Structures AxesGroupParameterOptionalCyclicPlcToRob - ThorstenBrach/SRCI GitHub Wiki

UseCallSubprogram

BOOL

-

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

UseCartesianPosition

BOOL

-

Send a short cartesian position
- TCP position (X, Y, Z)
- Rotation (RX, RY, RZ)
- Config, TurnNumber
- E1
- ToolNo, FrameNo

UseJointPosition

BOOL

-

Send a short axes position
- J1 to J6
- E1

UseForce

BOOL

-

Send the force
- X, Y, Z
- Rx, Ry, Rz

Bit04

BOOL

-

Bit 04

Bit05

BOOL

-

Bit 05

Bit06

BOOL

-

Bit 06

Bit07

BOOL

-

Bit 07

UseTwoSequences

BOOL

-

Set to 1 to define two sequences in one telegram. Also activate in server-client direction.

UseCartesianPositionExt

BOOL

-

Send E2–E6 for extended cartesian position

UseJointPositionExt

BOOL

-

Send E2–E6 for extended joint position

Bit11

BOOL

-

Bit 11

Bit12

BOOL

-

Bit 12

Bit13

BOOL

-

Bit 13

Bit14

BOOL

-

Bit 14

Bit15

BOOL

-

Bit 15