CONVEYOR_COORD_EX

This structure defines the conveyor coordinate configuration, including encoder count-to-distance conversion, conveyor position, and reference coordinate system. It is used for conveyor calibration, tracking, and synchronization with the robot’s motion system.

BYTE#

Field Name

Data Type

Value

Remarks

0

_iDistance2Count

int

Encoder counts per unit distance (used for linear conversion)

4

_tPosConCoord

POSITION

Conveyor coordinate origin position

28

_iTargetRef

unsigned char

0 or 2

Reference coordinate system
(0: Base frame, 2: World frame)

Total size: 29 bytes

Defined in: DRFS.h

typedef struct _CONVEYOR_COORD_EX
{
    /* Count per unit distance */
    int _iDistance2Count;

    /* Conveyor coordinate origin position */
    POSITION _tPosConCoord;

    /* Reference coordinate system (0: base, 2: world) */
    unsigned char _iTargetRef;

} CONVEYOR_COORD_EX, *LPCONVEYOR_COORD_EX;