SCARA J1 range

Theta parameter for SCARA model

Default (basic) range of the first joint angle of SCARA (Bosch) robot is (-90,270). For the UniVal SCARA robot the range should be (-180,+180), therefore a theta parameter was added. It is used for the first joint only. Its default value is 90 so the basic range of J1 angles is: $(-180+\theta _{i},+180+\theta _{i})$

double SCARA_GET_THETA(int hndl, int i);
double SCARA_SET_THETA(int hndl,int i, double value);

Do not forget to add in your PROTO.PRO file:

import_c SCARA_GET_THETA(byval as long, byval as long) as double
import_c SCARA_SET_THETA(byval as long, byval as long,byval as double) as double

Return Value

In case of an error (not a SCARA model or invalid index) both functions are returning -1

The SCARA_SET_THETA returns 1 if everything is OK.

To Be Done

Make it available as regular property

Availability

Since Version 4.5.24