Example is valid for:                                             

CB2 Software version: 1.8.16941                        
CB3 Software version: 3.3.4.310                        
Note that older or newer software versions may behave differently.

Note that not all commands are available in all software versions. These samples are based on the commands in Script Manual version 3.4.2.

These examples can be used for both CB2 and for CB3.

Here is a sample of a Script Code Example:                                        

speedj(qd, a, t)                                                                                   

               This is the equivalent of a joint jog command. Robot moves as directed for time t.   

               Example Command

                                             speedj([0.2,0.3,0.1,0.05,0,0], 0.5, 0.5)

                                             qd -        Joint speeds of – base = 0.2 rad/s, shoulder = 0.3 rad/s,

                                                           elbow = 0.1 rad/s, wrist1=0.05 rad/s, wrist2 and

                                                           wrist 3 = 0 rad/s

                                             a             acceleration of 0.5 rad/s² of the leading axis

                                                            (shoulder in this case)

                                             t              time of 0.5 s – time before the function returns