vcRobotController
vcRobotController allows you control a robot and drive its joints. If you need realistic robot simulation, use vcRrsRobotController.
Inherits: vcBehaviour, vcServoController
Properties
| Name | Type | Access | Description |
| ApproachAxis | Enumeration | RW | Defines how to orient the robot based on the orientation of the active tool frame.
See Approach Axis Constants for more information. |
| Bases | List of vcBaseFrame | R | Gets a list of all base frames available in controller. |
| ConfigurationMode | Enumeration | RW | Defines the configuration mode for joints driven by robot controller during linear motion interpolation.
0 = Fixed 1 = Follow frame 2 = Interpolate joint values See Motion Target Constants for more information. |
| FlangeOffset | String | RW | Defines an offset from flange node origin.
Generally, this is used when flange node origin is not the exact place where to mount a tool or kinematics structure to end of robot arm. |
| InitialBase | String | RW | Defines the initial base frame by name of the controller. |
| InitialTool | String | RW | Defines the initial tool frame by name of the controller. |
| Kinematics | vcBehaviour | RW | Defines the kinematics object used by the controller which describes the robot's kinematic structure. |
| LagTime | Real | RW | If linear motion, defines default lag time. |
| MaxAngularAccel | Real | RW | If linear motion, defines maximum acceleration for angular movement (degrees/s^2). |
| MaxAngularSpeed | Real | RW | If linear motion, defines maximum speed for angular movement (degrees/s). |
| MaxCartesianAccel | Real | RW | If linear motion, defines maximum acceleration for linear movement (mm/s^2). |
| MaxCartesianSpeed | Real | RW | If linear motion, defines maximum speed for linear movement (mm/s). |
| OrientationInterpolationMode | Enumeration | RW | Defines the orientation interpolation mode for linear movement. |
| RootOffset | String | RW | Defines an offset from root node origin, thereby defining the start of kinematics structure. |
| SettleTime | Real | RW | If linear motion, defines default settle time. |
| Tools | List of vcBaseFrame | R | Gets a list of all tool frames available in controller. |
| TrackWorldFrameMode | Enumeration | RW | Defines Robot World Frame (RWF) of robot when mounted on track.
0 1 See Track World Frame Modes for more information. |
| WorldTransformMatrix | vcMatrix | RW | Defines Robot World Frame of robot. |
Methods
| Name | Return Type | Parameters | Description |
| addBase | vcBaseFrame | None | Adds a new base frame to controller. |
| addTarget | None | vcMotionTarget target
or vcMatrix matrix, [Enumeration target_mode] |
Adds a given motion target or target matrix to robot target list.
If target matrix, current settings of robot controller are used and an optional target_mode can be given to define how target relates to robot. This is similar to moveTo() method. Generally, you use addTarget() when you are creating a batch of targets and the robot will use non-zero accuracy limits. See Motion Target Constants for more information. |
| addTool | vcBaseFrame | None | Adds a new tool frame to controller. |
| clearTargets | None | None | Removes all motion targets and target matrices from robot target list. |
| createMotionInterpolator | vcMotionInterpolator | None | Creates a new motion interpolator for robot. |
| createTarget | vcMotionTarget | [vcMatrix matrix] | Create a new motion target using current controller settings, and then returns the new motion target.
An optional matrix argument can be given to define target matrix of target. |
| move | None | None | Moves robot to all targets in robot target list.
Python execution will wait until robot has motioned to all previously added targets. |
| moveImmediate | None | vcMotionTarget target, [Enumeration target_mode] | Moves robot to a given target immediately.
An optional target_mode argument can be given to define how target relates to robot. See Motion Target Constants for more information. |
| moveTo | None | vcMotionTarget target
or vcMatrix matrix, [Enumeration target_mode] |
Moves robot to a given target or matrix, thereby clearing any previously added targets.
An optional target_mode argument can be given to define how target relates to robot. See Motion Target Constants for more information. |
| moveRelTo | None | vcVector offset, [Enumeration target_mode]
or Real x, Real y, Real z, [Enumeration target_mode] |
Moves robot to a position relative to current robot pose using current controller settings.
An optional target_mode argument can be given to define how target relates to robot. See Motion Target Constants for more information. |
| removeBase | None | vcBaseFrame Base | Removes a given Base from controller. |
| removeTool | None | vcBaseFrame Tool | Removes a given Tool from controller. |
Events
| Name | Parameters | Description |
| OnPosition | vcRobotController robot | Triggered when robot reaches a motion target in its robot target list. |