Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- integration:rtde [2023/07/18 16:09] – [Available units and channels] oliver
+++ integration:rtde [2023/07/18 22:30] (aktuell) – [RPS measurement system integration] oliver
@@ Zeile 54: / Zeile 54: @@
 ^ actual | actual_current | Actual joint currents for 6 joints. | URCurrent<index>, -1 < index < 6  | CURRENT | A | REAL[6] |
 ^ actual | actual_TCP_pose | Actual Cartesian coordinates of the tool: (x,y,z) | v<index>, -1 < index < 3 | POSITION | mm | COLUMN_VECTOR_3D |
-^ actual | actual_TCP_pose | Actual orientation in cardan angles of the tool: (rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation | r<index>, -1 < index < 4 | ROTATION_EULERXYZ | rad | COLUMN_VECTOR_3D |
+^ actual | actual_TCP_pose | Actual orientation of the tool: (rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation | r<index>, -1 < index < 4 | ROTATION_VECTOR | rad | COLUMN_VECTOR_3D |
 ^ actual | joint_temperatures | Temperatures in 6 joints of an UR-robot. | URt<index>, -1 < index < 6  | TEMPERATURE | °C | REAL[6] |
 ^ actual | timesamp | Time elapsed since the controller was started. | T | TIMESTAMP | s | REAL |
@@ Zeile 65: / Zeile 65: @@
 ^ target | target_TCP_pose | Target Cartesian coordinates of the tool | (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation | mm | REAL[6] |
-=====RPS measurement system integration=====
+=====RTDE measurement system integration=====
-^ rps_websocket_ip | IP adress to connect to the rps web socket. | No |
+^ rtde_socket_ip | IP adress to connect to the rps web socket. | No |
-^ rps_websocket_port | Port number to connect to the rps web socket. | No|
+^ rtde_socket_port | Port number to connect to the rps web socket. | No|