[Jacob]

嗨,雅各,

You can't run a specific instruction using the API, however, you can execute that on the robot item.
For example, if you have a linear move instruction to a Cartesian target you can do:

Code:

robot.MoveL(pose)

Albert

Sounds great @Albert, what if we have some moveC types? We see the pose info for moveL but no pose info for MoveC

Code:

print(prog.Instruction(ins_id))

exam: moveL vs moveC
MoveL:
('*MoveL P2', 0, 2, 0, Matrix: (4, 4)
Pose(969.624, -138.087, 472.785, -92.893, 85.340, -122.269):
[[ -0.043, 0.069, 0.997, 969.624 ],
[ 0.574, -0.815, 0.081, -138.087 ],
[ 0.818, 0.576, -0.004, 472.785 ],
[ 0.000, 0.000, 0.000, 1.000 ]]
, Matrix: (6, 1)
[[ -11.328 ],
[ -22.968 ],
[ -20.060 ],
[ 40.193 ],
[ 25.254 ],
[ -2.164 ]]
)
MoveC:
('*MoveC P31,P32', 1, None, None, None, None)

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Also is there a way to show a target for a specific instruction without showing all the targets for a given program? such as prog.ShowTargets()?