Get a robtarget for the task

URL

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

Method

GET

URL Params

resource=robtarget Required

tool={tool_name} Optional

wobj={wobj_name} Optional

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?resource=robtarget" rel="self"/>
<ul>
<li class="rapid-robtarget" title="robtarget">
<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="cf1"></span>
<span class="cf4"></span>
<span class="cf6"></span>
<span class="cfx"></span>
<span class="ej1"></span>
<span class="ej2"></span>
<span class="ej3"></span>
<span class="ej4"></span>
<span class="ej5"></span>
<span class="ej6"></span>
</li>
</ul>
</div>
</body>
</html>

Resources

robtarget The target position from the home position.
- (x-z) Target positions.
- (q1-q4) Orientation.
- (cf1-cfx) Configuration.
- (ej1-ej6) extjoints.

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?resource=robtarget&tool=tool0&wobj=wobj1"

Notes

Not supported in bootserver mode