Software Operations

This chapter describes the usage of L Master version 2.x.

Drag Teaching

Before describing how to create and write a scene, let's first understand the Lebai robot's scene editor and how to perform drag teaching operations.

Drag teaching: Allowing the robot to be driven by human hand dragging, and with the correct setting of end-effector tool quality and center of mass, the robot can achieve a self-balancing operating state.

• In L Master, click the teaching icon to enable robot teaching mode, drag the robot to the desired position, then click the teaching icon again to exit teaching mode.
• Long press the robot end convex button (see Hardware Buttons) to enable robot teaching mode, drag the robot to the desired position, then release the robot end convex button to exit teaching mode.

Warning

Before using drag teaching, please ensure the end-effector device is correctly set (see Operating Safety).

Warning

During teaching, ensure joint angle rotation does not exceed the safety range (see Operating Safety), otherwise it may cause robot emergency stop or other faults.

Scene Editor

You can program the robot in the scene editor, i.e., write scenes.

Timeline Editor

A visual, low-barrier scene editor that does not require understanding any logic. Suitable for beginners, just add the required action blocks in the timeline editor to make the robot move.

In the scene's timeline editor, each operable independent element is called an action block (Block), and a collection of several action blocks can be packaged as an action pack.

Code Editor

Based on the Lua language, it supports complex logic operations in the scene editor. Suitable for users with certain programming and logical foundation, you can make the robot move by writing the corresponding code (as shown).

Switching Editor Type

The code editor is only available in expert mode. The steps to switch from the timeline editor to the code editor are:

• Enter "Settings," click "Operation Mode," or click the switching button to the right of "Timeline Editor" in the status area to enter the operation mode selection page, select "Expert Mode," and click the [Save] button in the upper right corner of the operation mode page.
• Return to the previously edited scene.
• In the timeline editor, hover over the "Timeline Editor" button, and select "Code Editor" from the popup menu to switch.

After switching a scene's editor type from the timeline editor to the code editor, it cannot be switched back. Please use "Export" (see Export Scene) or "Copy" function for backup before operation.

Writing Scenes

Creating a New Scene

Click the "Scene" button on the L Master homepage to enter the "Scene List." Click the [Add Scene] button on the right side of the toolbar on that page, enter the scene name, and complete the creation of a new scene.

Position Action Block

Click the add action block button in the timeline editor to open the dialog as shown.

Position control is the core control module in robot control. In the timeline editor, you only need to add position action blocks according to the following tutorial to make the robot perform the corresponding type of trajectory motion according to the predetermined position actions.

The position mentioned in this manual is an abbreviation for robot position and attitude data. Unless explicitly mentioned, position in this document refers to robot position and attitude.

Adding a Position

There are two methods to add a position in the timeline editor, choose either:

• In the timeline editor's editing area, click the add action block button, select "Position," enter a position name in the opened add position dialog, and click the [Add] button to save the robot's current position in a new position action block.

An action block is the minimum visual editing module in the timeline editor. One module represents one action type. Action types include: Position, I/O, etc.

• Double-click the robot end convex button to save the robot's current position in a new position action block.

By combining drag teaching and the above methods for adding position action blocks, add as many position action blocks as needed until the scene writing is complete.

Editing a Position

As shown, place the cursor on a position block to bring it into focus.

The two buttons in the trajectory type switching area are used to switch between joint space motion (movej) and Cartesian space linear motion (movel).

• Icon represents joint space motion, i.e., robot motion space described by each joint angle.
• Icon represents Cartesian space linear motion. Cartesian space is the full name for Cartesian coordinate space, i.e., the common rectangular coordinate space.

The editing operation buttons from left to right are:

• Style: Change the action block background color. The style button color matches the action block background color. When selected, the block is highlighted with that color as background. By default, the style is transparent, in which case the selected block's highlight background color is blue. Style, copy, and delete buttons are common buttons in the action block operation area.
• Fine-tune: Fine-tune and update the position data stored in the current position block.
• Motion Parameters: Adjust the speed and acceleration, or time, and blending radius (smoothing option) of the position block.
• Copy: Copy the current action block.
• Delete: Delete the current action block.

Fine-tuning

When editing a scene, if you need to precisely adjust the position in the action trajectory, you can fine-tune a single position. Select the fine-tune icon, and the page will automatically jump to the fine-tune page.

The left panel function area of the fine-tune page can be expanded to view the robot's current coordinate position data and target coordinate position data. When the robot's current position is inconsistent with the target position stored in the position block, a virtual robot and a real robot will appear in the fine-tune page. The virtual robot represents the target position stored in the current position block, and the real robot represents the robot's current actual position.

