MC-Basic:robot.ARMCMD
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.
j2.pcmd > 0 -> Lefty
j2.pcmd = 0 -> Auto
j2.pcmd < 0 -> Righty
The arm flag defines LEFTY or RIGHTY configurations according:
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