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Safe Plane
Adds an additional LIN movement at the beginning and/or at the end of a list of robot movement commands. The origin of the LINear movement will be projected onto a plane.
Inputs
| Name | ID | Description | Type |
|---|---|---|---|
| KUKA|prc Command | CMDS | 1 KUKA|prc LIN/PTP/CIR/SPL movement commands is required to offset the toolpath by Cartesian values. | CommandData |
| Safe Plane | SAFE PLANE | Safe plane to avoid collisions, do safety movements etc. | Plane |
| Offset Start | START | If enabled offset first point | Boolean |
| Offset End | END | If enabled offset last point | Boolean |
| Offset Speed | OFFSET VEL | (Optional) The speed in m/sec to move to the first position at the start, and the last offset position in the end. Set the regular process speed via the movement component's speed input. | Number |
Outputs
| Name | ID | Description | Type |
|---|---|---|---|
| KUKA|prc Command | CMDS | List of KUKA|prc Commands with offset start and/or end position. | CommandData |
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