VDefGetMotionRange Statement

Applies To
Vision Calibration

Description
VDefGetMotionRange acquires values of the motion range limited by VDefTool, VDefArm, VDefLocal, and VGoCenter.

Usage

VDefGetMotionRange  MaxMoveDist, [MaxPoseDiffAngle],[LjmMode]

MaxMoveDist: Real variable containing the maximum distance moved; If 0 is specified, the range is not limited. (0 to 500. Default: 200)
VDefTool, VDefArm, VDefLocal, and VGoCenter are used to limit the range.
MaxPoseDiffAngle: Real variable containing the maximum displacement angle (degrees) of the tool orientation (UVW); If 0 is specified, the angle is not limited.
It only affects VDefLocal. (0 to 180. Default: 45 degrees)
LjmMode: Integer variable containing the LJM mode

Remarks
VDefGetMotionRange limits the motion range by VDefTool, VDefArm, VDefLocal, and VGoCenter.

LJM mode controls the posture flag of the point data to prevent unintended rotation of the wrist. LJM mode vales are the same values as LJM function of SPEL+.

← VDefArm Statement VDefLocal Statement →