IF_RobotFeedbackStopOnPath - General Information

Overview

This chapter provides information on:

Interface with return values for stops-on-path.

This interface is part of IF_RobotFeedback and contains data on stops-on-path.

The method SetStopOnPath(…) returns a unique identifier for each stop-on-path.

The unique identifier for each stop-on-path is incremented by 1.

After GPL.Gc_udiMaxNumberOfStopsOnPath is reached, the unique identifier is reset to 1.

Name	Data type	Accessing	Description
udiCurrentStopId	UDINT	Read	Unique Id of the active stop-on-path within the connected path. As soon as a stop-on-path is requested the value switches to the unique Id of the stop.
udiNextStopId	UDINT	Read	Unique Id of the next stop-on-path within the connected path. As soon as more than one stop-on-path is requested within the connected path the value switches to the unique Id of the next stop.
xInStopPosition	BOOL	Read	TRUE: The robot has reached a requested stop-on-path.

Name

Data type

Accessing

Description

udiCurrentStopId

UDINT

Read

Unique Id of the active stop-on-path within the connected path.

As soon as a stop-on-path is requested the value switches to the unique Id of the stop.

udiNextStopId

UDINT

Read

Unique Id of the next stop-on-path within the connected path.

As soon as more than one stop-on-path is requested within the connected path the value switches to the unique Id of the next stop.

xInStopPosition

BOOL

Read

TRUE: The robot has reached a requested stop-on-path.