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

Drawing: example of shortest joint path

Drawing: example of shortest cartesian path

File:AXY-Orientation-Following.jpg

Side effects, remarks

File:AXY-Note.png	Beginning from firmware version 4.5.23 in cases of very small orientation changes (below one degree) will be executed identically both for the values of the orientationfollwing flag in 0 and 2 as in 1 and 2. This is done in order to avoid ambiguity of having "longer" angle path when the shorter angle path is around 0. If the shorter path is 0 then the longer can be either +360 or -360!