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3.27. jointtarget - Joint position data

Usage

jointtarget is used to define the position that the robot and the external axes will move to

with the instruction MoveAbsJ.

Description

jointtarget defines each individual axis position, for both the robot and the external axes.

Components

robax

robot axes

Data type: robjoint

Axis positions of the robot axes in degrees.

Axis position is defined as the rotation in degrees for the respective axis (arm) in a positive

or negative direction from the axis calibration position.

extax

external axes

Data type: extjoint

The position of the external axes.

The position is defined as follows for each individual axis (eax_a, eax_b ... eax_f):

? For rotating axes, the position is defined as the rotation in degrees from the calibration

position.

? For linear axes, the position is defined as the distance in mm from the calibration

position.

External axes eax_a ... are logical axes. How the logical axis number and the physical

axis number are related to each other is defined in the system parameters.

The value 9E9 is defined for axes which are not connected. If the axes defined in the position

data differ from the axes that are actually connected on program execution, the following

applies:

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请问，moveextj，中的外轴配置，在什么软件什么地方，找了一周了，一无所获！！！感谢感谢！