Class WepallProgram
Represents a robot program to generate
Inheritance
System.Object
WepallProgram
Assembly: UrlLib.dll
Syntax
public class WepallProgram : IAction, IDeclaration, IOperation, ISeqController, IInstruction
Constructors
WepallProgram()
Declaration
WepallProgram(String, List<CoreAction>, String)
Constructor for a Wepall Program
Declaration
public WepallProgram(string name, List<CoreAction> actions, string description = null)
Parameters
Type |
Name |
Description |
System.String |
name |
Program name
|
System.Collections.Generic.List<UrlLib.CoreAction> |
actions |
List of wepall actions
|
System.String |
description |
Program description
|
WepallProgram(String, String)
Constructor for a Wepall Program
Declaration
public WepallProgram(string name, string description = null)
Parameters
Type |
Name |
Description |
System.String |
name |
Program name
|
System.String |
description |
Program description
|
Properties
Actions
List of wepall actions in the program
Declaration
public List<CoreAction> Actions { get; set; }
Property Value
Type |
Description |
System.Collections.Generic.List<UrlLib.CoreAction> |
|
Description
Declaration
public string Description { get; set; }
Property Value
Type |
Description |
System.String |
|
Name
Declaration
public string Name { get; set; }
Property Value
Type |
Description |
System.String |
|
Methods
Acceleration(Double, MovementType)
Declaration
public void Acceleration(double value, MovementType movementType)
Parameters
Type |
Name |
Description |
System.Double |
value |
|
MovementType |
movementType |
|
ActivateInterruption(Interruption)
Declaration
public void ActivateInterruption(Interruption interruption)
Parameters
AddNumber(Number, List<Number>)
Declaration
public void AddNumber(Number result, List<Number> vars)
Parameters
Type |
Name |
Description |
Number |
result |
|
System.Collections.Generic.List<Number> |
vars |
|
AddNumber(Number, Number, Double)
Declaration
public void AddNumber(Number result, Number var, double number)
Parameters
Type |
Name |
Description |
Number |
result |
|
Number |
var |
|
System.Double |
number |
|
Advance(Double)
Declaration
public void Advance(double value)
Parameters
Type |
Name |
Description |
System.Double |
value |
|
AOut(Double, Double)
Declaration
public void AOut(double portGroup, double value)
Parameters
Type |
Name |
Description |
System.Double |
portGroup |
|
System.Double |
value |
|
AOut(SignalAnalogicOutput, Double)
Declaration
public void AOut(SignalAnalogicOutput signal, double value)
Parameters
AOut(SignalAnalogicOutput, Number)
Declaration
public void AOut(SignalAnalogicOutput signal, Number value)
Parameters
AssignAxial(Axial, Double, Double, Double, Double, Double, Double)
Declaration
public void AssignAxial(Axial leftVar, double a1, double a2, double a3, double a4, double a5, double a6)
Parameters
Type |
Name |
Description |
Axial |
leftVar |
|
System.Double |
a1 |
|
System.Double |
a2 |
|
System.Double |
a3 |
|
System.Double |
a4 |
|
System.Double |
a5 |
|
System.Double |
a6 |
|
AssignAxial(Axial, Axial)
Declaration
public void AssignAxial(Axial leftVar, Axial rightVar)
Parameters
Type |
Name |
Description |
Axial |
leftVar |
|
Axial |
rightVar |
|
AssignAxial(Axial, Axial, Axial.Axes)
Declaration
public void AssignAxial(Axial leftVar, Axial rightVar, Axial.Axes axesToAssign)
Parameters
AssignAxial(Axial, Axial.Axes, Double)
Declaration
public void AssignAxial(Axial leftVar, Axial.Axes axesToAssign, double rightVar)
Parameters
Type |
Name |
Description |
Axial |
leftVar |
|
Axial.Axes |
axesToAssign |
|
System.Double |
rightVar |
|
AssignAxial(Axial, Axial.Axes, Number)
Declaration
public void AssignAxial(Axial leftVar, Axial.Axes axesToAssign, Number rightVar)
Parameters
AssignBoolean(Boolean, Boolean)
Declaration
public void AssignBoolean(Boolean leftVar, bool boolean)
Parameters
Type |
Name |
Description |
Boolean |
leftVar |
|
System.Boolean |
boolean |
|
AssignBoolean(Boolean, Boolean)
Declaration
public void AssignBoolean(Boolean leftVar, Boolean rightVar)
Parameters
AssignBoolean(Boolean, SignalDigital)
Declaration
public void AssignBoolean(Boolean leftVar, SignalDigital signal)
Parameters
AssignCartesian(Cartesian, Double, Double, Double, Double, Double, Double)
Declaration
public void AssignCartesian(Cartesian leftVar, double x, double y, double z, double r, double p, double w)
