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Type: |
Interface |
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Available as of: |
V3.6.5.0 |
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Inherits from: |
- |
This chapter provides information on:
The interface is used to exchange tracking data for auxiliary axes between the tracking source and the FB_Robot function block.
In case the robot is tracking one or more auxiliary axes, the tracking source must implement the interface IF_TrackingSourceAuxAx.
The method UpdateTrackingDataAuxAx must be implemented according to the needs of the tracking.
The interface cannot be used as standalone, it is an addition to IF_TrackingSource. For further information, refer to Implement a User Specific Tracking Source.
|
Name |
Description |
|---|---|
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UpdateTrackingDataAuxAx |
Method is called by the FB_Robot every Sercos cycle. It must be implemented to update the positions and velocities of the auxiliary axis tracking components on every call. |
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Name |
Data type |
Accessing |
Description |
|---|---|---|---|
|
ralrAuxAxPosition |
REFERENCE TO ARRAY[ET_RobotComponent.AuxAx1..(ET_RobotComponent.AuxAxAll+GCL.Gc_udiMaxNumberOfAuxiliaryAxes)] OF LREAL |
Read |
AuxAx position of the tracking source. |
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ralrAuxAxVelocity |
REFERENCE TO ARRAY[ET_RobotComponent.AuxAx1..(ET_RobotComponent.AuxAxAll+GCL.Gc_udiMaxNumberOfAuxiliaryAxes)] OF LREAL |
Read |
AuxAx velocity of the tracking source. |
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raxAuxAxEnabled |
REFERENCE TO ARRAY[ET_RobotComponent.AuxAx1..(ET_RobotComponent.AuxAxAll+GCL.Gc_udiMaxNumberOfAuxiliaryAxes)] OF BOOL |
Read |
TRUE: The respective component is enabled for tracking. |