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

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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 <variable_name> {[ ]…} AS JOINT OF <robot_type>

Availability

All versions

Type

<variable_name> : Joint

<robot_type>:        XYZR, - Three cartesian axes + roll

XY – two axes XY table

XYZ – three axes XYZ system

XYZYPR - X-Y-Z-Yaw-Pitch-Roll

Range

According to the Robot Type

Units

User defined position units

Scope

Configuration ,Task or Terminal

Since Version 4.5.17 the global (common shared ) declaration is also possible from the Library context.

Limitations

Write only. A valid robot type must be used.

Examples

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

Common Shared Joint1 as  joint of XYZR    ‘SCARA robot Joint

Joint1 = {20, 75, 90, 45}

Move SCARA  Joint1

MoveS  SCARA  Joint1

See Also

• COMMON SHARED ... AS LONG or DOUBLE or STRING or STRING OF UTF8
• DIM SHARED ... AS LONG or DOUBLE or STRING or STRING OF UTF8
• DIM ... AS LONG or DOUBLE or STRING or STRING OF UTF8
• COMMON SHARED or DIM SHARED or DIM ... AS LOCATION OF ...
• COMMON SHARED or DIM SHARED or DIM ... AS GENERIC JOINT
• VARLIST