Instructions

Basics

SetAcceleration	Set acceleration is a call that sets the acc- and deceleration of the robot.
SetMaxSpeed	Set max speed is a call that sets the override and maximal tool center point (TCP) speed from the robot.
SetTool	Set tool is a call that sets a predefined tool in the robot as active.
SetWorkObject	Set work object is a call that sets a predefined work object in the robot as active.

Motion

MoveToJoints	Move to joints is a call that moves the robot and the external axes with axes values.
MoveToFrame	Move to frame is a call that moves the robot in cartesian space.
MoveToRobtarget	Move to robtarget is a call that moves the robot in cartesian space with explicit external axes values.
Motion	Represents valid motion types.
Zone	Describes the valid zone data definitions.

Position

GetFrame	Instruction to request the current frame (compas.geometry.Frame) of the robot.
GetJoints	Get joints is a call that requests the joint values (RobotJoints) and the external axes (ExternalAxes) of the robot.
GetRobtarget	Instruction to request the current robtarget defined as frame (compas.geometry.Frame) and external axes (ExternalAxes) of the robot.

Input/Output

ReadAnalog	Read analog is a call that requests the value of an analog input signal.
ReadDigital	Read digital is a call that requests the value of a digital input signal.
ReadGroup	Read group is a call that requests the value of a digital group input signal.
SetAnalog	Set analog is a call that sets the value of an analog output signal (float).
SetDigital	Set digital is a call that sets the value of an digital output signal (int, 0 or 1).
SetGroup	Set group is a call that sets the value of an digital group output signal (int).
PulseDigital	Pulse digital is a call that sets the value to HIGH of an digital output signal for a certain time.

Utility

Noop	No-op is a call without any effect.
PrintText	Print text is a call that prints a single line of text on the robot panel.
Stop	Stop is a function to stop the associated motion task of the robot.
WaitTime	Wait time is a call that will wait on the robot task for a certain time.

Watch

ReadWatch	Read Watch is a call that requests the value of the watch in the robot code.
StartWatch	Start Watch is a call that starts the watch in the robot code.
StopWatch	Stop Watch is a call that stops the watch in the robot code.