[Feature Request]: Add robot posture selection

[yeu-rioual]

McePosTable version

0.2.0

Description of the new feature / enhancement

Add the possibility to select a robot posture based on TCPPosition.Closure.ReferencePosition of MLxAppDataTeachPoint.

Implementation

It needs to be discussed.

We could add a Reference position array but the data size would be too big.

We could also add a PostureSelection to PosTable entries and allow the user to create several posture reference as an input of McePosTable.

The are a lot of possibilities.

Scenario when this would be used?

Palletization application where the robot must move close to a singularity position.

Or in any application where a posture selection would be more easier to use than an axis position.

[yeu-degroot]

Lets implement it as follows:

• Add array var (closure) to PosTable entry
• Make array size 1
• Data type SINT (range -128 to 127) could be sufficient?
• Implement it in McePosTable by copying the closure into the ClosureReference[5] (T-axis)
• Customers can then easily extend to more axes or map it to a different axis (e.g. [2] for U-axis)
• Use assignement instead of block copy, as the members might not be subsequent