IF_RobotFeedbackConnectedPath - General Information

Overview

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

This chapter provides information on:

Task
Description
Properties

Task

Interface with return values for the active connected path.

Description

This interface is part of IF_RobotFeedback and contains data on the active connected path.

A connected path consists of motion commands IF_RobotMotion.MoveL, IF_RobotMotion.MoveS or IF_RobotMotion.MoveC, which were connected with each other by a blending zone.

Properties

Name	Data type	Accessing	Description
etActiveMotionLimit	ET_RobotComponent	Read	Indicates the robot component which limits the active robot path movement most. The feedback is available when robot path movement is performed and can be used, for example, to verify if a synchronous auxiliary axis movement issued by IF_RobotMotion.MoveSync influences the robot path movement. ET_RobotComponent.None in case of robot is disabled, an emergency stop on path or jogging on path is active. ET_RobotComponent.Path for motion parameter segment caused by user motion parameter for MoveL, MoveC, MoveS or MoveJ. ET_RobotComponent.AuxAx1..AuxAx10 for motion parameter segment caused by reduction of path velocity for MoveSync – AuxAx. ET_RobotComponent.OrientationX..OrientationZ for motion parameter segment caused by reduction of path velocity for MoveSync – Orientation. ET_RobotComponent.Space for motion parameter segment caused by reduction of path velocity or path acceleration/deceleration for resulting acceleration limitation in space.
etActiveMovementMode	ET_MovementMode	Read	Active movement mode of the connected path.
etMovementState	ET_MovementState	Read	Motion status within the connected path.
lrExecutionLength	LREAL	Read	Length of the connected path to be executed. Could be different to lrLength in case of motion commands have been issued after the method IF_RobotMotion.Execute(…) was called with i_xValue = FALSE. In this case, the path motion stops at that position until the method IF_RobotMotion.Execute(…) is called with i_xValue = TRUE.
lrDistanceToEnd	LREAL	Read	Distance to the end. Unit: [Units]
lrLength	LREAL	Read	Length Unit: [Units]
lrRefPosition	LREAL	Read	Position or distance to the start. Unit: [Units]
lrRemainingTime	LREAL	Read	Remaining time until the end of the connected path. Unit: [msec]
lrMaxAccelerationResultant	LREAL	Read	Configured maximum resulting acceleration for space movement for the connected path.
xMaxAccelerationResultant	BOOL	Read	TRUE: The motion profile of the connected path is modified to limit the resulting acceleration of the space movement. FALSE: The motion profile of the connected path is not modified to limit the resulting acceleration of the space movement.

For further information, refer to properties of IF_RobotFeedbackTiming.