Difference between revisions of "MC-Basic:robot.ARMCMD"
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Setting it to zero AUTO means taking the current ARMFBK for the value. <br> | Setting it to zero AUTO means taking the current ARMFBK for the value. <br> | ||
| − | |||
| − | |||
| − | |||
The arm flag defines LEFTY or RIGHTY configurations according: | The arm flag defines LEFTY or RIGHTY configurations according: | ||
| − | + | For '''SCARA''' robots: | |
| − | + | * j2.pcmd > 0 -> Lefty<br> | |
| − | + | * j2.pcmd = 0 -> Auto<br> | |
| − | + | * j2.pcmd < 0 -> Righty | |
| + | For '''PUMA''' robots: | ||
| + | * RIGHTY – positive jont-2 moves the wrist in ''positive'' WORLD Z direction while joint-3 is not activated | ||
| + | * LEFTY– positive jont-2 moves the wrist in ''negative'' WORLD Z direction while joint-3 is not activated | ||
How this flag is computed differs in different kinematic models. | How this flag is computed differs in different kinematic models. | ||
| Line 35: | Line 35: | ||
|RANGE= | |RANGE= | ||
| − | 0 (auto)/ 1( | + | 0 (auto)/ 1(Lefty)/ 2 (Righty) |
|UNITS= | |UNITS= | ||
| Line 62: | Line 62: | ||
|SEE ALSO= | |SEE ALSO= | ||
* [[MC-Basic:robot.ARMFBK|robot.ARMFBK]] | * [[MC-Basic:robot.ARMFBK|robot.ARMFBK]] | ||
| − | |||
}} | }} | ||
Revision as of 15:38, 27 June 2014
Defines the working (command) 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.
 | NOTE |
| A Cartesian motion (MOVES or CIRCLE) is not allowed when this flag differs from ARMFBK. |
Setting it to zero AUTO means taking the current ARMFBK for the value.
The arm flag defines LEFTY or RIGHTY configurations according:
For SCARA robots:
- j2.pcmd > 0 -> Lefty
- j2.pcmd = 0 -> Auto
- j2.pcmd < 0 -> Righty
For PUMA robots:
- RIGHTY – positive jont-2 moves the wrist in positive WORLD Z direction while joint-3 is not activated
- LEFTY– positive jont-2 moves the wrist in negative WORLD Z direction while joint-3 is not activated
How this flag is computed differs in different kinematic models.
Short form
<ROBOT>.acmd
Syntax
?<ROBOT>.armcmd
<ROBOT>.armcmd=1
Type
Long
Range
0 (auto)/ 1(Lefty)/ 2 (Righty)
Default
0
Scope
Configuration, Task, Terminal
Limitations
Read/Write, Modal/Nodal
Examples
scara.armcmd=1
MOVE SCARA {1,2,3,4} armcmd=1
MOVES SCARA {1,2,3,4} armcmd=1
MOVES PUMA {1,2,3,4,5,6} armcmd=1
CIRCLE SCARA angle = … circlecenter = … armcmd=1