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The library Robotic is a collection of POUs for controlling robot kinematics. Kinematics that can be controlled: oTriaxial Delta robot - IF_RobotConfiguration.Delta3Ax oTriaxial Cartesian robot - IF_RobotConfiguration.Cartesian3Ax oBiaxial Cartesian robot - IF_RobotConfiguration.Cartesian2Ax oBiaxial Delta robot - IF_RobotConfiguration.Delta2Ax oBiaxial Articulated robot - IF_RobotConfiguration.Articulated2Ax oUp to triaxial user-defined robot - IF_RobotConfiguration.User3Ax Motion interpolation in order to move to a point in two or three-dimensional space: oLinear interpolation - IF_RobotMotion.MoveL oCircular interpolation - IF_RobotMotion.MoveC oSpline interpolation - IF_RobotMotion.MoveS |
Robots of all types inherently present various hazards to machine operators, maintenance personnel, and commissioners. Some of these hazards may be the result of improper/invalid programming control or system parameterization/configuration. To help avoid as much as possible these hazards/situations, the library SchneiderElectricRobotics has been developed dedicated to Schneider Electric robots.
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UNINTENDED ROBOT OPERATION |
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Ensure that the library SchneiderElectricRobotics is used for operating a Schneider Electric robot. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
The library SchneiderElectricRobotics facilitates:
oThe parameterization of the robot.
oThe monitoring of the robot axes parameters.
oGearIn and GearOut
oFeedConstant
oMaximum current
oDirection
oMaximum speed
oThe monitoring of the work envelope of the robot.
The default namespace of this library is ROB.
The POUs, data structures, enumerations and constants have to be addressed via this namespace.
