File: abb_rapid_sm_addin_msgs/EGMRunSettings.msg
Raw Message Definition
#-------------------------------------------------------------------------------
# Description:
# The purpose of this message definition, is to represent the custom RAPID
# data type "EGMRunSettings" from the RobotWare "StateMachine Add-In".
#
# Note:
# "EGMRunSettings" are for example used with the RAPID EGM instructions
# "EGMRunJoint" and "EGMRunPose".
#-------------------------------------------------------------------------------
#-------------------------------------------------------------------------------
# Message fields
#-------------------------------------------------------------------------------
# Condition time [s] for how long an EGM motion's convergence criteria must be
# fulfilled before the motion is considered to be finished.
float32 cond_time
# Ramp in time [s].
float32 ramp_in_time
# Static offset applied on top of the EGM references
# (only used in EGM pose mode).
abb_rapid_msgs/Pose offset
# Position correction gain for the EGM controller.
float32 pos_corr_gain
Compact Message Definition