|
Type: |
Interface |
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Available as of: |
V3.4.2.0 |
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Inherits from: |
- |
This chapter provides information on:
The interface reads the configuration data from the robot via the provided methods and properties.
The methods and properties in the interface are identical to those in the interface IF_RobotConfiguration.
For the properties only the Get-Accessor is available.
|
Name |
Description |
|---|---|
|
Reading the configured axes of the robot. |
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Reading the emergency parameters. |
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Reading the parameters of a configured tool. |
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Reading the configured linear tracking systems of the robot. |
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Getting the interface to a configured tracking source of the robot. |
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Reading the configured parameters for a stop and an emergency stop of the tracking system. |
|
Name |
Data type |
Accessing |
Description |
|---|---|---|---|
|
ifAdvancedReadOnly |
IF_RobotConfigurationAdvancedReadOnly |
Get |
Interface to read the advanced configuration of the robot. |
|
raudiConfiguredToolIds |
REFERENCE TO ARRAY [1...GPL.Gc_udiMaxNumberOfTools] OF UDINT |
Read |
Array which contains the IDs for the tools that were configured for the robot. |
|
raxOrientationAvailable |
REFERENCE TO ARRAY [ET_RobotComponent.OrientationX... ET_RobotComponent.OrientationZ] OF BOOL |
Get |
TRUE: The respective orientation is available on this robot. |
|
udiNumberOfConfiguredTools |
UDINT |
Read |
Number of tools that are configured for the robot. |
|
xConfigDone |
BOOL |
Get |
TRUE: The configuration of the robot is complete and valid. |