5.6. Commands
Robot commands
Commands
List of command sequences (individual commands)
movel(pose, a=1.2, v=0.25, t=0, r=0)
Block of actions
Example:
def Program():
sand_valveTcp = p[-0.00008, -0.26063, 0.0942, -1.2092, 1.2092, 1.2092]
sand_valveWeight = 0.2
sand_valveCog = [-0.00008, -0.26063, 0.0942]
Speed = 0.02
Radius = 0.02
set_tcp(sand_valveTcp)
set_payload(sand_valveWeight, sand_valveCog)
movej([-0.7752, -1.504, 1.5161, -0.0121, 0.7956, 0], a=3.1416, v= 0.314, r=Radius)
movel(p[-0.55333, 0.20433, 0.12639, 0, 0, 0],a=1,v=Speed,r=Radius)
movel(p[-0.55333, 0.18595, 0.10392, 0, 0, 0],a=1,v=Speed,r=Radius)
movel(p[-0.55333, 0.16464, 0.12144, 0, 0, 0],a=1,v=Speed,r=Radius)
movel(p[-0.55333, 0.15209, 0.14834, 0, 0, 0],a=1,v=Speed,r=Radius)
movel(p[-0.55333, 0.14022, 0.17555, 0, 0, 0],a=1,v=Speed,r=Radius)
end
Check robot reach!