Task Pose Control

Overview

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

It helps you to input/set Task Pose.

This form includes the following items:

Coordinates dropdown: Includes Base, World, and User options.
The default selected item is Base.
Get Position button: When clicked, it returns the current robot’s Task coordinate system into X, Y, Z, Rx, Ry, and Rz coordinate fields of this form. This button is selected by default after dragging and dropping Task 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 the Coordinate text fields of this form.
Related User Component: Move To
Reset button: When clicked, it resets the Coordinate text fields of this form to empty
Coordinate text fields: Includes X, Y, Z, Rx, Ry, and Rz coordinate fields that allow the user to enter values directly.
Default value: 0.000mm for each X-Y-Z field, 0.00° for each Rx-Ry-Rz field.
Min value: -99999.999mm for each X-Y-Z field, -360.00° for each Rx-Ry-Rz field.
Max value: 99999.999mm for each X-Y-Z field, 360.00° for each Rx-Ry-Rz field.

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

Import

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

Library:

CODE

import TaskPoseControl, { TaskPoseControlAPI } from './buc/task.pose.control';

Source code:

CODE

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

./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 Position”	Change name of button.
3	moveTo	Textbox	“Move To”	Change name of button.
4	fTargetVel	Textbox		Set movement velocity of Robot. Return data must be a number.
5	fTargetAcc	Textbox		Set acceleration of Robot. Return data must be a number. Return data must be decimal and integar number.
6	fTargetTime	Textbox		Set time to reach expecting position. Return data must be decimal and integar number.
7	eMoveMode	Textbox		Set move mode of Robot. 0: Absolute 1: Relative Return data must be an integar number.
8	eMoveReference	Textbox		Set st Coordinate. 0: Base 2: World/User Coordinate This property is used for moveJointPosxH2R API only. Return data must be an integar number.
9	fBlendingRadius	Textbox		Set radius for blending. Return data must be a decimal or integar number.
10	eBlendingType	Textbox		Set moving mode. 0: Duplicate 1: Overrride Return data must be an integar number.
11	eStopType	Textbox		Set motion pause type. 0: Stop 1: Quick 2: Slow 3: Emergency Return data must be an integar 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

<TaskPoseControl
            moduleContext={this.moduleContext}
            getPose={getPosition}
            moveTo={moveTo}
            pointName={position}
          ></TaskPoseControl>