|
Type: |
Structure |
|
Available as of: |
V1.4.1.0 |
|
Inherits from: |
- |
Structure to store information on the kinematic parameters of a Delta robot with two axes. Refer to ROB.IF_RobotConfiguration.Delta2Ax for further details on the parameters contained in the structure.
|
Name |
Data type |
Description |
|---|---|---|
|
etWorkingPlane |
Specification in which working plane the robot is operating. |
|
|
lrLengthAB0 |
LREAL |
Length of the distance between the axes A and B. |
|
lrLengthA1 |
LREAL |
Length of the upper arm mounted on axis A. |
|
lrLengthA2 |
LREAL |
Length of the lower arm mounted on axis A. |
|
lrLengthB1 |
LREAL |
Length of the upper arm mounted on axis B. |
|
lrLengthB2 |
LREAL |
Length of the lower arm mounted on axis B. |
|
lrLengthAB3 |
LREAL |
Length of the distance between the two suspension points of the lower arms A and B. |
|
lrLengthA4 |
LREAL |
Offset of the TCP in extension of the lower arm of axis A. |
|
lrLengthA5 |
LREAL |
Offset of the TCP perpendicular to the offset i_lrOffsetA4. |
