Settings for linear servofloat.
Version history
0.1.0
deGroot
Changes
Added:
- initial version
Overview
| name | type | default | comment |
|---|---|---|---|
| CoordFrame | DINT | frame used for servofloat (0=world, 1=active tool, 2=active user frame) | |
| FreezeToolOrientation | BOOL | freeze the tool orientation during servofloat | |
| Padding | ARRAY[0..2] OF BOOL | placeholder for platform compatibility | |
| Setting | ARRAY[0..7] OF MLxFloatSettingData | servofloat settings per axis ([0-2]=X/Y/Z, [3-5]=R/B/T) |
Details
CoordFrame
DINTFrame used for servofloat.
| value | explanation |
|---|---|
| 0 | world |
| 1 | active tool frame |
| 2 | active user frame |
FreezeToolOrientation
BOOLFreeze the tool orientation during servofloat.
Padding
ARRAY[0..2] OF BOOLPlaceholder for platform compatibility.
Setting
ARRAY[0..7] OF MLxFloatSettingDataServofloat force/torque setting per axis.
X/Y/Zaxes as force inkgfR/B/Taxes as torque in% rated torque
// X/Y/Z axes: force
[0] // X
[1] // Y
[2] // Z
// R/B/T axes: torque
[3] // R
[4] // B
[5] // T
// spare
[6]
[7]