Cobot Reference

Nodes in Techman's TMflow Software

Below is a review of important nodes in the TMFlow software for the Techman Cobot.

Point and Move Nodes

These nodes are used to define the positions and movements of the Cobot. Point nodes set specific coordinates in the workspace, while Move nodes define the path the Cobot will take between points. These nodes are essential for programming the robot's motion and positioning.

Set Nodes

Set nodes are used to assign values to variables or properties within the program. They can be used to set parameters like speed, acceleration, or other configurable settings for the Cobot's movements or actions.

If Nodes

If nodes introduce conditional logic into the program flow. They allow the program to execute different actions or sequences based on certain conditions being met or not met. This enables more complex and adaptive programming for the Cobot.

Goto Nodes

Goto nodes are used for program flow control, allowing the program to jump to a different part of the sequence based on certain conditions. They can be used in conjunction with If nodes to create loops or skip sections of code as needed.

Vision Nodes

Vision nodes integrate the Cobot's vision system, enabling it to locate and identify objects or features in its workspace. These nodes can be used for tasks like part recognition, alignment, or quality inspection.

Component Nodes for Grippers

The TMflow software includes specific nodes for controlling the Cobot's attachments, such as the RG2 Finger Gripper and the VGC10 Vacuum Gripper from OnRobot that enable the Cobot to perform various pick-and-place or material handling tasks.

• RG2 Finger Gripper Nodes: Nodes that control the gripping and releasing of the RG2 Finger Gripper, allowing the Cobot to grip and release objects securely.

• VGC10 Vacuum Gripper Nodes: These nodes activate the vacuum suction of the VGC10 Vacuum Gripper, enabling the Cobot to grip or release objects with flat surfaces that work well with vacuum suction.