Difference between revisions of "MC-Basic:COMMON SHARED or DIM SHARED or DIM ... AS JOINT OF ..."
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Common Shared Joint1 as joint of XYZR ‘SCARA robot Joint | Common Shared Joint1 as joint of XYZR ‘SCARA robot Joint | ||
| − | Joint1 = {20, 75, 90, 45 } | + | Joint1 = {20, 75, 90, 45} |
Move SCARA Joint1 | Move SCARA Joint1 | ||
Latest revision as of 07:14, 22 February 2022
| Language: | English • 中文（简体） |
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Joint isis Robot data-type containing joint coordinates of a point. For joint coordinates, a position variable is defined by n components representing the values in degrees (or mm) of each axis (n-number degrees of freedom according to the zero position of the kinematics model). Joint points are defined in relation to a type of robot (SCARA, PUMA, etc.). For complete list of supported point types see: Point_Type_List.The dimension of the point is the same as the dimension of the robot type.
Joint variables can be defined in all scopes, i.e., either in configuration file and from terminal (global variables), or within tasks, before (static variables) and within the Program block (local variables). Joint points can also be defined as parameters of subroutines and functions, as well as returned-values of functions. A joint variable may be a scalar or an array. An array may have up to 10 dimensions.
A position given in joint coordinates is an array of n joint values:
Jnt_pos = {jnt1, jnt2, jnt3, jnt4, jnt5, jnt6}
Individual coordinates can be accessed via index definition in the form {i}: Jnt_pos{1}, Jnt_pos{2}, …
Syntax
COMMON SHARED <variable_name> {[ ]…} AS JOINT OF <robot_type>
Availability
All versions
Type
<variable_name> : Joint
<robot_type>: XYZR, - Three cartesian axes + roll
XY – two axes XY table
XYZ – three axes XYZ system
XYZYPR - X-Y-Z-Yaw-Pitch-Roll
Range
According to the Robot Type
Units
User defined position units
Scope
Configuration ,Task or Terminal
Since Version 4.5.17 the global (common shared ) declaration is also possible from the Library context.
Limitations
Write only. A valid robot type must be used.
Examples
common shared scara as group axnm = a1 axnm = a2 axnm = a3 axnm = a4 model = 4 ‘SCARA robot Declaration
Common Shared Joint1 as joint of XYZR ‘SCARA robot Joint
Joint1 = {20, 75, 90, 45}
Move SCARA Joint1
MoveS SCARA Joint1
See Also
- COMMON SHARED ... AS LONG or DOUBLE or STRING or STRING OF UTF8
- DIM SHARED ... AS LONG or DOUBLE or STRING or STRING OF UTF8
- DIM ... AS LONG or DOUBLE or STRING or STRING OF UTF8
- COMMON SHARED or DIM SHARED or DIM ... AS LOCATION OF ...
- COMMON SHARED or DIM SHARED or DIM ... AS GENERIC JOINT
- VARLIST