MC-Basic:robot.WRISTCMD
Defines the working (command) PUMA robot configuration. When the target position is given as location variable, it is Cartesian point. This flag determines which of the solutions will be taken for the joint coordinates of the target position.
The wrist flag defines FLIP or NOFLIP configuration according:
FLIP – value of joint 5 is negative
NOFLIP – value of joint 5 is positive
0 - Keep the current configuration or choose the closest joint-target.
1 - Joint-target is NOFLIP
2 - Joint-target is FLIP
Setting it to zero AUTO means taking the current WRISTFBK for the value.
Short form
<ROBOT>.wcmd
Syntax
?<ROBOT>.wristcmd
<ROBOT>.wcmd=1
Availability
AllVersions
Type
Long
Range
0 (auto)/ 1(noflip)/ 2 (flip)
Default
0
Scope
Configuration, Task, Terminal
Limitations
R/W, Modal/Nodal
Examples
scara.elbowcmd=1
MOVE PUMA {1,2,3,4,5,6} wristcmd=1