MC-Basic:robot.ORIENTATIONCOMPLEMENT

If set, causes the system to look for the alternative solution when the given ofollow causes motion that goes beyond position limits. The alternative solution is fully determined as a complementary of the selected one:

• Longer path in world space ↔ Shorter path in world space
• Longer path in joint space ↔ Shorter path in joint space
• Positive direction in world space ↔ Negative direction in world space
• Positive direction in joint space ↔ Negative direction in joint space

	IMPORTANT
	The action is done AFTER the orientation following fails with direction that is determined using the ORIENTATIONFOLLWING flag

Short form

OCOMPLEMENT

Syntax

<robot>.OCOMPLEMENT = <number>

Availability

4.7.10 and up

Type

long

Range

0/1

Units

none

Default

0

Scope

Task, Terminal

Limitations

Only for robots, Modal/Nodal

See Also

• ORIENTATIONFOLLOWING
• Orientation_Following_Flag
• Issue 5186