Returns an Integer that contains flag bits that indicate if any special Cartesian trajectory modes are active.
...Robot.CartMode ( robot )
Prerequisites
None
Parameters
robot
An optional numeric expression that specifies the robot to be accessed (1-n). If this value is 0 or unspecified, the Selected robot will be accessed.
Remarks
The Trajectory Generator supports a number of special operating modes that can only be executed when Cartesian motions are being evaluated. This property returns an Integer that contains flag bits that indicate if any of these special modes are currently active.
This is the same value that is returned in the "CartMode Trajectory Flags" (DataID 3526) Parameter Database entry.
The bits within the value returned by this property are defined in Table 19-78.
| CartMode Flags | Description |
|---|---|
|
&H01 |
Conveyor Tracking. If on, indicates that the robot is moving with respect to a conveyor belt and is automatically adjusting the Cartesian set point to track the belt. |
|
&H02 |
Real-time Trajectory Modification. If on, indicates that the Cartesian set point can be dynamically altered based upon input from a GPL program. The Trajectory Generator incorporates the real-time modifications into the computed Cartesian set point each trajectory cycle. |
|
&H04 |
SpeedDAC. If on, indicates that the Trajectory Generator is computing the instantaneous tool tip speed and using this information to control the value of a analog output (DAC) device. |
Examples
Dim flags As Integer
flags = Robot.CartMode() ' Reads current mode bits
See Also