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Name: Label Manager Submitter: vugie Submitted: 05 Dec 2009 File Updated: 23 Dec 2010 Category: JKI Right-Click Framework Plugins Version: 1.0.0 LabVIEW Version: 8.2 License Type: BSD (Most common) Label Manager (RCF Plugin) Copyright © 2009, Wojciech Golebiowski All rights reserved. Author: Wojciech Golebiowski (w_golebiowski (at) tlen.pl) Name: Label Manager Type: Right Click Framework Plugin LabVIEW version: 8.2.1 Description: Label Manager is Right-Click-Framework plugin for quick and ergonomic management of text labels styles. Styles are defined as text properties combined with alignment against label owning objects. They may be applied to any text label at block diagram or front panel, also with multiple selection. Once style is set to the label, the assignment is being remembered and may be updated on any change. Installation Preferably install VIP package with VI Package Manager Alternatively you may download ZIP and extract Label Manager folder to <LabVIEW Folder>\resource\JKI\RCF\Plugins\ and restart RCF Dependencies: OpenG Variant Config JKI State Machine Functionality - Generate label style from selection (retrieves both text attributes and alignment to label owning object if any) - Apply any style to currently selected text labels (also finding labels belonging to selected objects and showing up hidden labels) - Labels remember their style - when any of text attributes or label relative position has changed, original style may be recovered with single click (even after closing VI and opening it again). This association may be also removed. - Works for both Block Diagram and Front Panel labels - Graphically manage label styles Not-so-short video Support: If you have any problems with this code or want to suggest features: http://lavag.org/ind...showtopic=11583 Version History: 1.0.0: Initial release of the code. License (BSD): Copyright © 2009 Wojciech Golebiowski All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. The name of the author may not be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. Click here to download this file

I've done some work with a Fanuc robot, though not nearly enough to consider myself an "expert" or even "fairly knowledgable." More along the lines of "knows a few pitfalls and can usually avoid crashing into things." I don't know the model or payload of our robot but it has a range of ~6' end to end. One thing to be aware of is "singularities." These are joint position combinations within the working area from which the robot controller cannot move because the math returns motion values of +/- infinity or there is an infinite number of solutions. (Such as if two axes are aligned concentrically and parallel.) On the Fanuc robot there are two types of motion available: Joint motion and Coordinate motion. With joint motion you program the value you want each joint to take. When executed, the controller sets the speed of the joint movement such that all joints reach their desired position and stop at the same time. The path and orientation of the end effecter are not directly controlled by you during the motion; they are a result of the combined motion of all the joints. With coordinate motion you define the motion in coordinate space. The controller directs the joints to move so the end effecter travels in a straight line at a constant speed from point A to point B. Singularities do not exist in joint motion. They do exist in coordinate motion and make it difficult to access certain regions of the working area. For example, our robot is installed on a wall. Trying to move through the region roughly defined by having the upper arm parallel to the floor and the lower arm pointing straight at the floor was problematic. We hit singularities often because the wrist twist would have to turn infinitely fast (or faster than the robot is capable of) to maintain orientation and speed of the end effecter. Our solution was to move the device being tested so it was positioned under the upper arm instead of right below the elbow. Other solutions could have included programming a coordination motion path around the singularity or switching to joint motion to get through the singularity. So although a robot may be able to reach all of the locations in its range, it cannot always reach them all using the kind of control you want or need.