Mechanical Properties

This is a class related to the robot’s mechanical characteristics. The robot can be defined and used with these parameters. Reference the variables of the RobotParam class.

The parameters that make up the robot are as follows:

• robotId

• robotName

• robotType

• numJoints

• baseJointCoordinate

• baseLinkParam

• jointParams

• linkParams

• flangeJointCoordinate

• toolRange

• toolSingularRange

• workCoordinate

• toolCoordinate

• toolLinkParam

Robot ID
Variable	robotId
Type	int
Maximum	5
Minimum	-1
Default	-1

Unique ID of the robot

Robot Name
Variable	robotName
Type	TCHAR

User-defined name of the robot

Robot Type
Variable	robotType
Type	constants::RobotModel
Default	InvalidModel

Indicates the type of robot, such as 6-axis vertical articulated, SCARA, x-y-z stage, delta robot, UserDefined robot, etc. -1 represents InvalidModel.

Please refer to Robot Types for information about different types of robots.

Number of Axes
Variable	numJoints
Type	int
Maximum	6
Minimum	0
Default	0

The number of axes that the robot has.

Base Joint Coordinate System
Variable	baseJointCoordinate
Type	coordinate::CartesianPose

Represents the robot’s base joint coordinate system.

The value of the first drive joint (jointOrigin 0) is the relative position and orientation from the base joint coordinate system.

In the figure below, the x,y,z,u,v,w values of baseJointCoordinate are as follows:

• x,y,z = 0, 0, g , u,v,w = 0, 0, 0

baseJointCoordinate

Base Link Information
Variable	baseLinkParam
Type	LinkParam

This is the base link information.

For detailed information about links, please refer to Link Information.

Joint Information
Variable	jointParams[constants::MAX_NUMBER_OF_JOINT]
Type	JointParam

Contains information about the mechanical characteristics of the robot’s joints.

For detailed information about joints, please refer to Joint Information.

Link Information
Variable	linkParams[constants::MAX_NUMBER_OF_JOINT]
Type	LinkParam

Contains information about the mechanical characteristics of the robot’s links.

For detailed information about links, please refer to Link Information.

Flange Joint (Tool Free) Coordinate System
Variable	flangeJointCoordinate
Type	coordinate::CartesianPose

Represents the robot’s flange joint (tool free) coordinate system. Defines the end position of the robot without any work tool attached.

Represents the relative position and orientation from the last drive joint (jointOrigin) to the flange joint.

In the figure below, the x,y,z,u,v,w values of flangeJointCoordinate are as follows:

• x,y,z = 0, 0, f , u,v,w = 0, 0, 0

flangeJointCoordinate

Robot Movement Limit Range
Variable	toolRange
Type	ToolRange

The toolRange parameter is a setting to limit the range of motion of the robot’s end effector. If the robot’s end effector moves beyond the specified limit range, an error alarm will occur and the robot will stop immediately.

The types of areas that can be restricted are as follows:

• Box

• Sphere

• Cylinder

ToolRange

CP Motion Movement Limit Range
Variable	toolSingularRange
Type	ToolRange

Restricts the range of movement possible with CP motion. The usage is the same as toolRange, only it checks the range only for CP motion.

Work Coordinate System
Variable	workCoordinate
Type	coordinate::CartesianPose

Enter the workCoordinate value to change the reference coordinate system from Base Coordinate to Work Coordinate.

In the figure below, the x, y, z, u, v, w values of workCoordinate are as follows:

• x,y,z = 0, d, 0 , u,v,w = 0, 0, 90

After entering the workCoordinate value, the robot’s position values are as follows:

• x,y,z = -b, d+a, c , u,v,w = 180, 0, 90

Work Coordinate

Tool Coordinate System
Variable	toolCoordinate
Type	coordinate::CartesianPose

You can change the desired control point by applying the toolCoordinate value in the Flange Coordinate (tool free).

In the figure below, the x, y, z, u, v, w values of the Flange Coordinate are as follows:

• x,y,z = e, 0, 0

• u,v,w = 0, 0, 90

After entering the toolCoordinate value, the robot’s position values are as follows:

• x,y,z = a+e, b, c

• u,v,w = 0, 180, 90

Tool Coordinate

Tool Link Information
Variable	toolLinkParam
Type	LinkParam

This is the robot’s tool link information.

For a detailed explanation of the link, please refer to Link Information.