This is part of 2.2.0-dev – latest release: 2.1.0.
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MLxRobotClosure

0.1.0

Data type for robot posture data.

Defines robot posture for a TCP Position.

If nothing is specified, robot will keep the current posture. If TCP position with current posture cannot be reached, robot will behave depending on S2C430 parameter value.

Used in MLxRobotPosition data structure.

Version history

0.1.0

04 Jan 2021 deGroot

Changes

Changed:

source code ported
version number reset
now using semantic versioning

Overview

name	type	comment
Closure1	`BOOL`	Defines first (if needed) closure value. See documentation for closure values for each supported Robot Geometry.
Closure2	`BOOL`	Defines second (if needed) closure value. See documentation for closure values for each supported Robot Geometry.
Closure3	`BOOL`	Defines third (if needed) closure value. See documentation for closure values for each supported Robot Geometry.
UseReference	`BOOL`	If UseReference=0, KeepMiddle, ElbowUp, and WristUp values will be used to determine robot closure. In this case, ReferenceAxis is ignored. If UseReference = 1, ReferenceAxis is used to define the closure and the other values are ignored.
ReferencePosition	`ARRAY[0..7] OF REAL`	A reference axis position that can be used to define the closure. The values for each closure variable will be internally calculated and used in this case.

Details

Closure1

BOOL

NOT SUPPORTED

Correspond to the KeepMiddle closure.

Closure2

BOOL

NOT SUPPORTED

Correspond to the ElbowUp closure.

Closure3

BOOL

NOT SUPPORTED

Correspond to the WristUp closure.

UseReference

BOOL

NOT SUPPORTED - Closure only available like UseReference = 1

If UseReference = 0, KeepMiddle (Closure 1), ElbowUp (Closure 2), and WristUp (Closure 3) values will be used to determine robot closure. In this case, ReferencePosition is ignored.

If UseReference = 1, ReferencePosition is used to define the closure and the other values are ignored.

ReferencePosition

ARRAY[0..7] OF REAL

A reference axis position that can be used to define the closure.

Posture will be determined by selecting an axis position as close as possible to the ReferencePosition.

The values for each closure variable will be internally calculated and used in this case.

If it is kept to zero, robot will keep its current posture. If it is not possible, the posture is selected according to S2C430 parameter value.

`S2C430` parameter	Description
0	Keep last posture. If not possible keep B-axis moving distance minimized (R-axis maximized)
1	As formulated in the point posture variable
2 (default in DX200)	Keep last posture. If not possible keep R-axis moving distance minimized (B-axis maximized)
4 (default in YRC1000)	Like 2 with better handling of T axis posture