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Motion

Power the arm, set the motion descriptor, send MoveJJ, MoveJC, MoveL and MoveC moves, then stop, restart or cancel them.

Prerequisites
Power
Motion descriptor
Moves
Stop, restart and cancel
Try it in the demo application
Reference

This page shows how to move a Staubli robot from a PC with the SDK: power the arm, describe the motion, send joint, linear and circular moves, then stop, restart or cancel them. The moves are executed by the motion planner of the CS8 or CS9 controller.

A robot is dangerous machinery. Test your code on the emulator of Staubli Robotics Suite first, then on the real robot with low speeds and a person at the emergency stop.

Prerequisites

The controller is in remote mode. Otherwise the power and the moves are refused.
The user of the connection has the right to move the arm.
The arm is powered: see below.

Power

SetPower(true) powers the arm, SetPower(false) switches it off. The answer tells if the controller accepted the request.

var controller = new StaubliController();
controller.Connect("192.168.0.254");
// The controller must be in remote mode
PowerReturnCode code = controller.Soap.SetPower(true);

if (code != PowerReturnCode.Success)
    Console.WriteLine($"Arm not powered: {code}"); // OnlyInRemoteMode, EnableTimeout...

// Power off at the end
controller.Soap.SetPower(false);
controller.Disconnect();
}

Click to see the full code

`PowerReturnCode`	Meaning
`Success`	Done
`OnlyInRemoteMode`	The controller is not in remote mode
`RobotNotStopped`	The power cannot change while the arm moves
`EnableTimeout`	The arm was not powered in time
`DisableTimeout`	The arm was not switched off in time

Motion descriptor

Every move takes a MotionDesc: the speed limits, the blending, the tool, the reference frame and the configuration of the arm.

double[] joints = controller.Soap.GetCurrentJointPosition(robot: 0);
IForwardKinematics fk = controller.Soap.ForwardKinematics(robot: 0, joints);
var mdesc = new MotionDesc
{
    // Limits of the joint speed, acceleration and deceleration
    Velocity = 0.5,
    Acceleration = 0.5,
    Deceleration = 0.5,

    // Limits of the speed of the tool center point
    TranslationVelocity = 0.1,
    RotationVelocity = 0.1,

    // Stop at each point, no blending
    BlendType = BlendType.BlendOff,

    // Absolute target, flange as tool, world as reference frame
    AbsRel = MoveType.Absolute,
    Tool = new Frame(),
    Frame = new Frame(),

    // Keep the configuration of the arm (shoulder, elbow, wrist)
    Config = fk.Config,
};
controller.Disconnect();
}

Click to see the full code

Velocity, Acceleration, Deceleration: limits of the joints.
TranslationVelocity, RotationVelocity: limits of the tool center point.
BlendType: BlendOff stops at each point. BlendJoint and BlendCartesian join the moves without a stop, from DistanceBlendPrevious before the point to DistanceBlendNext after it.
Tool and Frame: the tool center point and the reference frame of the Cartesian targets. new Frame() is the identity: the flange, and the world frame.
AbsRel: Absolute targets, or Relative to the current position.
Config: the configuration of the arm. See Kinematics.

Start with low values and increase them step by step. Check on the emulator that the speeds and distances are the ones you expect before the first move of a real robot.

Moves

Method	Path	Target
`MoveJJ(robot, joints, mdesc)`	joint interpolation	joint values, in radians
`MoveJC(robot, frame, mdesc)`	joint interpolation	a Cartesian frame
`MoveL(robot, frame, mdesc)`	straight line	a Cartesian frame
`MoveC(robot, frameB, frameC, mdesc)`	circle through `frameB`	the Cartesian frame `frameC`

Frame intermediate = controller.Soap.ForwardKinematics(robot: 0, joints).Position;
intermediate.Py += 0.05;
controller.Soap.SetPower(true);

// Joint move to joint values, in radians
IMoveResult result = controller.Soap.MoveJJ(robot: 0, joints, mdesc);

// Joint move to a Cartesian frame
result = controller.Soap.MoveJC(robot: 0, target, mdesc);

// Straight line to a Cartesian frame
result = controller.Soap.MoveL(robot: 0, target, mdesc);

// Circle through an intermediate frame, to a target frame
result = controller.Soap.MoveC(robot: 0, intermediate, target, mdesc);

// The controller accepted the move, or tells why not
if (result.ReturnCode != MotionReturnCode.Success)
    Console.WriteLine($"Move {result.Id} refused: {result.ReturnCode}");
controller.Disconnect();
}

Click to see the full code

A move method returns the answer of the controller to the request. It does not tell that the arm has reached the target. IMoveResult.ReturnCode tells if the move was accepted, and Id identifies it:

`MotionReturnCode`	Meaning
`Success`	The move is accepted
`NotReady`	The arm is not ready to move, for example not powered
`ParameterError`	A value of the target or of the descriptor is wrong
`MisuseError`	The request is not allowed in this state
`UnexpectedError`	Another error of the controller

To wait for the end of a move, read the position until it reaches the target: see Position.