Parameters
Type |
Name |
Description |
Cartesian |
leftVar |
|
System.Double |
x |
|
System.Double |
y |
|
System.Double |
z |
|
System.Double |
r |
|
System.Double |
p |
|
System.Double |
w |
|
AssignCartesian(Cartesian, Cartesian)
Declaration
public void AssignCartesian(Cartesian leftVar, Cartesian rightVar)
Parameters
AssignCartesian(Cartesian, Cartesian, Cartesian.Coords)
Declaration
public void AssignCartesian(Cartesian leftVar, Cartesian rightVar, Cartesian.Coords coordToAssign)
Parameters
AssignCartesian(Cartesian, Cartesian.Coords, Double)
Declaration
public void AssignCartesian(Cartesian leftVar, Cartesian.Coords coordToAssign, double rightVar)
Parameters
AssignCartesian(Cartesian, Cartesian.Coords, Number)
Declaration
public void AssignCartesian(Cartesian leftVar, Cartesian.Coords coordToAssign, Number rightVar)
Parameters
AssignNumber(Number, Double)
Declaration
public void AssignNumber(Number leftVar, double number)
Parameters
Type |
Name |
Description |
Number |
leftVar |
|
System.Double |
number |
|
AssignNumber(Number, Axial, Axial.Axes)
Declaration
public void AssignNumber(Number leftVar, Axial rightVar, Axial.Axes axesToAssign)
Parameters
AssignNumber(Number, Cartesian, Cartesian.Coords)
Declaration
public void AssignNumber(Number leftVar, Cartesian rightVar, Cartesian.Coords coordToAssign)
Parameters
AssignNumber(Number, Number)
Declaration
public void AssignNumber(Number leftVar, Number rightVar)
Parameters
AssignNumber(Number, SignalAnalogic)
Declaration
public void AssignNumber(Number leftVar, SignalAnalogic signal)
Parameters
AssignNumber(Number, SignalGroup)
Declaration
public void AssignNumber(Number leftVar, SignalGroup gi)
Parameters
BlankLine()
Declaration
BlendRadius(Double, MovementType)
Declaration
public void BlendRadius(double value, MovementType movementType)
Parameters
Type |
Name |
Description |
System.Double |
value |
|
MovementType |
movementType |
|
CallProc(String)
Declaration
public void CallProc(string name)
Parameters
Type |
Name |
Description |
System.String |
name |
|
CleanName(String)
Get the variable name by removing special characters
Declaration
public string CleanName(string replaceString = "_")
Parameters
Type |
Name |
Description |
System.String |
replaceString |
Character to be exchanged for special characters
|
Returns
Type |
Description |
System.String |
Name without special characters
|
Command(String)
Declaration
public void Command(string value)
Parameters
Type |
Name |
Description |
System.String |
value |
|
Declaration
public void Comment(string value)
Parameters
Type |
Name |
Description |
System.String |
value |
|
CreateAxial(Axial)
Declaration
public void CreateAxial(Axial var)
Parameters
Type |
Name |
Description |
Axial |
var |
|
CreateBoolean(Boolean)
Declaration
public void CreateBoolean(Boolean var)
Parameters
CreateCartesian(Cartesian)
Declaration
public void CreateCartesian(Cartesian var)
Parameters
CreateGroupSignal(SignalGroup)
Declaration
public void CreateGroupSignal(SignalGroup var)
Parameters
CreateNumber(Number)
Declaration
public void CreateNumber(Number var)
Parameters
Type |
Name |
Description |
Number |
var |
|
CreateProcedure(String, List<CoreAction>)
Declaration
public void CreateProcedure(string name, List<CoreAction> actions)
Parameters
Type |
Name |
Description |
System.String |
name |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
actions |
|
CreateSignal(Signal)
Declaration
public void CreateSignal(Signal var)
Parameters
Type |
Name |
Description |
Signal |
var |
|
CurrentAxialPose(Axial)
Declaration
public void CurrentAxialPose(Axial var)
Parameters
Type |
Name |
Description |
Axial |
var |
|
CurrentCartesianPose(Cartesian)
Declaration
public void CurrentCartesianPose(Cartesian var)
Parameters
DeactivateInterruption(Interruption)
Declaration
public void DeactivateInterruption(Interruption interruption)
Parameters
DivNumber(Number, List<Number>)
Declaration
public void DivNumber(Number result, List<Number> vars)
Parameters
Type |
Name |
Description |
Number |
result |
|
System.Collections.Generic.List<Number> |
vars |
|
DivNumber(Number, Double, Number)
Declaration
public void DivNumber(Number result, double number, Number var)
Parameters
Type |
Name |
Description |
Number |
result |
|
System.Double |
number |
|
Number |
var |
|
