Joint Pose Control

Overview

Joint Pose Control is a User Components that generates a form named Joint Pose Control if you drag and drop it into the UI PREVIEW panel.

It helps you to input/set Joint Pose.

This form includes the following items:

Get Pose button: When clicked, it returns the current robot pose/position into this form's J1-J6 Joint Angle fields. This button is default selected after dragging and dropping Joint Pose Control User Component into the UI PREVIEW panel.
Related User Component: Get Pose
Move To button: When pressed and hold, it moves the robot to the target position entered in this form's Joint Angle text fields.
Related User Component: Move To
Reset button: When clicked, it resets the Joint Angle text fields of this form to empty.
Joint Angle text fields: Includes J1, J2, J3, J4, J5, and J6 that allow the user to enter values directly.
Default value: 0.00° (for each joint angle).
Min value: -360.00° (for each joint angle).
Max value: 360.00° (for each joint angle).

If you let the text fields empty or invalid and then focus out, an error message will be displayed next to the corresponding field.

Import

After dragging and dropping Joint Pose Control to the UI PREVIEW panel, the following will be imported to Code Editor:

Library:

CODE

import JointPoseControl, {JointPoseControlAPI,} from './buc/joint.pose.control';

Source code:

CODE

<JointPoseControl moduleContext={this.moduleContext} pointName={"Point Name"} getPose={"Get Pose"} moveTo={"Move To"}></JointPoseControl>

./buc/ can be changed to ../../../buc or ../buc or others depending on package level of current file .tsx file.

Property

The PROPERTY Panel of this User Component includes the following, and you can edit it:

	Properties	Type	Default Value	Description
1	pointName	Textbox	“Point Name”	Change name of title
2	getPose	Textbox	“Get Pose”	Change name of button
3	moveTo	Textbox	“Move To”	Change name of button
4	fTargetVel	Textbox	Number	Set movement velocity of Robot is a number.
5	fTargetAcc	Textbox	Number	Set acceleration of Robot is a number. Return data must be decimal and interger number.
6	fTargetTime	Textbox	Number	Set time to reach expectation position. Return data must be decimal and interger number.
7	eMoveMode	Textbox	Number	Set move mode of Robot 0: Absolute 1: Relative Return data must be a interger number.
8	fBlendingRadius	Textbox	Number	Set radius for blending. Return data must be a decimal or interger number.
9	eBlendingType	Textbox	Number	Set moving mode 0: Duplicate 1: Override Return data must be a interger number.
10	eStopType	Textbox	Number	Set stop motion pause type 0: Stop 1: Quick 2: Slow 3: Emergency Return data must be an interger number.

When clicking the copy icon next to each item in the DOCUMENT group of the PROPERTY panel, the corresponding textbox values will be copied to the clipboard.
If you type code for User Component in Code Editor, the corresponding value will be reflected in the PROPERTY panel. Also, if you change the properties of each User Component, the corresponding source code will be generated to Code Editor.

Code Sample

When the user changes the value in the PROPERTY panel, the corresponding source code will be generated in the CODE EDITOR panel.

CODE

<JointPoseControl
          moduleContext={this.context}
          pointName={'Position'}
          getPose={'Get Pose'}
          moveTo={'Move To'}
          fTargetVel={50}
          fTargetAcc={50}
          fTargetTime={20}
          eMoveMode={1}
          fBlendingRadius={10}
          eBlendingType={0}
          eStopType={2}
></JointPoseControl>