Table of Contents

Enum ListJointsType

Namespace
RoboDk.API.Model
Assembly
RoboDkApi.dll

Type of information returned by InstructionListJoints and GetInstructionListJoints

public enum ListJointsType

Fields

Any = 0

Same result as Position (fastest)

Position = 1

Return the joints position. The returned columns are organized in the following way: [J1, J2, ..., Jn, ERROR, MM_STEP, DEG_STEP, MOVE_ID]

Speed = 2

Include the speed information (also includes the time). The returned columns are organized in the following way: [J1, J2, ..., Jn, ERROR, MM_STEP, DEG_STEP, MOVE_ID, TIME, X_TCP, Y_TCP, Z_TCP, Speed_J1, Speed_J2, ..., Speed_Jn]

SpeedAndAcceleration = 3

Return the speed and acceleration information (also includes the time). The returned columns are organized in the following way: [J1, J2, ..., Jn, ERROR, MM_STEP, DEG_STEP, MOVE_ID, TIME, X_TCP, Y_TCP, Z_TCP, Speed_J1, Speed_J2, ..., Speed_Jn, Accel_J1, Accel_J2, ..., Accel_Jn]

TimeBased = 4

Make the result time-based so that the interval between joint values is provided at constant time steps

TimeBasedPosition = 5

Make the result time-based so that the interval between joint values is provided at constant time steps. Speed and acceleration data is ignored.