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.