softMC robot-model codes:
| Description
|
robot-model code
|
point-type
|
| no model
|
-1
|
|
| Cartesian
|
1
|
|
| Cartesian (Pitch & Roll)
|
1
|
PR
|
| Cartesian ( X and Y)
|
1
|
XY
|
| Cartesian (X , Y and Roll)
|
1
|
XYR
|
| Cartesian (X , Y and Z)
|
1
|
XYZ
|
| Cartesian (X , Y , Z and Roll)
|
1
|
XYZR
|
| Cartesian (X , Y , Z , Roll and Pitch)
|
1
|
XYZRP
|
| Cartesian (X , Y , Z ,Yaw , Roll and Pitch)
|
1
|
XYZYPR
|
| Puma
|
2
|
XYZYPR
|
No Coupling
|
3
|
|
| SCARA (X, Y, Z and Roll)
|
4
|
XYZR
|
| SCARA (X, Y, Z )
|
4
|
XYZ
|
| User Defined
|
5
|
|
| Delta(Flex Picker) (X, Y, Z and Roll)
|
6
|
XYZR
|
| Delta(Flex Picker) (X, Y, Z )
|
6
|
XYZ
|
| Traverse Arm (Speed Picker) (X, Y, Z and Roll)
|
7
|
XYZR
|
| Traverse Arm (Speed Picker) (X, Y, Z )
|
7
|
XYZ
|
| Scissor Kinematics (X, Y, Z and Roll)
|
8
|
XYZR
|
| Scissor Kinematics (X, Y, Z )
|
8
|
XYZ
|
| Chair Side Engine - 5ON
|
9
|
XYZAB
|
| Chair Side Engine - 5OFF
|
10
|
XYZAB
|
| 3PPPR
|
11
|
XYR
|
| Lab Side Engine - 5ON
|
12
|
XYZAB
|
| Lab Side Engine - 5OFF
|
13
|
XYZAB
|
| 4 Bar linkage
|
14
|
XY
|
| GSR
|
15
|
XYZPR
|
| EVEREST - 5ON
|
16
|
XYZPR
|
| EVEREST - 5OFF
|
17
|
XYZPR
|
| PALLETIZING ROBOT
|
18
|
XYZR
|
| Linear Delta
|
21
|
XYZR
|