\input manualMacros.tex
\manBegin
\manPageInfo{RCI Reference Manual}{}{}
\manTitle{park}{1}
\manSection{NAME}
{\tt \manName{park}}
-- RCI program to put the robot into the park position.
\manSection{USAGE}
\cverbatim
park [<robotName>] [-sim[=<simaddr>]] [-on]@endcverbatim
\manSection{DESCRIPTION}
This program simply moves the robot into the park position.
\manSection{ARGUMENTS}
\manItem{{\tt robotName} --}
Optional robot name. If absent, the name is obtained from the system file
{\filefont \$RCCL/conf/defaultRobot}.
\manItem{{\tt -sim} --}
Causes the program to be run in simulator mode, in which it will attempt to 
connect to a robot simulator program (see {\tt robotsim}) instead of 
connecting to a real robot.
\manItem{}
If unqualified, the {\tt -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 {\tt <simaddr>},
as in {\tt -sim=<simaddr>}. For the format of this
address string, see {\tt simAddress(5)}.

\manItem{{\tt -on} --}
Leave the robot arm power on after the program has exited.

\manSection{NOTES}
The park angles are obtained from the {\tt 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.

\manSection{DIAGNOSTICS}
The program will not run if the robot is not calibrated.
\manSection{BUGS}
We don't really need this command; the command {\tt "move to park"}
ought to work just as well.
\manSection{SEE ALSO}
\raggedright
{\tt JLS(3)}.
\manEnd
\end
