Move Robot/Machine to Frame

Moves the end effector of a robot or machine to a specified coordinate frame.

 

Input Arguments

 

0

Machine ID

Machine ID

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

1

Frame Name

Destination Frame

The frame to which the end effector should be

moved.

 

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

Acknowledge Arrival

Pauses the MP until the robot/machine has ar-

rived at its final destination.

 

Return Arguments

 

 

4

 

Transform

Actual Transform In Working (result)

The actual transform used to get from the current position to the goal position (expressed in work- ing coordinates).

 

Returned Status

 

SUCCESS

The robot/machine moved to the specified frame successfully.

FAILURE

The robot/machine or destination frame was not found.

 

Remarks

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