park(1)

NAME
park -- RCI program to put the robot into the park position.

USAGE
park [<robotName>] [-sim[=<simaddr>]] [-on]

DESCRIPTION
This program simply moves the robot into the park position.

ARGUMENTS

robotName --
    Optional robot name. If absent, the name is obtained from the system file $RCCL/conf/defaultRobot.

-sim --
    Causes the program to be run in simulator mode, in which it will attempt to connect to a robot simulator program (see robotsim) instead of connecting to a real robot.

    If unqualified, the -sim option causes the program to seek a simulator running on the same machine under the same user name. A different simulator can be specified by adding an address string <simaddr>, as in -sim=<simaddr>. For the format of this address string, see simAddress(5).

-on --
    Leave the robot arm power on after the program has exited.

NOTES
The park angles are obtained from the JLS structure for the robot in question, along with the nominal speed and accelerations.

For the PUMA 260, joint 2 is moved first for a short distance if its value is below a certain limit; this is a safeguard in case the PUMA 260 is in the nest.

DIAGNOSTICS
The program will not run if the robot is not calibrated.

BUGS
We don't really need this command; the command "move to park" ought to work just as well.

SEE ALSO
JLS(3).