Move Joint

A MoveJoint statement allows you to move a joint to specified target value over time. You can move only one joint at a time. The joint must be linked to a controller and it must be in the same component where the process executor is. The statement line execution will end when the motion has been completed.

Note: The statement allows servo to move over its limits (if Stop at limits is not enabled in Program tab).

Properties

Name	Description
IsEnabled	Turns on/off the execution of this statement.
Controller	The controller that owns the joint. This can be a servo controller or a derived controller, e.g. a robot controller. This behavior must be on the same component than the process executor that is running this statement.
Joint	The joint to move. This can be selected after selecting the controller.
TargetValue	An expression for the target value. Note: Must evaluate to a Real or Integer result. See also Process Statement Expressions.
MotionTime	An expression for motion time. This can be left empty to let the controller plan the motion. Note: If not left empty, this expression must evaluate to a Real or Integer result. See also Process Statement Expressions.