Difference between revisions of "MC-Basic:robot.ZMIN"
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|SEE ALSO= | |SEE ALSO= | ||
* [[MC-Basic:CONFIGGROUP|CONFIGGROUP]] | * [[MC-Basic:CONFIGGROUP|CONFIGGROUP]] | ||
| − | * [[ | + | * [[MC-Basic:MOVES|MOVES]] |
* [[Axystems:MC-Basic:robot.ZMAX|robot.ZMAX]] | * [[Axystems:MC-Basic:robot.ZMAX|robot.ZMAX]] | ||
}} | }} | ||
Revision as of 08:39, 22 May 2014
This value is used in the pre-computation phase of the robot Cartesian movements (MOVES, CIRCLE). It is used to prevent robot collisions with its own body (base column).
Defines Z coordinate of the “lowest” robot position. No points below this plane are allowed.
 | IMPORTANT |
|
Always check the ZMIN value before configuring a new robot. The attached devices and parameters not taken into robot setup could significantly reduce the robots working area! |
Syntax
<ROBOT>.ZMin = <numeric expression>
Availability
All versions
Type
Double
Range
0.1-maxdouble
Units
Mm
Default
Depending on the robot parameter
Scope
Configuration, Task, Terminal
Limitations
Read/Write, Modal Only
Examples
Zmin = 60