Difference between revisions of "MC-Basic:robot.GOTOLIMIT"
(Added GOTOLIMIT = 2) |
|||
| (2 intermediate revisions by 2 users not shown) | |||
| Line 1: | Line 1: | ||
| + | {{Languages|MC-Basic:robot.GOTOLIMIT}} | ||
{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
| Line 11: | Line 12: | ||
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Flag causing the given straight-line motion to extend till reaching one of the position limits of | + | Flag causing the given straight-line motion to extend till reaching one of the position limits of the robot (PMIN/PMAX, XMIN/XMAX, ....). When GOTOLIMIT = 1, '''the given target point (in MOVES command) is used for direction computation only'''. The real target of the motion lies on the line starting at the initial point and pointing towards the given target point, either closer or further away from the given point. |
| + | From version 0.4.21.2r9, when GOTOLIMIT = 2, if the given target point is reachable the MOVES motion will end at the target point, and if not the motion will end at the furthest reachable point in the direction of the given target point. | ||
| − | [[File:GOTOLIMIT.PNG | | + | If the target orientation is different from the starting orientation, the profiler will always attempt to reach the target orientation at the final point that is reached. |
| + | |||
| + | |||
| + | [[File:GOTOLIMIT.PNG | 600px]] | ||
|TYPE= | |TYPE= | ||
| Line 20: | Line 25: | ||
|RANGE= | |RANGE= | ||
| − | 0 or 1 | + | 0 or 1 |
| + | |||
| + | From version 0.4.21.2r9 | ||
| + | |||
| + | 0 to 2 | ||
|UNITS= | |UNITS= | ||
| Line 36: | Line 45: | ||
|EXAMPLE= | |EXAMPLE= | ||
| − | Moves puma #{100,0,0,0,0,0} GoToLimit = 1 | + | Moves puma #{100,0,0,0,0,0} GoToLimit = 1 ' this command will move the robot in positive X direction as far as it can go. |
|SEE ALSO= | |SEE ALSO= | ||
Latest revision as of 13:08, 21 November 2023
| Language: | English • 中文（简体） |
|---|
Flag causing the given straight-line motion to extend till reaching one of the position limits of the robot (PMIN/PMAX, XMIN/XMAX, ....). When GOTOLIMIT = 1, the given target point (in MOVES command) is used for direction computation only. The real target of the motion lies on the line starting at the initial point and pointing towards the given target point, either closer or further away from the given point.
From version 0.4.21.2r9, when GOTOLIMIT = 2, if the given target point is reachable the MOVES motion will end at the target point, and if not the motion will end at the furthest reachable point in the direction of the given target point.
If the target orientation is different from the starting orientation, the profiler will always attempt to reach the target orientation at the final point that is reached.
Syntax
<ROBOT>.GoToLimit= <numeric expression>
Availability
From 0.4.15rc8
Type
Long
Range
0 or 1
From version 0.4.21.2r9
0 to 2
Units
none
Default
0
Scope
Task, Terminal
Limitations
Write-Only, Nodal Only, used for MOVES command only
Examples
Moves puma #{100,0,0,0,0,0} GoToLimit = 1 ' this command will move the robot in positive X direction as far as it can go.