Configuration / Logic Method and ModuleInterface

Overview

Configuration

You can use the method Configuration for additional configuration, for example, to add a tracking system. This method is called once before ConfigDone.

Logic

With the method Logic, you can add code, for example, to support robot motion.

The method Logic has an input/output (iq_stRoboticModuleItf).

With the input/output (iq_stRoboticModuleItf) you access, for example, IF_RobotMotion to set move commands or IF_RobotFeedback to receive information of the status of the robot.

If you want to use variables of IF_RobotFeedback outside of the Logic method (for example for a trace), you can add a variable of type ROB.IF_RobotFeedback to the ModuleInterface and copy iq_stRoboticModuleItf.iq_ifFeedback of Logic to the new variable.

Verify that interface is valid before using it (for example iq_stRoboticModuleItf.iq_ifFeedback <> 0).

If you add variables to methods, these variables are volatile variables and are reinitialized with every call of the method. If you need variables that save their data, refer to Data Exchange with ModuleInterface\Save Data.

If you need variables to control your code, refer to Data Exchange with ModuleInterface.