Orientation Following Flag

Description

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

Values:

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

File:AXY-Orientation-Following-Short-Joint.jpg Drawing: example of shortest joint path

File:AXY-Orientation-Following-Short-Cartesian.jpg Drawing: example of shortest cartesian path

File:AXY-Orientation-Following.jpg