Interface IAction
Interface for action scope instructions
Namespace: UrlLib.Interfaces
Assembly: UrlLib.dll
Syntax
public interface IAction : IInstructionMethods
Acceleration(Double, MovementType)
Value to set the acceleration for a type of motion.
Declaration
void Acceleration(double value, MovementType movementType)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | value | Acceleration value |
| MovementType | movementType | Motion type |
Advance(Double)
Advance the number of instructions. Only available if the programming language supports it.
Declaration
void Advance(double value)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | value |
AOut(Double, Double)
Set the value of an analog output signal.
Declaration
void AOut(double portGroup, double value)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | portGroup | Group port |
| System.Double | value | Value |
AOut(SignalAnalogicOutput, Double)
Set the value of an analog output signal.
Declaration
void AOut(SignalAnalogicOutput signal, double value)Parameters
| Type | Name | Description |
|---|---|---|
| SignalAnalogicOutput | signal | Analog output signal |
| System.Double | value | Value |
AOut(SignalAnalogicOutput, Number)
Set the value of an analog output signal.
Declaration
void AOut(SignalAnalogicOutput signal, Number value)Parameters
| Type | Name | Description |
|---|---|---|
| SignalAnalogicOutput | signal | Analog output signal |
| Number | value | Value |
BlankLine()
Add blank line.
Declaration
void BlankLine()BlendRadius(Double, MovementType)
Sets the blend radius value for a type of motion.
Declaration
void BlendRadius(double value, MovementType movementType)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | value | Value |
| MovementType | movementType | Motion type |
CallProc(String)
Call procedure.
Declaration
void CallProc(string name)Parameters
| Type | Name | Description |
|---|---|---|
| System.String | name | Procedure name |
Command(String)
Add command.
Declaration
void Command(string value)Parameters
| Type | Name | Description |
|---|---|---|
| System.String | value | Command |
Comment(String)
Add comment.
Declaration
void Comment(string value)Parameters
| Type | Name | Description |
|---|---|---|
| System.String | value | Comment |
CreateProcedure(String, List<CoreAction>)
Create procedure.
Declaration
void CreateProcedure(string name, List<CoreAction> actions)Parameters
| Type | Name | Description |
|---|---|---|
| System.String | name | Procedure name |
| System.Collections.Generic.List<UrlLib.CoreAction> | actions | Actions list |
CurrentAxialPose(Axial)
Get the current axial pose.
Declaration
void CurrentAxialPose(Axial var)Parameters
| Type | Name | Description |
|---|---|---|
| Axial | var | Axial variable to assign the current axial pose |
CurrentCartesianPose(Cartesian)
Get the current cartesian pose.
Declaration
void CurrentCartesianPose(Cartesian var)Parameters
| Type | Name | Description |
|---|---|---|
| Cartesian | var | Cartesian variable to assign the current cartesian pose |
DOut(Double, Boolean)
Set the value of an digital output signal.
Declaration
void DOut(double portGroup, bool value)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | portGroup | Group port |
| System.Boolean | value | Status |
DOut(SignalDigitalOutput, Boolean)
Set the value of an digital output signal.
Declaration
void DOut(SignalDigitalOutput signal, bool value)Parameters
| Type | Name | Description |
|---|---|---|
| SignalDigitalOutput | signal | Digital output signal |
| System.Boolean | value | Status |
Exit()
Execution of the current program ends / stops.
Declaration
void Exit()Frame(Double)
Set the current frame number.
Declaration
void Frame(double frameNumber)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | frameNumber | Frame number |
GlobalSpeed(Double)
Sets the global speed.
Declaration
void GlobalSpeed(double value)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | value | Value |
GlobalSpeed(Number)
Sets the global speed.
Declaration
void GlobalSpeed(Number number)Parameters
| Type | Name | Description |
|---|---|---|
| Number | number | Number value |
GlobalSpeed(SignalGroupInput)
Sets the overall speed getting it from a group of input signals.
