FB_EntitiesHandler - General Information

Overview

Type:	Function block
Available as of:	V1.4.1.0
Inherits from:	-
Implements:	-

This chapter provides information on:

oTask

oDescription

oMethods

oProperties

Task

Store and retrieve a global description of a robotic system.

Description

The function block FB_EntitiesHandler is used to store and retrieve a global description of a robotic system (for example a robotic cell). Such description includes robots, conveyor belts, tracking systems and types of target.

The function block contains a set of methods used to store information on the entities of the system. On request, it is possible to retrieve such data or to evaluate additional information linked to the relations between such entities.

The Cartesian pose describing position and orientation of each object is referred to a global coordinate system. You can evaluate the relative Cartesian pose between two configured entities by calling specific methods.

For example, such local transformation could be required during the configuration of a single robot within the system (either as ROB.FB_Robot or RM.FB_RobotModule).

Methods

Name	Description
AddConveyor	Store a new conveyor entity inside the function block.
AddLinearTrackingSystem	Describe a pairing between a conveyor previously added to the function block (using AddConveyor) and a sensor. The result of such pairing is a new tracking system.
AddRobot	Add a new robot entity to the function block.
AddTargetType	Add a new target type to the function block
CalcEntitiesRelativePose	Calculate the relative Cartesian pose between the base frame of a source entity and the base frame of a target entity.
CalcRobotPoseInTrackingSystem	Transform a Cartesian pose referred to a robot coordinate system to a Cartesian pose referred to a tracking coordinate system.
CalcSensorPoseInTrackingSystem	Transform a Cartesian pose referred to a sensor system to a Cartesian pose referred to the coordinate system of the conveyor to which the sensor has been paired.
CalcTrackingPoseInRobotSystem	Transform a Cartesian pose referred to a tracking coordinate system to a Cartesian pose referred to the coordinate system of a robot.
GetConveyor	Retrieve the information on a conveyor entity previously stored inside the internal list of the function block.
GetLinearTrackingSystem	Retrieve the information on a linear tracking system previously stored inside the internal list of the function block.
GetRobot	Retrieve the information on a robot entity previously stored inside the internal list of the function block.
GetTargetType	Retrieve the information on a target type previously stored inside the internal list of the function block.

Properties

Name	Data type	Accessing	Description
udiNumberOfRobots	UDINT	Read	Number of configured robots
udiNumberOfTrackingSystems	UDINT	Read	Number of configured tracking systems
udiNumberOfConveyors	UDINT	Read	Number of configured conveyors
udiNumberOfTargetTypes	UDINT	Read	Number of configured target types