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5.3.3.2 robot:park

robot:park (robot) [(time)]

This procedure puts the robot into a neutral equilibrium position, so that when the power is turned off and the motors go limp, the arm stays exactly where it is. If the procedure is also called when the robot is switched back on, the motor positions will be reset without the motors actually moving (which they would normally do with uncontrollably high speed), and then subsequent movements will take place at the correct speed, as specified, i.e. the robot will be started in a well-known position without having to undergo any movement to get there, thus eliminating sudden impulsive torques on the motors and the manipulator joints.

The optional argument \a time can be used to specify, in seconds, the total time to be taken for the robot to get back into its park position.

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