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.
Version history
0.3.0
deGroot
Changes
Added:
- TCP speed monitoring
show full history
0.2.0
Rioual
Changes
Added:
- new Feedback Position options
0.1.0
deGroot
Changes
Changed:
- source code ported
- version number reset
- now using semantic versioning
Overview
| name | type | default | comment |
|---|---|---|---|
| CurrentRobotTCPPosition | ARRAY[0..7] OF REAL | TCP position [X,Y,R,Rx,Ry,Rz,Re,R8] of the selected robot in the selected coordframe. On newer sytems [7] can be used for TCP speed monitoring (needs S2C1702=1) | |
| CurrentRobotTCPCoordFrame | DINT | This is the Coordinate Frame that the CurrentRobotTCPPosition member is reported in. 0 = World (CMD pos), 2 = User (CMD pos), 10 = World (FB pos), 12 = User (FB pos) |
Details
CurrentRobotTCPPosition
ARRAY[0..7] OF REALTCP position of the selected robot in the selected Frame.
// position in mm
[0] // X axis
[1] // Y axis
[2] // Z axis
// angle in degrees
[3] // Rx axis
[4] // Ry axis
[5] // Rz axis
[6] // Re axis
[7] // R8 axis / TCP speed in [mm/s] (requires parameter S2C1702=1)
Modify CurrentRobotJogCoordFrame of MLxHMIFeedbackConfiguration to
select in which Frame the TCP position is given.
TCP speed
On newer systems the TCP speed can be monitored in CurrentRobotTCPPosition[7].
This requires parameter S2C1702=1.
| controller | introduced in |
|---|---|
| YRC1000 | YAS4.25 |
| YRC1000micro | YBS2.43 |
CurrentRobotTCPCoordFrame
DINTThis is the Frame that the CurrentRobotTCPPosition member is
reported in.
| value | explanation |
|---|---|
| 0 | World (command position) |
| 2 | User (command position) |
| 10 | World (feedback position) |
| 12 | User (feedback position) |