URL

/rw/motionsystem/mechunits/{mechunit}/calib

Method

POST

URL Params

None

Data Params

method=RobotAxisRot2 Required
type=SINGLE2 Required
tolerance={tolerance_value} Required
axis={axis_num} Required
point1=[x, y, z, q1, q2, q3, q4, axis_value]
point2=[x, y, z, q1, q2, q3, q4, axis_value]
point3=[x, y, z, q1, q2, q3, q4, axis_value]
point4=[x, y, z, q1, q2, q3, q4, axis_value]
point5=[x, y, z, q1, q2, q3, q4, axis_value]
point6=[x, y, z, q1, q2, q3, q4, axis_value]
point7=[x, y, z, q1, q2, q3, q4, axis_value]
point8=[x, y, z, q1, q2, q3, q4, axis_value]
point9=[x, y, z, q1, q2, q3, q4, axis_value]
point10=[x, y, z, q1, q2, q3, q4, axis_value]

At least 4 points are required.

Success Response

HTTP_OK(200)

see HTTP Status codes

Example Response

    <?xml version="1.0" encoding="UTF-8"?>
    <html xmlns="http://www.w3.org/1999/xhtml">
    <head>
    <title>motionsystem</title>
<base href="http://localhost/rw/motionsystem/mechunits/ROB_1/"/>
    </head>
    <body>
    <div class="state">
    <a href="calib" rel="self"/>
    <ul>
    <li class="ms-mechunit-calib" title="calib">
    <span class="x">-138.3185882568359</span>
    <span class="y">-687.7495727539063</span>
    <span class="z">-102.7207489013672</span>
    <span class="q1">0.7739842534065247</span>
    <span class="q2">-0.3647675812244415</span>
    <span class="q3">0.2921652495861054</span>
    <span class="q4">0.4272382259368897</span>
    <span class="max-err">72.39798736572266</span>
    <span class="min-err">53.4705924987793</span>
    <span class="mean-err">36.10842514038086</span>
    </li>
    </ul>
    </div>
    </body>
    </html>

Resources

x, y, z Represents base frame position
q1, q2, q3, q4 Represents base frame orientation
max-err Represents the maximum error for one positioning
min-err Represents the minimum error for one positioning
mean-err Represents the accuracy of the robot positioning against the tip

Error Response

BAD_REQUEST(400)

Robot controller errors, see Robot controller return codes

Sample Call

curl --digest -u "Default User":robotics -d "method=RobotAxisRot2&type=SINGLE2&tolerance=0&axis=0&point1=[0, 0, 0, 1, 0, 0, 0, 0]&point2=[0, 0, 0, 1, 0, 0, 0, 0]&point3=[0, 0, 0, 1, 0, 0, 0, 0]&point4=[0, 0, 0, 1, 0, 0, 0, 0]" -X POST "http://localhost/rw/motionsystem/mechunits/ROB_1/calib"

Note

As all the use-cases for this API are not know, limited use-case testing has been performed for this API.

Not supported in boot server.