User Defined Type
For the eRC_AxesGroup, refer to the linked page.
"eRC_Coordinate"data Structure
| Variable name | Data 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
"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
|
Disable |
| 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. |
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