SetpointPose
Variable name | Description |
|---|---|
alrActCoordSys | Data type: ARRAY [1..6] OF LREAL |
Target pose in the current coordinate system (Basic.Out.eActCoordSys) | |
alrBase | Data type: ARRAY [1..6] OF LREAL |
Target pose in base coordinate system | |
alrKinematicAxis | Data type: ARRAY [1..6] OF LREAL |
Setpoint position of the single axes of the kinematic model | |
alrKinematicJoint | Data type: ARRAY [1..6] OF LREAL |
Setpoint position of the joint axes of the kinematic model | |
alrAdditionalJoint | Data type: ARRAY [1..6] OF LREAL |
Setpoint position of the additional joint axes (additional joint axes are not included in the current range of functions). | |
usiConstellation | Data type: USINT |
Constellation of kinematics in target pose |
