Manipulator setting determines the configuration of all kinematic chains in the cell setup. This includes the robot, as well as any external axes in the cell (rails or rotaries).
Navigation
Manipulator setting is accessible through the setup level settings on the device side of Robotmaster.
Main tool chain
The main tool chain consists of the kinematic bodies of the robot, and any external axes that the robot may be mounted to (rails and rotaries).
Robot joint sets
The specific name of each joint set configuration changes depending on the selected robot’s brand. The terms below are the generic configuration names.
Base - Front or Back
Arm - Up or Down
Wrist - Positive or Negative
Multi turn joints - Determines behavior of any joint with a total range over 360 degrees.
Closest - Multi turn joints will adjust to the closest of the 2 or more viable values.
Automatic - Multi turn joints will adjust to the value closer to the middle of the joint’s range if possible.
For more information, see https://robotmaster.atlassian.net/wiki/spaces/RMDOC/pages/10675847176/Kinematics+of+a+robot?atl_f=content-tree.
Main path chain
The main path chain consists of any external axes that the toolpaths (and part) are mounted to. This can consist of rails and rotaries.
External axis manipulator settings
Rotaries
Index only
When set to Index only, the rotary will stay at a fixed position, based on the value entered into the Angle field.
Full rotary
When set to Full rotary, the rotary will dynamically rotate to maintain consistent tooling placement, based on the Calculation type and the value entered into the Angle field.
Orientation
Adjusts the rotary value to maintain tooling orientation.
Position with Rotation
Adjusts the rotary value to maintain tooling position relative to the X and Y axes of the rotary.
Rails
Index only
When set to Index only, the rail will stay at a fixed position, based on the value entered into the Value field (mm).
Without rail
When set to Without rail, the rail will stay at its zero position and will not be considered in simulation or code output. Any value entered into the Value field will not affect it.
Variable
When set to Variable, the rail will maintain alignment with the tooling. That alignment can be offset based on the value entered into the Value field.
