IF_CobotController

Overview

Type:	Function block
Available as of:	V1.0.1.0
Inherits from:	-

This chapter provides information on:

Task
Description
Methods
Properties

Task

The function block is used to interact with a Lexium Cobot.

Description

The interface provides several methods and properties to establish a TCP connection to a Lexium Cobot controller and to interact by sending commands or getting feedback data.

The interface is implemented by the function block FB_CobotController.

Methods

Name	Description
CalcForwardKinematics	Calculates the cartesian pose corresponding to user defined positions of the robot joints.
CalcInverseKinematics	Calculates the positions of the robot joints corresponding to user defined cartesian pose.
ClearFault	Clears a detected collision error/warning of the Lexium Cobot.
Connect	Establishes a connection to the TCP server of a Lexium Cobot controller without using TLS encryption.
ConnectTLS	Establishes a connection to the TCP server of a Lexium Cobot controller using TLS encryption.
DisableRobot	Disables the Lexium Cobot arm.
Disconnect	Disconnects an established connection from the TCP server of a Lexium Cobot controller.
EnableRobot	Enables the Lexium Cobot arm.
GetControlSource	Retrieves the source controlling the Lexium Cobot.
GetCoordinateSystems	Retrieves the user defined coordinate systems of the Lexium Cobot.
GetLoadedProgramName	Retrieves the name of the loaded program from the Lexium Cobot controller.
GetPayload	Retrieves the configured parameters of the payload which is mounted to the Lexium Cobot arm.
GetSystemVariables	Retrieves the user defined system variables of the Lexium Cobot controller.
GetTCPs	Retrieves the user defined TCPs of the Lexium Cobot.
JogStart	Starts a jog movement of the Lexium Cobot.
LoadProgram	Loads a program by name on the Lexium Cobot controller.
MoveC	Executes a circular movement for the Lexium Cobot.
MoveJ	Executes a joint movement for the Lexium Cobot.
MoveL	Executes a linear movement for the Lexium Cobot.
MoveTCP	Executes a joint movement for the Lexium Cobot based on a target pose.
PauseProgram	Pauses the running program on the Lexium Cobot controller.
PowerOff	Switches the power off the Lexium Cobot arm.
PowerOn	Switches the power on the Lexium Cobot arm.
ResumeProgram	Resumes to the loaded program on the Lexium Cobotcontroller.
SelectCoordinateSystem	Selects the coordinate system in which the Lexium Cobot must move.
SelectTCP	Selects the TCP with which the Lexium Cobot must move.
SetAnalogOutput	Sets an analog output of the Lexium Cobot cabinet.
SetDigitalOutput	Sets a digital output of the Lexium Cobot.
SetPayload	Sets the parameters of the payload which is mounted to the Lexium Cobot arm.
SetSpeedOverride	Sets the speed override of the Lexium Cobot controller.
SetSystemVariable	Sets a user defined system variable of the Lexium Cobot controller.
StartProgram	Starts the loaded program on the Lexium Cobot controller.
StopRobotMovement	Stops the execution and aborts the running program on the Lexium Cobot controller or stops robot movements executed by move commands.

Properties

Name	Data type	Accessing	Description
etConnectionState	ET_ConnectionState	Read	Specifies the connection state of the function block to the Lexium Cobot controller.
xCommandAcknowledged	BOOL	Read	TRUE: The sent command is acknowledged by the Lexium Cobot controller as successful.
xCommandFailed	BOOL	Read	TRUE: The sent command is acknowledged by the Lexium Cobot controller as unsuccessful.
xTLSUsed	BOOL	Read	TRUE: A connection to the TCP server of a Lexium Cobot controller using TLS encryption is established.