
Range 0.0 to 359.0
- VOID	Return

	GotoPosition
Recalls a position from the selected internal none volatile memory location. Performs linear interpolated movement to the selected position.
- BYTE	PositionIndex
Range: 0 to 40
- VOID	Return

	SetWifiMode
Configures the WIFI mode. When enabled the robot arm can either create its own WIFI network or join an existing WIFI network,
- BYTE	Mode
0=Disabled, 1=Host Network, 2=Join Network
- VOID	Return

	HomeAxis
Function to automatically home a specific motor. Macro blocks until complete.
- BYTE	Axis
0=A, 1=B, 2=C
- VOID	Return

	GetAngles
Collects the current joint angles of the motors.
- FLOAT	Angles
Float Array To Hold the step position return values
- VOID	Return

	DisableMotors
Disables all motors
- VOID	Return

	StoreMotors
Stores the specified step position into an internal none volatile memory location.
- BYTE	PositionIndex
Range: 0 to 40
- UINT	PositionA

- UINT	PositionB

- UINT	PositionC

- VOID	Return

	SetCanId
Stores the specified CAN ID into an internal none volatile memory location.
- UINT	ID

- VOID	Return

	GetAPI
Gets the API version number
- BYTE	Return

	SetMotors
Sets the step position of all motors
- UINT	PositionA

- UINT	PositionB

- UINT	PositionC

- VOID	Return

	SetCanMode
Configures the CAN mode.
- BOOL	Mode
0=Disabled, 1=Enabled
- VOID	Return

	SetWifiSSID
Configures the WIFI SSID string and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change.
- STRING	SSID
Netword ID String, Max 32 Characters
- VOID	Return

	GetPosition
Collects the current step positions of the motors.
- UINT	Positions
UINT Array To Hold the step position return values
- VOID	Return

	StoreCurrentPosition
Stores the current position into an internal none volatile memory location.
- BYTE	PositionIndex
Range: 0 to 40
- VOID	Return

	GetXYZ
Collects the current XYZ position of the end tool.
- INT	XYZ
INT Array To Hold the X, Y and Z return values
- VOID	Return

	SetBluetoothMode
Configures the Bluetooth mode.
- BOOL	Mode
0=Disabled, 1=Enabled
- VOID	Return

	Initialise

- BOOL	Return

	SetBluetoothName
Configures the Bluetooth device name and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change.
- STRING	Name
Bluetooth Device String, Max 20 Characters
- VOID	Return

Property reference

	Properties
	Simulation Mode

	API Settings
	Comms Method
Selects the method to communicate with the Matrix 3 Axis Robot Arm. USB connection requires the USB drivers to be installed. Bluetooth connection requires the device first be paired using the Windows Bluetooth control panel. WIFI connection requires the connection settings to be configured first on the robot using USB or Bluetooth. CAN connection does not simulate and works on embedded hardware e.g. the MIAC.
	COM Port Settings
	Autodetect
Autodetects the COM port, only works for USB AllCode connection.

==Macro reference==

	SetWIFIPort
Sets the WIFI port number
- UINT	Port
Default 1245
- VOID	Return

	WhileMoving
Blocking call that waits up to 10 seconds for the current movement operation to complete. Returns when complete. Return of 1 indicates movement complete, 0 indicates timeout.
- BOOL	Return

	SetWIFIPassword
Configures the WIFI Password string and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change.
- STRING	Password
Password String, Max 32 Characters
- VOID	Return

	SetCalibrationLengths
Sets the lengths of parameters A and D used as part of the kinematics calculations to get and set the angles using XYZ coordinates
- FLOAT	LengthA

- FLOAT	LengthD

- VOID	Return

	SetMovementSpeed
Controls the movement speed of the arm and the ramping increment
- UINT	Speed
Range 0-10000 default 8000
- UINT	Increment
Range 0 to 5000, default 50
- VOID	Return

	GetPLCInputs
Reads the inputs on the secondary grove connector used to connect to outputs from a connected PLC or other external switch.
- BYTE	Return

	SetGripper
Sets the new position of the gripper
- BYTE	Position
0 = Closed, 255 = Fully Open
- VOID	Return

	SetCalibrationPosition
Called when the arm gripper is in the calibration position of X0 Y300 Z5 Reconfigures the kinematics calculations based on this. Performed in factory to calibrate the arm, warning calling this function will effect factory calibration.
- VOID	Return

	StoreAngles
Stores the specified joint angles into an internal none volatile memory location.
- BYTE	PositionIndex
Range: 0 to 40
- FLOAT	AngleA
Range 0.0 to 359.0
- FLOAT	AngleB
Range 0.0 to 359.0
- FLOAT	AngleC
Range 0.0 to 359.0
- VOID	Return