DivNumber(Number, Number, Double)
Declaration
public void DivNumber(Number result, Number var, double number)
Parameters
Type |
Name |
Description |
Number |
result |
|
Number |
var |
|
System.Double |
number |
|
DOut(Double, Boolean)
Declaration
public void DOut(double portGroup, bool value)
Parameters
Type |
Name |
Description |
System.Double |
portGroup |
|
System.Boolean |
value |
|
DOut(SignalDigitalOutput, Boolean)
Declaration
public void DOut(SignalDigitalOutput signal, bool value)
Parameters
DOut(SignalDigitalOutput, Boolean)
Declaration
public void DOut(SignalDigitalOutput signal, Boolean value)
Parameters
DoWhile(Axial, Axial.Axes, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void DoWhile(Axial leftVar, Axial.Axes leftAxis, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Axial |
leftVar |
|
Axial.Axes |
leftAxis |
|
ConditionalSymbols |
symbol |
|
System.Double |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
DoWhile(Axial, Axial.Axes, ConditionalSymbols, Axial, Axial.Axes, List<CoreAction>)
Declaration
public void DoWhile(Axial leftVar, Axial.Axes leftAxis, ConditionalSymbols symbol, Axial rightVar, Axial.Axes rightAxis, List<CoreAction> instructions)
Parameters
DoWhile(Boolean, List<CoreAction>)
Declaration
public void DoWhile(Boolean leftVar, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Boolean |
leftVar |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
DoWhile(Boolean, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void DoWhile(Boolean leftVar, ConditionalSymbols symbol, bool rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Boolean |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Boolean |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
DoWhile(Boolean, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void DoWhile(Boolean leftVar, ConditionalSymbols symbol, Boolean rightVar, List<CoreAction> instructions)
Parameters
DoWhile(Cartesian, Cartesian.Coords, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void DoWhile(Cartesian leftVar, Cartesian.Coords leftAxis, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
DoWhile(Cartesian, Cartesian.Coords, ConditionalSymbols, Cartesian, Cartesian.Coords, List<CoreAction>)
Declaration
public void DoWhile(Cartesian leftVar, Cartesian.Coords leftAxis, ConditionalSymbols symbol, Cartesian rightVar, Cartesian.Coords rightAxis, List<CoreAction> instructions)
Parameters
DoWhile(Number, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void DoWhile(Number leftVar, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Number |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Double |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
DoWhile(Number, ConditionalSymbols, Number, List<CoreAction>)
Declaration
public void DoWhile(Number leftVar, ConditionalSymbols symbol, Number rightVar, List<CoreAction> instructions)
Parameters
DoWhile(SignalAnalogic, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void DoWhile(SignalAnalogic leftVar, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
DoWhile(SignalAnalogic, ConditionalSymbols, Number, List<CoreAction>)
Declaration
public void DoWhile(SignalAnalogic leftVar, ConditionalSymbols symbol, Number rightVar, List<CoreAction> instructions)
Parameters
DoWhile(SignalDigital, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void DoWhile(SignalDigital leftVar, ConditionalSymbols symbol, bool rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
SignalDigital |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Boolean |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
DoWhile(SignalDigital, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void DoWhile(SignalDigital leftVar, ConditionalSymbols symbol, Boolean rightVar, List<CoreAction> instructions)
Parameters
DoWhile(SignalGroup, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void DoWhile(SignalGroup leftVar, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
SignalGroup |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Double |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
DoWhile(SignalGroup, ConditionalSymbols, Number, List<CoreAction>)
Declaration
public void DoWhile(SignalGroup leftVar, ConditionalSymbols symbol, Number rightVar, List<CoreAction> instructions)
Parameters
Else(List<CoreAction>)
Declaration
public void Else(List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
