#include <erk_capi_types.h>

Public Attributes
TErTargetID	TargetID
	Identifier of the target, 0 no identifier givin, >0 identifier of this target. More...

long	TargetParam
	0 unused (only position data are valid), 1 radius, 2 angle, 3 distance More...

DFRAME	CartPos
	Target cartesian position. More...

double	JointPos [ER_KIN_DOFS]
	Target joint position. More...

char	Configuration [ER_MAXSTR]
	Target manipulator configuration string. More...

double	TargetParamValue
	= 2, for radiants More...

double	TrajectoryTime
	Output: Calculated trajectory time in [sec]. More...

ER_EXTAX_KIN_DATA	extax_data [ER_EXTAX_KIN_DATA_MAX]
	external axis data More...

double	LeadWaitTime
	Leading time, before move will start. More...

double	LagWaitTime
	Lag time, after robot reaches its target. More...

long	SyncIDDiscrete
	Handle for ProcSync. More...

long	SyncIDContinuous
	Handle for MotionSync. More...

long	ptp_target_calculation_mode
	PTP target calculation mode, ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ER_PTP_TARGET_CALC_MODE_TURNS, ER_PTP_TARGET_CALC_MODE_MATH, ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE, ER_PTP_TARGET_CALC_MODE_VAR_CONFIG. More...

long	turn_value [ER_KIN_DOFS]
	Target turn values if ER_PTP_TARGET_CALC_MODE_TURNS is enabled. More...

Member Data Documentation

◆ CartPos

DFRAME _NEXT_TARGET_DATA::CartPos

Target cartesian position.

◆ Configuration

char _NEXT_TARGET_DATA::Configuration[ER_MAXSTR]

Target manipulator configuration string.

◆ extax_data

ER_EXTAX_KIN_DATA _NEXT_TARGET_DATA::extax_data[ER_EXTAX_KIN_DATA_MAX]

external axis data

◆ JointPos

double _NEXT_TARGET_DATA::JointPos[ER_KIN_DOFS]

Target joint position.

◆ LagWaitTime

double _NEXT_TARGET_DATA::LagWaitTime

Lag time, after robot reaches its target.

◆ LeadWaitTime

double _NEXT_TARGET_DATA::LeadWaitTime

Leading time, before move will start.

◆ ptp_target_calculation_mode

long _NEXT_TARGET_DATA::ptp_target_calculation_mode

PTP target calculation mode, ER_PTP_TARGET_CALC_MODE_SHORTEST_ANGLE, ER_PTP_TARGET_CALC_MODE_TURNS, ER_PTP_TARGET_CALC_MODE_MATH, ER_PTP_TARGET_CALC_MODE_IN_TRAVEL_RANGE, ER_PTP_TARGET_CALC_MODE_VAR_CONFIG.

◆ SyncIDContinuous

long _NEXT_TARGET_DATA::SyncIDContinuous

Handle for MotionSync.

◆ SyncIDDiscrete

long _NEXT_TARGET_DATA::SyncIDDiscrete

Handle for ProcSync.

◆ TargetID

TErTargetID _NEXT_TARGET_DATA::TargetID

Identifier of the target, 0 no identifier givin, >0 identifier of this target.

◆ TargetParam

long _NEXT_TARGET_DATA::TargetParam

0 unused (only position data are valid), 1 radius, 2 angle, 3 distance

◆ TargetParamValue

double _NEXT_TARGET_DATA::TargetParamValue

= 2, for radiants

◆ TrajectoryTime

double _NEXT_TARGET_DATA::TrajectoryTime

Output: Calculated trajectory time in [sec].

◆ turn_value

long _NEXT_TARGET_DATA::turn_value[ER_KIN_DOFS]

Target turn values if ER_PTP_TARGET_CALC_MODE_TURNS is enabled.

The documentation for this struct was generated from the following file:

erk_capi_types.h

Public Attributes