|
Type: |
Interface |
|
Available as of: |
V1.0.0.0 |
|
Inherits from: |
- |
This chapter provides information on:
The interface is part of IF_RobotFeedback, and contains data on the space segments that are still available.
With a valid call-up of a motion command IF_RobotMotion.MoveL, IF_RobotMotion.MoveS or IF_RobotMotion.MoveC, the respective number of segments that are still available are reduced.
If a connected path was traveled and the next one is loaded and traveled, then the segments of the previous connected path are recycled.
The number of available space segments increases again.
|
Name |
Data type |
Accessing |
Description |
|---|---|---|---|
|
ifSpace |
Read |
Interface with return values of the robot motion in the cartesian space without tracking motion. |
|
|
raifAuxAx |
REFERENCE TO ARRAY [ET_RobotComponent.AuxAx1.. ET_RobotComponent.AuxAxAll + Gc_udiMaxNumberOfAuxiliaryAxes] OF IF_RobotFeedbackMotionRefActualValues |
Read |
Interface with return values of the auxiliary axes motion without tracking motion. |
|
raifOrientation |
REFERENCE TO ARRAY [ET_RobotComponent.OrientationX.. ET_RobotComponent.OrientationAll + Gc_udiMaxNumberOfAuxiliaryAxes] OF IF_RobotFeedbackMotionRefActualValues |
Read |
Interface with return values of the orientations motion without tracking motion. |
|
rstEstimatedStopPosition |
REFERENCE TO PDL.ST_Vector3D |
Read |
Estimated Cartesian stop position on the connected path. FB_Robot.xStart TRUE -> FALSE (Refer to Behavior of feedback property rstEstimatedStopPosition). |
|
udiAvailableAuxAxAsyncMovements |
UDINT |
Read |
Amount of the asynchronous auxiliary axis movements that are still available. Asynchronous auxiliary axis movements can be issued with the motion command IF_RobotMotion.MoveAsync. |
|
udiAvailableCircularSegments |
UDINT |
Read |
Amount of the circular segments that are still available. Circular segments can be issued with the motion command IF_RobotMotion.MoveC. |
|
udiAvailableConnectedPaths |
UDINT |
Read |
Number of the connected paths that are still available. A connected path consists of motion command IF_RobotMotion.MoveL, IF_RobotMotion.MoveS or IF_RobotMotion.MoveC that were connected with each other by a blending zone. |
|
udiAvailableLinearSegments |
UDINT |
Read |
Number of the linear segments that are still available. Linear segments can be issued with the motion command IF_RobotMotion.MoveL. |
|
udiAvailableSplineSegments |
UDINT |
Read |
Number of the spline segments that are still available. Spline segments can be issued with the motion command IF_RobotMotion.MoveS. |
|
udiAvailableZones |
UDINT |
Read |
Number of the blending zones that are still available. In order to connect motion commands with each other, the input parameter i_lrMaxZone of a motion command IF_RobotMotion.MoveL, IF_RobotMotion.MoveS or IF_RobotMotion.MoveC must be set to a value greater than 0. Then the motion commands are linked up to a connected path by using a blending zone. |
|
udiAvailableStopsOnPath |
UDINT |
Read |
Number of stops-on-path that are still available. By default, 100 stops-on-path are available. A stop-on-path can be issued with the motion command IF_RobotMotion.SetStopOnPath. |
|
udiAvailableOrientationAsyncMovements |
UDINT |
Read |
Number of available asynchronous orientation movements. |
|
udiAvailableOrientationSyncMovements |
UDINT |
Read |
Number of available synchronous orientation movements. |
|
udiAvailableArmConfigurationEvents |
UDINT |
Read |
Number of available arm configuration events. |
|
udiAvailableJointSegments |
UDINT |
Read |
Number of available joint segments. |