MoveToRobtarget.__init__
- MoveToRobtarget.__init__(frame, ext_axes, speed, zone, motion_type='J', feedback_level=0)[source]
Create a new instance of the instruction.
- Parameters
frame (
compas.geometry.Frame
) – Target frame.ext_axes (
compas_rrc.ExternalAxes
orlist
offloat
) – External axes positions.speed (
float
) – Integer specifying TCP translational speed in mm/s. Min=``0.01``.zone (
Zone
) – Zone data. Predefined in the robot controller, only ZoneZone.FINE
will do a stop point all others are fly by pointsmotion_type (
Motion
) – Motion type. Defaults toMotion.JOINT
.feedback_level (
int
) – Defines the feedback level requested from the robot. Defaults toFeedbackLevel.NONE
. UseFeedbackLevel.DONE
andZone.FINE
together to make sure the motion planner has executed the instruction fully.