Yt_GP_UserApplicationData
Yt_GP_UserApplicationData: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Config |
Yt_GP_ConfigStruct | For configuration items which can be mapped to other related functions |
|
| PointList |
Yt_GP_TeachPointArray | Teach Point Data |
|
| Tool |
Yt_ToolStruct | Tool Data |
|
| ToolValid |
Yt_BoolArray64 |
|
|
| PartFrame |
Yt_GP_PartFrameArray | User Frame Data |
|
| CubicIZ |
Yt_GP_CubicIZArray | Interference Zone Data |
|
| MaxPointLists |
DINT | This value must be the same as the size of the MLxAppDataJob[] array. |
|
| MaxTools |
DINT | This value must be the same as the size of the MLxAppDataTool[] array. |
|
| MaxPartFrames |
DINT | This value must be the same as the size of the MLxAppDataUserFrames[] array. |
|
| MaxCubicIZs |
DINT | This value must be the same as the size of the MLxAppDataCubicIZs[] array. |
|
| MaxTeachPoints |
DINT | This value must be the same as the size of the MLxAppDataJob.TeachPoint[] array. |
|
| PrimeAlignment |
Yt_GP_AlignPrimePrms |
|
|
| Shared |
Yt_GP_UserAppSharedStruct |
|
|
Yt_GP_TeachPointArray: ARRAY
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_GP_TeachPointArray | Yt_GP_TeachPointData | 0..19 |
|
|
Yt_GP_TeachPointData: STRUCT
Equivalent of MLXAppDataJob| Element | Data Type | Description | Usage |
|---|---|---|---|
| Name | Yt_String32 | Name of the individual Jobs |
|
| IsValid | BOOL | Indicates if the sub struct is available to load a new job from file |
|
| RecordedPoint | INT | Yt_GP_RecordedPointArray |
|
Yt_GP_RecordedPointArray: ARRAY
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_GP_RecordedPointArray | Yt_GP_RecordedCoordinate | 0..49 |
|
|
Yt_GP_RecordedCoordinate: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Name | Yt_String32 | Name of the point within the TTPP |
|
| TCPCoordinates |
VECTOR | Defines the [X, Y, Z, RX, RY, RZ] position of the TCP. |
|
| PoseDetails |
Yt_PoseStruct |
|
|
| IsValid |
BOOL | Indicates that this point is actually taught, and can be used in the application. |
|
Yt_GP_PartFrameArray: ARRAY
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_GP_PartFrameArray | Yt_GP_PartFrameData | 0..32 |
|
|
Yt_GP_PartFrameData: STRUCT
Equivalent of MLXAppDataUserFrame
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Name |
Yt_String32 | Used-defined name of the User Frame |
|
| FrameType |
DINT | 0 = define user frame using data in CoordFrame variable, 1 = use data inside Origin, XX, XY variables |
|
| CoordFrame |
MC_COORD_REF | Location of a user frame in X,Y,Z,RX,RY,RZ. Used to set the user frame when UserFrameType is 0. RX, RY, RZ must be in the range from -180 to 180 degrees |
|
| Origin |
MC_COORD_REF | [X,Y,Z] position of the frame origin |
|
| XX |
MC_COORD_REF | [X,Y,Z] position of the frame XX point |
|
| XY |
MC_COORD_REF | [X,Y,Z] position of the frame XY point |
|
| OptionalParameters |
DINT | bit 0 - Force upward Z direction for 4/5 axes palletizers |
|
| IsValid |
BOOL |
|
|
Yt_GP_CubicIZArray: ARRAY
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_GP_CubicIZArray | Yt_GP_CubicIZData | 0..31 |
|
|
Yt_GP_CubicIZData: STRUCT
Equivalent of MLXAppDataCubicIZ
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Name |
Yt_String32 | User-defined name of the Cubic IZ |
|
| CubicIZType |
DINT | 0 = Two Corners, 1 = Center Point |
|
| ZoneAction |
DINT | 0 = Status Only, 1 = Stop Motion, 2 = Clear IZ |
|
| Corner1 |
MC_COORD_REF | Valid only for CubicIZType = 0. Defines first corner of the Cubic IZ |
|
| Corner2 |
MC_COORD_REF | Valid only for CubicIZType = 0. Defines second corner of the Cubic IZ |
|
| CoordFrame |
DINT | Valid only for CubicIZType = 0. 0 = Robot, 1 = Base, 2 = User |
|
| CenterPoint |
MC_COORD_REF | Valid only for CubicIZType = 1. Defines the [X,Y,Z,RX,RY,RZ] position of the center of the Cubic IZ |
|
Yt_GP_AlignPrimePrms: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Tolerance |
LREAL | User-defined name of the Cubic IZ |
|
| Velocity |
LREAL | 0 = Two Corners, 1 = Center Point |
|
| Acceleration |
LREAL | 0 = Status Only, 1 = Stop Motion, 2 = Clear IZ |
|
Yt_GP_ConfigStruct: STRUCT
For configuration items which can be mapped to other related functions
| Element | Data Type | Description | Usage |
|---|---|---|---|
| JogSpeed |
Yt_GP_JogSpeedStruct |
|
|
| SupressSoftLimitErrors |
BOOL |
|
|
| Acceleration |
LREAL |
|
|
Yt_GP_JogSpeedStruct: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Joint |
Yt_LrealArray4 |
|
|
| Linear |
Yt_LrealArray4 |
|
|
| Vertical |
Yt_LrealArray4 | DCR 3808 |
|
| Orientation |
Yt_LrealArray4 |
|
|
| JointAcceleration |
LREAL | DCR 2472 |
|
| JointDeceleration |
LREAL |
|
|
| LinearDeceleration |
LREAL |
|
|
| LinearAcceleration |
LREAL |
|
|
| OrientationDeceleration |
LREAL |
|
|
| OrientationAcceleration |
LREAL |
|
|
Yt_GP_UserAppSharedStruct: STRUCT
Shared struct provides data to / from FBs which dont have the source data available as VAR_IN_OUT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| GGroupStatus1 |
DWORD | DCR 4778 To port data from the MC_MovePath live activity into Pendant_Driver so that if arapid (G0) / Direct move is in effect,
MC_GroupSetOverride
is disabled to a nominal value
|
|
| MaxVelocity |
LREAL | DCR 4778 Mirrored from MachineStruct |
|
| VelocityScaler |
REAL | DCR 4823 Port VelocityScaler to UserApplicationData for use in Pendant_Driver |
|
| SegmentFeedRate |
REAL | DCR 4823 |
|
| Emulation |
INT | DCR 4888 |
|
| Feature |
DWORD | FR 1698 |
|