Complex object DOF (Degrees of Freedom) |
  
|
Complex object DOF (Degrees of Freedom) |
|
This object task can manipulate kinematic chains using degrees of freedom. This task requires an object with a hierarchical substructure, an assigned behavior, and for all sub-objects defined Degrees of Freedom (DOF) (see chapter User interface / Tab "Objects" / Buttons / Context menu). If the input joint angle value is not within the predefined minimum and maximum DOF value, then the input value will get automatically overwritten by the minimum/maximum DOF value depending upon which one is closer to the current input value (see chapter User interface / Tab "Tasks" / DOF editor).
Parameter |
Typ |
Pflicht |
Bedeutung |
|---|---|---|---|
1st DOF [°/mm] - 7th DOF [°/mm] |
Floating-point number (-180.0 to 180.0) |
no |
Input joint value in degrees for rotational DOF and in mm for translational DOF. |
Incremental values |
Checkbox |
no |
A selection parameter defining whether the joint values should be interpreted as increment (checked) or absolute value (unchecked). |
Speed adjustment [%] |
Floating-point number (0.01 to 100.0) |
no |
Percentage value to influence / limit the movement speed. |
End effector speed limit [m/s] |
Floating-point number (0.0 to 100.0) |
no |
Value in [m/s] which limits the endeffector movement speed. |
Stop type |
Floating-point number (0 to 100) |
no |
Radius of a sphere on the surrounding point. 0 means exact stop. |
HRC operation mode |
Selection |
no |
Definition of a HRC operation mode: no HRC mode Mode 1: Safety-rated monitored stop Mode 2: Hand guiding Mode 3: Speed and distance monitoring Mode 4: Power and force limiting |
iIf objects with linked sensors are to be calculated, the checkbox process dynamic targets (see chapter User interface / Menu bar / Options / Settings / Simulation) must be activated in the global settings, otherwise the sensors will be ignored. |