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Motion

/<namespace>/motion/<motion_service>

move_joint

float64[6] pos               # target joint angle list [degree] 
float64    vel               # Velocity 
float64    acc               # Acceleration 
float64    time #= 0.0       # Time [sec] 
float64    radius #=0.0      # Radius under blending mode  
int8       mode #= 0         # MOVE_MODE_ABSOLUTE=0, MOVE_MODE_RELATIVE=1 
int8       blendType #= 0    # BLENDING_SPEED_TYPE_DUPLICATE=0, BLENDING_SPEED_TYPE_OVERRIDE=1
int8       syncType #=0      # SYNC = 0, ASYNC = 1

move_line

float64[6] pos               # target  
float64[2] vel               # Velocity 
float64[2] acc               # Acceleration 
float64    time #= 0.0       # Time [sec] 
float64    radius #=0.0      # Radius under blending mode  
int8       ref  #= 0         # MOVE_REFERENCE_BASE=0, MOVE_REFERENCE_TOOL=1 
int8       mode #= 0         # MOVE_MODE_ABSOLUTE=0, MOVE_MODE_RELATIVE=1 
int8       blendType #= 0    # BLENDING_SPEED_TYPE_DUPLICATE=0, BLENDING_SPEED_TYPE_OVERRIDE=1
int8       syncType #=0      # SYNC = 0, ASYNC = 1

move_jointx

float64[6] pos               # target joint angle list [degree] 
float64    vel               # Velocity 
float64    acc               # Acceleration 
float64    time #= 0.0       # Time [sec] 
float64    radius #=0.0      # Radius under blending mode  
int8       mode #= 0         # MOVE_MODE_ABSOLUTE=0, MOVE_MODE_RELATIVE=1 
int8       blendType #= 0    # BLENDING_SPEED_TYPE_DUPLICATE=0, BLENDING_SPEED_TYPE_OVERRIDE=1
int8       syncType #=0      # SYNC = 0, ASYNC = 1

move_circle

std_msgs/Float64MultiArray[] pos  # target[2][6]  
float64[2]      vel              # Velocity 
float64[2]      acc              # Acceleration 
float64         time #= 0.0       # Time [sec] 
float64         radius #=0.0      # Radius under blending mode  
int8            ref  #= 0         # MOVE_REFERENCE_BASE=0, MOVE_REFERENCE_TOOL=1 
int8            mode #= 0         # MOVE_MODE_ABSOLUTE=0, MOVE_MODE_RELATIVE=1 
float64         angle1 #= 0.0     # angle1 
float64         angle2 #= 0.0     # angle2 
int8            blendType #= 0    # BLENDING_SPEED_TYPE_DUPLICATE=0, BLENDING_SPEED_TYPE_OVERRIDE=1
int8            syncType #=0      # SYNC = 0, ASYNC = 1

move_spline_joint

std_msgs/Float64MultiArray[] pos         # target [100][6] pos
int8       posCnt                        # target cnt 
float64    vel                           # Velocity 
float64    acc                           # Acceleration 
float64    time #= 0.0                   # Time [sec] 
int8       mode #= 0                     # MOVE_MODE_ABSOLUTE=0, MOVE_MODE_RELATIVE=1 
int8       syncType #=0                  # SYNC = 0, ASYNC = 1

move_spline_task

std_msgs/Float64MultiArray[] pos  # target 
int8            posCnt            # target cnt 
float64[2]      vel               # Velocity 
float64[2]      acc               # Acceleration 
float64         time #= 0.0       # Time [sec] 
int8            ref  #= 0         # MOVE_REFERENCE_BASE=0, MOVE_REFERENCE_TOOL=1 
int8            mode #= 0         # MOVE_MODE_ABSOLUTE=0, MOVE_MODE_RELATIVE=1 
int8            opt  #= 0         # SPLINE_VELOCITY_OPTION_DEFAULT=0, SPLINE_VELOCITY_OPTION_CONST=1 
int8            syncType #=0      # SYNC = 0, ASYNC = 1

move_blending

std_msgs/Float64MultiArray[] segment #50 x (pos1[6]:pos2[6]:type[1]:radius[1])        
int8           posCnt               # target cnt 
float64[2]     vel                  # Velocity 
float64[2]     acc                  # Acceleration 
float64        time #= 0.0          # Time [sec] 
int8           ref  #= 0            # MOVE_REFERENCE_BASE=0, MOVE_REFERENCE_TOOL=1
int8           mode #= 0            # MOVE_MODE_ABSOLUTE=0, MOVE_MODE_RELATIVE=1 
int8           syncType #=0         # SYNC = 0, ASYNC = 1

move_spiral

float64    revolution       # Revolution 
float64    maxRadius        #  
float64    maxLength        #  
float64[2] vel              # Velocity 
float64[2] acc              # Acceleration 
float64    time #= 0.0      # Time [sec] 
int8       taskAxis         # TASK_AXIS_X = 0, TASK_AXIS_Y = 1, TASK_AXIS_Z = 2   
int8       ref  #= 1        # MOVE_REFERENCE_BASE=0, MOVE_REFERENCE_TOOL=1
int8       syncType #=0      # SYNC = 0, ASYNC = 1 

move_periodic

9

move_wait

10

GPIO

set_digital_output

get_digital_input

set_tool_digital_output

get_tool_digital-input

set_analog_output

get_analog_input

set_analog_output_type

get_analog_input_type

Modbus

set_modbus_output

get_modbus_input

config_create_modbus

config_delete_modbus

TCP

set_current_tcp

get_current_tcp

config_create_tcp

config_delete_tcp

Tool

set_current_tool

get_current_tool

config_create_tool

config_delete_tool

DRL

drl_pause

drl_resume

drl_start

drl_stop

Gripper

robotiq_2f_open

robotiq_2f_close

robotiq_2f_move

Serial

serial_open

not used

serial_close

not used

serial_send_data


2022-05-28 12:33