Move To

Overview

Move To is a User Components that generates a button named Move To if you drag and drop it into the UI PREVIEW panel.

When pressing the Move To button: The robot will move to and stop at the target position by calling API.

When on hold Move To button: The robot will move accordingly by values set at the back-end or get from a form like Joint Pose Control or Task Pose Control User Component.

When releasing the Move To button: Robot will stop immediately.

This button is meaningless if standing alone. It is meaningful when combined with a coordinate form (J1-J6 or X, Y, Z, Rx, Ry, Rz).

Import

After dragging and dropping Move To to the UI PREVIEW panel, the following will be imported to Code Editor:

Library:

CODE

import MoveTo, { MoveToAPI } from './buc/move.to';

Source code:

CODE

<MoveTo moduleContext={this.moduleContext} buttonName={"Move To"} eSpaceType={0} fTargetPos={[0,0,0,0,0,0]} fTargetVel={1000} fTargetAcc={100} fTargetTime={0} eMoveMode={0} eMoveReference={0} fBlendingRadius={0} eBlendingType={0}></MoveTo>

./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	iconButton	Textbox	assets/images/Buttonnew.png	Change icon of button. Require image resolution is 16x16px, and maximum size is 5MB Supported formats are PNG, JPG, SVG.
2	buttonName	Textbox	“Move To”	Change name of button.
3	eSpaceType	Textbox	0	Type of API 0: moveJoint 1: moveJointPosxH2R
4	targetPose	Textbox	[0,0,0,0,0,0]	Set sixNumberArray position. Return data must be a SixNumArray
5	targetVelocity	Textbox	60	Set movement velocity of Robot. Return data must be a number.
6	targetAcceleration	Textbox	100	Set acceleration of Robot. Return data must be a number.
7	targetTime	Textbox	0	Set time to reach expectation position. Return data must be decimal and interger number.
8	moveMode	Textbox	0	Set move mode of Robot 0: Absolute 1: Relative Return data must be an interger number.
9	moveReference	Textbox	0	Set st Coordinate 0: Base 1: World 2: Tool/ User Coordinate This property is used for moveJointPosxH2R API only. Return data must be an interger number.
10	blendingRadius	Textbox	0	Set radius for blending. Return data must be a decimal or interger number.
11	blendingType	Textbox	0	Set moving mode 0: Duplicate 1: Override 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

<MoveTo
          moduleContext={this.context}
          buttonName={'Move To'}
          eSpaceType={1}
          fTargetPos={[5, 8, 3, 1, 0, 0]}
          fTargetVel={900}
          fTargetAcc={200}
          fTargetTime={50}
          eMoveMode={0}
          eMoveReference={2}
          fBlendingRadius={20}
          eBlendingType={1}
          iconButton={<img src={IconImage20221230031019} />}
        ></MoveTo>