Difference between revisions of "MC-Basic:robot.MODELENABLE"

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m (Miborich moved page Axystems:MC-Basic:robot.MODELENABLE to MC-Basic:robot.MODELENABLE: Global renaming of Axystems: namespace into (Main):)
(Corrected typos.)
 
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|DESCRIPTION=
 
|DESCRIPTION=
In cases of closed-chain kinematics the initial joint position values (before homing) could besuch that the direct kinematics (DK)transformation always returns error. This could lead to a situation that certain model parameters (e.g. Link[][] , etc.) can not be set  as the robot can not be attached because the attachment it self initiates DK calling and this again returns an asynchronouserror. This property helps switching off model computation of DK & IK.
+
In cases of closed-chain kinematics the initial joint position values (before homing) could be such that the direct kinematics (DK) transformation always returns an error. This could lead to a situation that certain model parameters (e.g. Link[][], etc.) cannot be set as the robot cannot be attached because the attachment itself initiates DK calling and this again returns an asynchronous error. This property helps switching off model computation of DK & IK.
  
 
|TYPE=
 
|TYPE=
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|UNITS=
 
|UNITS=
NA
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N/A
  
 
|DEFAULT=
 
|DEFAULT=
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|LIMITATIONS=
 
|LIMITATIONS=
.
+
N/A
  
 
|EXAMPLE=
 
|EXAMPLE=

Latest revision as of 12:46, 24 November 2023

In cases of closed-chain kinematics the initial joint position values (before homing) could be such that the direct kinematics (DK) transformation always returns an error. This could lead to a situation that certain model parameters (e.g. Link[][], etc.) cannot be set as the robot cannot be attached because the attachment itself initiates DK calling and this again returns an asynchronous error. This property helps switching off model computation of DK & IK.

Syntax

ModelEnable = <on/off>

Type

Integer

Range

0/1

Units

N/A

Default

1

Scope

Configuration ,Task or Terminal

Limitations

N/A

Examples

Puma.ModelEnable = 0