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.
Version history
0.1.0
 
deGroot
Changes
Changed:
- source code ported
- version number reset
- now using semantic versioning
Overview
name | type | default | 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 |
Details
axisType
DINT
Type of axis.
Variable | Definition |
---|---|
0 | Rotary |
1 | Linear |
2 | Continuous |
FeedbackUserDataType
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 |
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