Using the Library

What Is in This Chapter?

• Motion Parameter Ramp

• Independent Shortening of the Blending Zones

• Behavior of CurrentSegmentId, PreviousSegmentId, and NextSegmentId

• Behavior of Feedback Property IF_RobotFeedbackConnectedPath.lrRemainingTime

• Behavior of Feedback Property rstTangent

• Behavior of SetEmergencyParameter Versus SetEmergencyParameter2

• Behavior of Method MoveAsync

• Behavior of Feedback Property IF_RobotFeedback.xOnPath

• Behavior of IF_RobotFeedback.raxAuxAx[n].xInTarget

• Behavior of IF_RobotFeedback.xInTarget

• Behavior of Feedback Property rstEstimatedStopPosition

• Behavior with xUseEStopParameterForEstimatedStopPosition = FALSE

• Behavior with xUseEStopParameterForEstimatedStopPosition = TRUE

• Behavior of IF_RobotMotion.<Action>StopOnPath

• Behavior of Method FB_EllipticSpline.CalcSplineExtended

• Using AdditionalTransformationTCP

• Behavior of Method ChangeCoordinateSystem

• Behavior of Method ChangeCoordinateSystem2

• Behavior of ChangeCoordinateSystem2 in Case Calculated Resulting Acceleration Exceeds Limit

• Tracking on Velocity Sources with Non-Constant Velocity

• Interaction of ChangeCoordinateSystem with Stop-on-path

• Behavior of FB_Robot.xStart = FALSE

• Behavior of IF_RobotMotion.lrVelOverride

• Change of Coordinate System on the Fly

• Behavior of FB_Robot.xEnable = FALSE / SyncStop

• Interaction Between Method Execute and Other Robotic Features

• Behavior of IF_RobotFeedback.rstLastTarget

• Behavior of IF_RobotFeedbackTracking.lrRemainingTimePathPositionEnd

• Behavior of Warm Start Mode Default

• Behavior of Warm Start Mode Sequenced

• General Behavior of ExternalPositionSource

• Behavior of xDisableTrackingEncoderCheck/xSetTrackingEncoderParameters

• Creating a User6Ax Transformation Function Block

• Minimizing the Influence of a Tracking System on the Trajectory of a Robot

• Behavior with Arm Configuration InnerRight / InnerLeft

• Configuration of a Rotative Tracking System

• Behavior of Feedback Property IF_RobotFeedbackConnectionPath.etActiveMotionLimit

• Using ExternalPositionSourceLimit

• Behavior of the Property lrMinVelOverrideVariation

• Behavior of ET_MotionProfile.MoveSyncMaxVelocity

• Change of SCARA Arm Configuration

• Behavior of ST_ResAccLimitParameters.xEnablePreAnalysis

• Using IF_UserRobotFeedbackKinematic

• Using ModifyCoordinateSystem / ModifyCoordinateSystem2

• Implement a User Specific Tracking Source

• Usage of Tracking Sources

• Usage of Position Monitoring