RBTscript commands¶

The commands of the commander software's program language, as its interpreter accepts them. One command per line; arguments in the order given; angles in degrees, positions in millimetres, speed and acceleration in percent, time in seconds. RBTscript in the guide has the rules and examples.

Command	Arguments	What it does
`Begin()`		Must be the first line, or the program is refused
`End()`		Stops the program; the last line must be `End()` or `Loop()`
`Loop()`		Restart at the line after `Begin()`
`Delay(t)`	`t` seconds, more than 0.01	Wait; `Delay(0.01)` is refused
`MoveJoint(j1,j2,j3,j4,j5,j6, v=, a=, t=, trap\\|poly, speed)`	six joint angles; `v`, `a` in % for the leading joint; `t` duration; the bare word `trap` or `poly`; the word `speed`	A move to joint angles, straight in joint space
`MovePose(x,y,z,Rx,Ry,Rz, v=, a=, t=, trap\\|poly, speed)`	a WRF pose, then as `MoveJoint`	IK at the target, then a joint-space move
`MoveCart(x,y,z,Rx,Ry,Rz, v=, a=, t=, trap\\|poly, speed)`	a WRF pose; `t`; `poly` or `trap`; `speed`	A straight-line move of the tool in the WRF; stops at a singularity. With `t`: trapezoidal unless `poly`. Without `t`: always 3.6 s
`MoveCartRelTRF(x,y,z,Rx,Ry,Rz, v=, a=, t=, trap\\|poly, speed)`	a pose relative to the tool frame	A straight-line move relative to the tool; timing as `MoveCart`
`SpeedJoint()`		No action: the program stops on it until Stop
`SpeedCart()`		Not accepted: a program containing it is refused
`Output(n,HIGH\\|LOW)`	output 1; `HIGH` or `LOW`, no space	Sets output 1; `Output(2,...)` is refused in the current version and stops the program
`Input()`, `Home()`		No action: the program stops on it until Stop
`Gripper_cal()`		Calibrates the electric gripper (clear its error in the Gripper tab first; activation is the tab's Activate option); follow with `Delay(4)` for the SSG-48, `Delay(7)` for the MSG
`Gripper(position, speed, current)`	whole numbers: 0 to 255; 0 to 255; mA, 100 to 1000	Moves the electric gripper; continues at once, so follow with a `Delay()`

Rules for MoveJoint and MovePose: t overrides v and a and makes the profile polynomial unless the word trap follows; v with a makes it trapezoidal; neither gives a conservative trapezoid; speed as the last argument tracks the speed curve only and may stop short of the target. MoveCart and MoveCartRelTRF are trapezoidal with t unless poly follows, and take 3.6 s for any move without t. The list is in the commander's PAROL6_ROBOT.py as Commands_list.

Comments

Found a mistake on this page? Edit it on GitHub · Report it · Get help · This page as Markdown · llms.txt · The whole manual as PDF