Difference between revisions of "MC-Basic:robot.SINGULARITYMARGIN"
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|DESCRIPTION= | |DESCRIPTION= | ||
| − | Limits the | + | Limits the cartesian-space interpolation near singular points. Setting this value will add a safety envelope around singularpoints to/from where robot can not be moved in Cartesina space. This means the motion commands MOVES & CIRCLE can not be executed from/to these points. However simple–joint interpolated motion(MOVE) from to these points is possible. Where these points are dependes on robot kinematics type. |
For example for SCARA, these points are where:<br> | For example for SCARA, these points are where:<br> | ||
Revision as of 15:48, 5 January 2017
Limits the cartesian-space interpolation near singular points. Setting this value will add a safety envelope around singularpoints to/from where robot can not be moved in Cartesina space. This means the motion commands MOVES & CIRCLE can not be executed from/to these points. However simple–joint interpolated motion(MOVE) from to these points is possible. Where these points are dependes on robot kinematics type.
For example for SCARA, these points are where:
r > L1 +L2 -SingulartyMargin
Syntax
SingularityMargin
Availability
from 4.5.32
Type
Double
Range
0-MaxDouble
Units
mm
Default
0
Scope
Task, Terminal
Limitations
Modal only.Valid for robots only.
Examples
SingulartyMargin = 2