Moves() - Toshiba TS3000 Series Instruction Manual

series Robot Controller

Moves()

Moves the 6-AXIS robot to the specified point with linear interpolation.
Format
void Moves(double x, double y, double z, double a, double b, double c,
void Moves(double x, double y, double z, double a, double b, double c,
void Moves(TsPointV point)
void Moves(TsPointV point,double px, double py, double pz,
void Moves(TsPointV point,TsPointV offset)
void Moves(string pointName)
void Moves(string pointName,double px, double py, double pz
void Moves(string pointName,TsPointV offset)
Argument
double x
double y
double z
double a
double b
double c
double u
double v
ConfigV config
ConfigVpart config configuration(class)
TsPointV point
double px
double py
double pz
double pa
double pb
double pc
double pu
double pv
TsPointV offset
string pointName
Return value
Exceptions
MoveStop
MoveBreak
MoveTimeout
CannotDoMove
TCPNotConnect
CommunicationError Communication Error
ControllerNG
IllegalParam
Notice
Move() cannot be executed unless monitoring is performed by the WatchDogStart() method.
To detect BREAK or STOP (stopping the operation) during execution of Move(), perform exception
processing by using try-catch.
See also
WatchDogStart(), Move(), ResetMove(), Movea(), Movej(), TsPointV
double u, doublev, ConfigVpart config)
double pa, double pb, double pc, double pu, double pv)
double pa, double pb, double pc, double pu, double pv)
X coordinate target point
Y coordinate target point
Z coordinate target point
A coordinate target point
B coordinate target point
C coordinate target point
U coordinate target point
V coordinate target point
configuration(enum)
Target point
Offset value to be added to the X coordinate target point
Offset value to be added to the Y coordinate target point
Offset value to be added to the Z coordinate target point
Offset value to be added to the A coordinate target point
Offset value to be added to the B coordinate target point
Offset value to be added to the C coordinate target point
Offset value to be added to the U coordinate target point
Offset value to be added to the V coordinate target point
Offset value to be added to the target point
Name of the point that is registered in the selected program
None
STOP signal during the Move command
BREAK signal during the Move command
Move command execution timed out
Move command can not be executed, because of watch dog not running
Network is not connected
Command not accepted by controller
Illegal parameter
- 117 -
TsRemoteLib.DLL MANUAL
double u, doublev, ConfigV config)
V
TsRemote .method
STE85409