Mitsubishi Electric CR800 Series - Page 136

4 Appendix
4-16
■ Header file strdef.h
//************************************************************************************
// Real-time control sample program
// Communication packet data structure definition header file
//************************************************************************************
// strdef.h
#define VER_H7
/*************************************************************************/
/* Joint coordinate system (Set unused axis to 0) */
/* Refer to the instruction manual enclosed */
/* with each robot for details on each element. */
/************************************************************************/
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)