MoveToJoints

class compas_rrc.MoveToJoints[source]

Bases: ROSmsg

Move to joints is a call that moves the robot and the external axes with axes values.

Examples

# Get joints
robot_joints, external_axes = abb.send_and_wait(rrc.GetJoints())

# Print received values
print(robot_joints, external_axes)

# Change value and move to new position
robot_joints.rax_1 += 15
speed = 100 # Unit [mm/s]
done = abb.send_and_wait(rrc.MoveToJoints(robot_joints, external_axes, speed, rrc.Zone.FINE))

RAPID Instruction: MoveAbsJ

Note

For additional help, check the ABB Reference Manual.

Inherited Methods

`from_msg`
`parse`	Parses a msg in various possible input formats and tries to return an instance of the class that wraps it.