Can I move a robot just by specifying a joint and an angle?[Moved]

laov

Hello,

I would like to know if its possible to move a robot just by specifying a joint and an angle? Position coordinates being irrelevant and undefined in this move instruction.

MaLi

Yes , and no ;-)

With RAPID virtually anything is possible, question is what you want to do and how you want to do it.

 

There isn't a predefined instruction for what you want to do but there's nothing preventing you from doing it.
MoveAbsJ is the instruction to move use for moving the robot to specific joint targets.
CJointT is the function you want to use to capture the current position but in angular format.

 

Programming it this way is really cumbersome and kind of defeats the whole purpose of a coordinate system
but if you want to use the existing position and just move one axis a certain number of degrees it's definitely possible
using the instructions I just mentioned.

 

// Magnus

laov

Thank you for your reply that really helped.

Yishin

How to change single joint value of specific joint?
joints :=  CJointT();
Say, if I would like to change the 5th joint value of above joints variable, what is the syntax? 

graemepaulin

to change axis 5 to 15° as below:

joints.robax.rax_5:=15;