Rainbow Robotics RB Series, Руководство пользователя

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RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
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The robot control commands that can be used by the user are specified in 'mainwindow.h' as
above. The detailed description is as follows.
Function CobotInit(void)
Script “mc jall init”
Descript.
This commande starts initialization process.
Progress in initialization is shown in ‘init_stat_info’ and
‘init_error’ inside ‘systemSTAT’.
Function MoveJoint(float joint1, float joint2, float joint3, float joint4,
float joint5, float joint6, float spd = -1, float acc = -1);
Script “jointall spd, acc, joint1, joint2, joint3, joint4, joint5, joint6”
Descript.
This command moves joints to the desired angles in Joint
Space
Please refer to script programming.
Function MoveTCP(float x, float y, float z, float rx, float ry, float rz, float
spd = -1, float acc = -1);
Script “movetcp spd, acc, x, y, z, rx, ry, rz”
Descript.
This command moves TCP to the given position and
orientation in Cartesian Space.
Please refer to script programming.