MovePeriodic.srv

Amp refers to the amplitude. The input is a list of 6 elements which are the amp values for the axes (x, y, z, rx, ry, and rz). The amp input on the axis that does not have a motion must be 0.

Period refers to the time needed to complete a motion in the direction, the amplitude. The input is a list of 6 elements which are the periods for the axes (x, y, z, rx, ry, and rz).

Atime refers to the acceleration and deceleration time at the beginning and end of the periodic motion. The largest of the inputted acceleration/deceleration times and maximum period*1/4 is applied. An error is generated when the inputted acceleration/deceleration time exceeds 1/2 of the total motion time.

Repeat refers to the number of repetitions of the axis (reference axis) that has the largest period value and determines the total motion time. The number of repetitions for each of the remaining axes is determined automatically according to the motion time.

If the motion terminates normally, the motions for the remaining axes can be terminated before the reference axis's motion terminates so that the end position matches the starting position. The deceleration section will deviate from the previous path if the motions of all axes are not terminated at the same time. Refer to the following image for more information.

ref refers to the reference coordinate system of the repeated motion.

The MOVE_REFERENCE_WORLD argument of ref is only available in M2.40 or later versions.

If a maximum velocity error is generated during a motion, adjust the amplification and period using the following formula.
velocity = Amplification(amp)*2*pi(3.14)/Period(period)(i.e., Max. velocity=62.83mm/sec if amp=10mm and period=1 sec)

This function does not support online blending of previous and subsequent motions.