vcMotionTarget

vcMotionTarget is a motion target for a robot, which may include joint and tool behavior as well as speed and configuration settings for orientation solutions.

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Properties
Methods
Examples

Properties

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.
AngularSpeed	Real	RW	Defines the rate of target rotation (degrees/s), which is only used for non-joint motions.
BaseMatrix	vcMatrix	RW	Defines a matrix referenced by the target as robot base frame. If set, this property overrides BaseName.
BaseName	String	RW	Defines base frame in robot controller referenced by the target.
CartesianAcceleration	Real	RW	Defines the maximum Cartesian acceleration (units/s^2) of linear motion to target.
CartesianDeceleration	Real	RW	Defines the maximum Cartesian deceleration (units/s^2) of linear motion to target.
CartesianSpeed	Real	RW	Defines the maximum Cartesian speed (units/s) of linear motion to target.
ConfigCount	Integer	R	Gets the number of available configurations in robot.
ConfigurationMode	Enumeration	RW	Defines the robot's joint configuration during linear interpolation, which can be fixed, an attempt to maintain current configuration or one interpolated using joint values. See Motion Target Constants for more information.
JointSpeedFactor	Real	RW	Defines the joint speed at the target, as a factor of maximum speed determined in robot controller.
JointTurnMode	Enumeration	RW	Defines the turn mode for joints in the target. The default mode is for joints to turn nearest within their set limits. See Motion Target Constants for more information.
JointValues	List of Real	RW	Defines joints values of target if using joint interpolation. To read and write joint values, first get a handle for this property, edit the values of that handle, and then assign that handle as the value of this property. See Example. Edit joint values in motion target for more information.
MotionType	Enumeration	RW	Defines the motion type of the target, which is either linear or point-to-point/joint. See Motion Target Constants for more information.
OrientationInterpolationMode	Enumeration	RW	Defines the orientation interpolation mode for linear movement. See Orientation Interpolation Mode Constants for more information.
PositionerIndex	Integer	RW	Defines current positioner used by robot to reach target.
RobotConfig	Integer	RW	Defines robot configuration at target, which is dependent on the kinematic structure.
Target	vcMatrix	RW	Defines position matrix of target relative to its base frame or matrix.
TargetMode	Enumeration	RW	Defines how position matrix of target relates to robot. See Motion Target Constants for more information.
ToolMatrix	vcMatrix	RW	Defines a matrix referenced by the target as the robot tool frame. If set, this property overrides ToolName.
ToolName	String	RW	Defines tool frame in robot referenced by target.
UseJoints	Boolean	RW	Defines if JointValues property is used to define target or its Target property. That is, whether the target is defined using joint values or a position matrix that is used to calculate joint values. If you set JointValues, this property is automaticaly set to True. If you set Target, this property is automatically set to False.

Methods

Name	Return Type	Parameters	Description
getConfigWarning	Enumeration	Integer configuration	Tests a robot configuration for any potential issues associated with target. The returned value indicates singularity (S), joint limits (J) and unreachable (U) errors using a format of SJU. 0 = 000 No errors. 1 = 001 Reachability error in robot. 2 = 010 One or more joints exceeding limits. 3 = 011 Reachability and joint limit errors. 4 = 100 Singularity detected, for example in articulated robot wrist. 5 = 101 Singularity and reachability errors. 6 = 110 Singularity and joint limit errors. 7 = 111 Singularity, joint limit and reachability errors. See Motion Target Constants for more information.
getConfigWarnings	List of Enumeration	None	Tests all configurations in kinematic structure for potentials errors related to target. See getConfigWarning() method for more information on possible returned values.
getPositionerRootToPositionerFlange	vcMatrix	None	Returns the offset from robot positioner root node to its flange node.
getRootNodeToPositionerRoot	vcMatrix	None	Returns the offset from root node to robot positioner root node.
getRootNodeToRobotRoot	vcMatrix	None	Returns the offset from root node to robot root node.
getRobotRootToRobotFlange	vcMatrix	None	Returns the offset from robot root node to robot flange node.
getSimWorldToRootNode	vcMatrix	None	Returns the offset from 3D world origin to root node.
getSimWorldToRobotTool	vcMatrix	None	Returns the offset from 3D world origin to tool frame active in robot.
getSimWorldToRobotWorld	vcMatrix	None	Returns the offset from 3D world origin to Robot World Frame.
getWorldToRootNode	vcMatrix	None	Returns the offset from 3D world origin to root node. (Deprecated)
getWorldToRobotTool	vcMatrix	None	Returns the offset from 3D world origin to tool frame active in robot. (Deprecated)

Examples

Example. Edit joint values in motion target

from vcScript import *

#this example uses a generic articulated robot from webcat
def OnRun():
  comp = getComponent()
  rc = comp.findBehaviour("Controller")
  mt = rc.createTarget()
  mt.MotionType = VC_MOTIONTARGET_MT_JOINT
  mt.UseJoints = True

  #one way to adjust joint values
  jv = mt.JointValues
  for i in xrange(len(jv)):
    jv[i] = 0
  mt.JointValues = jv
  rc.addTarget(mt)

  #another way
  jv[2] = 90.0
  mt.JointValues = jv
  rc.addTarget(mt)

  rc.move()