Rainbow Robotics RB Series, Руководство пользователя, Страница: 391 / 440

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
391
So external control must be organized so that each command is sent separately as a string.
External control does not provide any features that control the flow. Commands such as
‘repeat’, ‘if-else’, ‘break’, or ‘wait’ in the work document will not be available externally and
must be replaced by the same structure and logic within the external control.
The following commands are actual motion commands to move the robot. Each one
contains an example string that matches how a user would control the robot from an
external application.
There are five operation commands.
1) jointall
2) movetcp
3)
movecircle
4)
blend_jnt
5)
blend_tcp
1) jointall
Command Jointall
Script jointall spd, acc, joint1, joint2, joint3, joint4, joint5, joint6
Descript.
This command moves joints in Joint Space.
The input values for joint1 to joint6 in the command denotes
base, shoulder, elbow, wrist1, wrist2 and wrist3 respectively.
Each joint value represents the desired angle to go. The
desired angle should be an absolute angle in degree.
The input values for spd and acc are used to define velocity
and acceleration respectively. The spd and acc should be a
number between 0 and 1. Smaller number represents slower.
When the input value is -1, the joint moves with the default
value.
This command will be ignored if the previous command is
not finished yet.
Example “jointall 0.4, 0.1, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0”