| Image Attributes |
| Attribute name |
Data Type |
X Data Length |
Y Data Length |
Expert |
| pvt: PVT trajectory input For each point you must issue all motor positions for the group in the group order All positions must be provided absolute You must provide only the <> points, the device computes the starting and stopping points Time in seconds in <> way (from the start point) position in (units) velocity in units/sec. line 0 : time 0=0, abs pos.1, speed pos.1, abs pos.2 , speed pos.2, abs pos.n , speed pos.n line 1 : time 1, abs pos.1, speed pos.1, abs pos.2 , speed pos.2, abs pos.n , speed pos.n line m : time m, abs pos.1, speed pos.1, abs pos.2 , speed pos.2, abs pos.n , speed pos.n last line : time z, abs pos.1, speed pos.1, abs pos.2 , speed pos.2, abs pos.n , speed pos.n |
DEV_DOUBLE | 17 | 1000000 | Yes |
| pt: PT trajectory input The device computes the velocities For each point you must issue all motor positions for the group in the group order All positions must be provided absolute You must provide only the <> points, the device computes the starting and stopping points Time in seconds in <> way (from the start point) position in (units) line 0 : time 0=0, abs pos.1, abs pos.2 , abs pos.n line 1 : time 1, abs pos.1, abs pos.2, abs pos.n line m : time m, abs pos.1, abs pos.2, abs pos.n last line : time z, abs pos.1, abs pos.2, abs pos.n |
DEV_DOUBLE | 17 | 1000000 | Yes |
| rawPVT: raw PVT Trajectory in the form : T1, P1m1,V1m1, P1m2, V1m2... where Tx is an relative time Pxmi is the relative move of motor i Vxmi is the speed for motor i |
DEV_DOUBLE | 17 | 1000000 | Yes |
| uploadedRawPVT: uploaded raw PVT Trajectory in the form : T1, P1m1,V1m1, P1m2, V1m2... where Tx is an relative time Pxmi is the relative move of motor i Vxmi is the speed for motor i |
DEV_DOUBLE | 17 | 1000000 | Yes |
