Difference between revisions of "MC-Basic:robot.ORIENTATIONFOLLOWING"
| Line 63: | Line 63: | ||
* [[Axystems:MC-Basic:MOVES|MOVES]] | * [[Axystems:MC-Basic:MOVES|MOVES]] | ||
* [[Axystems:Orientation_Following_Flag|Orientation Following Flag]] | * [[Axystems:Orientation_Following_Flag|Orientation Following Flag]] | ||
| − | * [[ | + | * [[Axystems:MC-Basic:robot.ORIENTATIONCOMPLEMENT|ORIENTATIONCOMPLEMENT]] |
}} | }} | ||
Revision as of 10:53, 22 January 2012
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). |
| IMPORTANT |
| The action is done BEFORE the orientation direction is determined using the ORIENTATIONCOMPLEMENT flag |
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