FB_CollisionHandlerSCARA4Ax - General Information

Overview

Type:	Function block
Available as of:	V1.0.0.0
Inherits from:	-
Implements:	IF_CollisionHandlerSCARA4Ax
Versions:	Current version

This chapter provides information on:

Task

Interface for collision handler of a SCARA4Ax robot.

Description

Using this collision handler, starting from a set of parameters it is possible to automatically configure a collision entity representing the structure of a SCARA4Ax robot. Then, it is possible to update the collision entity based on the joint positions or the TCP position of the robot.

Extends: FB_CollisionHandlerRobot

The following graphic shows a collision entity configuration for a SCARA4Ax collision handler:

The collision entity of a SCARA4Ax collision handler is configured with:

An OBB (Oriented Bounding Box) representing the arm link with center at the middle point between the origin and the arm position, orientation given by the arm frame and size determined by the configured length, width and height of the arm; the position of the center can be affected by the vector stArmMountPositionOffset
An OBB representing the arm link with center at the middle point between the arm and the forearm position, orientation given by the forearm frame and size determined by the configured length, width and height of the forearm; the position of the center can be affected by the vector stForearmMountPositionOffset
A capsule with top point at the forearm position plus the configured value of lrEndEffectorStartZOffset on its Z-coordinate and bottom point at the TCP position; the radius of the capsule depends on the value of lrEndEffectorRadius
An OBB with extents determined by the configured values of stTCPBoxHalfExtents and center evaluated as the TCP position combined with the configured stTCPBoxPosition that is defined with reference to the TCP frame

For more information, refer to ST_SCARA4AxParameters.

Properties

Name	Data type	Accessing	Description
xEnableArmCollision	BOOL	Get, Set	This property allows to enable (TRUE value) or disable (FALSE value) the collision group linked to the robot arm. It is possible to use the elements of ET_SCARA4AxCollisionGroupIndex to index the desired collision group. NOTE: A disabled collision group is ignored by the collision and distance queries.
xEnableTCPCollisionGroup	BOOL	Get, Set	If TRUE, the collision group representing the TCP is enabled; if FALSE, the collision group is disabled. NOTE: A disabled collision group is ignored by the collision and distance queries.
xUpdated	BOOL	Get	The property is set to TRUE if the latest call of the Update method was successful; FALSE otherwise. NOTE: This property should have a TRUE value before using the function block with any of the collision or distance query functions.
xConfigured	BOOL	Get	TRUE if the function block is configured, FALSE otherwise.
ifCollisionEntity	IF_CollisionEntity	Get	Reference to the collision entity configured and updated by the collision handler. NOTE: This interface can be provided as input of the collision and distance queries. This interface allows to directly access the collision entity managed by the collision handler; any operation on such interface should be avoided before IF_CollisionHandler.xConfigured = TRUE.
rstBaseOrientation	REFERENCE TO SE_Math.ST_Matrix3D	Get	Orientation of the entity with reference to a global coordinate system.
rstBasePosition	REFERENCE TO SE_Math.ST_Matrix3D	Get	Position of the entity with reference to a global coordinate system.
etType	ET_CollisionHandlerType	Get	The type of the collision handler; this is related to the type of represented module.