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 that contains the maximum distance of move.

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 that contains the maximum displacement angle (degrees) of 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 that will contains 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+.

See Also
VDefTool Statement, VDefArm Statement, VDefLocal Statement, VGoCenter Statement, VDefSetMotionRange Statement