MC-Basic:robot.MODELENABLE

In cases of closed-chain kinematics the initial joint position values (before homing) could be such that the direct kinematics (DK) transformation always returns an error. This could lead to a situation that certain model parameters (e.g. Link[][], etc.) cannot be set as the robot cannot be attached because the attachment itself initiates DK calling and this again returns an asynchronous error. This property helps switching off model computation of DK & IK.

Syntax

ModelEnable = <on/off>

Type

Integer

Range

0/1

Units

N/A

Default

1

Scope

Configuration ,Task or Terminal

Limitations

N/A

Examples

Puma.ModelEnable = 0