Hi guys,
Hi need change a configuration of joints in a program, like we can make PR[10,4]=10; something like that but i can´t find information how I can change CONF: NUT to FUT in program... I kown i can chage it in TP when I define PR[]... But I need kown if it possible change it by program language!
Thank´s in advance :)!
Create some setup PR's of all zeros for each config you want. Then set your PR = that setup PR in your program, and modify as needed.
It is not a direct method but works. I also recommend having one set up as joint representation.
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Hi HawkME,
That is what im doing now, the problem is when you load a program to a new robot you need to configure that points in robot... I want do it in program...
You can also assign PRs to points in a program (e.g. PR[100]=P[1]), so you could make a program with some dummy points in it with different configurations.
You can change the joint configuration. Goto edit and move the cursor to P[] then select position press F5 for joint and Cartesian options. Select Cartesian then press config.
hi joaofidalgo,
i met similar issue recently, thus would like to know if you have found better solution for that?
in a PR the first 6 data are X, Y, Z, w, p, r the 7th data is the position config which is not directly accessible with TP language, nor by inderect addressing (PR[2,7] = [PR1,7]) but only with the use of Karel routine which doesn't really worth the effort. The best way is to make a point in the config you want and copy it in the PR before loading each of the 6 values of positions (XYZwpr).
Soo Far i use the Karel to initiate a config var like in the manual, but I didin't find how to push it on a XYZWPR var.
I think i will be in obligation to translate into a position data type to use it.
VAR
config_var1, config_var2: CONFIG
pos_var: POSITION
seam_path: PATH
i: INTEGER
BEGIN
config_var1 = pos_var.config_data
config_var1 = config_var2
config_var1.cfg_turn_no1 = 0
IF pos_var.config_data.cfg_flip THEN...
FOR i = 1 TO PATH_LEN(seam_path) DO
seam_path[i].node_pos.config_data = config_var1
ENDFOR
In hope it will help you.
