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ID : 2998

User-defined Data Types

"eRC_Coordinate"data Structure

Variable nameData type Valid range Default
X Real Range of real type 0.0
Y
Z
RX
RY
RZ

"eRC_CoordSys"data Structure

Variable name Data type Valid range Default
Tool Integer 0 to 63 0
Work 0 to 7

"eRC_Dynamic"data Structure

Variable name Data type Valid range Default
Velocity Real 0.1 to 100 0.0
Accel 0.0001 to 100
Decel

"eRC_Joint"data Structure

Variable name Data type Valid range Default
J1 Real Range of real type 0.0
J2
J3
J4
J5
J6
J7
J8

"eRC_LoadConditions"data Structure

Variable name Data type Valid range Default
Real Real

0 to Maximum payload

 0.0
CenterOfGravity X -10000 to 10000
Y
Z
MomentOfInertia X 0 to 100000
Y
Z

"eRC_PosDensoRobot"data Structure

Variable name Data type

X

 eRC_Position Real
Y
Z
RX
RY
RZ
FIG Integer
J5 Real
J6
J7
J8

J1

eRC_Joint

 Real
J2
J3
J4
J5
J6
J7
J8
Tool eRC_CoordSys Integer
Work

"eRC_Position"data Structure

Variable name Data type Valid range Default
X Real Range of real type 0.0
Y
Z
RX
RY
RZ
FIG Integer Range of integer type 0
J5 Real Range of real type 0.0
J6
J7
J8

"eRC_SWLimits"data Structure

Variable name Data type Valid range Default
J1(+) eRC_Joint Real

the motion space of respective robot

 The software motion limits is different on respective robot.
J2(+)
J3(+)
J4(+)
J5(+)
J6(+)
J7(+)
J8(+)
J1(-) eRC_Joint Real
J2(-)
J3(-)
J4(-)
J5(-)
J6(-)
J7(-)
J8(-)

"eRC_Trans"data Structure

Variable name Data type Valid range Default
X Real Range of real type 0.0
Y
Z
OX
OY
OZ
AX
AY
AZ
FIG Integer Range of integer type 0
J5 Not used.
J6
J7
J8

"eRC_Vector"data Structure

Variable name Data type Valid range Default
X Real Range of real type 0.0
Y
Z

"eRC_Ethernet"data Structure

Variable name Data type Valid range Default
DHCP Boolean
  • True : Enable
  • False : Disable
False
IP Address Byte[1] 0 to 255 192
Byte[2] 168
Byte[3] 0
Byte[4] 1
SubnetMask Byte[1] 255
Byte[2] 255
Byte[3] 255
Byte[4] 0
Gateway Byte[1] 0
Byte[2] 0
Byte[3] 0
Byte[4] 0

"DTL"data Structure

Variable name Data type Valid range Default
Year UInt 1970 to 2554 1970
Month USInt 1 to 12 1
Day 1 to 31 1
Weekday Not used.
Hour USInt 0 to 23

0
Minute 0 to 59 0
Second 0 to 59 0
NanoSecond Not used.

ID : 2998

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