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.