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MoveJoint.srv

Features

The robot moves to the target joint position (pos) from the current joint position.

Parameters

Parameter NameData TypeDefault ValueDescription

pos

float64[6]

-

joint angle list

vel

float64

-

velocity

acc

float64

-

acceleration

time

float64

0.0

Reach time [sec]

radius

float64

0.0

Radius for blending

mode

int8

0

MOVE_MODE_ABSOLUTE =0

MOVE_MODE_RELATIVE =1

blendType

int8

0

BLENDING_SPEED_TYPE_DUPLICATE =0

BLENDING_SPEED_TYPE_OVERRIDE =1

syncType

int8

0

SYNC = 0

ASYNC = 1

Note

If the time is specified, values are processed based on time, ignoring vel and acc.

Caution

If the following motion is blended with the conditions of blendType

=BLENDING_SPEED_TYPE_BUPLICATE and radius>0, the preceding motion can be terminated when the following motion is terminated while the remaining motion time determined by the remaining distance, velocity, and acceleration of the preceding motion is greater than the motion time of the following motion. Refer to the following image for more information.

Return

Return NameData TypeDefault ValueDescription

success

bool

-

True or False

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