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Type: |
Function block |
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Available as of: |
V1.4.1.0 |
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Inherits from: |
- |
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Implements: |
- |
This chapter provides information on:
The function block FB_EntitiesHandler is used to store and retrieve a global description of a robotic system (for example a robotic cell). Such description includes robots, conveyor belts, tracking systems and types of target.
The function block contains a set of methods used to store information on the entities of the system. On request, it is possible to retrieve such data or to evaluate additional information linked to the relations between such entities.
The Cartesian pose describing position and orientation of each object is referred to a global coordinate system. You can evaluate the relative Cartesian pose between two configured entities by calling specific methods.
For example, such local transformation could be required during the configuration of a single robot within the system (either as ROB.FB_Robot or RM.FB_RobotModule).
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Name |
Description |
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AddConveyor |
Store a new conveyor entity inside the function block. |
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AddLinearTrackingSystem |
Describe a pairing between a conveyor previously added to the function block (using AddConveyor) and a sensor. The result of such pairing is a new tracking system. |
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AddRobot |
Add a new robot entity to the function block. |
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AddTargetType |
Add a new target type to the function block |
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AddTrackingSystem |
Define the parameter that can be used to add a tracking system. |
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AddTargetGenerator |
Add a new target generator entity to the function block. |
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AddRotativeConveyor |
Add a new rotative conveyor entity to the function block. |
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CalcEntityPoseInEntitySystem |
Calculate a cartesian pose in the base frame of a source entity. |
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CalcEntitiesRelativePose |
Calculate the relative Cartesian pose between the base frame of a source entity and the base frame of a target entity. |
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CalcRobotPoseInTrackingSystem |
Transform a Cartesian pose referred to a robot coordinate system to a Cartesian pose referred to a tracking coordinate system. |
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CalcSensorPoseInTrackingSystem |
Transform a Cartesian pose referred to a sensor system to a Cartesian pose referred to the coordinate system of the conveyor to which the sensor has been paired. |
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CalcTargetGeneratorPoseInTrackingSystem |
Transform a Cartesian pose referred to a target generator coordinate system. |
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CalcTrackingPoseInRobotSystem |
Transform a Cartesian pose referred to a tracking coordinate system to a Cartesian pose referred to the coordinate system of a robot. |
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GetConveyor |
Retrieve the information on a conveyor entity previously stored inside the internal list of the function block. |
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GetLinearTrackingSystem |
Retrieve the information on a linear tracking system previously stored inside the internal list of the function block. |
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GetRobot |
Retrieve the information on a robot entity previously stored inside the internal list of the function block. |
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GetTargetType |
Retrieve the information on a target type previously stored inside the internal list of the function block. |
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GetTrackingSystem |
Retrieve the information on a tracking system. |
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GetTargetGenerator |
Retrieve the information on a target generator. |
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GetRotativeConveyor |
Retrieve the information on a rotative conveyor. |
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Reset |
Reset the configuration of the function block. |
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Name |
Data type |
Accessing |
Description |
|---|---|---|---|
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raetConveyorList |
REFERENCE TO ARRAY [1...Gc_udiMaxNumberOfConveyors] OF ET_SystemEntity |
Get |
This property contains the list of system IDs of type ET_SystemEntity for the configured conveyors. It is possible to cycle the list from 1 to FB_EntitiesHandler.udiNumberOfConveyors. |
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raetRobotList |
REFERENCE TO ARRAY [1...Gc_udiMaxNumberOfRobots] OF ET_SystemEntity |
Get |
This property contains the list of system IDs of type ET_SystemEntity for the configured robots. It is possible to cycle the list from 1 to FB_EntitiesHandler.udiNumberOfRobots. |
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raetTargetGeneratorList |
REFERENCE TO ARRAY [1...Gc_udiMaxNumberOfTargetGenerators] OF ET_SystemEntity |
Get |
This property contains the list of system IDs of type ET_SystemEntity for the configured target generators. It is possible to cycle the list from 1 to FB_EntitiesHandler.udiNumberOfTargetGenerators. |
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raetTargetTypeList |
REFERENCE TO ARRAY [1...Gc_udiMaxNumberOfTargetTypes] OF ET_TargetType |
Get |
This property contains the list of IDs of type ET_TargetType for the configured target types. It is possible to cycle the list from 1 to FB_EntitiesHandler.udiNumberOfTargetTypes. |
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raetTrackingSystemList |
REFERENCE TO ARRAY [1...ROB.Gc_udiMaxNumberOfTrackingSystemsIds] OF ROB.ET_CoordinateSystem |
Get |
This property contains the list of IDs of type ROB.ET_CoordinateSystem for the configured tracking systems. It is possible to cycle the list from 1 to FB_EntitiesHandler.udiNumberOfTrackingSystems. For further information, refer to ROB.ET_CoordinateSystem |
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udiNumberOfRobots |
UDINT |
Read |
Number of configured robots |
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udiNumberOfTrackingSystems |
UDINT |
Read |
Number of configured tracking systems |
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udiNumberOfConveyors |
UDINT |
Read |
Number of configured conveyors |
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udiNumberOfTargetTypes |
UDINT |
Read |
Number of configured target types |
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udiNumberOfTargetGenerators |
UDINT |
Read |
Number of configured target generators |