Coordinate Space Fine-tuning

When fine-tuning, you can select different reference coordinate systems and coordinate system representation methods:

• Relative to base: You can use rectangular or cylindrical coordinate systems.
• Relative to end-effector: Only rectangular coordinate system is supported.

When the reference coordinate system selects "Relative to base," it means using the center of the base plane as the world coordinate system origin.

By selecting rectangular coordinate system as the adjustment method, enter position $(X, Y, Z)$ or attitude $(R_z, R_y, R_x)$ values in the fine-tune page position information display box, and the robot will automatically move to the desired position; or operate by pulling the slider at the bottom of the screen in each direction. When releasing the slider, fine-tuning stops. Click the [Update] button to complete position fine-tuning.

Lebai Robot uses EulerZYX (Euler ZYX) representation for attitude in Cartesian space (rectangular coordinate space). For details on EulerZYX representation, see Position and Attitude. Attitude $(R_z, R_y, R_x)$ can also be described as $(\alpha, \beta, \gamma)$.

Lebai Robot uses $Z\textrm{-}Y\textrm{-}X$ Euler angles (EulerZYX) to describe the robot end-effector's attitude, i.e., first rotate around the coordinate system $Z$ axis by $R_z$ angle, then around the rotated coordinate system $Y$ axis by $R_y$ angle, and finally around the twice-rotated coordinate system $X$ axis by $R_x$ angle.

When the reference coordinate system selects "Relative to end-effector" (without adding TCP, see TCP Settings), the center of the robot flange face is used as the coordinate system origin. With rectangular coordinate system as the adjustment method, enter position/attitude values in the fine-tune page's current coordinate position box, or operate by pulling the slider at the bottom of the screen. The robot automatically moves to the specified position, then click [Update] to complete position fine-tuning.

Joint Space Fine-tuning

Click "Joint Space" at the bottom of the fine-tune page to switch to joint space fine-tuning. In the fine-tune page's left panel function area, you can expand to view the robot's current joint position data and target joint position data. By entering angle values for joints 1 through 6, the robot will automatically reach the specified position; or operate by pulling the slider at the bottom of the screen in each direction. When releasing the slider, fine-tuning stops. Click [Update] to complete position fine-tuning.

WARNING

When the robot stops due to joint limit emergency stop during operation, after restarting, users can click "Temporarily Disable Joint Position Limit" in joint space fine-tuning to release joint restriction (20s) for position fine-tuning operations.

Speed Controls

Speed controls can modify the scene or position action block's operating speed $v$, acceleration $a$, time $t$, and blending radius $r$. Users can operate globally on the scene editor's toolbar or click individual position block buttons for separate operations.

A single position block's speed defaults to the scene's global function, meaning it matches the current scene's global settings. Uncheck the "Scene Global" function checkbox to adjust speed parameters for a single position block.

A single position block's speed can be operated in two ways: adjusting speed and acceleration, or modifying motion time.

Blending Radius

When the blending radius is set to greater than 0, the robot action command trajectory will not stop at the specified target position but will continue moving in a smooth manner, making the action more continuous, reducing movement time, and improving efficiency.

When the blending radius is set to 0, the robot trajectory can precisely reach each position block's target position coordinates.

After adding position action blocks, if you don't need to add other types of action blocks, you can directly view the Running Scenes content.

Gripper Action Block

Select "Gripper" in the add action block popup to open the add gripper action dialog. Enter a gripper action description, set force and amplitude. If you need to preview the gripper opening/closing effect, turn on the "Preview" switch (real-time preview) or click the [Preview] button (manual preview). After confirming the effect is correct, click [Add].

Wait Action Block

Select "Wait" in the add action block popup and enter the wait time in seconds.

Message Prompt Action Block

Select "Message Prompt" in the add action block popup. Message prompts are divided into light board prompts and popup prompts. The light board prompt offers multiple styles:

• Off Turn off the light board display;
• Solid The light board stays on in the specified color;
• Breathing The light board breathes in the specified color;
• Even Rotation The light board rotates and displays evenly with 2 or 4 different colors;
• Same Color Rotation The light board rotates and displays in one color;
• Blinking The light board blinks in one color.

Digital I/O Action Block

Select "Digital I/O" in the add action block popup. In the opened add dialog, the top tabs correspond to digital I/O operation types. Digital I/O action blocks support three types of operations:

• Read Read the input value of a digital I/O port;
• Wait When executing this action block, it will wait for a digital I/O value to match the selected value. Until it changes to the selected value, it will remain at this action block;
• Set Set the output value of a digital I/O port.

