MOVE_POSB

This structure sets 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]		Two task-space poses (x, y, z, rx, ry, rz). For a line segment (0), only #1 (the end point) is used; for a circle segment (1), #1 is the via point and #2 is the end point.
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.