T_Mdesc
TYPE T_Mdesc : STRUCT
This data type describes a motion descriptor.A motion descriptor is a variable used to define :
- The dynamic parameters of a commanded movement (Speed, Acceleration, Deceleration)
- The geometry of the trajectory at way point (Blending distances)
Syntax
Definition:
TYPE T_Mdesc :
STRUCT
Accel : INT := 0;
Vel : INT := 0;
Decel : INT := 0;
Tvel : REAL := 0;
Rvel : REAL := 0;
Leave : REAL := 0;
Reach : REAL := 0;
eBlendingType : eBlending := 0;
END_STRUCT
END_TYPE
Parameters
|
Name |
Type |
Initial |
Description |
|---|---|---|---|
|
Accel |
INT |
0 |
Maximum permitted joint acceleration as a % of the nominal acceleration of the robot. |
|
Vel |
INT |
0 |
Maximum permitted joint speed as a % of the nominal speed of the robot. |
|
Decel |
INT |
0 |
Maximum permitted joint deceleration as a % of the nominal deceleration of the robot. |
|
Tvel |
REAL |
0 |
Maximum permitted translational speed of the tool center point, in mm/s or inches/s depending on the unit of length defined in robot's controller |
|
Rvel |
REAL |
0 |
Maximum permitted rotational speed of the tool center point, in degrees per second. |
|
Leave |
REAL |
0 |
Distance from the destination point at which the nominal trajectory is left. |
|
Reach |
REAL |
0 |
Distance from the destination point at which the nominal trajectory is joined again. |
|
eBlendingType |
0 |
Blending type 0: NotDefined, 1: Off, 2: Joint, 3: Cartesian |