Structures MeasuringInputResult - ThorstenBrach/SRCI GitHub Wiki

MeasuredCartesianPosition

RobotCartesianPosition

-

Measured robot position value at the rising edge of the digital input in selected coordinate systems (see input parameters ToolNo and FrameNo)

ToolNo

USINT

-

Index of tool of returned position
- 0: Flange
- 1..254: Tool frames

FrameNo

USINT

-

Index of frame of returned position
- 0: WCS
- 1..254: User frames

MeasuredJointPosition

RobotJointPosition

-

Measured robot position value at the rising edge of the digital input in Joint position