ElseIf(Axial, Axial.Axes, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void ElseIf(Axial leftVar, Axial.Axes leftAxis, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Axial |
leftVar |
|
Axial.Axes |
leftAxis |
|
ConditionalSymbols |
symbol |
|
System.Double |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
ElseIf(Axial, Axial.Axes, ConditionalSymbols, Axial, Axial.Axes, List<CoreAction>)
Declaration
public void ElseIf(Axial leftVar, Axial.Axes leftAxis, ConditionalSymbols symbol, Axial rightVar, Axial.Axes rightAxis, List<CoreAction> instructions)
Parameters
ElseIf(Boolean, List<CoreAction>)
Declaration
public void ElseIf(Boolean leftVar, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Boolean |
leftVar |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
ElseIf(Boolean, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void ElseIf(Boolean leftVar, ConditionalSymbols symbol, bool rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Boolean |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Boolean |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
ElseIf(Boolean, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void ElseIf(Boolean leftVar, ConditionalSymbols symbol, Boolean rightVar, List<CoreAction> instructions)
Parameters
ElseIf(Cartesian, Cartesian.Coords, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void ElseIf(Cartesian leftVar, Cartesian.Coords leftAxis, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
ElseIf(Cartesian, Cartesian.Coords, ConditionalSymbols, Cartesian, Cartesian.Coords, List<CoreAction>)
Declaration
public void ElseIf(Cartesian leftVar, Cartesian.Coords leftAxis, ConditionalSymbols symbol, Cartesian rightVar, Cartesian.Coords rightAxis, List<CoreAction> instructions)
Parameters
ElseIf(Number, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void ElseIf(Number leftVar, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Number |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Double |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
ElseIf(Number, ConditionalSymbols, Number, List<CoreAction>)
Declaration
public void ElseIf(Number leftVar, ConditionalSymbols symbol, Number rightVar, List<CoreAction> instructions)
Parameters
ElseIf(SignalAnalogic, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void ElseIf(SignalAnalogic leftVar, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
ElseIf(SignalAnalogic, ConditionalSymbols, Number, List<CoreAction>)
Declaration
public void ElseIf(SignalAnalogic leftVar, ConditionalSymbols symbol, Number rightVar, List<CoreAction> instructions)
Parameters
ElseIf(SignalDigital, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void ElseIf(SignalDigital leftVar, ConditionalSymbols symbol, bool rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
SignalDigital |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Boolean |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
ElseIf(SignalDigital, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void ElseIf(SignalDigital leftVar, ConditionalSymbols symbol, Boolean rightVar, List<CoreAction> instructions)
Parameters
ElseIf(SignalGroup, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void ElseIf(SignalGroup leftVar, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
SignalGroup |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Double |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
ElseIf(SignalGroup, ConditionalSymbols, Number, List<CoreAction>)
Declaration
public void ElseIf(SignalGroup leftVar, ConditionalSymbols symbol, Number rightVar, List<CoreAction> instructions)
Parameters
Exit()
Declaration
For(Double, Double, Double, ConditionalSymbols, List<CoreAction>)
Declaration
public void For(double from, double to, double step, ConditionalSymbols condition, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
System.Double |
from |
|
System.Double |
to |
|
System.Double |
step |
|
ConditionalSymbols |
condition |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
Frame(Double)
Declaration
public void Frame(double frameNumber)
Parameters
Type |
Name |
Description |
System.Double |
frameNumber |
|
GlobalSpeed(Double)
Declaration
public void GlobalSpeed(double value)
Parameters
Type |
Name |
Description |
System.Double |
value |
|
GlobalSpeed(Number)
