Danaher Motion 06/2005 Table of Contents
M-SS-005-03 Rev E vii
APPENDIX A ................................................................................................................................... 165
SAMPLE NESTING PROGRAM............................................................................................... 165
SUBROUTINE EXAMPLE........................................................................................................ 166
SAMPLE AUTOSETUP PROGRAM ........................................................................................ 167
APPENDIX B.................................................................................................................................... 171
NON-HOMOGENOUS GROUPS............................................................................................. 171
KINEMATICS ..................................................................................................................... 171
COUPLING............................................................................................................................... 173
JOINTS............................................................................................................................... 174
ROBOT MODELS ............................................................................................................... 175
INTERPOLATION................................................................................................................ 176
CARTESIAN PROFILE......................................................................................................... 179
WORKING ENVELOPE ....................................................................................................... 180
ROBOT CONFIGURATIONS ................................................................................................ 181
POINTS ..................................................................................................................................... 181
DECLARATION .................................................................................................................. 182
VARIABLES ....................................................................................................................... 182
CONSTANT POINTS ........................................................................................................... 182
VECTORS........................................................................................................................... 183
PROPERTIES ...................................................................................................................... 183
POINT DIMENSION ............................................................................................................ 183
POINT ASSIGNMENT ......................................................................................................... 184
SINGLE COORDINATE POINT ASSIGNMENT...................................................................... 184
POINT QUERY ................................................................................................................... 184
SINGLE COORDINATE POINT QUERY................................................................................ 184
OPERATORS ...................................................................................................................... 184
POINTS IN FUNCTIONS ...................................................................................................... 186
MOTION COMMANDS........................................................................................................ 187
ANALOG BEHAVIOR ......................................................................................................... 187
POINT AS AN EXPRESSION ............................................................................................... 187
GROUP POINT PROPERTIES............................................................................................... 188
IN FUNCTIONS................................................................................................................... 188
QUERY .............................................................................................................................. 189
OPERATORS ...................................................................................................................... 189
PASS STRUCTURE ............................................................................................................. 189
LIMITATIONS .................................................................................................................... 190
CONVEYER TRACKING .......................................................................................................... 190
WINDOW DECLARATION .................................................................................................. 191
TRACKING......................................................................................................................... 191