Stop, restart and cancel

var controller = new StaubliController();
controller.Connect("192.168.0.254");
// Stop the arm now
MotionReturnCode code = controller.Soap.StopMotion();

// Continue the moves that were stopped
code = controller.Soap.RestartMotion();

// Or cancel all the moves that are not finished
code = controller.Soap.ResetMotion();
controller.Disconnect();
}

Click to see the full code

StopMotion() stops the arm on its path.
RestartMotion() continues the moves that were stopped.
ResetMotion() cancels every move that is not finished. Call it after an error, before new moves.

Try it in the demo application

Everything on this page can be tried without writing code, in the Move the robot page of the demo application.

Move the robot page of the Staubli SDK demo application

The demo application is open source. The C# source of this page is MotionControl.cs.

Reference

Methods of SoapClientBase :

// Move the robot to a target position using a Cartesian path
IMoveResult MoveC(int robot, Frame frameB, Frame frameC, MotionDesc mdesc);

// Move the robot to a target position using a Cartesian path with joint constraints
IMoveResult MoveJC(int robot, Frame frame, MotionDesc mdesc);

// Move the robot to a target position using joint positions
IMoveResult MoveJJ(int robot, double[] joints, MotionDesc mdesc);

// Move the robot to a target position using a linear path in Cartesian space
IMoveResult MoveL(int robot, Frame frame, MotionDesc mdesc);

// Reset the motion of the robot
MotionReturnCode ResetMotion();

// Restart the motion of the robot
MotionReturnCode RestartMotion();

// Set the power state of the robot (controller mut be in remote mode)
PowerReturnCode SetPower(bool power);

// Stop the motion of the robot immediately
MotionReturnCode StopMotion();

Class

MotionDesc

C#Python

Describes the parameters of a robot motion, including tool, frame, velocity, acceleration, blending and configuration.

Member	Type	Description
MotionDesc() Constructor		Initializes a new instance of the `MotionDesc` class.
AbsRel Property	MoveType	Specifies whether the motion is defined in absolute or relative terms.
Acceleration Property	double	Maximum allowed joint acceleration, as a percentage of the robot's nominal acceleration.
BlendType Property	BlendType	Specifies the type of blending to be applied when transitioning between motion segments.
Config Property	Config	Contains additional configuration parameters specific to the robot type, such as anthropomorphic, SCARA, or VRBX configurations.
Deceleration Property	double	Maximum allowed joint deceleration, as a percentage of the robot's nominal deceleration.
DistanceBlendNext Property	double	In joint and Cartesian blending modes, the distance between the target point where blending ends and the next point, in millimeters or inches, depending on the length unit of the application.
DistanceBlendPrevious Property	double	In the joint and Cartesian blending modes, the distance between the target point where blending begins and the next point, in millimeters or inches, depending on the length unit used in the application.
Frame Property	Frame	Defines the frame in which the tool position is located, including both position and orientation.
Frequency Property	double	Frequency of motion in Hz.
RotationVelocity Property	double	Maximum permitted tool rotation speed, in degrees per second.
Tool Property	Frame	Defines the pose of the robot's tool center point (TCP) in flange, including both position and orientation.
TranslationVelocity Property	double	Maximum allowed feed rate of the tool center, in mm/s or inches/s depending on the length unit of the application.
Velocity Property	double	Maximum allowable joint speed, as a percentage of the robot's nominal speed.
Equals(object) Method	bool
GetHashCode() Method	int
ToString() Method	string

Interface

IMoveResult

C#Python

Represents the result of a robot motion command.

Member	Type	Description
Id Property read only	int	Identifier of the motion command.
ReturnCode Property read only	MotionReturnCode	Return code indicating the outcome of the motion command.

Enum

MotionReturnCode

C#Python

Return code for robot motion commands.

Name	Value	Description
MisuseError	3	Motion command misuse error.
NotReady	1	The robot is not ready to execute motion.
ParameterError	2	Invalid parameter provided to the motion command.
Success	0	Success, no error occurred.
UnexpectedError	4	An unexpected error occurred during motion.

Enum

PowerReturnCode

C#Python

Return code for robot power commands.

Name	Value	Description
DisableTimeout	3	Timeout while disabling power.
EnableTimeout	2	Timeout while enabling power.
OnlyInRemoteMode	4	Power can only be changed in remote mode.
RobotNotStopped	1	Cannot change power while the robot is not stopped.
Success	0	Success, no error occurred.

Enum

BlendType

C#Python

Blend mode used during motion transitions between segments.

Name	Value	Description
BlendCartesian	2	Cartesian-space blending between motion segments.
BlendJoint	1	Joint-space blending between motion segments.
BlendOff	0	No blending; the robot stops at each target point.

Enum

MoveType

C#Python

Specifies whether the motion is absolute or relative.

Name	Value	Description
Absolute	0	Absolute motion in the reference frame.
Relative	1	Relative motion from the current position.

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Motion

Prerequisites

Power

Motion descriptor

Moves

Stop, restart and cancel

Try it in the demo application

Reference