Add a motion to move to pose (linear in tool-space).

This command queues a motion that interpolates linear movement of the regular TCP (if called after mc_initialize with mode = 0) or the remote TCP (if called after mc_initialize with mode = 1) to a pose in the Part Coordinate System (PCS).

Parameters

pose: target pose in the PCS

a: tool acceleration [m/s^2]

v: tool speed [m/s]

r: blend radius [m]

Return Value

The motion ID

Example command: id = mc_add_linear(pose, a=1.2, v=0.25, r=0)

• Example Parameters:
  • pose = p[0.2, 0.3, 0.5, 0, 0, 3.14] → position in PCS is x = 200mm, y = 300mm, z = 500mm, rx = 0, ry = 0, rz = 180deg.
  • a = 1.2 → acceleration is 1.2 m/s^2
  • v = 0.25 → velocity is 250 mm/s
  • r = 0 → the blend radius is 0 meters (continued in )