nrc_interface_parameter.h

Go to the documentation of this file.

#ifndef INCLUDE_C_PARAMETER_NRC_INTERFACE_PARAMETER_H_
#define INCLUDE_C_PARAMETER_NRC_INTERFACE_PARAMETER_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
struct CRobotDHParam
{
    double L1{0};
    double L2{0};
    double L3{0};
    double L4{0};
    double L5{0};
    double L6{0};
    double L7{0};
    double L8{0};
    double L9{0};
    double L10{0};
    double L11{0};
    double L12{0};
    double L13{0};
    double L14{0};
    double L15{0};
    double L16{0};
    double L17{0};
    double L18{0};
    double L19{0};
    double L20{0};
 
    char Couple_Coe_1_2[256];
    char Couple_Coe_2_3[256];
    char Couple_Coe_3_2[256];
    char Couple_Coe_3_4[256];
    char Couple_Coe_4_5[256];
    char Couple_Coe_4_6[256];
    char Couple_Coe_5_6[256];
 
    double dynamicLimit_max{0};
    double dynamicLimit_min{0};
 
 
    double pitch{0};//螺距
    double sliding_lead_value{0};//滑动电动缸导程,酒槽机型用
    double uplift_lead_value{0};//顶升电动缸导程,酒槽机型用
    double spray_distance{0};//喷料距离,酒槽机型用
 
    double threeAxisDirection{0};//3轴方向
    double fiveAxisDirection{0};//五轴方向
 
    double twoAxisConversionRatio{0};
    double threeAxisConversionRatio{0};
    double amplificationRatio;
 
    double conversionratio_x{0};
    double conversionratio_y{0};
    double conversionratio_z{0};
 
    double conversionratio_J1{0};  //1轴转换比 五轴混动
    double conversionratio_J2{0};
    double conversionratio_J3{0};
 
    int upsideDown{0};
};
 
struct CRobotJointParam {
    double reducRatio;          //减速比
    int encoderResolution;      //编码器位数
    double posSWLimit;          //轴正限位
    double negSWLimit;          //轴反限位
    double ratedRotSpeed;       //电机额定正转速
    double ratedDeRotSpeed;     //电机额定反转速
    double maxRotSpeed;         //电机最大正转速
    double maxDeRotSpeed;       //电机最大反转速
    double ratedVel;            //额定正速度
    double deRatedVel;          //额定反速度
    double maxAcc;              //最大加速度
    double maxDecel;            //最大减速度
    int direction;              //模型方向，1：正向，-1：反向
};
 
#ifdef __cplusplus
}
#endif
 
#endif /* INCLUDE_API_NRC_INTERFACE_PARAMETER_H_ */