Digital I/O port types include control box I/O, flange I/O, and external I/O (if available).

Click [Add] to complete the digital I/O action block insertion.

WARNING

Before running a task, please confirm that the I/O input/output electrical connections to be used are normal.

WARNING

Before running a task, please confirm that the digital I/O input/output electrical connections are normal.

Analog I/O Action Block

Select "Analog I/O" in the add action block popup. In the opened add dialog, the top tabs correspond to analog I/O operation types. Analog I/O action blocks support three types of operations:

• Read Read the input value of an analog I/O port;
• Wait When executing this action block, it will wait for an analog I/O value to meet the selected comparison condition. Until the condition is met, it will remain at this action block;
• Set Set the output value of an analog I/O port.

Analog I/O port types include only control box I/O and external I/O (if available). The flange currently has no analog I/O ports.

Click [Add] to complete the analog I/O action block insertion.

WARNING

Before running a task, please confirm that the analog I/O input/output electrical connections are normal.

In the wait operation type, the comparison conditions are: >, =, <. When clicking the wait condition button of a wait analog I/O position block (as shown), you can modify the corresponding comparison condition.

Payload Configuration Action Block

Select "Payload Configuration" in the add action block popup. In the add payload configuration dialog, enter the load mass or center of mass to be modified. This function is used to dynamically modify the load mass and center of mass during program execution.

Warning

When an end-effector tool is installed at the robot end and the tool has pick/place functions, you need to insert the action block corresponding to the change in end-effector load mass and center of mass after pick/place at the corresponding position in the timeline editor. If not properly set, it may reduce the life of corresponding robot components and may cause collision detection false alarms.

Warning

When adding payload configuration, the mass and center of mass settings must be as consistent as possible with the end-effector tool mass. When replacing or removing end-effector tools, you must modify the payload parameters or disable the corresponding end-effector device accordingly. Otherwise, it may cause accidental injury.

Toolbar

• When entering an empty scene, the timeline editor toolbar is in edit mode, providing scene search, edit, operation, and execution functions.
• When entering a scene with added action blocks, the timeline editor toolbar is in read-only mode, providing view, loop, and run functions.

Users can click the read-only and edit buttons to switch toolbar modes.

Scene Time Machine

The scene time machine saves user modifications in real-time. When the user makes changes during scene editing, the system automatically saves the modified data and names it with the scene name and storage time.

Click the clock icon after the toolbar title to enter the scene time machine. Click a stored data item in the time machine list to enter the corresponding scene.

Modifying Scene Name

Click the modify button after the toolbar title to modify the scene name in the opened scene modification dialog.

Search

Click the search button to expand the action block search box.

When the search box is expanded, click the icon on the left side of the search box to perform quick search based on the action block type in the popup. You can also combine keywords entered in the text input box to search for matching action blocks of a specific type or all types.

Speed Controls

The speed controls on the toolbar are the global speed controls configuration entry for the current scene.

When not using the speed controls adjustment for individual position action blocks mentioned in Editing Position, all position action blocks in the scene use the global speed controls configuration.

Undo/Redo

When you accidentally delete an action block or perform an incorrect operation, you can click the undo button to execute the undo operation. Conversely, if you want to restore a previously undone operation, you can click the redo button to execute the redo operation.

Warning

When returning or exiting from the current editor page, the editor's undo and redo history will be cleared. When returning to the current scene editor, previous undo and redo operations cannot be executed.

Delete/Clear

When action blocks are selected in the editing area, the delete/clear button will display the corresponding number of selected action blocks. Click the button to execute the delete operation for those action blocks. When no action blocks are selected in the editing area, clicking the button executes the clear current scene operation.

Warning

Please ensure you understand the consequences of this operation and confirm the delete or clear action before executing it. Especially after executing the delete or clear operation and exiting the current editor, when re-entering the scene for editing, the state before deletion or clearing cannot be restored.

Scene Loop Count

Click the loop count icon in the upper right corner of the timeline editor toolbar to modify the task loop count (default loop is 1 time); when the count is 0, it means executing an infinite loop $\infty$ task until the robot emergency stops or stops.

Running Scenes

There are two methods to run a scene, choose either:

• Click the run task icon in the upper right corner of the toolbar.
• Double-click the robot shoulder button, as shown (the button with the "white" identifier in the center of the shoulder light board).

