MC-Basic:robot.ELBOWCMD

Defines the working (command) PUMA robot configuration. When the target position is given as location variable, it is Cartesian point. This flag determines which of the solutions will be taken for the joint coordinates of the target position.

The elbow flag defines ABOVE or BELOW configurations according (for PUMA only):

ABOVE - position of the wrist of the $\left\{{\begin{matrix}RIGHTY\\LEFTY\end{matrix}}\right\}$ arm with respect to the shoulder coordinate system has $\left\{{\begin{matrix}negative\\positive\end{matrix}}\right\}$ coordinate value along the Y axis of the second segment

BELOW - position of the wrist of the $\left\{{\begin{matrix}RIGHTY\\LEFTY\end{matrix}}\right\}$ arm with respect to the shoulder coordinate system has $\left\{{\begin{matrix}negative\\positive\end{matrix}}\right\}$ coordinate value along the Y axis of the second segment

Setting it to zero AUTO means taking the current ELBOWFBK for the value.

0 - Keep the current configuration or choose the closest joint-target.

1 - Joint-target is BELOW

2 - Joint-target is ABOVE

Short form

<ROBOT>.ecmd

Syntax

?<ROBOT>.ecmd

<ROBOT>.ecmd=1

Availability

Since Version 4.2.x

Type

Long

Range

0 (auto)/ 1(below)/ 2 (above)

Default

0

Scope

Configuration, Task, Terminal

Limitations

Read/Write, Modal/Nodal

Examples

scara.elbowcmd=1

MOVE PUMA {1,2,3,4,5,6} elbowcmd=1

MOVES PUMA {1,2,3,4,5,6} elbowcmd=1

See Also

• robot.ARMFBK
• robot.ARMCMD