Data type for robot TCP position feedback data.
This data structure contains the feedback data from the MotoLogix system.
It is used to get the robot current TCP position.
Current TCP position Frame depends of the MLxHMIFeedbackConfiguration value.
Overview
| name | type | default | comment |
|---|---|---|---|
| CurrentRobotTCPPosition | ARRAY[0..7] OF REAL | TCP position of the selected robot in the selected coordframe | |
| CurrentRobotTCPCoordFrame | DINT | This is the Coordinate Frame that the CurrentRobotTCPPosition member is reported in. 0 = World, 2 = User. |
Details
CurrentRobotTCPPosition
ARRAY[0..7] OF REALTCP position [X,Y,Z,Rx,Ry,Rz,Re,R8] of the selected robot in the
selected Frame.
Modify CurrentRobotJogCoordFrame of MLxHMIFeedbackConfiguration to
select in which Frame the TCP position is given.
CurrentRobotTCPCoordFrame
DINTThis is the Frame that the CurrentRobotTCPPosition member is
reported in.
| Value | Definition |
|---|---|
| 0 | World |
| 2 | User |