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 |