vcMotionStatement

vcMotionStatement is an abstract class used for implementing motion type statements.

Inherits: vcStatement, vcPositionStatement

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  1. Common Properties
  2. Statement Specific Properties
  3. Methods

Common Properties

The following properties are common in all motion type statements.

Name Type Access Description
AccuracyMethod Enumeration RW Defines the zone of accuracy type to use for the target, for example distance, time or velocity.

See Motion Target Constants for more information.
AccuracyValue Real RW Defines the limit used in AccuracyMethod.
Base vcBaseFrame RW Defines the base frame used by robot for the statement.
CycleTime Real RW Defines the total elapsed time (in seconds) for executing motion statement, which may scale speed and acceleration of joints.

If zero, CycleTime is ignored.
ExternalTCP Boolean RW Defines the interpolation mode for targeting motion.

0 = False
Default setting that uses Base to Tool configuration; position created at tool frame.

1 = True
Interpolation from Tool to Base; position created at base frame.
Tool vcBaseFrame RW Defines the tool frame used by robot for the statement.

Statement Specific Properties

Linear Motion

A Linear Motion statement is a motion in which a robot uses its current configuration to reach a position in the shortest distance possible.

Name Type Access Description
Acceleration Real RW Defines the maximum Cartesian acceleration of motion (units/s^2) used to calculate target trajectory.
AngularAcceleration Real RW Defines the maximum angular acceleration of motion (degrees/s^2) used to calculate target trajectory.
AngularDeceleration Real RW Defines the maximum angular deceleration of motion (degrees/s^2) used to calculate target trajectory.
ConfigurationMode Enumeration RW Defines the configuration mode for joints driven by robot controller during linear motion interpolation.

0 = Fixed
No change. That is, current configuration is used and does not change.

1 = Follow frame
Configuration closest to previous joint values is used.

2 = Interpolate joint values
Configuration is determined by point-to-point interpolation of joint values.

See Motion Target Constants for more information.
Deceleration Real RW Defines the maximum Cartesian deceleration of motion (units/s^2) used to calculate target trajectory.
MaxAngularSpeed Real RW Defines the maximum angular speed (degrees/s^2) used to calculate target trajectory.
MaxSpeed Real RW Defines the maximum Cartesian speed (units/s) used to calculate target trajectory.
OrientationInterpolationMode Enumeration RW Defines the orientation interpolation mode for linear movement.

See Orientation Interpolation Mode Constants for more information.

Point-to-Point Motion

A Point-to-Point Motion statement is a motion in which a robot interpolates its joint values to reach a position.

Name Type Access Description
JointForce Real RW Defines the percentage of joint acceleration and deceleration values to use in statement.
JointSpeed Real RW Defines the maximum speed for joints driven by robot controller as a percentage of nominal joint speed.

Methods

Name Return Type Parameters Description
readIn None None Initializes a declared motion statement to current state of controller.

For example, a robot arm is moved to a location, the location is recorded as a motion statement in the robot's program, and then the motion statement is defined by the current pose of robot.

In some cases, you would import positional data and record them as motion statements by driving robot to each position (target), creating a motion statement and calling readIn().
writeToTarget None vcMotionTarget target Updates a given target to match the motion of the statement.

For example, you adjust a robot motion, and then update its corresponding target that is known to the controller.