MoveSpiral.srv

Features

The radius increases in a radial direction and the robot moves in parallel with the rotating spiral motion in an axial direction. It moves the robot along the spiral trajectory on the surface that is perpendicular to the axis on the coordinate specified as ref and the linear trajectory in the axis direction.

Parameters

Parameter Name	Data Type	Default Value	Description
revolution	float64	-	Total number of revolutions [revolution]
maxRadius	float64		Final spiral radius [mm]
maxLength	float64		Distance moved in the axis direction [mm]
vel	float64[2]	-	linear velocity, angular velocity
acc	float64[2]	-	linear acceleration, angular acceleration
time	float64	0.0	Total execution time [sec]
taskAxis	int8	0	axis TASK_AXIS_X = 0 TASK_AXIS_Y = 1 TASK_AXIS_Z = 2
ref	int8	0	reference coordinate MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_TOOL=1 MOVE_REFERENCE_WORLD=2
syncType	int8	0	SYNC = 0 ASYNC = 1

Note

Revolution refers to the maximum radius of the spiral motion.
Rmax refers to the maximum radius of the spiral motion.
Lmax refers to the parallel distance in the axis direction during the motion. A negative value means the parallel distance in the –axis direction.
Vel refers to the moving velocity of the spiral motion
If the time is specified, values are processed based on time, ignoring vel and acc.
The MOVE_REFERENCE_WORLD argument of ref is only available in M2.40 or later versions.
The axis defines the axis that is perpendicular to the surface defined by the spiral motion.
Ref refers to the reference coordinate system defined by the spiral motion.
This service does not support online blending of previous and subsequent motions.

Caution

An error can be generated to ensure safe motion if the rotating acceleration calculated by the spiral path is too great. In this case, reduce the vel, acc, or time value.

Return

Return Name	Data Type	Default Value	Description
success	bool	-	True or False