MC-Basic:robot.GOTOLIMIT

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Flag causing the given straight-line motion to extend till reaching one of the position limits of the robot (PMIN/PMAX, XMIN/XMAX, ....). When GOTOLIMIT = 1, the given target point (in MOVES command) is used for direction computation only. The real target of the motion lies on the line starting at the initial point and pointing towards the given target point, either closer or further away from the given point.

From version 0.4.21.2r9, when GOTOLIMIT = 2, if the given target point is reachable the MOVES motion will end at the target point, and if not the motion will end at the furthest reachable point in the direction of the given target point.

If the target orientation is different from the starting orientation, the profiler will always attempt to reach the target orientation at the final point that is reached.


GOTOLIMIT.PNG

Syntax

<ROBOT>.GoToLimit= <numeric expression>

Availability

From 0.4.15rc8

Type

Long

Range

0 or 1

From version 0.4.21.2r9

0 to 2

Units

none

Default

0

Scope

Task, Terminal

Limitations

Write-Only, Nodal Only, used for MOVES command only

Examples

Moves puma #{100,0,0,0,0,0} GoToLimit = 1 ' this command will move the robot in positive X direction as far as it can go.

See Also