Declaration
public void GlobalSpeed(Number number)
Parameters
Type |
Name |
Description |
Number |
number |
|
Declaration
public void GlobalSpeed(SignalGroupInput groupSignals)
Parameters
If(Axial, Axial.Axes, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void If(Axial leftVar, Axial.Axes leftAxis, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Axial |
leftVar |
|
Axial.Axes |
leftAxis |
|
ConditionalSymbols |
symbol |
|
System.Double |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
If(Axial, Axial.Axes, ConditionalSymbols, Axial, Axial.Axes, List<CoreAction>)
Declaration
public void If(Axial leftVar, Axial.Axes leftAxis, ConditionalSymbols symbol, Axial rightVar, Axial.Axes rightAxis, List<CoreAction> instructions)
Parameters
If(Boolean, List<CoreAction>)
Declaration
public void If(Boolean leftVar, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Boolean |
leftVar |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
If(Boolean, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void If(Boolean leftVar, ConditionalSymbols symbol, bool rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Boolean |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Boolean |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
If(Boolean, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void If(Boolean leftVar, ConditionalSymbols symbol, Boolean rightVar, List<CoreAction> instructions)
Parameters
If(Cartesian, Cartesian.Coords, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void If(Cartesian leftVar, Cartesian.Coords leftAxis, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
If(Cartesian, Cartesian.Coords, ConditionalSymbols, Cartesian, Cartesian.Coords, List<CoreAction>)
Declaration
public void If(Cartesian leftVar, Cartesian.Coords leftAxis, ConditionalSymbols symbol, Cartesian rightVar, Cartesian.Coords rightAxis, List<CoreAction> instructions)
Parameters
If(Number, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void If(Number leftVar, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Number |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Double |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
If(Number, ConditionalSymbols, Number, List<CoreAction>)
Declaration
public void If(Number leftVar, ConditionalSymbols symbol, Number rightVar, List<CoreAction> instructions)
Parameters
If(SignalAnalogic, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void If(SignalAnalogic leftVar, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
If(SignalAnalogic, ConditionalSymbols, Number, List<CoreAction>)
Declaration
public void If(SignalAnalogic leftVar, ConditionalSymbols symbol, Number rightVar, List<CoreAction> instructions)
Parameters
If(SignalDigital, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void If(SignalDigital leftVar, ConditionalSymbols symbol, bool rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
SignalDigital |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Boolean |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
If(SignalDigital, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void If(SignalDigital leftVar, ConditionalSymbols symbol, Boolean rightVar, List<CoreAction> instructions)
Parameters
If(SignalGroup, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void If(SignalGroup leftVar, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
SignalGroup |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Double |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
If(SignalGroup, ConditionalSymbols, Number, List<CoreAction>)
Declaration
public void If(SignalGroup leftVar, ConditionalSymbols symbol, Number rightVar, List<CoreAction> instructions)
Parameters
Initialize()
Declaration
Declaration
public void InterruptionAI(SignalAnalogicInput signal, ConditionalSymbols symbol, double value, Interruption interruption)
Parameters
Declaration
public void InterruptionAI(SignalAnalogicInput signal, ConditionalSymbols symbol, Number number, Interruption interruption)
Parameters
Declaration
public void InterruptionDI(SignalDigitalInput signal, ConditionalSymbols symbol, bool value, Interruption interruption)
Parameters
Declaration
public void InterruptionDI(SignalDigitalInput signal, ConditionalSymbols symbol, Boolean boolean, Interruption interruption)
Parameters
Declaration
