FB_CollisionHandlerTSeries - General Information

Overview

Type:

Function Block

Available as of:

V2.12.1.0

Inherits from:

-

Implements:

IF_CollisionHandlerTSeries

Extends:

FB_CollisionHandlerDelta2Ax

This chapter provides information on:

Task

Implements the collision handler of a T-Series robot.

Description

The function block is an extension of FB_CollisionHandlerDelta2Ax and allows a simplified configuration of the collision handler of a Delta2Ax starting from a configured instance of FB_RobotTSeries.

For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.

For more information, refer to FB_CollisionHandlerDelta2Ax.

Methods

Name

Description

SetParametersFromRobotTSeries

Configure a T-Series collision handler using a configured implementation of IF_RobotTSeries.

SetOptionalParameters

Set the optional parameters for a T-Series collision handler.

GetOptionalParameters

Get the optional parameters for a T-Series collision handler.

SetParallelLinkageParameters

Set the parameters used to model the parallel linkage.

GetParallelLinkageParameters

Get the parameters used to model the parallel linkage.