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