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;