IF_RobotTSeries - General Information

Overview

Type:	Function block
Available as of:	V2.8.0.0
Inherits from:	-

This chapter provides information on:

Task
Description
Methods
Properties

Task

Facilitate the use of methods and properties of FB_RobotTSeries.

Description

With the IF_RobotTSeries interface, you can access the methods and properties of FB_RobotTSeries.

Methods

Name	Description
GetControlLoopParameter	Read the parameter, which influences the control loop of the Lexium T Robot axes.
GetKinematicParameter	Read kinematic parameter for a Lexium T Robot.
SetControlLoopParameter	Set parameter to influence the control loop of the Lexium T Robot axes.
SetKinematicParameter	Set kinematic parameter for a Lexium T Robot.
CheckPositionInWorkEnvelope	Verify whether a given coordinate is inside the robot work envelope.
SetDigitalTwinConfigData	Set the configuration data for the EcoStruxure Machine Expert Twin communication of the Lexium T Robot.
GetDigitalTwinConfigData	Read the configuration data for the EcoStruxure Machine Expert Twin communication of the Lexium T Robot.
GetRobotData	Read the parameters of the configured robot type.

Properties

Name	Data type	Accessing	Description
etDiag	GD.ET_Diag	Read	General library-independent statement of the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message.
etDiagExt	ET_DiagExt	Read	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> Status message q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message
etRobotType	SERP.ET_RobotTSeries	Read	Get the configured robot type.
ifCalibration	IF_RobotTSeriesCalibration	Read	Get the interface to execute calibration modes.
ifFeedback	IF_RobotTSeriesFeedback	Read	Get the interface of the Lexium T Robot.
ifSchneiderElectricRobot	ROB.IF_RobotConfiguration.SchneiderElectricRobot	Read	Get the interface for the configuration method ROB.IF_RobotConfiguration.SchneiderElectricRobot
raxLastPositionCheckOK	Reference to Array [ROB.ET_PositionType.Start...ROB.ET_PositionType.SpaceTarget] of BOOL For further information, refer to ROB.ET_PositionType	Read	TRUE: The last position of ET_PositionType verified was inside the work envelope. FALSE: The last position of ET_PositionType verified was outside the work envelope. The bit can be used to verify if the robot TCP is inside the work envelope. The feedback Stopped due to work envelope can be used to verify which position is invalid. This is an addition to the existing entries into the exception list and the application logger. Refer to raxLastPositionCheckOK.
sMsg	STRING[80]	Read	Event-triggered message that gives more information on the diagnostic state.
xAxesConfigured	BOOL	Read	TRUE: The axes have been configured successfully.
xDiagQuit	BOOL	Read/write	A rising edge FALSE->TRUE acknowledges diagnostic messages.
xDisableWorkEnvelopeMoveCmds	BOOL	Read/write	TRUE: Disable the verification of target, circular, and spline points when sending move commands to the robot. Default value: FALSE In case of xDisableWorkEnvelopeMoveCmds activated and the robot is outside the work envelope, the robot accepts the move commands and returns ET_Diag = Ok. The robot starts the movement but immediately stops.
xRobotInWorkEnvelope	BOOL	Read	The bit can be used to verify if the robot TCP is inside the work envelope. TRUE: The robot TCP is inside the work envelope. FALSE: The robot TCP is outside the work envelope. The feedback is updated in the task SR_SlowCyclicExecution. Therefore, there might be a delay of a few ms until the property shows the correct value.

raxLastPositionCheckOK

When the property returns FALSE for an individual component, the verification for this component is not successful.
If the robot has stopped its motion and raxLastPositionCheckOK[ROB.ET_PositionType.StopPosition] is FALSE, the robot is stopped because the estimated stop position is outside the work envelope. This can be either during jogging or in automatic mode.
When the bits for SpaceTarget, Target, SplinePoint and Circular are FALSE , the respective component of a move command is outside the work envelope.
SpaceTarget is the previous target position in this case.
If the bit Start is FALSE, the verification during warm or cold start indicates that the TCP is outside the work envelope.
RefPositionSpace becomes FALSE, when the TCP is outside the work envelop and when a jogging of the TCP has started.

NOTE: xDisableWorkEnvelopeMoveCmds = TRUE will inhibit these checks.