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
}
The descriptions of attributes are as follows.
- 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.