Data type for storing user frame data.
Data structure used by MLxRobotSetUserFrame.
Contains data to create a UserFrame.
User frame can be define with:
- A position and orientation relative to World Frame
UserFrameType = 0CoordFrameposition[X,Y,Z,Rx,Ry,Rz]
- A 3 points teaching method
UserFrameType = 1Originposition[X,Y,Z]XXposition[X,Y,Z]XYposition[X,Y,Z]
Version history
0.1.0
deGroot
Changes
Changed:
- source code ported
- version number reset
- now using semantic versioning
Overview
| name | type | default | comment |
|---|---|---|---|
| UserFrameName_LEN | DINT | Stringlength for platform compatibility | |
| UserFrameName | STRING[82] | Used-defined name of the User Frame. | |
| UserFrameType | DINT | 0 = define user frame using data in CoordFrame variable, 1 = use data inside Origin, XX, XY variables | |
| CoordFrame | ARRAY[0..5] OF REAL | This defines the location of a user frame in X,Y,Z,RX,RY,RZ. This data is used to set the user frame when UserFrameType is 0. RX, RY, RZ should be in the range from -180 to 180 degrees. | |
| Origin | ARRAY[0..2] OF REAL | [X,Y,Z] position of the frame origin. | |
| XX | ARRAY[0..2] OF REAL | [X,Y,Z] position of the frame XX point. | |
| XY | ARRAY[0..2] OF REAL | [X,Y,Z] position of the frame XY point. |
Details
UserFrameName_LEN
DINTStringlength for platform compatibility
UserFrameName
STRING[82]Used-defined name of the User Frame.
UserFrameType
DINT| Variable | Definition |
|---|---|
| 0 | Define user frame position using CoordFrame variable |
| 1 | Use 3 points teaching using data inside Origin, XX and XY variables |
CoordFrame
ARRAY[0..5] OF REALThis defines the location of a user frame in [X,Y,Z,Rx,Ry,Rz] relative
to the World Frame.
Rx, Ry, Rz should be in the range from -180 to 180 degrees.
Origin
ARRAY[0..2] OF REAL[X,Y,Z] position of the frame origin (ORG teach point).
XX
ARRAY[0..2] OF REAL[X,Y,Z] position of the frame X direction (XX teach point).
XY
ARRAY[0..2] OF REAL[X,Y,Z] position of the frame XY plane (XY teach point).