MC-Basic:robot.LINK
Sets the axis segment length of the robot joint. The setting is completed only after calling the configgroup command (CONFIGGROUP ROBOT). The meaning of this property is different for each robot type. For example SCARA configuration should have:
link1 = {430,0,0} ‘ length of the first segment
link2 = {370,0,0} ‘ length of the second segment
link3 = {0,0,0}
link4 = {0,0,0}
 | NOTE |
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Not all of the values are used, what values are used and what not depends on the selected robot type (SCARA, PUMA, …) In the SCARA robot type (model=4), only link[1][1] and link[2][1] are used. The rest of the values are just ignored. It is a good practice to set the others (unused) to zero. |
| NOTE |
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In case of closed-chain kinematics invalid parameter and/or joint positions (before homing) can lead to permanent asynchronous direct-kinematics errors. For handling such cases the ConfigGroup checks the initialDK validity and returns an error if invalid. Another possibility to workaround such situations is the use of ModelEnable flag. |
Syntax
<ROBOT>.link[<axis no.>][<index>]= 1
? <ROBOT>.link[<axis no.>][<index>]
Type
Double precision
Range
value: positive double, index: 1¸3
Units
Millimeters
Default
0
Scope
Configuration, Task, Terminal
Limitations
Modal only. Writable in disabled state only. Group must be attached.
Examples
Setting the segment length of the first joint:
robot.link[1][1] = 0
robot.link[1][2] = 0
robot.link[1][3] = 100