Declaration
void GlobalSpeed(SignalGroupInput groupSignals)Parameters
| Type | Name | Description |
|---|---|---|
| SignalGroupInput | groupSignals | Value |
Jump(String)
Jump to the target label.
Declaration
void Jump(string name)Parameters
| Type | Name | Description |
|---|---|---|
| System.String | name | Label name |
Label(String)
Declare a label.
Declaration
void Label(string name)Parameters
| Type | Name | Description |
|---|---|---|
| System.String | name | Label name |
MoveC(Axial, Axial)
Move the robot to the target following a circular motion. The movement will go through the intermediate (mid) pose first and end at the end pose.
Declaration
void MoveC(Axial midPose, Axial endPose)Parameters
| Type | Name | Description |
|---|---|---|
| Axial | midPose | Intermediate pose |
| Axial | endPose | End pose |
MoveC(Cartesian, Cartesian)
Move the robot to the target following a circular motion. The movement will go through the intermediate (mid) pose first and end at the end pose.
Declaration
void MoveC(Cartesian midPose, Cartesian endPose)Parameters
| Type | Name | Description |
|---|---|---|
| Cartesian | midPose | Intermediate pose |
| Cartesian | endPose | End pose |
MoveJ(Axial)
Move the robot to the target following a joint motion.
Declaration
void MoveJ(Axial pose)Parameters
| Type | Name | Description |
|---|---|---|
| Axial | pose | Target pose |
MoveJ(Cartesian)
Move the robot to the target following a joint motion.
Declaration
void MoveJ(Cartesian pose)Parameters
| Type | Name | Description |
|---|---|---|
| Cartesian | pose | Target pose |
MoveL(Axial)
Move the robot to the target following a linear motion.
Declaration
void MoveL(Axial pose)Parameters
| Type | Name | Description |
|---|---|---|
| Axial | pose | Target pose |
MoveL(Cartesian)
Move the robot to the target following a linear motion.
Declaration
void MoveL(Cartesian pose)Parameters
| Type | Name | Description |
|---|---|---|
| Cartesian | pose | Target pose |
MoveRelJ(Double, Double, Double)
Performs a joint movement relative to the robot's current position.
Declaration
void MoveRelJ(double xOffset, double yOffset, double zOffset)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | xOffset | Movement offset X |
| System.Double | yOffset | Movement offset Y |
| System.Double | zOffset | Movement offset Z |
MoveRelL(Double, Double, Double)
Performs a linear movement relative to the robot's current position.
Declaration
void MoveRelL(double xOffset, double yOffset, double zOffset)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | xOffset | Movement offset X |
| System.Double | yOffset | Movement offset Y |
| System.Double | zOffset | Movement offset Z |
Pause()
Pauses the program. To continue with the execution, it must be indicated externally.
Declaration
void Pause()PulseAOut(Double, Double, Double)
It pulses the analog output signal with a value and for a time.
Declaration
void PulseAOut(double port, double value, double time)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | port | Analogic port |
| System.Double | value | Value |
| System.Double | time | Time in seconds |
PulseAOut(SignalAnalogicOutput, Double, Double)
It pulses the analog output signal with a value and for a time.
Declaration
void PulseAOut(SignalAnalogicOutput signal, double value, double time)Parameters
| Type | Name | Description |
|---|---|---|
| SignalAnalogicOutput | signal | Signal |
| System.Double | value | Value |
| System.Double | time | Time in seconds |
PulseDOut(Double, Double)
It pulses the target port (digital output) for a time.
Declaration
void PulseDOut(double port, double time)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | port | Digital port number |
| System.Double | time | Time in seconds |
PulseDOut(SignalDigitalOutput, Double)
It pulses the digital output signal for a time.
Declaration
void PulseDOut(SignalDigitalOutput signal, double time)Parameters
| Type | Name | Description |
|---|---|---|
| SignalDigitalOutput | signal | Signal |
| System.Double | time | Time in seconds |
Return()
Execution of the current sub-program ends.
