URL

/rw/motionsystem/mechunits/{mechunit}/cartesian

Method

GET

URL Params

tool={tool_name} By default, active tool configured for the mechunit will be taken.
wobj={wobj_name} By default, active wobj configured for the mechunit will be taken.
coordinate={Base | Word | Tool | Wobj} Required
elog-at-err={1 | 0} Event log will be generated on error.

See Common URL parameters

Data Params

None

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="cartesian" rel="self"/>
           <ul>
               <li class="ms-mechunit-cartesian" title="cartesian">
                   <span class="x"></span>
                   <span class="y"></span>
                   <span class="z"></span>
                   <span class="q1"></span>
                   <span class="q2"></span>
                   <span class="q3"></span>
                   <span class="q4"></span>
                   <span class="j1"></span>
                   <span class="j4"></span>
                   <span class="j6"></span>
                   <span class="jx"></span>
               </li>
           </ul>
       </div>
   </body>
</html>

Error Response

BAD_REQUEST(400)

see HTTP Status codes

Sample Call

curl --digest -u "Default User":robotics "http://localhost/rw/motionsystem/mechunits/ROB_1/cartesian?tool=tool0&wobj=wobj1&coordinate=Base&elog-at-err=1"