POSITION_EX

This structure defines an extended robot position representation that supports both joint space (posj) and task space (posx) formats. It extends the standard position structure by adding orientation type, solution space, and multi-turn information for advanced kinematic representation.

BYTE#	Field Name	Data Type	Value	Remarks
0	_posj._pos	float[NUMBER_OF_JOINT]	[deg]	Joint position data for all robot joints (used when position type = posj)
0	_posx._pos	float[NUMBER_OF_TASK_EX]	[mm, deg]	Cartesian task position (X, Y, Z, Rx, Ry, Rz, …)
24	_posx._ori_type	unsigned char	0-5	Orientation type 0: Euler ZYZ, 1: Euler ZYX, 2: Euler XYZ 3: Fixed XYZ, 4: Axis-Angle, 5: Quaternion
25	_posx._sol_space	unsigned char	0-7, 255	Solution space configuration (0-7: fixed, 255: automatic)
26	_posx._multi_turn	unsigned char	0-255	Multi-turn joint setting (255 = automatic)
27	_pos_type	unsigned char		Position type indicator (0: posx, 1: posj)

Total size: 28 bytes

Defined in: DRFS.h

typedef struct _POSITION_EX
{
    union {
        /* Joint-space position (posj) */
        struct {
            float _pos[NUMBER_OF_JOINT];  /* Joint position [deg] */
        } _posj;

        /* Task-space position (posx) */
        struct {
            float         _pos[NUMBER_OF_TASK_EX]; /* Task position [mm, deg] */
            unsigned char _ori_type;   /* 0: ZYZ, 1: ZYX, 2: XYZ, 3: Fixed XYZ, 4: Axis-Angle, 5: Quaternion */
            unsigned char _sol_space;  /* 0~7: fixed, 255: auto */
            unsigned char _multi_turn; /* 255: auto */
        } _posx;
    };

    unsigned char _pos_type;  /* Position type (0: posx, 1: posj) */

} POSITION_EX, *LPPOSITION_EX;  // SUPPORT_ORIENTATION_TYPE

 typedef POSITION_EX CONFIG_TCP_EX, *LPCONFIG_TCP_EX; // SUPPORT_ORIENTATION_TYPE