Difference between revisions of "MC-Basic:movingFrame.UPMASTER"
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Revision as of 09:18, 22 May 2014
The UpMaster sets points that define the lower boundary of the moving frame
tracking as an array of points. Each the array’s element is a limit definition of given degree of freedom (array index). The size of the array is the moving frame’s number of degrees of freedom. It is used to calculate the transmission rate computing the scale ratio used to calculate the current moving frame position inside the working window. The position is relative terms to the trigger position and it is in master position units.
Querying the value will return the original value given by the user and not the current used value which is offset by the trigger position.
The UpperMaster and the DownMaster, define the region for every independent axis (source). The boundaries value has to fit to the followed axis, as it is defined in MasterSource property (command / feedback / external).
Syntax
< Moving Frame >.UpMaster[ ] = <position value>
Availability
Versions 4.0.26 and higher
Type
Array of Doubles
Range
Array size is according to NDOF .
Each value according to its axis source type (position, counts or robot type).
Units
Position in Moving frame system unites
Default
0
Scope
Task or Terminal
Limitations
The number of points must be as the number of independent axes in the moving frame.The UpMaster has to be set before start tracking.
Examples
CNV.ndof = 3
CNV.MasterSource= a1.pcmd , a2.pfb, a3.pext
CNV.upmaster[1] = 10000