Provides a means to access the link parameters for a robot/machine model
0 |
Collection Instrument ID |
Machine ID |
The instrument ID of the robot/machine in ques- tion. |
1 |
String |
Link Name |
|
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 |
|
SUCCESS |
The Model Link Parameters were returned successfully. |
FAILURE |
The Machine or link could not be found. |
None.