6 DOF Motion With Velocity

This command can be used to specify all 6 degrees of freedom of an XBot at once. It will travel at the specified velocity.

Open

Fieldbus Interface

PMC_6DMotionVelocity

Ethernet Interface 

MotionRtn SixDofMotionSI(ushort cmdLabel, int xbotID, double targetXmeters, double targetYmeters, double targetZmeters, double targetRXrads, double targetRYrads, double targetRZrads, double xyMaxSpeed, double xyMaxAccel, double zMaxSpeed, double rxMaxSpeed, double ryMaxSpeed, double rzMaxSpeed)

Conditions

Description

Open

Typically, all 6 axis move towards their respective target positions at the same time. In some special situations, however, some axis may move before others. For example:

• If the target position requires Z to be a certain height before the target RX or RY tilt can be achieved, the XBot will move in the Z direction first,  before moving in RX or RY

• If the target X & Y positions are at the boundary of the Flyway, with RZ = 0,  and the initial RZ is not 0, the XBot will first move in the RZ direction before proceeding in the X & Y directions. Otherwise, a corner of the XBot will extend beyond the Flyway boundary