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.