Structures ToolData - ThorstenBrach/SRCI GitHub Wiki

Timestamp

IEC_TIMESTAMP

-

Timestamp

ID

USINT,

-

Identification of physical tool Default: 0

ExternalTCP

BOOL

-

True: Tool fixed False: Tool on flange

X

REAL

-

Origin of the tool coordinate system relative to the flange coordinate system. X value [mm]

Y

REAL

-

Origin of the tool coordinate system relative to the flange coordinate system. Y value [mm]

Z

REAL

-

Origin of the tool coordinate system relative to the flange coordinate system. Z value [mm]

Rx

REAL

-

Orientation of the tool coordinate system relative to the flange coordinate system. RX value [°]

Ry

REAL

-

Orientation of the tool coordinate system relative to the flange coordinate system. RX value [°]

Rz

REAL

-

Orientation of the tool coordinate system relative to the flange coordinate system. RX value [°]

LoadNo

USINT

-

Index of the payload Information of tool and workpiece weight, center of gravity and inertia