IF_UserRobotFeedbackKinematic - General Information

Overview

Type:

Interface

Available as of:

V3.6.5.0

Inherits from:

-

This chapter provides information on:

Task

Interface for user-defined return values for the user-defined kinematics.

Description

The IF_UserRobotFeedbackKinematic interface can be implemented by a user-defined transformation function block in addition to the mandatory interface to be implemented (IF_UserTransformation3Ax or IF_UserTransformation6Ax).

The IF_UserRobotFeedbackKinematic interface enables the function block to forward the user-defined reference position of the robot joints, which are provided by the robot feedback interface IF_RobotFeedback.ifKinematic.ralrRefPositionJoint.

If the IF_UserRobotFeedbackKinematic interface is not implemented by the user-defined transformation function block, the axis positions are mapped one by one to the robot feedback IF_RobotFeedback.ifKinematic.ralrRefPositionJoint.

Also refer to Using IF_UserRobotFeedbackKinematic.

Properties

Name

Data type

Accessing

Description

ralrRefPositionJoint

REFERENCE TO ARRAY [ET_RobotComponent.AxisA... ET_RobotComponent.AxisAll + Gc_udiMaxNumberOfAxes] OF LREAL

Read

Reference position of joints of the robot provided by the user implementation for user-defined kinematics.

{attribute 'monitoring' := 'call'} must be implemented by the property.