ST_SCARA4AxKinematicsResult – General Information

Overview

Contains the results of the kinematics performed on a SCARA4Ax robot structure.

Name	Data type	Description
alrJointPositions	ARRAY [1..Gc_udiSCARA4AxNumberOfJoints] OF LREAL	Joint positions used to evaluate the solution.
stArmPosition	SE_Math.ST_Vector3D	Position of the tip of the arm.
stForearmPosition	SE_Math.ST_Vector3D	Position of the tip of the forearm.
stTCPPosition	SE_Math.ST_Vector3D	Position of the TCP.
stTCPOrientation	SE_Math.ST_Matrix3D	Orientation of the TCP.
etShoulderConfiguration	ET_ArmConfiguration	Configuration of the shoulder.
xIsResultValid	BOOL	TRUE if the result is valid, FALSE otherwise.