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 or MoveL

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)

parse(msg, msg_type)

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