Enumerations TriggerCondition - ThorstenBrach/SRCI GitHub Wiki

TARGET_POSITION_TIME_MS

-5

Time in ms – point reference is target position

TARGET_POSITION_TCP_VELOCITY_ABSOLUTE

-4

TCP velocity in mm/s – point reference is target position

TARGET_POSITION_TCP_VELOCITY_PERCENT

-3

TCP velocity in % of reference velocity – point reference is target position

TARGET_POSITION_DISTANCE_ABSOLUTE

-2

Distance in mm of trajectory – point reference is target position

TARGET_POSITION_DISTANCE_PERCENT

-1

Distance in % of trajectory – point reference is target position

UNDEFINED

0

Undefined

START_POSITION_DISTANCE_PERCENT

1

Distance in % of trajectory – point reference is start position

START_POSITION_DISTANCE_ABSOLUTE

2

Distance in mm of trajectory – point reference is start position

START_POSITION_TCP_VELOCITY_PERCENT

3

TCP velocity in % of reference velocity – point reference is start position

START_POSITION_TCP_VELOCIT_ABSOLUTE

4

TCP velocity in mm/s – point reference is start position

START_POSITION_TIME_MS

5

Time in ms – point reference is start position