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struct.MOVE_POSB

This is a structure for setting waypoint information when moveb motion is controlled in the robot controller, and is composed of the following fields.

BYTE#

Field Name

Data Type

Value

Remarks

0

Location Information (#1)

float

-

Information on Six Task Spaces

24

Location Information (#2)

float

-

Information on Six Task Spaces

48

Motion Type

uchar

0x00~0x03

Combination of first motion and second motion

Line: 0

Circle: 1

49

Curve Curvature

float


Radius Information (mm Unit)

  • moveb consists of a combination of line motions and circle motions. Line motions need one waypoint, except for the starting point, while circle motions need two waypoints, except for the starting point. In other words, location information (#2) is ignored in the case of line motion.
  • For reference standard, a base coordinate is selected in the case of base frame, while a tool is selected in the case of coordinate.
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