ParallelAxis2.srv
Features
This service matches the given vect direction based on the ref coordinate and the designated axis of the tool frame. The current position is maintained as the TCP position of the robot.
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
vect | float64[3] | - | vector |
axis | int8 | - | TASK_AXIS_X = 0 TASK_AXIS_Y = 1 TASK_AXIS_Z = 2 |
ref | int8 | 0 | MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_WORLD=2 MOVE_REFERENCE_USER=101~120 |
Note
The MOVE_REFERENCE_WORLD argument of ref is only available in M2.40 or later versions.
Return
Return Name | Data Type | Default Value | Description |
|---|---|---|---|
success | bool | - | True or False |