ProtoTwin API
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    Class PathMoveRobotInstruction

    Path move (MoveP) instruction.

    Instructs the robot to move linearly towards the start of the path and then along the path. The robot will try to translate the TCP at the set linear speed.

    Hierarchy

    • ConstrainedRobotInstruction
      • PathMoveRobotInstruction
    Index

    Constructors

    constructor

    Accessors

    constraints curve discretization length mode program referenceFrame rotationOffset rotationOffsets start trajectory

    Methods

    constraintsChanged execute label

    Constructors

    Accessors

    • get constraints(): null | ReadonlyMap<Joint, number>

      The optional joint constraints at the target.

      Returns null | ReadonlyMap<Joint, number>

      Values provided for joints that are not controlled by the robot controller are ignored.

    • set constraints(value: null | ReadonlyMap<Joint, number>): void

      Parameters

      • value: null | ReadonlyMap<Joint, number>

      Returns void

    • get curve(): null | Curve

      The path to follow.

      Returns null | Curve

    • set curve(value: null | Curve): void

      Parameters

      Returns void

    • get discretization(): number

      The sagitta for the path, in meters.

      Returns number

    • set discretization(value: number): void

      Parameters

      • value: number

      Returns void

    • get length(): number

      The fractional length to travel along the path, in the interval [-1, 1].

      Returns number

      A value of 1.0 corresponds to moving 100% of the length of the path.

    • set length(value: number): void

      Parameters

      • value: number

      Returns void

    • get program(): null | RobotProgram

      The program to which the instruction has been assigned.

      Returns null | RobotProgram

      If the program is null then the instruction hasn't been added to a program.

    • set program(value: null | RobotProgram): void

      Parameters

      Returns void

    • get referenceFrame(): null | Entity

      The entity that the path is attached to.

      Returns null | Entity

      Set this to a workpiece on a positioner when the robot should follow the path as the workpiece is moved by the positioner. Leave it empty when the path should remain fixed relative to the robot controller.

    • set referenceFrame(value: null | Entity): void

      Parameters

      Returns void

    • get rotationOffset(): Quat

      The constant rotational offset, applied to all frames along the path.

      Returns Quat

    • set rotationOffset(value: Quat): void

      Parameters

      Returns void

    • get start(): number

      The fractional starting offset along the path, in the interval [-1, 1].

      Returns number

      A value of 0.5 corresponds to starting 50% along the length of the path.

    • set start(value: number): void

      Parameters

      • value: number

      Returns void

    • get trajectory(): null | FramedCurve

      Returns null | FramedCurve

    Methods

    • Called after the joint constraints have been updated.

      Returns void

    • Executes the instruction.

      Parameters

      Returns Future<void>

      The future that is resolved once the instruction has been executed.

    • The label for the instruction, as it is to be displayed in the inspector.

      Parameters

      Returns string

      The label.

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