voraus Robot Arm for Rust

This guide shows how to use the voraus-robot-arm Rust crate step by step.

First, it is recommended to have a look at the key concepts this library relies on.

The examples in this guide come from the runnable programs in rust/crates/voraus-robot-arm/examples/. To run an example, you need a running voraus.core.

Contents

Page	Description
Quick Start	Connect, enable, move, done
Key Concepts	Capabilities as traits, robot types, commands vs. instructions
Lifecycle	Connect, enable, disable, disconnect, command timeout
Reading the Robot State	Joint pose, TCP pose, velocities, accelerations, states
Moving in Joint Space	Point-to-point motion, Cartesian targets, speed, blending, amending
Moving on a Linear Path	Linear motion with a required speed, blending radius, motion profile
Moving on a Circular Path	Circular motion through a via pose
Instructions	Instruction handles, waiting, errors, blocks, blending
Wait Time	Robot-side waits as block steps
Pause and Continue	Pause motion and resume with the queue intact
Stop	Stop motion, abort the queue, unstop
Jogging	Continuous and target-pose jogging
Coordinate Systems	User-defined coordinate systems
Time Override	Global speed scaling, scoped and with transition
Setting and Resetting Errors	Set an external error, recover with the voraus error handler
Payload	Payload mass and center of mass
Limits	Reading limits and selecting limit sets
Heartbeat	Dead man’s switch between application and robot control
Tools	Tool selection
Pose Conversion	Joint poses to Cartesian poses and back
Digital I/O	Digital inputs and outputs, pins and groups
Stop Behavior	Stop types and durations per stop source
Pose Manager	Named poses with YAML import and export
Logging and Telemetry	tracing setup, RUST_LOG, OpenTelemetry
Changelog	Release notes of the Rust crate