Move Robot/Machine through Path

Moves the end effector of a robot or machine in a path through a series of intermediate frame positions.

 

Input Arguments

 

0

Machine ID

Machine ID

The instrument ID of the robot/machine to com- mand.

1

Collection Object Name Ref List

Path Frames

The frames through which the end effector should

travel.

 

2

 

Boolean

 

Use SA Kinematics

Indicates whether SA’s kinematic model should be used for the move, or whether the machine’s own kinematic model should be used.

3

Boolean

Linear Segments

Indicates whether the frames should be inter- polated linearly or using the controller’s own

B-spline interpolation between the frames.

4

Boolean

Acknowledge Arrival

Pauses the MP until the robot/machine has ar- rived at its final destination.

 

Return Arguments

None.

 

Returned Status

 

SUCCESS

The robot/machine travelled the path successfully.

FAILURE

The robot/machine or provided frames were not found or were invalid.

 

Remarks

The robot/machine must be in the active collection, and its interface must be active.