Rainbow Robotics RB Series, User Manual

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RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
390
E.1 External Control Script API
The description of the scripts provided in this document looks similar to the scripts in the
“.wsl” work document file, which is written using a tablet as a dedicated script for external
control. Work documents contain statements that control flows such as ‘repeat’, ‘if-else’, and
‘break’, so that the completion of a statement is not directly related to the action, and the
parent sentence of that statement must be completed.
For example, suppose there are Point functions in the Move command function.
1)
move joint {
point ( ) absolute 0.4, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
point ( ) absolute 0.4, 0.1, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0
}
2)
move joint {
point ( ) absolute 0.4, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
point ( ) absolute 0.4, 0.1, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0
The difference between 1) and 2) is the presence or absence of “}” at the end. In both cases,
the point statement is complete. However, unlike 1), 2) is a syntax that cannot operate
because the move statement, which is the parent of point, is not completed, and the parser
will wait for the statement to complete.
3)
folder( ) {
move joint {
point ( ) absolute 0.4, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
point ( ) absolute 0.4, 0.1, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0
}
In the same logic as above, the parser does not run because it waits for the folder statement
to complete.
However, the above method is not suitable for external control method. The user expects the
robot to operate by parsing the command the moment it sends it through external control. It
does not send multiple commands and complete those lines of text like example 3).