IF_RobotTSeries - General Information

IF_RobotTSeries - General Information

Overview

Type:	Function block
Available as of:	V2.8.0.0
Inherits from:	-

This chapter provides information on:

Task

Facilitate the use of methods and properties of FB_RobotTSeries.

Description

With the IF_RobotTSeries interface, you can access the methods and properties of FB_RobotTSeries.

Methods

Name	Description
GetControlLoopParameter	Read the parameter, which influences the control loop of the Lexium T Robot axes.
GetKinematicParameter	Read kinematic parameter for a Lexium T Robot.
SetControlLoopParameter	Set parameter to influence the control loop of the Lexium T Robot axes.
SetKinematicParameter	Set kinematic parameter for a Lexium T Robot.

Properties

Name	Data type	Accessing	Description
etDiag	GD.ET_Diag	Read	General library-independent statement of the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
etDiagExt	ET_DiagExt	Read	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> Status message q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message
etRobotType	SERP.ET_RobotTSeries	Read	Get the configured robot type.
ifCalibration	IF_RobotTSeriesCalibration	Read	Get the interface to execute calibration modes.
ifFeedback	IF_RobotTSeriesFeedback	Read	Get the interface of the Lexium T Robot.
ifSchneiderElectricRobot	ROB.IF_SchneiderElectricRobot	Read	Get the interface for the configuration method ROB.IF_RobotConfiguration.SchneiderElectricRobot
sMsg	STRING[80]	Read	Event-triggered message that gives more detailed information on the diagnostic state.
xAxesConfigured	BOOL	Read	TRUE: The axes have been configured successfully.
xDiagQuit	BOOL	Read/write	A rising edge FALSE->TRUE acknowledges diagnostic messages.
xDisableWorkEnvelopeMoveCmds	BOOL	Read/write	TRUE: Disable the verification of target, circular, and spline points when sending move commands to the robot. Default value: FALSE In case of xDisableWorkEnvelopeMoveCmds activated and the robot is outside the work envelope, the robot accepts the move commands and returns ET_Diag = Ok. The robot starts the movement but immediately stops.