rget
Getting interpreter-, toolbox- and motion-properties and current positions
Contents
Last date of modification : 2010/10/18
Syntax
- RET.VALUE = rget( HANDLE, 'PROPERTY')
| Inputs | Description | VALUE |
| HANDLE | robot-identifier | integer > 0 given by robot |
| Description | 'PROPERTY' | RET.VALUE |
| Position of the Tool-Center-Point in cartesian coordinates relativ to the BASE-system | 'pose' | a position data structure (see rpoint) |
| Position in axial joint-values | 'axis' | a position data structure (see rpoint) |
| Base transformation values relativ to the null base coordinate | 'base' | a position data structure (see rpoint) |
| Tool transformation values relativ to the null tool coordinates | 'tool' | a position data structure (see rpoint) |
| Interpreter Sendmode | 'interpreter' 'sendmode' | 0 : off 1 : on |
| Continues-path-mode | 'cpmode' | -1 : off 1 : on |
| Speed[%] Velocity[mm/s] Acceleration[%] Deceleration[%] Accuracy[%] | 'speed' 'mmps' 'acceleration' 'deceleration' 'accuracy' | 1...100 1...1000 1...100 1...100 1...100 |
Description
rget gets interpreter- and toolbox-properties and reads the current position of the robot.
Examples
Getting the current position
Pose = rget( h, 'pose'); Axis = rget( h, 'axis');
Getting the speed
Speed = rset( h, 'speed');
Back to the Robotic-Toolbox-Index
Robotic-Toolbox (w) by Michael Christern & Artur Schmidt / Research Group Computational Engineering and Automation / University of Applied Sciences Wismar / Germany 2010