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extending maximum joints in a txdevice

Pioneer
Pioneer

is there a way to extend the maximum of 256 kinematic joints within a Device?

If i try to create more than 256, i get an exception.

Even if i check the "CanCreateJoint" method.

 

TxKinematicLinkCreationData kinematicLinkCreationDataChild = new TxKinematicLinkCreationData("link_" + i));

TxKinematicLink childLink = obj.CreateLink(kinematicLinkCreationDataChild);

try {

TxJointCreationData jointCreationData = new TxJointCreationData();

jointCreationData.ChildLink = childLink;

jointCreationData.ParentLink = parentLink;

jointCreationData.SetAxisPoints(vectorA, vectorB);

jointCreationData.Name = "j_" + (i + 1);

if (obj.CanCreateJoint(jointCreationData)){

obj.CreateJoint(jointCreationData);

}

}

catch (Exception e){

Console.WriteLine(e);

throw;

}

 

 

1 REPLY

Re: extending maximum joints in a txdevice

Siemens Phenom Siemens Phenom
Siemens Phenom

Hi Titaniser,

 

There is no way to extend the number of joints per device.

CanCreateJoint does not consider that limitation, it only checks if a joint can be created with the specified creation data.

 

Best Regards,

DianaG