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Manage indexed API knowledge, approved primitive mappings and the engineering catalog.
26 approved mappings from abstract motion primitives to real Agile API calls. Templates use {placeholder} slots filled by the generators.
| Primitive | Lang | API function | Template | Units | Approved |
|---|---|---|---|---|---|
| addWaypoint | LUA | add_waypoint_bypose | add_waypoint_bypose({name}, {poseMm}) | TEACH_PENDANT | yes |
| cleanError | PYTHON | cleanErrorInfo | DianaApi.cleanErrorInfo({ip}) | SI | yes |
| connectRobot | PYTHON | initSrv | DianaApi.initSrv(({ip}, 0, 0, 0, 0, 0), fnError, fnState) | SI | yes |
| disconnectRobot | PYTHON | destroySrv | DianaApi.destroySrv({ip}) | SI | yes |
| enterForceMode | PYTHON | enterForceMode | DianaApi.enterForceMode({frameType}, {frameMatrix}, {forceDirection}, {forceValue}, {maxApproachVel}, {maxAllowTcpOffset}, {ip}) | SI | yes |
| enterForceMode | LUA | enter_force_mode | enter_force_mode({forceDirection}, {targetForce}, {maxOffsetMm}) | TEACH_PENDANT | yes |
| holdBrake | PYTHON | holdBrake | DianaApi.holdBrake({ip}) | SI | yes |
| leaveForceMode | PYTHON | leaveForceMode | DianaApi.leaveForceMode({mode}, {ip}) | SI | yes |
| leaveForceMode | LUA | leave_force_mode | leave_force_mode() | TEACH_PENDANT | yes |
| moveJointTarget | PYTHON | moveJToTarget | DianaApi.moveJToTarget({joints}, {vel}, {acc}, {ip}) DianaApi.wait_move() | SI | yes |
| moveLinearConstrained | PYTHON | moveLToPose_ex | DianaApi.moveLToPose_ex({pose}, {vel}, {acc}, 0, 0, 0, DianaApi.constrain_type_e.E_CONSTRAIN_LOCKED_J3, {constrainValue}, {avoidSingular}, {ip}) DianaApi.wait_move() | SI | yes |
| movePoseJoint | PYTHON | moveJToPose | DianaApi.moveJToPose({pose}, {vel}, {acc}, 0, 0, 0, {ip}) DianaApi.wait_move() | SI | yes |
| movePoseJoint | LUA | movej | movej({jointsDeg}, {velPercent}, {accPercent}, {blendRadius}, {time}, {shaper}) | TEACH_PENDANT | yes |
| movePoseLinear | PYTHON | moveLToPose | DianaApi.moveLToPose({pose}, {vel}, {acc}, 0, 0, 0, {avoidSingular}, {ip}) DianaApi.wait_move() | SI | yes |
| movePoseLinear | LUA | movel_to_target | movel_to_target({jointsDeg}, {velPercent}, {accPercent}, {blendRadius}, {time}, {autoAvoid}, {shaper}) | TEACH_PENDANT | yes |
| readAnalogInput | PYTHON | readAI | DianaApi.readAI({group}, {aiName}, {ip}) | SI | yes |
| readDigitalInput | PYTHON | readDI | DianaApi.readDI({group}, {diName}, {ip}) | SI | yes |
| readRobotState | PYTHON | getRobotState | DianaApi.getRobotState({ip}) | SI | yes |
| readTcpForce | PYTHON | getTcpForce | DianaApi.getTcpForce({forces}, {ip}) | SI | yes |
| releaseBrake | PYTHON | releaseBrake | DianaApi.releaseBrake({ip}) time.sleep(2) | SI | yes |
| resumeRobot | PYTHON | resume | DianaApi.resume({ip}) | SI | yes |
| setCollisionLimits | PYTHON | setCollisionLevel | DianaApi.setCollisionLevel({level}, {ip}) | SI | yes |
| setVelocityPercent | LUA | set_velocity_percent | set_velocity_percent({percent}) | TEACH_PENDANT | yes |
| stopMotion | PYTHON | stop | DianaApi.stop({ip}) | SI | yes |
| writeAnalogOutput | PYTHON | writeAO | DianaApi.writeAO({group}, {aoName}, {value}, {ip}) | SI | yes |
| writeDigitalOutput | PYTHON | writeDO | DianaApi.writeDO({group}, {doName}, {value}, {ip}) | SI | yes |