Standalone move to frame function using compas_rrc.

rapid_clay_formations_fab.robots.abb_standalone_move_to_frame.standalone_move_to_frame(frame, tool='tool0', wobj='wobj0', motion_type='L', speed=200, accel=100, zone=-1, timeout=None)[source]

Move robot arm to frame or frames in one single function.

Parameters:

  • frame (compas.geometry.Frame or list of compas.geometry.Frame) – Target frame or frames.

  • tool (str) – Name of tool as named in RAPID code on controller to use for TCP data.

  • wobj (str) – Name of work object as named in RAPID code on controller to use for coordinate system.

  • motion_type (compas_rrc.Motion) – Motion type, either linear (LINEAR) or joint (JOINT).

  • speed (float) – TCP speed in mm/s. Limited by hard coded max speed in this function as well as safety systems on controller.

  • accel (float) – Acceleration in percentage of standard acceleration.

  • zone (compas_rrc.Zone) – Set zone value of movement, (acceptable deviation from target).

  • timeout (float) – Time to wait for indication of finished movement. If not defined no feedback will be requested.