Difference between revisions of "MC-Basic:robot.ORIENTATIONFOLLOWING"
| Line 33: | Line 33: | ||
4 – Positive direction in world space (new, from 4.7.13) | 4 – Positive direction in world space (new, from 4.7.13) | ||
| − | 5 – Positive direction in joint space (new, from 4.7.13) | + | 5 – Positive direction in joint space (new, from 4.7.13) ''''' - sign of last joint''''' |
6 – Negative direction in world space (new, from 4.7.13) | 6 – Negative direction in world space (new, from 4.7.13) | ||
| − | 7 – Negative direction in joint space (new, from 4.7.13) | + | 7 – Negative direction in joint space (new, from 4.7.13) ''''' - sign of last joint''''' |
Revision as of 09:18, 24 October 2011
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.
 | NOTE |
| The world orientation angles are interpolated. In SCARA case (XYZR), it is only the roll angle. |
 | IMPORTANT |
| Influences only Cartesian interpolated motions (MOVES, CIRCLE). It has no influence on joint interpolated motions (MOVE). |
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.
Short form
<ROBOT>.ofollow
Syntax
?<ROBOT>.ofollow
Availability
values 4 - 7 from 4.7.13 and later.
Type
Long
Range
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
4 – Positive direction in world space (new, from 4.7.13)
5 – Positive direction in joint space (new, from 4.7.13) - sign of last joint
6 – Negative direction in world space (new, from 4.7.13)
7 – Negative direction in joint space (new, from 4.7.13) - sign of last joint
Default
0
Scope
R/W, Configuration, Task, Terminal
Examples
MOVES #{500,500,0,0} ofollow = 1