5.6. Commands

Robot commands

Commands

List of command sequences (individual commands)

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