Yt_ToolStruct
Yt_ToolStruct: ARRAY
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_ToolStruct | Yt_ToolData | 0..63 | Array of tool data | myTools[1] |
Yt_ToolData: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| ID | INT | ToolID | myTool.ID |
| Name | STRING | Tool name | myTool.Name |
| Offset | MC_CARTESIAN_REF | Tool offset from the tool plate | myTool.Offset.X |
| CenterOfGravity | MC_COORD_REF | Center of gravity of the tool | myTool.CenterOfGravity[1] |
| MomentOfInertia | MC_COORD_REF | Moment of inertia of the tool in each degree of freedom | myTool.MomentOfInertia[1] |
| Mass | REAL | mass of the tool | myTool.Mass |
| Padding | UDINT |
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