Difference between revisions of "MC-Basic:robot.ORIENTATIONFOLLOWING"
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|AVAILABILITY= | |AVAILABILITY= | ||
| + | values 4 - 7 from 4.7.13 and later. | ||
|DESCRIPTION= | |DESCRIPTION= | ||
Defines the Orientation interpolation mode of the Cartesian motions (MOVES and CIRCLE). For a given Cartesian interpolation there are always several (ininfite) number of possible orientation angle interpolations. | Defines the Orientation interpolation mode of the Cartesian motions (MOVES and CIRCLE). For a given Cartesian interpolation there are always several (ininfite) number of possible orientation angle interpolations. | ||
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| + | {{Note/Important|In case target point is given in joint coordinates the ORIENTATIONFOLLOWING is automatically set to '''1'''(shortest path in joint coordinates).}} | ||
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{{Note|The world orientation angles are interpolated. In SCARA case (XYZR), it is only the roll angle.}} | {{Note|The world orientation angles are interpolated. In SCARA case (XYZR), it is only the roll angle.}} | ||
{{Note/Important|Influences only Cartesian interpolated motions ('''MOVES, CIRCLE'''). It has no influence on joint interpolated motions ('''MOVE''').}} | {{Note/Important|Influences only Cartesian interpolated motions ('''MOVES, CIRCLE'''). It has no influence on joint interpolated motions ('''MOVE''').}} | ||
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| + | {{Note/Important|The action is done '''BEFORE''' the orientation direction is determined using the '''ORIENTATIONCOMPLEMENT''' flag}} | ||
Sometimes motion cannot be executed because the orientation angle or the joint angle exceeds its limits during the move. In this case, another orientation interpolation mode can be selected. | Sometimes motion cannot be executed because the orientation angle or the joint angle exceeds its limits during the move. In this case, another orientation interpolation mode can be selected. | ||
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1 – Shortest path in joint coordinates (shortest movement of fourth joint for SCARA). | 1 – Shortest path in joint coordinates (shortest movement of fourth joint for SCARA). | ||
| − | 2 | + | 2 - longer path in world space |
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| + | 3 - longer path in joint space | ||
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| + | 4 – Positive direction in world space (new, from 4.7.13) | ||
| + | |||
| + | 5 – Positive direction in joint space (new, from 4.7.13) ''''' - sign of last joint''''' | ||
| + | |||
| + | 6 – Negative direction in world space (new, from 4.7.13) | ||
| − | + | 7 – Negative direction in joint space (new, from 4.7.13) ''''' - sign of last joint''''' | |
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|SCOPE= | |SCOPE= | ||
| − | + | Read/Write, Configuration, Task, Terminal | |
|LIMITATIONS= | |LIMITATIONS= | ||
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|SEE ALSO= | |SEE ALSO= | ||
| − | * [[ | + | * [[MC-Basic:CIRCLE|CIRCLE]] |
| − | * [[ | + | * [[MC-Basic:MOVES|MOVES]] |
| − | * [[ | + | * [[Orientation Following Flag|Orientation Following Flag]] |
| − | * [[ | + | * [[MC-Basic:robot.ORIENTATIONCOMPLEMENT|ORIENTATIONCOMPLEMENT]] |
}} | }} | ||
Latest revision as of 08:56, 22 May 2014
Defines the Orientation interpolation mode of the Cartesian motions (MOVES and CIRCLE). For a given Cartesian interpolation there are always several (ininfite) number of possible orientation angle interpolations.
 | IMPORTANT |
| In case target point is given in joint coordinates the ORIENTATIONFOLLOWING is automatically set to 1(shortest path in joint coordinates). |
 | NOTE |
| The world orientation angles are interpolated. In SCARA case (XYZR), it is only the roll angle. |
| IMPORTANT |
| Influences only Cartesian interpolated motions (MOVES, CIRCLE). It has no influence on joint interpolated motions (MOVE). |
| IMPORTANT |
| The action is done BEFORE the orientation direction is determined using the ORIENTATIONCOMPLEMENT flag |
Sometimes motion cannot be executed because the orientation angle or the joint angle exceeds its limits during the move. In this case, another orientation interpolation mode can be selected.
Short form
<ROBOT>.ofollow
Syntax
?<ROBOT>.ofollow
Availability
values 4 - 7 from 4.7.13 and later.
Type
Long
Range
0 – Shortest path in world coordinates ( shortest orientation path)
1 – Shortest path in joint coordinates (shortest movement of fourth joint for SCARA).
2 - longer path in world space
3 - longer path in joint space
4 – Positive direction in world space (new, from 4.7.13)
5 – Positive direction in joint space (new, from 4.7.13) - sign of last joint
6 – Negative direction in world space (new, from 4.7.13)
7 – Negative direction in joint space (new, from 4.7.13) - sign of last joint
Default
0
Scope
Read/Write, Configuration, Task, Terminal
Examples
MOVES #{500,500,0,0} ofollow = 1