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:

• Execute MoveJ point to point motions

• Execute MoveL point to point motions

• Execute MoveP point to point motions

• Execute MoveC circular motions

• Execute OptimoveJ point to point motions (For PolyScope 5.21 / PolyScope 10.8 and later)

• Execute OptimoveL point to point motions (For PolyScope 5.21 / PolyScope 10.8 and later)

• Execute sequences consisting of the motion primitives above

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.