IF_SoftwareLimit - General Information
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Type: |
Interface |
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Available as of: |
V1.0.0.0 |
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Inherits from: |
- |
This chapter provides information on:
Interface to transfer software limits to the RoboticModule. Active limits lead to responses from the RoboticModule depending on the active operation mode.
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Name |
Description |
|---|---|
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Executing the limit monitoring. |
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Reading the limits. |
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Writing the limits. |
|
Name |
Data type |
Accessing |
Description |
|---|---|---|---|
|
raxAuxAxNegative |
REFERENCE TO ARRAY [ROB.ET_RobotComponent.AuxAx1..ROB.ET_RobotComponent.AuxAxAll+ROB.Gc_udiMaxNumberOfAuxiliaryAxes] OF BOOL |
Read/write |
Negative hardware limit for an auxiliary axis. |
|
raxAuxAxPositive |
REFERENCE TO ARRAY [ROB.ET_RobotComponent.AuxAx1..ROB.ET_RobotComponent.AuxAxAll+ROB.Gc_udiMaxNumberOfAuxiliaryAxes] OF BOOL |
Read/write |
Positive hardware limit for an auxiliary axis. |
|
raxAxisNegative |
REFERENCE TO ARRAY [ROB.ET_RobotComponent.AxisA..ROB.ET_RobotComponent.ROB.ET_RobotComponent.AxisAll+ROB.Gc_udiMaxNumberOfAxes] OF BOOL |
Read/write |
Negative hardware limit for axes. |
|
raxAxisPositive |
REFERENCE TO ARRAY [ROB.ET_RobotComponent.AxisA..ROB.ET_RobotComponent.AxisAll+ROB.Gc_udiMaxNumberOfAxes] OF BOOL |
Read/write |
Positive hardware limit for axes. |
|
raxCartesianNegative |
REFERENCE TO ARRAY [ROB.ET_RobotComponent.CartesianX..ROB.ET_RobotComponent.ROB.ET_RobotComponent.CartesianZ] OF BOOL |
Read/write |
Negative hardware limit of the X, Y, Z axis of the robot coordinate system. |
|
raxCartesianPositive |
REFERENCE TO ARRAY [ROB.ET_RobotComponent.CartesianX..ROB.ET_RobotComponent.CartesianZ] OF BOOL |
Read/write |
Positive hardware limit of the X, Y, Z axis of the robot coordinate system. |
|
raxOrientationNegative |
REFERENCE TO ARRAY [ET_RobotComponent.OrientationX .. ET_RobotComponent.OrientationAll + Gc_udiMaxNumberOfOrientations] OF BOOL |
Read/write |
Negative software limit of the orientation X, Y, Z. |
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raxOrientationPositive |
REFERENCE TO ARRAY [ET_RobotComponent.OrientationX .. ET_RobotComponent.OrientationAll + Gc_udiMaxNumberOfOrientations] OF BOOL |
Read/write |
Positive software limit of the orientation X, Y, Z. |
