Get Robot/Machine Model Link Parameters

Provides a means to access the link parameters for a robot/machine model

 

Input Arguments

 

0

Collection Instrument ID

Machine ID

The instrument ID of the robot/machine in ques- tion.

1

String

Link Name

 

 

Return Arguments

 

2

Link Type

Link Type

 

3

Double

DH ALPHA Component

 

4

Double

DH A Component

 

5

Double

DH D Component

 

6

Double

DH Theta Component

 

7

Double

DH X-Axis Deflection Factor

 

8

Double

DH Y-Axis Deflection Factor

 

9

Double

DH Z-Axis Deflection Factor

 

10

Double

6D Of X Component

 

11

Double

6D Of Y Component

 

12

Double

6D Of Z Component

 

13

Double

6D Of RX Component

 

14

Double

6D Of RY Component

 

15

Double

6D Of RZ Component

 

16

Joint Component

Active Joint Component

Select from the list of components

17

Double

Encoder Offset Value

 

18

Double

Minimum Encoder Limit

 

19

Double

Maximum Encoder Limit

 

20

Boolean

Encoder Sense Negative

 

21

Boolean

Include Additional Encoder

 

22

Integer

Additional Encoder Index Offset

 

23

Boolean

Additional Encoder Sense Negative

 

24

Double

Segment Origin Mass in Kg

 

25

Double

Segment CG Mass in Kg

 

26

Vector

Segment CG in Segment

 

 

Returned Status

 

SUCCESS

The Model Link Parameters were returned successfully.

FAILURE

The Machine or link could not be found.

 

Remarks

 

None.