MC-Basic:robot.RMIN

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The minimal distance of the robot end-effector point from the robot base (i.e., the minimum of ${\sqrt {x^{2}+y^{2}}}$). This value is used to define a minimum radius region which cannot be exceeded by the robot path.

Initially (by calling CONFIGGROUP), this value is set to the value computed according to the robot segment lengths and min/max position values of joints 1 and 2. The value could be too small if the robot body or the width of the segments are significant.

IMPORTANT

Small RMIN could cause robot collision with its body. Always check the RMIN value before configuring a new robot. The attached devices and parameters not taken into robot setup could significantly reduce the robots working area! The setting of the property is user responsibility. User has to take into account the cartesian offsets (tool, base, machinetable, workpiece) User has to take into account the robot and tool body shape

This value is used in the pre-computation phase of the robot Cartesian movements (MOVES, CIRCLE). It is used to prevent robot collisions with its own body (base column).

Syntax

<ROBOT>.RMin = <numeric expression>

Availability

All versions

Type

Double

Range

0.1 to Maxdouble

Units

Robot position units

Default

Depending on the robot parameter

Scope

Configuration, Task, Terminal

Limitations

Read/Write, Modal Only

Examples

rmin = 60

See Also

• CIRCLE
• CONFIGGROUP
• MOVES