File: abb_rapid_msgs/WObjData.msg
Raw Message Definition
#-------------------------------------------------------------------------------
# Description:
# The purpose of this message definition, is to represent the
# RAPID data type "wobjdata" (work object data).
#
# Note:
# Please see the "Technical reference manual - RAPID Instructions,
# Functions and Data types" for more details.
#-------------------------------------------------------------------------------
#-------------------------------------------------------------------------------
# Message fields
#-------------------------------------------------------------------------------
# Defines whether or not the robot in the actual
# program task is holding the work object:
# - TRUE: The robot is holding the work object,
# i.e. using a stationary tool.
# - FALSE: The robot is not holding the work object,
# i.e. the robot is holding the tool.
bool robhold
# Defines whether or not a fixed user coordinate system is used:
# - TRUE: Fixed user coordinate system.
# - FALSE: Movable user coordinate system,
# i.e. coordinated external axes are used.
# Also to be used in a MultiMove system in
# semicoordinated or synchronized coordinated mode.
bool ufprog
# The mechanical unit with which the robot movements are coordinated.
#
# Only specified in the case of movable user
# coordinate systems (ufprog is FALSE).
string ufmec
# The user coordinate system, i.e. the position
# of the current work surface or fixture.
Pose uframe
# The object coordinate system, i.e. the position
# of the current work object.
Pose oframe
Compact Message Definition