Description of [robot]_profile.json file
[robot]_profile.json records some basic information of the robot, including home position, payload, reach, and number of axes.
The code fragment below is extracted from [robot]_profile.json file as an example.
{
"home_jps": [0,90,0,0,90,0],
"max_tcp_vel": 7,
"max_joint_vel": 500,
"reach": 2.55,
"payload": 40,
"axes": 6
}| home_jps |
Define the default home position in Mech-Viz; the units used here are degrees. |
| max_tcp_vel |
Define the maximum TCP velocity (unit: m/s) for filtering the singularities. |
| max_joint_vel |
Define the maximum joint velocity (unit: m/s) for filtering the singularities. |
| reach |
Robot reach (unit: m) that will be displayed in the robot library. |
| payload |
Payload of the robot (unit: kg) that will be displayed in the robot library. |
| axes |
The number of the axes that will be displayed in the robot library. |