The DH parameters and Joint limits.

[madinwei]

Hello, @torayeff ^_^,

I want to get The DH parameters and the joint limits of the robot arm I am controlling with Fanucpy. so is there a specific function in Karel or the TP language, that I can call it from my code and retrieve the DH parameters and Joint limits?

and Since I am using Roboguide, I can use any arm version, if there is any way to get any arm DH parameters and Joint limits. I just use that specific arm.

[torayeff]

@madinwei unfortunately it is not supported by fanucpy at this point.

[torayeff]

@madinwei alternatively you can write your own Karel/Python to modify the system variables as shown in the below lines:

fanucpy/src/fanucpy/Robot.py

Line 290 in 8dbb918

def set_sys_var(self, sys_var: str, val: bool):

fanucpy/src/fanuc-driver/mappdk_cmd.kl

Line 558 in 8dbb918

ROUTINE SET_SYS_VAR(cmd: STRING): STRING

and modify kinematics as discussed here:
https://robodk.com/doc/en/Robots-Fanuc-Updating-controller-kinematic-parameters.html