Rainbow Robotics RB Series, User Manual

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RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
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The code above is an action code that performs two joint control motions and one TCP
control motion sequentially. There is a ‘test_flag’ which decides whether or not to execute
the motion sequence, and if this value is true, it moves sequentially from the previous motion
to the next motion according to the ‘test_state’ value indicating the progress of the sequence.
At this point, check whether the previous motion is over or not, and there is an ‘IsMotionIdle’
function to make it easier. This function sends instructions to the robot's main controller.