|
Type |
Interface |
|
Available as of: |
V2.5.0.0 |
|
Inherits from: |
- |
This chapter provides information on:
This interface is part of IF_RobotFeedback and contains data on the velocity limitation of robot axes.
|
Name |
Data type |
Accessing |
Description |
|---|---|---|---|
|
raifAxis |
REFERENCE TO ARRAY [AxisA..AxisF*] OF IF_RobotFeedbackVelocityLimitationAxis |
Read |
Sub interface to access axis-specific data. |
|
etMode |
Read |
Current mode of the velocity limitation. |
|
|
lrRefPositionDeviationTCP |
LREAL |
Read |
3D position deviation on the TCP caused by the velocity limitation. |
|
rstRefPositionDeviationTCP |
REFERENCE TO PDL.ST_Vector3D |
Read |
3D position deviation on the TCP caused by the velocity limitation, splint into individual components. |
|
* The array range is ROB.ET_RobotComponent.AxisA..ROB.ET_RobotComponentAxisAll and ROB. Gc_udiMaxNumberOfAxes. The abbreviation AxisA..AxisF is used to achieve a clear arrangement. |
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