public void InterruptionGI(SignalGroupInput gs, ConditionalSymbols symbol, double value, Interruption interruption)
Parameters
Declaration
public void InterruptionGI(SignalGroupInput gs, ConditionalSymbols symbol, Number number, Interruption interruption)
Parameters
Jump(String)
Declaration
public void Jump(string name)
Parameters
Type |
Name |
Description |
System.String |
name |
|
Label(String)
Declaration
public void Label(string name)
Parameters
Type |
Name |
Description |
System.String |
name |
|
Loop(List<CoreAction>)
Declaration
public void Loop(List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
MoveC(Axial, Axial)
Declaration
public void MoveC(Axial midPose, Axial endPose)
Parameters
MoveC(Cartesian, Cartesian)
Declaration
public void MoveC(Cartesian midPose, Cartesian endPose)
Parameters
MoveJ(Axial)
Declaration
public void MoveJ(Axial pose)
Parameters
Type |
Name |
Description |
Axial |
pose |
|
MoveJ(Cartesian)
Declaration
public void MoveJ(Cartesian pose)
Parameters
MoveL(Axial)
Declaration
public void MoveL(Axial pose)
Parameters
Type |
Name |
Description |
Axial |
pose |
|
MoveL(Cartesian)
Declaration
public void MoveL(Cartesian pose)
Parameters
MoveRelJ(Double, Double, Double)
Declaration
public void MoveRelJ(double xOffset, double yOffset, double zOffset)
Parameters
Type |
Name |
Description |
System.Double |
xOffset |
|
System.Double |
yOffset |
|
System.Double |
zOffset |
|
MoveRelL(Double, Double, Double)
Declaration
public void MoveRelL(double xOffset, double yOffset, double zOffset)
Parameters
Type |
Name |
Description |
System.Double |
xOffset |
|
System.Double |
yOffset |
|
System.Double |
zOffset |
|
MultNumber(Number, List<Number>)
Declaration
public void MultNumber(Number result, List<Number> vars)
Parameters
Type |
Name |
Description |
Number |
result |
|
System.Collections.Generic.List<Number> |
vars |
|
MultNumber(Number, Number, Double)
Declaration
public void MultNumber(Number result, Number var, double number)
Parameters
Type |
Name |
Description |
Number |
result |
|
Number |
var |
|
System.Double |
number |
|
Pause()
Declaration
PulseAOut(Double, Double, Double)
Declaration
public void PulseAOut(double port, double value, double time)
Parameters
Type |
Name |
Description |
System.Double |
port |
|
System.Double |
value |
|
System.Double |
time |
|
PulseAOut(SignalAnalogicOutput, Double, Double)
Declaration
public void PulseAOut(SignalAnalogicOutput signal, double value, double time)
Parameters
PulseDOut(Double, Double)
Declaration
public void PulseDOut(double port, double time)
Parameters
Type |
Name |
Description |
System.Double |
port |
|
System.Double |
time |
|
PulseDOut(SignalDigitalOutput, Double)
Declaration
public void PulseDOut(SignalDigitalOutput signal, double time)
Parameters
Return()
Declaration
SetGOut(SignalGroupOutput, Double)
Declaration
public void SetGOut(SignalGroupOutput gs, double value)
Parameters
SetGOut(SignalGroupOutput, Number)
Declaration
public void SetGOut(SignalGroupOutput gs, Number var)
Parameters
SingularityInterpolation(Boolean)
Declaration
public void SingularityInterpolation(bool enabled)
Parameters
Type |
Name |
Description |
System.Boolean |
enabled |
|
Declaration
public void SkipConditionAI(SignalAnalogicInput signal, ConditionalSymbols symbol, double value)
Parameters
Declaration
public void SkipConditionAI(SignalAnalogicInput signal, ConditionalSymbols symbol, Number number)
Parameters
Declaration
public void SkipConditionDI(SignalDigitalInput signal, ConditionalSymbols symbol, bool value)
Parameters
Declaration
public void SkipConditionDI(SignalDigitalInput signal, ConditionalSymbols symbol, Boolean boolean)
Parameters
Declaration
public void SkipConditionGI(SignalGroupInput gs, ConditionalSymbols symbol, double value)
Parameters
Declaration
public void SkipConditionGI(SignalGroupInput gs, ConditionalSymbols symbol, Number number)
Parameters
Speed(Double, MovementType)
Declaration
public void Speed(double value, MovementType movementType)
Parameters
Type |
Name |
Description |
System.Double |
value |
|
MovementType |
movementType |
|
SubNumber(Number, List<Number>)
Declaration
public void SubNumber(Number result, List<Number> vars)
Parameters
Type |
Name |
Description |
Number |
result |
|
System.Collections.Generic.List<Number> |
vars |
|
SubNumber(Number, Double, Number)
Declaration