Robot Position Safety Check

When the robot's current position matches the scene's first position to be run, the scene runs without executing position safety check. When the robot's current position does not match the scene's first position to be run, before running the scene, a position safety check will be executed and the position safety check page will pop up.

First position to be run: In the timeline editor, among the action blocks that meet the conditions (if no action blocks are selected, it means all action blocks in the editor; if some action blocks are manually selected, it means those selected action blocks), the first position-type action block found in sequential order is the first position to be run. The robot control system will check and compare based on this action block's position and the current robot's position.

On the position safety check page, you can use the following two operations to move the robot to the scene's first position to be run:

• Click [Move to Target Position] on the position safety check page, wait for the robot to run to the scene's first position to be run. During the process, you can click [Stop] at any time to stop the movement.
• Long press the end flat button. After the robot moves to the task's first position to be run, release the end flat button.

Click the [Finish] button in the upper right corner to start running the scene. During scene execution, long press the shoulder button to pause or resume the task.

TIP

When the operation mode is beginner mode, the robot position safety check is always enabled and cannot be modified. When in expert mode using the timeline editor, users can choose to enable/disable the robot position safety check function.

Warning

After using the end flat button to move to the first position to be run, please maintain a safe distance from the robot and click the [Finish] button to run the scene, otherwise it may cause accidental injury.

Batch editing of action blocks requires consistent action block types and subtypes (if the action block type has subtypes).

Import and Export

Scenes can be exported. On the scene list page, select the scene to save, hover over the button in the upper right corner of the scene card to open the scene menu, select "Export," and choose the save location for the scene file in the opened save dialog (scene filename is *.lbd).

Scenes can be imported. As shown, click import scene on the "Scene List" toolbar, open the previously exported scene file. After import is complete, it will automatically enter that scene.

Control

Virtual Control

Through virtual control, you can adjust the robot's current position and attitude.

For specific operation methods, refer to the fine-tuning function introduction in Fine-tuning.

Hardware Buttons

• End flat button
  • Single click Move the timeline edit focus forward one action block;
  • Double click Move the timeline edit focus backward one action block;
  • Long press If currently in the position action block refresh position popup (click the position block's fine-tune button to enter) or position library apply position popup, it will move to the corresponding target position;
  • Release When long pressing enters the move to target position operation, releasing will stop the current movement.
• End convex button
  • Long press Enter teaching mode;
  • Release Exit teaching mode;
  • Double click Add a position action block/code in the editor;
  • Single click When the current action block is a position action block, if the current position action block has not entered the fine-tune position dialog, single clicking this button enters the fine-tune current position dialog; if currently in the fine-tune position dialog, single clicking this button updates the position data saved in the current action block.
• Shoulder button
  • Long press Toggle queue pause/resume operation, i.e., "Running" pauses, "Paused" resumes;
  • Single click When the scene editor has a popup or other interface, equivalent to clicking cancel operation (button, dialog, etc.);
  • Double click When currently on the scene editor interface with no other popups, toggle run/stop operation; when the scene editor has a popup or other interface, equivalent to clicking confirm operation (button, dialog, etc.)
• Button combination operations
  • Start/stop robot: Long press the end flat button, while long pressing the shoulder button, to toggle the robot start and stop operations.

WARNING

The button combination operation for starting/stopping the robot is only effective when the current robot is not emergency stopped or powered off.

Devices

Robot

When using a wired connection, users can view the robot list within the same local area network through "Robot," including device nickname, device name, device IP, and robot status information. Clicking a specific robot IP quickly opens a new browser tab with that robot's system login page.

End-Effector Device

If you need to add an end-effector tool (such as: gripper) to the robot end, click "Device," click [Add] in the end-effector device, set the corresponding auxiliary tool's mass and center of mass, and click "Enable." If you need to remove the end-effector tool, click "Disable."

Warning

• When adding an end-effector device, the mass and center of mass settings must be as consistent as possible with the end-effector tool's mass and center of mass.
• When replacing or removing end-effector tools, you must modify the end-effector device's mass and center of mass or disable the corresponding end-effector device accordingly. Otherwise, it may cause accidental injury.

TCP Settings

TCP stands for Robot Tool Center Point. The TCP settings page is used to set the robot end-effector TCP position and attitude offset/conversion values. By default, TCP is not set. When the robot is equipped with end-effector tools, you can selectively add TCP settings based on scene application needs.

