IF_RobotFeedbackSpace

IF_RobotFeedbackSpace - General Information

Overview

Type:	Interface
Available as of:	V1.0.0.0
Inherits from:	-

This chapter provides information on:

oTask

oDescription

oProperties

Task

Interface with return values of the robot motion in the Cartesian space.

Description

This interface is part of IF_RobotFeedback and contains data on the motion of the robot in the Cartesian space.

Properties

Name	Data type	Accessing	Description
ifX	IF_RobotFeedbackMotionCartesian	Read	Interface with return values for the motion of the TCP (Tool Center Point) along the X axis of the Cartesian coordinate system.
ifY	IF_RobotFeedbackMotionCartesian	Read	Interface with return values for the motion of the TCP along the Y axis of the Cartesian coordinate system.
ifZ	IF_RobotFeedbackMotionCartesian	Read	Interface with return values for the motion of the TCP along the Z axis of the Cartesian coordinate system.
lrCurvature	LREAL	Read	Curvature of the space movement. oIF_RobotFeedback.ifSpace.lrCurvature; approximation of the curvature of the space movement considering a tracking movement. oIF_RobotFeedback.ifTrajectoryStorage.ifSpace.lrCurvature; curvature of the space movement without considering a tracking movement. Only the movement caused by move commands is considered.
lrRefAccelerationRadial	LREAL	Read	Radial acceleration in the Cartesian space. SQRT(AccResultant² + AccTangential²)
lrRefAccelerationResultant	LREAL	Read	Resulting acceleration in the Cartesian space. SQRT(AccX² + AccY² + AccZ²)
lrRefAccelerationTangential	LREAL	Read	Tangential acceleration in the Cartesian space.
lrRefVelocityTangential	LREAL	Read	Tangential velocity in the Cartesian space.
lrTrackingDeviation	LREAL	Read	Resulting tracking error in the Cartesian space. SQRT(TDX² + TDY² + TDZ²) NOTE: This property is not supported by Modicon M262 Motion Controllers.
rstTangent	REFERENCE TO PDL.ST_Vector3D	Read	Tangent of the Cartesian position along the connected path (refer to Behavior of rstTangent (tangent vector feedback).
rstEstimatedStopPosition	REFERENCE TO PDL.ST_Vector3D	Read	Estimated Cartesian stop position on the connected path including a potential tracking (refer to Behavior of feedback property rstEstimatedStopPosition).
xTrackingDeviationWarning	BOOL	Read	TRUE = The parameterized maximum tracking error along the path is exceeded. FALSE = The parameterized maximum tracking error along the path is not exceeded.