Structures AxesGroupParameterRobOptionalCyclic - ThorstenBrach/SRCI GitHub Wiki

UseCallSubprogram

BOOL

-

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

UseCartesianPosition

BOOL

-

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

UseJointPosition

BOOL

-

Send short joint position
- J1–J6
- E1

UseForce

BOOL

-

Send force values
- X, Y, Z
- RX, RY, RZ

UseCurrent

BOOL

-

Transmit actual current of J1–J6

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

BBOOL

-

Send E2–E6 for extended cartesian position

UseJointPositionExt

BOOL

-

Send E2–E6 for extended joint position

UseForceExt

BOOL

-

Transmit force for external axes E1–E6

UseCurrentExt

BOOL

-

Transmit current for external axes E1–E6

Bit13

BOOL

-

Bit 13

Bit14

BOOL

-

Bit 14

Bit15

BOOL

-

Bit 15