TCP can be added through teaching. Click "Teach Add" from the [Add] button menu to open the teach add TCP settings dialog. At this time, you can click the teaching icon to drag and teach the robot, so that the robot end-effector tool maintains contact with the same control point (i.e., keeping the end-effector tool always in contact with the same position) in four different attitudes, confirming four key points one by one. The robot can automatically identify TCP position information based on the end flange's different positions and orientations. Attitude information needs to be entered manually; teaching add is not currently supported.

Users can also manually enter TCP settings through "Manual Add" or [Edit] to open the edit TCP settings dialog and manually set the end-effector tool's position and attitude.

Settings

System Settings

Users can modify user display-related settings in system settings.

• Device Nickname Users can set an easy-to-remember name for the robot. This nickname will be displayed in the upper left corner of the page and will also serve as the Wi-Fi hotspot SSID. The nickname defaults to empty, and the SSID will be named after the device name on the nameplate.
• Login Password Click to change password. Users can modify the current device's login password and login prompt. The password is 4 digits, initial password is 1111. The login prompt will be displayed when the user login fails.
• Language Users can select the software interface display language. Currently, only "Chinese (Simplified)" is not machine-translated. Changing the language will not affect the speaker's voice language.
• Timezone Modifying this setting will affect the running time of subsequent task history. Default is East Eighth Zone (Asia/Shanghai).
• Time Enabling the auto-update option will enable the system time synchronization service.
• Units Users can modify the display units for length, angle, temperature, weight, current, and torque on the software interface, and can also modify the number of decimal places for each unit. The system internally stores in the International System of Units. Modifying this does not affect the data read/write method in Lua code.

Safety Settings

Collision Detection

Robot collision detection defaults to "Emergency Stop" after being enabled on the setup wizard page. During robot task execution, the actions after detecting external resistance collisions are divided into "Pause" and "Emergency Stop," and users can adjust the detection sensitivity.

Actions after collision:

• Emergency Stop Requires restarting the robot and teaching it to a safe position before continuing operation.
• Pause If a custom time is selected, the task will automatically resume running when the specified pause time is reached; if permanent pause is selected, you need to click the resume task button in the homepage task history list.

Operating Safety

In operating safety, you can view and adjust the following parameters during operation:

• Maximum and minimum angles for each joint
• Joint space operation configuration
• Coordinate space operation configuration

WARNING

The minimum and maximum angles for joints can theoretically be set to any value. It is recommended to use the default values pre-set at the factory (as shown above).

WARNING

Modifying joint space operation configuration will affect the robot's speed limits. When any joint's operating speed exceeds the maximum speed limit, the robot will automatically emergency stop.

DANGER

Modifying joint space operation configuration and coordinate space operation configuration will proportionally affect the speed and acceleration time (acceleration) of position action blocks in the scene editor.

WARNING

Non-professional users should not make random changes without certainty about the risks of modification.

System Update

After entering the "System Update" page in "Settings," if the current system is already the latest version, no update is needed. Click [Check System], and the circular pattern in the center of the screen shows "Checking for Updates."

When a system version update is detected, it will prompt "System update discovered and latest version number." Click [Update] below, and the system will automatically update to the latest version.

WARNING

• Please confirm the robot status is "Stopped" before performing system updates.
• During system updates, other operations cannot be performed, otherwise it may cause serious consequences such as robot system damage.

Backup and Restore

Click backup in "Backup and Restore" to backup and store all data information in the current scene, control, device, and settings, named and compressed in the format robot name + version + time.zip. Backup packages can be downloaded and saved locally.

Users can select the backup information to restore in the backup file list and click the restore button in the upper right corner to complete backup restoration; or upload or drag the downloaded backup data file to the page file upload area, click the restore button to complete backup restoration.

Exported data can be used to copy device configuration information to another device.

Operation Mode

Operation mode can be switched through the following operations.

• Switch and save in "Operation Mode" on the "Settings" page.
• Switch and save using the switching icon in the upper right corner of the scene editor.

Beginner Mode

Beginner mode uses the low-barrier timeline editor. In beginner mode, some expert mode functions will be hidden to reduce confusion caused by complex and advanced features.

Expert Mode

In expert mode:

• Supports switching the editor type to code editor (programming language is Lua).
• Supports converting timeline editor version scenes to Lua code.
• Supports disabling position safety check in timeline editor mode.
• Supports customizing any installation method configuration in installation settings.

WARNING

Please ensure you fully understand the dangers of this operation before disabling position safety check.

Maintenance Mode

Maintenance mode only provides five basic functions: start/stop button, teaching button, emergency stop button, task panel, and message center, facilitating daily operations for maintenance personnel.