MC-Basic:robot.ORIENTATIONFOLLOWING

Defines the Orientation interpolation mode of the Cartesian motions (MOVES and CIRCLE). For a given Cartesian interpolation there are always several (ininfite) number of possible orientation angle interpolations.

	IMPORTANT
	In case target point is given in joint coordinates the ORIENTATIONFOLLOWING is automatically set to 1(shortest path in joint coordinates).

	NOTE
	The world orientation angles are interpolated. In SCARA case (XYZR), it is only the roll angle.

	IMPORTANT
	Influences only Cartesian interpolated motions (MOVES, CIRCLE). It has no influence on joint interpolated motions (MOVE).

	IMPORTANT
	The action is done BEFORE the orientation direction is determined using the ORIENTATIONCOMPLEMENT flag

Sometimes motion cannot be executed because the orientation angle or the joint angle exceeds its limits during the move. In this case, another orientation interpolation mode can be selected.

Short form

<ROBOT>.ofollow

Syntax

?<ROBOT>.ofollow

Availability

values 4 - 7 from 4.7.13 and later.

Type

Long

Range

0 – Shortest path in world coordinates ( shortest orientation path)

1 – Shortest path in joint coordinates (shortest movement of fourth joint for SCARA).

2 - longer path in world space

3 - longer path in joint space

4 – Positive direction in world space (new, from 4.7.13)

5 – Positive direction in joint space (new, from 4.7.13) - sign of last joint

6 – Negative direction in world space (new, from 4.7.13)

7 – Negative direction in joint space (new, from 4.7.13) - sign of last joint

Default

0

Scope

R/W, Configuration, Task, Terminal

Examples

MOVES #{500,500,0,0} ofollow = 1

See Also

• CIRCLE
• MOVES
• Orientation Following Flag
• ORIENTATIONCOMPLEMENT