Class PathMoveRobotInstruction

Path move (MoveP) instruction.

Remarks

Instructs the robot to move linearly towards the start of the path and then along the path. The robot will try to translate the TCP at the se linear speed.

Hierarchy (View Summary)

RobotInstruction
- PathMoveRobotInstruction

Index

Constructors

Accessors

curve discretization length mode program rotationOffset rotationOffsets start trajectory

Methods

Constructors

constructor

new PathMoveRobotInstruction(): PathMoveRobotInstruction
Constructor.

Returns PathMoveRobotInstruction
Overrides RobotInstruction.constructor

Accessors

curve

get curve(): null | Curve
The path to follow.

Returns null | Curve
set curve(value: null | Curve): void
Parameters
- value: null | Curve
Returns void

discretization

get discretization(): number
Returns number
set discretization(value: number): void
Parameters
- value: number
Returns void

length

get length(): number
Returns number
set length(value: number): void
Parameters
- value: number
Returns void

mode

get mode(): PathMoveMode
Returns PathMoveMode
set mode(value: PathMoveMode): void
Parameters
- value: PathMoveMode
Returns void

program

get program(): null | RobotProgram
The program to which the instruction has been assigned.

Returns null | RobotProgram
Remarks
If the program is null then the instruction hasn't been added to a program.

Inherited from RobotInstruction.program
set program(value: null | RobotProgram): void
Parameters
- value: null | RobotProgram
Returns void
Inherited from RobotInstruction.program

rotationOffset

get rotationOffset(): Quat
Returns Quat
set rotationOffset(value: Quat): void
Parameters
- value: Quat
Returns void

rotationOffsets

get rotationOffsets(): null | readonly PathRotationOffset[]
Returns null | readonly PathRotationOffset[]
set rotationOffsets(value: null | PathRotationOffset[]): void
Parameters
- value: null | PathRotationOffset[]
Returns void

start

get start(): number
Returns number
set start(value: number): void
Parameters
- value: number
Returns void

trajectory

get trajectory(): null | FramedCurve
Returns null | FramedCurve

Methods

execute

execute(controller: RobotControllerComponent): Future<void>
Executes the instruction.
Parameters
- controller: RobotControllerComponent
  The robot controller on which the instruction is to be executed.
Returns Future<void>
The future that is resolved once the instruction has been executed.

Overrides RobotInstruction.execute

label

label(units: InspectorUnits): string
The label for the instruction, as it is to be displayed in the inspector.
Parameters
- units: InspectorUnits
  The unit settings for the inspector.
Returns string
The label.

Overrides RobotInstruction.label