IF_RobotFeedback - General Information

Overview

Type:	Interface
Available as of:	V1.0.0.0
Inherits from:	-

This chapter provides information on:

Task
Description
Properties

Task

General feedback interface of the robot.

Description

The interface provides the status values as well as reference values of the robot.

Properties

Name	Data type	Accessing	Description
etCoordinateSystem	ET_CoordinateSystem	Read	Coordinate system in which the robot is moving. The targets sent to the robot by using the following methods are interpreted in that coordinate system: IF_RobotMotion.MoveL(...) IF_RobotMotion.MoveS(...) IF_RobotMotion.MoveC(...)
etNextCoordinateSystem	ET_CoordinateSystem	Read	Coordinate system in which the robot is moving next. Not equal to ET_CoordinateSystem.None: A change of the coordinate system is requested. Equal to ET_CoordinateSystem.None: No change of the coordinate system is requested.
etLastTargetCoordinateSystem	ET_CoordinateSystem	Read	Coordinate system set by IF_RobotMotion.SetCoordinateSystem(…) or IF_RobotMotion.ChangeCoordinateSystem(…) last. The targets sent to the robot by motion commands are interpreted in that coordinate system. The feedback IF_RobotFeedback.rstLastTarget is also returned in this coordinate system.
etLastTargetArmConfiguration	ET_ArmConfiguration	Read	Arm configuration target last sent.
etCurrentArmConfiguration	ET_ArmConfiguration	Read	Present arm configuration of the robot. Feedback is also available when robot is not active.
ifCurrentConnectedPath	IF_RobotFeedbackConnectedPath	Read	Interface with return values for the active connected path.
ifCurrentSegment	IF_RobotFeedbackSegment	Read	Interface with return values for the active path segment.
ifKinematic	IF_RobotFeedbackKinematic	Read	Interface with return values for the configured kinematics. Feedback is also available when robot is not active.
ifSpace	IF_RobotFeedbackSpace	Read	Interface with return values of the robot motion in the cartesian space.
ifStopOnPath	IF_RobotFeedbackStopOnPath	Read	Interface with return values for stops-on-path
ifTracking	IF_RobotFeedbackTracking	Read	Interface with return values of the robot tracking.
ifTrajectoryStorage	IF_RobotFeedbackTrajectoryStorage	Read	Interface with return values of the trajectory storage.
ifVelocityLimitation	IF_RobotFeedbackVelocityLimitation	Read	Interface with return values of velocity limitation axes.
raifAuxAx	REFERENCE TO ARRAY [ET_RobotComponent.AuxAx1..Gc_udiMaxNumberOfAuxiliaryAxes] OF IF_RobotFeedbackMotionAuxiliaryAxis	Read	Interface with return values of the auxiliary axes.
raifOrientation	REFERENCE TO ARRAY [ET_RobotComponent.OrientationX.. ET_RobotComponent.OrientationAll + Gc_udiMaxNumberOfOrientations] OF IF_RobotFeedbackMotionOrientation	Read	Interface with return values of the orientations.
ralrLastTargetAuxAx	REFERENCE TO ARRAY [ET_RobotComponent.AuxAx1.. ET_RobotComponent.AuxAxAll + Gc_udiMaxNumberOfAuxiliaryAxes] OF LREAL	Read	The last target for the auxiliary axes can be read.
ralrRefPositionAuxAx	REFERENCE TO ARRAY [ET_RobotComponent.AuxAx1.. ET_RobotComponent.AuxAxAll + Gc_udiMaxNumberOfAuxiliaryAxes] OF LREAL	Read	Reference position of the auxiliary axes. Feedback is also available when robot is not active.
rstLastTarget	REFERENCE TO PDL.ST_Vector3D	Read	The last sent target can be read. The target is returned in the coordinate system set by IF_RobotMotion.ChangeCoordinateSystem and can be used for example as start point for an elliptic spline to be calculated with FB_EllipticSpline. Also refer to Behavior of IF_RobotFeedback.rstLastTarget.
rstRefPositionTCP	REFERENCE TO PDL.ST_Vector3D	Read	Cartesian reference position of the TCP in the robot coordinate system. Feedback is also available when robot is not active.
rstRefOrientationTCP	REFERENCE TO PDL.ST_Vector3D	Read	Orientation reference position of the TCP in the robot coordinate system. Feedback is also available when robot is not active.
rstLastTargetOrientation	REFERENCE TO PDL.ST_Vector3D	Read	The last sent orientation target can be read. The orientation target is returned in the coordinate system set by IF_RobotMotion.ChangeCoordinateSystem last.
udiCurrentSegmentId	UDINT	Read	Segment Id of the active motion job. Within blending zones, it changes in the zone center to the segment Id of the subsequent motion job.
udiNextSegmentId	UDINT	Read	Segment Id of the motion job that follows the active motion job.
udiPreviousSegmentId	UDINT	Read	Segment Id of the motion job that preceded the active motion job.
xExecute	BOOL	Read	TRUE: The execution of commands is not blocked. Either the execution of commands was never blocked or the method IF_RobotMotion.Execute(…) was called with i_xValue = TRUE. FALSE: The execution of commands is blocked. The method IF_RobotMotion.Execute(…) was called with i_xValue = FALSE.
xInCoordinateSystem	BOOL	Read	FALSE: The robot is not synchronous to the coordinate system displayed at the feedback property IF_RobotFeedback.etCoordinateSystem. TRUE: The robot is synchronous to the coordinate system displayed at the feedback property IF_RobotFeedback.etCoordinateSystem. NOTE: If the robot is synchronous to the coordinate system displayed at the feedback property IF_RobotFeedback.etCoordinateSystem, and a change of the coordinate system to the same one is initiated, the value gets FALSE for one Sercos cycle.
xInMotion	BOOL	Read	TRUE = The robot is in motion along the path. FALSE = The robot is at standstill.
xInTarget	BOOL	Read	TRUE = The robot is in the target position of a connected path. FALSE = The robot is not in the target position of a connected path. Also refer to Behavior of IF_RobotFeedback.xInTarget.
xInZone	BOOL	Read	TRUE = The robot is inside a blending zone. TRUE = The robot is outside a blending zone.
xOnPath	BOOL	Read	TRUE = The reference position of the robot is located on the parameterized path. FALSE = The reference position of the robot is not located on the parameterized path. The TCP of the robot was moved away from the parameterized path through intervention for example by manual jogging. This is not a deviation of the position of the TCP from the reference position. Also refer to Behavior of feedback property IF_RobotFeedback.xOnPath.