Additional Configurations

Overview

1	Emergency parameters The necessary data for an emergency stop must be configured. Detailed information can be found under: SetEmergencyParameter in RoboticModule Library Guide.
2	CollisionHandler Select the checkbox Create CollisionHandler Interface to configure the collision handler. If the checkbox Create CollisionHandler Interface is selected, the Collision Margin value can be set. The property SR_<Robot_P-Series_Name>.ifCollisionHandlerPSeries is configured based on this configuration. Detailed information can be found under: FB_CollisionHandlerPSeries in the SchneiderElectricRobotics Library Guide.
3	Rotational Axis Adapt the period for the rotational axis if necessary. Only visible if the robot has a rotational axis. Detailed information can be found under: AddAuxAx in RoboticModule Library Guide.
4	Modify coordinate system The robot coordinate system can be modified. If the checkbox Modify is not set, the coordinate system is set to default values defined by the selected robot. Detailed information can be found under: ModifyCoordinateSystem in RoboticModule Library Guide.
5	MotionProfile Type Set checkbox for MoveSyncMaxVelocity to use the motion profile ET_MotionProfileType.MoveSyncMaxVelocity. Detailed information can be found under: IF_RobotConfigurationAdvanced - SetMotionProfileType in the Robotic Library Guide. NOTE: MoveSyncMaxVelocity is only available if a rotational axis is configured for the robot.