Robot.Custom Property

Sets and gets elements of a parameter array whose interpretation is specific to each kinematic module.

Robot.Custom( index ) = <New_value>
-or-
... Robot.Custom ( robot, index )

Prerequisites

For the set operation, the robot must be attached to the current thread.
For kinematic modules that do not use the array of custom kinematic parameters, setting or reading these parameters has no effect on the operation of the associated robot.

Parameters

index

An optional numeric expression that specifies the element of the custom kinematic parameter array (1-5) that is accessed. If this value is 1 or unspecified, the first element will be accessed.

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

Selected kinematic modules have special runtime parameters that alter their behavior in a non-standard fashion. For example, the "Dual RPR" robot has two arms and two sets of grippers that can be moved. At any given time, only one of the arms and one of the grippers can be factored into the computation of the Cartesian position and orientation of the robot. The "custom kinematic parameters" are utilized by this kinematic module at runtime to specify which of the two arms is logically considered part of the robot.

In some instances, setting a parameter may cause the executing thread to pause waiting for the attached robot to complete its current motion. This side effect and other similar actions are controlled by the specific kinematic module type.

For a description of how these parameters are utilized in a specific robot and their side effects, please consult the documentation on the Kinematic Robot Modules.

Examples

Robot.Attached = 1
Robot.Custom(1) = 1           ' Set custom parameter value