Declaration
void Return()SetGOut(SignalGroupOutput, Double)
Set the value of a group of output signals.
Declaration
void SetGOut(SignalGroupOutput gs, double value)Parameters
| Type | Name | Description |
|---|---|---|
| SignalGroupOutput | gs | Group of output signals |
| System.Double | value | Value |
SetGOut(SignalGroupOutput, Number)
Set the value of a group of output signals.
Declaration
void SetGOut(SignalGroupOutput gs, Number value)Parameters
| Type | Name | Description |
|---|---|---|
| SignalGroupOutput | gs | Group of output signals |
| Number | value | Value |
SingularityInterpolation(Boolean)
Set the state for singularity interpolation. Only available if the programming language supports it.
Declaration
void SingularityInterpolation(bool enabled)Parameters
| Type | Name | Description |
|---|---|---|
| System.Boolean | enabled | Status |
SkipConditionAI(SignalAnalogicInput, ConditionalSymbols, Double)
Interrupt that stops the current movement if the condition is successful (the analog signal meets the condition with the value).
Declaration
void SkipConditionAI(SignalAnalogicInput signal, ConditionalSymbols symbol, double value)Parameters
| Type | Name | Description |
|---|---|---|
| SignalAnalogicInput | signal | Analog signal |
| ConditionalSymbols | symbol | Condition symbol |
| System.Double | value | Value |
SkipConditionAI(SignalAnalogicInput, ConditionalSymbols, Number)
Interrupt that stops the current movement if the condition is successful (the analog signal meets the condition with the value).
Declaration
void SkipConditionAI(SignalAnalogicInput signal, ConditionalSymbols symbol, Number number)Parameters
| Type | Name | Description |
|---|---|---|
| SignalAnalogicInput | signal | Analog signal |
| ConditionalSymbols | symbol | Condition symbol |
| Number | number | Number value |
SkipConditionDI(SignalDigitalInput, ConditionalSymbols, Boolean)
Interrupt that stops the current movement if the condition is successful (the digital signal meets the condition with the value).
Declaration
void SkipConditionDI(SignalDigitalInput signal, ConditionalSymbols symbol, bool value)Parameters
| Type | Name | Description |
|---|---|---|
| SignalDigitalInput | signal | Digital signal |
| ConditionalSymbols | symbol | Condition symbol |
| System.Boolean | value | Value |
SkipConditionDI(SignalDigitalInput, ConditionalSymbols, Boolean)
Interrupt that stops the current movement if the condition is successful (the digital signal meets the condition with the value).
Declaration
void SkipConditionDI(SignalDigitalInput signal, ConditionalSymbols symbol, Boolean boolean)Parameters
| Type | Name | Description |
|---|---|---|
| SignalDigitalInput | signal | Digital signal |
| ConditionalSymbols | symbol | Condition symbol |
| Boolean | boolean | Boolean value |
SkipConditionGI(SignalGroupInput, ConditionalSymbols, Double)
Interrupt that stops the current movement if the condition is successful (the group signal meets the condition with the value).
Declaration
void SkipConditionGI(SignalGroupInput gs, ConditionalSymbols symbol, double value)Parameters
| Type | Name | Description |
|---|---|---|
| SignalGroupInput | gs | Group signal |
| ConditionalSymbols | symbol | Condition symbol |
| System.Double | value | Value |
SkipConditionGI(SignalGroupInput, ConditionalSymbols, Number)
Interrupt that stops the current movement if the condition is successful (the group signal meets the condition with the value).
Declaration
void SkipConditionGI(SignalGroupInput gs, ConditionalSymbols symbol, Number number)Parameters
| Type | Name | Description |
|---|---|---|
| SignalGroupInput | gs | Group signal |
| ConditionalSymbols | symbol | Condition symbol |
| Number | number | Number value |
Speed(Double, MovementType)
Sets the speed for the type of movements.
Declaration
void Speed(double value, MovementType movementType)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | value | Value |
| MovementType | movementType | Movement type |
Tool(Double)
Sets the current tool number.