	GetWifiIP
Collects the IP address of the robot arm WIFI connection.
- STRING	Return

	GetColourSensor
Samples and returns the RGB values read by the colour sensor
- BYTE	RGB
Byte Array To Hold the RGB sensor values
- VOID	Return

	SetMotor
Sets the step position of a single motor
- BYTE	Motor
0=A, 1=B, 2=C
- UINT	Position

- VOID	Return

	ResetToBoot
Resets the board into bootload mode for reprogramming. Comms port will be closed on calling this macro,
- VOID	Return

	IsMoving
Checks to see if the robot arm or gripper is moving. Returns 0 if the arm is not moving and 1 if the arm is still in transit.
- BOOL	Return

	SetAngle
Sets the angle of a single motor
- BYTE	Motor
0=A, 1=B, 2=C
- FLOAT	Angle
Range 0.0 to 359.0
- VOID	Return

	SetXYZ
Moves the machine so that the end tool is in the specified XYZ position. Returns 1 if the coordinates are within range of the Arm else returns 0.
- INT	X

- INT	Y

- INT	Z

- BOOL	Return

	SetBluetoothPin
Configures the Bluetooth pin and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change.
- STRING	Pin
Pin String, 4 Numeric Characters e.g. "1234"
- VOID	Return

	HomeAll
Function to automatically home all motors. Macro blocks until complete.
- VOID	Return

	SetRelay
Allows the vacuum relay to be switched on and off.
- BOOL	State

- VOID	Return

	SetCalibrationRadius
Sets the lengths of parameters A and D used as part of the kinematics calculations to get and set the angles using XYZ coordinates
- FLOAT	Radius

- VOID	Return

	SetAngles
Sets the angle of all motors
- FLOAT	AngleA
Range 0.0 to 359.0
- FLOAT	AngleB
Range 0.0 to 359.0
- FLOAT	AngleC
Range 0.0 to 359.0
- VOID	Return

	GotoPosition
Recalls a position from the selected internal none volatile memory location. Performs linear interpolated movement to the selected position.
- BYTE	PositionIndex
Range: 0 to 40
- VOID	Return

	SetWifiMode
Configures the WIFI mode. When enabled the robot arm can either create its own WIFI network or join an existing WIFI network,
- BYTE	Mode
0=Disabled, 1=Host Network, 2=Join Network
- VOID	Return

	HomeAxis
Function to automatically home a specific motor. Macro blocks until complete.
- BYTE	Axis
0=A, 1=B, 2=C
- VOID	Return

	GetAngles
Collects the current joint angles of the motors.
- FLOAT	Angles
Float Array To Hold the step position return values
- VOID	Return

	DisableMotors
Disables all motors
- VOID	Return

	StoreMotors
Stores the specified step position into an internal none volatile memory location.
- BYTE	PositionIndex
Range: 0 to 40
- UINT	PositionA

- UINT	PositionB

- UINT	PositionC

- VOID	Return

	SetCanId
Stores the specified CAN ID into an internal none volatile memory location.
- UINT	ID

- VOID	Return

	GetAPI
Gets the API version number
- BYTE	Return

	SetMotors
Sets the step position of all motors
- UINT	PositionA

- UINT	PositionB

- UINT	PositionC

- VOID	Return

	SetCanMode
Configures the CAN mode.
- BOOL	Mode
0=Disabled, 1=Enabled
- VOID	Return

	SetWifiSSID
Configures the WIFI SSID string and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change.
- STRING	SSID
Netword ID String, Max 32 Characters
- VOID	Return

	GetPosition
Collects the current step positions of the motors.
- UINT	Positions
UINT Array To Hold the step position return values
- VOID	Return

	StoreCurrentPosition
Stores the current position into an internal none volatile memory location.
- BYTE	PositionIndex
Range: 0 to 40
- VOID	Return

	GetXYZ
Collects the current XYZ position of the end tool.
- INT	XYZ
INT Array To Hold the X, Y and Z return values
- VOID	Return

	SetBluetoothMode
Configures the Bluetooth mode.
- BOOL	Mode
0=Disabled, 1=Enabled
- VOID	Return

	Initialise

- BOOL	Return

	SetBluetoothName
Configures the Bluetooth device name and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change.
- STRING	Name
Bluetooth Device String, Max 20 Characters
- VOID	Return

Property reference

	Properties
	Simulation Mode

	API Settings
	Comms Method
Selects the method to communicate with the Matrix 3 Axis Robot Arm. USB connection requires the USB drivers to be installed. Bluetooth connection requires the device first be paired using the Windows Bluetooth control panel. WIFI connection requires the connection settings to be configured first on the robot using USB or Bluetooth. CAN connection does not simulate and works on embedded hardware e.g. the MIAC.
	COM Port Settings
	Autodetect
Autodetects the COM port, only works for USB AllCode connection.

