SIASUN GCR Series, Руководство пользователя

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coordinate_clear();
Function Description:
This command is used to cancel the coordinate system set before. The
position in the subsequent motion function is based on the base coordinate
system.
Parameters Description:
none
Return Value:
none
set_tcp_load(float: tcpLoad, float loadBiasX, float loadBiasY, float
loadBiasZ);
Function Description:
This command sets the quality centroid of the end tool.
Parameters Description:
tcpLoad : It represents the load quality. Its unit is kg.
loadBiasX, loadBiasY, loadBiasZ : It represents the displacement of the
load’s quality centroid relative to the flange end coordinate system. These
parameters can be omitted when using the function. After the omission, the
current load’s quality centroid set in the system will replaces for calculation.
Return Value:
none
cal_ikine(pose : p, array : res);
Function Description:
This command is used to calculate the inverse solution of the robot.
Parameters Description:
p : A pose data, which is a floating-point array with a length of 6,
corresponds to the robot end pose of which user calculate the inverse
solution.
res : It represents the array in which the acquired 1-6 axis joint angles
are stored.
Return Value:
none
cal_fkine(array : axis, pose : res);
Function Description:
This command is used to calculate the forward solution of the robot.
Parameters Description:
axis : It represents the array that stores the acquired 1-6 axis joint
angles, of which user calculate the forward solution.
res : It represents the pose data in which the acquired robot end pose
are stored.