MC-Basic:COMMON SHARED or DIM SHARED or DIM ... AS GENERIC JOINT

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Joint isis Robot data-type containing joint coordinates of a point. For joint coordinates, a position variable is defined by n components representing the values in degrees (or mm) of each axis (n-number degrees of freedom according to the zero position of the kinematics model). Joint points are defined in relation to a type of robot (SCARA, PUMA, etc.). For complete list of supported point types see: Point_Type_List.The dimension of the point is the same as the dimension of the robot type.

Joint variables can be defined in all scopes, i.e., either in configuration file and from terminal (global variables), or within tasks, before (static variables) and within the Program block (local variables). Joint points can also be defined as parameters of subroutines and functions, as well as returned-values of functions. A joint variable may be a scalar or an array. An array may have up to 10 dimensions.

A position given in joint coordinates is an array of n joint values:

Jnt_pos = {jnt1, jnt2, jnt3, jnt4, jnt5, jnt6}

Individual coordinates can be accessed via index definition in the form {i}: Jnt_pos{1}, Jnt_pos{2}, …

Syntax

COMMON SHARED|DIM SHARED|DIM <variable_name> {[ ]…} AS GENERIC JOINT

Availability

Version 4.9.12

Type

<variable_name> : Joint

Range

According to the Robot Type. The Robot Type is determined through casting or assignment, and can be redefined numerous times.

How to define the robot type

  • Use CASTPOINT
  • Use CASTJOINT
  • Assign by another joint-type point, which has a pre-defined robot type.

Units

User defined position units

Scope

Configuration ,Task or Terminal

Limitations

Write only.

Examples

common shared scara as group axnm = a1 axnm = a2 axnm = a3 axnm = a4 model = 4 ‘SCARA robot Declaration

Common Shared Joint1 as generic joint 'No robot type
Joint1 = Castpoint ({20, 75, 0, 0, 90, 45 }, TYPE_XYZR) ‘SCARA robot Joint

Move SCARA Joint1

MoveS SCARA Joint1

See Also

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