(r2) ACMECommandLine < Imager

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---+Moving the Gantry, Stages, and Robots


To move that gantry and stages, you can use the =move= command, which takes the name of the device to be moved, followed by a set of joint coordinates.

<verbatim>
    % move gantry to 270,-620,-260,52,-15
    % move stage to 0,0,-45
    % move linear to 450
</verbatim>

The move command is only available on =kiewa=, and it takes the general form

<verbatim>
    % move [<robotname>] (to|by) <list of joint values>
</verbatim>

For example,

<verbatim>
    % move gantry to 500,100,0,0,0
</verbatim>

will cause the gantry joints to move to the values 500, 100, 0, 0, 0.

<verbatim>
    % move gantry by 100,100,-20 
</verbatim>

will cause the first 3 gantry joints to be moved relatively by 100, 100, and -20. Joints not specified in the 'move' argument list are not moved.

The names of the robots are

   * =linear= (for the <a href="%PUBURL%/%WEB%/ActiveMeasurementFacility/ACMELinear.jpg">linear stage</a>)
   * =stage= (for the <a href="%PUBURL%/%WEB%/ActiveMeasurementFacility/ACMEStage.jpg">test stage and turn table</a>)
   * =thumper= (for the <a href="%PUBURL%/%WEB%/ActiveMeasurementFacility/ACMEPuma.jpg">puma260</a>)
   * =gantry= (for the <a href="%PUBURL%/%WEB%/ActiveMeasurementFacility/ACMEGantry.jpg">gantry</a>)

If you don't specify a name, the default is =thumper= (the puma).

To find out where a robot is, you can do 

<verbatim>
    % move <robotname> by 0
</verbatim>

and this will print out the joints where the robot is currently at. You can also run
 
<verbatim>
    % free <robotname>
</verbatim>

and type 'show' after the prompt.



-- Main.WolfgangHeidrich - 24 Nov 2005
Topic revision: r2 - 2005-11-29 - WolfgangHeidrich