/// <summary> /// Moves the robot linearly for a specified delta /// </summary> /// <param name="delta">The delta as relative TCP coordinate</param> public void MoveRelativeLinear(TcpCoordinate delta) { // Perform linear movement in mode 6 (relative) this.moveLinear(6, delta.EnumerateValues()); }
/// <summary> /// Moves the robot PTP for a specified delta /// </summary> /// <param name="delta">The delta as relative TCP coordinate</param> /// <param name="velocity">The velocity as percentage</param> /// <param name="acceleration">The acceleration as percentage</param> public void MoveRelativePTP(TcpCoordinate delta, double velocity, double acceleration) { // Perform PTP movement in mode 4 (relative position) this.movePTP(4, delta.EnumerateValues(), velocity, acceleration); }
/// <summary> /// Moves the robot linearly to a specified target position /// </summary> /// <param name="target">The target as TCP coordinate</param> public void MoveAbsoluteLinear(TcpCoordinate target) { // Perform linear movement in mode 5 (absolute) this.moveLinear(5, target.EnumerateValues()); }
/// <summary> /// Moves the robot PTP to a specified target position /// </summary> /// <param name="target">The target as TCP coordinate</param> /// <param name="velocity">The velocity as percentage</param> /// <param name="acceleration">The acceleration as percentage</param> public void MoveAbsolutePTP(TcpCoordinate target, double velocity, double acceleration) { // Perform PTP movement in mode 3 (absolute position) this.movePTP(3, target.EnumerateValues(), velocity, acceleration); }