Difference between revisions of "Component: Robot Arm v2 (AllCode)"

Revision as of 15:24, 20 January 2023

Contents

Robot Arm v2 component

Component Source Code

Detailed description

Examples

Macro reference

Property reference

Property reference

Property reference

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@@ Line 16: / Line 16: @@
 ==Component Source Code==
+Please click here to download the component source project: [https://www.flowcode.co.uk/wikicopy/componentsource/FC_Comp_Source_RA2_ComponentSource.fcsx FC_Comp_Source_RA2_ComponentSource.fcsx]
 Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_RA2_ComponentSource.fcsx FC_Comp_Source_RA2_ComponentSource.fcsx]
 ==Detailed description==
@@ Line 30: / Line 34: @@
 ==Examples==
@@ Line 42: / Line 48: @@
 ==Macro reference==
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetWIFIPort'''
+|-
+| colspan="2" | Sets the WIFI port number&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Port
+|-
+| colspan="2" | Default 1245&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WhileMoving'''
+|-
+| colspan="2" | Blocking call that waits up to 10 seconds for the current movement operation to complete. Returns when complete. Return of 1 indicates movement complete, 0 indicates timeout.&nbsp;
+|-
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetWIFIPassword'''
+|-
+| colspan="2" | Configures the WIFI Password string and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | Password
+|-
+| colspan="2" | Password String, Max 32 Characters&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCalibrationLengths'''
+|-
+| colspan="2" | Sets the lengths of parameters A and D used as part of the kinematics calculations to get and set the angles using XYZ coordinates&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | LengthA
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | LengthD
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMovementSpeed'''
+|-
+| colspan="2" | Controls the movement speed of the arm and the ramping increment&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Speed
+|-
+| colspan="2" | Range 0-10000 default 8000&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Increment
+|-
+| colspan="2" | Range 0 to 5000, default 50&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetPLCInputs'''
+|-
+| colspan="2" | Reads the inputs on the secondary grove connector used to connect to outputs from a connected PLC or other external switch.&nbsp;
+|-
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetGripper'''
+|-
+| colspan="2" | Sets the new position of the gripper&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Position
+|-
+| colspan="2" | 0 = Closed, 255 = Fully Open&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCalibrationPosition'''
+|-
+| colspan="2" | Called when the arm gripper is in the calibration position of X0 Y300 Z5 Reconfigures the kinematics calculations based on this. Performed in factory to calibrate the arm, warning calling this function will effect factory calibration.&nbsp;
+|-
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''StoreAngles'''
+|-
+| colspan="2" | Stores the specified joint angles into an internal none volatile memory location.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | PositionIndex
+|-
+| colspan="2" | Range: 0 to 40&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | AngleA
+|-
+| colspan="2" | Range 0.0 to 359.0&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | AngleB
+|-
+| colspan="2" | Range 0.0 to 359.0&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | AngleC
+|-
+| colspan="2" | Range 0.0 to 359.0&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetWifiIP'''
+|-
+| colspan="2" | Collects the IP address of the robot arm WIFI connection.&nbsp;
+|-
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetColourSensor'''
+|-
+| colspan="2" | Samples and returns the RGB values read by the colour sensor&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | RGB
+|-
+| colspan="2" | Byte Array To Hold the RGB sensor values&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotor'''
+|-
+| colspan="2" | Sets the step position of a single motor&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Motor
+|-
+| colspan="2" | 0=A, 1=B, 2=C&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Position
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ResetToBoot'''
+|-
+| colspan="2" | Resets the board into bootload mode for reprogramming. Comms port will be closed on calling this macro,&nbsp;
+|-
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IsMoving'''
+|-
+| colspan="2" | Checks to see if the robot arm or gripper is moving. Returns 0 if the arm is not moving and 1 if the arm is still in transit.&nbsp;
+|-
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAngle'''
+|-
+| colspan="2" | Sets the angle of a single motor&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Motor
+|-
+| colspan="2" | 0=A, 1=B, 2=C&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | Angle
+|-
+| colspan="2" | Range 0.0 to 359.0&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetXYZ'''
+|-
+| colspan="2" | Moves the machine so that the end tool is in the specified XYZ position. Returns 1 if the coordinates are within range of the Arm else returns 0.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
+| width="90%" | X
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
+| width="90%" | Y
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
+| width="90%" | Z
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetBluetoothPin'''
+|-
+| colspan="2" | Configures the Bluetooth pin and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | Pin
+|-
+| colspan="2" | Pin String, 4 Numeric Characters e.g. "1234"&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''HomeAll'''
+|-
+| colspan="2" | Function to automatically home all motors. Macro blocks until complete.&nbsp;
+|-
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetRelay'''
+|-
+| colspan="2" | Allows the vacuum relay to be switched on and off.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="90%" | State
