/// <summary> /// Moves the robot PTP for a specified delta /// </summary> /// <param name="delta">The delta as relative axis position</param> /// <param name="velocity">The velocity as percentage</param> /// <param name="acceleration">The acceleration as percentage</param> public void MoveRelativePTP(AxisPosition delta, double velocity, double acceleration) { // Perform PTP movement in mode 2 (relative axis) this.movePTP(2, delta.EnumerateValues(), velocity, acceleration); }
/// <summary> /// Moves the robot PTP to a specified target position /// </summary> /// <param name="target">The target as axis position</param> /// <param name="velocity">The velocity as percentage</param> /// <param name="acceleration">The acceleration as percentage</param> public void MoveAbsolutePTP(AxisPosition target, double velocity, double acceleration) { // Perform PTP movement in mode 1 (absolute axis) this.movePTP(1, target.EnumerateValues(), velocity, acceleration); }