Difference between revisions of "MC-Basic:robot.MODELENABLE"
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| − | In cases of closed-chain kinematics the initial joint position values (before homing) could | + | In cases of closed-chain kinematics the initial joint position values (before homing) could be such that the direct kinematics (DK) transformation always returns an error. This could lead to a situation that certain model parameters (e.g. Link[][], etc.) cannot be set as the robot cannot be attached because the attachment itself initiates DK calling and this again returns an asynchronous error. This property helps switching off model computation of DK & IK. |
|TYPE= | |TYPE= | ||
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|UNITS= | |UNITS= | ||
| − | + | N/A | |
|DEFAULT= | |DEFAULT= | ||
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|LIMITATIONS= | |LIMITATIONS= | ||
| − | + | N/A | |
|EXAMPLE= | |EXAMPLE= | ||
Latest revision as of 12:46, 24 November 2023
In cases of closed-chain kinematics the initial joint position values (before homing) could be such that the direct kinematics (DK) transformation always returns an error. This could lead to a situation that certain model parameters (e.g. Link[][], etc.) cannot be set as the robot cannot be attached because the attachment itself initiates DK calling and this again returns an asynchronous error. This property helps switching off model computation of DK & IK.
Syntax
ModelEnable = <on/off>
Type
Integer
Range
0/1
Units
N/A
Default
1
Scope
Configuration ,Task or Terminal
Limitations
N/A
Examples
Puma.ModelEnable = 0