Difference between revisions of "SCARA J1 range"
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Default (basic) range of the first joint angle of SCARA (Bosch) robot is (-90,270). For the UniVal SCARA robot the range should be (-180,+180), therefore a theta parameter was added. It is used for the first joint only. Its default value is 90 so the basic range of J1 angles is: <math>(-180 + \theta_i, +180 + \theta_i)</math> | Default (basic) range of the first joint angle of SCARA (Bosch) robot is (-90,270). For the UniVal SCARA robot the range should be (-180,+180), therefore a theta parameter was added. It is used for the first joint only. Its default value is 90 so the basic range of J1 angles is: <math>(-180 + \theta_i, +180 + \theta_i)</math> | ||
| − | <pre> | + | <pre>double SCARA_GET_THETA(int hndl, int i); |
| − | + | double SCARA_SET_THETA(int hndl,int i, double value); | |
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| − | |||
</pre> | </pre> | ||
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| − | [[Category | + | [[Category:Motion Control]] |
Latest revision as of 10:11, 26 May 2014
Theta parameter for SCARA model
Default (basic) range of the first joint angle of SCARA (Bosch) robot is (-90,270). For the UniVal SCARA robot the range should be (-180,+180), therefore a theta parameter was added. It is used for the first joint only. Its default value is 90 so the basic range of J1 angles is:
double SCARA_GET_THETA(int hndl, int i); double SCARA_SET_THETA(int hndl,int i, double value);
Do not forget to add in your PROTO.PRO file:
import_c SCARA_GET_THETA(byval as long, byval as long) as double import_c SCARA_SET_THETA(byval as long, byval as long,byval as double) as double
Return Value
In case of an error (not a SCARA model or invalid index) both functions are returning -1
The SCARA_SET_THETA returns 1 if everything is OK.
To Be Done
Make it available as regular property
Availability
Since Version 4.5.24