Instruction Executor
The Instruction Executor is a convenience wrapper to make common robot instructions such as point to point motions easily accessible. Currently, it supports the following instructions:
Excecute MoveJ point to point motions
Execute MoveL point to point motions
Execute sequences consisting of MoveJ and MoveL instructions
The Instruction Executor uses the Trajectory Point Interface and the ReverseInterface for sending motion instructions to the robot. Hence, it requires a UrDriver object.
Note
The InstructionExecutor
simply forwards the trajectory points to the robot. Execution
is done using respective URScript functions such as movej
or movel.
Therefore, all parameters and restrictions of these functions apply. For example, velocity and
acceleration parameters will be ignored if there is a time > 0 given.
As a minimal working example, please see the Instruction Executor example.