MC-Basic:robot.PASSMETHOD
There are two types of path that are defined by the point – through and via.
THROUGH(1) – the calculated path passes exactly through the point.
VIA(0) – the point defines only the direction but the passes doesn’t require reaching it.
In case of Via method new segment points are calculated according to the point stretch factor value. This means that for the segment P[n]-P[n+1] the new points Q[n] is proportional to SF[n] and Q[n+1] is proportional to SF[n+1]Points on a distance closer then the given value will be rejected..
Syntax
<Robot>.PassMethod = <Value>PASSSYMMETRICPATHPASSTRANMINGAPPASSROTMINGAPPASSTHROUGHMAXDEVIATION
Availability
Versions 4.2.x and higherVersions 4.2.x and higherDescription In VIA method forces the AI to produce symmetric distances of additional Q points from the P point although the Q points belong to differet segemnts, and tehrefore have different stretch facotes. Mkes rounding the corneres symmetrical.Versions 4.2.x and higherDescription Points on a distance closer then the given value will be rejected.Versions 4.2.x and higherVersions 4.2.x and higher
Type
LongLongDoubleDouble
Range
Through – 1
Via – 00/1above zero to MaxDoubleabove zero to MaxDouble
Units
mmdegdeg
Default
000.10.145
Scope
Task or TerminalTask or TerminalTask or TerminalTask or TerminalTask or Terminal
Limitations
Modal Only . Valid for robots only.Modal – Only Valid for robots only. Can not be set while the motion is executing.Modal – Only Valid for robots only. Can not be set while the motion is executing.Modal – Only Valid for robots only. Can not be set while the motion is executing.Modal – Only Valid for robots only. Can not be set while the motion is executing.
Examples
Puma.PassMethod = 0