ST_ConfigDataRobotPSeries

Overview

Type:	Structure
Available as of:	V1.0.0.0
Inherits from:	ST_ConfigDataGeneric

Description

The structure ST_ConfigDataRobotPSeries contains additional parameters to configure a Lexium P robot in EcoStruxure Machine Expert Twin extending the structure ST_ConfigDataGeneric.

Structure Elements

Name	Data type	Description
xRotAxRotationLeft	BOOL	Rotational direction of the rotational axis. By default, xRotAxRotationLeft is set to FALSE which corresponds to clockwise rotation. If xRotAxRotationLeft is set to TRUE, the rotational direction is counterclockwise.
lrTcpPlateSize	LREAL	The size (radius) of the TCP (Tool Center Point) plate. The default value is `0.0` which corresponds to the default radius of 50.0 mm (1.97 in.). Value = lrLengthABC3 For further information, refer to the Robotic Library Guide.

Name

Data type

Description

xRotAxRotationLeft

BOOL

Rotational direction of the rotational axis.

By default, xRotAxRotationLeft is set to FALSE which corresponds to clockwise rotation.

If xRotAxRotationLeft is set to TRUE, the rotational direction is counterclockwise.

lrTcpPlateSize

LREAL

The size (radius) of the TCP (Tool Center Point) plate.

The default value is 0.0 which corresponds to the default radius of 50.0 mm (1.97 in.).

Value = lrLengthABC3

For further information, refer to the Robotic Library Guide.