Data type for storing actual positions of a robot.
Version history
0.1.1
deGroot
Changes
Changed:
- whitespace
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0.1.0
deGroot
Changes
Added:
- first version
Overview
| name | type | default | comment |
|---|---|---|---|
| aAxis | ARRAY [0..5] OF REAL | [0, 0, 0, 0, 0, 0] | axis position (e.g. S/L/U/R/B/T [deg] for a manipulator) |
| aWorld | ARRAY [0..5] OF REAL | [0, 0, 0, 0, 0, 0] | TCP position in world frame (X/Y/Z [mm] / Rx/Ry/Rz [deg]) |
| aUser | ARRAY [0..5] OF REAL | [0, 0, 0, 0, 0, 0] | TCP position in active user frame (X/Y/Z [mm] / Rx/Ry/Rz [deg]) |
Details
aAxis
ARRAY [0..5] OF REAL(default: [0, 0, 0, 0, 0, 0])
Axis position of the robot. The format of the data depends on the robot configuration.
Example for a manipulator (e.g. R1):
// angle in degrees
[0] // S axis
[1] // L axis
[2] // U axis
[3] // R axis
[4] // B axis
[5] // T axis
Example for a base axis (e.g. B1):
// position in mm
[0] // X axis
[1] // Y axis
[2] // Z axis
...
Example for a station axis (e.g. S1):
// position in mm or angle in degrees (depends on type of axis)
[0] // 1st axis
[1] // 2nd axis
[2] // 3rd axis
...
aWorld
ARRAY [0..5] OF REAL(default: [0, 0, 0, 0, 0, 0])
Actual position of the robot TCP in the world frame. This position is based on the active tool.
TCP positions only apply to manipulators (e.g. R1).
// position in mm
[0] // X axis
[1] // Y axis
[2] // Z axis
// angle in degrees
[3] // Rx axis
[4] // Ry axis
[5] // Rz axis
aUser
ARRAY [0..5] OF REAL(default: [0, 0, 0, 0, 0, 0])
Actual position of the robot TCP in the active user frame. This position is based on the active tool.
TCP positions only apply to manipulators (e.g. R1).
// position in mm
[0] // X axis
[1] // Y axis
[2] // Z axis
// angle in degrees
[3] // Rx axis
[4] // Ry axis
[5] // Rz axis
Source code
Declarations
(*Data type for storing actual positions of a robot*)
TYPE MceActualPositionData :
(*
* -----------------------------------------------------------------------------
* Name : MceActualPositionData
* Version : 0.1.1
* Date : 2022-03-09
* Author : deGroot
* Family : YaskawaMce
* Organisation : github.com/YaskawaEurope/mlx-examples
*
* -----------------------------------------------------------------------------
* Data type for storing actual positions of a robot
* -----------------------------------------------------------------------------
*)
STRUCT
aAxis : ARRAY [0..5] OF REAL := [0, 0, 0, 0, 0, 0]; (*axis position (e.g. S/L/U/R/B/T [deg] for a manipulator)*)
aWorld : ARRAY [0..5] OF REAL := [0, 0, 0, 0, 0, 0]; (*TCP position in world frame (X/Y/Z [mm] / Rx/Ry/Rz [deg])*)
aUser : ARRAY [0..5] OF REAL := [0, 0, 0, 0, 0, 0]; (*TCP position in active user frame (X/Y/Z [mm] / Rx/Ry/Rz [deg])*)
END_STRUCT
END_TYPE