public void SubNumber(Number result, double number, Number var)
Parameters
Type |
Name |
Description |
Number |
result |
|
System.Double |
number |
|
Number |
var |
|
SubNumber(Number, Number, Double)
Declaration
public void SubNumber(Number result, Number var, double number)
Parameters
Type |
Name |
Description |
Number |
result |
|
Number |
var |
|
System.Double |
number |
|
Switch(Boolean, List<CaseAction>)
Declaration
public void Switch(Boolean var, List<CaseAction> cases)
Parameters
Type |
Name |
Description |
Boolean |
var |
|
System.Collections.Generic.List<UrlLib.CaseAction> |
cases |
|
Switch(Boolean, List<CaseAction>, List<CoreAction>)
Declaration
public void Switch(Boolean var, List<CaseAction> cases, List<CoreAction> defaultCase)
Parameters
Type |
Name |
Description |
Boolean |
var |
|
System.Collections.Generic.List<UrlLib.CaseAction> |
cases |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
defaultCase |
|
Switch(Number, List<CaseAction>)
Declaration
public void Switch(Number var, List<CaseAction> cases)
Parameters
Type |
Name |
Description |
Number |
var |
|
System.Collections.Generic.List<UrlLib.CaseAction> |
cases |
|
Switch(Number, List<CaseAction>, List<CoreAction>)
Declaration
public void Switch(Number var, List<CaseAction> cases, List<CoreAction> defaultCase)
Parameters
Type |
Name |
Description |
Number |
var |
|
System.Collections.Generic.List<UrlLib.CaseAction> |
cases |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
defaultCase |
|
Declaration
public void Tool(double toolNumber)
Parameters
Type |
Name |
Description |
System.Double |
toolNumber |
|
TriggerAO(Double, Double, Double)
Declaration
public void TriggerAO(double distanceBefore, double port, double value)
Parameters
Type |
Name |
Description |
System.Double |
distanceBefore |
|
System.Double |
port |
|
System.Double |
value |
|
TriggerAO(Double, SignalAnalogicOutput, Double)
Declaration
public void TriggerAO(double distanceBefore, SignalAnalogicOutput signal, double value)
Parameters
TriggerAO(Double, SignalAnalogicOutput, Number)
Declaration
public void TriggerAO(double distanceBefore, SignalAnalogicOutput signal, Number value)
Parameters
TriggerCall(Double, String)
Declaration
public void TriggerCall(double distanceBefore, string call)
Parameters
Type |
Name |
Description |
System.Double |
distanceBefore |
|
System.String |
call |
|
TriggerDO(Double, Double, Boolean)
Declaration
public void TriggerDO(double distanceBefore, double port, bool value)
Parameters
Type |
Name |
Description |
System.Double |
distanceBefore |
|
System.Double |
port |
|
System.Boolean |
value |
|
TriggerDO(Double, SignalDigitalOutput, Boolean)
Declaration
public void TriggerDO(double distanceBefore, SignalDigitalOutput signal, bool value)
Parameters
Type |
Name |
Description |
System.Double |
distanceBefore |
|
SignalDigitalOutput |
signal |
|
System.Boolean |
value |
|
TriggerDO(Double, SignalDigitalOutput, Boolean)
Declaration
public void TriggerDO(double distanceBefore, SignalDigitalOutput signal, Boolean value)
Parameters
TriggerGO(Double, Double, Double)
Declaration
public void TriggerGO(double distanceBefore, double port, double value)
Parameters
Type |
Name |
Description |
System.Double |
distanceBefore |
|
System.Double |
port |
|
System.Double |
value |
|
TriggerGO(Double, SignalGroupOutput, Double)
Declaration
public void TriggerGO(double distanceBefore, SignalGroupOutput signal, double value)
Parameters
Type |
Name |
Description |
System.Double |
distanceBefore |
|
SignalGroupOutput |
signal |
|
System.Double |
value |
|
TriggerGO(Double, SignalGroupOutput, Number)
Declaration
public void TriggerGO(double distanceBefore, SignalGroupOutput signal, Number value)
Parameters
TriggerPulseDO(Double, Double, Double)
Declaration
public void TriggerPulseDO(double distanceBefore, double port, double ms)
Parameters
Type |
Name |
Description |
System.Double |
distanceBefore |
|
System.Double |
port |
|
System.Double |
ms |
|
TriggerPulseDO(Double, SignalDigitalOutput, Double)
Declaration
public void TriggerPulseDO(double distanceBefore, SignalDigitalOutput signal, double ms)
Parameters
Declaration
public void WaitAI(SignalAnalogicInput signal, ConditionalSymbols symbol, double value)
Parameters
Declaration
public void WaitAI(SignalAnalogicInput signal, ConditionalSymbols symbol, Number number)
Parameters
