how to generate the Dispensing Instructions in Powerpac

RobotStudio PowerPacs
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I’m developing a new Powerpac for Dispensing, and also, it is my first time to develop for RobotStudio. below are my questions:

  1. I only found there are two classes from SDK: RsMoveInstruction and RsActionInstruction, but the Dispensing Instructions are DispL, DispC, so how can I use the RsMoveInstruction and RsActionInstruction class to generate the Dispensing Instructions like DispL/DispC ?

  2. what is the relationship between the internal instructions ( like MoveL) and the DispL, I know MoveL is a common instruction, but DispL is only for Dispensing, could you help me to clarify these concepts?

  3. what are the processDefinition and processTemplate, I found they are the parameters in the ctor of RsMoveInstruction. I have some trouble to understand these concepts.

  4. I found some demo code below, what are the “Move”, “Default” standard for ?

new RsMoveInstruction(activeTask, “Move”, “Default”,
MotionType.Linear, activeTask.ActiveWorkObject.Name,
target.Name, activeTask.ActiveTool.Name);

  1. any other import concepts about Rapid instruction?