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Type: |
Interface |
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Available as of: |
V1.0.0.0 |
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Inherits from: |
- |
This chapter provides information on:
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Name |
Description |
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Adding an auxiliary axis to the robot. |
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Adds an additional drive to the robot to be used for additional components. |
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Adds an additional transformation which calculates the kinematics for the additional components. |
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Adding a linear tracking system to the robot. |
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Adding a linear tracking system to the robot. An additional input (i_etTrackingDirection) defines the tracking direction. |
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Adding a linear tracking system to the robot. An additional input (Parami_etTrackingDirection) defines the tracking direction. |
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Adding a rotative tracking system to the robot. |
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Adding a configured tracking source to the robot. |
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Configuring a biaxial Articulated robot. |
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Configuring a biaxial Cartesian robot. |
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Configuring a triaxial Cartesian robot. |
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Verify and complete the configuration of the robot. |
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Creates or modifies a tool in the robot configuration. |
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Configuring a biaxial Delta robot. |
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Configuring a triaxial Delta robot. |
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Configuring a gantry robot. |
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Reading the configured axes of the robot. |
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Reading the emergency parameters. |
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Reading the emergency parameters. |
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Reading the configured linear tracking systems of the robot. |
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Reading the parameters of a configured tool. |
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Getting the interface to a configured tracking source of the robot. |
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Reading the configured parameters for a stop and an emergency stop of the tracking system. |
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Maps the movement of a robot component directly to a drive. |
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Modifying a single parameter for a stop or an emergency stop of the tracking system. |
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Configuring a four axial SCARA robot. |
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Configuring a Lexium Robot. |
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Setting the emergency parameters. |
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Setting the emergency parameters. |
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Setting the parameters for a stop and an emergency stop of the tracking system. |
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Configuring a triaxial user-configured transformation robot. |
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Configuring an up to six axial user-configured transformation robot. |
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Name |
Data type |
Accessing |
Description |
|---|---|---|---|
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ifAdvanced |
Read |
Interface to optionally configure further parameters. |
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raudiConfiguredToolIds |
REFERENCE TO ARRAY [1...GPL.Gc_udiMaxNumberOfTools] OF UDINT |
Read |
Array which contains the IDs for the tools that are configured for the robot. |
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raxCartesianComponentAvailable |
REFERENCE TO ARRAY [ET_RobotComponent.CartesianX ... ET_RobotComponent.CartesianZ] OF BOOL |
Read |
TRUE: The respective cartesian component is configured for the robot. |
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raxOrientationAvailable |
REFERENCE TO ARRAY [ET_RobotComponent.OrientationX ... ET_RobotComponent.OrientationZ] OF BOOL |
Read |
TRUE: The respective orientation component is configured for the robot. |
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xConfigDone |
BOOL |
Read |
Indicates that the configuration of the robot was completed successfully. |
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udiNumberOfConfiguredTools |
UDINT |
Read |
Number of tools that are configured for the robot. |