Basic working data: TcNcTrafoParameter

Parameters of the methods

Type = EcNcTrafoParameter_Base

The parameters for the individual methods are passed on in encapsulated form via the following structure TcNcTrafoParameter  (TcNcKinematicsInterfaces.h).

EcNcTrafoParameter  type;

ULONG dim_i;    // dim of input vectors (i, d_i, dd_i)

ULONG dim_o;    // dim of output vectors (o, d_o, dd_o, torque)

ULONG dim_para; // dim of additional parameter (para)

const double* i;    // input values parameter (dim_i)

const double* d_i;

const double* dd_i;

double* o;          // output values parameter (dim_i)

double* d_o;

double* dd_o;

double* torque;

const double* para; // additional parameter (dim_p)

double payload;     // weight in kg

double tool_len;    // actual tool length in [mm]

Note:

The CNC does not use the variables in italics.