IF_RoboticsAutoTuneFeedback

IF_RoboticsAutoTuneFeedback - General Information

Overview

Type:	Interface
Available as of:	V2.0.0.0
Inherits from:	-

This chapter provides information on:

Task

Interface to return feedback on the present tuning status.

Description

The interface provides methods and properties to read the status of the tuning.

Methods

Name	Description
GetMotionParameter	Read the acceleration, deceleration, status, and additional data for a specific movement.
GetMotionParameterByIndex	Read the acceleration, deceleration, status, and additional data for a specific movement by index.

Properties

Name	Data type	Accessing	Description
lrFinetuningLevel	LREAL	Read	Percentage value of movements, which are fine-tuned completely (udiNumberOfMovementsFinetuned / udiNumberOfMovements). The value may not reach 100 %. If a movement is executed only once or for an insufficient number of cycles, the fine-tuning of this specific movement is not completed. A lrFinetuningLevel which is less than lrTuningLevel is acceptable. The tuning process is done in two stages: First, the rather quick tuning, followed by the fine-tuning.
lrTuningLevel	LREAL	Read	Percentage value of movements, which are tuned completely (udiNumberOfMovementsTuned / udiNumberOfMovements). The value may not reach 100 %. If a movement is executed only once or for an insufficient number of cycles, the tuning of this specific movement is not completed.
rastStatisticsCycleTimeMoveId	REFERENCE TO ARRAY[1..Gc_udiNumberOfMoveIds] OF ST_Statistics	Read	Statistic over cycle time separated by MoveId in ms. The cycle time is measured from the start of the movement until the robot reaches its target. Only movements which are fine-tuned completely are used for the statistic.
rastStatusLastMovement	REFERENCE TO ARRAY[1..Gc_udiNumberOfMoveIds] OF ST_Status	Read	Status of the latest movement for each MoveId.
rstStatisticsCycleTime	REFERENCE TO ST_Statistics	Read	Overall cycle time in ms. The cycle time is measured from the start of the movement until the robot reaches its target. Only movements which are fine-tuned completely are used for the statistic.
udiNumberOfMovements	UDINT	Read	Number of movements executed.
udiNumberOfMovementsFinetuned	UDINT	Read	Number of movements fine-tuned completely.
udiNumberOfMovementsTuned	UDINT	Read	Number of movements tuned completely.
xReductionActive	BOOL	Read	Motion is running with reduced acceleration and/or reduced deceleration set by the method ReduceMotionParameter.