URL

/rw/rapid/tasks/{task}/motion

Method

GET

URL Params

None

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>rapid</title>
<base href="http://localhost:80/rw/rapid/"/>
</head>
<body>
<div class="state">
<a href="tasks/T_ROB1/motion" rel="self"/>
<ul>
<li class="rapid-robtarget-li" title="robtarget">
<a href= "tasks/T_ROB1/motion?resource=robtarget" rel="self"/>
</li>
<li class="rapid-jointtarget-li" title="jointtarget">
<a href= "tasks/T_ROB1/motion?resource=jointtarget" rel="self"/>
</li>
<li class="rapid-extjointstate-li" title="extjointstate">
<a href= "tasks/T_ROB1/motion?resource=extjointstate" rel="self"/>
</li>
<li class="rapid-mechunit-li" title="mechunit">
<a href= "tasks/T_ROB1/motion?resource=mechunit" rel="self"/>
</li>
</ul>
</div>
</body>
</html>

Resources

robtarget The target position from the home position.
jointtarget The target position of the joint.
extjointstate If any ext mechnical unit is attached than provide the extjoints.
mechunit The unit in which robtarget, jointtarget and extjoint applies.

Error Response

BAD_REQUEST(400), See Robot controller return codes

Sample Call

curl --digest -u "Default User":robotics "http://127.0.0.1/rw/rapid/tasks/T_ROB1/motion"

Notes

Not supported in bootserver mode