Class SetSpeedRobotInstruction

Set speed instruction.

Remarks

Instructs the robot controller to modify some of its motion parameters. This instruction can be used to modify the speed and acceleration of the robot.

Hierarchy (View Summary)

RobotInstruction
- SetSpeedRobotInstruction

Index

Constructors

Accessors

angularAcceleration angularSpeed enable jointAcceleration jointSpeed linearAcceleration linearSpeed program

Methods

Constructors

constructor

new SetSpeedRobotInstruction(): SetSpeedRobotInstruction
Constructor.

Returns SetSpeedRobotInstruction
Overrides RobotInstruction.constructor

Accessors

angularAcceleration

get angularAcceleration(): number
The angular acceleration to be applied.

Returns number
Remarks
The angular acceleration will be applied if the

See
flag is set.
set angularAcceleration(value: number): void
Parameters
- value: number
Returns void

angularSpeed

get angularSpeed(): number
The angular speed to be applied.

Returns number
Remarks
The angular speed will be applied if the

See
flag is set.
set angularSpeed(value: number): void
Parameters
- value: number
Returns void

enable

get enable(): RobotSpeedFlags
The set of motion parameters that should be applied.

Returns RobotSpeedFlags
set enable(value: RobotSpeedFlags): void
Parameters
- value: RobotSpeedFlags
Returns void

jointAcceleration

get jointAcceleration(): number
The joint acceleration multiple to be applied.

Returns number
Remarks
The joint acceleration multiple will be applied if the

See
flag is set.
set jointAcceleration(value: number): void
Parameters
- value: number
Returns void

jointSpeed

get jointSpeed(): number
The joint speed multiple to be applied.

Returns number
Remarks
The joint speed multiple will be applied if the

See
flag is set.
set jointSpeed(value: number): void
Parameters
- value: number
Returns void

linearAcceleration

get linearAcceleration(): number
The linear acceleration to be applied.

Returns number
Remarks
The linear acceleration will be applied if the

See
flag is set.
set linearAcceleration(value: number): void
Parameters
- value: number
Returns void

linearSpeed

get linearSpeed(): number
The linear speed to be applied.

Returns number
Remarks
The linear speed will be applied if the

See
flag is set.
set linearSpeed(value: number): void
Parameters
- value: number
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

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