Yt_COORD_MOVE_OPTIONS
Yt_COORD_MOVE_OPTIONS: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| scalarLimitType | INT |
Select the coordinate type (Y_CoordinateType) to apply scalar move quantities (vel/accel/decel/etc)
|
myMoveOptions.scalarLimitType |
| JoinMode | INT | PathMode |
myMoveOptions.JoinMode |
| reserved2 | DINT | padding |
|
| jointPose | Yt_COORD_MOVE_VECTOR |
Optional endpoint-pose in joint space for I-K solution selection
|
myMoveOptions.jointPose[1] |
| alternateVelocity | LREAL |
Optional velocity limit for zero length/angle motions
|
myMoveOptions.alternateVelocity |
| alternateAcceleration | LREAL |
Optional acceleration limit for zero length/angle motions
|
myMoveOptions.alternateAcceleration |
| reserved3 | Yt_COORD_MOVE_OPTS_RESERVED |
(reserved for future expansion: total 1024 bytes)
|
|
Yt_COORD_MOVE_VECTOR: ARRAY
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_COORD_MOVE_VECTOR | LREAL | 1..32 | Vector of LREALs |
myMoveOptions.jointPose[1] |
Yt_COORD_MOVE_OPTS_RESERVED: ARRAY
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_COORD_MOVE_OPTS_RESERVED | BYTE | 1..744 | Vector of BYTEs |
|