NRC_RobotJointConfig
Robot joint parameter configuration
Attributes
| Type | Name | Notes |
|---|---|---|
| double | reducRatio | Reduction ratio |
| int | encoderResolution | Encoder bits |
| double | posSWLimit | Axis positive limit, unit: degree |
| double | negSWLimit | Axis negative limit, unit: degree |
| double | ratedRotSpeed | Motor rated positive RPM, unit: rev/min |
| double | ratedDeRotSpeed | Motor rated reverse RPM, unit: rev/min |
| double | maxRotSpeed | Motor maximum positive RPM, as a multiple of the motor rated positive RPM, unit: multiple |
| double | maxDeRotSpeed | Motor maximum reverse RPM, as a multiple of the motor rated reverse RPM, unit: multiple |
| double | maxAcc | Maximum acceleration, as a multiple of the rated positive speed, unit: multiple |
| double | maxDecel | Maximum deceleration, as a multiple of the rated reverse speed, unit: multiple |
| int | direction | Robot model direction, value: +1, -1 |
| int | AxisDirection | Robot actual direction, value: +1, -1 |