IF_RobotFeedbackMotionOrientation

IF_RobotFeedbackMotionOrientation - General Information

Overview

Type:	Interface
Available as of:	V2.8.2.0
Inherits from:	IF_RobotFeedbackMotionRefActualValues

This chapter provides information on:

Task

Interface with return values of an orientation.

Description

This interface is part of IF_RobotFeedback and contains data on an active orientation motion.

Properties

Name	Data type	Accessing	Description
etMovementMode	ET_MovementMode	Read	Movement mode of the orientation of the active motion job.
lrEstimatedStopPosition	LREAL	Read	Estimated stop position of the orientation movement.
udiCurrentMovementId	UDINT	Read	Movement Id of the active motion job of the orientation.
udiNextMovementId	UDINT	Read	Movement Id of the motion job of the orientation that is executed after the active motion job.
udiPreviousMovementId	UDINT	Read	Movement Id of the motion job of the orientation that was executed before the active motion job.
xInMotion	BOOL	Read	TRUE = The orientation is in motion. FALSE = The orientation is at standstill.
xInTarget	BOOL	Read	TRUE = The orientation is in the target position of the last motion job. FALSE = The orientation is not in the target position of the last motion job.

For further information on properties, refer to IF_RobotFeedbackMotionRefActualValues.