vcDof

vcDof defines the joint properties of a node, its degrees of freedom, and whether or not the joint is assigned to a controller of a robot or servo.

Common Properties

The following properties are common in all DOF objects and joint types, except for fixed joints. A fixed joint does not have a DOF object.

Name	Type	Access	Description
JointLinkType	Enumeration	R	Gets the JointType of the link. See Joint Constants for more information.
JointServoType	Enumeration	RW	Defines whether a joint assigned to a controller is rotational or translational. See Joint Constants for more information.
Name	String	RW	Defines the name of DOF object and joint.
VALUE	Real	RW	Defines the current value of the joint.

Name	Type	Access	Description
Controller	vcServoController or vcRobotController	RW	Gets/Sets the controller assigned the joint.
InitialValue	Real	RW	Defines the default value of the joint at its initial state.
Joint	String	RW	Defines an expression that when evaluated returns the joint definition of the joint. VALUE can be used to referenced the current value of the joint, for example "VALUE+10".
MinLimit	String	RW	Defines an expression that when evaluated returns the minimum value of the joint.
MaxLimit	String	RW	Defines an expression that when evaluated returns the maximum value of the joint.
Pivot	String	RW	Defines an expression that when evaluated returns the pivot point definition of the joint. VALUE can be used to referenced the current value of the joint, for example "VALUE+10".

Name	Type	Access	Description
AxisType	Enumeration	RW	Defines the axis of the joint. See Joint Axis Constants for more information.
Driver	vcDof	RW	Defines the DOF object and joint referenced by a follower joint.
ValueExpression	String	RW	Defines an expression that when evaluated returns the value of the joint. VALUE can be used to referenced the current value of the joint, for example "VALUE+10".

Name	Type	Access	Description
AxisType	Enumeration	RW	Defines the axis of the joint. See Joint Axis Constants for more information.
Controller	vcServoController or vcRobotController	RW	Gets/Sets the controller assigned the joint.
InitialValue	Real	RW	Defines the default value of the joint at its initial state.
MinLimit	String	RW	Defines an expression that when evaluated returns the minimum value of the joint.
MaxLimit	String	RW	Defines an expression that when evaluated returns the maximum value of the joint.
ValueExpression	String	RW	Defines an expression that when evaluated returns the value of the joint. VALUE can be used to referenced the current value of the joint, for example "VALUE+10".

Name	Type	Access	Description
AxisType	Enumeration	RW	Defines the axis of the joint. See Joint Axis Constants for more information.
Controller	vcServoController or vcRobotController	RW	Gets/Sets the controller assigned the joint.
InitialValue	Real	RW	Defines the default value of the joint at its initial state.
MinLimit	String	RW	Defines an expression that when evaluated returns the minimum value of the joint.
MaxLimit	String	RW	Defines an expression that when evaluated returns the maximum value of the joint.
ValueExpression	String	RW	Defines an expression that when evaluated returns the value of the joint. VALUE can be used to referenced the current value of the joint, for example "VALUE+10".

The following properties are dynamically added to a DOF whose joint is assigned to servo/robot controller.

Name	Type	Access	Description
LagTime	Real	RW	Defines the lag time (in seconds) of joint.
MaxAcceleration	Real	RW	Defines the maximum acceleration (units/degrees per second squared) of joint.
MaxDeceleration	Real	RW	Defines the maximum deceleration (units/degrees per second squared) of joint.
MaxSpeed	Real	RW	Defines the maximum speed (units/degrees per second squared) of joint.
SettleTime	Real	RW	Defines the settle time (in seconds) of joint.
SoftMinLimit	Real	RW	Defines the soft limit for minimum joint value.
SoftMaxLimit	Real	RW	Defines the soft limit for maximum joint value.