IF_RobotFeedbackScara4Ax

IF_RobotFeedbackScara4Ax - General Information

Overview

This chapter provides information on:

Task

Interface with return values of a configured SCARA.

Description

The Cartesian positions of the motors and joints of the configured SCARA which correspond to the mechanical robot coordinate system.

They can serve as input sizes of a visualization of the robot.

Properties

Name	Data type	Accessing	Description
rastMotor	REFERENCE TO ARRAY [ET_RobotComponent.AxisA .. ET_RobotComponent.AxisD] OF PDL.ST_Vector2D	Read	Cartesian position of the motors A to D in the mechanical robot coordinate system. Motor positions are equal to the joint positions.

Name

Data type

Accessing

Description

rastMotor

REFERENCE TO ARRAY [ET_RobotComponent.AxisA .. ET_RobotComponent.AxisD] OF PDL.ST_Vector2D

Read

Cartesian position of the motors A to D in the mechanical robot coordinate system.

Motor positions are equal to the joint positions.