Run through the motion with ID id.

This command starts to move the robot (if not already started) then waits for the motion with ID = id to finish. A motion with ID = x will only be executed if mc_run_motion is called on id >= x or -1. This command is used to run all queued motions (if id = -1) or when users would like to call some instantaneous script (such as set_standard_digital_out) after a particular motion. Do not call commands that take time to finish (such as movep). Doing so will likely cause path divergence error.

Parameters

id: the motion ID. If id = -1, the command will run all motions queued. If id = x, where x >= 0, the command will run all motions with ID <= x.

Example command: mc_run_motion(id=2)

• Example Parameters:
  • id = 2 → run motion with ID = 0, 1 and 2 to finish.