Namespace: MOTIONSYSTEM

This class provides motion-related interfaces that are not supported by the OmniCore SDK.

Source: ecosystem-rws.js, line 346

Methods

getAllJointsSolution(props) → {Promise.<any>}

Get all joint solutions

Parameters:

Name	Type	Description
`props`	JointsSolutionProps

Source: ecosystem-rws.js, line 726

Returns:

Type:: Promise.<any>

getChangeCount() → {Promise.<number>}

Gets the change count of the motion system.

Source: ecosystem-rws.js, line 594

Returns:

Type:: Promise.<number>

Example

const changeCount = await API.RWS.MOTIONSYSTEM.getChangeCount();
console.log(`Change count: ${changeCount}`);

getJointTarget(mechunit) → {Promise.<API.MOTION.JointTarget>}

Gets the current joint position.

Parameters:

Name	Type	Description
`mechunit`	string

Source: ecosystem-rws.js, line 696

Returns:

Type:: Promise.<API.MOTION.JointTarget>

Example

const jointTarget = await API.RWS.MOTIONSYSTEM.getJointTarget('ROB_1');
console.log(jointTarget); // Outputs the current joint positions

getJointsFromCartesian(props) → {Promise.<any>}

Get all the joint solutions.

Parameters:

Name	Type	Description
`props`	JontsFromCartesianProps

Source: ecosystem-rws.js, line 826

Returns:

Type:: Promise.<any>

getLeadThroughStatus(mechunit) → {Promise.<any>}

Gets the lead-through status.

Parameters:

Name	Type	Description
`mechunit`	string

Source: ecosystem-rws.js, line 930

Returns:

Type:: Promise.<any>

Example

const status = await API.RWS.MOTIONSYSTEM.getLeadThroughStatus('ROB_1');
console.log(`Lead-through status: ${status}`);

getMechunit(name) → {Promise.<Mechunit>}

Gets the details of a mechanical unit.

Parameters:

Name	Type	Description
`name`	string	Name of the mechanical unit., e.g., 'ROB_1'

Source: ecosystem-rws.js, line 426

Returns:

Type:: Promise.<Mechunit>

Example

const mechunit = await API.RWS.MOTIONSYSTEM.getMechunit('ROB_1');
console.log(mechunit); // Outputs details of the specified mechanical unit

getMechunits() → {Promise.<Array.<Mechunits>>}

Gets details of all the mechanical units.

Source: ecosystem-rws.js, line 392

Returns:

Type:: Promise.<Array.<Mechunits>>

Example

const mechunits = await API.RWS.MOTIONSYSTEM.getMechunits();
console.log(mechunits); // Outputs an array of mechanical units

getRobTarget(props) → {Promise.<API.MOTION.RobTarget>}

Gets the current robot position.

Parameters:

Name	Type	Description
`props`	RobTargetProps	See RobTargetProps

Source: ecosystem-rws.js, line 647

Returns:

Type:: Promise.<API.MOTION.RobTarget>

Example

const robTarget = await API.RWS.MOTIONSYSTEM.getRobTarget('Tool1', 'WObj1');

jog(jogdata, ccount) → {Promise.<any>}

Starts jogging. This request shall be sent cyclically during the jogging.

Parameters:

Name	Type	Description
`jogdata`	API.MOTION.JogData	Jogging speed for the axis.
`ccount`	number	Counter value, which needs to be obtained using getChangeCount before start jogging.

Source: ecosystem-rws.js, line 579

Returns:

Type:: Promise.<any>

Example

const jogData = [10, 0, 0, 0, 0, 0]; // Jogging along axis 1
const changeCount = await API.RWS.MOTIONSYSTEM.getChangeCount();
await API.RWS.MOTIONSYSTEM.jog(jogData, changeCount);

setLeadThroughStatus(type, disableAutoLoadCompensation, mechunit) → {Promise.<any>}

Sets the lead-through status.

Parameters:

Name	Type	Description
`type`	string	API.RWS.LEADTHROUGHSTATUS.Inactive \| API.RWS.LEADTHROUGHSTATUS.Active
`disableAutoLoadCompensation`	string	Being Active if the precision mode is used. This is supported from RW7.6.
`mechunit`	string	The name of the mechanical unit.

Source: ecosystem-rws.js, line 957

Returns:

Type:: Promise.<any>

Example

await API.RWS.MOTIONSYSTEM.setLeadThroughStatus(
  API.RWS.LEADTHROUGHSTATUS.Active,
  'inactive',
  'ROB_1'
);
console.log('Lead-through status set successfully.');

setMechunit(props) → {Promise.<any>}

Sets the properties of a mechanical unit.

Parameters:

Name	Type	Description
`props`	SetMechunitProps	See SetMechunitProps

Source: ecosystem-rws.js, line 483

Returns:

Type:: Promise.<any>

Example

await API.RWS.MOTIONSYSTEM.setMechunit({
  name: 'ROB_1',
  tool: 'Tool1',
  wobj: 'WObj1',
});

setRobotPositionJoint(j) → {Promise.<any>}

Sets the joint position target for GoTo task.

Parameters:

Name	Type	Description
`j`	API.MOTION.JointTarget

Source: ecosystem-rws.js, line 554

Returns:

Type:: Promise.<any>

Example

const jointTarget = {
  robax: { rax_1: 0, rax_2: 0, rax_3: 0, rax_4: 0, rax_5: 0, rax_6: 0 },
  extax: { eax_a: 0, eax_b: 0, eax_c: 0, eax_d: 0, eax_e: 0, eax_f: 0 },
};
await API.RWS.MOTIONSYSTEM.setRobotPositionJoint(jointTarget);

setRobotPositionTarget(r) → {Promise.<any>}

Sets the robot position target for GoTo task.

Parameters:

Name	Type	Description
`r`	API.MOTION.RobTarget	See API.MOTION.RobTarget

Source: ecosystem-rws.js, line 522

Returns:

Type:: Promise.<any>

Example

const robTarget = {
  trans: { x: 100, y: 200, z: 300 },
  rot: { q1: 1, q2: 0, q3: 0, q4: 0 },
  robconf: { cf1: 0, cf4: 0, cf6: 0, cfx: 0 },
  extax: { eax_a: 0, eax_b: 0, eax_c: 0, eax_d: 0, eax_e: 0, eax_f: 0 },
};
await API.RWS.MOTIONSYSTEM.setRobotPositionTarget(robTarget);

Type Definitions

Mechunit

Properties

Name	Type	Description
`axes`	string
`axesTotal`	string
`coords`	string
`hasIntegratedUnit`	string
`isIntegratedUnit`	string
`jogMode`	string
`mode`	string
`payload`	string
`status`	string
`task`	string
`tool`	string
`totalPayload`	string
`type`	string
`wobj`	string
`name`	string

Source: ecosystem-rws.js, line 362

Mechunits

Properties

Name	Type	Description
`activationAllowed`	string
`driveModule`	string
`mode`	string	// 'Activated', ...
`name`	string

Source: ecosystem-rws.js, line 352

RobTargetProps

Source: ecosystem-rws.js, line 629

SetMechunitProps

Properties

Name	Type	Attributes
`name`	string	<optional>
`tool`	string	<optional>
`wobj`	string	<optional>
`coords`	string	<optional>
`jogMode`	string	<optional>
`mode`	string	<optional>
`payload`	string	<optional>
`totalPayload`	string	<optional>

Source: ecosystem-rws.js, line 457