|
Type: |
Interface |
|
Available as of: |
V1.8.0.0 |
|
Inherits from: |
- |
|
Extends: |
__System.IQueryInterface |
This chapter provides information on:
|
Name |
Description |
|---|---|
|
AddSample |
Adds a new sample to the active set. |
|
Configuration |
Configures a teaching procedure. |
|
GetConfiguration |
Gets the configuration of a teaching procedure. |
|
GetSample |
Gets a previously stored sample. |
|
EstimateCartesianPose |
Estimates a cartesian pose based on sampled data. |
|
RemoveLastSample |
Removes the last stored sample. |
|
RemoveAllSamples |
Removes the stored samples. |
|
Name |
Data type |
Accessing |
Description |
|---|---|---|---|
|
etProcedure |
Get |
Enumerator used to identify the type of procedure implemented by the function block. |
|
|
udiNumberOfCompleteSets |
UDINT |
Get |
Number of sets for which the samples are acquired. |
|
udiNumberOfSamplesInActiveSet |
UDINT |
Get |
Number of samples acquired for the set with index udiActiveSetIndex. |
|
udiNumberOfSamplesPerSet |
UDINT |
Get |
Configured number of samples for each set. The number of samples is configured by calling the method SetNumberOfSamplesPerSet. |
|
xConfigDone |
BOOL |
Get |
TRUE: The procedure is successfully configured, otherwise FALSE. |
|
xIsRobotReferenceSystem |
BOOL |
Get |
TRUE: The robot is used as reference system by the teaching procedure. FALSE: The other system involved in the teaching is used as reference system. The pose returned by EstimateCartesianPose is the global pose of the system not being used as reference. |