This is part of 1.24.0 – latest release: 2.1.0.

MLxAxisConfigurationData

Setup

Data type for robot axis configuration data.

Data structure used in MLxAxisData structure.

Contains configuration data of an axis that will be populated after calling MLxRobotGetProperties instruction.

Values in this data structure are read-only. Modifying it will have no effect on the system behavior.

Overview

name	type	comment
axisType	`DINT`	0 = rotary, 1 = linear, 2 = continuous
FeedbackUserDataType	`DINT`	Specifies the type of data returned in the UserData field of MLxAxisFeedback structure. 0=Actual Position in position units, 1=Actual Position in Encoder Pulses, 2=Actual Velocity in position units, 3=Actual Velocity in Encoder Pulses, 4=Commanded Velocity in Position Units, 5=Commanded Acceleration, 6=Actual Following Error in Encoder Pulses, 7=Actual Motor Torques in Percentage of Rated Torques
MinLimit	`REAL`	Minimum Limit in Position Units. Ignored for Continuous Axes.
MaxLimit	`REAL`	Maximum Limit in Position Units. Ignored for Continuous Axes.
SpeedLimit	`REAL`	For future use
AccelerationLimit	`REAL`	For future use
JerkLimit	`REAL`	For future use
ManualModeVelocityLimit	`REAL`	For future use

DINT

Type of axis.

DINT

Specifies the type of data returned in the UserData field of MLxAxisFeedback structure.

Variable	Definition
0	Actual Position in position units
1	Actual Position in Encoder Pulses
2	Actual Velocity in position units
3	Actual Velocity in Encoder Pulses
4	Commanded Velocity in Position Units
5	Commanded Acceleration
6	Actual Following Error in Encoder Pulses
7	Actual Motor Torques in Percentage of Rated Torques

REAL

Minimum Limit in Position Units. Ignored for Continuous Axes.

REAL

Maximum Limit in Position Units. Ignored for Continuous Axes.

REAL

For future use

REAL

For future use

REAL

For future use

REAL

For future use