Structures for Lexium Robots

Preconditions

To build and emulate the robot object in EcoStruxure Machine Expert Twin, a structure via OPC UA is required for each robot. That structure consists of a configuration part and an update part:

The configuration part contains parameters to define a robot in EcoStruxure Machine Expert Twin and includes:
- Robot type
- Position and orientation in the EcoStruxure Machine Expert Twin scene
- Robot-specific options
These data are not cyclically updated during runtime.
The update part contains parameters to emulate a robot in EcoStruxure Machine Expert Twin and includes data that is constantly changing, such as the position of the axes.

These data must be updated with each cycle (EcoStruxure Machine Expert Twin refresh).

NOTE: For Lexium P robots and Lexium T robots running on PacDrive LMC controllers, use the following methods provided by the SchneiderElectricRobotics library to help avoid invalid configuration:

For Lexium P robots: FB_RobotPSeries.SetDigitalTwinConfigData()
For Lexium T robots: FB_RobotTSeries.SetDigitalTwinConfigData()FB_RobotTSeries.SetDigitalTwinConfigData() (refer to the SchneiderElectricRobotics Library Guide)