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Interface IAction

Interface for action scope instructions

Namespace: UrlLib.Interfaces
Assembly: UrlLib.dll
Syntax
public interface IAction : IInstruction

Methods

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

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