Declaration
void Tool(double toolNumber)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | toolNumber |
TriggerAO(Double, Double, Double)
The next movement triggers setting a value in the port (analog output) at a percentage of distance before reaching the destination. Note: Triggers are cleared once a move has been made.
Declaration
void TriggerAO(double distanceBefore, double port, double value)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | distanceBefore | Percent distance before [0-100] |
| System.Double | port | Analog port |
| System.Double | value | Value |
TriggerAO(Double, SignalAnalogicOutput, Double)
The next movement triggers setting a value in the analog output signal at a percentage of distance before reaching the destination. Note: Triggers are cleared once a move has been made.
Declaration
void TriggerAO(double distanceBefore, SignalAnalogicOutput signal, double value)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | distanceBefore | Percent distance before [0-100] |
| SignalAnalogicOutput | signal | Analog output signal |
| System.Double | value | Value |
TriggerAO(Double, SignalAnalogicOutput, Number)
The next movement triggers setting a value in the analog output signal at a percentage of distance before reaching the destination. Note: Triggers are cleared once a move has been made.
Declaration
void TriggerAO(double distanceBefore, SignalAnalogicOutput signal, Number value)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | distanceBefore | Percent distance before [0-100] |
| SignalAnalogicOutput | signal | Analog output signal |
| Number | value | Value |
TriggerCall(Double, String)
The next movement triggers calling procedure at a percentage of distance before reaching the destination. Note: Triggers are cleared once a move has been made.
Declaration
void TriggerCall(double distanceBefore, string call)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | distanceBefore | Percent distance before [0-100] |
| System.String | call | Procedure name |
TriggerDO(Double, Double, Boolean)
The next movement triggers setting a value in the port (digital output) at a percentage of distance before reaching the destination. Note: Triggers are cleared once a move has been made.
Declaration
void TriggerDO(double distanceBefore, double port, bool value)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | distanceBefore | Percent distance before [0-100] |
| System.Double | port | Digital port |
| System.Boolean | value | Value |
TriggerDO(Double, SignalDigitalOutput, Boolean)
The next movement triggers setting a value in the digital output signal at a percentage of distance before reaching the destination. Note: Triggers are cleared once a move has been made.
Declaration
void TriggerDO(double distanceBefore, SignalDigitalOutput signal, bool value)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | distanceBefore | Percent distance before [0-100] |
| SignalDigitalOutput | signal | Digital output signal |
| System.Boolean | value | Value |
TriggerDO(Double, SignalDigitalOutput, Boolean)
The next movement triggers setting a value in the digital output signal at a percentage of distance before reaching the destination. Note: Triggers are cleared once a move has been made.
Declaration
void TriggerDO(double distanceBefore, SignalDigitalOutput signal, Boolean value)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | distanceBefore | Percent distance before [0-100] |
| SignalDigitalOutput | signal | Digital output signal |
| Boolean | value | Value |
TriggerGO(Double, Double, Double)
The next movement triggers setting a value in the group output port for a seconds at a percentage of distance before reaching the destination. Note: Triggers are cleared once a move has been made.
Declaration
void TriggerGO(double distanceBefore, double port, double value)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | distanceBefore | Percent distance before [0-100] |
| System.Double | port | Group port |
| System.Double | value | Value |
TriggerGO(Double, SignalGroupOutput, Double)
The next movement triggers setting a value in the group output signal for a seconds at a percentage of distance before reaching the destination. Note: Triggers are cleared once a move has been made.
Declaration
void TriggerGO(double distanceBefore, SignalGroupOutput signal, double value)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | distanceBefore | Percent distance before [0-100] |
| SignalGroupOutput | signal | Group signal |
| System.Double | value | Value |
TriggerGO(Double, SignalGroupOutput, Number)
The next movement triggers setting a value in the group output signal for a seconds at a percentage of distance before reaching the destination. Note: Triggers are cleared once a move has been made.
