This is part of 2.1.0 – latest release.

MLxHMIFeedbackConfiguration

0.2.0

Data type for robot TCP position feedback configuration data.

This data structure contains information necessary to configure the data coming back in the MLxHMIFeedbackData structure.

Version history

0.2.0

04 Jan 2021 Rioual

Changes

Added:

new Feedback Position options

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0.1.0

04 Jan 2021 deGroot

Changes

Changed:

source code ported
version number reset
now using semantic versioning

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 (CMD pos), 2 = User (CMD pos), 10 = World (FB pos), 12 = User (FB pos)

Details

CurrentRobotNumber

DINT

Index 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

DINT

Current 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.

value	explanation
0	World (command position)
2	User (command position)
10	World (feedback position)
12	User (feedback position)