MC-Basic:robot.AXIS

From SoftMC-Wiki
Jump to: navigation, search
Language: English  • 中文(简体)‎

Sets the axis orientation of the robot joint. The setting is completed only after calling the configgrouop command (CONFIGGROUOP ROBOT). Normally the vector should be a unit vector. In any case, it is normalized (converted to unit vector) during the execution of the CONFIGGROUOP command. The meaning of this property is different for each robot type. For example SCARA configuration should have:
                   a1 = {0,0,1}
                   a2 = {0,0,1}
                   a3 = {0,0,-1} ‘ means: Z axis is oriented downwards
                   a4 = {0,0,1}

NOTE-Info.svgNOTE
Not all of the values are used, what values are used and what not depends on the selected robot type (SCARA, PUMA, …)

Syntax

<ROBOT>.axis[<axis no.>][<index>]= 1

? <ROBOT>.axis[<axis no.>][<index>]

Type

Double precision

Range

value: -1¸1 index: 1¸3

Default

0

Scope

Configuration, Task, Terminal

Limitations

Modal only. Writable in disabled state only. Group must be attached.

Examples

Setting the orientation vector of the first joint:

robot.axis[1][1] = 0
       robot.axis[1][2] = 0
       robot.axis[1][3] = 1.0

See Also