Instructions
Basics
Set acceleration is a call that sets the acc- and deceleration of the robot. |
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Set max speed is a call that sets the override and maximal tool center point (TCP) speed from the robot. |
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Set tool is a call that sets a predefined tool in the robot as active. |
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Set work object is a call that sets a predefined work object in the robot as active. |
Motion
Move to joints is a call that moves the robot and the external axes with axes values. |
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Move to frame is a call that moves the robot in cartesian space. |
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Move to robtarget is a call that moves the robot in cartesian space with explicit external axes values. |
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Represents valid motion types. |
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Describes the valid zone data definitions. |
Position
Instruction to request the current frame ( |
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Get joints is a call that requests the joint values ( |
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Instruction to request the current robtarget defined as frame ( |
Input/Output
Read analog is a call that requests the value of an analog input signal. |
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Read digital is a call that requests the value of a digital input signal. |
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Read group is a call that requests the value of a digital group input signal. |
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Set analog is a call that sets the value of an analog output signal ( |
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Set digital is a call that sets the value of an digital output signal ( |
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Set group is a call that sets the value of an digital group output signal ( |
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Pulse digital is a call that sets the value to HIGH of an digital output signal for a certain time. |
Utility
No-op is a call without any effect. |
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Print text is a call that prints a single line of text on the robot panel. |
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Stop is a function to stop the associated motion task of the robot. |
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Wait time is a call that will wait on the robot task for a certain time. |
Watch
Read Watch is a call that requests the value of the watch in the robot code. |
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Start Watch is a call that starts the watch in the robot code. |
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Stop Watch is a call that stops the watch in the robot code. |