|
Type: |
Interface |
|
Available as of: |
V1.0.0.0 |
|
Inherits from: |
- |
This chapter provides information on:
|
Name |
Description |
|---|---|
|
LimitSwitch |
Homing to a hardware limit switch. |
|
MoveOnPos |
Homing by moving to an absolute position. |
|
RestorePosFromAxisEncoder |
Homing by restoring the position value after reading the EncoderPosition. |
|
RestorePosFromRetain |
Homing by restoring the position value after reading the remanent data. |
|
Sensor |
Homing to a digital signal. |
|
SetPosAxisPosition |
Homing by setting the RefPosition. |
|
Torque |
Homing by moving to a limit stop. |
|
TouchProbe |
Homing to a TouchProbe signal. |
|
WritePos |
Homing by writing the position. |
|
Name |
Data type |
Accessing |
Description |
|---|---|---|---|
|
raxAuxAxHomeOk |
REFERENCE TO ARRAY [ROB.ET_RobotComponent.AuxAx1..ROB.ET_RobotComponent.AuxAxAll + ROB.Gc_udiMaxNumberOfAuxiliaryAxes] OF BOOL |
Read |
Reading for which auxiliary axes a homing has already been executed successfully. |
|
raxAuxAxSelect |
REFERENCE TO ARRAY [ROB.ET_RobotComponent.AuxAxAll..ROB.ET_RobotComponent.AuxAxAll + ROB.Gc_udiMaxNumberOfAuxiliaryAxes] OF BOOL |
Read/Write |
Selecting the auxiliary axes for which a homing has to be executed or the HomeOk signal has to be reset. |
|
raxAxisHomeOk |
REFERENCE TO ARRAY [ROB.ET_RobotComponent.AxisA..ROB.ET_RobotComponent.AxisC] OF BOOL |
Read |
Reading for which axes of the robot a homing has already been executed successfully. |
|
raxAxisSelect |
REFERENCE TO ARRAY [ROB.ET_RobotComponent.AxisAll..ROB.ET_RobotComponent.AxisAll+ROB.Gc_udiMaxNumberOfAxes] OF BOOL |
Read/Write |
Selecting the axes of the robot for which a homing has to be executed or the HomeOk signal has to be reset. |
|
xResetHomeOk |
BOOL |
Read/Write |
Resetting the HomeOk signal. By calling this property with status TRUE in operation mode ET_OpMode.NoOp, the HomeOk signal of the selected axes (raxAxisSelect and raxAuxAxSelect) will be reset. This has the consequence that the signal ST_ModuleInterface.xHomeOk is reset. |
|
raetAuxAxModeOnHoming |
REFERENCE TO ARRAY [ET_RobotComponent.AuxAx1.. ET_RobotComponent.AuxAxAll + Gc_udiMaxNumberOfAuxiliaryAxes] OF ET_HomingMode |
Read |
Configured homing mode on Homing of auxiliary axes. |
|
raetAuxAxModeOnInit |
REFERENCE TO ARRAY [ET_RobotComponent.AuxAx1.. ET_RobotComponent.AuxAxAll + Gc_udiMaxNumberOfAuxiliaryAxes] OF ET_HomingMode |
Read |
Configured homing mode on Init of auxiliary axes. |
|
raetAxisModeOnHoming |
REFERENCE TO ARRAY [ET_RobotComponent.AxisA.. ET_RobotComponent.AxisAll + Gc_udiMaxNumberOfAxes] OF ET_HomingMode |
Read |
Configured homing mode on Homing of main axes. |
|
raetAxisModeOnInit |
REFERENCE TO ARRAY [ET_RobotComponent.AxisA.. ET_RobotComponent.AxisAll + Gc_udiMaxNumberOfAxes] OF ET_HomingMode |
Read |
Configured homing mode on Init of main axes. |