MC-Basic:robot.ARMFBK

Returns the actual (current) robot configuration. In SCARA  robots each Cartesian position can be obtained by two different angles of second joint.  These two solutions represent tow solution of the robots inverse kinematics equations, or in other words the robot configurations. Usually they are called “lefty” and “righty” robot configurations.  This flag indicates which of them is taken. Also, when this flag is different from the commanded one (armcmd) no straight line motion can be made.

For example in SCARA kinematic model this flag is computed according to the sing of position of the second joint.
                   j2.pfb > 0 -> Lefty
                   j2.pfb = 0 -> Undefined(Auto)
                   j2.pfb < 0 -> Righty

Short form

<ROBOT>.afbk

Syntax

?<ROBOT>.armfbk

Type

Long

Range

0 (undefined)/ 1(lefty)/ 2 (Righty)

Scope

Configuration, Task, Terminal

Limitations

Read Only, Modal Only

Examples

?scara.armfbk

See Also

• robot.ARMCMD