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