The structure contains all the module-specific parameters and return values for the FB_RoboticModule.
|
Variable |
Data type |
Description |
|---|---|---|
|
i_xRobotStart |
BOOL |
The default value of this variable is TRUE. If the active operating mode of the module is ET_OpMode.Auto and the variable is set to FALSE, an active robot motion can be stopped on path. |
|
iq_ifConfigurationReadOnly |
The element can be used to get access to the read-only interface of the robot configuration. The interface is used to read configuration data from the robot via the provided methods and properties. |
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iq_ifHardwareLimit |
Interface to transfer hardware limits to the RoboticModule. |
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iq_ifSoftwareLimit |
Interface to transfer software limits to the RoboticModule. |
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iq_ifMotion |
Interface to access the interface for the motion programming of the technology library in the RoboticModule. |
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iq_ifFeedback |
Interface to access the feedback interface of the technology library in the RoboticModule. |
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iq_ifConfiguration |
Interface to access the configuration interface of the technology library in the RoboticModule. |
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|
iq_ifManual |
Interface to jog the robot in the RoboticModule. There is the possibility to either jog the main axes and the AuxAx of the robot, or to jog along the Cartesian axes or along the path. |
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iq_ifHoming |
Interface to select the homing modes for the individual axes of a robot. |
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iq_ifBrake |
Interface to open/close the brakes of the robot engines. |
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iq_ifWarmStart |
Interface to access the warm start interface of the technology library in the RoboticModule. |
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q_xRobotActive |
BOOL |
State of the FB_Robot.xActive. TRUE: FB_Robot is active. FALSE: FB_Robot is not active (xEnable =FALSE). |
|
q_xRobotReady |
BOOL |
State of the FB_Robot.xReady. TRUE: FB_Robot is ready to operate and can accept user commands. FALSE: FB_Robot is not ready to operate and cannot accept user commands. |
|
q_axDriveAxisActive |
ARRAY [ROB.ET_RobotComponent.AxisAll..(ROB.ET_RobotComponent.AxisAll + ROB.Gc_udiMaxNumberOfAxes)] OF BOOL |
Provides feedback on the state of the individual axes. The axes elements from which the position control is active are set to TRUE. In particular, there is the feedback raxDrivesActive[0] is equal to TRUE if the position control of the configured axes is active. |
|
q_axDriveAuxAxActive |
ARRAY [ROB.ET_RobotComponent.AuxAxAll..(ROB.ET_RobotComponent.AuxAxAll + ROB.Gc_udiMaxNumberOfAuxiliaryAxes)] OF BOOL |
Provides feedback on the state of the individual axes of the AuxAxis. The axes elements from which the position control is active are set to TRUE. In particular, there is the feedback raxDrivesActive[0] is equal to TRUE if the position control of the configured axes is active. |
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q_etActiveOpMode |
The active operation mode of the RoboticModule. |
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q_etState |
The active state of the RoboticModule. |
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q_xHomeOk |
BOOL |
TRUE: Homing of the axes has been performed successfully. |