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6.6 Scenario-based Examples

The Scenario-based Examples section provides examples that integrate the various API features introduced in previous tutorials.

Sample 4 requires DRCF_VERSION 2 (for example, compile with -DDRCF_VERSION=2), and the parameter of the monitoring callback registered at line 164 of 4_minimal_welding_sample.cpp must be LPMONITORING_CTRLIO_EX. Sample 6 compiles with DRCF_VERSION 2; with the default DRCF_VERSION 3, the parameter of the monitoring callback registered at line 405 of 6_realtime_control_sample.cpp must be LPMONITORING_CTRLIO_EX2. Sample 5 compiles with the default DRCF_VERSION 3; with DRCF_VERSION 2, the parameter of the monitoring callback registered at line 390 of 5_minimal_instruction_sample.cpp must be LPMONITORING_CTRLIO_EX.

Each scenario demonstrates how multiple functions such as motion control, DRL execution, welding operations, and real-time control can be combined into a cohesive workflow.

• 6.6.1 minimal_motion_sample.cpp
• 6.6.2 minimal_rt_monitoring_sample.cpp
• 6.6.3 send_drl_script_sample.cpp
• 6.6.4 minimal_welding_sample.cpp
• 6.6.5 minimal_instruction_sample.cpp
• 6.6.6 realtime_control_sample.cpp