FB_CollisionHandlerDelta2Ax - General Information

Overview

Type:	Function block
Available as of:	V1.0.0.0
Inherits from:	-
Implements:	IF_CollisionHandlerDelta2Ax
Versions:	Current version

This chapter provides information on:

Task

Manages the collision handler of a Delta2Ax robot.

Description

Implements the collision handler of a Delta2Ax robot.

Using this collision handler, starting from a set of parameters it is possible to automatically configure a collision entity representing the structure of a Delta2Ax robot. Then, it is possible to update the collision entity based on the joint positions or the TCP position of the robot.

Extends: FB_CollisionHandlerRobot

The following graphic presents the collision entity configuration for a Delta2Ax collision handler:

Properties

Name	Data type	Accessing	Description
xEnableTCPCollisionGroup	BOOL	Get, Set	If TRUE, the collision group representing the TCP is enabled; if FALSE, the collision group is disabled. NOTE: A disabled collision group is ignored by the collision and distance queries.
raxEnableChainCollisionGroup	REFERENCE TO ARRAY [1...Gc_udiDelta2AxNumberOfJoints] OF BOOL	Get, Set	Each element of this property allows to enable (TRUE value) or disable (FALSE value) a collision group linked to one of the chains of the robot. It is possible to use the elements of ET_Delta2AxCollisionGroupIndex to index the desired collision group. NOTE: A disabled collision group is ignored by the collision and distance queries.
xUpdated	BOOL	Get	The property is set to TRUE if the latest call of the Update method was successful; FALSE otherwise. NOTE: This property should have a TRUE value before using the function block with any of the collision or distance query functions.
xConfigured	BOOL	Get	TRUE if the function block is configured, FALSE otherwise.
ifCollisionEntity	IF_CollisionEntity	Get	Reference to the collision entity configured and updated by the collision handler. NOTE: This interface can be provided as input of the collision and distance queries. This interface allows to directly access the collision entity managed by the collision handler; any operation on such interface should be avoided before IF_CollisionHandler.xConfigured = TRUE.
rstBasePosition	REFERENCE TO SE_Math.ST_Vector3D	Get	Position of the entity with reference to a global coordinate system.
etType	ET_CollisionHandlerType	Get	The type of the collision handler; this is related to the type of represented module.