Structures SplineData - ThorstenBrach/SRCI GitHub Wiki

Absolute target coordinates in the selected coordinate system (see ToolNo and FrameNo)

TCP velocity in % of nominal velocity
- <0%: Use default velocity (default)
- 0%: Use internal minimal velocity
- 100%: Use maximal reference velocity

Acceleration in % of nominal acceleration
- <0%: Use default acceleration (default)
- 0%: Use internal minimal acceleration
- 100%: Use maximal reference acceleration

Deceleration in % of nominal deceleration
- <0%: Use default deceleration (default)
- 0%: Use internal minimal deceleration
- 100%: Use maximal reference deceleration

Jerk in % of nominal jerk
- <0%: Use default jerk (default)
- 0%: Use internal minimal jerk
- 100%: Use maximal reference jerk

Index of tool
- 0: Flange (default)
- 1..254: Tool frames

Index of frame
- 0: WCS (default)
- 1..254: User frames

Duration [ms] to reach the target position (if > 0)
- Overrides velocity, acceleration, deceleration and jerk
- Define two consecutive points with identical positions and MoveTime > 0 to implement wait time
- An error is raised by the RC if time cannot be kept