Difference between revisions of "SCARA J1 range"
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| − | Default (basic) range of the first joint angle of SCARA | + | Default (basic) range of the first joint angle of SCARA (Bosch) robot is (-90,270). For the UniVal SCARA robot the range should be (-180,+180), therefore a theta parameter was added. It is used for the first joint only. Its default value is 90 so the basic range of J1 angles is: <math>(-180 + \theta_i, +180 + \theta_i)</math> |
<pre> | <pre> | ||
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</pre> | </pre> | ||
| − | + | Do not forget to add in your PROTO.PRO file: | |
<pre> | <pre> | ||
import_c SCARA_GET_THETA(byval as long, byval as long) as double | import_c SCARA_GET_THETA(byval as long, byval as long) as double | ||
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== Availability == | == Availability == | ||
| − | + | Since Version 4.5.24 | |
[[Category:Mechatronics:SR-series robots]] | [[Category:Mechatronics:SR-series robots]] | ||
Revision as of 10:25, 23 March 2014
Theta parameter for SCARA model
Default (basic) range of the first joint angle of SCARA (Bosch) robot is (-90,270). For the UniVal SCARA robot the range should be (-180,+180), therefore a theta parameter was added. It is used for the first joint only. Its default value is 90 so the basic range of J1 angles is:
double SCARA_GET_THETA(int hndl, int i); double SCARA_SET_THETA(int hndl,int i, double value);
Do not forget to add in your PROTO.PRO file:
import_c SCARA_GET_THETA(byval as long, byval as long) as double import_c SCARA_SET_THETA(byval as long, byval as long,byval as double) as double
Return Value
In case of an error (not a SCARA model or invalid index) both functions are returning -1
The SCARA_SET_THETA returns 1 if everything is OK.
To Be Done
Make it available as regular property
Availability
Since Version 4.5.24
--Miborich 14:13, 1 July 2010 (CEST)