IF_RobotFeedbackKinematic - General Information

Overview

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

This chapter provides information on:

Task
Description
Properties

Task

Interface with return values for the configured kinematics.

Description

Return values within this interface correspond to the respective mechanical robot coordinate system.

Properties

Name	Data type	Accessing	Description
etMechOrientationConvention	ET_OrientationConvention	Read	Orientation convention in which the configured transformation is interpreting the orientation angles. In case the configured transformation does not support any orientation, the value ET_OrientationConvention.None is returned.
etTransformation	ET_Transformation	Read	Types of the configured kinematics/transformation of the robot.
ifMechRefPositionArticulated2Ax	IF_RobotFeedbackArticulated2Ax	Read	Interface with return values of a configured biaxial Articulated robot.
ifMechRefPositionDelta2Ax	IF_RobotFeedbackDelta2Ax	Read	Interface with return values of a configured biaxial Delta robot.
ifMechRefPositionDelta3Ax	IF_RobotFeedbackDelta3Ax	Read	Interface with return values of a configured triaxial Delta robot.
ifMechRefPositionScara4Ax	IF_RobotFeedbackScara4Ax	Read	Interface with return values of a configured SCARA.
ralrRefPositionMotor	REFERENCE TO ARRAY [ET_RobotComponent.AxisA .. ET_RobotComponent.AxisAll+Gc_udiMaxNumberOfAxes] OF LREAL	Read	Reference position of the configured axes of the robot.
ralrRefPositionJoint	REFERENCE TO ARRAY [ET_RobotComponent.AxisA .. ET_RobotComponent.AxisAll+Gc_udiMaxNumberOfAxes] OF LREAL	Read	Reference position of joints of the robot.
rstMechRefOrientationTCP	REFERENCE TO PDL.ST_Vector3D	Read	Reference orientation of the TCP in the mechanical robot coordinate system.
rstMechRefPositionTCP	PDL.ST_Vector3D	Read	Reference position of the TCP in the mechanical robot coordinate system.
xSchneiderElectricRobot	BOOL	Read	Feedback whether a Schneider Electric robot is configured.