Change Circular Motion Direction of Path
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If you need to use this Step, please click in the menu bar, and enable the "step_trajectory" plugin in the window. |
Usage Scenario
This Step is usually used in door/glass gluing applications. If the robot encounters a soft limit during the movement, the start and end points will be switched, and the robot will move along the newly set targets.
Input and Output
Input
| Input port | Data type | Description |
|---|---|---|
Original Trajectory |
Pose[] |
Original path consisting of the targets input to this port will be adjusted. |
TCP Poses |
Pose[] |
List of robot end tool points in the original path. |
TCP in Flange |
Pose[] |
List of robot end tool points in the original path in the flange reference frame. |
Parameter Description
| Parameter | Description |
|---|---|
Robot Type |
Parameter description: Set a robot type to read corresponding settings. |
Angle increment |
Parameter description: Following the current movement, the angle increment of the last joint. Default value: 0.0000 |
Execution Direction |
Parameter description: Following the current movement, the execution direction of the manipulator. Value list: Clockwise and CounterClockwise. |
Positive End Joint Increment When Move Clockwise |
Parameter description: If the end joint positions increment is positive when moving clockwise, check this parameter; otherwise, uncheck it. Default value: Checked |