JAKA Script Programming Manual

• About This Manual
• Introduction to JAKA Script
• JAKA Script Fundamentals
  • JAKA Basic Syntax:
    • Identifiers
    • Reserved Keywords
    • Script Comments
    • Statements
  • Basic Types
    • Scalar
    • Strings
    • Arrays
    • Global Variables
  • Expressions
    • Arithmetic Operators
    • Logical and Relational Operators
    • Bitwise Operators
  • Statements
    • Simple statement
    • Conditional statement
    • Loop statement
    • Jumping statement
  • Multithreading
    • Create Threads
    • Thread Operations
    • Scheduling of threads
    • Threads against each other.
  • Functions
• JAKA script preset function
  • Motion Commands
    • Basic Motion
      • movel
      • movej
      • movec
      • move_ext
      • set_move_multi_info
      • move_multi
      • get_atl_joint_pose
      • get_atl_tcp_pose
      • get_atl_flange_pose
      • enable_speed_override
      • disable_speed_override
      • enable_planner_override
      • disable_planner_override
      • vib_suppress_on
      • vib_suppress_off
      • movs
      • movs_vel_settings
      • kine_inverse_ext
    • Conveyor Tracking
      • enable_conveyor_linear_track
      • enable_conveyor_circular_track
      • disable_convayor_track
      • record_pulse_cond()
      • get_pulse_cond()
      • clear_pulse_cond()
      • record_pos_cond()
      • get_pos_cond()
      • clear_pos_cond()
      • get_pulse_num()
      • get_pos_num()
    • Compliant Motion Control
      • set_compliance_ft_config
      • disable_force_control
      • enable_force_control
      • set_end_force_condition
      • set_force_control_frame
      • get_sensor_torque
      • set_force_sensor_zero
  • Interface Configuration and Query
    • I/O Control and Query
      • set_digital_output
      • set_analog_output
      • get_digital_output
      • get_analog_output
      • get_digital_input
      • get_analog_input
      • set_multiple_digital_outputs
      • set_multiple_analog_outputs
      • get_multiple_digital_outputs
      • get_multiple_analog_outputs
      • get_multiple_digital_inputs
      • get_multiple_analog_inputs
      • wait_input
      • get_timeout
      • set_motion_digital_output
      • set_motion_analog_output
    • TIO+Control and Query
      • tio_update_signal
      • tio_get_signal_value
      • tio_send_command
    • Network Communication
      • socket_open
      • socket_close
      • socket_get_var
      • socket_read_real
      • socket_read_string
      • socket_send
      • socket_recv
  • Parameter Configuration and Query
    • Payload Configuration and Query
      • set_payload
      • get_payload
      • config_payload
    • Collision-Level Configuration and Query
      • set_collision_level
      • get_collision_level
    • Tool-Frame Configuration and Query
      • set_tool
      • set_tool_id
      • get_tool_offsets
      • get_tool_offsets_of
    • User-Frame Configuration and Query
      • set_user_frame
      • set_user_frame_id
      • get_user_frame
      • get_user_frame_of
  • Utility Function Library
    • Math Library
    • Pose Operations
      • pose_add
      • pose_sub
      • pose_dist
      • pose_inv
      • pose_trans
      • pose_intpl
      • xy_plane_trans
      • yz_plane_trans
      • zx_plane_trans
      • kine_inverse
      • kine_forward
      • is_pose_reachable
      • is_pose_reachable_refjpos
      • set_target_pose
      • get_target_pose
      • get_target_pose_to_array
      • delete_target_pose
      • target_pose_exists
    • String Operations
      • sprintf
      • sscanf
      • string_concat
      • get_string_from_array
      • get_array_from_string
      • get_length
      • strcmp
    • Program Control and Debugging
      • log_message
      • get_system_clock
      • sleep
      • pause
      • exit
      • execute_script
      • call_function
      • slice
    • Multithreading Commands
      • thread_create
      • thread_join
      • thread_destroy
      • thread_enter_critical
      • thread_exit_critical