> For the complete documentation index, see [llms.txt](https://captic-2.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://captic-2.gitbook.io/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/neura.md).

# Neura

Read the pose of and move Neura robots.

Neura robots can be read **and** moved from the Integration Flow. You'll find the nodes under **neura** in the palette.

## Connect

Add a **Neura Connection** configuration node:

| Setting | Default        |
| ------- | -------------- |
| Host    | `192.168.2.13` |
| Port    | `65432`        |

## Nodes

| Node          | What it does                                                                      |
| ------------- | --------------------------------------------------------------------------------- |
| Get Pose      | Reads the current tool (TCP) pose. Outputs `[X, Y, Z, A, B, C]` in `msg.payload`. |
| Get Functions | Lists the functions the robot offers.                                             |
| Move Linear   | Moves the tool in a straight line through one or more poses.                      |
| Move Joint    | Moves the robot to a set of joint angles.                                         |
| Move to Point | Moves to a target point, either in a straight line or by joint motion.            |

### Move Linear

Takes a single pose or a list of poses from `msg.poses`, `msg.pose` or `msg.payload`. Speed defaults to 250 mm/s and acceleration to 250 mm/s². By default it starts the path from the robot's current position, so multi-point moves begin where the robot actually is.

### Move Joint

Takes joint angles in degrees. Speed and acceleration are **percentages of the maximum** (default 25%), not mm/s. To prevent accidents, it rejects input that looks like a tool pose, and any joint value above 400°. MAiRA robots need 7 joint values.

### Move to Point

Takes its target from the node settings, `msg.point`, an object in `msg.payload`, or `msg.x` … `msg.c`. Orientation can be given as `a, b, c` or `rx, ry, rz`. In joint mode it computes the joint angles for the target for you.

{% hint style="warning" %}
Linear moves use mm/s, joint moves use a percentage of maximum speed. Check which one you're setting before you deploy.
{% endhint %}

## Coordinate convention

Neura uses the **Fanuc (sxyz)** rotation convention. Select it in the Product UI settings at `http://[serial-number].local:3000/settings`, so poses arrive in the form your Neura robot program expects. See [Coordinate Conventions](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/coordinate-conventions.md).