Mitsubishi Electric CR750-Q - Page 618

Appendix-598 Real-time external control function
7Appendix
typedef struct{
float j1;//J1 axis angle (radian)
float j2;//J2 axis angle (radian)
float j3;//J3 axis angle (radian)
float j4;//J4 axis angle (radian)
float j5;//J5 axis angle (radian)
float j6;//J6 axis angle (radian)
float j7;//Additional axis 1 (J7 axis angle) (radian)
float j8;//Additional axis 2 (J8 axis angle) (radian)
} JOINT;
/*************************************************************************/
/*XYZ coordinate system (Set unused axis to 0)*/
/*Refer to the instruction manual enclosed */
/*with each robot for details on each element. */
/*************************************************************************/
typedef struct{
float x;//X axis coordinate value (mm)
float y;// Y axis coordinate value (mm)
float z;// Z axis coordinate value (mm)
float a;// A axis coordinate value (radian)
float b;// B axis coordinate value (radian)
float c;// C axis coordinate value (radian)
float l1;// Additional axis 1 (mm or radian)
float l2;// Additional axis 2 (mm or radian)
} WORLD;
typedef struct{
WORLD w;
unsigned int sflg1;//Structural flag 1
unsigned int sflg2;//Structural flag 2
} POSE;
/*************************************************************************/
/*Pulse coordinate system (Set unused axis to 0)*/
/*These coordinates express each joint*/
/*with a motor pulse value. */
/*************************************************************************/
typedef struct{
long p1;//Motor 1 axis
long p2;// Motor 2 axis
long p3;// Motor 3 axis
long p4;// Motor 4 axis
long p5;// Motor 5 axis
long p6;// Motor 6 axis
long p7;//Additional axis 1 (Motor 7 axis)
long p8;//Additional axis 2 (Motor 8 axis)
} PULSE;
/************************************************************/
/*Real-time function communication data packet */
/************************************************************/
typedef struct enet_rtcmd_str {
unsigned short Command;//Command