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCalibrationRadius'''
+|-
+| colspan="2" | Sets the lengths of parameters A and D used as part of the kinematics calculations to get and set the angles using XYZ coordinates&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | Radius
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAngles'''
+|-
+| colspan="2" | Sets the angle of all motors&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | AngleA
+|-
+| colspan="2" | Range 0.0 to 359.0&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | AngleB
+|-
+| colspan="2" | Range 0.0 to 359.0&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | AngleC
+|-
+| colspan="2" | Range 0.0 to 359.0&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GotoPosition'''
+|-
+| colspan="2" | Recalls a position from the selected internal none volatile memory location. Performs linear interpolated movement to the selected position.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | PositionIndex
+|-
+| colspan="2" | Range: 0 to 40&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetWifiMode'''
+|-
+| colspan="2" | Configures the WIFI mode. When enabled the robot arm can either create its own WIFI network or join an existing WIFI network,&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Mode
+|-
+| colspan="2" | 0=Disabled, 1=Host Network, 2=Join Network&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''HomeAxis'''
+|-
+| colspan="2" | Function to automatically home  a specific motor. Macro blocks until complete.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Axis
+|-
+| colspan="2" | 0=A, 1=B, 2=C&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAngles'''
+|-
+| colspan="2" | Collects the current joint angles of the motors.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | Angles
+|-
+| colspan="2" | Float Array To Hold the step position return values&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DisableMotors'''
+|-
+| colspan="2" | Disables all motors&nbsp;
+|-
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''StoreMotors'''
+|-
+| colspan="2" | Stores the specified step position into an internal none volatile memory location.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | PositionIndex
+|-
+| colspan="2" | Range: 0 to 40&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | PositionA
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | PositionB
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | PositionC
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCanId'''
+|-
+| colspan="2" | Stores the specified CAN ID into an internal none volatile memory location.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | ID
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAPI'''
+|-
+| colspan="2" | Gets the API version number&nbsp;
+|-
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotors'''
+|-
+| colspan="2" | Sets the step position of all motors&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | PositionA
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | PositionB
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | PositionC
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCanMode'''
+|-
+| colspan="2" | Configures the CAN mode.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="90%" | Mode
+|-
+| colspan="2" | 0=Disabled, 1=Enabled&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetWifiSSID'''
+|-
+| colspan="2" | Configures the WIFI SSID string and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | SSID
+|-
+| colspan="2" | Netword ID String, Max 32 Characters&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetPosition'''
+|-
+| colspan="2" | Collects the current step positions of the motors.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Positions
+|-
+| colspan="2" | UINT Array To Hold the step position return values&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''StoreCurrentPosition'''
+|-
+| colspan="2" | Stores the current position into an internal none volatile memory location.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | PositionIndex
+|-
+| colspan="2" | Range: 0 to 40&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetXYZ'''
+|-
+| colspan="2" | Collects the current XYZ position of the end tool.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
+| width="90%" | XYZ
+|-
+| colspan="2" | INT Array To Hold the X, Y and Z return values&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetBluetoothMode'''
+|-
+| colspan="2" | Configures the Bluetooth mode.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="90%" | Mode
+|-
+| colspan="2" | 0=Disabled, 1=Enabled&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
+|-
+| colspan="2" | &nbsp;
+|-
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetBluetoothName'''
+|-
+| colspan="2" | Configures the Bluetooth device name and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | Name
+|-
+| colspan="2" | Bluetooth Device String, Max 20 Characters&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+==Property reference==
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Simulation Mode
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | API Settings
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Comms Method
+|-
+| colspan="2" | Selects the method to communicate with the Matrix 3 Axis Robot Arm. USB connection requires the USB drivers to be installed. Bluetooth connection requires the device first be paired using the Windows Bluetooth control panel. WIFI connection requires the connection settings to be configured first on the robot using USB or Bluetooth.  CAN connection does not simulate and works on embedded hardware e.g. the MIAC.&nbsp;
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | COM Port Settings
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
+| width="90%" | Autodetect
+|-
+| colspan="2" | Autodetects the COM port, only works for USB AllCode connection.&nbsp;
+|}==Macro reference==
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"