vcLinearTarget

An object with properties to define necessary information to plan and execute a LIN motion. A kinematics behavior is required to execute a motion with this target type.

See in: Overview

Module: vcRobotics2

Parent: vcMotionControllerTarget

Children -

Referenced by: -

Properties

Learn how to use properties here. The properties are also inherited from the parent class.

Name	Type	Access	Description
BaseName	String	RW	Gets or sets the name of the base frame to use. This frame must exist in the controller for the motion to succeed.
BlendingType	vcMotionBlendingType	RW	Gets or sets the desired blending type. Also see BlendingValue.
BlendingValue	Real	RW	Gets or sets the value that defines how early blending towards the next motion may start. Also see BlendingType.
ExternalDriverValues	list[tuple[Integer, Real]]	RW	Gets or sets the list of external driver values to reach at the end of the motion. The integer is the external driver's index in this controller.
InternalDriverValues	list[Real]	RW	Gets or sets the list of internal driver values to reach at the end of the motion. See more This property will be processed only if OriType is set to vcOrientationInterpolationMode.WRIST. This list is then expected to have as many items as there are internal drivers in the controller, even though only the wrist driver values are read. If the robot has configuration parameters, i.e. redundancy, that is to be interpolated, then the provided driver values are used as the target configuration.
IsExternalTcp	Boolean	RW	Gets or sets a boolean value that affects how Target is interpreted. See more When set to true, the Base frame is used as the external/static tool and the Target is given in the Tool frame coordinates (tool-to-base). When set to false, the Target is given in the Base frame coordinates (base-to-tool).
MaxAngularAcceleration	Real	RW	Gets or sets the maximum angular acceleration.
MaxAngularDeceleration	Real	RW	Gets or sets the maximum angular deceleration.
MaxAngularVelocity	Real	RW	Gets or sets the maximum angular velocity.
MaxLinearAcceleration	Real	RW	Gets or sets the maximum linear acceleration.
MaxLinearDeceleration	Real	RW	Gets or sets the maximum linear deceleration.
MaxLinearVelocity	Real	RW	Gets or sets the maximum linear velocity.
OriType	vcOrientationInterpolationMode	RW	Gets or sets the orientation interpolation mode to use.
Target	vcMatrix	RW	Gets or sets the target matrix which defines the final internal driver values at the target, along with base, tool, and external driver information. Also see TargetType and IsExternalTcp.
TargetType	vcLinearTargetType	RW	Gets or sets an enumeration value that affects how Target is processed.
ToolName	String	RW	Gets or sets the name of the tool frame to use. This frame must exist in the controller for the motion to succeed.