MoveToRobtarget.__init__

MoveToRobtarget.__init__(frame, ext_axes, speed, zone, motion_type='J', feedback_level=0)

Create a new instance of the instruction.

Parameters

• frame (compas.geometry.Frame) – Target frame.

• ext_axes (compas_rrc.ExternalAxes or list of float) – 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 Zone Zone.FINE will do a stop point all others are fly by points

• motion_type (Motion) – Motion type. Defaults to Motion.JOINT.

• feedback_level (int) – Defines the feedback level requested from the robot. Defaults to FeedbackLevel.NONE. Use FeedbackLevel.DONE and Zone.FINE together to make sure the motion planner has executed the instruction fully.