6 DOF Motion

This command can be used to specify all 6 degrees of freedom of an XBot at once. It will travel at the configured default speeds for all 6 axis.

Open

Fieldbus Interface

PMC_6DMotion

Ethernet Interface 

MotionRtn SixDofMotionSI(ushort cmdLabel, int xbotID, double targetXmeters, double targetYmeters, double targetZmeters, double targetRXrads, double targetRYrads, double targetRZrads)

Conditions

Description

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