Declaration
public void WaitDI(SignalDigitalInput signal, ConditionalSymbols symbol, bool value)
Parameters
Declaration
public void WaitDI(SignalDigitalInput signal, ConditionalSymbols symbol, Boolean boolean)
Parameters
Declaration
public void WaitGI(SignalGroupInput gs, ConditionalSymbols symbol, double value)
Parameters
Declaration
public void WaitGI(SignalGroupInput gs, ConditionalSymbols symbol, Number number)
Parameters
WaitMovement()
Declaration
public void WaitMovement()
WaitTime(Double)
Declaration
public void WaitTime(double ms)
Parameters
Type |
Name |
Description |
System.Double |
ms |
|
While(Axial, Axial.Axes, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void While(Axial leftVar, Axial.Axes leftAxis, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Axial |
leftVar |
|
Axial.Axes |
leftAxis |
|
ConditionalSymbols |
symbol |
|
System.Double |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
While(Axial, Axial.Axes, ConditionalSymbols, Axial, Axial.Axes, List<CoreAction>)
Declaration
public void While(Axial leftVar, Axial.Axes leftAxis, ConditionalSymbols symbol, Axial rightVar, Axial.Axes rightAxis, List<CoreAction> instructions)
Parameters
While(Boolean, List<CoreAction>)
Declaration
public void While(Boolean leftVar, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Boolean |
leftVar |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
While(Boolean, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void While(Boolean leftVar, ConditionalSymbols symbol, bool rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Boolean |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Boolean |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
While(Boolean, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void While(Boolean leftVar, ConditionalSymbols symbol, Boolean rightVar, List<CoreAction> instructions)
Parameters
While(Cartesian, Cartesian.Coords, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void While(Cartesian leftVar, Cartesian.Coords leftAxis, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
While(Cartesian, Cartesian.Coords, ConditionalSymbols, Cartesian, Cartesian.Coords, List<CoreAction>)
Declaration
public void While(Cartesian leftVar, Cartesian.Coords leftAxis, ConditionalSymbols symbol, Cartesian rightVar, Cartesian.Coords rightAxis, List<CoreAction> instructions)
Parameters
While(Number, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void While(Number leftVar, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
Number |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Double |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
While(Number, ConditionalSymbols, Number, List<CoreAction>)
Declaration
public void While(Number leftVar, ConditionalSymbols symbol, Number rightVar, List<CoreAction> instructions)
Parameters
While(SignalAnalogic, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void While(SignalAnalogic leftVar, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
While(SignalAnalogic, ConditionalSymbols, Number, List<CoreAction>)
Declaration
public void While(SignalAnalogic leftVar, ConditionalSymbols symbol, Number rightVar, List<CoreAction> instructions)
Parameters
While(SignalDigital, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void While(SignalDigital leftVar, ConditionalSymbols symbol, bool rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
SignalDigital |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Boolean |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
While(SignalDigital, ConditionalSymbols, Boolean, List<CoreAction>)
Declaration
public void While(SignalDigital leftVar, ConditionalSymbols symbol, Boolean rightVar, List<CoreAction> instructions)
Parameters
While(SignalGroup, ConditionalSymbols, Double, List<CoreAction>)
Declaration
public void While(SignalGroup leftVar, ConditionalSymbols symbol, double rightValue, List<CoreAction> instructions)
Parameters
Type |
Name |
Description |
SignalGroup |
leftVar |
|
ConditionalSymbols |
symbol |
|
System.Double |
rightValue |
|
System.Collections.Generic.List<UrlLib.CoreAction> |
instructions |
|
While(SignalGroup, ConditionalSymbols, Number, List<CoreAction>)
Declaration
public void While(SignalGroup leftVar, ConditionalSymbols symbol, Number rightVar, List<CoreAction> instructions)
Parameters
Implements