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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>

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