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MEASURE_TCP

This structure defines the configuration data used for Tool Center Point (TCP) measurement. It specifies the reference coordinate system and multiple target poses used during the auto-measurement or calibration process.

BYTE#

Field Name

Data Type

Value

Remarks

0

_iTargetRef

unsigned char

0 or 1

Reference frame selection
(0: Base, 1: Tool)

1

_fTargetPos

float[4][6]

Target reference positions (X, Y, Z, Rx, Ry, Rz)
for 4 measurement configurations

Total size: 97 bytes

Defined in: DRFS.h

typedef struct _MEASURE_TCP
{
    /* Reference frame (0: base, 1: tool) */
    unsigned char _iTargetRef;

    /* Reference target positions [4][6] */
    float _fTargetPos[4][NUMBER_OF_JOINT];

} MEASURE_TCP, *LPMEASURE_TCP;