CONFIG_TCP

This is a structure for setting or representing the Tool Center Point (TCP) configuration in the robot controller and consists of the following field.

BYTE#	Field Name	Data Type	Value	Remarks
0	Target Pose	float[NUM_JOINT]		TCP position and orientation (X, Y, Z, Rx, Ry, Rz)

Total size: 24 bytes

Defined in: DRFS.h

typedef struct _CONFIG_TCP
{
    /* TCP pose: X, Y, Z, Rx, Ry, Rz */
    float _fTargetPos[NUM_JOINT];   /* target pose */
} CONFIG_TCP, *LPCONFIG_TCP;