MoveToRobtarget

class compas_rrc.MoveToRobtarget[source]

Bases: 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 or MoveL

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.