ST_ConfigDataGeneric

Overview

Type:

Structure

Available as of:

V1.0.0.0

Inherits from:

-

Description

The structure ST_ConfigDataGeneric contains general parameters for robot configuration in EcoStruxure Machine Expert Twin. Parameters specific to each robot type are provided in separate ST_ConfigDataRobot<type> structures.

Structure Elements

Name

Data type

Description

sCategory

STRING[80]

The type of device, for example, a robot. As a prerequisite, the corresponding object must be available in the EcoStruxure Machine Expert Twin catalog. It is displayed in EcoStruxure Machine Expert Twin under Properties > Identification > Category.

Example:

In communications between the controller and EcoStruxure Machine Expert Twin, the string P4Flat defines the following device:

  • P4 robot

  • with a flat housing

  • without rotational axis

Two options are available for setting the value in the structure:

  • Add the corresponding string.

  • Use the function TO_STRING(ENUM.element) to add a string.

sName

STRING[80]

A string which uniquely identifies the robot by name. It is displayed in EcoStruxure Machine Expert Twin in the scene and in the Solution Explorer. In the Properties, it is available as Identification > Name.

Example:

'RobotOutfeed'

udiColor

UDINT

The enumeration ET_EmulationColors provides the colors supported by EcoStruxure Machine Expert Twin.

stPosition

SE_MATH.ST_Vector3D

The 3-D vector that provides the position of the robot in space (in a cartesian coordinate system).

NOTE: In EcoStruxure Machine Expert, the position values are based on a right-hand coordinate system. EcoStruxure Machine Expert Twin internally converts the data to a left-hand coordinate system.

It is displayed in EcoStruxure Machine Expert Twin under Properties, they are available as Identification > Position.

stOrientation

SE_MATH.ST_Vector3D

The 3-D vector that provides the rotation of each axis of the robot in space (in a cartesian coordinate system).

NOTE: In EcoStruxure Machine Expert, the orientation values use the orientation convention ZYX, based on a right-hand coordinate system. EcoStruxure Machine Expert Twin internally converts the data to a left-hand coordinate system.

In the Properties, they are available as Identification > Orientation.

udiUnivocalId

UDINT

Reserved