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# System prepended metadata

title: TM12 ROS2 foxy Setting poseitions

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# TM12 Setting poseitions
ros version: ros2 foxy

## SetPositions.srv
1. Motion_type :
    * int motion_type 
    >     PTP_J = 1 （J代表位置值是關節角度）
    >     PTP_T = 2 （T代表位置值是笛卡爾坐標）
    >     LINE_J = 3
    >     LINE_T = 4
    >     CIRC_J = 5
    >     CIRC_T = 6
    >     PLINE_J = 7
    >     PLINE_T = 8
2. positions
   * float64[] positions
3. velocity
   * float64 velocity       
    > motion velocity: if expressed in Cartesian coordinate (unit: m/s) , if expressed in joint velocity (unit: rad/s, and the maximum value is limited to pi )
4. acc_time
    * float64 acc_time 
    >     time to reach maximum speed (unit: ms)
5. blend_percentage
    * int32 blend_percentage 
    >     blending value: expressed as a percentage (unit: %, and the minimum value of 0 means no blending)
6. fine_goal
    * bool fine_goal
    >     precise position mode : If activated, the amount of error in the final position will converge more.
