SET CHECKING(3)

NAME
SET_CHECKING, SET_POWER_ON_RELEASE -- RCI CHG macros to set robot interface attributes.

USAGE
#include <rci.h>

SET_CHECKING(rbt, mask)
   RCI_RBT *rbt;
   unsigned long mask;

SET_POWER_ON_RELEASE(rbt, val)
   RCI_RBT *rbt;
   int val;

ARGUMENTS

rbt --
    Pointer to RCI robot structure.

mask --
    Mask indicating which checking conditions should be enabled or disabled.

val --
    Boolean value: true if non-zero.

DESCRIPTION
SET_CHECKING() enables or disables various robot limit checking modes on the robot controller, depending on what bits are set in its mask argument. Not all checking modes may be implemented. The macro may be called from any part of an RCI program.

The following checking modes are defined:

        CHK_MAXPOS   0x0001  /* maximum position exceeded */
        CHK_MAXVEL   0x0002  /* maximum velocity exceeded */
        CHK_MAXTOR   0x0004  /* maximum torque exceeded */
        CHK_REQPOS   0x0008  /* requested position past limits */
        CHK_REQVEL   0x0010  /* requested velocity past limits */
        CHK_REQTOR   0x0020  /* requested torque past limits */

The first three checking conditions are made with respect to information that is read back from the robot. The last three checking conditions are made with respect to commands being sent to the robot. Limit values associated with the checking conditions are defined in the robot's JLS structure.

SET_CHECKING() enables the check conditions specified by the bitmask mask. The set value may be read back in the checking field of the HOW structure.

SET_POWER_ON_RELEASE() instructs the robot control interface to keep robot power on after the control task has been released (the default is to shut robot power off). This feature is enabled by calling the macro with a true (non-zero) value, and cleared with a false value. The setting may be read back in the powerOnRelease field of the HOW structure.

DIAGNOSTICS
When a check condition is violated, an abort condition is raised.

BUGS
CHK_MAXTOR is not implemented on many PUMA robots because there are often no torque or current sensors available.

SEE ALSO
CHG(3), HOW(3).