rset
Setting up interpreter-, toolbox- and motion-properties
Contents
Last date of modification : 2010/10/18
Syntax
- ID = rset( HANDLE, 'PROPERTY', VALUE, ['now'])
| Inputs | Description | VALUE |
| HANDLE | robot-identifier | integer > 0 given by robot |
| Description | 'PROPERTY' | VALUE |
| Switching the interpreter on the robot-controller ON or OFF or ERASING all data in the interpreter-buffer | 'interpreter' | 'on' 'off' 'erase' |
| Switching the sending of the robot-commands to the controller ON or OFF or ERASING the data in the send-buffer | 'sendmode' | 'on' 'off' 'erase' |
| Switching the continues-path-mode ON or OFF | 'cpmode' | 'on' 'off' |
| Setting up the BASE transformation values, which specify the position between the base coordinates an the null base coordinates | 'base' | a position data structure given by rpoint |
| Setting up the TOOL transformation values, which specify the position-relation between the tool coordinates an the null tool coordinates | 'tool' | a position data structure given by rpoint |
Description
rset sets up interpreter- and toolbox-properties. On the one hand the interpreter on the robot-controller can be switched on or off. The robot wouldn't execute any command until the interpreter is switched on again.If the interpreter is off, the buffer can still receive commands from the toolbox. Additionally the data in the command-receiving-buffer can be erased. On the other hand the automatic command-sending of the toolbox can be switched on or off. The toolbox wouldn't send any commands to the robot-controller until the sendmode is switch on again. If the sendmode is off, the send-buffer is still filled with commands. Of course it's also possibe do erase the data in the send-buffer.
Furthermode rset switches the continues-path-mode on or off and sets up the BASE- and TOOL-systems. It's also possible to set up different motion-properties (see rpoint)
The optional keyword 'now' forces an immediatley execution of the command on the robot-controller. This is possible for continues-path-options and all motion-properties (see rpoint) excluding 'signal', 'pulse' and 'wait'. This keyword is needed, if the robot is in motion and something has to be changed during this motion.
rset returns an ID-vector, which is needed to identify the command, given the robot.
Sendbuffer and interpreterbuffer
Coordinatesystems
Examples
Immediately setting up the velocity
rset( h, 'mmps', 100, 'now');
Setting up the BASE-coordinate-system
rset( h, 'base', rpoint(10,10,10,0,0,0) );
Immediatley switching on the continues-path-mode
rset( h, 'cpmode', 'on','now');
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