Data Sheet

ManualsBrandsRobotis ManualsRobot ManipulatorsRobotis Manipulator-H 6DOF Robotic Arm

88

(12) void Set_CIRCwithHand(vecd StartPose, vecd ViaPose, vecd EndPose,

veci Hand1, veci Hand2,

double TotalTime, double AccelTime)

Parameter

vecd StartPose / vecd EndPose / vecd ViaPose

veci Hand1 / veci Hand2

double TotalTime / double AccelTime

Returns

void

Description

Sets circular trajectory from StartPose, ViaPose, EndPose,

Start HandPose, End HandPose, TotalTime, AccelTime

(13) void Set_CIRCwithHand(Pose3D StartPose, Pose3D ViaPose,

Pose3D EndPose,

veci Hand1, veci Hand2,

double TotalTime, double AccelTime)

Parameter

Pose3D StartPose / Pose3D ViaPose / Pose3D EndPose

veci Hand1 / veci Hand2

double TotalTime / double AccelTime

Returns

void

Description

Sets circular trajectory from StartPose, ViaPose, EndPose,

Start HandPose, End HandPose, TotalTime, AccelTime

(14) void ClearMF(void)

Parameter

void

Returns

void

Description

Clears out motion profile

(15) double GetMotionTotalTime(void)

Parameter

void

Returns

TotalTime in sec

Description

Returns motion run time