MoveToFrame
-
class
compas_rrc.
MoveToFrame
(frame, speed, zone, motion_type='J', feedback_level=0)[source] Bases:
compas_rrc.motion.MoveGeneric
Move to frame is a call that moves the robot in cartesian space. The external axes (if any) will stay in the same position.
Examples
# Get frame frame = abb.send_and_wait(rrc.GetFrame()) # Print received values print(frame) # Change any frame value and move robot to new position frame.point[0] += 50 speed = 100 # Unit [mm/s] done = abb.send_and_wait(rrc.MoveToFrame(frame, speed, rrc.Zone.FINE, rrc.Motion.LINEAR))
RAPID Instruction:
MoveJ
orMoveL
Note
For additional help, check the ABB Reference Manual.
Methods
__init__
(frame, speed, zone[, motion_type, …])Create a new instance of the instruction.
from_msg
(msg)