IndReset

🌐 KR

Description

• IndReset is a component that recalculates and reassigns the positioner’s joint angles to the nearest feasible configuration based on the selected optimization mode. Supported modes include Short, Forward, and Backward, each providing a different strategy for minimizing angular displacement. Additionally, the resulting angles can be constrained or guided using a user-defined RefDegree parameter for more controlled posture resetting.

Input

• MechUnit : Specifies the name of the actual positioner robot. (Default is STN1)
• AxisNum : Specifies the index of the axis to be reset.

Built-in Param | IndReset

• RefDegree : Defines the target angle value for resetting. The positioner’s current posture will be redefined to the nearest possible configuration relative to this angle.
• ResetType : Determines the angle reset strategy based on the selected option. (Refer to the table for details)

ResetType	Description
Short	가장 짧은 각도 값으로 현재 축 각도 값 재정의.
Fwd	현재 축 각도 값을 360도로 나눈 나머지 각도 값 기준으로 재정의, i.e., Angle % 360.
Bwd	현재 축 각도 값을 360도로 나눈 나머지 각도값을 360도에서 뺸 값을을 기준으로 재정의360° - (Angle % 360).

Output

• Instructions : Outputs a IndReset instruction defined based on the given input conditions.