ST_Event

Overview

The structure ST_Event contains information related to the event type defined in the enumeration ET_EventType.

NOTE: For generating event data, use the FB_EventWriter to help avoid invalid data.

Name	Data type	Description
udiEventId	UDINT	The ID of an event.
udiEventType	UDINT	Identifies the type of the event. For more information, refer to ET_EventType.
udiObjectId	UDINT	The ID of the object.
udiObjectType	UDINT	The type of the object.
udiParentId	UDINT	The ID of the parent object.
stPosition	SE_MATH.ST_Vector3D	Offset position relative to the connection point of the (sub)object, for example, the Tool Center Point (TCP) of a robot. NOTE: In EcoStruxure Machine Expert, the position values are based on a right-hand coordinate system. EcoStruxure Machine Expert Twin internally converts the data to a left-hand coordinate system.
stOrientation	SE_MATH.ST_Vector3D	Offset orientation relative to the connection point of the (sub)object, for example, the Tool Center Point (TCP) of a robot. NOTE: In EcoStruxure Machine Expert, the orientation values use the orientation convention ZYX, based on a right-hand coordinate system. EcoStruxure Machine Expert Twin internally converts the data to a left-hand coordinate system.
lrReferencePosition	LREAL	Reference position of the system identified in udiParentId when the event was created. The reference position is used to compensate for communication time delays.
udiColorId	UDINT	Color information of the object, based on the enumeration ET_EmulationColors.