MceUserFrameData

0.1.0

Data type for storing a user frame definition. This is a more compact version of MLxAppDataUserFrame.

This defines a user frame as vector from world frame to user frame.

coord-uf — User frame in relation to the world frame

Above displayed user frame: [700, 0, 200, 0, -45, 0]

Axis	Value
X	700 mm
Y	0 mm
Z	200 mm
Rx	0 deg
Ry	-45 deg
Rz	0 deg

User frames which are defined by three taught positions (ORG/XX/XY) can be transformed into a vector using matrix calculations or can be red from the pendant (after storing using MLxWriteApplicationDataToYRC): robot > user coordinate > display > coordinate data

Version history

0.1.0

11 Mar 2022 deGroot

Changes

Added:

first version

Overview

name	type	default	comment
aVector	`ARRAY [0..5] OF REAL`		user frame definition as vector from world frame to user frame [X/Y/Z/Rx/Ry/Rz]

Details

aVector

ARRAY [0..5] OF REAL

User frame definition as vector from world frame to user frame.

[0]     // X
[1]     // Y
[2]     // Z
[3]     // Rx
[4]     // Ry
[5]     // Rz

Range for Rx/Ry/Rz: -180 to 180 deg

Source code

Declarations

(*compact data type for storing a user frame definition*)
TYPE MceUserFrameData : 

(*
 * -----------------------------------------------------------------------------
 * Name               : MceUserFrameData
 * Version            : 0.1.0
 * Date               : 2022-03-11
 * Author             : deGroot
 * Family             : YaskawaMce
 * Organisation       : github.com/YaskawaEurope/mlx-examples
 * 
 * -----------------------------------------------------------------------------
 * compact data type for storing a user frame definition
 * -----------------------------------------------------------------------------
 *)

STRUCT
  aVector : ARRAY [0..5] OF REAL; (*user frame definition as vector from world frame to user frame [X/Y/Z/Rx/Ry/Rz]*)
END_STRUCT
END_TYPE