vcLinearMotionStatement

A statement that can be used to program PTP motion to a vcMotionController.

See in: Overview

Module: vcRobotics2

Parent: vcMotionStatement

Children -

Referenced by: -

Properties

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

Name	Type	Access	Description
Base	vcKinematicFrame	RW	Gets or sets the selected base for the statement. Can be None (= robot world frame).
BlendingType	vcMotionBlendingType	RW	Gets or sets the type of blending to apply between this statement and the next statement, if there is one. Also see BlendingValue.
BlendingValue	vcRealExpressionProperty	R Access expression value via vcRealExpressionProperty	Gets the value used for blending. Unit depends on the value of BlendingType.
CycleTime	vcRealExpressionProperty	R Access expression value via vcRealExpressionProperty	Gets the expression that represents the motion time value in seconds. See more When greater than 0, the motion will be time controlled. When 0 or negative, the motion will be speed controlled.
ExternalDriverExpressions	list[tuple[Integer, String]]	RW	Gets or sets the driver values as index-value pairs where the value is an expression string.
ExternalDriverValues	list[tuple[Integer, Real]]	R	Gets the driver values as index-value pairs where the value is an evaluated expression result as a float. If the expression evaluation fails the float value will be math.nan for that index.
ExternalTcp	Boolean	RW	Gets or sets whether external TCP mode will be used or not.
MaxAngularAcceleration	vcRealExpressionProperty	R Access expression value via vcRealExpressionProperty	Gets the expression that represents the maximum angular acceleration (degrees/s^2).
MaxAngularDeceleration	vcRealExpressionProperty	R Access expression value via vcRealExpressionProperty	Gets the expression that represents the maximum angular deceleration (degrees/s^2).
MaxAngularVelocity	vcRealExpressionProperty	R Access expression value via vcRealExpressionProperty	Gets the expression that represents the maximum angular velocity (degrees/s).
MaxLinearAcceleration	vcRealExpressionProperty	R Access expression value via vcRealExpressionProperty	Gets the expression that represents the maximum linear acceleration (units/s^2).
MaxLinearDeceleration	vcRealExpressionProperty	R Access expression value via vcRealExpressionProperty	Gets the expression that represents the maximum linear deceleration (units/s^2).
MaxLinearVelocity	vcRealExpressionProperty	R Access expression value via vcRealExpressionProperty	Gets the expression that represents the maximum linear velocity (units/s).
OrientationInterpolationMode	vcOrientationInterpolationMode	RW	Gets or sets the frame orientation interpolation mode.
ReferencedTarget	vcFrameTarget	RW	Gets or sets the position target referenced by this statement.
TargetContainer	vcSinglePositionTargetContainer	R	Gets the associated position target container.
Tool	vcKinematicFrame	RW	Gets or sets the selected tool for the statement. Can be null (= flange frame).
TypeId	String	R	Defines an id for this type of statement.