(Deprecated) use vcStatement

vcRslStatement

vcRslStatement is the basic implementation for statements in a robot program.

Hierarchy
Common Properties
Statement Specific Properties
Methods
Examples

Hierarchy

Most statements can be manipulated directly as vcRslStatement type objects, while others have their own implementations that inherit vcRslStatement.

vcRslStatement

vcRslMotionStatement

vcRslProcessStatement

Common Properties

The following properties are common in all RSL statements.

Name	Type	Access	Description
GridColor	vcVector	RW	Defines the color associated with the statement, for example when robot program is listed in a panel. Color is defined in RGB color space by using a vector containing normalized XYZ values.
Index	Integer	RW	Defines the location (index) of statement in routine.
Name	String	RW	Defines the name of statement.
Properties	List of vcProperty	R	Gets a list of all properties in statement.
Routine	vcRslRoutine	R	Gets the routine the statement belongs to in robot program.
Type	Enumeration	R	Gets the statement type. See Motion Constants for more information.

Statement Specific Properties

Call

A statement that calls a subroutine in robot program.

Name	Type	Access	Description
RoutineName	String	RW	Defines the subroutine to call by name.

Comment

A statement that prints a comment to Output panel.

Name	Type	Access	Description
Comment	String	RW	Defines the message to be printed to user.

Define Base

A statement that temporarily modifies a base frame during a simulation.

Name	Type	Access	Description
Base	String or vcBaseFrame	RW	Gets/Sets the base frame used by statement. To set, give the name of a base frame listed in robot controller, vcRobotController, which is referenced by robot executor of this statement.
Node	String	RW	Defines the parent node of Base.
Position	vcMatrix	RW	Defines the location of Base. If Relative is set to True, this property references Base coordinate system, thereby changing base frame relative to its current position.
Relative	Boolean	RW	Defines if Position provides absolute or relative values for Base location.

Define Tool

A statement that temporarily modifies a tool frame during a simulation.

Name	Type	Access	Description
Node	String	RW	Defines the parent node of Tool.
Position	vcMatrix	RW	Defines the location of Tool. If Relative is set to True, this property references Tool coordinate system, thereby changing tool frame relative to its current position.
Relative	Boolean	RW	Defines if Position provides absolute or relative values for Tool location.
Tool	String or vcBaseFrame	RW	Gets/Sets the tool frame used by statement. To set, give the name of a tool frame listed in robot controller, vcRobotController, which is referenced by robot executor of this statement.

Delay

A statement that executes a timed delay.

Name	Type	Access	Description
Delay	Real	RW	Defines the amount of time (in seconds) to delay program execution.

Grasp

A deprecated statement for executing a robot grasp action. No additional properties.

Halt

A statement for halting and/or resetting a simulation.

Name	Type	Access	Description
Reset	Boolean	RW	Defines if a simulation is reset.

Program Sync

A statement that can synchronize two or more robots.

Name	Type	Access	Description
SyncComponents	List of vcComponent	RW	List of components in the sync program.
SyncMsg	String	RW	Defines the sync message to trigger synchronization.
WaitSync	Boolean	RW	Defines if a robot in sync program waits for all SyncComponents to send SyncMsg. If False, robot sends SyncMsg and continues the execution of its program.

Release

A deprecated statement for executing a robot release action. No additional properties.

remote Call

A statement that remotely calls a routine in another robot's program.

Name	Type	Access	Description
RemoteRoutine	String	RW	Defines the name of routine to remotely call in a robot. The format is [component_name]::[routine_name] and the target robot should be connected to calling robot via an abstract interface.

Remote Wait

A statement that waits for a routine to be completed by another robot.

Name	Type	Access	Description
RemoteRoutine	String	RW	Defines the name of routine to wait for in a robot. The format is [component_name]::[routine_name] and the target robot should be connected to calling robot via an abstract interface.

Set Binary Output

A statement that sets the value of a signal mapped to an output port of robot.

Name	Type	Access	Description
Output	Integer	RW	Defines the output port.
Value	Boolean	RW	Defines the output value.

Wait Binary Output

A statement that waits for an input port of robot mapped to a signal to have a specific value.

Name	Type	Access	Description
Input	Integer	RW	Defines the input port.
Value	Boolean	RW	Defines the input value.
WaitTrigger	Boolean	RW	Defines if Value is evaluated continuously or when a signal event occurs during a simulation.

Methods

Name	Return Type	Parameters	Description
createProperty	vcProperty	String type, String name, [Enumeration constraints]	Adds a new property of a given type and name to statement. An optional constraints argument can be given to define constraints for property, which must be given at the time of creation. See Property Constants for more information.
deleteProperty	None	vcProperty property	Removes a given property from statement.
getProperty	vcProperty	String name	Returns the first matching property of a given name in the statement; otherwise returns None.

Examples

Example. Manipulate statements in robot routine

from vcScript import *

#Access main program via Executor
comp = getComponent()
rx = comp.findBehaviour('Executor')
mainroutine = rx.MainRoutine

#Access statements and return type and order
def exampleRsl():
  for i in mainroutine.Statements:
    print i.Name, i.Type, i.Index

#Create and delete statement via events
def OnRun():
  my_statement = mainroutine.createStatement(VC_STATEMENT_COMMENT)
  my_statement.Comment = "Example Comment"
  exampleRsl()

def OnReset():
  mainroutine.deleteStatement(len(foo.Statements)-1)
  #deletes the last statement when user hits reset button
  exampleRsl()