IF_RobotFeedbackTracking - General Information

Overview

Type:	Interface
Available as of:	V1.6.0.0
Inherits from:	-

This chapter provides information on:

Task
Description
Properties

Task

Interface with return values of a tracking movement of the robot.

Description

In case of an active tracking movement in a configured linear tracking system configured by IF_RobotConfiguration.AddLinearTrackingSystem, the feedback values are provided within this feedback interface.

Properties

Name	Data type	Accessing	Description
etPhase	ET_TrackingPhase	Read	Phase of a tracking movement.
lrOffsetAccelerationResultant	LREAL	Read	Resultant offset acceleration of the cartesian tracking movement.
lrOffsetPositionResultant	LREAL	Read	Resultant offset position of the cartesian tracking movement.
lrOffsetVelocityResultant	LREAL	Read	Resultant offset velocity of the cartesian tracking movement.
lrRemainingTime	LREAL	Read	Remaining time until the tracking synchronization phase is finished. Unit: [msec]
lrRemainingTimePathPositionEnd	LREAL	Read	Remaining time until the specified end position on path of the tracking synchronization phase is reached. The value 0.0 is returned if the tracking synchronization phase is not started or changing the coordinate system was not requested by a call of the method IF_RobotMotion.ChangeCoordinateSystem2(…). Also refer to Behavior of IF_RobotFeedbackTracking.lrRemainingTimePathPositionEnd.
raifAuxAx	REFERENCE TO ARRAY [ET_RobotComponent.AuxAx1.. ET_RobotComponent.AuxAxAll + Gc_udiMaxNumberOfAuxiliaryAxes] OF IF_RobotFeedbackTrackingAuxAx	Read	Interface with return values for the tracking of the auxiliary axes.
rstEstimatedStopPosition	REFERENCE TO PDL.ST_Vector3D	Read	Estimated Cartesian stop position where an active tracking is stopped. For example, with FB_Robot.xEnable TRUE -> FALSE or in other emergency stop situations (refer to Behavior of feedback property rstEstimatedStopPosition).
rstOffsetAcceleration	REFERENCE TO PDL.ST_Vector3D	Read	Offset acceleration of a tracking movement in cartesian coordinates in relation to the robot coordinate system ET_CoordinateSystem.CSR.
rstOffsetPosition	REFERENCE TO PDL.ST_Vector3D	Read	Offset position of a tracking movement in cartesian coordinates in relation to the robot coordinate system ET_CoordinateSystem.CSR.
rstOffsetVelocity	REFERENCE TO PDL.ST_Vector3D	Read	Offset velocity of a tracking movement in cartesian coordinates in relation to the robot coordinate system ET_CoordinateSystem.CSR.