T_CartesianPos

TYPE T_CartesianPos : STRUCT

This data type represents a cartesian position.
A Cartesian position defines the position and orientation of a point in the environment of the robot.

Syntax

Definition: 

TYPE T_CartesianPos :
STRUCT
    X   : REAL := 0;
    Y   : REAL := 0;
    Z   : REAL := 0;
    RX  : REAL := 0;
    RY  : REAL := 0;
    RZ  : REAL := 0;
    CS  : UINT := 2;
    CE  : UINT := 2;
    CW  : UINT := 2;
END_STRUCT
END_TYPE

Parameters

Name

Type

Initial

Description

X

REAL

0

X coordinate

Y

REAL

0

Y coordinate

Z

REAL

0

Z coordinate

RX

REAL

0

RX coordinate

RY

REAL

0

RY coordinate

RZ

REAL

0

RZ coordinate

CS

UINT

2

Configuration shoulder (1=> sfree; 2=> ssame; 3=> righty; 4=> lefty

CE

UINT

2

Configuration elbow (1=> efree; 2=> esame; 3=> epositive; 4=> enegative

CW

UINT

2

Configuration wrist (1=> wfree; 2=> wsame; 3=> wpositive; 4=> wnegative