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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

_fTargetPos

float[2][NUM_TASK]

Location Information (#1, #2): information on six task spaces

48

_iBlendType

unsigned char

0x00~0x01

Motion Type (combination of first and second motion)
(0: Line, 1: Circle)

49

_fBlendRad

float

Curve Curvature: radius information (mm)

Total size: 53 bytes

Defined in: DRFS.h

typedef struct _MOVE_POSB
{
    float         _fTargetPos[2][NUM_TASK]; /* q: two locations (#1,#2) in task space */
    unsigned char _iBlendType;              /* blending motion type (line:0, circle:1) */
    float         _fBlendRad;               /* blending radius (mm) */
} MOVE_POSB, *LPMOVE_POSB;

Note

  • moveb is a blended motion combining linear and circular segments.
    - Line motion requires one waypoint (excluding the start point).
    - Circle motion requires two waypoints (excluding the start point).
    Thus, the second position (#2) is ignored in line mode.

  • The base coordinate is used as the reference frame when operating in base mode, while the tool coordinate is used when operating in tool mode.