MC-Basic:robot.JOINTENABLE

Enable flag. Enables joint-interpolated movements in group with robot models .( model≠1 ).

If disabled joint interpolated motion on group level will be not possible to execute (MOVE <robot> , MOVE J1 , ...).

There is also a second functionality of this flag, if disabled (= 0), all system robot stops (Following error, Velocity Overspeed, KillTask) will be always done aLong the latest Cartesian path. Independent of the StopType value.

The flag was introduced for specific robot mechanics (DELTA, ...) where there is a danger of moving robot joints independently.

However the flag will not disable axis specific motion like: MOVE A1, these are axis level motions and are not influenced by the group value.

Also, it is users responsibility to set the StopType value to ONPATH in

order to get Cartesian-path stops.

Syntax

<ROBOT>.JointEnable = <numeric expression>

Availability

Version 0.4.0.23 and higher

Type

Long

Range

0 (off) – 1 (on)

Default

1 (joint interpolated motion enabled)

Scope

Configuration, Task or Terminal

Limitations

R/W, Modal Only

Examples

delta.jointenable = 1