ST_ConveyorEntityData

Overview

Type:	Structure
Available as of:	V1.4.1.0
Inherits from:	-

Description

Structure to store information on a conveyor entity. This information is used to identify a specific conveyor entity, to describe the position and orientation of such entity into the Cartesian space and to define its physical size.

Structure Elements

Variable	Data type	Description
sName	STRING[80]	A string used to describe the conveyor.
etSystemId	ET_SystemEntity	An enumeration used to unequivocally identify the conveyor in the system.
stBasePose	ST_CartesianPose	A Cartesian pose that describes how the conveyor is displaced in the space with reference to a global coordinate system.
etDirection	ROB.ET_RobotComponent	The direction of the motion of the conveyor. The value of `etDirection` must be selected so that the selected direction is contained inside the plane identified by `etSurfacePlane`. Admissible values are: `ROB.ET_RobotComponent.CartesianX` `ROB.ET_RobotComponent.CartesianY` `ROB.ET_RobotComponent.CartesianZ`
etSurfacePlane	ROB.ET_WorkingPlane	A Cartesian plane used to identify the surface of the conveyor. Admissible values are: `ROB.ET_WorkingPlane.XY` `ROB.ET_WorkingPlane.XZ` `ROB.ET_WorkingPlane.YZ`
lrLength	LREAL	Physical length of the conveyor considered along the direction described by `etDirection`.
lrWidth	LREAL	Physical width of the conveyor considered along the axis contained inside `etSurfacePlane` that is not described by `etDirection`. For example, if the selected direction is ROB.ET_RobotComponent.CartesianX and the selected surface plane is ROB.ET_WorkingPlane.XY, the width of the belt is considered along the Y-axis.
lrHeight	LREAL	Physical height of the conveyor considered along the axis that is not contained in the plane described by `etSurfacePlane`. For example, if the selected surface plane is ROB.ET_WorkingPlane.XY, the height will be considered along the Z-axis.