Axes Configuration String

    Hi to everyone,

    I'll give you guys some context, I'm working a LR Mate 200iD/7C, this robot is mounted upside down, on the roof of it's cell, this Robot works in three configurations, I mean NUT, NUB, FDB, the robot's funtion is a Pick & Place, works with a matrix of 9x16, this cell works or well that's supposed to, because it has a lot of improvements, one of them is the Home Sequence.

    My question is if exists a variable to know the actual robot's configuration?!

    I was thinking to create a Karel program where I calculate the inverse kinematics but I think this isn't the right way to do this, I suppose should exist a variable with this information.

    I hope you can help me!! :help:

    Thanks!!

  • Lemster68 June 14, 2023 at 5:29 PM

    Approved the thread.

    Why do you need to know the config?

    If you're trying to home the robot such that it doesn't fault out, a simple and universal way of doing that is in TP program.

    Take an LPOS to a PR, then change the Z value of the PR to a known safe height, then do a linear move to that PR. It will move straight upwards. Then, do a joint move or to the home position. Wjnt on a linear move to home might work too (wjnt moves minor axes in joint and major axes as linear). Joint/wjnt will get you through most config or singularities

    No problem. There are some KAREL built-ins that check reachability of a point if you wanted to add some intelligence. They only check the point is reachable, not that the path to the point is Ok.

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