MC-Basic:robot.WRISTCMD

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Defines the working (command) PUMA 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.

The wrist flag defines FLIP or NOFLIP configuration according:

FLIP –  value of joint 5 is negative

NOFLIP – value of joint 5 is positive

0 - Keep the current configuration or choose the closest joint-target.

1 - Joint-target is NOFLIP

2 - Joint-target is FLIP

Setting it to zero AUTO means taking the current WRISTFBK for the value.

Short form

<ROBOT>.wcmd

Syntax

?<ROBOT>.wristcmd

<ROBOT>.wcmd=1

Availability

All versions

Type

Long

Range

0 (auto)/ 1(noflip)/ 2 (flip)

Default

0

Scope

Configuration, Task, Terminal

Limitations

Read/Write, Modal/Nodal

Examples

scara.elbowcmd=1

MOVE PUMA {1,2,3,4,5,6} wristcmd=1

See Also

• robot.ARMFBK
• robot.ARMCMD