T_JointPos
TYPE T_JointPos : STRUCT
This data type represents a joint position.A joint position is defined by the angular position of each revolute axis and the linear position of each linear axis.The fields are expressed in degrees for the rotary axes and in millimeter or inches for the linear axes.The origin of each axis is defined according to the type of robot used.
Syntax
Definition:
TYPE T_JointPos :
STRUCT
J1 : REAL := 0;
J2 : REAL := 0;
J3 : REAL := 0;
J4 : REAL := 0;
J5 : REAL := 0;
J6 : REAL := 0;
END_STRUCT
END_TYPE
Parameters
|
Name |
Type |
Initial |
Description |
|---|---|---|---|
|
J1 |
REAL |
0 |
Position of axis 1 |
|
J2 |
REAL |
0 |
Position of axis 2 |
|
J3 |
REAL |
0 |
Position of axis 3 |
|
J4 |
REAL |
0 |
Position of axis 4 |
|
J5 |
REAL |
0 |
Position of axis 5 if applicable. For 4 axis robots, this value is 0 |
|
J6 |
REAL |
0 |
Position of axis 6 if applicable. For 4 axis robots, this value is 0 |