Structures AxesGroupCyclicOptionalDataRobToPlc - ThorstenBrach/SRCI GitHub Wiki

SubProgramData

AxesGroupCyclicOptionalDataSubProgram

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Transmit cyclic data from PLC to RC for use in a subprogram called via “CallSubprogram”

CartesianPosition

AxesGroupCyclicOptionalDataCartesianPosition

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Short cartesian position
- X, Y, Z
- RX, RY, RZ
- Config, TurnNumber
- E1
- ToolNo, FrameNo

CartesianPositionExt

AxesGroupCyclicOptionalDataCartesianPositionExt

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External axis values for extended cartesian position
Tool and Frame are sent cyclically

JointPosition

AxesGroupCyclicOptionalDataJointPosition

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Short joint position
- J1–J6
- E1

JointPositionExt

AxesGroupCyclicOptionalDataJointPositionExt

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External axis values for extended joint position (E2–E6)

Force

AxesGroupCyclicOptionalDataForce

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Force in individual directions
- X, Y, Z
- RX, RY, RZ

ForceExt

AxesGroupCyclicOptionalDataForceExt

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Current force for external axes E1–E6

Current

AxesGroupCyclicOptionalDataCurrent

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Actual axes current of J1–J6

CurrentExt

AxesGroupCyclicOptionalDataCurrentExt

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Actual current for external axes E1–E6