IF_RobotConfigurationAdvanced - General Information

Overview

Type:	Interface
Available as of:	V1.0.0.0
Inherits from:	-

This chapter provides information on:

Task
Description
Methods
Properties

Task

Interface for the advanced configuration of the robot.

Description

The interface provides different properties to configure the robot. In addition to the used kinematics, further parameters can be influenced.

Methods

Name	Description
AdditionalTransformationAxes	Configuration of an additional transformation of the robot axes.
AdditionalTransformationTCP	Configuration of an additional transformation of the TCP.
ExtendConnectedPath	Allowing to add more than 100 segments to a connected path.
GetCoordinateSystem	Reading a configured coordinate system.
GetResAccLimitParameters	Reading additional parameters of the functionality to limit the resulting acceleration of space movement.
GetTrackingDeviationLimit	Reading the configured maximum tracking deviation limit.
GetTrackingParameters	Reading a set of parameters from a specific tracking system.
GetVelocityLimitationAxes	Reading the velocity limitation for robot axes.
ModifyCoordinateSystem	Modifying the robot coordinate system.
ModifyCoordinateSystem2	Modifying the robot coordinate system or a configured linear tracking system of the robot.
SetResAccLimitParameters	Setting additional parameters of the functionality to limit the resulting acceleration of space movement.
SetTrackingDeviationLimit	Setting the maximum tracking deviation limit.
SetTrackingParameters	Setting a set of parameters for a specific tracking system.
SetVelocityLimitationAxes	Initializing and activating the velocity limitation for robot axes.

Properties

Name	Data type	Accessing	Description
lrMinPositionDelta	LREAL	Read/Write	Minimum position delta between two positioning commands. If the position delta between two motion commands is smaller, then the motion command is rejected. Unit: [Units] Default value: 0.001 Value range: lrMinPosDelta ≥ 0.001
lrMinZone	LREAL	Read/Write	Minimum zone size: Zones that are smaller than IrMinZone are discarded. A new connected path is created. Unit: [Units] Default value: 1.0 Value range: lrMinZone ≥ 0.001
lrVelOverrideZeroThreshold	LREAL	Read/Write	This parameter can be used to define a minimum threshold when the VelOverride is treated as zero. When lrVelOverrideZeroThreshold is greater than zero and the value of VelOverride is less than lrVelOverrideZeroThreshold, the VelOverride will be treated as zero and the robot will stop. This can be used in case VelOverride is controlled by a logic that can return very low values, for example 0.001 which results in a very slow movement. If the robot should stop in this case, the minimum threshold can be set.
lrMinVelOverrideVariation	LREAL	Read/Write	This parameter can be used to define a minimum variation threshold for the VelOverride. For further information, refer to Behavior of the Property lrMinVelOverrideVariation.
xDisableTrackingEncoderCheck	BOOL	Read/Write	TRUE: The parameters of the tracking encoder are not verified. FALSE: The parameters of the tracking encoder are verified. If the interface SystemConfigurationItf.IF_MechanicMandatory is implemented by the velocity source the parameters FeedConstant, GearIn, GearOut, and Direction of the tracking encoder are verified against the corresponding parameters of the velocity source. The parameter Enable is verified against the value TRUE. The parameters PhaseEnable, GearEnable, and EngageEnable are verified against the value FALSE. Also refer to the Robotic Library Guide\Using the Library\Behavior of xDisableTrackingEncoderCheck/xSetTrackingEncoderParameters.
xSetTrackingEncoderParameters	BOOL	Read/Write	TRUE: The parameters of the tracking encoder are set during configuration. If the interface SystemConfigurationItf.IF_MechanicMandatory is implemented by the velocity source the parameters FeedConstant, GearIn, GearOut, and Direction of the tracking encoder are set to the corresponding parameters of the velocity source. The parameter Enable is set to the value TRUE during configuration. The parameters PhaseEnable, GearEnable, and EngageEnable are set to the value FALSE. FALSE: No parameters of the tracking encoder are set during configuration. Also refer to the Robotic Library Guide\Using the Library\Behavior of xDisableTrackingEncoderCheck/xSetTrackingEncoderParameters.
xUseEStopParameterForEstimatedStopPosition	BOOL	Read/Write	TRUE: The calculation of the feedback rstEstimatedStopPosition is based on the emergency parameters. FALSE: The calculation of the feedback rstEstimatedStopPosition is based on the motion parameters. Also refer to Behavior with xUseEStopParameterForEstimatedStopPosition = FALSE and and Behavior with xUseEStopParameterForEstimatedStopPosition = TRUE.
udiNumberOfPeriodsSetPosB	UDINT	Read/Write	If a robot is configured using the Scara4Ax transformation, AxisB acts as a periodic axis. A SetPos is executed to realize the period modification of AxisB and therefore to manage overflow of the axis position if AxisB rotates without limit in any one direction. You can modify the arm configuration with the enumeration elements ROB.ET_ArmConfiguration.InnerRight or ROB.ET_ArmConfiguration.InnerLeft. Also refer to Behavior with Arm Configuration InnerRight/InnerLeft. The property udiNumberOfPeriodsSetPosB is used to define the working range of AxisB until a SetPos is executed: Working range start = -180° * udiNumberOfPeriodsSetPosB Working range = 360° * udiNumberOfPeriodsSetPosB Examples: udiNumberOfPeriodsSetPosB = 1 -> Working range of AxisB without SetPos = ±180° udiNumberOfPeriodsSetPosB = 3 -> Working range of AxisB without SetPos = ±540° NOTE: A SetPos is also applied to the axes coupled to AxisB to respect the dependencies between the coupled axes. Default value: udiNumberOfPeriodsSetPosB = 10 With udiNumberOfPeriodsSetPosB = 0, a SetPos is not executed.
xShiftMoveSyncStartPosition	BOOL	Read/Write	FALSE: The start position on the connected path of a MoveSync command is not shifted. TRUE: The start position on the connected path of a MoveSync command is shifted to the earliest possible position in the following cases: A previous MoveSync command is still active at the given start position on the connected path of the new MoveSync command. The new MoveSync command starts immediately after the previous MoveSync command. The robot has already passed the given start position on the connected path. The new MoveSync command starts three Real-Time Transport Protocol (RTP) cycles after it was accepted. The rest of the verifications of the MoveSync command still apply: In case the start position on the connected path of a MoveSync command is shifted beyond the given end position, the MoveSync is rejected. It is not possible to automatically shift the start position on the connected path of a MoveSync command to the end of an active MoveAsync command. When the MoveSync command is sent while the MoveAsync command is active, it is rejected.