Tool & Work frames

[stephenfelix]

Does YMConnect as of now setting the tool definitions and and coordinate systems?
Similarly motion influenced by these definition such as mpMOVL is the MotoPlus API.

[ted-miller]

Hello @stephenfelix
Yes. When you submit a motion target, you specify a PositionData structure. Within this structure, the tool-number and coordinate-system are specified. https://developer.motoman.com/en/YMConnect/DataStructures#positiondata

Please note that the MotoPlus API mpMOVL is used for point-to-point motion only. The robot must fully decelerate between each point.

The motion interface in YMConnect is the same as the mpMot___ API's in MotoPlus. This allows for a smooth continuous trajectory through a series of waypoints.