Difference between revisions of "MC-Basic:robot.MACHINETABLE"
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|DESCRIPTION= | |DESCRIPTION= | ||
| − | MachineTable is a Robot property which informs the system to use the specified location as the machinetable transformation. It defines the position and orientation machine working frame relative to the | + | MachineTable is a Robot property which informs the system to use the specified location as the machinetable transformation. It defines the position and orientation machine working frame relative to the WORLD reference. |
The default machinetable transformation is the NULL transformation, which can be expressed as Puma.MachineTable = #{0,0,0,0,0,0} | The default machinetable transformation is the NULL transformation, which can be expressed as Puma.MachineTable = #{0,0,0,0,0,0} | ||
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* [[MC-Basic:robot.SETPOINT|robot.SETPOINT]] | * [[MC-Basic:robot.SETPOINT|robot.SETPOINT]] | ||
* [[MC-Basic:robot.TOOL|robot.TOOL]] | * [[MC-Basic:robot.TOOL|robot.TOOL]] | ||
| − | * [[ | + | * [[MC-Basic:robot.WORKPIECE|robot.WORKPIECE]] |
* [[MC-Basic:robot.BASE|robot.BASE]] | * [[MC-Basic:robot.BASE|robot.BASE]] | ||
| − | * [[ | + | * [[Robot Working Frames|Robot Working Frames]] |
}} | }} | ||
Latest revision as of 06:20, 18 April 2021
MachineTable is a Robot property which informs the system to use the specified location as the machinetable transformation. It defines the position and orientation machine working frame relative to the WORLD reference.
The default machinetable transformation is the NULL transformation, which can be expressed as Puma.MachineTable = #{0,0,0,0,0,0}
Syntax
MachineTable = <robot location point>
Type
Location
Range
According to the Robot Type
Units
User defined position units
Default
NULL
Scope
Configuration ,Task or Terminal
Limitations
.
Examples
Puma.MachineTable = #{25,0,100,0,45,0}
Scara.MachineTable = #{90, 180, 0, 0}
?Scara.MachineTable:WorkPiece:Base:Tool
- {90 , 90 , 90 , 180}