IF_ConfigurationAdvanced - General Information

Interface

V1.0.0.0

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Configuration of an additional transformation of the robot axes.

Configuration of an additional transformation of the TCP.

Allowing to add more than 100 segments to a connected path.

Reading a configured coordinate system.

Reading additional parameters of the functionality Resultant Acceleration Limitation Space.

Reading the configured maximum tracking deviation limit.

Reading a set of parameters from a specific tracking system.

Reading the velocity limitation for robot axes.

Modifying the robot coordinate system.

Modifying the robot coordinate system or a configured linear tracking system of the robot.

Setting additional parameters of the functionality Resultant Acceleration Limitation Space.

Setting the maximum tracking deviation limit.

Setting a set of parameters for a specific tracking system.

Initializing and activating the velocity limitation for robot axes

Minimum position delta between two positioning commands.

If the position delta between two motion commands is smaller, then the motion command is rejected.

Unit: [Units]

Default value: 0.001

Value range: lrMinPosDelta ≥ 0.001

Minimum zone size Zones smaller than IrMinZone are discarded.

A new connected path is created.

Unit: [Units]

Default value: 1.0

Value range: lrMinZone ≥ 0.001

TRUE: The parameters of the tracking encoder are not verified.

FALSE: The parameters of the tracking encoder are verified.

If the interface SystemConfigurationItf.IF_MechanicMandatory is implemented by the velocity source the parameters FeedConstant, GearIn, GearOut, and Direction of the tracking encoder are verified against the corresponding parameters of the velocity source.

The parameter Enable is verified against the value TRUE.

The parameters PhaseEnable, GearEnable, and EngageEnable are verified against the value FALSE.

Also refer to the Robotic Library Guide\Using the Library\Behavior of DisableTrackingEncoderCheck/ParamxSetTrackingEncoderParameters.

TRUE: The parameters of the tracking encoder are set during configuration.

If the interface SystemConfigurationItf.IF_MechanicMandatory is implemented by the velocity source the parameters FeedConstant, GearIn, GearOut, and Direction of the tracking encoder are set to the corresponding parameters of the velocity source.

The parameter Enable is set to the value TRUE during configuration.

The parameters PhaseEnable, GearEnable, and EngageEnable are set to the value FALSE.

FALSE: No parameters of the tracking encoder are set during configuration.

Also refer to the Robotic Library Guide\Using the Library\Behavior of DisableTrackingEncoderCheck/ParamxSetTrackingEncoderParameters.

TRUE: The calculation of the feedback rstEstimatedStopPosition is based on the emergency stop parameters.

FALSE: The calculation of the feedback rstEstimatedStopPosition is based on the motion parameters.

Also refer to Behavior of Feedback Property rstEstimatedStopPosition.

If a robot is configured using the Scara4Ax transformation, AxisB acts as a periodic axis. A SetPos is executed to realize the period modification of AxisB and therefore to manage overflow of the axis position if AxisB rotates without limit in any one direction. You can modify the arm configuration with the enumeration elements ROB.ET_ArmConfiguration.InnerRight or ROB.ET_ArmConfiguration.InnerLeft. Also refer to Behavior with Arm Configuration InnerRight/InnerLeft.

The property udiNumberOfPeriodsSetPosB is used to define the working range of AxisB until a SetPos is executed:

• Working range start = -180° * udiNumberOfPeriodsSetPosB

• Working range = 360° * udiNumberOfPeriodsSetPosB

Examples:

• udiNumberOfPeriodsSetPosB = 1 -> Working range of AxisB without SetPos = ±180°

• udiNumberOfPeriodsSetPosB = 3 -> Working range of AxisB without SetPos = ±540°

Default value: udiNumberOfPeriodsSetPosB = 10

With udiNumberOfPeriodsSetPosB = 0, a SetPos is not executed.