Data type for robot TCP position feedback configuration data.
MLxHMIFeedbackData structure.Overview
| name | type | default | comment |
|---|---|---|---|
| CurrentRobotNumber | DINT | Index of the robot that is current being displayed for Jogging and Teaching on the HMI. | |
| CurrentRobotJogCoordFrame | DINT | Current Coordinate Frame selected for jogging and teaching the current robot. 0 = World, 2 = User. |
Details
CurrentRobotNumber
DINTIndex of the robot that is current being displayed for Jogging and Teaching on the HMI.
Put 0 for a system with only one robot. Range from 0 (first robot) to
3 (fourth robot).
CurrentRobotJogCoordFrame
DINTCurrent Coordinate Frame selected for jogging and teaching the current robot. It is also used to select in which Frame the Feedback Position will be returned.
| Variable | Definition |
|---|---|
| 0 | World |
| 2 | User |