MoveDirectAbsolute
Input parameters
| Parameter name | Restriction |
|---|---|
| Position | Since an external axis is not supported, the specification of E1 to E6 is ignored. In the case of a SCARA robot, the Z-axis direction of the Frame coordinates and Tool coordinates is inverted (rotated 180° around the X-axis) according to the SRCI specification, so specify 180.0 for RX. |
| VelocityRate | Values exceeding 100.0 are not supported. Specify within the range of 0.0 to 100.0. |
| AccelerationRate | Same as above |
| DecelerationRate | Same as above |
| JerkRate | Not supported. Specify -1.0. |
| BlendingMode | The following values are supported: 0：Exact stop 11：RampOverlap |
| BlendingParameter | If 11 (RampOverlap) is specified in BlendingMode, specify the percentage 0.0 to 100.0 of overlap in BlendingParameter[0]. BlendingParameter[1] is not used. |
| Time | Not supported. Specify zero. |
| ConfigMode | The following values are supported for the Shoulder, Elbow, Wrist: 0：UseConfig 1：NoChange |
| TurnMode | The following values are supported: 0：UseTurnNumber 2：Free |
| Manipulation | Not supported. Specify FALSE. |
| EmmiterID | Not supported. Specify zero at all times. |
Output parameters
| Parameter name | Restriction |
|---|---|
| RemainingDistance | Not supported. -1.0 is output at all times. |
| Progress | Same as above |
| FollowID | Not supported. Zero is output at all times. |