Declaration
void TriggerGO(double distanceBefore, SignalGroupOutput signal, Number value)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | distanceBefore | Percent distance before [0-100] |
| SignalGroupOutput | signal | Group signal |
| Number | value | Value |
TriggerPulseDO(Double, Double, Double)
The next movement triggers setting a value in the port (digital output) for a seconds at a percentage of distance before reaching the destination. Note: Triggers are cleared once a move has been made.
Declaration
void TriggerPulseDO(double distanceBefore, double port, double ms)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | distanceBefore | Percent distance before [0-100] |
| System.Double | port | Digital port |
| System.Double | ms | Milliseconds setting value |
TriggerPulseDO(Double, SignalDigitalOutput, Double)
The next movement triggers setting a value in the digital output signal for a seconds at a percentage of distance before reaching the destination. Note: Triggers are cleared once a move has been made.
Declaration
void TriggerPulseDO(double distanceBefore, SignalDigitalOutput signal, double ms)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | distanceBefore | Percent distance before [0-100] |
| SignalDigitalOutput | signal | Digital output signal |
| System.Double | ms | Milliseconds setting value |
WaitAI(SignalAnalogicInput, ConditionalSymbols, Double)
Wait until the condition is successful (the analog signal meets the condition with the value)
Declaration
void WaitAI(SignalAnalogicInput signal, ConditionalSymbols symbol, double value)Parameters
| Type | Name | Description |
|---|---|---|
| SignalAnalogicInput | signal | Analog signal |
| ConditionalSymbols | symbol | Condition symbol |
| System.Double | value | Value |
WaitAI(SignalAnalogicInput, ConditionalSymbols, Number)
Wait until the condition is successful (the analog signal meets the condition with the value)
Declaration
void WaitAI(SignalAnalogicInput signal, ConditionalSymbols symbol, Number value)Parameters
| Type | Name | Description |
|---|---|---|
| SignalAnalogicInput | signal | Analog signal |
| ConditionalSymbols | symbol | Condition symbol |
| Number | value | Number value |
WaitDI(SignalDigitalInput, ConditionalSymbols, Boolean)
Wait until the condition is successful (the digital signal meets the condition with the value)
Declaration
void WaitDI(SignalDigitalInput signal, ConditionalSymbols symbol, bool value)Parameters
| Type | Name | Description |
|---|---|---|
| SignalDigitalInput | signal | Digital signal |
| ConditionalSymbols | symbol | Condition symbol |
| System.Boolean | value | Value |
WaitDI(SignalDigitalInput, ConditionalSymbols, Boolean)
Wait until the condition is successful (the digital signal meets the condition with the value)
Declaration
void WaitDI(SignalDigitalInput signal, ConditionalSymbols symbol, Boolean value)Parameters
| Type | Name | Description |
|---|---|---|
| SignalDigitalInput | signal | Digital signal |
| ConditionalSymbols | symbol | Condition symbol |
| Boolean | value | Boolean value |
WaitGI(SignalGroupInput, ConditionalSymbols, Double)
Wait until the condition is successful (the group signal meets the condition with the value)
Declaration
void WaitGI(SignalGroupInput gs, ConditionalSymbols symbol, double value)Parameters
| Type | Name | Description |
|---|---|---|
| SignalGroupInput | gs | Group signal |
| ConditionalSymbols | symbol | Condition symbol |
| System.Double | value | Value |
WaitGI(SignalGroupInput, ConditionalSymbols, Number)
Wait until the condition is successful (the group signal meets the condition with the value)
Declaration
void WaitGI(SignalGroupInput gs, ConditionalSymbols symbol, Number value)Parameters
| Type | Name | Description |
|---|---|---|
| SignalGroupInput | gs | Group signal |
| ConditionalSymbols | symbol | Condition symbol |
| Number | value | Number value |
WaitTime(Double)
Pauses the program for the amount of time (in milliseconds) specified as parameter. (There are 1000 milliseconds in a second)
Declaration
void WaitTime(double time)Parameters
| Type | Name | Description |
|---|---|---|
| System.Double | time | Time in milliseconds |