Difference between revisions of "MC-Basic:robot.AXIS"
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Revision as of 16:10, 13 December 2010
Sets the axis orientation of the robot joint. The setting is completed only after calling the configgrouop command (CONFIGGROUOP ROBOT). Normally the vector should be a unit vector. In any case, it is normalized (converted to unit vector) during the execution of the CONFIGGROUOP command. The meaning of this property is different for each robot type. For example SCARA configuration should have:
a1 = {0,0,1}
a2 = {0,0,1}
a3 = {0,0,-1} ‘ means: Z axis is oriented downwards
a4 = {0,0,1}
Not all of the values are used, what values are used and what not depends on the selected robot type (SCARA, PUMA, …)
Syntax
<ROBOT>.axis[<axis no.>][<index>]= 1
? <ROBOT>.axis[<axis no.>][<index>]
Type
Double precision
Range
value: -1¸1 index: 1¸3
Default
0
Scope
Configuration, Task, Terminal
Limitations
Modal only. Writable in disabled state only. Group must be attached.
Examples
Setting the orientation vector of the first joint:
robot.axis[1][1] = 0
robot.axis[1][2] = 0
robot.axis[1][3] = 1.0