MC-Basic:robot.ARMCMD

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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-Info.svgNOTE
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

See Also