Difference between revisions of "MC-Basic:robot.ELBOWCMD"
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Revision as of 16:10, 13 December 2010
Defines the working (command) PUMA robot configuration. When the target position is given as location variable, it is Cartesian point. This flag determines which of the solutions will be taken for the joint coordinates of the target position.
The elbow flag defines ABOVE or BELOW configurations according:
ABOVE - position of the wrist of the arm with respect to the shoulder coordinate system has coordinate value along the Y axis of the second segment
BELOW - position of the wrist of the arm with respect to the shoulder coordinate system has coordinate value along the Y axis of the second segment
Setting it to zero AUTO means taking the current ELBOWFBK for the value.
0 - Keep the current configuration or choose the closest joint-target.
1 - Joint-target is BELOW
2 - Joint-target is ABOVE
Short form
<ROBOT>.ecmd
Syntax
?<ROBOT>.ecmd
<ROBOT>.ecmd=1
Availability
Versions 4.2.x and higher
Type
Long
Range
0 (auto)/ 1(below)/ 2 (above)
Default
0
Scope
Configuration, Task, Terminal
Limitations
R/W, Modal/Nodal
Examples
scara.elbowcmd=1
MOVE PUMA {1,2,3,4,5,6} elbowcmd=1
MOVES PUMA {1,2,3,4,5,6} elbowcmd=1