This is part of 2.1.0 – latest release.

MLxAppDataTeachPoint

Data type for storing a target position.

Data structure used by motion commands.

Contains both TCP position [X,Y,Z,Rx,Ry,Rz,Re,R8] and axis position [S,L,U,R,B,T,E,8].

UserFrameNumber and ToolNumber parameters are not used to select the Active User Frame or the Active Tool Number.

However, if UserFrameNumber is set to -1, motion will be performed in the World Frame, regardless of the Active User Frame.

Same for ToolNumber , if it is set to -1, Active Tool will be ignored. In that case Tool offsets are considered at all zeros.

Version history

04 Jan 2021 deGroot

Changed:

name	type	comment
TeachPointName_LEN	`DINT`	Stringlength for platform compatibility
TeachPointName	`STRING[82]`	User-Defined Teach Point Name.
TCPPosition	`MLxRobotPosition`	Teach Point TCP Position
AxisPosition	`ARRAY[0..7] OF REAL`	Teach Point Axes Position
UserFrameNumber	`INT`	-1=ignore the active UserFrame (treat as WORLD position), other values are not used by the robot controller
ToolNumber	`INT`	-1=ignore the active Tool (treat as tool offsets all zero), other values are not used by the robot controller
Reserved	`DINT`	For future use

DINT

Stringlength for platform compatibility

STRING[82]

User-Defined Teach Point Name.

Teach Point TCP Position.

Contains the TCP Position [X,Y,Z,Rx,Ry,Rz,Re,R8] and its closure.

ARRAY[0..7] OF REAL

Teach Point Axes Position [X, Y, Z, Rx, Ry, Rz, Re, R8]

INT

-1 = ignore the active UserFrame (treat as WORLD position), other values are not used by the robot controller.

Use MLxRobotSetUserFrame to modify active UserFrame.

INT

-1 = ignore the active Tool (treat as tool offsets all zero), other values are not used by the robot controller.

Use MLxRobotSetToolProperties or MLxRobotSelectTool to modify active tool.

DINT

For future use