IF_RobotWarmStart - General Information

Overview

Type:

Interface

Available as of:

V2.12.1.0

Inherits from:

-

This chapter provides information on:

Task

Interface for the robot warm start.

Description

The interface provides several methods and properties for a robot warm start.

Methods

Name

Description

SetMode

Sets the warm start mode of the robot

GetMode

Reads the warm start mode of the robot.

SetMotionParameter

Sets the warm start motion parameters.

GetMotionParameter

Reads the warm start motion parameters.

Start

Starts a warm start motion job.

Properties

Name

Data type

Accessing

Description

ralrAuxAxDistance

REFERENCE TO ARRAY [ET_RobotComponent.AuxAx1... ET_RobotComponent.AuxAxAll + Gc_udiMaxNumberOfAuxiliaryAxes] OF LREAL

Read

Warm start distance back to the reference position on path of the auxiliary axis.

ralrCartesianDistance

REFERENCE TO ARRAY [ET_RobotComponent.CartesianX ... ET_RobotComponent.CartesianZ] OF LREAL

Read

Warm start distance back to the reference position on path of the cartesian component.

ralrOrientationDistance

REFERENCE TO ARRAY [ET_RobotComponent.OrientationX ... ET_RobotComponent.OrientationAll + Gc_udiMaxNumberOfOrientations] OF LREAL

Read

Warm start distance back to the reference position on path of the orientation

raxAuxAxOnPath

REFERENCE TO ARRAY [ET_RobotComponent.AuxAx1 ... ET_RobotComponent.AuxAxAll + Gc_udiMaxNumberOfAuxiliaryAxes] OF BOOL

Read

TRUE: The reference position of the auxiliary axis is located on the parameterized path.

FALSE: The reference position of the auxiliary axis is not located on the parameterized path.

raxCartesianOnPath

REFERENCE TO ARRAY [ET_RobotComponent.CartesianX ... ET_RobotComponent.CartesianZ] OF BOOL

Read

TRUE: The reference position of the cartesian component is located on the parameterized path.

FALSE: The reference position of the cartesian component is not located on the parameterized path.

raxOrientationOnPath

REFERENCE TO ARRAY [ET_RobotComponent.OrientationX ... ET_RobotComponent.OrientationAll + Gc_udiMaxNumberOfOrientations] OF BOOL

Read

TRUE: The reference position of the orientation is located on the parameterized path.

FALSE: The reference position of the orientation is not located on the parameterized path.

raxAuxAxPossible

REFERENCE TO ARRAY [ET_RobotComponent.AuxAx1 ... ET_RobotComponent.AuxAxAll + Gc_udiMaxNumberOfAuxiliaryAxes] OF BOOL

Read

TRUE: A warm start of the orientation is possible.

FALSE: A warm start of the orientation is not possible.

raxCartesianPossible

REFERENCE TO ARRAY [ET_RobotComponent.CartesianX ... ET_RobotComponent.CartesianZ] OF BOOL

Read

TRUE: A warm start of the cartesian component is possible.

FALSE: A warm start of the cartesian component is not possible.

raxOrientationPossible

REFERENCE TO ARRAY [ET_RobotComponent.OrientationX ... ET_RobotComponent.OrientationAll + Gc_udiMaxNumberOfOrientations] OF BOOL

Read

TRUE: A warm start of the orientation is possible.

FALSE: A warm start of the orientation is not possible.

Description of rax...

If a rax...Possible value is equal to TRUE, then:

  • The robot component is configured.

  • The warm start motion parameters are configured.

  • The robot is in state warm start:

    • The robot was disabled

    • The warm start mode ET_WarmStartMode.Sequenced is configured

    • FB_Robot.xWsSelect and FB_Robot.xWsStart are set to TRUE

  • The robot component is not on path.