McePosTableEntry

If True the entry will be ignored.

Some use cases:

• Temporarily deactivating an entry
• Declaring some entries as “spare” to reserve space for future changes
• Dividing a PosTable trajectory in parts, with each part having its own range (e.g. entry[1..9] for Pick and entry[10..19] for Place)

If True all remaining entries of the PosTable are ignored.

Use case:

• Declaring this entry as the end of the trajectory (no need to set each remaining entry to bSkipEntry=True)
• Temporarily deactivating the rest of the trajectory

Specifies the type of the target position .

It is adviced to have at least one entry (e.g. the rest position) defined as axis position. The reason for this is that an axis position is “fully defined”, whereas TCP positions can often be reached in multiple ways. Using only TCP positions could result in running into an axis limit due to starting off the trajectory in an undesired arm pose (e.g. R-axis rotated by 180 degrees).

Specifies how the speed setting for the robot motion should be interpreted.

By default, the speed setting for a motion to a TCP target position is interpreted as linear speed. That is fine for most cases. However, if the resulting motion of this entry has a big portion of TCP rotational motion and just little (or no) TCP translational motion, it will result in unexpected fast axis motion.

In such case, this parameter shall be set True.

Target position for this motion.

The values unit depends on the aTargetType parameter :

• degrees if it is an Axis position
• mm and degrees if it is a TCP position

Specifies the speed of the motion.

The speed unit depends on the nSpeedUnits parameter.

Specifies the type of movement for the entry.

Specifies the speed unit of the fSpeed parameter.

Acceleration in % of maximum rated acceleration (range: 20-100%).

For a fast but also efficient trajectory: try a bit lower value (e.g. 90%)

Deceleration in % of maximum rated deceleration (range: 20-100%).

For a fast but also efficient trajectory: try a bit lower value (e.g. 90%)

Specification for the amount of blending from the current motion into the following motion.

It is specified as a number which corresponds to the PL (“position level”) setting in INFORM programming.

If this entry is the last motion before a standstill, the blend factor influences the timing of the Sts_PC signal of the underlaying motion instruction.

Check the YaskawaMLx library for more information.

User Frame number used for this motion.

Tool number used for this motion.

PosTable does not write tool data; It only selects already configured tools (by number). Tools must be configured beforehand using SetToolProperties or by pendant.

Action to execute after the motion has completed.

ActionID < 20 are default actions (listed below). These actions are built-in and available for every instance of McePosTable.

In some cases, you might want to create an action which is only needed for this particular instance. This is where the custom actions come in.

ActionID >= 20 are reserved for these custom actions. They shall be programmed outside of McePosTable, using the following variables from the interface:

• bActionStart
• nActionID
• bCustomActionDone

Select which start conditions must be respected to continue the trajectory.

If a PosTable entry has one or more bits in startConditions set to TRUE then the motion for that entry will not be started until the start conditions are satisfied.

• Conditions are only checked for the TRUE state
• If you need a condition to be checked for the FALSE state, you need to invert the connected signal outside of PosTable

For example: if aStartCondition[0] and aStartCondition[4] are True, then aConditions[0] and aConditions[4] of McePosTableIO are considered.

If conditions are already satisfied, the robot blend the trajectory without stop.