IF_RobotConfiguration - General Information

Overview

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

This chapter provides information on:

Task
Description
Methods
Properties

Task

Interface for the robot configuration.

Description

The interface provides several methods and properties for configuring the robot.

Example of a biaxial Cartesian robot configuration:

Declaration:


VAR
   fbRobot : ROB.FB_Robot;
   ifConfiguration : ROB.IF_RobotConfiguration;
   etDiag : GD.ET_Diag;
   etDiagExt : ROB.ET_DiagExt;
   sMsg : STRING[80];
END_VAR

Code:

// Get interface instance
ifConfiguration := fbRobot.ifConfiguration;

// Call configuration method for the transformation
ifConfiguration.Cartesian3Ax( i_ifDriveA := DRV_RobotDriveA,
                              i_ifDriveB := DRV_RobotDriveB,
                              i_ifDriveC := DRV_RobotDriveC,
                              q_etDiag => etDiag,
                              q_etDiagExt => etDiagExt,
                              q_sMsg => sMsg);

// Call configuration method for the emergency parameter
ifConfiguration.SetEmergencyParameter( i_lrMaxDeceleration := 10000.0,
                                       i_lrRamp := 25.0,
                                       q_etDiag => etDiag,
                                       q_etDiagExt => etDiagExt,
                                       q_sMsg => sMsg);

// Sign config done
ifConfiguration.ConfigDone(q_etDiag => etDiag,
                           q_etDiagExt => etDiagExt,
                           q_sMsg => sMsg);

Methods

Name	Description
AddAuxAx	Adding an auxiliary axis to the robot.
AddDrive	Adding an additional drive to the robot to be used for additional components.
AdditionalComponentsTransformation	Adding an additional transformation which calculates the kinematics for the additional components.
AddLinearTrackingSystem	Adding a linear tracking system to the robot.
AddLinearTrackingSystem2	Adding a linear tracking system to the robot. An additional input (i_etTrackingDirection) defines the tracking direction.
AddLinearTrackingSystem3	Adding a linear tracking system to the robot. An additional input i_etSystemId defines the ID of the linear tracking system.
AddRotativeTrackingSystem	Adding a rotative tracking system to the robot.
Articulated2Ax	Configuring a biaxial Articulated robot.
Cartesian2Ax	Configuring a biaxial Cartesian robot.
Cartesian3Ax	Configuring a triaxial Cartesian robot.
ConfigDone	Verify and complete the configuration of the robot.
ConfigureTool	Creates or modifies a tool in the robot configuration.
Delta2Ax	Configuring a biaxial Delta robot.
Delta3Ax	Configuring a triaxial Delta robot.
Gantry2Ax	Configuring a gantry robot.
GetConfiguredDrive	Reading the configured axes of the robot.
GetEmergencyParameter	Reading the emergency parameters.
GetEmergencyParameter2	Reading the emergency parameters.
GetLinearTrackingSystem	Reading the configured linear tracking systems of the robot.
GetTrackingStopParameters	Reading the configured parameters for a stop and an emergency stop of the tracking system.
GetTool	Reading the parameters of a configured tool.
MapComponentToDrive	Mapping the movement of a robot component directly to a drive.
ModifyTrackingStopParameter	Modifying a single parameter for a stop or an emergency stop of the tracking system.
Scara4Ax	Configuring a four axial SCARA.
SchneiderElectricRobot	Configuring a Schneider Electric robot.
SetEmergencyParameter	Setting the emergency parameters.
SetEmergencyParameter2	Setting the emergency parameters.
SetTrackingStopParameters	Setting the parameters for a stop and an emergency stop of the tracking system.
User3Ax	Configuring a triaxial user-configured transformation.
User6Ax	Configuring an up to six axial user-configured transformation robot.

Properties

Name	Data type	Accessing	Description
ifAdvanced	IF_RobotConfigurationAdvanced	Read	Interface for an 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.
raxCartesianComponentAvailable	REFERENCE TO ARRAY [ET_RobotComponent.CartesianX ... ET_RobotComponent.CartesianZ] OF BOOL	Read	TRUE: The respective cartesian component was configured for the robot.
raxOrientationAvailable	REFERENCE TO ARRAY [ET_RobotComponent.OrientationX ... ET_RobotComponent.OrientationZ] OF BOOL	Read	TRUE: The respective orientation component was configured for the robot.
udiNumberOfConfiguredTools	UDINT	Read	Number of tools that are configured for the robot.
xConfigDone	BOOL	Read	This property is set to the value TRUE by calling up the method ConfigDone(...) in the event of a valid and complete configuration.